CN113928339A - Vehicle longitudinal motion control system and method based on state judgment and error feedback - Google Patents
Vehicle longitudinal motion control system and method based on state judgment and error feedback Download PDFInfo
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- CN113928339A CN113928339A CN202111224591.7A CN202111224591A CN113928339A CN 113928339 A CN113928339 A CN 113928339A CN 202111224591 A CN202111224591 A CN 202111224591A CN 113928339 A CN113928339 A CN 113928339A
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- 238000005096 rolling process Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000011217 control strategy Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a vehicle longitudinal motion control system based on state judgment and error feedback, which comprises: the system comprises a vehicle longitudinal motion control module, a hill starting module and a vehicle motion state sensor; the vehicle longitudinal motion control module comprises an upper layer controller and a lower layer controller, wherein the upper layer controller is used for obtaining expected acceleration according to distance and speed, the lower layer controller is used for coordinating driving and braking instructions to track the expected value given by the upper layer controller, and the vehicle motion state sensor is used for detecting the speed of the vehicle and inputting the speed to the vehicle longitudinal motion control module and the hill starting module; the steady-state error of the longitudinal motion of the vehicle can be eliminated, so that the actual speed of the controlled vehicle accurately follows the expected speed; the hill start control of the vehicle can be realized, and the vehicle can avoid slope slipping on slopes with different slopes.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a vehicle longitudinal motion control system and method based on state judgment and error feedback.
Background
The vehicle longitudinal motion control means that a control strategy is utilized to adjust the longitudinal motion state of a vehicle, so that the actual motion state of the controlled vehicle is close to the expected motion state as much as possible, the vehicle longitudinal motion control is also an important component of the current automatic driving vehicle motion control, in the automatic driving vehicle, a decision planning module is responsible for judging the current state of the vehicle and sending the expected vehicle speed of the current vehicle to the longitudinal control strategy, the longitudinal control strategy calculates the corresponding driving torque or braking torque according to the current vehicle speed and the expected vehicle speed of the vehicle, and the vehicle longitudinal motion state is accurately and smoothly achieved to the expected state.
In the prior art, the problems of switching fluctuation, instability, complex parameters and the like easily generated by using different independent control algorithms for driving/braking are reflected in vehicle control, namely the vehicle shakes and passengers feel uncomfortable in riding; in the prior art, only one additional torque is added on a slope, other control inputs are lacked, and the phenomenon of slope slip during slope starting is often caused by factors such as IMU sensing errors, disturbance of a driving environment, gaps existing in a vehicle executing mechanism and the like.
Disclosure of Invention
In order to solve the above technical problem, the present invention provides a vehicle longitudinal motion control system based on state judgment and error feedback, comprising: the vehicle motion state sensor is used for detecting the speed of a vehicle and inputting the speed to the vehicle longitudinal motion control module and the hill starting module.
The invention provides a vehicle longitudinal motion control method based on state judgment and error feedback, which comprises the following steps:
step 1, an upper layer controller receives the issued reference path point and current position information of the vehicle, positions the position of a point, closest to the current position of the vehicle, of the reference path point, then selects an actual reference point, and outputs the speed of the reference point as an expected speed and the distance from the reference point;
step 2, the upper layer controller receives the current vehicle speed, the expected vehicle speed and the relative distance and carries out calculation according to a kinematic formulaV 2 -V 0 2 =2AXCalculating the expected accelerationa；
Step 3, the lower layer controller receives driving torque, braking deceleration and deceleration during unpowered sliding, and the deceleration is up and down during the unpowered sliding0.1m/s 2 Dividing the interval, and correspondingly outputting the acceleration and deceleration functions when the expected acceleration and the unpowered sliding deceleration meet the following relations:
step 4, calculating the relation between the driving torque and the current acceleration and speed according to the longitudinal dynamics of the automobile and a PID control algorithm; the running resistances of the vehicle are: rolling resistance, ramp resistance, air resistance, and acceleration resistance;
and 5, after the error is made up, when the vehicle speed reaches the range of +/-0.4 m/s of the expected vehicle speed, outputting the actual driving/braking torque control quantity to the controlled vehicle, and enabling the actual vehicle speed of the controlled vehicle to reach the expected vehicle speed.
