自动驾驶技术中的车辆纵向控制策略

Vehicle Longitudinal Control Strategy in the Autonomous Driving Technology

随着自动驾驶技术发展,自动驾驶接口也在发生变化。车辆纵向控制策略随着自动驾驶接口的变化进行调整。越来越多的自动驾驶公司,都在线控底盘领域布局。车辆纵向控制逐渐由原来的线控制动转移到上层自动驾驶控制系统,由最开始的位置闭环控制,发展到减速度闭环,最后到制动力矩闭环,本文分析了纵向控制各接口优缺点及制动冗余技术,对自动驾驶车辆纵向控制策略做了阐述,具备一定工程应用价值。

With the development in autonomous driving technology,autonomous driving interfaces are also undergoing changes.The longitudinal control strategy of the vehicle is adjusted according to the changes in the autonomous driving interface.More and more autonomous driving companies are laying out their online control chassis field.The longitudinal control of the vehicle gradually shifts from the chassis to the upper autonomous driving control system,from the initial position closed-loop control to the deceleration closed-loop,and finally to the braking torque closed-loop.This paper analyzes the advantages and disadvantages of each interface and the braking redundancy technology,which has engineering application value for the longitudinal control strategy of autonomous vehicles.