CN109435952A - Vehicle longitudinal control calibration method, device and system and automobile - Google Patents
Vehicle longitudinal control calibration method, device and system and automobile Download PDFInfo
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- CN109435952A CN109435952A CN201811291704.3A CN201811291704A CN109435952A CN 109435952 A CN109435952 A CN 109435952A CN 201811291704 A CN201811291704 A CN 201811291704A CN 109435952 A CN109435952 A CN 109435952A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000001133 acceleration Effects 0.000 claims abstract description 18
- 230000000087 stabilizing effect Effects 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 description 8
- 238000011105 stabilization Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 4
- 238000012956 testing procedure Methods 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Classifications
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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
- 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
-
- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
-
- 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
-
- 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
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a vehicle longitudinal control calibration method, a device, a system and an automobile, wherein the method comprises the following steps: obtaining a speed increment parameter of a vehicle to be controlled, wherein the speed increment parameter comprises: a first corresponding relationship between the accelerator opening and the stabilized vehicle speed; determining a target accelerator opening corresponding to the target vehicle speed according to a preset target vehicle speed and the first corresponding relation; controlling the vehicle to be controlled to run according to the target accelerator opening, and acquiring speed control parameters between the running speed and the target vehicle speed, wherein the speed control parameters comprise: overshoot, settling time, and/or steady state error; and calibrating the acceleration control of the vehicle according to the speed increment parameter and the speed control parameter. The vehicle longitudinal control calibration method, device and system and the automobile provided by the invention have higher accuracy.
Description
Technical field
The present invention relates to vehicle control technology more particularly to a kind of vehicle longitudinal control scaling method, device, system and vapour
Vehicle.
Background technique
With the continuous improvement of people's living standards, automobile has become the essential vehicles of people's trip, people
It is higher and higher to the requirement for driving stability and comfort, also have certain demand to intelligent driving.Intelligent driving is to pass through
Controller in automobile is set to control the throttle opening and brake pressure of automobile, to realize automatic Pilot.Currently, very much
Automobile vendor is proposed various control methods to control the acceleration and deceleration of automobile, but its Actual Control Effect of Strong is usual
And default effect has biggish deviation, does not reach requirement.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to propose a kind of vehicle longitudinal control scaling method, device, system and automobile, precision with higher.
The vehicle longitudinal control scaling method that embodiment provides according to a first aspect of the present invention, comprising:
Obtain the speed increment parameter of vehicle to be controlled, the speed increment parameter include: accelerator open degree and stabilizing speed it
Between the first corresponding relationship；
Target throttle corresponding with the target vehicle speed is determined according to preset target vehicle speed and first corresponding relationship
Aperture；
The vehicle driving to be controlled is controlled according to the target accelerator open degree, and obtains travel speed and the target vehicle speed
Between speed control parameter, the speed control parameter includes: overshoot, stablizes time and/or steady-state error；
The acceleration control of vehicle is demarcated according to the speed increment parameter and speed control parameter.
Technical solution provided in this embodiment, first between accelerator open degree and stabilizing speed by obtaining vehicle to be controlled
Corresponding relationship determines target accelerator open degree corresponding with preset target vehicle speed according to the first corresponding relationship, according to target oil
Door aperture controls vehicle driving to be controlled, and obtains travel speed relative to the overshoot of target vehicle speed, stable time and/or stable state
Then error is demarcated the acceleration control of vehicle according to above-mentioned each parameter, is set according to above-mentioned calibration result for vehicle
The control algolithm that automatic Pilot is controlled can be improved precision, reduce the gap between actual vehicle speed and expected speed,
Speed control effect is improved, and then improves and drives stability and safety.
