The invention provides a longitudinal control method and system for an automatic driving vehicle and the vehicle. The longitudinal control method comprises the following steps: acquiring driving parameters of the vehicle and driving parameters of a front vehicle; the driving parameters of the vehicle and the driving parameters of the front vehicle are input into a pre-trained vehicle longitudinal control model, vehicle longitudinal control parameters corresponding to a driver of the vehicle are output, and the vehicle longitudinal control parameters comprise the acceleration of the vehicle; the pre-trained vehicle longitudinal control model is used for obtaining the acceleration corresponding to the driver of the vehicle in real time according to the driving parameters of the vehicle and the driving parameters of the front vehicle, and simulating the longitudinal driving style of the driver through the corresponding acceleration; and controlling the vehicle to run longitudinally according to the output vehicle longitudinal control parameters. According to the method, the longitudinal driving style of the corresponding driver is obtained through online identification, the longitudinal behavior of the corresponding driver is simulated during automatic driving control, and the problem that machine learning is likely to be abnormal under the working condition that extremely few learning data are not covered is solved.
本发明提供一种自动驾驶车辆的纵向控制方法、系统及车辆,包括,采集本车行驶参数和前方车辆的行驶参数;将本车行驶参数和前方车辆的行驶参数输入预训练的车辆纵向控制模型,输出本车驾驶员对应的车辆纵向控制参数,车辆纵向控制参数包括本车的加速度;预训练的车辆纵向控制模型用以根据本车行驶参数和前方车辆的行驶参数,实时获得本车驾驶员对应的加速度,并通过对应的加速度模拟驾驶员的纵向驾驶风格;根据输出的车辆纵向控制参数控制本车进行纵向行驶。本发明通过在线辨识获得对应驾驶员的纵向驾驶风格,在自动驾驶控制时,模仿对应驾驶员的纵向行为,对机器学习在极少数学习数据未覆盖的工况可能出现异常的问题进行弥补。
Longitudinal control method and system of autonomous vehicle and vehicle
一种自动驾驶车辆的纵向控制方法、系统及车辆
2024-08-30
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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