The invention relates to the technical field of automobile following, in particular to a longitudinal automobile following control method and device, an automobile and a storage medium. According to the invention, the value of the unique sliding mode surface parameter in the sliding mode controller can be calculated by applying the Lyapunov function based on the vehicle distance data and the vehicle speed difference value of the vehicle and the target front vehicle and finally solving the Lyapunov function, that is, the sliding mode controller is applied to the longitudinal vehicle following control technology. The target value of the sliding mode surface parameter is calculated according to the motion data of the target vehicle in front of the vehicle and the vehicle, and the sliding mode controller which calculates the target parameter value of the sliding mode surface can output the acceleration of the vehicle. Only one sliding mode surface parameter is involved, so that the target value of the sliding mode surface parameter calculated according to the motion data of the vehicle and the front vehicle is inevitably matched with the vehicle, and the sliding mode controller with the sliding mode surface target parameter value matched with the vehicle can improve the control performance of the vehicle.
本申请涉及汽车跟车技术领域,具体是涉及一种纵向跟车控制方法、装置、车辆及存储介质。本申请只要基于本车和目标前车的车距数据和车速差值应用李雅谱诺夫函数,最后通过对李雅谱诺夫函数的求解就可以计算出滑模控制器中唯一的滑模面参数的值,也就是将滑模控制器应用到纵向跟车控制技术中,只需要根据目标前车和本车的运动数据计算出滑模面参数这一个参数的目标值,计算出滑模面目标参数值的滑模控制器便可输出本车的加速度。本申请只涉及滑模面参数这一个参数,那么根据本车和前车的运动数据计算出的滑模面参数的目标值必然匹配本车,具有匹配本车的滑模面目标参数值的滑模控制器能够提高对本车的控制性能。
Longitudinal vehicle following control method and device, vehicle and storage medium
一种纵向跟车控制方法、装置、车辆及存储介质
2024-08-09
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 |
European Patent Office | 2023
|Longitudinal control method and device of vehicle, vehicle and storage medium
European Patent Office | 2024
|Longitudinal control method and device, vehicle and storage medium
European Patent Office | 2024
|METHOD FOR LONGITUDINAL CONTROL OF VEHICLE, COMPUTER DEVICE, STORAGE MEDIUM, AND VEHICLE
European Patent Office | 2024
|METHOD FOR LONGITUDINAL CONTROL OF VEHICLE, COMPUTER DEVICE, STORAGE MEDIUM, AND VEHICLE
European Patent Office | 2024
|