The invention provides a vehicle cruise longitudinal control method, device and equipment, the method comprises the steps that when a vehicle encounters a bumpy road surface, amplitude limiting control is conducted on the fluctuation amplitude of initial feedback control torque to obtain output feedback control torque, the initial feedback control torque is obtained through calculation according to the difference value of first acceleration and second acceleration, and the second acceleration is obtained through calculation according to the difference value of the first acceleration and the second acceleration; the first acceleration is the target acceleration of vehicle cruise, and the second acceleration is the vehicle acceleration calculated according to the wheel speed and at least calculated according to the output feedback control torque and is used for vehicle cruise longitudinal control. According to the method and the device, the vehicle speed stability when the vehicle encounters the bumpy road surface during cruising can be ensured, and compromise processing on various calibration quantities to adapt to the bumpy road surface is not needed, so that the control complexity and calibration difficulty of longitudinal control software are greatly reduced.
本申请提供一种车辆巡航纵向控制方法、装置及设备,该方法包括:在车辆遭遇颠簸路面时,对初始反馈控制力矩的波动幅度进行限幅控制得到输出反馈控制力矩,其中,所述初始反馈控制力矩根据第一加速度和第二加速度的差值计算得到,所述第一加速度是车辆巡航的目标加速度,所述第二加速度是根据轮速计算得到的车辆加速度至少根据所述输出反馈控制力矩计算得到车辆巡航的驱动力矩,以用于车辆巡航纵向控制。通过本申请,可以确保车辆巡航中遭遇颠簸路面时的车速稳定性,且无需对各种标定量进行折中处理来适配颠簸路面,从而大大降低了纵向控制软件的控制复杂度和标定难度。
Vehicle cruise longitudinal control method, device and equipment
车辆巡航纵向控制方法、装置及设备
2025-02-14
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 |
Vehicle cruise control method, cruise control device, equipment and storage medium
European Patent Office | 2024
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