Preferably, in step 3, in addition to the normal acceleration/deceleration switching logic, a reduction idling determination is added, and the idling torque offsets the coasting deceleration when the vehicle is decelerated to the idling speed or less until the vehicle stops, so that when the idle desired speed is limited to 1.1m/s or less, the deceleration determination does not consider the coasting deceleration any more;
preferably, in step 4, in the error calculation, the running resistances of the vehicle are: rolling resistance, ramp resistance, air resistance, and acceleration resistance;
preferably, in step 5, the present invention further provides a hill start method based on the vehicle state determination, comprising:
step 51, when the vehicle is started, the hill start module places the vehicle in a parking state, the opening degree of an output accelerator is zero, the output brake signal is the maximum value, the output gear signal is a P gear, and the output EPB signal is an enable; outputting a brake signal value as zero;
step 52, calculating the torque required by the vehicle to overcome the ramp resistance and the rolling resistance on a ramp with the ramp pitch as an output signal;
step 53, judging whether the vehicle is ready for starting;
step 54, judging whether the vehicle is ready for hill start; if the vehicle is in the hill starting state, executing hill starting action; if the vehicle is not in the hill starting state, the vehicle executes the flat ground starting action;
and step 56, judging whether the vehicle intends to stop.
Preferably, in step 53, when the vehicle gear is in the P-range, the vehicle speed is zero, and the requested vehicle speed of the speed following part is greater than zero, the vehicle is ready to start;
preferably, in step 54, when the vehicle enters a ready-to-start state and the pitch value of the inertial navigation output is greater than a threshold value, the vehicle enters a hill-start state;
preferably, in step 55, if the vehicle speed has a negative value, it indicates that the vehicle rolls;
preferably, in step 56, the vehicle speed and the requested vehicle speed of the speed following portion are monitored in real time during the normal running process, and when the vehicle speed is zero and the requested vehicle speed of the speed following portion is zero, it is determined that the vehicle intends to stop, and the vehicle enters the stop state from the normal running state.
The invention has the following beneficial effects:
1. according to the vehicle longitudinal motion control method provided by the invention, the same set of control strategy is adopted for driving and braking of the vehicle, so that the braking and driving of the vehicle can be coordinated at the same time, and the longitudinal shaking caused by frequent switching of driving and braking of the vehicle is avoided; the steady-state error of the longitudinal motion of the vehicle can be eliminated, so that the actual speed of the controlled vehicle accurately follows the expected speed; the hill start control of the vehicle can be realized, and the vehicle can avoid slope slipping on slopes with different slopes.
2. According to the vehicle longitudinal motion control method provided by the invention, the same set of control strategy is adopted for driving and braking of the vehicle, the relationship between vehicle driving control and braking control is unified, the driving and braking are simultaneously controlled by a single method, and the control method has the advantages of simple structure, low calculation amount and good control effect. The invention can greatly reduce the steady-state error of the longitudinal motion of the vehicle generated by the existing method, so that the actual speed of the controlled vehicle accurately follows the expected speed.
3. The invention realizes the hill start control of the vehicle based on the vehicle state judgment, and simultaneously utilizes the EPB signal and the brake signal of the vehicle to avoid the slope slipping on the slopes with different slopes.
4. Compared with the prior art, the method does not need to change the original vehicle braking system, has no requirement on hardware, and greatly improves the control effect with lower cost.
Drawings
FIG. 1 is a flow chart of a vehicle longitudinal motion control module based on error feedback according to the present invention;
FIG. 2 is a flow chart of a hill start module based on vehicle state determination according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a vehicle longitudinal motion control system based on state judgment and error feedback, which comprises: the vehicle motion state sensor is used for detecting the speed of a vehicle and inputting the speed to the vehicle longitudinal motion control module and the hill starting module.
The embodiment also provides a vehicle longitudinal motion control method based on state judgment and error feedback, as shown in fig. 1, including:
s1, the upper controller receives the issued reference path point and the current position information of the vehicle, positions the position of the point of the reference path point closest to the current position of the vehicle, then selects an actual reference point, and outputs the speed at the reference point as an expected speed and the distance from the reference point;
s2, the upper controller receives the current vehicle speed, the expected vehicle speed and the relative distance and according to the kinematic formulaV 2 -V 0 2 = 2AXCalculating the expected accelerationa；
S3, the lower controller receives the driving torque, the braking deceleration and the deceleration during the unpowered sliding, and the deceleration is up and down during the unpowered sliding0.1m/s 2 Dividing the interval, and correspondingly outputting the acceleration and deceleration functions when the expected acceleration and the unpowered sliding deceleration meet the following relations:
besides normal acceleration and deceleration switching logic, idle reduction judgment is additionally added, idle torque can offset coasting deceleration when the vehicle decelerates below idle speed until the vehicle stops, and therefore when the idle speed is limited to be below 1.1m/s, coasting deceleration is not considered any more in deceleration judgment;
s4, calculating the relation between the driving torque and the current acceleration and the vehicle speed according to the longitudinal dynamics of the vehicle and the PID control algorithm, wherein when error calculation is carried out, the driving resistance of the vehicle is respectively as follows: rolling resistance, ramp resistance, air resistance, and acceleration resistance;
and S5, after the error is compensated, when the vehicle speed reaches the range of the expected vehicle speed +/-0.4 m/S, outputting the actual driving/braking torque control quantity to the controlled vehicle, and the actual vehicle speed of the controlled vehicle reaches the expected vehicle speed.
