CN109375502A - Control method, device and the storage medium of intelligent automobile - Google Patents
Control method, device and the storage medium of intelligent automobile Download PDFInfo
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- CN109375502A CN109375502A CN201811291320.1A CN201811291320A CN109375502A CN 109375502 A CN109375502 A CN 109375502A CN 201811291320 A CN201811291320 A CN 201811291320A CN 109375502 A CN109375502 A CN 109375502A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention discloses a kind of control method of intelligent automobile, device and storage mediums, belong to intelligent automobile technical field.The described method includes: the trace information for obtaining the status information of intelligent automobile and currently moving；The control parameter of the intelligent automobile is determined based on the status information and the trace information；The intelligent automobile is controlled based on the control parameter.The present invention is after getting intelligent automobile current state information and current trace information, control parameter can be accurately determined, and intelligent automobile is controlled according to control parameter, to ensure that the real-time and accuracy of control intelligent automobile, improve the efficiency of control intelligent automobile.
Description
Technical field
The present invention relates to intelligent automobile technical field, in particular to a kind of control method of intelligent automobile, device and storage
Medium.
Background technique
Intelligent vehicle is the comprehensive system for integrating the functions such as environment sensing, programmed decision-making, multi-grade auxiliary driving
System, it is typical that it, which is concentrated, which has used the technologies such as computer, modern sensing, information fusion, communication, artificial intelligence and automatic control,
New and high technology synthesis.
Currently, when controlling intelligent automobile, it usually needs realized by industrial personal computer.But since industrial personal computer can not
Intelligent automobile is controlled in real time, it is lower to intelligent automobile control efficiency so as to cause causing to intelligent automobile Control constraints.
Summary of the invention
The embodiment of the invention provides a kind of control method of intelligent automobile, device and storage mediums, for solving correlation
Intelligent automobile Control constraints in technology lead to the problem that control efficiency is low.The technical solution is as follows:
In a first aspect, providing a kind of control method of intelligent automobile, which comprises
The trace information for obtaining the status information of intelligent automobile and currently moving；
The control parameter of the intelligent automobile is determined based on the status information and the trace information；
The intelligent automobile is controlled based on the control parameter.
Optionally, the control parameter that the intelligent automobile is determined based on the status information and the trace information,
Include:
When the status information includes the speed of the intelligent automobile, the intelligent automobile is determined based on the speed
Speed control parameter；
The current work information of the intelligent automobile is determined based on the trace information and the speed control parameter；
The crank degree control parameter and side acceleration control ginseng of the intelligent automobile are determined based on the work information
Number.
Optionally, the speed control parameter that the intelligent automobile is determined based on the speed, comprising:
Determine vehicle speed range belonging to the speed；
Based on the speed, the corresponding speed proportional-integral-differential PID control of vehicle speed range belonging to the speed is adjusted
The speed pid parameter of device processed, the speed pid parameter are used to change the speed control parameter of the intelligent automobile；
Based on the speed pid parameter, the speed control parameter of the intelligent automobile is determined.
Optionally, described to determine that the crank degree control parameter of the intelligent automobile adds with lateral based on the work information
Speed control parameter, comprising:
Based on the work information, lateral proportional-integral-differential PID controller corresponding to the work information is adjusted
Lateral pid parameter and angle proportional-integral-differential PID controller angle pid parameter, the lateral pid parameter uses
In the side acceleration control parameter for changing the intelligent automobile, the angle pid parameter is for changing the intelligent automobile
Crank degree control parameter；
The side acceleration control parameter of the intelligent automobile is determined based on the lateral pid parameter, and is based on the angle
Degree pid parameter determines the crank degree control parameter of the intelligent automobile.
Second aspect, provides a kind of control device of intelligent automobile, and described device includes:
Module is obtained, for obtaining the status information and the current trace information that moves of intelligent automobile；
Determining module, for determining that the control of the intelligent automobile is joined based on the status information and the trace information
Number；
Control module, for being controlled based on the control parameter the intelligent automobile.
Optionally, the determining module includes:
First determines submodule, for being based on the vehicle when the status information includes the speed of the intelligent automobile
Speed determines the speed control parameter of the intelligent automobile；
Second determines submodule, for determining the intelligent automobile based on the trace information and the speed control parameter
Current work information；
Third determines submodule, for determining the crank degree control parameter of the intelligent automobile based on the work information
With side acceleration control parameter.
