The embodiment of the invention discloses a vehicle constant speed control method, a control system and a vehicle. The vehicle constant speed control method comprises the steps that a first controllerobtains the current speed and the set speed of a vehicle; the first controller determines a reference trajectory based on the current speed and the set speed to control the set speed to change gradually; the first controller determines a target acceleration of the vehicle based on the smoothed set speed and the current speed; the second controller determines an actual speed of the vehicle based on the target acceleration. According to the embodiment of the invention, the set speed of the vehicle is controlled to be dynamically adjusted according to the determined reference track; the situation that the set speed jumps is avoided, so that the problem that in the prior art, the actual speed of the vehicle is overshoot due to the fact that the difference between the cruise speed and the actual speed of the vehicle is large is solved, stable control over the actual speed of the vehicle is achieved, and the driving experience of the vehicle is improved.

    本发明实施例公开了一种车辆定速控制方法、控制系统及车辆。该车辆定速控制方法包括:第一控制器获取车辆的当前速度和设定速度;第一控制器基于当前速度和设定速度确定参考轨迹,以控制设定速度逐步变化;第一控制器基于平滑处理后的设定速度和当前速度确定车辆的目标加速度;第二控制器基于目标加速度确定车辆的实际速度。本发明实施例通过控制车辆的设定速度按照所确定的参考轨迹进行动态调整,避免了出现设定速度跳变的情况,从而解决了现有技术中因为巡航速度与车辆的实际车速之间相差较大而导致车辆的实际速度出现超调的问题,实现了对车辆的实际速度的稳定控制,提高了对于车辆的驾乘体验感。


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    Title :

    Vehicle constant speed control method, control system and vehicle


    Additional title:

    车辆定速控制方法、控制系统及车辆


    Contributors:
    ZHENG ZHEN (author) / ZHAO DEFANG (author) / WANG SHENGHUA (author) / MA HUAN (author) / LUO XIAO (author)

    Publication date :

    2020-10-02


    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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