The invention discloses a hill starting method and device of an automatic driving vehicle, electronic equipment and a computer program product. The hill starting method of the automatic driving vehicle comprises the following steps: when the automatic driving vehicle is in a state of hill starting, starting the automatic driving vehicle; the original ramp compensation acceleration of the automatic driving vehicle is obtained, and the ramp state of the automatic driving vehicle is determined; according to the ramp state of the automatic driving vehicle, the original ramp compensation acceleration is adjusted through the ramp compensation acceleration adjusting strategy, and the adjusted ramp compensation acceleration is obtained; and controlling the automatic driving vehicle to perform hill starting according to the adjusted hill compensation acceleration. According to the ramp starting method of the automatic driving vehicle, the ramp compensation acceleration is dynamically adjusted according to the ramp state, so that the automatic driving vehicle can be normally started on the ramp even if slope estimation is not accurate due to conditions such as sensor faults and the like, the phenomenon that the automatic driving vehicle cannot be braked or is excessively accelerated is avoided, and the body feeling of passengers is ensured.
本申请公开了一种自动驾驶车辆的坡道起步方法、装置及电子设备、计算机程序产品,自动驾驶车辆的坡道起步方法包括:在自动驾驶车辆处于坡道待起步的状态下,获取自动驾驶车辆的原始坡道补偿加速度并确定自动驾驶车辆所处的坡道状态;根据自动驾驶车辆所处的坡道状态,利用坡道补偿加速度的调节策略对原始坡道补偿加速度进行调节,得到调节后的坡道补偿加速度;根据调节后的坡道补偿加速度控制自动驾驶车辆进行坡道起步。本申请的自动驾驶车辆的坡道起步方法通过根据坡道状态动态调节坡道补偿加速度,即使出现传感器故障等情况导致坡度估计失准,也能够保证自动驾驶车辆在坡道正常起步,不会出现刹停不走或者加速过猛等现象,保证了乘客的体感。
Hill starting method and device of automatic driving vehicle, electronic equipment and computer program product
自动驾驶车辆的坡道起步方法、装置及电子设备、计算机程序产品
2025-04-25
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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