CN110126842A - A kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method and device - Google Patents

A kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method and device Download PDF

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Publication number
CN110126842A
CN110126842A CN201910391461.9A CN201910391461A CN110126842A CN 110126842 A CN110126842 A CN 110126842A CN 201910391461 A CN201910391461 A CN 201910391461A CN 110126842 A CN110126842 A CN 110126842A
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aim
longitudinal acceleration
location point
acceleration
intelligent driving
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CN110126842B (en
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朱早贝
张磊
吕金桐
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Shanghai Yi'ao Technology Co ltd
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Beijing Yikong Zhijia Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

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  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • Automation & Control Theory (AREA)
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Abstract

A kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method, for correcting the longitudinal acceleration of vehicle, intelligent driving vehicle is preset with operational plan, operational plan includes at least target position, longitudinal acceleration and the speed of intelligent driving vehicle, method includes: S1, presets forward using the current location of intelligent driving vehicle as starting point and multiple pre- takes aim at location point；S2 maps on target position and takes aim at the corresponding multiple location points of location point in advance；S3 obtains the speed of corresponding multiple location points；S4 obtains multiple pre- acceleration for taking aim at location point according to speed；S5, using the longitudinal acceleration of multiple pre- acceleration correction intelligent driving vehicles for taking aim at location point.In addition the present invention also provides a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correction devices.This method and device carry out dynamic calibration to the operational plan for the intelligent driving vehicle that intelligent control decision rule layer is sent, its real-time and accuracy are promoted, to guarantee the performance of intelligent driving vehicle longitudinal control.

