CN110466531A - A kind of travel control method of vehicle, system and vehicle - Google Patents
A kind of travel control method of vehicle, system and vehicle Download PDFInfo
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- CN110466531A CN110466531A CN201910816607.XA CN201910816607A CN110466531A CN 110466531 A CN110466531 A CN 110466531A CN 201910816607 A CN201910816607 A CN 201910816607A CN 110466531 A CN110466531 A CN 110466531A
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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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
-
- 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
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
The embodiment of the invention discloses a kind of travel control method of vehicle, system and vehicles, are applied to technical field of vehicle, and can solve the problems, such as can not accurately control vehicle stops in designated position.This method comprises: obtaining the remaining stopping distance and speed of vehicle after obtaining control for brake request, which is the distance between vehicle present position and target parking position；According to remaining stopping distance, speed and preset stopping distance model, the acceleration slope value of vehicle is calculated；Vehicle driving is controlled with the acceleration slope value；Wherein, stopping distance model is the mathematical model integrated using the time as speed of the variable to vehicle.
Description
Technical field
The present embodiments relate to technical field of vehicle more particularly to a kind of travel control methods of vehicle, system and vehicle
.
Background technique
In automatic Pilot technology, generally for barrier is avoided collision, needs to control vehicle in specified off-position and set parking.
It is at present usually that vehicle parking is controlled by the velocity amplitude and acceleration slope of calibration.In practical applications, due to braking
In journey can only according to the velocity amplitude and acceleration slop control vehicle parking demarcated in advance, and the actual velocity amplitude of vehicle and plus
Acceleration slope and the value of calibration there may be error, therefore vehicle in Brake stop it is possible that the case where stopping in advance,
Or there is the case where delay parking, it stops so that vehicle can not be controlled accurately in designated position.
Summary of the invention
The embodiment of the present invention provides a kind of inhibition ultrasonic wave self-interference method, system and vehicle, to solve the prior art
In can not accurately control vehicle designated position stop the problem of.In order to solve the above-mentioned technical problem, the embodiment of the present invention is
It is achieved:
In a first aspect, providing a kind of travel control method of vehicle, comprising: after obtaining control for brake request, obtain
The remaining stopping distance and speed of vehicle, the remaining stopping distance of the vehicle are the vehicle present position and target parking position
The distance between set；
According to the remaining stopping distance, the speed and preset stopping distance model, adding for the vehicle is calculated
Acceleration slope value；
The vehicle driving is controlled with the acceleration slope value；
Wherein, the stopping distance model is the mathematics integrated using the time as speed of the variable to the vehicle
Model.
As an alternative embodiment, in the first aspect of the embodiment of the present invention, the stopping distance model is
Following formula one:
Wherein, stAfter indicating that the vehicle responds the control for brake request, traveling from initial time to t moment away from
From the initial time is at the time of obtaining the remaining stopping distance and the speed；v0Indicate the speed of the initial time
Degree, a0Indicate that the acceleration of the initial time, r indicate the acceleration slope of the vehicle.
As an alternative embodiment, in first aspect of the embodiment of the present invention, under the stopping distance model is
State formula two:
Wherein, stIndicate the remaining stopping distance of t moment after the vehicle responds the control for brake request, vtIt indicates
For the vehicle in the speed of t moment, the T indicates the control period of the vehicle, and r indicates the acceleration slope of the vehicle,
The t1Indicate that the vehicle responds the control for brake and requests to the total time between the vehicle parking, v0Indicate the vehicle
Begin to respond to initial velocity when control for brake request.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described according to the remaining parking
Distance, the speed and preset stopping distance model, calculate the acceleration slope value of the vehicle, comprising:
After the brake system of the vehicle responds the brake request, by the remaining stopping distance and the speed
The stopping distance model is substituted into, the acceleration slope value of the vehicle is calculated.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described according to the remaining parking
Distance, the speed and preset stopping distance model, calculate the acceleration slope value of the vehicle, comprising:
Before the brake system of the vehicle responds the brake request, according to the brake of the speed and the vehicle
The residual response time of system calculates the residual response delay distance of the vehicle；
And the remaining stopping distance is added into the residual response delay distance, obtain the first remaining stopping distance；
Described first remaining stopping distance and the speed are substituted into the stopping distance model, calculate adding for the vehicle
Acceleration slope value.
