CN114954519A - Unmanned vehicle control method of half-speed ring and half-acceleration ring - Google Patents
Unmanned vehicle control method of half-speed ring and half-acceleration ring Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种半速度环半加速度环的无人驾驶车辆控制方法。The invention relates to a control method for an unmanned vehicle with a half-speed loop and a half-acceleration loop.
背景技术Background technique
随着汽车电动化及智能化的快速发展，无人驾驶汽车成为未来出行的一种选择。而无人驾驶汽车对整车控制系统的可靠性、安全性、舒适性提出了更高的要求，该车辆控制方法在传统有人驾驶车辆的控制方法基础上进行优化，提升了车辆控制系统的稳定性。With the rapid development of vehicle electrification and intelligence, driverless vehicles have become an option for future travel. The driverless car puts forward higher requirements for the reliability, safety and comfort of the vehicle control system. The vehicle control method is optimized on the basis of the traditional manned vehicle control method, which improves the stability of the vehicle control system. sex.
对于有人驾驶汽车，优先选择驱动扭矩控制，制动制动力控制的策略，结合驾驶员-车闭环控制系统，实现驾驶员良好的驾乘感受。对于无人驾驶汽车，决策层通常会同时规划路径及通过车速，从而简化决策层代码执行效率。For manned vehicles, the strategy of driving torque control and braking force control is preferred, combined with the driver-vehicle closed-loop control system, to achieve a good driving experience for the driver. For driverless cars, the decision-making layer usually plans the path and passing speed at the same time, thereby simplifying the code execution efficiency of the decision-making layer.
针对无人驾驶车辆的决策特点，大对数无人驾驶车辆底层会选择转速控制型驱动系统，以便直接响应来自决策层的指令。即在驱动过程中，驱动电机控制器(MCU)执行速度环闭环控制。According to the decision-making characteristics of unmanned vehicles, the bottom layer of large logarithmic unmanned vehicles will choose a speed-controlled drive system to directly respond to the instructions from the decision-making layer. That is, in the driving process, the driving motor controller (MCU) performs speed loop closed-loop control.
但是常见的电-液制动系统(EHB)受工作原理限制，对液压力响应灵敏，精度高。所以，制动系统中理想的控制方式是制动力或液压力闭环控制，再结合整车质量、滑行阻力等参数的标定结果，进而表现为对整车减速度进行闭环控制。由此可见，驱动、制动过程中闭环控制物理量的不同，所以导致在制动过程中，可能存在互为干扰的情况，导致车辆制动效果差以及能耗增加等问题。However, the common electro-hydraulic brake system (EHB) is limited by its working principle, and has a sensitive response to hydraulic pressure and high precision. Therefore, the ideal control method in the braking system is closed-loop control of braking force or hydraulic pressure, combined with the calibration results of parameters such as vehicle mass and sliding resistance, and then it is expressed as closed-loop control of vehicle deceleration. It can be seen that the physical quantities of the closed-loop control in the driving and braking processes are different, so there may be mutual interference in the braking process, resulting in poor vehicle braking effect and increased energy consumption.
发明内容SUMMARY OF THE INVENTION
鉴于现有技术中存在的上述问题，本发明的主要目的在于提供一种半速度环半加速度环的无人驾驶车辆控制方法，通过本发明的控制方法，无人驾驶车辆在加速过程中，保证具有更精确的加速度控制精度；以及无人驾驶车辆在减速过程中，保证具有更精确的减速度控制精度，从而保证无人驾驶车辆同时具备安全性以及舒适性的优点。In view of the above problems existing in the prior art, the main purpose of the present invention is to provide a control method for an unmanned vehicle with a half speed loop and a half acceleration loop. It has more precise acceleration control accuracy; and the unmanned vehicle is guaranteed to have more precise deceleration control accuracy during the deceleration process, thereby ensuring that the unmanned vehicle has the advantages of safety and comfort at the same time.
本发明的技术方案是这样的：The technical scheme of the present invention is as follows:
一种半速度环半加速度环的无人驾驶车辆控制方法，该无人车辆控制方法用于对无人驾驶车辆进行控制，包括：An unmanned vehicle control method with a half velocity loop and a half acceleration loop, the unmanned vehicle control method is used to control the unmanned vehicle, including:
对于无人驾驶汽车决策层，同时下发车速及加/减速度指令；For the decision-making level of the driverless car, the speed and acceleration/deceleration commands are issued at the same time;
同时对于无人驾驶汽车底层，结合决策层指令情况，判断执行速度或加速度闭环控制，其中：At the same time, for the bottom layer of the driverless car, the closed-loop control of the execution speed or acceleration is judged based on the command situation of the decision-making layer, among which:
所述决策层指令情况包括以下情况：车速＞0且加速度＞0、车速＞0且加速度＝0以及车速＞0且加速度＜0。The decision-making level command conditions include the following conditions: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed>0 and acceleration<0.