Second aspect of the present invention embodiment provides a kind of vehicle longitudinal control caliberating device, comprising:
Speed increment parameter acquisition module, for obtaining the speed increment parameter of vehicle to be controlled, the speed increment parameter
It include: the first corresponding relationship between accelerator open degree and stabilizing speed；
Target accelerator open degree determining module, for according to preset target vehicle speed and first corresponding relationship determination and institute
State the corresponding target accelerator open degree of target vehicle speed；
Control module is travelled, for controlling the vehicle driving to be controlled according to the target accelerator open degree；
Speed control parameter obtains module, for obtaining the ginseng of the speed control between travel speed and the target vehicle speed
Number, the speed control parameter include: overshoot, stablize time and/or steady-state error；
Demarcating module, for being marked according to the speed increment parameter and speed control parameter to the acceleration control of vehicle
It is fixed.
Third aspect present invention embodiment provides a kind of computer readable storage medium, is stored thereon with computer program；
The computer program is executed by processor to realize method as described above.
Fourth aspect present invention embodiment provides a kind of vehicle longitudinal control calibration system, comprising:
Memory；
Processor；And
Computer program；The computer program storage in the memory, and is configured as being held by the processor
Row is to realize method as described above.
Fifth aspect present invention embodiment provides a kind of automobile, including vehicle longitudinal control calibration system as described above.
Detailed description of the invention
Fig. 1 is the flow chart for the vehicle longitudinal control scaling method that the embodiment of the present invention one provides；
Fig. 2 is the flow chart for the vehicle longitudinal control scaling method that the embodiment of the present invention three provides；
Fig. 3 is the flow chart for the vehicle longitudinal control caliberating device that the embodiment of the present invention four provides；
Fig. 4 is the structural schematic diagram for the vehicle longitudinal control calibration system that the embodiment of the present invention five provides.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Embodiment one
The present embodiment provides a kind of vehicle longitudinal control scaling methods, can demarcate to the longitudinally controlled of automobile.Vehicle
It is longitudinally controlled include acceleration and speed are controlled according to accelerator open degree and according to brake pressure to deceleration into
Row control.The scaling method according to provided by the present embodiment demarcates the longitudinally controlled of automobile, and is set according to calibration result
The control algolithm for determining automobile can be improved the precision of speed control, reach preferable control effect.
Method provided in this embodiment can be executed by the processor in vehicle longitudinal control calibration system.Fig. 1 is this
The flow chart for the vehicle longitudinal control scaling method that inventive embodiments one provide.As shown in Figure 1, vehicle provided in this embodiment is vertical
To control scaling method, comprising:
Step 101, the speed increment parameter for obtaining vehicle to be controlled, speed increment parameter include: accelerator open degree and stablize vehicle
The first corresponding relationship between speed.
There is one-to-one relationship between accelerator open degree and stabilizing speed, accelerator open degree is larger, stabilizing speed it is corresponding compared with
Greatly.Accelerator open degree refers specifically to the aperture of air throttle.
Obtain the first corresponding relationship between accelerator open degree and stabilizing speed, implementation can there are many, such as:
Vehicle to be controlled is controlled according to different accelerator open degrees, when car speed is stablized, record present speed is made
For stabilizing speed.
During realization, accelerator open degree ascending order can be arranged, it may be assumed that increased first using minimum accelerator open degree control vehicle
Then speed records stabilized speed.Then it is gradually increased accelerator open degree, successively records stabilized speed.Alternatively, can also be arrived when vehicle
Throttle is received after up to stabilized speed, when speed is kept to zero, then increases accelerator open degree, re-executes testing procedure next time.
Alternatively, accelerator open degree descending can also be arranged, it may be assumed that control vehicle speedup, note using maximum throttle aperture first
Record stabilized speed.Then it is gradually reduced accelerator open degree, successively records stabilized speed.Alternatively, speed can also be stablized when vehicle reaches
Throttle is received after degree, when speed is kept to zero, then reduces accelerator open degree, re-executes testing procedure next time.
It is executed respectively one time alternatively, can also be arranged according to ascending order with descending arrangement, then corresponds to and calculate stabilized speed
Average value can balance the influence of wind speed, the gradient to measurement result.