Second aspect provides a kind of drive-control system of vehicle, comprising:
Module is obtained, it is described for obtaining the remaining stopping distance and speed of vehicle after obtaining control for brake request
The remaining stopping distance of vehicle is the distance between the vehicle present position and target parking position；
Computing module, for calculating according to the remaining stopping distance, the speed and preset stopping distance model
The acceleration slope value of the vehicle；
Control module, for controlling the vehicle driving with the acceleration slope value；
Wherein, the stopping distance model is the mathematics integrated using the time as speed of the variable to the vehicle
Model.
As an alternative embodiment, in second aspect of the embodiment of the present invention, under the stopping distance model is
State formula one:
Wherein, stAfter indicating that the vehicle responds the control for brake request, traveling from initial time to t moment away from
From the initial time is at the time of obtaining the remaining stopping distance and the speed；v0Indicate the speed of the initial time
Degree, a0Indicate that the acceleration of the initial time, r indicate the acceleration slope of the vehicle.
As an alternative embodiment, in second aspect of the embodiment of the present invention, under the stopping distance model is
State formula two:
Wherein, stIndicate the remaining stopping distance of t moment after the vehicle responds the control for brake request, vtIt indicates
For the vehicle in the speed of t moment, the T indicates the control period of the vehicle, and r indicates the acceleration slope of the vehicle,
The t1Indicate that the vehicle responds the control for brake and requests to the total time between the vehicle parking, v0Indicate the vehicle
Begin to respond to initial velocity when control for brake request.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the computing module is specifically used for
In the remaining stopping distance and speed for obtaining vehicle, and after the brake system response brake request of the vehicle, by institute
It states remaining stopping distance and the speed substitutes into the stopping distance model, calculate the acceleration slope value of the vehicle.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the computing module, for obtaining
After the remaining stopping distance and speed of pick-up, before the brake system of the vehicle responds the brake request, according to institute
The residual response time for stating the brake system of speed and the vehicle calculates the residual response delay distance of the vehicle；
And the remaining stopping distance is added into the residual response delay distance, obtain the first remaining stopping distance；
Described first remaining stopping distance and the speed are substituted into the stopping distance model, calculate adding for the vehicle
Acceleration slope value.
The third aspect provides a kind of drive-control system of vehicle, comprising: processor, memory and is stored in the storage
On device and the computer program that can run on the processor, such as first party is realized when which is executed by the processor
The step of travel control method of vehicle described in face.
Fourth aspect, provides a kind of vehicle, and the vehicle includes: the traveling control system of the vehicle as described in second aspect
System.
5th aspect, provides a kind of computer readable storage medium, stores computer on the computer readable storage medium
Program, when which is executed by processor the step of the travel control method of the vehicle of realization as described in relation to the first aspect
6th aspect, provides a kind of computer program product, when the computer program product is run on computers,
So that the computer executes the step of travel control method of vehicle as described in relation to the first aspect
7th aspect, provides a kind of using distribution platform, and the application distribution platform is used to issue computer program product,
Wherein, when the computer program product is run on computers, so that the computer executes as described in relation to the first aspect
Some or all of travel control method of vehicle step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, remaining stopping distance (the i.e. vehicle of vehicle can be obtained after obtaining control for brake request
The distance between present position and target parking position) and speed；According to remaining stopping distance, speed and preset parking
Distance model calculates the acceleration slope value of vehicle；Vehicle driving is controlled with the acceleration slope value；Wherein, stopping distance mould
Type is the mathematical model integrated using the time as speed of the variable to vehicle.With this solution, it can be braked obtaining
After control request, vehicle in real time by stopping distance model, can be calculated according to the remaining stopping distance and speed of vehicle
Acceleration slope value, and control vehicle according to calculated acceleration slope value, so as to according to calculated acceleration
Degree slope value is real-time, accurately controls vehicle driving, so that vehicle can accurately stop in target stop.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram one of the travel control method of vehicle disclosed by the embodiments of the present invention；
Fig. 2 is a kind of flow diagram two of the travel control method of vehicle disclosed by the embodiments of the present invention；
Fig. 3 is a kind of flow diagram three of the travel control method of vehicle disclosed by the embodiments of the present invention；
Fig. 4 is a kind of structural schematic diagram one of the drive-control system of vehicle disclosed by the embodiments of the present invention；
Fig. 5 is a kind of structural schematic diagram two of the drive-control system of vehicle disclosed by the embodiments of the present invention；
Fig. 6 is a kind of structural schematic diagram three of the drive-control system of vehicle disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Term " first " and " second " in description and claims of this specification etc. are for distinguishing different pairs
As, rather than it is used for the particular order of description object.
