The invention provides an automatic driving vehicle control method and a vehicle. The method comprises the steps that the actual vehicle speed and the actual time interval of the vehicle, the actual relative speed of the vehicle and a target vehicle located in front of the vehicle and the actual relative distance between the vehicle and the target vehicle are obtained; determining a basic expected distance according to the actual vehicle speed and the actual time interval of the vehicle; determining a final expected distance according to the basic expected distance, the curvature compensation coefficient and the gradient compensation coefficient; determining a critical value of a preset distance interval according to the final expected distance and the preset speed interval; determining an interval condition corresponding to the actual relative distance, and determining an expected relative speed according to the interval condition and a critical value of a preset speed interval; according to the actual relative speed, the expected relative speed and the actual time interval, the target acceleration of the vehicle is determined, and the vehicle is controlled to run at the target acceleration. According to the invention, the relative distance between the vehicle and the target vehicle is automatically adjusted according to the target acceleration, and the driving efficiency is improved.
本申请提供了一种自动驾驶车辆控制方法以及车辆,包括:获取车辆的实际车速和实际时距,车辆与位于车辆前方目标车辆的实际相对速度,车辆与目标车辆之间实际相对距离;根据车辆的实际车速和实际时距,确定基础期望距离;根据基础期望距离、曲率补偿系数以及坡度补偿系数,确定最终期望距离;根据最终期望距离以及预设速度区间,确定预设距离区间的临界值;确定实际相对距离对应的区间情况,根据区间情况以及预设速度区间的临界值,确定期望相对速度;根据实际相对速度、期望相对速度以及实际时距,确定车辆的目标加速度,并控制车辆以目标加速度进行行驶。通过本申请,根据目标加速度自动调整与目标车辆之间的相对距离,提高行驶效率。
Automatic driving vehicle control method and vehicle
一种自动驾驶车辆控制方法以及车辆
2025-02-18
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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