The invention relates to the technical field of intelligent transportation, and provides a longitudinal control safety monitoring method and system for an autonomous vehicle. The method comprises thesteps of: acquiring the longitudinal control state of the autonomous vehicle; acquiring a longitudinal control algorithm for different longitudinal control states, and acquiring a target accelerationcalculated through the longitudinal control algorithm; determining an acceleration threshold corresponding to the given maximum target acceleration at different vehicle speeds based on the longitudinal control algorithm; and monitoring the obtained target acceleration in real time, judging whether the target acceleration is greater than the acceleration threshold value or not, if so, limiting thetarget acceleration to the acceleration threshold value and then outputting the target acceleration for longitudinal control of the vehicle, and otherwise, normally outputting the target accelerationfor longitudinal control of the vehicle. Acceleration output by the motion control module is monitored and limited, sudden acceleration of a vehicle can be prevented, and normal response of a vehicleexecuting mechanism within the limit capacity of the vehicle executing mechanism can be guaranteed.
本发明涉及智能交通技术领域,提供一种自动驾驶车辆的纵向控制安全监测方法及系统。所述方法包括:获取所述自动驾驶车辆的纵向控制状态;获取针对不同纵向控制状态的纵向控制算法,并获取通过所述纵向控制算法计算出的目标加速度;基于所述纵向控制算法确定不同车速下给定的最大的目标加速度对应的加速度阈值;以及实时监测所获取的目标加速度,并判断该目标加速度是否大于所述加速度阈值,若是,则将所述目标加速度限制在所述加速度阈值之后再输出以用于车辆纵向控制,否则正常输出所述目标加速度以用于车辆纵向控制。本发明对运动控制模块输出的加速度进行了监测和限制,既能防止车辆突然加速,又能保证车辆执行机构在其极限能力内正常响应。
Longitudinal control safety monitoring method and system for autonomous vehicle
自动驾驶车辆的纵向控制安全监测方法及系统
2020-09-25
Patent
Electronic Resource
Chinese
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 |
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