The term " includes " of the embodiment of the present invention and " having " and their any deformation, it is intended that covering is non-exclusive
Include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly arrange
Those of out step or unit, but may include be not clearly listed or it is solid for these process, methods, product or equipment
The other step or units having.
It should be noted that in the embodiment of the present invention, " illustrative " or " such as " etc. words make example, example for indicating
Card or explanation.Be described as in the embodiment of the present invention " illustrative " or " such as " any embodiment or design scheme do not answer
It is interpreted than other embodiments or design scheme more preferably or more advantage.Specifically, " illustrative " or " example are used
Such as " word is intended to that related notion is presented in specific ways.
The embodiment of the present invention provides travel control method, system and the vehicle of a kind of vehicle, can obtain control for brake
After request, the remaining stopping distance (i.e. the distance between vehicle present position and target parking position) and vehicle of vehicle are obtained
Speed；According to remaining stopping distance, speed and preset stopping distance model, the acceleration slope value of vehicle is calculated；With this plus
Acceleration slope value controls vehicle driving；Wherein, stopping distance model is integrate by speed of the variable to vehicle of the time
The mathematical model arrived.With this solution, can be after obtaining control for brake request, it can be according to the remaining stopping distance of vehicle
And speed calculates the acceleration slope value of vehicle, and control vehicle according to calculated in real time by stopping distance model
Acceleration slope value, so as to according to calculated acceleration slope value in real time, accurately control vehicle driving so that
Vehicle can accurately stop in target stop.
The following examples are vehicles with the executing subject of the travel control method of vehicle provided in an embodiment of the present invention
For drive-control system, the travel control method of vehicle provided in an embodiment of the present invention is illustratively illustrated.
The travel control method of vehicle provided in an embodiment of the present invention, which can be applied to automatic Pilot and automatic parking etc., to be needed
It controls in the application scenarios of vehicle brake parking, and the starting control method of the vehicle can be applied to electric car.
Embodiment one
As shown in Figure 1, the embodiment of the present invention provides a kind of travel control method of vehicle, this method may include following steps
It is rapid:
101, after obtaining control for brake request, the remaining stopping distance and speed of vehicle are obtained.
Wherein, the remaining stopping distance of vehicle is the distance between vehicle present position and target parking position.Optionally,
The remaining stopping distance of vehicle can driving path distance between the vehicle present position planned and target parking position.
Optionally, in the embodiment of the present invention, target parking position can be some preset parking position, and above-mentioned target is stopped
Truck position can also be vehicle when detecting barrier, the target parking position determined according to the location of barrier
It sets.
Optionally, the location of above-mentioned remaining stopping distance can be planned in advance according to path, current vehicle and
Target parking position is calculated；Above-mentioned residue stopping distance can be current according to following preset stopping distance models, vehicle
Speed and vehicle currently practical acceleration slope determine.
102, according to remaining stopping distance, speed and preset stopping distance model, the acceleration slope of vehicle is calculated
Value.
Wherein, above-mentioned stopping distance model is the mathematics integrated using the time as speed of the variable to the vehicle
Model.
In the embodiment of the present invention, above-mentioned acceleration slope can be used for characterizing variable quantity of the acceleration within the unit time.
Optionally, above-mentioned stopping distance model can be following formula one in the embodiment of the present invention:
Wherein, s in formula onetAfter indicating that the vehicle responds the control for brake request, from initial time to t moment
Operating range, the initial time is at the time of obtaining the remaining stopping distance and the speed；v0Indicate described initial
The speed at moment, a0Indicate that the acceleration of the initial time, r indicate the acceleration slope of the vehicle.
Optionally, above-mentioned stopping distance model is following formula two in the embodiment of the present invention:
Wherein, s in formula twotIndicate the remaining stopping distance of t moment after vehicle response control for brake is requested, vtIt indicates
Vehicle is in the speed of t moment, and in the control period of T expression vehicle, r indicates the acceleration slope of vehicle, t1Indicate vehicle reactive mode
Dynamic control is requested to the total time between vehicle parking, v0Indicate initial velocity when vehicle begins to respond to control for brake request.
In the embodiment of the present invention, above-mentioned 102 can specifically include following two kinds of optional implementations:
The first optional implementation, after the brake system of vehicle responds brake request, the traveling of vehicle is controlled
The remaining stopping distance and speed that system can will acquire substitute into stopping distance model (formula one or two), calculate the acceleration of vehicle
Spend slope value.
