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CN106541941B - Automatic driving speed control system and method based on high-precision navigation and positioning system - Google Patents

Automatic driving speed control system and method based on high-precision navigation and positioning system Download PDF

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Publication number
CN106541941B
CN106541941B CN201610910254.6A CN201610910254A CN106541941B CN 106541941 B CN106541941 B CN 106541941B CN 201610910254 A CN201610910254 A CN 201610910254A CN 106541941 B CN106541941 B CN 106541941B
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vehicle speed
engine
speed
controller
target vehicle
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CN106541941A (en
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冯春
方强
李凯
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0014—Adaptive controllers
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to automatic Pilot technical fields, and in particular to a kind of automatic Pilot speed control system and method based on high-precision navigation positioning system.Obtain the road relevant information stored in the high-precision map of current road segment, the road relevant information stored in the high-precision map of the current road segment is merged with vehicle running state information, calculate the target vehicle speed suitable for automatic Pilot, the target vehicle speed is compared with current vehicle speed, when the target vehicle speed is more than or less than current vehicle speed, engine enable signal and engine torque request instruction are sent to engine controller, the engine controller instructs corresponding adjusting engine torque according to engine torque request, and current vehicle speed is made to be equal to target vehicle speed.It controls dynamical system in advance and braking system takes measures, correct speed in time, effectively solve the problems, such as speed control not in time.And Brake lamp is lighted under emergency situation, it reminds front vehicle to pay attention to regulation speed, avoids knocking into the back.