Step 102 determines target throttle corresponding with target vehicle speed according to preset target vehicle speed and the first corresponding relationship
Aperture.
In above-mentioned steps 101, the first corresponding relationship between accelerator open degree and stabilized speed is got, then according to first
Corresponding relationship can get target accelerator open degree corresponding with target vehicle speed.
Step 103 controls vehicle driving to be controlled according to target accelerator open degree, and obtains between travel speed and target vehicle speed
Speed control parameter, speed control parameter includes: overshoot, stablizes time and/or steady-state error.
The factors such as mechanical structure, vehicle controlling system itself by vehicle itself are influenced, according to target accelerator open degree
Vehicle driving is controlled, the speed and target vehicle speed that can reach stable have certain deviation.Therefore, in this step, according to
Target accelerator open degree control band control vehicle driving, in the process of implementation the overshoot of acquisition speed, stablize and take time and/or stable state
Error.
Wherein, accelerator open degree is step signal, then overshoot is between the peak-peak and steady-state value of velocity-response curve
Difference, steady-state value refers to practical stability speed.It is steady from application is reached to speed at the time of providing accelerator open degree for stablizing the time
Time needed for determining speed.Difference of the steady-state error between target vehicle speed and practical stability speed.
Step 104 demarcates the acceleration control of vehicle according to speed increment parameter and speed control parameter.
It is the first corresponding relationship between accelerator open degree and stabilizing speed for being got according to above steps, overshoot, steady
It fixes time and/or steady-state error demarcates the acceleration control of vehicle, to embody the acceleration controlling feature of the vehicle.Calibration
Process can refer to common mode in prior art, and by way of certain parameter characterization vehicle characteristics, the present embodiment is not limited
It is fixed.
It is subsequent, control algolithm can be set according to above-mentioned parameters, to adjust accelerator open degree, and then regulation speed reaches pre-
If speed, intelligent driving is realized.
Above-mentioned vehicle to be controlled may be at nominal state, it may be assumed that ensures that tire pressure is in normal range (NR), and travels normal attached
Road surface on.
Technical solution provided in this embodiment, first between accelerator open degree and stabilizing speed by obtaining vehicle to be controlled
Corresponding relationship determines target accelerator open degree corresponding with preset target vehicle speed according to the first corresponding relationship, according to target oil
Door aperture controls vehicle driving to be controlled, and obtains travel speed relative to the overshoot of target vehicle speed, stable time and/or stable state
Then error is demarcated the acceleration control of vehicle according to above-mentioned each parameter, is set according to above-mentioned calibration result for vehicle
The control algolithm that automatic Pilot is controlled can be improved precision, reduce the gap between actual vehicle speed and expected speed,
Speed control effect is improved, and then improves and drives stability and safety.
Embodiment two
The present embodiment is on the basis of the above embodiments, to optimize to vehicle longitudinal control scaling method.
In the implementation procedure of above-mentioned steps 101, first, in accordance with the increased direction of accelerator open degree, vehicle to be controlled is controlled, and work as
When the velocity-stabilization of vehicle, current vehicle speed is recorded.Then the direction reduced according to accelerator open degree, controls vehicle to be controlled, and work as vehicle
Velocity-stabilization when, record current vehicle speed.The data of record can refer to table one, it is to be understood that the present embodiment is in order to just
It is described in detail in the implementation to step 101, above-mentioned first corresponding relationship is summarized as table one, in actual moving process
In, the speed that processor will acquire is stored with corresponding accelerator open degree, and storage mode can embody accelerator open degree
It is corresponded with stabilizing speed.
The first corresponding relationship between one accelerator open degree of table and stabilizing speed
Above-mentioned steps 101 specifically can be used such as under type and realize:
Firstly, the direction being gradually increased according to accelerator open degree, successively controls vehicle row to be controlled according to different accelerator open degrees
It sails.Speed when record Vehicle Speed is stablized respectively, as the first speed sequence, such as the secondary series in table one.
