The invention discloses a longitudinal control method and device for a vehicle. The method comprises the steps that a local prediction reference line of the vehicle corresponding to the real-time position of the vehicle is obtained; obtaining a first obstacle prediction track based on the real-time sensing information of the obstacle; projecting the local prediction reference line of the vehicle and all the first obstacle prediction tracks to a coordinate system of the vehicle to obtain a second obstacle prediction track coinciding with the local prediction reference line of the vehicle; the local prediction reference line of the vehicle and all the second obstacle prediction tracks are mapped into a displacement-time space, and whether acceleration or braking is needed currently is judged; and if yes, calculating the acceleration required by acceleration or braking, and issuing the acceleration to the drive-by-wire chassis for execution. According to the method, the local part is taken as a unit, whether braking is needed or not is determined according to the motion relation of the local prediction reference line of the vehicle and the obstacle prediction track in the displacement-time space, and the accuracy of behavior decision and longitudinal motion control is improved.

    本申请公开了一种车辆的纵向控制方法及装置,方法包括:获得与自车的实时位置对应的自车局部预测参考线;基于对障碍物的实时感知信息获得第一障碍物预测轨迹;将自车局部预测参考线和所有的第一障碍物预测轨迹投影到自车坐标系下,获得与自车局部预测参考线有重合的第二障碍物预测轨迹;将自车局部预测参考线和所有的第二障碍物预测轨迹映射到位移‑时间空间中,判断当前是否需要加速或制动;若是,则计算加速或制动所需的加速度,并下发线控底盘进行执行。本申请以局部为单位,利用自车局部预测参考线和障碍物预测轨迹在位移‑时间空间中的运动关系来确定是否需要制动,提高了行为决策和纵向运动控制的精度。


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    Title :

    Longitudinal control method and device for vehicle


    Additional title:

    一种车辆的纵向控制方法及装置


    Contributors:
    WANG QIANG (author) / FAN ZHIYONG (author) / PANG LANBAO (author)

    Publication date :

    2024-11-19


    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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