In the first above-mentioned optional implementation, suitable for obtaining after the brake system of vehicle responds brake request
The case where taking remaining stopping distance and speed.
Second of optional implementation, before the brake system of vehicle responds brake request, can according to speed and
The residual response time of the brake system of vehicle calculates the residual response delay distance of vehicle；And remaining stopping distance is added
Residual response delay distance obtains the first remaining stopping distance；Then by the first remaining stopping distance and speed substitute into parking away from
From model (formula one or two), the acceleration slope value of vehicle is calculated.
In above-mentioned second of optional implementation, it is suitable for after obtaining control for brake request, in the brake of vehicle
Before system responds brake request, the case where obtaining remaining stopping distance and speed, vehicle may have a residual response
Delay distance, therefore remaining stopping distance is added into residual response delay distance, obtain the first remaining stopping distance；Then by
One remaining stopping distance and speed substitute into stopping distance model, calculate the acceleration slope value of vehicle.
Usual vehicle before the brake system of vehicle responds brake request, can be deposited after obtaining control for brake request
In a response time, after obtaining current remaining stopping distance and speed, can first calculate current time there remains it is more
Few response time, and according to the current vehicle speed of remaining response time and vehicle, calculate residual response delay distance.
Specifically, residual response delay distance can be the product of remaining response time and current vehicle speed.
Wherein, it can be added and rung according to maximum response time when above-mentioned calculating current time there remains how many response times
It is obtained between seasonable, above-mentioned maximum response time is that the brake system of vehicle is enabled from control for brake request to the real response braking
Time needed for control request.
It should be noted that in the embodiment of the present invention, since the brake system of vehicle is enabled from control for brake request to reality
Border responds control for brake request and needs the regular hour, it is considered that vehicle is with initial velocity (i.e. braking control in this period
Speed when system request is enabled) it slides, therefore can be before establishing stopping distance model, first when the peak response of calibration vehicle
Between.
Optionally, in the embodiment of the present invention, acceleration slope range can also be demarcated.
If too fast passenger of slowing down in the unit time when due to vehicle brake may feel that strong impact, if subtracted
The stopping distance that speed then may result in very much vehicle slowly is too long, it is therefore desirable to certain acceleration slope range is demarcated, to guarantee
The safety of driving and comfort.
Since every a vehicle is due to othernesses such as car weight, suspension, so that same acceleration slope acts on not homology
When on the vehicle of column, the actual acceleration slope of vehicle is different, and on vehicle passenger impression be also it is inconsistent, because
This needs individually demarcates every a vehicle.Specifically, can be used several with money vehicle, by requesting brake system to be pressed
Different acceleration slopes slow down, and using each acceleration slope test several groups data (can be actual acceleration number
According to), then according to the application speed data, determine acceleration slope range.It wherein, should be in conjunction with the operating condition comfortably braked when test
It is tested with the operating condition of emergency braking.
In the embodiment of the present invention, after above-mentioned 102, the drive-control system of vehicle can also judge to calculate acceleration oblique
Whether rate is in the acceleration slope range of calibration, and is not at the acceleration slope range of calibration in the acceleration slope of acquisition
In the case where, the calculated acceleration slope is adjusted, to guarantee that the acceleration slope of vehicle is in the acceleration slope of calibration
In range, safety and the comfort of driving thereby may be ensured that.
103, vehicle driving is controlled with acceleration slope value.
It, can be oblique according to the calculated acceleration when above-mentioned 102 calculate acceleration slope value in the embodiment of the present invention
Acceleration value in the control period of rate value and current vehicle, calculates the acceleration value in next control period, and will calculate
Next control period in acceleration value export to brake system, brake system is according to the acceleration value and vehicle current
Acceleration value calculates the braking strength for needing to apply, and is braked according to the braking strength, to realize with acceleration slope
Value control vehicle driving.
In the travel control method of vehicle provided in an embodiment of the present invention, it can be obtained after obtaining control for brake request
The remaining stopping distance (i.e. the distance between vehicle present position and target parking position) and speed of pick-up；Stopped according to residue
Vehicle distance, speed and preset stopping distance model, calculate the acceleration slope value of vehicle, with acceleration slope value control
Vehicle driving；Wherein, stopping distance model is the mathematical model integrated using the time as speed of the variable to vehicle.It is logical
The program is crossed, it can be after obtaining control for brake request, it can be according to the remaining stopping distance and speed of vehicle, in real time
By stopping distance model, the acceleration slope value of vehicle is calculated, and controls vehicle according to calculated acceleration slope value, from
And can according to calculated acceleration slope value in real time, accurately control vehicle driving so that vehicle can be accurate
It stops in target stop.
