The invention provides a longitudinal control method and device of a vehicle, a storage medium and an automatic driving vehicle, and relates to the technical field of computers, in particular to the technical field of artificial intelligence such as the intelligent traffic field and the automatic driving technical field. According to the specific implementation scheme, when longitudinal control over automatic driving of a vehicle is carried out, predicted longitudinal control parameters of a model prediction controller of the vehicle at all prediction time points in a prediction time domain are determined in combination with predicted longitudinal speeds of the vehicle at all prediction time points in the prediction time domain after the current moment; and the longitudinal control parameter information is combined with a longitudinal model in the model prediction controller and the expected trajectory of the vehicle, the longitudinal control quantity at each prediction time point in the prediction time domain is determined, and the vehicle is longitudinally controlled based on the longitudinal control quantity at the first prediction time point in the prediction time domain. Therefore, the accuracy and stability of longitudinal control of the vehicle are improved, and then the safety of automatic driving of the vehicle is improved.
本公开提供了一种车辆的纵向控制方法、装置、存储介质和自动驾驶车辆,涉及计算机技术领域,具体涉及智能交通领域和自动驾驶技术领域等人工智能技术领域。具体实现方案为:在对车辆进行自动驾驶的纵向控制时,结合车辆在当前时刻之后的预测时域内各个预测时间点上的预测纵向速度,确定车辆的模型预测控制器在预测时域内各个预测时间点上的预测纵向控制参数,并结合纵向控制参数信息、模型预测控制器中的纵向模型以及车辆的期望轨迹,确定预测时域内各个预测时间点上的纵向控制量,以及基于预测时域内第一个预测时间点上的纵向控制量,对车辆进行纵向控制。由此,提高车辆的纵向控制的准确度和稳定性,进而提高了辆自动驾驶的安全性。
Longitudinal control method and device of vehicle, storage medium and automatic driving vehicle
车辆的纵向控制方法、装置、存储介质和自动驾驶车辆
2022-07-29
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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