Description

A kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method and device
Technical field
The present invention relates to intelligent driving technical field of vehicle control more particularly to a kind of intelligent driving longitudinal acceleration of the vehicle Dynamic correcting method and device.
Background technique
Intelligent driving is related to environment sensing, high fine positioning, decision rule, executes numerous technical fields such as control, wherein holds The bottom of the row control as intelligent driving Vehicular system, is directly related to the final realization of intelligent driving function.Execute control Premise be have one accurately control target input, for the motion control of vehicle, be generally classified as longitudinal direction of car Control and crosswise joint, wherein a longitudinally controlled most important input is the target longitudinal acceleration of vehicle.In the prior art Intelligent vehicle acceleration control method, be then to control vehicle and target is followed to add by obtaining the current aimed acceleration of vehicle Speed trajectory；Also there is technology to calculate vehicle acceleration by speed and carry out dynamic estimation, to effectively and accurately track vehicle Longitudinal acceleration actual numerical value；Further progress phase after public acceleration transducer acquisition vehicle acceleration in technology also With the acceleration that solves the problems, such as accelerometer output, that there are precision is not high for the correction answered.In intelligent driving vehicle control, vehicle Aimed acceleration be typically derived from decision rule layer (Planning), in above-mentioned technical proposal, for vehicle target accelerate The acquisition of degree without the excessive description of progress, but default its be it is accurate, also without related art scheme to aimed acceleration Control system input layer be corrected processing, but in actual vehicle travel process, due to the uncertainty of road environment With the error of sensor acquisition or data processing, cause the aimed acceleration of Planning layers of transmission that there may be certain reason By limitation, so that there is a certain error for aimed acceleration, at this time if the aimed acceleration of error will be present directly as control System input processed, it will influence the control precision of control system.
Summary of the invention
(1) technical problems to be solved
The present invention provides a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method and devices, determine to intelligent control The operational plan for the intelligent driving vehicle that plan planning layer is sent carries out dynamic calibration, promotes its real-time and accuracy, for intelligence The input for driving the Longitudinal Control System of vehicle provides relatively reliable guarantee, to guarantee intelligent driving vehicle longitudinal control Performance.
(2) technical solution
In a first aspect, the present invention provides a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting methods, for correcting The longitudinal acceleration of moving object, intelligent driving vehicle are preset with operational plan, and operational plan includes at least intelligent driving vehicle Target position, longitudinal acceleration and speed, method includes: S1, using the current location of intelligent driving vehicle as starting point forward It presets and multiple pre- takes aim at location point；S2 maps on target position and takes aim at the corresponding multiple location points of location point in advance；S3 is obtained and is corresponded to Multiple location points speed；S4 obtains multiple pre- acceleration for taking aim at location point according to speed；S5 pre- takes aim at position using multiple The longitudinal acceleration of the acceleration correction intelligent driving vehicle of point.
Optionally, step S2 specifically: with take aim in advance location point mapped on target position apart from minimum principle it is multiple Location point.
Optionally, it when the maximum distance of target position is less than the maximum distance for taking aim at location point in advance, then takes aim in location point in advance Greater than the maximum distance point of the part mapping target position of the maximum distance of target position.
Optionally, multiple pre- location points of taking aim at are followed successively by x0、x1、……、xN, step S1 specifically includes: S11, and it is initial to preset one Distance fix, a minimum time parameter τminAn and maximum time parameter τmax, the is obtained according to the speed v of intelligent driving vehicle One is taken aim at location point x in advance0Position, take aim at location point x in advance0Calculation formula are as follows:
x0=max (fix, τmin×v)
S12 obtains other pre- positions for taking aim at location point, its calculation formula is:
xi=x0+τ×i×v
Wherein, [1, N] i ∈, τ are average time interval,
Optionally, multiple pre- acceleration formulas for taking aim at location point are respectively as follows: in step S4
Wherein, s0、s1、……、sNIt is respectively multiple pre- to take aim at location point x0、x1、……、xNMultiple location points of mapping, v0、 v1、……、vNRespectively multiple location point s0、s1、……、sNCorresponding speed, a | i is to take aim at location point x in advanceiLocate corresponding acceleration Degree, a | 0 takes aim at location point x to be pre-0Locate corresponding acceleration.
Optionally, step S5 includes: S51, takes aim at the pre- of location point in advance according to multiple pre- acceleration acquisitions for taking aim at location point and takes aim at Point longitudinal acceleration；S52, according to the longitudinal acceleration taken aim in a longitudinal acceleration correction operational plan in advance.
Optionally, step S51 specifically:
For each pre- acceleration for taking aim at location point, one weight coefficient, respectively k are set0、k1、……、kN, then take aim at and a little indulge in advance To the calculation formula of acceleration a ' are as follows:
Wherein, k0+k1+…+kN≤1。
Optionally, step S52 specifically: to take aim at the longitudinal acceleration a ' ' in a longitudinal acceleration a ' and operational plan in advance Weight coefficient a k ' and k ' ' is respectively set, then the calculation formula of the longitudinal acceleration a in operational plan after correcting are as follows:
A=a ' × k '+a " × k "
Wherein, k '+k "≤1.
Second aspect, the present invention also provides a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correction devices, are used for school The longitudinal acceleration of positive motion object, intelligent driving vehicle are preset with operational plan, and operational plan includes at least intelligent driving vehicle Target position, longitudinal acceleration and speed, device includes: presetting module, for the present bit of intelligent driving vehicle It is set to starting point and presets forward and multiple pre- take aim at location point；Mapping block, for mapping on target position in advance, to take aim at location point corresponding Multiple location points；First obtains module, for obtaining the speed of corresponding multiple location points；Second obtains module, is used for basis Speed obtains multiple pre- acceleration for taking aim at location point；Correction module, for obtaining intelligence according to multiple pre- acceleration for taking aim at location point Longitudinal acceleration after vehicle correction can be driven.
Optionally, mapping block specifically: with take aim in advance location point mapped on target position apart from minimum principle it is more A location point.
(3) beneficial effect
The present invention provides a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method and devices, are taken aim in advance by default Location point, and the pre- location point of taking aim at is reflected well with the target position in the preset operational plan of intelligent driving vehicle It penetrates, and then seeks the pre- acceleration for taking aim at location point, the correction to longitudinal acceleration in operational plan is realized by the acceleration, is mentioned The real-time and accuracy of correction are risen.
Detailed description of the invention
Fig. 1 diagrammatically illustrates the step of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method of the embodiment of the present disclosure Figure；
Fig. 2 diagrammatically illustrates the pre- division methods schematic diagram for taking aim at location point of the embodiment of the present disclosure；
Fig. 3 diagrammatically illustrates the structure of the intelligent driving longitudinal acceleration of the vehicle dynamic correction device of the embodiment of the present disclosure Block diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference Attached drawing, the present invention is described in more detail.
In a first aspect, the present invention provides a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting methods, for correcting The longitudinal acceleration of moving object, intelligent driving vehicle are preset with operational plan, and operational plan includes at least intelligent driving vehicle Target position, longitudinal acceleration and speed, referring to Fig. 1, method includes: S1, and the current location with intelligent driving vehicle is Starting point, which is preset forward, multiple pre- takes aim at location point；S2 maps on target position and takes aim at the corresponding multiple location points of location point in advance；S3, Obtain the speed of corresponding multiple location points；S4 obtains multiple pre- acceleration for taking aim at location point according to speed；S5, use are multiple The longitudinal acceleration of the acceleration correction intelligent driving vehicle of location point is taken aim in advance.It below will be by taking the specific embodiment as an example to this hair It is bright to be described in detail.
In the vehicle of intelligent driving, the operational plan of vehicle is from decision rule layer (Planning), and vehicle is preceding During, Planning layers can be preset with operational plan, and with the next step process of guiding vehicle, which is at least wrapped Include the speed etc. in target position, longitudinal acceleration and the vehicle operation of vehicle.
S1 is preset forward using the current location of intelligent driving vehicle as starting point and multiple pre- takes aim at location point；
As shown in Fig. 2, M are arranged longitudinally forward and takes aim at location point in advance according to the current actual positions of vehicle as starting point, this M takes 6, respectively x in inventive embodiments0、x1、……、x5, step S1 specifically includes:
S11 presets initial distance a fix, a minimum time parameter τminAn and maximum time parameter τmax, according to intelligence The speed v for driving vehicle obtains first and takes aim at location point x in advance0Position, take aim at location point x in advance0Calculation formula are as follows:
x0=max (fix, τmin×v)
In the embodiment of the present invention, initial distance fix is 0.2m, minimum time parameter τminFor 0.8s, maximum time parameter τmaxFor 2s, the current actual vehicle speed of vehicle is v, first take aim at location point x in advance0Calculation formula are as follows:
x0=max (0.2,0.8 × v)
S12 obtains other pre- positions for taking aim at location point, its calculation formula is:
xi=x0+τ×i×v
Wherein, [1, N] i ∈, τ are average time interval,
According to τminAnd τmaxThe average time interval for obtaining intermediate point can be calculatedTherefore Other pre- position calculation formula for taking aim at location point can be calculated are as follows:
xi=x0+τ×i×v
Wherein, i is that i+1 takes aim at location point in advance.