Embodiment two
A kind of optional implementation integrally regards the process of vehicle brake parking as a continuous change moderating process,
Above-mentioned stopping distance model can be formula one in the embodiment of the present invention:
As shown in Fig. 2, the travel control method of vehicle provided in an embodiment of the present invention includes the following steps:
201, integrally regard the process of vehicle brake parking after vehicle response control for brake request as a continuous change
Moderating process, to obtain vehicle in the speed v of t momentt。
Above-mentioned 201 can specifically be realized by following 201a and 201b:
201a, the acceleration expression formula for establishing t moment.
First, it is assumed that current acceleration slope is r, then it can establish the acceleration expression formula of t moment, i.e., following formula three
Are as follows: at=a0+ ∫ r dt=a0+rt；
Wherein, atIndicate the acceleration of t moment vehicle, a0Indicate the acceleration of initial time.
201b, according to the acceleration expression formula, obtain the velocity expression v of t momentt。
To a in formula threetIt is integrated to obtain formula four are as follows:
Wherein, vtIndicate the speed of t moment vehicle, v0Indicate initial velocity.
202, to be variable to v from initial time to the time between t momenttIt is integrated, obtains stopping distance model.
Optionally, to the v in above-mentioned formula fourtIt is available after being integrated Due in the embodiment of the present invention, initial displacement s0Usually 0, therefore stopping distance model
It can be the form of above-mentioned formula one.
203, after obtaining control for brake request, the remaining stopping distance and speed of vehicle are obtained.
204, according to remaining stopping distance, speed and preset stopping distance model, the acceleration slope of vehicle is calculated
Value.
In the embodiment of the present invention, whether control for brake request is had responded to according to brake system, two kinds of situation meters can be divided into
Calculate the acceleration slope value of vehicle.
The first situation: brake system does not respond control for brake request, and (i.e. brake system response control for brake requests it
Before), calculate the acceleration slope value of vehicle.
Before brake system responds control for brake request, initial acceleration a0It is 0, therefore above-mentioned formula one can be expressed as:
Assuming that vt=0, it can obtain beginning to respond to control for brake request from the brake system of vehicle according to above-mentioned formula four
To the total time of vehicle parking are as follows:
Wherein, the acceleration slope of the previous control periodic request of r ' expression vehicle.
In conjunction with above-mentioned t1And stExpression formula it is available:
Wherein, the current speed of v ' expression vehicle, t2Be calibration vehicle brake system response control for brake request
Since maximum response time, t ' are the time counted issuing brake request signal.
Acceleration slope can be obtained according to above-mentioned formula:In s and v ' it is known that and t1
In the case where knowing, the occurrence of available acceleration slope.
Second situation: brake system has responded to control for brake request, and (i.e. brake system response control for brake requests it
Afterwards), the acceleration slope value of vehicle is calculated.
Since each moment can use current residual stopping distance as input, end speed is also 0；And vehicle plus
Tachometric survey derives from Inertial Measurement Unit (Inertial measurement unit, IMU), and measurement noise is bigger, therefore
Initial acceleration angle value of the acceleration value request in previous control period as residual movement section can be used, obtain: a0=rt ".
Wherein t " is the time for beginning to respond to control for brake from brake system and requesting to count.
Assuming that vt=0, the total time from initial time to vehicle parking can be obtained according to above-mentioned formula four are as follows:
Wherein, the acceleration slope of the previous control periodic request of r ' expression vehicle.
The remaining stopping distance s of vehicle can be calculated, and can be obtained according to formula one:
In known s, v ' and t3In the case where, the specific of acceleration slope can be calculated
Value.
205, vehicle driving is controlled with acceleration slope value.
The travel control method of vehicle provided in an embodiment of the present invention integrally regards the Brake stop process of vehicle as one
Even moderating process, and stopping distance model is established, and the acceleration that vehicle can in real time, be accurately calculated by the model is oblique
Rate, and vehicle driving is controlled according to calculated acceleration slope value in real time, improve the stopping accuracy of vehicle.
