CN113771828A - 一种自动驾驶定点停车的控制方法及*** - Google Patents

一种自动驾驶定点停车的控制方法及*** Download PDF

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CN113771828A
CN113771828A CN202111147122.XA CN202111147122A CN113771828A CN 113771828 A CN113771828 A CN 113771828A CN 202111147122 A CN202111147122 A CN 202111147122A CN 113771828 A CN113771828 A CN 113771828A
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vehicle
control
point
distance
target
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石庆兰
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ZF Commercial Vehicle Systems Qingdao Co Ltd
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ZF Commercial Vehicle Systems Qingdao Co Ltd
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Priority to CN202111147122.XA priority Critical patent/CN113771828A/zh
Publication of CN113771828A publication Critical patent/CN113771828A/zh
Priority to EP22198733.2A priority patent/EP4159569A1/en
Priority to US17/936,500 priority patent/US20230123715A1/en
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Abstract

本发明公开了一种自动驾驶定点停车的控制方法及***，属于汽车智能驾驶技术领域，控制方法包括如下步骤：确定目标停车位置，自动生成目标轨迹点、预估制动距离和预估滑行距离；根据目标轨迹点以及当前控制偏差，计算当前位置距离与目标终点之间的纵向距离；实时采集车辆行驶信息，计算当前车速、坡度、车辆制动响应时间信息；根据距离目标终点的纵向距离和实时车速以固定的频率更新纵向距离；基于控制状态决策逻辑实时估算与目标停车点的距离，以确定车辆控制状态。控制***包括车辆信息采集模块、位置估计模块、控制状态决策模块，通过采用该控制方法实现自动驾驶或者辅助驾驶过程中高精度的定点停车，同时能够兼顾驾驶舒适性。

