The invention relates to the technical field of automatic driving, and discloses a vehicle control method and system in a ramp driving working condition, and the method comprises the steps: entering a predictive cruise control mode when no obstacle is detected in a preset range in front of a vehicle; gradient prediction information of a ramp where the vehicle is located in the prediction cruise control mode is obtained, and the slope top position and the slope bottom position are determined according to the gradient prediction information; according to the slope top position, the slope bottom position and the slope driving minimum allowable vehicle speed, calculating a slope top predicted vehicle speed through a vehicle dynamic state equation; according to the current position, the current speed and the slope top position of the vehicle, calculating the slope top speed through a vehicle dynamic state equation; and the vehicle speed is controlled according to the comparison result of the slope crest predicted vehicle speed and the slope crest vehicle speed, so that the vehicle speed is reasonably planned and controlled under the ramp driving working condition, the utilization efficiency of the vehicle on the ramp potential energy is improved, the fuel consumption of the vehicle is reduced, the fuel saving effect is also improved, and then the driving economy of the vehicle is improved.
本发明涉及自动驾驶技术领域,公开了一种坡道行驶工况中车辆控制方法及系统,所述方法包括:当车辆前方预设范围内未检测到障碍物时,进入预测巡航控制模式;获取预测巡航控制模式下车辆所在坡道的坡度预测信息,并根据坡度预测信息确定坡顶位置和坡底位置;根据坡顶位置、坡底位置以及坡道行驶最小允许车速通过车辆动力学状态方程计算坡顶预测车速;根据车辆的当前位置、当前车速以及坡顶位置通过车辆动力学状态方程计算坡顶车速;根据坡顶预测车速和坡顶车速的大小比较结果对车辆进行车速控制,以实现坡道行驶工况下车速的合理规划和控制,提高了车辆对坡道势能的利用效率,降低了车辆的燃油消耗,也提高了节油效果,进而提高了车辆驾驶经济性。
Vehicle control method and system in ramp driving working condition
坡道行驶工况中车辆控制方法及系统
2024-11-12
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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