Optionally, described first determine that submodule is also used to:
Determine vehicle speed range belonging to the speed；
Based on the speed, the corresponding speed proportional-integral-differential PID control of vehicle speed range belonging to the speed is adjusted
The speed pid parameter of device processed, the speed pid parameter are used to change the speed control parameter of the intelligent automobile；
Based on the speed pid parameter, the speed control parameter of the intelligent automobile is determined.
Optionally, the third determines that submodule is also used to:
Based on the work information, lateral proportional-integral-differential PID controller corresponding to the work information is adjusted
Lateral pid parameter and angle proportional-integral-differential PID controller angle pid parameter, the lateral pid parameter uses
In the side acceleration control parameter for changing the intelligent automobile, the angle pid parameter is for changing the intelligent automobile
Crank degree control parameter；
The side acceleration control parameter of the intelligent automobile is determined based on the lateral pid parameter, and is based on the angle
Degree pid parameter determines the crank degree control parameter of the intelligent automobile.
The third aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes any method in above-mentioned first aspect when being executed by processor.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least:
In embodiments of the present invention, available current status information and the trace information currently moved, and it is based on shape
State information and trace information determine the control parameter of intelligent automobile, are then based on control parameter and control intelligent automobile.?
It is, as long as available intelligent automobile current state information and current trace information, it will be able to accurately determine control ginseng
Number, and intelligent automobile is controlled, to ensure that the real-time and accuracy of control intelligent automobile, improve control intelligence
The efficiency of automobile.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the control system configuration diagram of intelligent automobile provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of the control method of intelligent automobile provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the control method of another intelligent automobile provided in an embodiment of the present invention；
Fig. 4 is a kind of controling device structure diagram of intelligent automobile provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of determining module provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene and system architecture are explained respectively.
Firstly, to the present embodiments relate to application scenarios be introduced.
Currently, when controlling intelligent automobile, it usually needs realized by industrial personal computer.But since industrial personal computer can not
Intelligent automobile is controlled in real time, it is lower to intelligent automobile control efficiency so as to cause causing to intelligent automobile Control constraints.
Based on such scene, the embodiment of the invention provides a kind of intelligent automobiles for improving intelligent automobile control efficiency
Control method.
Next, to the present embodiments relate to system architecture be introduced.
Fig. 1 is a kind of control system configuration diagram of intelligent automobile provided in an embodiment of the present invention, and referring to Fig. 1, this is
System includes the kinetic control system 1 and industrial personal computer 2 in intelligent automobile, and kinetic control system 1 can be communicated with industrial personal computer 2.
Wherein, kinetic control system 1 can be grace intelligence Pu MC9S12XE series monolithic, which includes 5 road CAN
(Controller Area Network, controller local area network) interface, wherein all the way CAN interface can be used for and vehicle into
Row communication, in addition CAN interface can be connect with industrial personal computer 2 all the way, to receive the CAN signal from industrial personal computer 2, the CAN signal
In the trace information that can carry the status information of intelligent automobile and currently move.Remaining CAN interface of kinetic control system 1 can
With with millimetre-wave radar, navigation positioning system, the mobile units such as laser radar, camera connection, to carry out data interaction.
The trace information that industrial personal computer 2 is moved by the status information for obtaining intelligent automobile and currently, and believed based on state
Breath and the trace information currently moved determine the control parameter of intelligent automobile, and control parameter is sent to kinetic control system.
Kinetic control system 1 is for controlling intelligent automobile after receiving control parameter.
It should be noted that industrial personal computer 2 may include display, which can show intelligent automobile current driving road
Diameter is currently located lane line, location information, obstacle information etc..
It, next will be in conjunction with attached drawing to this in the application scenarios to the embodiment of the present invention and after system architecture is introduced
The control method for the intelligent automobile that inventive embodiments provide describes in detail.
Fig. 2 is a kind of flow chart of the control method of intelligent automobile provided in an embodiment of the present invention, referring to fig. 2, this method
Applied in electric car, include the following steps.
Step 201: the trace information for obtaining the status information of intelligent automobile and currently moving.
Step 202: the control parameter of the intelligent automobile is determined based on the status information and the trace information.
Step 203: the intelligent automobile being controlled based on the control parameter.
In embodiments of the present invention, available current status information and the trace information currently moved, and it is based on shape
State information and trace information determine the control parameter of intelligent automobile, are then based on control parameter and control intelligent automobile.?