Then, the direction being gradually reduced according to accelerator open degree successively controls vehicle row to be controlled according to different accelerator open degrees
It sails.Speed when record Vehicle Speed is stablized respectively, as the second speed sequence, such as the third column in table one.
Secondly, calculating flat between the speed for corresponding to the same accelerator open degree in the first speed sequence and the second speed sequence
Mean value, as stabilizing speed.Such as: for 10% accelerator open degree, corresponding speed is 20km/h in the first speed sequence, the
Corresponding speed is 22km/h in two speed sequences, and the average value of the two is 21km/h, such as the 4th column in table one.
Finally, establishing the first corresponding relationship between stabilizing speed and accelerator open degree, stored.
In addition, can also record at the time of providing accelerator open degree from processor during executing step 101 to speed
The time for reaching stabilizing speed, as the stabilization time in table, such as the 5th column in table one.
Acceleration (the 6th column in such as table one) are calculated according to stabilizing speed and stable time, can be used for vehicle
Acceleration control demarcated.
It should be noted that the data in table one are example, it is not offered as actual operating data.
It further,, will when Vehicle Speed to be controlled is stablized in the corresponding test process of each accelerator open degree
Accelerator open degree is reduced to zero.Record vehicle to be controlled from stabilized speed be reduced to zero needed for the time, as natural deceleration time,
It can be used as calibrating parameters to demarcate the acceleration control of automobile.
Embodiment three
The present embodiment is on the basis of the above embodiments, to optimize to vehicle longitudinal control scaling method.
The various embodiments described above are that the acceleration control to automobile is demarcated, and the present embodiment further provides for a kind of pair of automobile
The method that control of slowing down is demarcated:
Method provided in this embodiment can be executed by the processor in vehicle longitudinal control calibration system.Fig. 2 is this
The flow chart for the vehicle longitudinal control scaling method that inventive embodiments three provide.As shown in Fig. 2, on the basis of above-described embodiment
On, vehicle longitudinal control scaling method can also include:
Step 105, the speed for obtaining vehicle to be controlled are reduced parameter, and speed decrement parameter includes: brake pressure and braking vehicle
The second corresponding relationship between speed.
There is one-to-one relationship between brake pressure and braking speed, brake pressure is larger, braking speed it is corresponding compared with
It is small.Brake pressure refers specifically to the hydraulic pressure for executing brake operating in automobile for controlling brake apparatus.
Obtain brake pressure and brake speed between the second corresponding relationship, implementation can there are many, such as:
When vehicle driving to be controlled is in a certain stabilizing speed, vehicle to be controlled is controlled according to different brake pressures respectively
System when so that car speed to be controlled reducing and reaches stable, records current speed as braking speed.
During realization, brake pressure ascending order can be arranged, it may be assumed that subtracted first using minimum braking pressure control vehicle
Speed, then record-keeping system motor-car is fast.Then it is gradually increased brake pressure, successively record-keeping system motor-car speed.Alternatively, can also be when vehicle speed
After degree reaches braking speed, speed is kept to zero.It restarts automobile and travels to identical stabilizing speed, then increase braking pressure
Power re-executes testing procedure.
Alternatively, brake pressure descending can also be arranged, it may be assumed that control vehicle deceleration, note using maximum brake pressure first
Record retro-speed.Then it is gradually reduced brake pressure, successively records retro-speed.Alternatively, braking speed can also be reached when speed
After degree, speed is kept to zero.It restarts automobile and travels to identical stabilizing speed, then reduce brake pressure, re-execute
Testing procedure.
It is executed respectively one time alternatively, can also be arranged according to ascending order with descending arrangement, then corresponds to and calculate retro-speed
Average value can balance the influence of wind speed, the gradient to measurement result.
Step 106 demarcates the deceleration control of vehicle according to speed decrement parameter.
