The invention discloses a vehicle longitudinal PID closed-loop control method and system during automatic parking, and belongs to the field of automatic parking. The method comprises the steps that when it is judged that a vehicle has an overspeed trend, an I value is frozen; if the real-time vehicle speed is greater than the vehicle speed upper limit after freezing for a period of time, activating the D loop and resetting the I value; if the real-time vehicle speed is still greater than the vehicle speed upper limit after a period of time, continuing to activate the D loop and resetting the I value until the real-time vehicle speed is not greater than the vehicle speed upper limit, and returning to the D loop inactivation state; when it is judged that the vehicle has the low-speed trend, the D loop is activated, and the I value is reset; if the real-time vehicle speed is smaller than the vehicle speed lower limit after a period of time, continuing to activate the D loop and resetting the I value until the real-time vehicle speed is not smaller than the vehicle speed lower limit, and returning to the D loop inactivation state. According to the method, after the risk that the speed of the vehicle is out of control is judged, the vehicle speed is converged by freezing the I value, if the vehicle speed still cannot be converged, the vehicle speed is converged by activating the D loop and resetting the I value, and the automatic parking efficiency is improved by utilizing the improved PID control logic.
一种自动泊车时车辆纵向PID闭环控制方法及系统,属于自动泊车领域,包括在判断车辆出现超速趋势时,冻结I值;若冻结一段时间后,实时车速大于车速上限,则激活D回路并重置I值;若一段时间后,实时车速仍大于车速上限,则继续激活D回路并重置I值直至实时车速不大于车速上限后,回到D回路不激活状态;在判断车辆出现低速趋势时,激活D回路并重置I值;若一段时间后,实时车速小于车速下限,则继续激活D回路并重置I值直至实时车速不小于车速下限后,回到D回路不激活状态。本申请在判断车辆有速度失控风险后,先通过冻结I值使车速收敛,若车速仍无法收敛,再通过激活D回路并重置I值使车速收敛,利用改进的PID控制逻辑提高自动泊车效率。
Vehicle longitudinal PID closed-loop control method and system during automatic parking
一种自动泊车时车辆纵向PID闭环控制方法及系统
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 |
Automatic parking longitudinal control system, vehicle and control method
European Patent Office | 2023
|Automatic parking control method, automatic parking system and vehicle
European Patent Office | 2021
|Speed loop control automatic parking method for electric vehicle driving system
European Patent Office | 2021
|AUTOMATIC PARKING SYSTEM, CONTROL METHOD FOR AUTOMATIC PARKING SYSTEM, AND AUTOMATIC DRIVING VEHICLE
European Patent Office | 2023
|Longitudinal speed control method and device for automatic parking and vehicle
European Patent Office | 2023
|