Embodiment three
A kind of optional implementation, by movement of the vehicle in each control period during Brake stop
Regard an even moderating process as, above-mentioned stopping distance model is formula two:
As shown in figure 3, the travel control method of vehicle provided in an embodiment of the present invention includes the following steps:
301, movement in each control period after vehicle response control for brake request one is equivalent to even to subtract
Fast process, to obtain vehicle after response control for brake request in the speed v of t momentt。
Optionally, in the embodiment of the present invention, above-mentioned 301 can be realized by following 301a, 301b and 301c.
301a, formula five is established.
Above-mentioned formula five are as follows: an=(n+1) rT.Wherein, n is the integer greater than 0, andT indicates vehicle reactive mode
The duration of dynamic control request, anIndicate the acceleration in n-th of control period of vehicle.
After brake system response, the request of actual vehicle acceleration was requested according to the control period of Millisecond, In
Acceleration value is fixed in each control period.Therefore the expression formula of acceleration can be obtained by recursion each control period
It arrives.
301b, formula six is established.
Above-mentioned formula six are as follows: vn=vn-1+an-1T.Wherein, vnIndicate the speed in n-th of control period of vehicle.
Specifically, when resettling the expression formula of the speed in above-mentioned n-th of control period, it can be by vehicle in each control period
Movement can be regarded as uniformly retarded motion, above-mentioned velocity expression (i.e. formula six) is established in the form of recursion:
The velocity expression in the 1st control period: v1=v0+a0T；
The velocity expression in the 2nd control period: v2=v1+a1T；
……
The velocity expression in n-th of control period: vn=vn-1+an-1T。
301c, formula five is substituting to formula six, obtains formula seven.
Above-mentioned formula seven are as follows:Wherein, vtIndicate speed of the vehicle in t moment, v0It indicates
Vehicle begins to respond to initial velocity when control for brake request.
Following formula eight can be obtained first after formula five is substituting to formula six:
Then the n in above-mentioned formula eight is replaced withLater, formula seven is obtained.
302, to request to the time between vehicle parking to be variable to v from vehicle response control for braketIt is integrated, is obtained
To stopping distance model.
t1It can be obtained by above-mentioned formula four.Specifically, can pass through since the end speed of docking process is 0
V in above-mentioned formula 3 is settIt is 0, and solves quadratic equation with one unknown, solves t1It obtains:
303, after obtaining control for brake request, the remaining stopping distance and speed of vehicle are obtained.
304, according to remaining stopping distance, speed and preset stopping distance model, the acceleration slope of vehicle is calculated
Value.
And by above-mentioned t1, remaining stopping distance and speed substitute into above-mentioned stopping distance model, it is oblique that acceleration can be obtained
Rate value.
305, vehicle driving is controlled with acceleration slope value.
For above-mentioned 303 to 305 description, it is referred to the description in above-described embodiment one to 101 to 103, herein not
It repeats again.
The travel control method of vehicle provided in an embodiment of the present invention controls vehicle in each of Brake stop process
An even moderating process is all regarded in movement in period processed as, compared to by the Brake stop process of vehicle integrally regard as one it is even
Moderating process is more nearly the actual motion conditions of vehicle, therefore the stopping distance model established is more accurate, Ke Yishi
When the acceleration slope that vehicle can be more accurately calculated according to the model, and it is oblique according to real-time calculated acceleration
Modulus control vehicle driving further increases the stopping accuracy of vehicle.
It should be noted that in the embodiment of the present invention, the travel control method of above-mentioned each vehicle shown in the drawings is
Illustratively illustrated for combining an attached drawing in the embodiment of the present invention.When specific implementation, shown in above-mentioned each attached drawing
Travel control method other combinable any attached drawings for can be combined with illustrating in above-described embodiment of vehicle realize, this
Place repeats no more.
As shown in figure 4, the embodiment of the present invention provides a kind of drive-control system of vehicle, which includes:
Module 401 is obtained, for obtaining the remaining stopping distance and speed of vehicle after obtaining control for brake request,
The remaining stopping distance of vehicle is the distance between vehicle present position and target parking position；
Computing module 402, for calculating vehicle according to remaining stopping distance, speed and preset stopping distance model
Acceleration slope value；
Control module 403, for controlling vehicle driving with acceleration slope value；
Wherein, stopping distance model is the mathematical model integrated using the time as speed of the variable to vehicle.
As an alternative embodiment, stopping distance model is following public affairs in second aspect of the embodiment of the present invention
Formula one:
Wherein, stAfter indicating that the vehicle responds the control for brake request, traveling from initial time to t moment away from
From the initial time is at the time of obtaining the remaining stopping distance and the speed；v0Indicate the speed of the initial time
Degree, a0Indicate that the acceleration of the initial time, r indicate the acceleration slope of the vehicle.