当所述决策层指令情况为车速＞0且加速度＞0或加速度＝0时：所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。When the decision-making level command condition is vehicle speed>0 and acceleration>0 or acceleration=0: the working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is activated; the EHB unit of the unmanned vehicle The working state is not working, and the acceleration closed-loop control does not start.
当所述决策层指令情况为车速＞0且加速度＜0时：所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。When the decision-making level command condition is that the vehicle speed>0 and the acceleration<0: the working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control does not start; the working state of the EHB unit of the unmanned vehicle to work, and the acceleration closed-loop control is activated.
所述无人驾驶车辆上设置有IMU单元，且所述无人驾驶车辆的坡度i为：i＝0％、i≤20％以及i＞20％。The unmanned vehicle is provided with an IMU unit, and the gradient i of the unmanned vehicle is: i=0%, i≤20%, and i>20%.
当所述无人驾驶车辆的坡度i＝0％时，且当所述决策层指令情况为车速＞0且加速度＞0或加速度＝0时：所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。When the slope of the unmanned vehicle is i=0%, and when the decision-making level command condition is vehicle speed>0 and acceleration>0 or acceleration=0: the working state of the MCU unit of the unmanned vehicle is working , and the speed closed-loop control is activated; the working state of the EHB unit of the unmanned vehicle is not working, and the acceleration closed-loop control is not activated.
当所述无人驾驶车辆的坡度i＝0％时，且当所述决策层指令情况为车速＞0且加速度＜0时：所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。When the slope of the unmanned vehicle is i=0%, and when the decision-making level command condition is that the vehicle speed>0 and the acceleration<0: the working state of the MCU unit of the unmanned vehicle is not working, and the speed The closed-loop control is not activated; the working state of the EHB unit of the unmanned vehicle is working, and the acceleration closed-loop control is activated.
当所述无人驾驶车辆的坡度i≤20％下坡时，且当所述决策层指令情况为车速＞0且加速度＞0或加速度＝0时：所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。When the gradient i of the unmanned vehicle is less than or equal to 20% going downhill, and when the decision-making level command condition is that vehicle speed>0 and acceleration>0 or acceleration=0: the working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is activated; the working state of the EHB unit of the unmanned vehicle is not working, and the acceleration closed-loop control is not activated.
当所述无人驾驶车辆的坡度i≤20％下坡时，且当所述决策层指令情况为车速＞0且加速度＜0时：所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。When the gradient i of the unmanned vehicle is less than or equal to 20% going downhill, and when the decision-making level command condition is that the vehicle speed > 0 and the acceleration < 0: the working state of the MCU unit of the unmanned vehicle is not working, And the speed closed-loop control is not activated; the working state of the EHB unit of the unmanned vehicle is working, and the acceleration closed-loop control is activated.
当所述无人驾驶车辆的坡度i＞20％下坡时，且当所述决策层指令情况为车速＞0且加速度＜0.2g时：所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动；当所述无人驾驶车辆的坡度i＞20％下坡时，且当所述决策层指令情况为车速＞0且加速度＜0.2g时：所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。When the gradient i of the unmanned vehicle is > 20% going downhill, and when the decision-making level command condition is that the vehicle speed > 0 and the acceleration < 0.2g: the working state of the MCU unit of the unmanned vehicle is not working , and the speed closed-loop control does not start; the working state of the EHB unit of the unmanned vehicle is working, and the acceleration closed-loop control starts; when the slope of the unmanned vehicle is > 20% downhill, and when the decision-making When the level command condition is vehicle speed>0 and acceleration<0.2g: the working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is activated; the working state of the EHB unit of the unmanned vehicle is not working, and Acceleration closed-loop control does not start.
