The invention belongs to the technical field of automatic driving control, and particularly relates to an automatic driving vehicle longitudinal control method and system and a vehicle. The method comprises the following steps that MPC feedback control is established, and feedback acceleration is calculated through the MPC feedback control; 2) feed-forward control is established, and a feed-forward acceleration is calculated by using the feed-forward control; distance and/or speed integral compensation is established, and distance speed compensation acceleration is obtained; and setting a vehicle target acceleration according to the feedback acceleration, the feedforward acceleration and the distance speed compensation acceleration, and controlling the vehicle according to the vehicle target acceleration. Therefore, the problems of poor control effect and low precision of longitudinal control of the automatic driving vehicle when the dynamic model is nonlinear in the prior art are solved.

    本发明属于自动驾驶控制技术领域,具体涉及一种自动驾驶车辆纵向控制方法、系统及车辆,该方法包括以下步骤:建立MPC反馈控制,利用MPC反馈控制计算得到反馈加速度;2)建立前馈控制,利用前馈控制计算得到前馈加速度;建立距离和/或速度积分补偿,得到距离速度补偿加速度;依据反馈加速度、前馈加速度和距离速度补偿加速度设定车辆目标加速度,按照所述车辆目标加速度控制车辆。由此,本发明解决了现有技术中自动驾驶车辆纵向控制在动力学模型为非线性时存在控制效果差、精度低的问题。


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    Title :

    Longitudinal control method and system for automatic driving vehicle and vehicle


    Additional title:

    一种自动驾驶车辆纵向控制方法、系统及车辆


    Contributors:
    YAN LIANG (author) / DONG HAITAO (author) / YANG XIANGDONG (author) / WANG YIBO (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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