Description

Automatic Pilot speed control system and method based on high-precision navigation positioning system
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of automatic Pilot based on high-precision navigation positioning system Speed control system and method.
Background technique
Automatic driving technology has been passed by the development courses of decades by now from rudiment.It is travelled on level road, Identification by sensors such as laser radar, millimetre-wave radar, cameras to road can preferably realize automatic Pilot function Energy.Since the sensor can not identify ramp, and to beyond distance (300 meters) under the extreme weathers such as rain, snow, mist Road markings not can be carried out effective identification, and hypotelorism when driver being caused to find, speed cannot be adjusted in time, be easy Existing traffic accident, seriously affects vehicle, member, property and pedestrian's life security, while also generating to the comfort of automatic Pilot It influences.
Summary of the invention
In order to solve the above technical problems, road conditions can be obtained in advance the present invention provides a kind of, and according to road conditions The automatic Pilot speed control system and method based on high-precision navigation positioning system that current vehicle speed is modified.
A kind of technical solution of the automatic Pilot method for control speed based on high-precision navigation positioning system of the present invention is to obtain The road relevant information stored in the high-precision map of current road segment believes the road correlation stored in the high-precision map of the current road segment Breath merged with vehicle running state information, calculate the target vehicle speed suitable for automatic Pilot, by the target vehicle speed with work as Preceding speed is compared, and when the target vehicle speed is more than or less than current vehicle speed, sending engine to engine controller makes Energy signal and engine torque request instruction, the engine controller instruct corresponding adjust to start according to engine torque request Machine torque makes current vehicle speed be equal to target vehicle speed.
Further, when the target vehicle speed is less than current vehicle speed, the engine torque request instruction is turned round to reduce Square requirement command, engine is instructed according to the reduction torque demand reduces output torque, until current vehicle speed is equal to target carriage Speed；
When the target vehicle speed is greater than current vehicle speed, the engine torque request instruction refers to increase torque demand It enables, engine is instructed according to the increase torque demand increases output torque, until current vehicle speed is equal to target vehicle speed.
Further, during the engine is instructed according to the reduction torque demand reduces output torque, if Braking deceleration is greater than calibration value, then sends braking system enable signal and braking torque request signal, braking to braking system Controller adjusts braking torque output according to the braking torque request signal.
Further, when sending braking system enable signal and braking torque request signal to the braking system, to vehicle Body controller issues Brake lamp open command signal, is simultaneously emitted by danger alarm lamp control command and loudspeaker control command.
Further, the road relevant information stored in the high-precision map of the current road segment includes but is not limited to: front road The outer lower long slope in 300 meters of road, Shang Changpo, road and traffic sign plates information, this lane Maximum speed limit or minimum speed-limiting messages.
A kind of technical solution of the automatic Pilot speed control system based on high-precision navigation positioning system of the present invention is to wrap It includes:
High-precision navigation positioning system: it for obtaining the road relevant information stored in the high-precision map of current road segment, and sends To auto-pilot controller；
Auto-pilot controller: road relevant information and vehicle row for will be stored in the high-precision map of the current road segment It sails status information to be merged, calculates the target vehicle speed suitable for automatic Pilot, the target vehicle speed and current vehicle speed are carried out It compares, when the target vehicle speed is more than or less than current vehicle speed, sends engine enable signal and hair to engine controller The instruction of motivation torque request；
Engine controller: for receiving the engine enable signal and engine torsion that the auto-pilot controller is sent Square request instruction, and instructed according to the engine torque request and adjust engine output torque；
Engine: for adjusting output torque according to the control instruction of the engine controller, vehicle speed variation is realized.
It further, further include brake monitor, the brake monitor is used to reduce output torque and system in engine When dynamic deceleration is greater than calibration value, the braking system enable signal and braking torque request signal sent according to braking system is adjusted Braking torque output.
It further, further include car body controller, the car body controller is used to receive auto-pilot controller transmission Brake lamp open command, danger alarm lamp control command and loudspeaker control command.
Beneficial effects of the present invention: this system, which is based on high-precision navigation positioning system, can export road information ramp, accurate Vehicle is calculated at a distance from junction ahead, is interconnected by high-precision navigation positioning system with automated driving system, by should Distance and the gradient are sent to auto-pilot controller in advance.Automated driving system can control in advance according to the traffic information of acquisition Dynamical system and braking system take measures, and correct speed in time, effectively solve the problems, such as speed control not in time.And critical In the case of light Brake lamp, remind front vehicle to pay attention to regulation speed, avoid knocking into the back.
Detailed description of the invention
Fig. 1 is module connection figure of the invention；
Fig. 2 is control flow chart of the present invention.
Specific embodiment
Below by way of specific embodiment, the present invention is described in further detail:
As shown in Figure 1, the invention mainly comprises high-precision navigation positioning system, auto-pilot controller, engine controller, Engine, brake monitor and car body controller.High-precision navigation positioning system obtains remote information, and the system further includes obtaining Take the millimetre-wave radar and camera of short distance information.Wherein auto-pilot controller and engine controller, brake monitor It is communicated with car body controller by CAN bus.
As shown in Fig. 2, control process of the invention is as follows:
Road ahead 300 meters of outer lower long slopes, the Shang Changpo for the present road that high-precision navigation positioning system will acquire
Ramp information, the highest in this lane limit stored in equal road and traffic sign plates information, the high-precision map of current road segment Speed/minimum speed-limiting messages etc. are sent to auto-pilot controller by Ethernet.Auto-pilot controller is receiving high-precision navigation Positioning system send road relevant information when, while receive vehicle sensors transmission vehicle running state information (such as speed, Wheel speed), the road relevant information stored in the high-precision map of current road segment is merged with vehicle running state information, is planned, Decision calculates target velocity, and target carriage speed is reached the time, and compares with current vehicle speed.
When target vehicle speed is identical as current vehicle speed, do not deal with.
When target vehicle speed is less than current vehicle speed (usually in descending section), auto-pilot controller is sent out to engine controller Engine enable signal and engine torque request is sent to instruct, engine torque request instruction passes through virtual accelerator pedal signal It realizes, until reducing the torque demand of engine controller until being 0.Engine torque request is instructed according to the universal of engine Characteristic and external characteristic curve calculate.In the process, if braking deceleration a=(current vehicle speed-target vehicle speed)/target Speed reaches the time greater than a certain calibration value, then determines to need to start braking system.Auto-pilot controller is sent out to braking system Braking system enable signal and braking torque request signal out, the braking torque desired signal are with reference to master cylinder pressure and system The relationship of power determines, range is from 0 to maximum braking torque (product of brake force and wheel hub coefficient of friction and tire radius).System Movement controller adjusts the output of its braking torque after receiving the signal, and control braking system executes braking.Auto-pilot controller exists Need braking system Brake lamp open command signal is issued to car body controller, be simultaneously emitted by danger when reducing car speed Alarm lamp control command, loudspeaker control command, car body controller light related car light according to auto-pilot controller instruction.
When target vehicle speed is greater than current vehicle speed (usually in uphill way), auto-pilot controller is sent out to engine controller Engine enable signal and engine torque request is sent to instruct, engine controller increases the torque output of engine, (most very much not More than engine current rotating speed external characteristics maximum torque), until target vehicle speed is equal to current vehicle speed.
The above description is merely a specific embodiment, it is noted that anyone skilled in the art exists Disclosed herein technical scope in, any changes or substitutions that can be easily thought of, should all cover protection scope of the present invention it It is interior.

Claims (5)