The second corresponding relationship got according to above-mentioned steps 105 is demarcated the deceleration control of vehicle, is somebody's turn to do with embodying
The deceleration controlling feature of vehicle.
It is subsequent, control algolithm can be set according to above-mentioned parameter, to adjust brake pressure, and then regulation speed reaches default vehicle
Speed realizes intelligent driving.
Above-mentioned vehicle to be controlled may be at nominal state, it may be assumed that ensures that tire pressure is in normal range (NR), and travels normal attached
Road surface on.
Technical solution provided by the present embodiment, further by obtaining brake pressure and braking second pair between speed
It should be related to, the deceleration control of vehicle is demarcated, is set according to above-mentioned calibration result for being controlled to Vehicular automatic driving
The control algolithm of system can be improved precision, reduce the gap between actual vehicle speed and expected speed, improve speed control effect
Fruit, and then improve and drive stability and safety.
In the implementation procedure of above-mentioned steps 105, first, in accordance with the increased direction of brake pressure, vehicle to be controlled is controlled, and work as
When the velocity-stabilization of vehicle, current vehicle speed is recorded.Then the direction reduced according to brake pressure, controls vehicle to be controlled, and work as vehicle
Velocity-stabilization when, record current vehicle speed.The data of record can refer to table two, it is to be understood that the present embodiment is in order to just
It is described in detail in the implementation to step 105, above-mentioned second corresponding relationship is summarized as table two, in actual moving process
In, the speed that processor will acquire is stored with corresponding brake pressure, storage mode can embody brake pressure with
Bus or train route is braked to correspond.
The second corresponding relationship between two brake pressure of table and braking speed
In above-mentioned steps 105, obtains brake pressure and brake the second corresponding relationship between speed, it specifically can be using such as
Under type:
Firstly, the direction being gradually increased according to brake pressure, successively according to different braking pressure control vehicle rows to be controlled
It sails.Speed when record Vehicle Speed is stablized respectively, as third speed sequence.
Then, the direction being gradually reduced according to brake pressure, successively according to different braking pressure control vehicle rows to be controlled
It sails.Speed when record Vehicle Speed is stablized respectively, as the 4th speed sequence.
Secondly, calculating flat between the speed for corresponding to the same brake pressure in third speed sequence and the 4th speed sequence
Mean value, as braking speed.
Finally, establishing the second corresponding relationship between braking speed and brake pressure, stored.
Further, record provides the time needed for brake pressure to speed reaches braking speed from processor, and calculates
The corresponding deceleration of the brake pressure also can be used in the deceleration control to vehicle and demarcate.
Based on the above technical solution, the pressure of brake pressure and the brake apparatus output provided due to processor it
Between have certain deviation, and hence it is also possible to obtain the deviation, and control of slowing down is demarcated.Specifically, on brake apparatus
Pressure sensing devices are set, for detecting the brake pressure actual value of brake apparatus output.Specifically, processor obtains pressure inspection
The brake pressure actual value that units test arrives is surveyed, and brake pressure reality is calculated according to brake pressure actual value and preset pressure value
The dynamic error of value and delay time, as pressure controling parameter, retarding braking used for vehicles is demarcated.Preset pressure
Value is the numerical value for the brake pressure that processor provides.
Wherein, difference of the dynamic error between brake pressure actual value and preset pressure value, delay time are from processor
Provide the time needed for brake pressure signal reaches the 50% of preset pressure value to brake pressure actual value.
The brake pressure signal that processor provides can be triangular signal or sine wave signal, by adopting the above technical scheme
The deviation of brake pressure actual value can be accurately calculated, and by speed control in reasonable range.
Example IV
Fig. 3 is the flow chart for the vehicle longitudinal control caliberating device that the embodiment of the present invention four provides.As shown in figure 3, this reality
It applies example and a kind of vehicle longitudinal control caliberating device is provided, comprising: speed increment parameter acquisition module 31, target accelerator open degree determine
Module 32, traveling control module 33, speed control parameter obtain module 34 and demarcating module 35.
