The invention discloses a self-vehicle expected acceleration correction method and system and a storage medium. The correction method comprises the steps that a self-vehicle expected acceleration calculated value is calculated according to the motion state of a target vehicle switching into a self-lane and the motion state of the self-vehicle; obtaining a self-vehicle jerk recommendation value according to at least one of the cumulative time, the relative distance, the relative speed and the relative acceleration of the target vehicle entering the self-lane; calculating a self-vehicle expected acceleration correction value according to the self-vehicle jerk acceleration recommendation value, the operation cycle and the self-vehicle expected acceleration output value delayed by one operation cycle; the calculated value of the expected acceleration of the vehicle and the corrected value of the expected acceleration of the vehicle are maximized to obtain an output value of the expected acceleration of the vehicle; and issuing the expected acceleration output value of the vehicle to a longitudinal actuator for execution. According to the method, the situation that passengers of the vehicle feel uncomfortable (pause) due to unnecessary and/or excessive braking of the vehicle under the working condition that the front vehicle cuts into the lane of the vehicle and the safety of the vehicle is not affected can be avoided, and the comfort of the passengers is improved.

    本发明公开了一种自车期望加速度修正方法、系统及存储介质,修正方法包括:根据切入自车道目标车辆运动状态和自车运动状态计算自车期望加速度计算值;根据切入自车道目标车辆的累积时间、相对距离、相对速度和相对加速度至少其中之一获得自车加加速度推荐值;根据自车加加速度推荐值、运行周期和经过一个运行周期延迟的自车期望加速度输出值计算自车期望加速度修正值;将自车期望加速度计算值与自车期望加速度修正值进行取大操作得到自车期望加速度输出值;将自车期望加速度输出值下发纵向执行器执行。本发明能避免前车切入自车车道在不会对自车安全产生影响的工况下,自车非必要和/或过度制动造成自车乘员不舒适(顿挫感),提高乘员舒适性。


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    Title :

    Self-vehicle expected acceleration correction method and system and storage medium


    Additional title:

    自车期望加速度修正方法、系统及存储介质


    Contributors:
    QIU GUOHUA (author) / TIAN HE (author) / HE YICHAO (author) / HOU SHICHANG (author) / LU CHANG (author)

    Publication date :

    2023-09-19


    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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