The invention discloses a vehicle speed tracking control method and device, equipment and a storage medium. The method comprises the steps: acquiring the speed difference between the expected running speed and the actual running speed of a vehicle; inputting the speed difference into a preset BP neural network, and presetting vehicle speed control parameters output by the BP neural network; inputting the vehicle control parameters into an incremental PID controller, and enabling the incremental PID controller to output control quantity acceleration according to a preset control law; and adjusting the speed of the vehicle according to the control quantity acceleration. The speed difference is input into the BP neural network, the BP neural network outputs the vehicle control parameters, and the incremental PID controller generates the control quantity acceleration according to the vehicle control parameters, so that the vehicle speed is adjusted according to the control quantity acceleration; therefore, the technical problem that in the prior art, vehicle speed adjustment is not accurate during unmanned driving is solved, and the technical effect of adjusting the vehicle speed according to the speed difference changing in real time is achieved.

    本发明公开了一种车辆速度跟踪控制方法、装置、设备及存储介质,包括:通过获取车辆的期望行驶速度和实际行驶速度之间的速度差;将速度差输入至预设BP神经网络,预设BP神经网络输出的车速控制参数;将车辆控制参数输入至增量式PID控制器,增量式PID控制器根据预设控制律输出控制量加速度;根据控制量加速度调整所述车辆的速度,由于本发明是通过将速度差输入BP神经网络,BP神经网络输出车辆控制参数,增量式PID控制器根据车辆控制参数生成控制量加速度,以根据所述控制量加速度调整车辆速度,解决了现有技术中在无人驾驶时,调整车辆速度不准确的技术问题,实现了根据实时变化的速度差调整车辆速度的技术效果。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle speed tracking control method and device, equipment and storage medium


    Additional title:

    车辆速度跟踪控制方法、装置、设备及存储介质


    Contributors:
    SHI DAPAI (author) / LUO TING (author) / WANG YUN (author) / LIU RUIJUN (author) / HU XIUHUA (author) / BI ZHAO (author) / CUI EN'AN (author)

    Publication date :

    2021-07-09


    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



    VEHICLE SPEED TRACKING CONTROL METHOD AND APPARATUS, AND DEVICE AND STORAGE MEDIUM

    SHI DAPAI / WANG YUN / LUO TING et al. | European Patent Office | 2022

    Free access

    Vehicle speed control method, device and equipment and storage medium

    QIN WEI / YANG XINYU / ZHAO QUNXING et al. | European Patent Office | 2023

    Free access

    Vehicle speed control method, device and equipment and storage medium

    CAO YUAN / ZHU CHENGXIANG / HAN TENG et al. | European Patent Office | 2023

    Free access

    Vehicle speed control method and device, equipment and storage medium

    JI XUBIN / LIU YANG / TIAN LEI et al. | European Patent Office | 2023

    Free access

    Vehicle speed control method, device and equipment and storage medium

    LUO YONGGUAN | European Patent Office | 2023

    Free access