1.一种基于高精导航定位系统的自动驾驶速度控制方法，其特征在于：获取当前路段高精地图中存储的道路相关信息，将所述当前路段高精地图中存储的道路相关信息与车辆行驶状态信息进行融合，确定适于自动驾驶的目标车速，将所述目标车速与当前车速进行比对，当所述目标车速大于或小于当前车速时，向发动机控制器发送发动机使能信号及发动机扭矩请求指令，所述发动机控制器根据发动机扭矩请求指令相应调节发动机扭矩，使当前车速等于目标车速；1. an automatic driving speed control method based on a high-precision navigation and positioning system, is characterized in that: obtain the road-related information stored in the high-precision map of the current road section, and combine the road-related information stored in the high-precision map of the current road section with the vehicle. The driving state information is fused to determine the target vehicle speed suitable for automatic driving, and the target vehicle speed is compared with the current vehicle speed. When the target vehicle speed is greater or less than the current vehicle speed, an engine enable signal and an engine a torque request command, the engine controller correspondingly adjusts the engine torque according to the engine torque request command, so that the current vehicle speed is equal to the target vehicle speed; 当所述目标车速小于当前车速时，所述发动机扭矩请求指令为降低扭矩需求指令，发动机根据所述降低扭矩需求指令降低输出扭矩，直至当前车速等于目标车速；When the target vehicle speed is less than the current vehicle speed, the engine torque request command is a reduced torque demand command, and the engine reduces the output torque according to the reduced torque demand command until the current vehicle speed is equal to the target vehicle speed; 当所述目标车速大于当前车速时，所述发动机扭矩请求指令为增加扭矩需求指令，发动机根据所述增加扭矩需求指令增加输出扭矩，直至当前车速等于目标车速；When the target vehicle speed is greater than the current vehicle speed, the engine torque request command is an increased torque demand command, and the engine increases the output torque according to the increased torque demand command until the current vehicle speed is equal to the target vehicle speed; 在所述发动机根据所述降低扭矩需求指令降低输出扭矩的过程中，若制动减速度大于标定值，则向制动系统发送制动系统使能信号及制动扭矩请求信号，制动控制器根据所述制动扭矩请求信号调节制动扭矩输出。In the process of reducing the output torque of the engine according to the reducing torque demand command, if the braking deceleration is greater than the calibration value, the braking system enabling signal and the braking torque request signal are sent to the braking system, and the braking controller The braking torque output is adjusted based on the braking torque request signal. 2.如权利要求1所述的基于高精导航定位系统的自动驾驶速度控制方法，其特征在于：向所述制动系统发送制动系统使能信号及制动扭矩请求信号时，对车身控制器发出制动灯开启命令信号，同时发出危险报警灯控制命令和喇叭控制命令。2. The automatic driving speed control method based on a high-precision navigation and positioning system as claimed in claim 1, characterized in that: when sending a braking system enable signal and a braking torque request signal to the braking system, control the vehicle body The controller sends the brake light on command signal, and simultaneously sends out the hazard warning light control command and the horn control command. 3.如权利要求1所述的基于高精导航定位系统的自动驾驶速度控制方法，其特征在于，所述当前路段高精地图中存储的道路相关信息包括：前方道路300米外下长坡、上长坡、道路交通标志牌信息、本车道的最高限速或最低限速信息。3. The automatic driving speed control method based on a high-precision navigation and positioning system as claimed in claim 1, wherein the road-related information stored in the high-precision map of the current road section comprises: a long slope outside 300 meters of the road ahead, Uphill slopes, road traffic sign information, maximum or minimum speed limit information for this lane. 4.一种基于高精导航定位系统的自动驾驶速度控制系统，其特征在于，包括：4. An automatic driving speed control system based on a high-precision navigation and positioning system, characterized in that, comprising: 高精导航定位系统：用于获取当前路段高精地图中存储的道路相关信息，并发送给自动驾驶控制器；High-precision navigation and positioning system: used to obtain road-related information stored in the high-precision map of the current road section, and send it to the automatic driving controller; 自动驾驶控制器：用于将所述当前路段高精地图中存储的道路相关信息与车辆行驶状态信息进行融合，计算出适于自动驾驶的目标车速，将所述目标车速与当前车速进行比对，当所述目标车速大于或小于当前车速时，向发动机控制器发送发动机使能信号及发动机扭矩请求指令；Automatic driving controller: used to fuse the road-related information stored in the high-precision map of the current road section with the vehicle driving state information, calculate the target vehicle speed suitable for automatic driving, and compare the target vehicle speed with the current vehicle speed , when the target vehicle speed is greater than or less than the current vehicle speed, send an engine enable signal and an engine torque request command to the engine controller; 发动机控制器：用于接收所述自动驾驶控制器发送的发动机使能信号及发动机扭矩请求指令，并根据所述发动机扭矩请求指令调节发动机输出扭矩；Engine controller: used to receive the engine enable signal and the engine torque request command sent by the automatic driving controller, and adjust the engine output torque according to the engine torque request command; 发动机：用于根据所述发动机控制器的控制指令调节输出扭矩，实现车辆变速；Engine: used to adjust the output torque according to the control command of the engine controller to realize the speed change of the vehicle; 还包括制动控制器，所述制动控制器用于在发动机降低输出扭矩且制动减速度大于标定值时，根据制动系统发送的制动系统使能信号及制动扭矩请求信号调节制动扭矩输出。It also includes a brake controller, which is used to adjust the brake according to the brake system enable signal and the brake torque request signal sent by the brake system when the engine reduces the output torque and the brake deceleration is greater than the calibration value. torque output. 5.如权利要求4所述的基于高精导航定位系统的自动驾驶速度控制系统，其特征在于：还包括车身控制器，所述车身控制器用于接收自动驾驶控制器发送的制动灯开启命令、危险报警灯控制命令和喇叭控制命令。5. The automatic driving speed control system based on the high-precision navigation and positioning system as claimed in claim 4, characterized in that: it further comprises a body controller, and the body controller is used for receiving a brake light turn-on command sent by the automatic driving controller , hazard warning light control commands and horn control commands.
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