As an alternative embodiment, stopping distance model is following public affairs in second aspect of the embodiment of the present invention
Formula two:
Wherein, stIndicate the remaining stopping distance of t moment after vehicle response control for brake is requested, vtIndicate vehicle in t
The speed at quarter, T indicate the control period of vehicle, and r indicates the acceleration slope of vehicle, t1Indicate vehicle response control for brake request
To the total time between vehicle parking, v0Indicate initial velocity when vehicle begins to respond to control for brake request.
As an alternative embodiment, in second aspect of the embodiment of the present invention, computing module 402 is specifically used for
Obtain vehicle remaining stopping distance and speed, and vehicle brake system response brake request after, by residue parking away from
Stopping distance model is substituted into from speed, calculates the acceleration slope value of vehicle.
As an alternative embodiment, in second aspect of the embodiment of the present invention, computing module 402, for obtaining
After the remaining stopping distance and speed of pick-up, before the brake system response brake request of vehicle, according to speed and vehicle
Brake system the residual response time, calculate the residual response delay distance of vehicle；
And remaining stopping distance is added into residual response delay distance, obtain the first remaining stopping distance；
First remaining stopping distance and speed are substituted into stopping distance model, calculate the acceleration slope value of vehicle.
As shown in figure 5, the embodiment of the present invention also provides a kind of drive-control system of vehicle, which includes: processor
501,502 are stored and is stored in the computer program that can be run on the memory 502 and on the processor 501, the computer
The step of travel control method of the vehicle in above method embodiment is realized when program is executed by the processor 501.
The drive-control system of vehicle provided in an embodiment of the present invention can be realized each shown in above method embodiment
A process, to avoid repeating, details are not described herein again.
The embodiment of the present invention provides a kind of drive-control system of vehicle, can obtain after obtaining control for brake request
The remaining stopping distance (i.e. the distance between vehicle present position and target parking position) and speed of pick-up；Stopped according to residue
Vehicle distance, speed and preset stopping distance model, calculate the acceleration slope value of vehicle；With acceleration slope value control
Vehicle driving；Wherein, stopping distance model is the mathematical model integrated using the time as speed of the variable to vehicle.It is logical
The program is crossed, it can be after obtaining control for brake request, it can be according to the remaining stopping distance and speed of vehicle, in real time
By stopping distance model, the acceleration slope value of vehicle is calculated, and controls vehicle according to calculated acceleration slope value, from
And can according to calculated acceleration slope value in real time, accurately control vehicle driving so that vehicle can be accurate
It stops in target stop.
The embodiment of the present invention provides a kind of vehicle, which is characterized in that the vehicle includes: vehicle involved in above-described embodiment
Drive-control system.
Optionally, the drive-control system of vehicle involved in above-described embodiment can be the acceleration slope control in vehicle
Device processed, or the system of acceleration slope controller and other devices or module composition.
Illustratively, it is illustrated in figure 6 a kind of structural schematic diagram of the drive-control system of vehicle.Wherein, the vehicle control
System processed includes acceleration slope controller, the controller of parking that is connect with acceleration slope controller, speed sensing module and
The travel controller part of vehicle, and the vehicle sound wave module being connect with controller of parking.
In Fig. 6, after ultrasonic wave module detects the obstacle information of vehicle periphery, determine between barrier and vehicle
Distance, and the distance is sent to controller of parking, controller of parking is according to the distance between barrier and vehicle and plans
Path, determine target stop, and export remaining stopping distance and give acceleration slope controller, acceleration slope controller can
With according to from the remaining stopping distance and the speed obtained from speed sensing module that controller obtains of parking, calculating vehicle will be
When target stop stops, the acceleration slope that should currently export, and exported with the acceleration slope value to the traveling of vehicle
Control device, so that the travel controller part of vehicle controls vehicle driving.
It should be noted that speed when parking is usually within the scope of 0-1.0m/s, context of methods can be adapted for
The scene parked, namely the scene suitable for speed within the scope of 0-1.0m/s.
Optionally, the vehicle in the embodiment of the present invention can be electric car.
The embodiment of the present invention provides a kind of computer readable storage medium, stores and calculates on the computer readable storage medium
Machine program realizes each process in above method embodiment when the computer program is executed by processor.
