Vehicle driving control method, device and equipment

Abstract

The invention discloses a vehicle driving control method, device and equipment, and relates to the field of vehicle control, and the method comprises the steps: determining a current distance and a target distance between a vehicle and a target vehicle; determining current first driving data of the vehicle and second driving data of the target vehicle; inputting the first driving data, the second driving data, the current distance and the target distance into a preset control planning model, determining an acceleration control strategy of the vehicle, and determining the control planning model is determined based on a polynomial function; and executing the acceleration control strategy to control the driving of the vehicle. Acceleration planning results under different working conditions can be simply and quickly calculated, the calculation amount is small, the occupied calculation resources are few, implementation is easy, meanwhile, the acceleration planning results accord with human driving habits, and the comfort level of drivers and passengers can be effectively improved.

Description

technical field [0001] The present application relates to the field of vehicle control, in particular to a vehicle driving control method, device and equipment. Background technique [0002] In the intelligent driving system configured on the vehicle, for example: AEB (Autonomous Emergency Braking, autonomous emergency braking function) or ACC (Adaptive Cruise Control, adaptive cruise function) need to accurately control the acceleration of the vehicle to achieve precise control of the braking distance or The target of the following distance. [0003] In related technologies, a PID (proportional-integral-derivative) controller is used to plan and adjust the acceleration of the vehicle. The PID controller is based on the feedback control method that takes the difference between the acceleration target value and the current acceleration value as the input, and there is a certain hysteresis; and the PID controller is mainly based on the linear proportional link, aiming at the ...

AI Technical Summary

Problems solved by technology

The PID controller is based on the feedback control method that takes the difference between the acceleration target value and the current acceleration value as the input, and there is a certain hysteresis; and the PID controller is mainly based on the linear proportional link, aiming at the target vehicle following distance and The target car-following speed needs to be matched and calibrated separately for the PID parameters. The calibration of the PID parameters is complicated and difficult, and the workload is large. At the same time, the acceleration output by planning also affects the comfort of the driver and passengers.

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