The invention relates to the field of intelligent transportation, and provides a cruise control method and device of an autonomous vehicle. The cruise control method comprises the steps of acquiring acurrent vehicle speed of a vehicle in a cruise mode, and calculating a relative speed difference between the current vehicle speed and the maximum vehicle speed at which the vehicle can run; correcting the relative speed difference to enable a change amplitude of the relative speed difference in a control period to be within a preset range; calculating the acceleration of the vehicle according tothe corrected relative speed difference; and adjusting the vehicle speed of the vehicle in the cruise mode based on the acceleration of the vehicle. On the basis that cruise control is achieved, comfort of control is optimized, test data are analyzed through a real vehicle and simulation tests, a good control effect is achieved, and high efficiency, safety and comfort of a control algorithm are improved.

    本发明涉及智能交通领域,提供一种自动驾驶车辆的巡航控制方法及装置。本发明所述的巡航控制方法包括:获取本车处于巡航模式时的当前车速,并计算所述当前车速与本车可行驶的最高车速之间的相对速度差;修正所述相对速度差,使得所述相对速度差在控制周期内的变化幅度处于预设范围;根据修正后的所述相对速度差,计算本车加速度;以及基于所述本车加速度调节本车在所述巡航模式下的车速。本发明在实现巡航控制的基础上,优化了控制的舒适性,经实车及仿真测试分析测试数据,具有较好的控制效果,提高了控制算法的高效性、安全性和舒适性。


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    Title :

    Cruise control method and device of autonomous vehicle


    Additional title:

    自动驾驶车辆的巡航控制方法及装置


    Contributors:
    WEI SONGBO (author) / ZHANG KAI (author) / HE LIN (author) / GE JIANYONG (author) / WANG TIANPEI (author) / CHANG SHIWEI (author) / LU NING (author) / ZHANG JIAN (author) / GUAN XIN (author) / JIA ZHUO (author)

    Publication date :

    2020-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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