The invention provides an acceleration control method and system and a vehicle, and the method specifically comprises the following steps: (1) the current vehicle speed vf and acceleration af, the current vehicle speed vx of the vehicle and the actual vehicle distance L between the vehicle and a front vehicle are collected in real time, and the expected front acceleration ax required by the change of input parameters near a sliding mode surface is determined; and (2) the difference value ax-a between the expected acceleration ax and the current acceleration a (t) of the vehicle serves as the current deviation value e (t), and the variable quantity delta a (t) of the current acceleration of the vehicle is output based on PID control, so that the acceleration of the vehicle reaches the expected acceleration ax. By defining the sliding mode surface and the approaching rate and outputting the expected acceleration ax of reasonable change of input parameters near the sliding mode surface, the safe parking distance can be guaranteed, it can be guaranteed that comfortable braking is achieved at the appropriate deceleration under the deceleration condition, and then the vehicle control stability is improved by controlling the stable variable quantity of the output acceleration of the vehicle through PID.
本发明提供了一种加速控制方法、系统及车辆,该方法具体如下:(1)将实时采集当前的车速vf、加速度af、本车当前的车速vx以及本车与前车的实际车距L,确定输入参数在滑模面附近变化所需的期望前加速度ax;(2)将期望加速度ax与本车的当前加速度a(t)的差值ax‑a作为当前的偏差量e(t),基于PID控制输出车辆当前加速度的变化量Δa(t),以使车辆的加速度达到期望加速度ax。通过定义滑模面和趋近率,输出输入参数在滑模面附近合理变化的期望加速度ax,既能保证安全停车距离,又能保证在减速条件下以合适的减速度实现舒适制动,再通过PID控制车辆稳定的输出加速度的变化量,提高车辆控制的稳定性。
Acceleration control method and system and vehicle
一种加速控制方法、系统及车辆
2025-02-18
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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