Description

一种自动驾驶定点停车的控制方法及***
技术领域
本发明属于汽车智能驾驶技术领域，具体涉及一种自动驾驶定点停车的控制方法及***。
背景技术
在自动驾驶车辆中，很多情况下要求车辆能够准确停止在目标位置上，比如公交车站、电动公交充电、牵引车挂车对接、码头运货等。
常规的自动驾驶轨迹跟踪与速度实时控制方法受限于执行器的响应时间与精度，以下三种实际情况使得常规的自动驾驶控制在以AMT和气动制动***的重型卡车上停车位置精度不够：(1)通常虚拟驾驶员会每100毫秒更新一次车辆定位，这意味着即使速度为1km/h，车辆在两次位置信息更新之间已经移动了3.6厘米，定位更新频率低；(2)对于大多数商用车来说，离合器执行器和制动控制***都是气动执行***，响应滞后很长；例如，从施加制动到制动缸建立到所需的压力，主车需要600多毫秒，拖车需要1000多毫秒；另一方面，离合器控制和制动力控制在低幅度范围内都非常不稳定和不准确；(3)要达到10cm级别的停车精度，必须使用极低(1-2km/h)且稳定(甚至更重要)的车速，对于大多数带有AMT的商用车，***需要控制离合器在该速度范围内工作在打滑状态，这对离合器和制动器的控制精度提出了很高的要求。
针对以上情况，需要开发设计特定的控制功能，通过控制离合器和制动***实现高精度定点停车，同时能够兼顾驾驶舒适性。
发明内容
为了解决上述问题，本发明提出了一种自动驾驶定点停车的控制方法及***，实现高精度定点停车功能和最大的舒适度。
本发明的技术方案如下：
一种自动驾驶定点停车的控制方法，包括如下步骤：
S1.确定目标停车位置，自动生成目标轨迹点、预估制动距离和预估滑行距离；
S2.根据目标轨迹点以及当前控制偏差，计算当前位置与目标终点之间的纵向距离；
S3.实时采集车辆行驶信息，计算当前车速、坡度、车辆制动响应时间信息；
S4.根据距离目标终点的纵向距离和实时车速以固定的频率更新纵向距离；
S5.基于控制状态决策逻辑实时估算与目标停车点的距离，以确定车辆控制状态。
进一步地，目标轨迹点为一个点列表(p0,p1,…,pn-1,pn)，其中p0是当前位置点，Pn是目标停车点，(p1…pn-1)是当前位置点和目标停车点之间的离散预测位置。
进一步地，车辆纵向距离的计算更新采用基于卡尔曼滤波的融合算法；固定的频率预设为10ms。
进一步地，控制状态决策逻辑的内容为：
若距离目标终点的纵向距离≤预估的制动距离，进入制动控制阶段；
若距离目标终点的纵向距离≤预估的滑行距离，进入减速滑行控制阶段；
若当前车速≥稳态时目标车速+补偿车速，进入减速控制阶段；
否则，车辆保持在稳态速度控制阶段。
进一步地，减速阶段控制车辆缓慢减速至设定的稳定驾驶车速；稳态速度阶段控制离合器处于半滑摩状态，使车速能够稳定在固定的车速区间；减速滑行阶段控制打开离合器减速蠕行；制动阶段根据目标终点距离控制车辆缓慢停止至目标位置点。
一种自动驾驶定点停车的控制***，采用如上所述自动驾驶定点停车的控制方法实现车辆自动驾驶的定点停车；
所述控制***包括车辆信息采集模块、位置估计模块、控制状态决策模块；其中，
车辆信息采集模块，采用达到毫米级精度车轮滚动距离的车辆主动速度传感器，实时采集车辆行驶信息并计算车速、坡度、车辆制动响应时间信息，并将这些信息发动到位置估计模块；
位置估计模块，采用基于卡尔曼滤波的融合算法，基于车辆信息采集模块传递过来的车辆信息，同时配以车辆自身ESC模块中10ms更新率的偏航率进行车辆位置的实时计算；
控制状态决策模块，集成了控制状态决策逻辑控制程序，根据位置估计模块实时估算的车辆距离和当前车辆速度进行车辆状态控制。
进一步地，使用具有三级联的控制***，外级联控制车辆位置，中间级联控制车速，内级联用于控制制动***施加的制动力和离合器控制施加的传动系力。
进一步地，完成定点停车的控制逻辑为：
1)进入定点停车控制模式后，车辆缓慢减速至预设的恒定机动速度；
2)使用运动控制模式平稳地保持车辆操纵速度，直到车辆距目标停车点的距离达到由行驶阻力和离合器打开滞后时间计算的离合器预打开距离；
3)保持离合器打开并让车辆自由滚动，直到车辆距目标停车点的距离达到由行驶阻力和制动施加滞后时间计算的制动预施加距离；
4)一旦车辆停止，施加全制动以保持车辆静态安全。
