The invention relates to the technical field of automatic driving, in particular to an acceleration control method and device for an automatic driving vehicle, and the method comprises the steps: detecting the current driving condition of the automatic driving vehicle; when it is detected that the current driving condition is switched from an unmanned driving condition to a manned driving condition, determining an acceleration initial value of the autonomous vehicle by using an anchor point method, optimizing the acceleration initial value according to a quadratic programming method based on a target cost function, and obtaining an optimization result; and compensating the torque of the vehicle according to the optimization result, and outputting the optimal torque corresponding to the driving working condition, so that the acceleration of the automatic driving vehicle transits from an acceleration initial value to an acceleration target value. Therefore, the problems that in the prior art, the change slopes of the driving torque and the braking torque are adjusted, the following performance of the torque cannot be controlled, response is slow, the real-time performance and applicability of acceleration control of the vehicle are reduced, and the driving experience of a user is reduced are solved.

    本申请涉及自动驾驶技术领域,特别涉及一种自动驾驶车辆的加速度控制方法和装置,其中,方法包括:检测自动驾驶车辆的当前行驶工况;在检测到当前行驶工况为无人切换至有人驾驶的行车工况时,利用锚点法确定自动驾驶车辆的加速度初始值,基于目标成本函数将加速度初始值按照二次规划方法进行优化,并得到优化结果;根据优化结果对车辆的扭矩进行补偿,输出行车工况对应的最佳扭矩,使得自动驾驶车辆的加速度从加速度初始值过渡到加速度目标值。由此,解决了相关技术中调节驱动扭矩和制动扭矩的变化斜率,无法控制扭矩的跟随性,且响应较慢,降低了车辆的加速度控制的实时性和适用性,并且降低用户的驾乘体验的问题。


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    Title :

    Acceleration control method and device for autonomous vehicle


    Additional title:

    自动驾驶车辆的加速度控制方法及装置


    Contributors:

    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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