The invention provides a vehicle control method and system under a ramp working condition and a vehicle, and belongs to the technical field of automatic driving. The method comprises the following steps: 1) acquiring a slope angle theta of a ramp where a vehicle is located, and determining an accelerated speed a needing to be compensated theoretically by using the slope angle; 2) determining a compensation coefficient k according to a ramp working condition and a vehicle running condition; (3) multiplying the compensation coefficient k, the acceleration weight w and the acceleration a needing to be compensated theoretically, and performing summation calculation on the multiplied product and the planned acceleration aplan to obtain an actual control acceleration aact; and 4) controlling the vehicle by using the obtained actual control acceleration aact. When the vehicle is under the ramp working condition, due to the influence of the gravity component, certain acceleration/deceleration needs to be compensated, the vehicle is controlled through the actual control acceleration aact, the vehicle can run stably, and the comfort and stability of vehicle control are improved.

    本发明提供一种坡道工况下车辆控制方法、系统及车辆,属于自动驾驶技术领域。该方法包括:1)获取车辆所处坡道的坡度角θ,并利用坡度角确定理论需要补偿的加速度a;2)根据坡道工况和车辆运行情况,确定补偿系数k;3)将补偿系数k、加速度权重w、理论需要补偿的加速度a三者相乘后,与规划加速度a_plan求和计算,以得到实际控制加速度a_act;4)利用得到的实际控制加速度a_act对车辆进行控制。车辆在坡道工况下时,由于重力分量的影响,需要补偿一定的加/减速度,利用上述实际控制加速度a_act对车辆进行控制,使车辆能够平稳行驶,提升了车辆控制的舒适性与平稳性。


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    Title :

    Vehicle control method and system under ramp working condition and vehicle


    Additional title:

    一种坡道工况下车辆控制方法、系统及车辆


    Contributors:
    LI JIANFEN (author) / HAN CHAO (author) / LI XINGJIA (author)

    Publication date :

    2023-08-29


    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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