进一步地，运动控制模式通过牵引控制、制动控制和离合器执行器控制共同配合完成车辆的速度平稳控制。
本发明所带来的有益技术效果：
通过采用车辆传感器，并基于卡尔曼滤波的融合算法，对接收的定位信息进行了更短周期的预估，获得了更实时、更高精度的定位；通过本发明控制方法可以控制离合器保持在滑磨状态，有利于停车时的快速松开动力***传动链，使离合器控制和制动力控制在低幅度范围内都非常稳定和准确，兼顾了驾驶舒适性；通过将到目标停车点的距离规划在一个稳定可控的车速，在停车前，同时控制离合器和制动***，已达到最佳的停车位置。
附图说明
图1为本发明自动驾驶定点停车控制方法的结构图；
图2为本发明自动驾驶定点停车控制阶段的车速图。
具体实施方式
下面结合附图以及具体实施方式对本发明作进一步详细说明：
为了实现高精度定点停车功能，一种自动驾驶定点停车的控制***使用具有三级联的控制***，外级联控制车辆位置，中间级联控制车速，内级联用于控制制动***施加的制动力和离合器控制施加的传动系力。
整个控制***主要包括车辆信息采集模块、位置估计模块、控制状态决策模块。其中，车辆信息采集模块，采用达到毫米级精度车轮滚动距离的车辆主动速度传感器，实时采集车辆行驶信息并计算车速、坡度、车辆制动响应时间信息，并将这些信息发动到位置估计模块；位置估计模块，采用基于卡尔曼滤波的融合算法，基于车辆信息采集模块传递过来的车辆信息，同时配以车辆自身ESC模块中10ms更新率的偏航率进行车辆位置的实时计算；控制状态决策模块，集成了控制状态决策逻辑控制程序，根据位置估计模块实时估算的车辆距离和当前车辆速度进行车辆状态控制。
如图1所示，一种自动驾驶定点停车的控制方法，包括如下步骤：
步骤1：首先基于控制***确定目标停车位置，自动生成目标轨迹点(Pt0…Ptn)、预估制动距离和预估滑行距离；
步骤2：根据目标轨迹点(自动驾驶中由虚拟驾驶员发送自动生成的目标轨迹点)以及当前控制偏差dx(车辆实际位置点与目的轨迹点的偏差，由虚拟驾驶员提供)，计算当前位置与目标终点之间的纵向距离，此距离更新频率取决于目标轨迹点发送的频率，频率的预设值可以设置为10ms或10ms以下；
步骤3：通过车辆安装的传感器实时采集车辆信息并计算当前车速v_speed、坡度、车辆制动响应时间等信息；
步骤4：根据步骤2计算出的距离目标终点的纵向距离和实时车速更新纵向距离dx_end，此距离更新频率为该***控制器的计算频率，为10ms或10ms以下；
步骤5：根据当前车速、坡度、车辆制动响应时间等信息，基于控制状态决策逻辑实时估算与目标停车点的距离，以确定车辆何时进入减速阶段、稳态速度阶段、滑行阶段或制动阶段的控制状态，具体各阶段的判断逻辑为：
(1)若dx_end≤预估的制动距离，进入制动控制阶段,此阶段根据目标终点距离控制制动***使车辆缓慢停止至目标位置点；
(2)若dx_end≤预估的滑行距离，进入减速滑行控制阶段,该阶段以一定的斜率控制打开离合器减速蠕行；
(3)若当前车速v_speed≥稳态时目标车速(1km/h)+补偿车速(1km/h)，进入减速控制阶段,该阶段以一定的斜率缓慢减速至稳态时设定的车速(1km/h)，该斜率可以根据终点距离决定；
(4)否则，车辆保持在稳态速度控制阶段,这个阶段目标时控制离合器半滑摩状态，使车速能够稳定在比较小(1km/h)的车速区间。
上述1km/h为常规车型的设定值，此数值可以根据车型、环境等情况具体设定，不唯一。
本发明其实质包含下面几个方面的关键内容。
一、更高频率的定位估计
在常规的自动驾驶中，由于硬件或计算资源的限制，虚拟驾驶员会以超过100ms的速率更新车辆定位，并与RTK、GPS、IMU和激光雷达SLAM进行定位融合。为了实现更精准的定点停车，必须采用更高的定位速率，如10ms，从而达到10cm的水平停止精度。所以，本发明控制***的车辆信息采集模块采用了低成本的解决方案，即采用基于高精度车辆传感器信息的卡尔曼位置估计算法，由于来自高精度车辆传感器的信息更准确、更直接，例如来自主动速度传感器的具有毫米级精度的车轮滚动距离，再辅助以来自ESC模块的偏航率(具有10ms更新率)，因此位置估计精度和稳定性将比来自IMU的融合结果要好得多。
二、位置控制