The embodiment of the present invention provides a kind of computer program product, when computer program product is run on computers,
So that computer executes each process in above method embodiment.
The embodiment of the present invention provide it is a kind of using distribution platform, using distribution platform for issuing computer program product,
Wherein, when computer program product is run on computers, so that computer executes each mistake in above method embodiment
Journey.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be object unit, can be in one place, or may be distributed over multiple networks
On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
Claims (10)
1. a kind of travel control method of vehicle characterized by comprising
After obtaining control for brake request, obtain the remaining stopping distance and speed of vehicle, the remaining parking of the vehicle away from
From for the distance between the vehicle present position and target parking position；
According to the remaining stopping distance, the speed and preset stopping distance model, the acceleration of the vehicle is calculated
Slope value；
The vehicle driving is controlled with the acceleration slope value；
Wherein, the stopping distance model is the mathematical modulo integrated using the time as speed of the variable to the vehicle
Type.
2. the method according to claim 1, wherein the stopping distance model is following formula one:
Wherein, stAfter indicating that the vehicle responds the control for brake request, from initial time to the operating range of t moment, institute
At the time of initial time is stated to obtain the remaining stopping distance and the speed；v0Indicate the speed of the initial time, a0Table
Show that the acceleration of the initial time, r indicate the acceleration slope of the vehicle.
3. the method according to claim 1, wherein the stopping distance model is following formula two:
Wherein, stIndicate the remaining stopping distance of t moment after the vehicle responds the control for brake request, vtDescribed in expression
For vehicle in the speed of t moment, the T indicates the control period of the vehicle, and r indicates the acceleration slope of the vehicle, described
t1Indicate that the vehicle responds the control for brake and requests to the total time between the vehicle parking, v0Indicate that the vehicle is opened
Begin to respond initial velocity when control for brake request.
4. according to the method in claim 2 or 3, which is characterized in that described according to the remaining stopping distance, the speed
And preset stopping distance model, calculate the acceleration slope value of the vehicle, comprising:
After the brake system of the vehicle responds the brake request, the remaining stopping distance and the speed are substituted into
The stopping distance model calculates the acceleration slope value of the vehicle.
5. according to the method in claim 2 or 3, which is characterized in that described according to the remaining stopping distance, the speed
And preset stopping distance model, calculate the acceleration slope value of the vehicle, comprising:
Before the brake system of the vehicle responds the brake request, according to the brake system of the speed and the vehicle
The residual response time, calculate the residual response delay distance of the vehicle；
And the remaining stopping distance is added into the residual response delay distance, obtain the first remaining stopping distance；
Described first remaining stopping distance and the speed are substituted into the stopping distance model, calculate the acceleration of the vehicle
Slope value.
6. a kind of drive-control system of vehicle characterized by comprising
Module is obtained, for obtaining the remaining stopping distance and speed of vehicle, the vehicle after obtaining control for brake request
Remaining stopping distance be the distance between the vehicle present position and target parking position；
Computing module, for according to the remaining stopping distance, the speed and preset stopping distance model, described in calculating
The acceleration slope value of vehicle；
Control module, for controlling the vehicle driving with the acceleration slope value；
Wherein, the stopping distance model is the mathematical modulo integrated using the time as speed of the variable to the vehicle
Type.
7. system according to claim 6, which is characterized in that the stopping distance model is following formula one:
Wherein, stAfter indicating that the vehicle responds the control for brake request, from initial time to the operating range of t moment, institute
At the time of initial time is stated to obtain the remaining stopping distance and the speed；v0Indicate speed, a of the initial time0Table
Show that the acceleration of the initial time, r indicate the acceleration slope of the vehicle.
8. system according to claim 6, which is characterized in that the stopping distance model is following formula two:
Wherein, stIndicate the remaining stopping distance of t moment after the vehicle responds the control for brake request, vtDescribed in expression
For vehicle in the speed of t moment, the T indicates the control period of the vehicle, and r indicates the acceleration slope of the vehicle, described
t1Indicate that the vehicle responds the control for brake and requests to the total time between the vehicle parking, v0Indicate that the vehicle is opened
Begin to respond initial velocity when control for brake request.
9. a kind of vehicle, which is characterized in that the vehicle includes the traveling control such as the described in any item vehicles of claim 6 to 8
System processed.
10. a kind of computer readable storage medium, which is characterized in that store computer journey on the computer readable storage medium
Sequence realizes that the traveling such as vehicle described in any one of claim 1 to 5 controls system when the computer program is executed by processor
System.
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