当所述无人驾驶车辆的坡度i＞20％下坡时，且当所述决策层指令情况为车速＞0且加速度＝0或加速度＜0或时：所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。When the gradient i>20% of the unmanned vehicle goes downhill, and when the decision-making level commands the situation as vehicle speed>0 and acceleration=0 or acceleration<0 or: the MCU unit of the unmanned vehicle works The state is not working, and the speed closed-loop control is not activated; the working state of the EHB unit of the unmanned vehicle is working, and the acceleration closed-loop control is activated.
本发明具有以下优点和有益效果：本发明实施例提供的半速度环半加速度环的无人驾驶车辆控制方法，对于无人驾驶汽车决策层，同时下发车速及加/减速度指令；同时对于无人驾驶汽车底层，结合决策层指令情况，判断执行速度或加速度闭环控制，其中：所述决策层指令情况包括以下情况：车速＞0且加速度＞0、车速＞0且加速度＝0以及车速＞0且加速度＜0；通过本发明提供的半速度环半加速度环的无人驾驶车辆控制方法，车辆可以在加速过程中，保证具有更精确的车速控制精度；在减速过程中，保证具有更精确的减速度控制精度，从而保证无人驾驶车辆同时具备安全性以及舒适性的优点。The present invention has the following advantages and beneficial effects: the unmanned vehicle control method of the half-speed loop and half-acceleration loop provided by the embodiment of the present invention, for the decision-making layer of the unmanned vehicle, simultaneously issues the vehicle speed and acceleration/deceleration commands; The bottom layer of the driverless car determines the execution speed or acceleration closed-loop control based on the command conditions of the decision-making layer, wherein: the command conditions of the decision-making layer include the following situations: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed> 0 and acceleration<0; through the unmanned vehicle control method of the half-speed loop and half-acceleration loop provided by the present invention, the vehicle can be guaranteed to have a more precise vehicle speed control accuracy during the acceleration process; The precision of deceleration control is high, so as to ensure that the unmanned vehicle has the advantages of safety and comfort at the same time.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。通常在此处描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。因此，以下对本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention. examples, but not all examples. The components of the embodiments of the invention generally described and illustrated herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but rather to represent only selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
下面将参照具体实施例对本发明作进一步的说明。The present invention will be further described below with reference to specific embodiments.
本发明实施例提供的半速度环半加速度环的无人驾驶车辆控制方法，该无人车辆控制方法用于对无人驾驶车辆进行控制，包括：An unmanned vehicle control method of a half-velocity loop and a half-acceleration loop provided by an embodiment of the present invention is used to control the unmanned vehicle, including:
对于无人驾驶汽车决策层，同时下发车速及加/减速度指令；同时对于无人驾驶汽车底层，结合决策层指令情况，判断执行速度或加速度闭环控制，其中：所述决策层指令情况包括以下情况：车速＞0且加速度＞0、车速＞0且加速度＝0以及车速＞0且加速度＜0，如下表1所示。For the decision-making layer of the driverless car, the speed and acceleration/deceleration commands are issued at the same time; at the same time, for the bottom layer of the driverless car, the closed-loop control of the speed or acceleration is judged in combination with the command of the decision-making layer, wherein: the command of the decision-making layer includes: The following cases: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed>0 and acceleration<0, as shown in Table 1 below.
表1Table 1
如表1所示，当所述决策层指令情况为车速＞0且加速度＞0或加速度＝0时：As shown in Table 1, when the decision-making level command condition is vehicle speed>0 and acceleration>0 or acceleration=0:
所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；The working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is activated;
所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。The working state of the EHB unit of the unmanned vehicle is not working, and the closed-loop acceleration control is not activated.
如表1所示，当所述决策层指令情况为车速＞0且加速度＜0时：As shown in Table 1, when the decision-making level command condition is that vehicle speed>0 and acceleration<0:
所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；The working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control is not started;
所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。The working state of the EHB unit of the unmanned vehicle is working, and the closed-loop acceleration control is activated.
当无人驾驶车辆上设置有IMU单元(惯性测量单元)，可结合坡度情况，且所述无人驾驶车辆的坡度i为：i＝0％、i≤20％以及i＞20％，如下表2所示。When the unmanned vehicle is provided with an IMU unit (inertial measurement unit), the slope conditions can be combined, and the slope i of the unmanned vehicle is: i=0%, i≤20% and i>20%, as shown in the following table 2 shown.