S2 maps on target position and takes aim at the corresponding multiple location points of location point in advance；
Specifically, with take aim at location point in advance and map multiple positions on the target position of operational plan apart from minimum principle Point, respectively s0、s1、……、sN.One of special circumstances, when the target position in the operational plan that Planning is sent When maximum distance is less than the maximum distance for taking aim at location point in advance, then the part for being greater than the maximum distance of target position in location point is taken aim in advance The maximum distance point of mapping objects position.
S3 obtains the speed of corresponding multiple location points；
Pre- location point x is taken aim at by step S2 is available0、x1、……、xNLocation point s on corresponding target position0、 s1、……、sN, further pass through the available s of operational plan0、s1、……、sNLocate corresponding speed v0、v1、……、vN, by this Speed takes aim at location point x as pre-0、x1、……、xNThe speed at place.
S4 obtains multiple pre- acceleration for taking aim at location point according to speed；
Multiple pre- acceleration for taking aim at location point can be obtained respectively according to the calculation formula of displacement acceleration and speed.
Multiple pre- acceleration formulas for taking aim at location point are respectively as follows:
Wherein, s0、s1、……、sNIt is respectively the multiple pre- to take aim at location point x0、x1、……、xNMultiple positions of mapping Point, v0、v1、……、vNRespectively the multiple location point s0、s1、……、sNCorresponding speed, a | i is to take aim at location point x in advanceiPlace Corresponding acceleration, a | 0 takes aim at location point x to be pre-0Locate corresponding acceleration.
S5, using the longitudinal acceleration of multiple pre- acceleration correction intelligent driving vehicles for taking aim at location point.
Step S5 is specifically included:
S51, according to multiple pre- acceleration acquisitions for taking aim at location point, taking aim at the pre- of location point takes aim at a longitudinal acceleration in advance；
Specifically, a weight coefficient, respectively k is arranged for each pre- acceleration for taking aim at location point first0、k1、……、kN, A calculation formula of longitudinal acceleration α ' is then taken aim in advance are as follows:
Wherein, k0+k1+…+kN≤ 1, weight coefficient k0、k1、……、kNIt can be defined, not had according to practical control situation There is fixed range, greater than zero, in the embodiment of the present invention:
S52, according to the longitudinal acceleration taken aim in a longitudinal acceleration correction operational plan in advance.
By step S51 can be obtained it is pre- take aim at a longitudinal acceleration a ', then to take aim at longitudinal acceleration a ' and an operational plan in advance In longitudinal acceleration a " be respectively set a weight coefficient k ' and k ", then the longitudinal acceleration a in operational plan after correcting Calculation formula are as follows:
A=a ' × k '+a " × k "
Wherein, k '+k "≤1.
The longitudinal acceleration a in the operational plan after correction can be obtained by above-mentioned calculating, be with longitudinal acceleration a The target trajectory that control target follows.
Second aspect, the present invention provides a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correction devices 300, are used for school The longitudinal acceleration of positive motion object, intelligent driving vehicle are preset with operational plan, and operational plan includes at least the intelligence and drives Target position, longitudinal acceleration and the speed for sailing vehicle, referring to Fig. 3, device 300 includes: presetting module 301, mapping block 302, first the acquisition module 304 of module 303, second and third acquisition module 305 are obtained.
Specifically, presetting module 301, for presetting multiple pre- take aim at forward using the current location of intelligent driving vehicle as starting point Location point；
Specifically, default initial distance a fix, a minimum time parameter τminAn and maximum time parameter τmax, and root First, which is obtained, according to the speed v of the intelligent driving vehicle takes aim at location point x in advance0Position, take aim at location point x in advance0Calculation formula Are as follows:
x0=max (fix, τmin×v)
Other pre- positions for taking aim at location point are obtained, its calculation formula is:
xi=x0+τ×i×v
Wherein, [1, N] i ∈, τ are average time interval,
Mapping block 302 takes aim at the corresponding multiple location points of location point for mapping on target position in advance；
Specifically, with take aim at location point in advance and map multiple location points on target position apart from minimum principle.Wherein one Kind special circumstances, when the maximum distance of the target position in the operational plan that Planning is sent is less than the maximum for taking aim at location point in advance Apart from when, then take aim in advance in location point greater than target position maximum distance part mapping target position maximum distance point.
First obtains module 303, for obtaining the speed of corresponding multiple location points；
Second obtains module 304, for obtaining multiple pre- acceleration for taking aim at location point according to speed；
Correction module 305, it is vertical after intelligent driving vehicle corrects for being obtained according to multiple pre- acceleration for taking aim at location point To acceleration.
Specifically, taking aim at a longitudinal acceleration firstly, obtaining according to multiple pre- acceleration for taking aim at location point and taking aim at the pre- of location point in advance Degree；
Secondly, according to the longitudinal acceleration taken aim in a longitudinal acceleration correction operational plan in advance.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention Within the scope of shield.