As shown in fig. 2, the present invention further provides a hill start method based on the vehicle state determination:
s51, when the vehicle is started, the hill start module places the vehicle in a parking state, the opening degree of an output accelerator is zero, the output brake signal is the maximum value, the output gear signal is a P gear, and the output EPB signal is an enable; outputting a brake signal value as zero;
s52, calculating the torque required by the vehicle to overcome the ramp resistance and the rolling resistance on a ramp with the pitch angle pitch of inertial navigation as an output signal;
s53, judging whether the vehicle is ready to start, and if so:
a. the vehicle gear is located at a P gear;
b. the vehicle speed is zero;
c. when the requested speed of the speed following part is greater than zero, the vehicle enters a ready starting state;
s54, judging whether the vehicle is ready for hill start, and if so:
a. the vehicle is ready to start;
b. the pitch value output by inertial navigation is larger than a threshold value, and when the two conditions are met, the vehicle is judged to be ready for hill start; if the condition is met, entering a hill starting state, and if the condition is not met, entering a flat ground starting state;
when the vehicle enters a hill start state, the following actions are executed:
a. the brake signal output maximum value and the vehicle gear signal output is D gear;
b. delay for 1 second;
c. the output of the torque switches hill start torque, and an EPB output signal is release;
d. judging whether the motor torque reaches the torque output by the controller, if so, releasing the brake, otherwise, waiting in the step;
when the vehicle enters a hill start state, the following actions are executed:
a. the vehicle gear signal output is a D gear;
the EPB output signal is released;
c. the output of the torque switches the torque calculated by the longitudinal control speed following module;
and after the starting is successful, the vehicle enters a normal driving state.
S55, judging whether the vehicle slides when starting, when the vehicle speed has a negative value, indicating that the vehicle slides, if the vehicle slides, entering an abnormal state, otherwise, entering a normal running state if the vehicle is started successfully;
when the vehicle enters an abnormal driving state, the following actions are executed:
a. the accelerator opening signal output is zero, and the brake signal output is maximum;
b. delay for 1 second;
c. the vehicle gear signal output is P gear;
the EPB output signal is enabled;
after the above actions are completed, the vehicle can continuously monitor vehicle states such as the vehicle speed, the requested vehicle speed of the speed following part, the vehicle gear, the slope angle of the road and the like, and judge whether the vehicle enters the hill starting state or the flat ground starting state again. If yes, restarting, otherwise, waiting in the step;
when the vehicle enters a normal driving state, the following actions are executed:
a. the output of the torque is switched to the torque calculated by the longitudinal control speed following module;
b. the vehicle gear output signal is P gear;
c. the brake signal is switched to a brake signal for longitudinal control speed following;
and S56, monitoring the speed of the vehicle and the requested speed of the speed following part in real time during the normal running process of the vehicle, and judging that the vehicle intends to stop when the speed of the vehicle is zero and the requested speed of the speed following part is zero, wherein the vehicle enters a stop state from a normal running state at the moment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A vehicle longitudinal motion control system based on state determination and error feedback, comprising: the system comprises a vehicle longitudinal motion control module, a hill starting module and a vehicle motion state sensor; the vehicle longitudinal motion control module comprises an upper layer controller and a lower layer controller, the upper layer controller is used for obtaining expected acceleration according to distance and speed, the lower layer controller is used for coordinating driving and braking instructions to track the expected value given by the upper layer controller, and the vehicle motion state sensor is used for detecting the speed of a vehicle and inputting the speed to the vehicle longitudinal motion control module and the hill starting module.