It is, as long as available intelligent automobile current state information and current trace information, it will be able to accurately determine control ginseng
Number, and intelligent automobile is controlled, to ensure that the real-time and accuracy of control intelligent automobile, improve control intelligence
The efficiency of automobile.
Optionally, the control parameter of the intelligent automobile is determined based on the status information and the trace information, comprising:
When the status information includes the speed of the intelligent automobile, determine that the speed of the intelligent automobile controls based on the speed
Parameter；
The current work information of the intelligent automobile is determined based on the trace information and the speed control parameter；
The crank degree control parameter and side acceleration control parameter of the intelligent automobile are determined based on the work information.
Optionally, the speed control parameter of the intelligent automobile is determined based on the speed, comprising:
Determine vehicle speed range belonging to the speed；
Based on the speed, the corresponding speed proportional-integral-differential PID controller of vehicle speed range belonging to the speed is adjusted
Speed pid parameter, which is used to change the speed control parameter of the intelligent automobile；
Based on the speed pid parameter, the speed control parameter of the intelligent automobile is determined.
Optionally, determine that the crank degree control parameter of the intelligent automobile and side acceleration control based on the work information
Parameter, comprising:
Based on the work information, the side of lateral proportional-integral-differential PID controller corresponding to the work information is adjusted
To pid parameter and the angle pid parameter of angle proportional-integral-differential PID controller, the lateral pid parameter is for changing
The side acceleration control parameter of the intelligent automobile, the angle pid parameter are used to change the crank degree control of the intelligent automobile
Parameter；
The side acceleration control parameter of the intelligent automobile is determined based on the lateral pid parameter, and is joined based on angle PID
Number determines the crank degree control parameter of the intelligent automobile.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
Fig. 3 is a kind of flow chart of the control method of intelligent automobile provided in an embodiment of the present invention, referring to Fig. 3, this method
Include the following steps.
Step 301: the trace information that intelligent automobile obtains current status information and currently moves.
It is a variety of more due to will appear during intelligent vehicle running since intelligent automobile is usually pilotless automobile
The road conditions of sample, and for different road conditions, intelligent automobile needs to make different reactions.Therefore, in order to accurately control intelligent vapour
Vehicle, the trace information that intelligent automobile needs to obtain current status information and currently moves.
Wherein, current status information includes the speed of intelligent automobile, gear, direction information etc., the track currently moved
Information may include taken aim in advance in current motion track abscissa a little under the vehicle body coordinate system of intelligent automobile, take aim in advance direction with
When the angle in front of the car direction, motion track etc..
It can be seen from the above, the kinetic control system in intelligent automobile can be with millimetre-wave radar, navigator fix, laser radar
Equal mobile units carry out data interaction.Therefore, the kinetic control system in intelligent automobile is fixed by millimetre-wave radar, navigation
After the mobile units such as position, laser radar obtain environment sensing information locating for intelligent automobile, environment sensing information is sent into intelligence
The industrial personal computer of automobile.The industrial personal computer of intelligent automobile can carry out decision-making treatment to the environment sensing information, and carry out global path
And local paths planning, to generate the motion track of intelligent automobile, and obtain the pre- of intelligent automobile and take aim at a position, that is to say pre-
The abscissa a little under the vehicle body coordinate system of intelligent automobile is taken aim at, a direction is taken aim in advance and works as the angle in front of the car direction.
It should be noted that the trace information that intelligent automobile can obtain in real time current status information and currently move,
The trace information that can also be moved every the current status information of specified time interval acquiring and currently.The specified time interval can
To be arranged in advance, for example, the specified time interval can be 5 milliseconds, 10 milliseconds, 20 milliseconds etc..
Step 302: control parameter of the intelligent automobile based on status information and trace information intelligent automobile.
Since intelligent automobile can be potentially encountered different road conditions in the process of moving, under different road conditions, intelligent automobile is worked as
Preceding state may be different, and due to intelligent automobile different conditions, varying environment and than under different motion tracks, to intelligence
The control parameter that automobile is controlled also has very big difference.Therefore, it in order to accurately control intelligent automobile, needs based on state
Information and trace information determine the control parameter of intelligent automobile.Wherein, intelligent automobile is determined based on status information and trace information
The operation of the control parameter of intelligent automobile can be with are as follows: when status information includes the speed of intelligent automobile, determines intelligence based on speed
The speed control parameter of energy automobile；The current work information of intelligent automobile is determined based on trace information and speed control parameter；Base
The crank degree control parameter and side acceleration control parameter of intelligent automobile are determined in work information.
