The invention relates to the technical field of unmanned driving, automatic driving and unmanned vehicles, and discloses an unmanned vehicle control method and device on a bumpy road surface, an unmanned vehicle and a storage medium. The method comprises the following steps: determining a driving control strategy of the unmanned vehicle according to the bumping degree of a current road surface; under the condition that the driving control strategy represents that the unmanned vehicle needs to be controlled to decelerate, a vertical bumping characteristic signal set representing the bumping degree within a preset distance range is obtained; calculating a longitudinal acceleration constraint corresponding to each vertical bumping characteristic signal in the vertical bumping characteristic signal set based on a linear mapping relationship between the longitudinal acceleration and the vertical bumping characteristic signal, and screening a maximum longitudinal acceleration constraint; and based on the maximum longitudinal acceleration constraint, determining a target vehicle speed after the unmanned vehicle is decelerated, and controlling the unmanned vehicle. According to the invention, intelligent recognition and self-adaptive speed control of the unmanned vehicle on the bumpy road surface are realized, so that the vehicle can automatically adjust the driving speed according to the road surface bumpy degree detected in real time.
本申请涉及无人驾驶、自动驾驶、无人车技术领域,公开了一种颠簸路面的无人车控制方法、装置、无人车及存储介质。该方法包括:根据当前路面的颠簸程度确定无人车的行驶控制策略;在行驶控制策略表征需要控制无人车降速的情况下,获取预设距离范围内表征颠簸程度的垂向颠簸特征信号集;基于纵向加速度与垂向颠簸特征信号之间的线性映射关系,计算垂向颠簸特征信号集中每个垂向颠簸特征信号对应的纵向加速度约束并筛选最大纵向加速度约束;基于最大纵向加速度约束,确定对无人车进行降速后的目标车速对无人车进行控制。本申请实现了无人驾驶车辆对颠簸路面的智能识别和自适应速度控制,使车辆能够根据实时检测到的路面颠簸程度,自动调整行驶速。
Unmanned vehicle control method and device on bumpy road surface, unmanned vehicle and storage medium
颠簸路面的无人车控制方法、装置、无人车及存储介质
2025-02-11
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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