The embodiment of the invention discloses a longitudinal control method and device, a vehicle and a storage medium. The method comprises the steps that in response to an automatic parking instruction, the speed and acceleration of a vehicle are obtained; determining a predicted speed based on the vehicle speed and the acceleration; acquiring the gradient of a ramp where the vehicle is located and target force; if the acceleration, the predicted speed, the ramp gradient and the target force meet preset conditions, target braking force is determined based on the target force, and the target braking force changes along with changes of the target force; based on the target force and the target braking force, the vehicle is longitudinally controlled to perform automatic parking. By means of the method, the target force and the target braking force of the vehicle are controlled at the same time, vehicle speed overshoot caused by the simple mode of stepping on the accelerator first and then braking can be avoided, the accelerator and the brake exist at the same time, and the situation that the vehicle speed is too high after torque is increased to cross obstacles in order to cross deceleration strips, pit road surfaces and the like during parking can be avoided.
本申请实施例公开了一种纵向控制方法、装置、车辆及存储介质。所述方法包括:响应于自动泊车指令,获取车辆的车速和加速度;基述车速和加速度确定预测速度;获取车辆所处坡道坡度以及目标力;若加速度、预测速度、坡道坡度以及目标力满足预设条件,基于目标力确定目标制动力,其中,目标制动力随着目标力的变化而变化;基于目标力和目标制动力,对车辆进行纵向控制以执行自动泊车。通过上述方法,对车辆进行目标力和目标制动力同时实施的控制可以避免因为简单的先踩油门,后刹车的方式造成车辆速度超调,油门和刹车同时存在可以避免泊车时为了过减速带、凹坑路面等增加扭矩越过障碍物后车辆车速过大。
Longitudinal control method and device, vehicle and storage medium
纵向控制方法、装置、车辆及存储介质
2024-05-31
Patent
Electronic Resource
Chinese
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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