It is following that speed control parameter, crank degree control parameter and side acceleration control ginseng are determined to intelligent automobile respectively
Number is explained.
Intelligent automobile determines speed control parameter
Wherein, intelligent automobile determines that the operation of speed control parameter of intelligent automobile can be with based on speed are as follows: one kind can
In the implementation of energy, intelligent automobile can determine vehicle speed range belonging to speed；Based on speed, speed belonging to speed is adjusted
The corresponding speed PID of range (Proportion Integration Differentiation, proportional-integral-differential) control
The speed pid parameter of device, speed pid parameter are used to change the speed control parameter of intelligent automobile；Based on speed pid parameter, really
Determine the speed control parameter of intelligent automobile.
It is controlled due to intelligent automobile speed by the throttle of intelligent automobile, the corresponding throttle value of different vehicle speed ranges and change
Rate is different, accordingly, it is determined that the speed PID controller of speed pid parameter can be sent out because of the difference of the vehicle speed range belonging to speed
Then changing, therefore, intelligent automobile determine corresponding to vehicle speed range it needs to be determined that vehicle speed range belonging to current speed
Speed PID controller.
It should be noted that vehicle speed range can be arranged in advance, for example, vehicle speed range can be divided into 4 stages, first stage
Vehicle speed range is that speed is less than or equal to 20,000 ms/h, and second stage vehicle speed range is that speed is greater than 20,000 ms/h and small
In or be equal to 40,000 ms/h, phase III vehicle speed range be speed be greater than 40,000 ms/h and be less than or equal to 60 kms/
Hour, fourth stage vehicle speed range is that speed is greater than 60,000 ms/h.In addition, the corresponding controller of vehicle speed range equally can be with
Setting in advance, for example, the first speed PID controller corresponding to the vehicle speed range of first stage, the vehicle speed range pair of second stage
The second speed PID controller is answered, the vehicle speed range of phase III corresponds to third speed PID controller, the speed model of fourth stage
Enclose corresponding 4th speed PID controller.
For example, determining the affiliated speed model of the current speed of intelligent automobile when the speed of intelligent automobile is 15,000 ms/h
The vehicle speed range for the first stage is enclosed, it therefore, can be true by the first speed PID controller based on the current speed of intelligent automobile
Determine the speed pid parameter of intelligent automobile, the speed control parameter of intelligent automobile is then determined according to the speed pid parameter.
In addition, intelligent automobile usually travels in urban road, and intelligent automobile is in urban road due under normal conditions
It carries out when driving, speed is usually not more than 60,000 ms/h, therefore, can for the intelligent automobile travelled in urban road
Vehicle speed range the vehicle speed range in 3 stages is arranged, when without considering that speed is higher than 60,000 ms/h.
Intelligent automobile determines crank degree control parameter and side acceleration control parameter
Speed due to taking aim at position a little and intelligent automobile in advance will affect the crank degree and side acceleration of intelligent automobile,
Therefore, intelligent automobile can determine current work information based on trace information and speed control parameter.
It it should be noted that it is straight way, bend or crossing that work information, which can be lane locating for intelligent automobile, and is curved
The size of bend when road.
Wherein, intelligent automobile determines the crank degree control parameter and side acceleration control of intelligent automobile based on work information
Parameter processed, comprising: be based on work information, adjust the side of lateral proportional-integral-differential PID controller corresponding to work information
To pid parameter and the angle pid parameter of angle proportional-integral-differential PID controller, lateral pid parameter is for changing intelligence
The side acceleration control parameter of energy automobile, angle pid parameter are used to change the crank degree control parameter of intelligent automobile；It is based on
Lateral pid parameter determines the side acceleration of intelligent automobile, and the crank degree of intelligent automobile is determined based on angle pid parameter.
It should be noted that intelligent automobile determines crank degree control parameter and laterally adds according to the difference of work information
Selected lateral PID controller and angle PID controller are also different when speed control parameter.Therefore, can be arranged in advance not
With lateral PID controller corresponding to work information and angle PID controller.For example, straight way corresponds to the first side to PID controller
With first angle PID controller, for corresponding second side of bend to PID controller and second angle PID controller, crossing corresponds to third
Lateral PID controller and third angle PID controller.
For example, selecting the first side to PID controller and first angle PID controller when current working information is straight way
Side acceleration control parameter and crank degree control parameter are determined respectively.