Wherein, speed increment parameter acquisition module 31 is used to obtain the speed increment parameter of vehicle to be controlled, speed increment ginseng
Number includes: the first corresponding relationship between accelerator open degree and stabilizing speed.Target accelerator open degree determining module 32 is used for according to pre-
If target vehicle speed and the first corresponding relationship determine corresponding with target vehicle speed target accelerator open degree.Traveling control module 33 is used for
Vehicle driving to be controlled is controlled according to target accelerator open degree.Speed control parameter obtains module 34 for obtaining travel speed and target
Speed control parameter between speed, speed control parameter include: overshoot, stablize time and/or steady-state error.Demarcating module
35 for demarcating the acceleration control of vehicle according to speed increment parameter and speed control parameter.
Technical solution provided in this embodiment, first between accelerator open degree and stabilizing speed by obtaining vehicle to be controlled
Corresponding relationship determines target accelerator open degree corresponding with preset target vehicle speed according to the first corresponding relationship, according to target oil
Door aperture controls vehicle driving to be controlled, and obtains travel speed relative to the overshoot of target vehicle speed, stable time and/or stable state
Then error is demarcated the acceleration control of vehicle according to above-mentioned each parameter, is set according to above-mentioned calibration result for vehicle
The control algolithm that automatic Pilot is controlled can be improved precision, reduce the gap between actual vehicle speed and expected speed,
Speed control effect is improved, and then improves and drives stability and safety.
Above-mentioned speed increment parameter acquisition module 31 specifically includes: control unit for vehicle, speed recording unit, computing unit
And correspondence relationship establishing unit.Wherein, control unit for vehicle is used for the direction being gradually increased according to accelerator open degree, successively according to not
Same accelerator open degree controls the vehicle driving to be controlled.Speed recording unit for recording when Vehicle Speed is stablized respectively
Speed, as the first speed sequence.Control unit for vehicle is also used to the direction being gradually reduced according to accelerator open degree, successively according to not
Same accelerator open degree controls the vehicle driving to be controlled.When speed recording unit is also used to record Vehicle Speed stabilization respectively
Speed, as the second speed sequence.Computing unit is same for corresponding in the first speed sequence of calculating and the second speed sequence
Average value between the speed of a accelerator open degree, as stabilizing speed.Correspondence relationship establishing unit is for establishing the stable vehicle
The first corresponding relationship between speed and accelerator open degree.
In addition, vehicle longitudinal control caliberating device further include: speed is reduced parameter acquisition module, for obtaining vehicle to be controlled
Speed be reduced parameter, speed decrement parameter includes: the second corresponding relationship between brake pressure and braking speed.It is above-mentioned
Demarcating module is also used to be reduced parameter according to speed and demarcates to the deceleration control of vehicle.
Embodiment five
The present embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer program
It is executed by processor to realize method provided by any embodiment as above.
Fig. 4 is the structural schematic diagram for the vehicle longitudinal control calibration system that the embodiment of the present invention five provides.As shown in figure 4,
The present embodiment also provides a kind of vehicle longitudinal control calibration system, comprising: memory, processor and computer program.It calculates
Machine program stores in memory, and is configured as being executed as processor to realize the side as provided by above-mentioned any embodiment
Method.
The present embodiment also provides a kind of automobile, including vehicle longitudinal control calibration system as above, has above method phase
Same technical effect.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of vehicle longitudinal control scaling method characterized by comprising
The speed increment parameter of vehicle to be controlled is obtained, the speed increment parameter includes: between accelerator open degree and stabilizing speed
First corresponding relationship；
Target accelerator open degree corresponding with the target vehicle speed is determined according to preset target vehicle speed and first corresponding relationship；
The vehicle driving to be controlled is controlled according to the target accelerator open degree, and is obtained between travel speed and the target vehicle speed
Speed control parameter, the speed control parameter includes: overshoot, stablizes time and/or steady-state error；
The acceleration control of vehicle is demarcated according to the speed increment parameter and speed control parameter.
