The invention provides a vehicle longitudinal acceleration planning method and device, a storage medium and equipment, and the method comprises the steps: formulating a longitudinal acceleration MAP based on the prediction time corresponding to a target time interval when the time interval of two vehicles reaches, querying the longitudinal acceleration MAP in a vehicle following process according to the current speed of the vehicle, the distance between the vehicle and a front vehicle, and the relative speed, and determining the longitudinal acceleration of the vehicle according to the longitudinal acceleration MAP. And obtaining a longitudinal acceleration basic value based on the acceleration of the front vehicle, obtaining a longitudinal acceleration compensation value based on the acceleration of the front vehicle, and finally adding the longitudinal acceleration basic value and the longitudinal acceleration compensation value to obtain the target longitudinal acceleration of the planning. Therefore, due to the fact that the influence of the speed of the vehicle is considered, comfort can be effectively improved, meanwhile, the acceleration of the front vehicle is introduced to compensate the longitudinal acceleration of the vehicle, the response of the vehicle when the speed of the front vehicle changes in the vehicle following process can be improved, safety is effectively improved, and vehicle control considering safety and comfort is achieved.
本申请提供一种车辆纵向加速度规划方法、装置、存储介质及设备,该方法中,基于两车时距达到目标时距所对应的预测时间制定纵向加速度MAP,在跟车过程中,根据当前的本车车速、本车和前车之间的距离以及相对车速,查询纵向加速度MAP,得到纵向加速度基础值,同时基于前车加速度,获取纵向加速度补偿值,最后将纵向加速度基础值和纵向加速度补偿值进行相加,即可得到本次规划的目标纵向加速度。如此,由于考虑了自车车速的影响,可以有效提升舒适性,同时引入前车加速度来对自车纵向加速度进行补偿,可以提升跟车过程中前车速度变化时自车的响应,从而有效提升安全性,进而实现兼顾安全性和舒适性的车辆控制。
Vehicle longitudinal acceleration planning method and device, storage medium and equipment
一种车辆纵向加速度规划方法、装置、存储介质及设备
25.10.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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