Step 303: intelligent automobile is based on control parameter and controls intelligent automobile.
Wherein, in intelligent automobile after obtaining speed control control parameter, side acceleration control parameter and crank degree
After control parameter, the speed of intelligent automobile can be adjusted according to speed control parameter, is adjusted according to side acceleration control parameter
The side acceleration of intelligent automobile, according to crank degree control parameter adjust automobile steering angle angle, and according to speed adjusted,
Side acceleration and crank degree are travelled.
In embodiments of the present invention, trace information intelligent automobile available current status information and currently moved,
And the control parameter of intelligent automobile is determined based on status information and trace information, it is then based on control parameter and intelligent automobile is carried out
Control.It that is to say, as long as the available current state information of intelligent automobile and current trace information, it will be able to accurately determine
Control parameter, and intelligent automobile is controlled, to ensure that the real-time and accuracy of control intelligent automobile, improve control
The efficiency of intelligent automobile processed.
After the control method to intelligent automobile provided in an embodiment of the present invention is explained, next, to this
The control device for the intelligent automobile that inventive embodiments provide is introduced.
Fig. 4 is a kind of structural schematic diagram of the control device of intelligent automobile provided in an embodiment of the present invention, referring to fig. 4, should
Device being implemented in combination with by software, hardware or both.The device includes: to obtain module 401, determining module 402 and control
Molding block 403.
Module 401 is obtained, for obtaining the status information and the current trace information that moves of intelligent automobile；
Determining module 402, for determining the control of the intelligent automobile based on the status information and the trace information
Parameter；
Control module 403, for being controlled based on the control parameter the intelligent automobile.
Optionally, referring to Fig. 5, the determining module 402 includes:
First determines submodule 4021, for being based on institute when the status information includes the speed of the intelligent automobile
State the speed control parameter that speed determines the intelligent automobile；
Second determines submodule 4022, for determining the intelligence based on the trace information and the speed control parameter
The current work information of automobile；
Third determines submodule 4023, for determining that the crank degree of the intelligent automobile is controlled based on the work information
Parameter and side acceleration control parameter.
Optionally, described first determine that submodule is also used to:
Determine vehicle speed range belonging to the speed；
Based on the speed, the corresponding speed proportional-integral-differential PID control of vehicle speed range belonging to the speed is adjusted
The speed pid parameter of device processed, the speed pid parameter are used to change the speed control parameter of the intelligent automobile；
Based on the speed pid parameter, the speed control parameter of the intelligent automobile is determined.
Optionally, the third determines that submodule is also used to:
Based on the work information, lateral proportional-integral-differential PID controller corresponding to the work information is adjusted
Lateral pid parameter and angle proportional-integral-differential PID controller angle pid parameter, the lateral pid parameter uses
In the side acceleration control parameter for changing the intelligent automobile, the angle pid parameter is for changing the intelligent automobile
Crank degree control parameter；
The side acceleration control parameter of the intelligent automobile is determined based on the lateral pid parameter, and is based on the angle
Degree pid parameter determines the crank degree control parameter of the intelligent automobile.
In conclusion in embodiments of the present invention, the available current status information of intelligent automobile and currently move
Trace information, and determine based on status information and trace information the control parameter of intelligent automobile, control parameter is then based on to intelligence
Energy automobile is controlled.It that is to say, as long as the available current state information of intelligent automobile and current trace information, it will be able to
It accurately determines control parameter, and intelligent automobile is controlled, to ensure that the real-time of control intelligent automobile and accurate
Property, improve the efficiency of control intelligent automobile.
It should be understood that the control device of intelligent automobile provided by the above embodiment is when controlling intelligent automobile, only with
The division progress of above-mentioned each functional module can according to need and for example, in practical application by above-mentioned function distribution by not
Same functional module is completed, i.e., the internal structure of device is divided into different functional modules, to complete whole described above
Or partial function.In addition, the control device of intelligent automobile provided by the above embodiment and the control method of intelligent automobile are implemented
Example belongs to same design, and specific implementation process is detailed in embodiment of the method, and which is not described herein again.
The embodiment of the invention also provides a kind of computer readable storage medium, computer journey is stored in the storage medium
The controlling party of Fig. 2 and the intelligent automobile in embodiment shown in Fig. 3 may be implemented in sequence, the computer program when being executed by processor
Method.