2. A vehicle longitudinal motion control method based on state judgment and error feedback comprises the following steps:
step 1, an upper layer controller receives the issued reference path point and current position information of the vehicle, positions the position of a point, closest to the current position of the vehicle, of the reference path point, then selects an actual reference point, and outputs the speed of the reference point as an expected speed and the distance from the reference point;
step 2, the upper layer controller receives the current vehicle speed, the expected vehicle speed and the relative distance and carries out calculation according to a kinematic formulaV 2 -V 0 2 = 2AXCalculating the expected accelerationa；
Step 3, the lower layer controller receives driving torque and brakes for decelerationDegree and deceleration at the time of non-power coasting, up and down of non-power coasting deceleration0.1m/s 2 Dividing the interval, and correspondingly outputting the acceleration and deceleration functions when the expected acceleration and the unpowered sliding deceleration meet the following relations:
step 4, calculating the relation between the driving torque and the current acceleration and speed according to the longitudinal dynamics of the automobile and a PID control algorithm; the running resistances of the vehicle are: rolling resistance, ramp resistance, air resistance, and acceleration resistance;
and 5, after the error is made up, when the vehicle speed reaches the range of +/-0.4 m/s of the expected vehicle speed, outputting the actual driving/braking torque control quantity to the controlled vehicle, and enabling the actual vehicle speed of the controlled vehicle to reach the expected vehicle speed.
3. A method for controlling longitudinal motion of a vehicle based on state judgment and error feedback as claimed in claim 2, wherein in step 3, in addition to the normal acceleration/deceleration switching logic, a cut-off idling judgment is added, and when the vehicle is decelerated to an idling speed or less until the vehicle stops, the idling torque will cancel the coasting deceleration, so that when the desired idling speed is limited to 1.1m/s or less, the coasting deceleration is not considered in the deceleration judgment.
4. A vehicle longitudinal movement control method based on state judgment and error feedback according to claim 2, characterized in that in step 4, the running resistances of the vehicle in the error calculation are respectively: rolling resistance, ramp resistance, air resistance, and acceleration resistance.
5. The vehicle longitudinal motion control method based on the state judgment and the error feedback as claimed in claim 2, characterized in that in step 5, the invention further provides a hill start method based on the vehicle state judgment:
step 51, when the vehicle is started, the hill start module places the vehicle in a parking state, the opening degree of an output accelerator is zero, the output brake signal is the maximum value, the output gear signal is a P gear, and the output EPB signal is an enable; outputting a brake signal value as zero;
step 52, calculating the torque required by the vehicle to overcome the ramp resistance and the rolling resistance on a ramp with the ramp pitch as an output signal;
step 53, judging whether the vehicle is ready for starting;
step 54, judging whether the vehicle is ready for hill start; if the vehicle is in the hill starting state, executing hill starting action; if the vehicle is not in the hill starting state, the vehicle executes the flat ground starting action;
step 55, judging whether the vehicle slides during starting, if so, entering an abnormal state, and if not, entering a normal running state after the vehicle is successfully started;
and step 56, judging whether the vehicle intends to stop.
6. A method as claimed in claim 5, wherein in step 53, when the vehicle is in P-range, the vehicle speed is zero and the requested vehicle speed is greater than zero in the speed following portion, the vehicle is ready to be started.
7. The vehicle longitudinal motion control method based on state judgment and error feedback of claim 5, characterized in that in step 54, when the vehicle enters a ready-to-start state and the pitch value of the inertial navigation output is greater than a threshold value, the vehicle enters a hill-start state.
8. The method of claim 5, wherein the vehicle speed is indicative of vehicle roll if a negative value occurs in step 55.
9. The method as claimed in claim 5, wherein the vehicle speed and the requested vehicle speed of the speed following portion are monitored in real time during the normal driving of the vehicle, and when the vehicle speed is zero and the requested vehicle speed of the speed following portion is zero, it is determined that the vehicle intends to stop, and the vehicle enters the stop state from the normal driving state in step 56.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114987510A (en) * | 2022-06-17 | 2022-09-02 | 东风悦享科技有限公司 | Method and device for on-line estimation of quality parameters of automatic driving vehicle |
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| 李以农;冀杰;郑玲;赵树恩;: "智能车辆自适应巡航控制系统建模与仿真", 中国机械工程, no. 11 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114987510A (en) * | 2022-06-17 | 2022-09-02 | 东风悦享科技有限公司 | Method and device for on-line estimation of quality parameters of automatic driving vehicle |
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