The invention discloses an automatic driving automobile speed following preview decision-making method, which comprises the following steps of: selecting a preview target and determining a preview distance; calculating a preview tracking error according to the preview vehicle speed and the expected vehicle speed by taking the travelled distance on the target path as a longitudinal motion distance based on the preview target and the preview distance, and controlling the preview tracking error within a preset following precision error threshold range through a multi-section preview method based on a motion primitive to obtain a preview result; determining an expected longitudinal acceleration according to a preview result, following the longitudinal acceleration of the automobile through an expected longitudinal acceleration following method, and performing load compensation on the longitudinal acceleration of the automobile; and selecting an actuating phase of the automobile chassis mechanism according to the compensated following acceleration, and deciding an operation command quantity. According to the invention, a vehicle speed change driving scheme planned based on space requirements can be followed.
本发明公开了一种自动驾驶汽车车速跟随的预瞄决策方法,包括:选取预瞄目标,确定预瞄距离;基于预瞄目标和预瞄距离,以目标路径上的行驶里程作为纵向运动距离,根据预瞄车速与预期车速计算预瞄跟踪误差,并通过基于运动基元的多段预瞄方法将所述预瞄跟踪误差控制在预设的跟随精度误差阈值范围内,获得预瞄结果;根据预瞄结果确定预期纵向加速度,通过预期纵向加速度跟随方法对汽车纵向加速度进行跟随,并对汽车纵向加速度进行负载补偿;根据补偿后的跟随加速度选择汽车底盘机构作动相,决策操纵命令量。本发明能够跟随基于空间要求规划出的车速变化驾驶方案。
Preview decision-making method for speed following of self-driving automobile
一种自动驾驶汽车车速跟随的预瞄决策方法
15.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Europäisches Patentamt | 2016
|Intelligent automobile driving decision-making method considering attachment condition
Europäisches Patentamt | 2025
|Control method of self-driving automobile and self-driving automobile
Europäisches Patentamt | 2024
|Intelligent driving self-adaptive curve preview method
Europäisches Patentamt | 2020
|Speed limiting method and system for self-driving automobile
Europäisches Patentamt | 2023
|