It will be understood by those skilled in the art that system structure shown in Fig. 1 does not constitute the control system to intelligent automobile
The restriction of system framework may include perhaps combining certain components than illustrating more or fewer components or using different groups
Part arrangement.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of control method of intelligent automobile, which is characterized in that the described method includes:
The trace information for obtaining the status information of intelligent automobile and currently moving；
The control parameter of the intelligent automobile is determined based on the status information and the trace information；
The intelligent automobile is controlled based on the control parameter.
2. the method as described in claim 1, which is characterized in that described to be determined based on the status information and the trace information
The control parameter of the intelligent automobile, comprising:
When the status information includes the speed of the intelligent automobile, the speed of the intelligent automobile is determined based on the speed
Control parameter；
The current work information of the intelligent automobile is determined based on the trace information and the speed control parameter；
The crank degree control parameter and side acceleration control parameter of the intelligent automobile are determined based on the work information.
3. method according to claim 2, which is characterized in that the speed for determining the intelligent automobile based on the speed
Control parameter, comprising:
Determine vehicle speed range belonging to the speed；
Based on the speed, the corresponding speed proportional-integral-differential PID controller of vehicle speed range belonging to the speed is adjusted
Speed pid parameter, the speed pid parameter is used to change the speed control parameter of the intelligent automobile；
Based on the speed pid parameter, the speed control parameter of the intelligent automobile is determined.
4. method according to claim 2, which is characterized in that described to determine the intelligent automobile based on the work information
Crank degree control parameter and side acceleration control parameter, comprising:
Based on the work information, the side of lateral proportional-integral-differential PID controller corresponding to the work information is adjusted
To pid parameter and the angle pid parameter of angle proportional-integral-differential PID controller, the lateral pid parameter is for more
Change the side acceleration control parameter of the intelligent automobile, the angle pid parameter is used to change the corner of the intelligent automobile
Angle control parameter；
The side acceleration control parameter of the intelligent automobile is determined based on the lateral pid parameter, and is based on the angle PID
Parameter determines the crank degree control parameter of the intelligent automobile.
5. a kind of control device of intelligent automobile, which is characterized in that described device includes:
Module is obtained, for obtaining the status information and the current trace information that moves of intelligent automobile；
Determining module, for determining the control parameter of the intelligent automobile based on the status information and the trace information；
Control module, for being controlled based on the control parameter the intelligent automobile.
6. device as claimed in claim 5, which is characterized in that the determining module includes:
First determines submodule, for it is true to be based on the speed when the status information includes the speed of the intelligent automobile
The speed control parameter of the fixed intelligent automobile；
Second determines submodule, for determining that the intelligent automobile is current based on the trace information and the speed control parameter
Work information；
Third determines submodule, for determining crank degree control parameter and the side of the intelligent automobile based on the work information
To Acceleration Control parameter.
7. device as claimed in claim 6, which is characterized in that described first determines that submodule is also used to:
Determine vehicle speed range belonging to the speed；
Based on the speed, the corresponding speed proportional-integral-differential PID controller of vehicle speed range belonging to the speed is adjusted
Speed pid parameter, the speed pid parameter is used to change the speed control parameter of the intelligent automobile；
Based on the speed pid parameter, the speed control parameter of the intelligent automobile is determined.
8. device as claimed in claim 6, which is characterized in that the third determines that submodule is also used to:
Based on the work information, the side of lateral proportional-integral-differential PID controller corresponding to the work information is adjusted
To pid parameter and the angle pid parameter of angle proportional-integral-differential PID controller, the lateral pid parameter is for more
Change the side acceleration control parameter of the intelligent automobile, the angle pid parameter is used to change the corner of the intelligent automobile
Angle control parameter；
The side acceleration control parameter of the intelligent automobile is determined based on the lateral pid parameter, and is based on the angle PID
Parameter determines the crank degree control parameter of the intelligent automobile.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer program, the meter in the storage medium
Any method in claim 1-4 is realized when calculation machine program is executed by processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811291320.1A CN109375502B (en) | 2018-10-31 | 2018-10-31 | Control method and device of intelligent automobile and storage medium |
| PCT/CN2019/111385 WO2020088248A1 (en) | 2018-10-31 | 2019-10-16 | Method and device for controlling smart car, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811291320.1A CN109375502B (en) | 2018-10-31 | 2018-10-31 | Control method and device of intelligent automobile and storage medium |
Publications (2)
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| CN109375502B (en) | 2021-03-30 |
| WO2020088248A1 (en) | 2020-05-07 |
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