The invention relates to the technical field of autonomous parking, in particular to an autonomous parking slope vehicle speed control method, which comprises the following steps: vehicle data required by vehicle speed control are obtained, and the vehicle data comprise the vehicle speed, the wheel speed, the longitudinal acceleration and the pulse number of a current vehicle and the target vehicle speed required by autonomous parking; processing the vehicle data to obtain the response of the vehicle speed, and recognizing the slope value of the current position of the vehicle according to the response condition of the vehicle speed; According to the target vehicle speed, the current vehicle speed and the current slope value, the current control quantity is calculated through a fuzzy control strategy and is transmitted to a vehicle speed control actuator, so that stable vehicle speed control is realized. According to the invention, the vehicle speed stability control of different slope values is realized, so that the vehicle speed of the autonomous parking slope can be controlled to be stable under any road condition; the autonomous parking system of the vehicle can be adapted to a parking lot with a slope.
本发明涉及自主泊车技术领域,具体为一种自主泊车坡路车速控制方法,获取车速控制所需的车辆数据,所述车辆数据包括当前车辆的车速、轮速、纵向加速度、脉冲数,以及自主泊车需要的目标车速;通过处理所述车辆数据获得车速的响应,并根据车速的响应情况识别到当前车辆所在位置的坡度值;根据目标车速、当前车速和当前坡度值,通过模糊控制策略,计算得出当前的控制量,并传输给车速控制执行器,以实现稳定的车速控制。本发明实现不同坡度值的车速稳定控制,使得自主泊车坡路车速控制在任意路况下都很稳定;可以使车辆的自主泊车系统适配到有坡路的停车场。
Autonomous parking slope vehicle speed control method
一种自主泊车坡路车速控制方法
2021-09-03
Patent
Electronic Resource
Chinese
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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