The invention provides a transverse and longitudinal cooperative control method for self-adaptive speed regulation of an automatic driving vehicle. The method comprises the following steps: establishing a vehicle model and a tire model; according to the real-time position of the vehicle and global road information, carrying out real-time prediction and speed tracking on the longitudinal reference speed of the vehicle; and transverse and longitudinal cooperative control is carried out on the autonomous vehicle. According to the method, the longitudinal speed is adjusted through the path tracking error and the road curvature according to the vehicle state parameters and the predicted path information of different road surfaces, so that the real-time high-speed curve path tracking problem is solved.

    本发明提供一种自动驾驶车辆自适应调速的横纵协同控制方法,所述方法包括:建立车辆模型和轮胎模型;根据车辆实时位置和全局道路信息,对车辆纵向参考速度进行实时预测与速度跟踪;对自动驾驶车辆进行横纵协同控制。本发明针对不同路面的车辆状态参数和预测路径信息,通过路径跟踪误差和道路曲率来调节纵向速度,以解决实时高速弯道路径跟踪问题。


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    Title :

    Transverse and longitudinal cooperative control method for self-adaptive speed regulation of automatic driving vehicle


    Additional title:

    一种自动驾驶车辆自适应调速的横纵协同控制方法


    Contributors:
    GUO ZHIZHONG (author) / LIU FEI (author) / LI ZHE (author) / SHANG YUZE (author) / QIN PING (author)

    Publication date :

    2023-10-03


    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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