The invention provides an electric vehicle self-adaptive cruise hierarchical control method and system and a storage medium. The method comprises the following steps that the front vehicle running speed of a vehicle in front of a target vehicle is obtained through a vehicle-mounted radar of the target vehicle; the target driving speed of the target vehicle is obtained in real time, and the given variable time interval of the target vehicle is obtained through calculation; calculating the planned speed of the target vehicle according to a safe distance control strategy in combination with the driving speed of the front vehicle and the given variable time interval; speed compensation of the target vehicle is obtained through calculation based on the position PID control strategy; acceleration compensation of the target vehicle is obtained through calculation based on the speed PID control strategy; calculating an acceleration deviation based on acceleration compensation according to an acceleration PID control strategy; and the control torque of the target vehicle is calculated according to the acceleration deviation, and the target driving speed of the target vehicle is adjusted through the control torque. The method has the effect of keeping the vehicle speed stable for a long time in the self-adaptive cruise control process.
本发明提供一种电动汽车自适应巡航分层控制方法、系统及存储介质,该方法包括如下步骤:通过目标车辆的车载雷达获取目标车辆前方车辆的前车行驶速度;实时获取目标车辆的目标行驶速度并计算得到目标车辆的给定可变时距;结合前车行驶速度和给定可变时距,并根据安全距离控制策略计算得到目标车辆的规划速度;基于位置PID控制策略计算得到目标车辆的速度补偿;基于速度PID控制策略计算得到目标车辆的加速度补偿;基于加速度补偿并根据加速度PID控制策略计算得到加速度偏差;根据加速度偏差计算得到目标车辆的控制扭矩,并通过控制扭矩调整目标车辆的目标行驶速度。本发明具有在自适应巡航控制过程中长时间保持车速稳定的效果。
Electric vehicle self-adaptive cruise hierarchical control method and system and storage medium
一种电动汽车自适应巡航分层控制方法、系统及存储介质
2025-02-25
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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