表2Table 2
当所述无人驾驶车辆的坡度i＝0％时，且当所述决策层指令情况为车速＞0且加速度＞0或加速度＝0时：When the slope of the unmanned vehicle is i=0%, and when the decision-making level commands the situation as vehicle speed>0 and acceleration>0 or acceleration=0:
所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；The working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is activated;
所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。The working state of the EHB unit of the unmanned vehicle is not working, and the closed-loop acceleration control is not activated.
如表2所示，当所述无人驾驶车辆的坡度i＝0％时，且当所述决策层指令情况为车速＞0且加速度＜0时：As shown in Table 2, when the slope of the unmanned vehicle is i=0%, and when the decision-making level command condition is that the vehicle speed is greater than 0 and the acceleration is less than 0:
所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；The working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control is not started;
所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。The working state of the EHB unit of the unmanned vehicle is working, and the closed-loop acceleration control is activated.
当所述无人驾驶车辆的坡度i≤20％下坡时，且当所述决策层指令情况为车速＞0且加速度＞0或加速度＝0时：When the slope i of the unmanned vehicle is ≤ 20% going downhill, and when the decision-making level commands the situation as vehicle speed>0 and acceleration>0 or acceleration=0:
所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；The working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is activated;
所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。The working state of the EHB unit of the unmanned vehicle is not working, and the closed-loop acceleration control is not activated.
如表2所示，当所述无人驾驶车辆的坡度i≤20％下坡时，且当所述决策层指令情况为车速＞0且加速度＜0时：As shown in Table 2, when the slope i of the unmanned vehicle is ≤ 20% going downhill, and when the decision-making level commanded the situation that the vehicle speed>0 and the acceleration<0:
所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；The working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control is not started;
所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。The working state of the EHB unit of the unmanned vehicle is working, and the closed-loop acceleration control is activated.
当所述无人驾驶车辆的坡度i＞20％下坡时，且当所述决策层指令情况为车速＞0且加速度＜0.2g时：When the gradient i of the unmanned vehicle is > 20% going downhill, and when the decision-making level commands the speed > 0 and the acceleration < 0.2g:
所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；The working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control is not started;
所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动；The working state of the EHB unit of the unmanned vehicle is working, and the acceleration closed-loop control is activated;
如表2所示，当所述无人驾驶车辆的坡度i＞20％下坡时，且当所述决策层指令情况为车速＞0且加速度＜0.2g时：As shown in Table 2, when the slope i of the unmanned vehicle is > 20% going downhill, and when the decision-making level instructs that the vehicle speed > 0 and the acceleration < 0.2g:
所述无人驾驶车辆的MCU单元工作状态为工作，且速度闭环控制启动；The working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is activated;
所述无人驾驶车辆的EHB单元工作状态为不工作，且加速度闭环控制不启动。The working state of the EHB unit of the unmanned vehicle is not working, and the closed-loop acceleration control is not activated.
如表2所示，当所述无人驾驶车辆的坡度i＞20％下坡时，且当所述决策层指令情况为车速＞0且加速度＝0或加速度＜0或时：As shown in Table 2, when the slope i of the unmanned vehicle is > 20% downhill, and when the decision-making level commands the situation as vehicle speed > 0 and acceleration = 0 or acceleration < 0 or:
所述无人驾驶车辆的MCU单元工作状态为不工作，且速度闭环控制不启动；The working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control is not started;
所述无人驾驶车辆的EHB单元工作状态为工作，且加速度闭环控制启动。The working state of the EHB unit of the unmanned vehicle is working, and the closed-loop acceleration control is activated.
本发明实施例提供的半速度环半加速度环的无人驾驶车辆控制方法，可使无人驾驶车辆在加速过程中，保证具有更精确的车速控制精度；同时，无人驾驶车辆在减速过程中，保证具有更精确的减速度控制精度，从而保证无人驾驶车辆同时具备安全性以及舒适性的优点。The method for controlling an unmanned vehicle with a half-speed loop and a half-acceleration loop provided by the embodiment of the present invention can ensure that the unmanned vehicle has more precise speed control accuracy during the acceleration process; , to ensure more precise deceleration control accuracy, so as to ensure that the unmanned vehicle has the advantages of safety and comfort at the same time.
最后应说明的是：以上所述的各实施例仅用于说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分或全部技术特征进行等同替换；而这些修改或替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that : it can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.
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| FR2939389A3 (en) * | 2008-12-08 | 2010-06-11 | Renault Sas | METHOD FOR CONTROLLING THE SPEED OF A MOTOR VEHICLE DRIVEN BY GRAVITATION IN A SLOPE |
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