从当前位置到所需停车位置的距离信息由虚拟驾驶员通过轨迹接口提供，这包括在纵向(x)和横向(y)上持续更新到所需目标点的距离。轨迹接口定义为一个点列表(p0,p1,…,pn-1,pn)，其中p0是位置控制的当前位置点，Pn是期望的停止位置点，(p1…Pn-1)是当前位置点和期望停止位置点之间离散的预测位置。在本发明的控制***中，根据轨迹点列表找到终点停止位置点，并以10ms或10ms以下的周期实时计算车辆当前位置与找到的终点停止位置之间的纵向距离(dx_end)。
另一方面，为了克服离合器、制动驱动***的长响应滞后，采用基于车辆动力学的特殊模型预测方式实现目标停车模式下的纵向控制，根据估计的当前位置和终点停止位置之间的距离提前控制离合器和制动。
基于车辆动力学的特殊模型预测方式的定点停车程序逻辑为：
1)当虚拟驾驶员选择进入定点停车控制模式时，车辆缓慢减速至预设的恒定机动速度(1km/h)；
2)使用特殊的运动控制模式平稳地保持操纵速度，直到dx_end达到由行驶阻力和离合器打开滞后时间计算的离合器预打开距离；
3)保持离合器打开并让车辆自由滚动，直到dx_end达到由行驶阻力和制动施加滞后时间计算的制动预施加距离；
4)一旦车辆停止，将施加全制动以保持车辆静态安全。
三、运动控制模式
运动控制模式通过牵引控制、制动控制和离合器执行器控制共同配合完成车辆的速度平稳控制。
(1)牵引控制
对于纵向运动控制，将达到或保持所需速度的牵引力(正或负)用作前馈。牵引力高度依赖于道路坡度、滚动阻力和空气阻力，这些阻力可以通过自动驾驶***中的其他功能模块中的运动学值和车辆动态特性预估获得，此外，还使用运动模块提供的实际车辆速度的反馈控制器，以最大限度地减少速度控制误差。
除了上述常用的控制方法外，某些特殊工况下还需特殊的控制方法。比如当车辆处于低行驶阻力时(例如，卡车单独行驶或卡车拖车在小下坡)，由于干式离合器***无法在小扭矩附近精确控制离合器扭矩，因此难以保持车速稳定在目标值。为了克服这种情况，将在离合器接合控制的同时施加轻微的制动力。这将有助于使离合器扭矩和驱动阻力在更深的位置平衡，离合器扭矩控制更稳定和可控。
(2)制动控制
制动控制器将负牵引力(制动力)处理拆分为各个执行器所需输出的制动力，包括行车制动器、缓速器、电机/非内燃发动机等部件，并据此控制行车制动器的气压、缓速器和发动机的扭矩(输出)。为了在制动中更好地发挥电机/非内燃发动机的动力回收功能，传统制动器与他们之间的互动就尤为重要。此外，基于制动***、电机/非内燃发动机的多样性，将它们的功能统一到一个抽象的、概括性的硬件层中。
为了通过减少停车操作结束时的制动冲击来提高驾驶舒适性，使用软停车功能中实现的从前轴到后轴的制动压力重新分配。
(3)离合器执行器控制
由于低速控制范围，目标控制停车期间的正牵引力由变速器控制功能内的离合器控制处理。在这种情况下，应提供离合器扭矩控制功能，以支持这种特殊的运动控制。由于J1939中未定义离合器扭矩请求，因此市场上没有任何AMT***支持此接口。所以，通过虚拟油门踏板位置控制离合器扭矩。
此外，除了精确的位置控制外，还应通过要求车辆连续运动(连续速度、加速度和加加速度)来最大限度地提高乘客的驾驶舒适性，从而减少制动冲击。由于高驾驶舒适度可能会降低停车位置的准确性，因此可以定义一个最大舒适度模式(制动的减速度>-1m/s^2)和一个最大精度模式(车停止时距离目标位置<10cm)，以满足驾驶任务的主要目标。
图2为自动驾驶定点停车的一种发生情况，车辆自动行驶在预定停车点的道路上，车辆上安装的传感器实时采集车辆行驶信息，实时计算当前车速、坡度、车辆制动响应时间等信息，实时估算距离目标停车点的距离。当车辆行驶到距离目标点的预设定值，且车辆速度≥稳态时目标车速(1km/h)+补偿车速(1km/h)时，车辆进入减速阶段，进行降速，以一定的斜率缓慢减速至稳态时设定的车速(1km/h)；然后，开始进入稳态速度阶段，此时控制离合器处于半滑摩状态，使车速能够稳定在比较小的车速区间；当距离目标点的距离≤预设的滑行距离时，车辆进入减速滑行阶段，此时车辆以一定的斜率控制打开离合器减速蠕行；当距离目标点的距离≤预设的制动距离时，车辆进入制动控制阶段，根据目标终点距离控制制动***使车辆缓慢停止至目标位置点。
当然，上述说明并非是对本发明的限制，本发明也并不仅限于上述举例，本技术领域的技术人员在本发明的实质范围内所做出的变化、改型、添加或替换，也应属于本发明的保护范围。

