Automated vehicle longitudinal control method based on movement mode judgment

Abstract

The invention discloses an automated vehicle longitudinal control method based on movement mode judgment. The automated vehicle longitudinal control method based on movement mode judgment is applied to an unmanned vehicle provided with an automatic driving instrument, a GPS / INS positioning system and an industrial personal computer. The automated vehicle longitudinal control method based on movement mode judgment is characterized in that the relative relation between the actual speed and the expected speed of the unmanned vehicle is firstly analyzed, and a movement mode state value of the unmanned vehicle is determined; on the basis that a movement mode of the unmanned vehicle is determined, a control algorithm corresponding to the movement mode is executed to control the vehicle speed so that longitudinal control of the unmanned vehicle can be achieved. By means of the automated vehicle longitudinal control method based on movement mode judgment, longitudinal speed control of the unmanned vehicle is smoother and more comfortable while tracking precision can be guaranteed, and the control process more conforms to the driving habit of humans.

Description

technical field [0001] The invention belongs to the field of intelligent vehicles, and mainly relates to longitudinal speed control of unmanned vehicles. Background technique [0002] Unmanned vehicles are one of the development trends of future intelligent vehicles. Research on unmanned vehicles will also promote the development of intelligent transportation and smart cities, which is of great strategic significance. Many institutions at home and abroad have launched research on unmanned vehicles, among which Google's unmanned vehicles have passed a large number of road tests and are ready for commercialization. Domestic unmanned vehicle research progress is also quite rapid, and many patents have been published. [0003] Chinese Patent Application Publication No. CN201510278571.6 proposes a control method for side longitudinal coupling motion of unmanned vehicles. In this method, the input parameters and output parameters of the longitudinal coupling tracking controller...

AI Technical Summary

Problems solved by technology

However, these studies all have some common limitations: First, they only emphasize the improvement of the control process precision, while ignoring the comfort index that the unmanned vehicle should have as a vehicle itself; Research on longitudinal control methods under working conditions or use a single control method to control the longitudinal driving behavior of unmanned vehicles under all working conditions; 3. The influence of slope on vehicle speed control is not considered

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