2. the method according to claim 1, wherein first between acquisition accelerator open degree and stabilizing speed is corresponding
Relationship, comprising:
The direction being gradually increased according to accelerator open degree successively controls the vehicle driving to be controlled according to different accelerator open degrees；
Speed when record Vehicle Speed is stablized respectively, as the first speed sequence；
The direction being gradually reduced according to accelerator open degree successively controls the vehicle driving to be controlled according to different accelerator open degrees；
Speed when record Vehicle Speed is stablized respectively, as the second speed sequence；
The average value between the speed for corresponding to the same accelerator open degree in the first speed sequence and the second speed sequence is calculated, as
Stabilizing speed；
Establish the first corresponding relationship between the stabilizing speed and accelerator open degree.
3. according to the method described in claim 2, it is characterized in that, the speed increment parameter further include: natural deceleration；
Obtaining the natural deceleration includes:
When Vehicle Speed to be controlled is stablized, accelerator open degree is reduced to zero；
Record vehicle to be controlled speed be kept to zero needed for the time, as natural deceleration time；
Natural deceleration is calculated according to the natural deceleration time.
4. the method according to claim 1, wherein further include:
The speed decrement parameter of vehicle to be controlled is obtained, the speed decrement parameter includes: between brake pressure and braking speed
Second corresponding relationship；
Parameter is reduced according to the speed to demarcate the deceleration control of vehicle.
5. according to the method described in claim 4, it is characterized in that, second between acquisition brake pressure and braking speed is corresponding
Relationship, comprising:
The direction being gradually increased according to brake pressure, the successively vehicle driving to be controlled according to different braking pressure controls；
Speed when record Vehicle Speed is stablized respectively, as third speed sequence；
The direction being gradually reduced according to brake pressure, the successively vehicle driving to be controlled according to different braking pressure controls；
Speed when record Vehicle Speed is stablized respectively, as the 4th speed sequence；
The average value between the speed for corresponding to the same brake pressure in third speed sequence and the 4th speed sequence is calculated, as
Brake speed；
Establish the second corresponding relationship between the braking speed and brake pressure.
6. according to the method described in claim 5, it is characterized in that, speed is reduced parameter further include: pressure controling parameter；
Obtaining pressure controling parameter includes:
Obtain the brake pressure actual value that pressure sensing devices detect；
Dynamic error and the delay time of the brake pressure actual value are calculated according to brake pressure actual value and preset pressure value,
As the pressure controling parameter.
7. a kind of vehicle longitudinal control caliberating device characterized by comprising
Speed increment parameter acquisition module, for obtaining the speed increment parameter of vehicle to be controlled, the speed increment parameter includes:
The first corresponding relationship between accelerator open degree and stabilizing speed；
Target accelerator open degree determining module, for according to preset target vehicle speed and first corresponding relationship determination and the mesh
Mark the corresponding target accelerator open degree of speed；
Control module is travelled, for controlling the vehicle driving to be controlled according to the target accelerator open degree；
Speed control parameter obtains module, for obtaining the speed control parameter between travel speed and the target vehicle speed, institute
Speed control parameter is stated to include: overshoot, stablize time and/or steady-state error；
Demarcating module, for being demarcated according to the speed increment parameter and speed control parameter to the acceleration control of vehicle.
8. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program；The computer program quilt
Processor is executed to realize as the method according to claim 1 to 6.
9. a kind of vehicle longitudinal control calibration system characterized by comprising
Memory；
Processor；And
Computer program；Computer program storage in the memory, and be configured as being executed by the processor with
Realize as the method according to claim 1 to 6.
10. a kind of automobile, which is characterized in that including vehicle longitudinal control calibration system as claimed in claim 9.
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