Claims (9)

1.一种自动驾驶定点停车的控制方法，其特征在于，包括如下步骤：
S1.确定目标停车位置，自动生成目标轨迹点、预估制动距离和预估滑行距离；
S2.根据目标轨迹点以及当前控制偏差，计算当前位置与目标终点之间的纵向距离；
S3.实时采集车辆行驶信息，计算当前车速、坡度、车辆制动响应时间信息；
S4.根据距离目标终点的纵向距离和实时车速以固定的频率更新纵向距离；
S5.基于控制状态决策逻辑实时估算与目标停车点的距离，以确定车辆控制状态。
2.根据权利要求1所述自动驾驶定点停车的控制方法，其特征在于，所述目标轨迹点为一个点列表(p0,p1,…,pn-1,pn)，其中p0是当前位置点，Pn是目标停车点，(p1…pn-1)是当前位置点和目标停车点之间的离散预测位置。
3.根据权利要求1所述自动驾驶定点停车的控制方法，其特征在于，车辆纵向距离的计算更新采用基于卡尔曼滤波的融合算法；固定的频率预设为10ms。
4.根据权利要求1所述自动驾驶定点停车的控制方法，其特征在于，所述控制状态决策逻辑的内容为：
若距离目标终点的纵向距离≤预估的制动距离，进入制动控制阶段；
若距离目标终点的纵向距离≤预估的滑行距离，进入减速滑行控制阶段；
若当前车速≥稳态时目标车速+补偿车速，进入减速控制阶段；
否则，车辆保持在稳态速度控制阶段。
5.根据权利要求4所述自动驾驶定点停车的控制方法，其特征在于，减速阶段控制车辆缓慢减速至设定的稳定驾驶车速；稳态速度阶段控制离合器处于半滑摩状态，使车速能够稳定在固定的车速区间；减速滑行阶段控制打开离合器减速蠕行；制动阶段根据目标终点距离控制车辆缓慢停止至目标位置点。
6.一种自动驾驶定点停车的控制***，其特征在于，采用如权利要求1-5任意一项所述自动驾驶定点停车的控制方法实现车辆自动驾驶的定点停车；
所述控制***包括车辆信息采集模块、位置估计模块、控制状态决策模块；其中，
车辆信息采集模块，采用达到毫米级精度车轮滚动距离的车辆主动速度传感器，实时采集车辆行驶信息并计算车速、坡度、车辆制动响应时间信息，并将这些信息发动到位置估计模块；
位置估计模块，采用基于卡尔曼滤波的融合算法，基于车辆信息采集模块传递过来的车辆信息，同时配以车辆自身ESC模块中10ms更新率的偏航率进行车辆位置的实时计算；
控制状态决策模块，集成了控制状态决策逻辑控制程序，根据位置估计模块实时估算的车辆距离和当前车辆速度进行车辆状态控制。
7.根据权利要求6所述自动驾驶定点停车的控制***，其特征在于，使用具有三级联的控制***，外级联控制车辆位置，中间级联控制车速，内级联用于控制制动***施加的制动力和离合器控制施加的传动系力。
8.根据权利要求6所述自动驾驶定点停车的控制***，其特征在于，完成定点停车的控制逻辑为：
1)进入定点停车控制模式后，车辆缓慢减速至预设的恒定机动速度；
2)使用运动控制模式平稳地保持车辆操纵速度，直到车辆距目标停车点的距离达到由行驶阻力和离合器打开滞后时间计算的离合器预打开距离；
3)保持离合器打开并让车辆自由滚动，直到车辆距目标停车点的距离达到由行驶阻力和制动施加滞后时间计算的制动预施加距离；
4)一旦车辆停止，施加全制动以保持车辆静态安全。
9.根据权利要求8所述自动驾驶定点停车的控制***，其特征在于，所述运动控制模式通过牵引控制、制动控制和离合器执行器控制共同配合完成车辆的速度平稳控制。
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CN115662151A (zh) * 2022-12-13 2023-01-31 宜宾职业技术学院 一种重载车辆定位控制方法、装置及***

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DE102011119008A1 (de) * 2011-11-11 2013-05-16 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Fahrzeugs, Steuereinrichtung und Fahrzeug
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CN114360093B (zh) * 2021-12-31 2024-03-08 江苏鸣实纯钧科技有限公司 基于北斗rtk、slam定位和图像分析的路侧停车位巡检方法
CN115662151A (zh) * 2022-12-13 2023-01-31 宜宾职业技术学院 一种重载车辆定位控制方法、装置及***

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