Claims (10)

1. a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correcting method accelerates for correcting the longitudinal of intelligent driving vehicle Degree, the intelligent driving vehicle are preset with operational plan, and the operational plan includes at least the target of the intelligent driving vehicle Position, longitudinal acceleration and speed, which comprises
S1 is preset forward using the current location of the intelligent driving vehicle as starting point and multiple pre- takes aim at location point；
S2 maps on the target position and described pre- takes aim at the corresponding multiple location points of location point；
S3 obtains the speed of corresponding multiple location points；
S4 obtains the multiple pre- acceleration for taking aim at location point according to the speed；
S5, using the multiple pre- longitudinal acceleration for taking aim at intelligent driving vehicle described in the acceleration correction of location point.
2. longitudinal acceleration dynamic correcting method according to claim 1, step S2 specifically:
To map multiple location points on the target position apart from minimum principle with the pre- location point of taking aim at.
3. longitudinal acceleration dynamic correcting method according to claim 2, when the maximum distance of the target position is less than When the pre- maximum distance for taking aim at location point, then it is described it is pre- take aim in location point greater than the target position maximum distance part Map the maximum distance point of the target position.
4. longitudinal acceleration dynamic correcting method according to claim 1, the multiple pre- location point of taking aim at is followed successively by x0、 x1、……、xN, step S1 specifically includes:
S11 presets initial distance a fix, a minimum time parameter τminAn and maximum time parameter τmax, according to the intelligence The speed v for driving vehicle obtains first and takes aim at location point x in advance0Position, take aim at location point x in advance0Calculation formula are as follows:
x0=max (fix, τmin×v)
S12 obtains other pre- positions for taking aim at location point, its calculation formula is:
xi=x0+τ×i×v
Wherein, [1, N] i ∈, τ are average time interval,
5. longitudinal acceleration dynamic correcting method according to claim 4, multiple pre- location points of taking aim in the step S4 Acceleration formula is respectively as follows:
Wherein, s0、s1、……、sNIt is respectively the multiple pre- to take aim at location point x0、x1、……、xNMultiple location points of mapping, v0、 v1、……、vNRespectively the multiple location point s0、s1、……、sNCorresponding speed, a | i is to take aim at location point x in advanceiLocate corresponding Acceleration, a | 0 takes aim at location point x to be pre-0Locate corresponding acceleration.
6. longitudinal acceleration dynamic correcting method according to claim 5, the step S5 include:
S51 is obtained according to the multiple pre- acceleration for taking aim at location point and described pre- taken aim at the pre- of location point and take aim at a longitudinal acceleration；
S52 corrects longitudinal acceleration in the operational plan according to a pre- longitudinal acceleration of taking aim at.
7. longitudinal acceleration dynamic correcting method according to claim 6, step S51 specifically:
For each pre- acceleration for taking aim at location point, one weight coefficient, respectively k are set0、k1、……、kN, then described pre- to take aim at The calculation formula of point longitudinal acceleration a ' are as follows:
Wherein, k0+k1+…+kN≤1。
8. longitudinal acceleration dynamic correcting method according to claim 7, the step S52 specifically:
It pre- take aim at the longitudinal acceleration a " in a longitudinal acceleration a ' and the operational plan to be described a weight coefficient is respectively set K ' and k ", the then calculation formula of the longitudinal acceleration a in the operational plan after correcting are as follows:
A=a ' × k '+a " × k "
Wherein, k '+k "≤1.
9. a kind of intelligent driving longitudinal acceleration of the vehicle dynamic correction device, for the longitudinal acceleration of correction of movement object, institute State intelligent driving vehicle and be preset with operational plan, the operational plan include at least the intelligent driving vehicle target position, Longitudinal acceleration and speed, described device include:
Presetting module multiple pre- takes aim at location point for presetting forward using the current location of the intelligent driving vehicle as starting point；
Mapping block described pre- takes aim at the corresponding multiple location points of location point for mapping on the target position；
First obtains module, for obtaining the speed of corresponding multiple location points；
Second obtains module, for obtaining the multiple pre- acceleration for taking aim at location point according to the speed；
Correction module, for using the multiple pre- longitudinal acceleration for taking aim at intelligent driving vehicle described in the acceleration correction of location point Degree.
10. longitudinal acceleration dynamic correction device according to claim 9, mapping block specifically:
To map multiple location points on the target position apart from minimum principle with the pre- location point of taking aim at.
CN201910391461.9A 2019-05-10 2019-05-10 Method and device for dynamically correcting longitudinal acceleration of intelligent driving vehicle Active CN110126842B (en)

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CN112526978A (en) * 2020-12-09 2021-03-19 智道网联科技(北京)有限公司 Vehicle driving performance detection method and system, electronic device and storage medium
CN113715820A (en) * 2021-08-11 2021-11-30 武汉光庭信息技术股份有限公司 Vehicle speed control method and device based on speed compensation PID
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