The invention relates to an unmanned vehicle acceleration and deceleration planning method based on road surface unevenness, and the method comprises the steps: collecting the first driving data of an unmanned vehicle in the task execution process of the unmanned vehicle, the first driving data at least comprises the driving speed and the vehicle body vibration acceleration; the vehicle body vibration acceleration is acceleration information of the unmanned vehicle in the gravity direction and is used for indicating road surface unevenness; calculating the mean value of the driving speed absolute values and the mean value of the vibration acceleration absolute values in the sliding time window; outputting a speed control suggestion according to the mean value of the driving speed absolute value and the mean value of the vibration acceleration absolute value in combination with a plurality of corresponding relationships between the vehicle speed grade and the vibration acceleration threshold interval; and taking the speed control suggestion as one of constraints of vehicle speed planning, and calculating a vehicle speed planning result through comprehensive analysis of a vehicle speed planning module of the automatic driving controller. The speed of the unmanned vehicle is dynamically adjusted by sensing the bumping condition of the unmanned vehicle under the complex road condition, and the driving safety is improved.
本公开是关于一种基于路面不平度的无人车加减速规划方法,无人车执行任务过程中,采集该无人车的第一行车数据,该第一行车数据至少包括行车速度、车身振动加速度,该车身振动加速度为该无人车在重力方向的加速度信息用于指示路面不平度;计算滑动时间窗口内行车速度绝对值的均值以及振动加速度绝对值的均值;根据该行车速度绝对值的均值、该振动加速度绝对值的均值,结合车速等级与振动加速度阈值区间的多个对应关系,输出控速建议;将该控速建议作为规划车速的约束之一,经该自动驾驶控制器的车速规划模块的综合分析计算出规划车速结果。本公开实现了无人车在复杂路况下通过感知自身的颠簸情况来动态调整车速,提高行驶安全性。
Unmanned vehicle acceleration and deceleration planning method based on road surface unevenness
一种基于路面不平度的无人车加减速规划方法
08.11.2024
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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