The invention discloses a longitudinal control method for an unmanned vehicle running on a variable curvature curve, and the method comprises the steps: calculating and outputting a safe longitudinalvehicle speed vx of the vehicle at a reference point according to path information; taking the path information, the vehicle state information and the safe longitudinal vehicle speed vx at the reference point as input, and calculating and outputting an ideal longitudinal acceleration a0 under the current working condition through a BP neural network-based driver-imitating ideal longitudinal acceleration model; calculating and outputting a longitudinal acceleration threshold a' based on the safe longitudinal vehicle speed vx at the reference point, the distance s from the current position of the vehicle to the front reference point along the center line of a lane and the current longitudinal vehicle speed v0 of the vehicle; and based on the ideal longitudinal acceleration a0 and the longitudinal acceleration threshold a', conducting calculating to obtain the expected longitudinal acceleration ades of the current working condition, and outputting the expected longitudinal acceleration ades to a longitudinal acceleration tracking module to accurately track the ades. According to the method, the influence of the road curvature and the transverse movement on the decision result can be considered at the same time, and the comfort and safety in the curve driving process are improved.

    本发明公开了一种无人驾驶车辆在变曲率弯道行驶的纵向控制方法,根据路径信息,计算输出车辆在参考点处的安全纵向车速vx;以路径信息、车辆状态信息以及参考点处的安全纵向车速vx作为输入,通过基于BP神经网络的仿驾驶员理想纵向加速度模型计算输出当前工况下的理想纵向加速度a0;基于参考点处的安全纵向车速vx、当前车辆所在位置沿车道中心线到达前方参考点处的距离s和车辆当前的纵向车速v0计算输出纵向加速度阈值a′;基于理想纵向加速度a0和纵向加速度阈值a′,计算得到当前工况的期望纵向加速度ades,并输出到纵向加速度跟踪模块,对ades进行精确跟踪。本发明可以同时考虑道路曲率和横向运动对决策结果的影响,提高弯道行驶过程中的舒适性和安全性。


    Access

    Download


    Export, share and cite



    Title :

    Longitudinal control method for unmanned vehicle running on variable curvature curve


    Additional title:

    一种无人驾驶车辆在变曲率弯道行驶的纵向控制方法


    Contributors:
    GENG GUOQING (author) / LU SINAN (author) / SHI GUIQIANG (author) / ZHANG JIA (author) / JIANG HAOBIN (author) / XU HUIMIN (author) / SHI HAOZHE (author) / WEI BINYUAN (author) / YAO HAN (author)

    Publication date :

    2021-01-08


    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



    RUNNING CURVE CREATION DEVICE, RUNNING CURVE CREATION METHOD AND RUNNING CURVE CONTROL PROGRAM

    TONOSAKI YUKINORI / YAMAMOTO JUNKO / SUZUKI TATSUNORI | European Patent Office | 2016

    Free access

    Running curve creation device, running curve creation method and running curve control program

    TONOSAKI YUKINORI / YAMAMOTO JUNKO / SUZUKI TATSUNORI | European Patent Office | 2018

    Free access

    Vehicle running-direction predicting device and predicting method based on longitudinal curvature of bend

    MA SHIDIAN / JI YUNHUA / JIANG HAOBIN et al. | European Patent Office | 2015

    Free access

    Variable-curve anti-swing control method for low-acceleration running crane

    MAO XUAN'ANG / QIU YONGFENG / SHEN GUOTENG et al. | European Patent Office | 2024

    Free access

    Vehicle curve running speed control method, intelligent cabin and vehicle thereof

    LIU KEWANG / FU RENTAO / KONG DEBAO et al. | European Patent Office | 2024

    Free access