车辆在低速工况下的减速度跟踪控制方法、装置及设备

The application discloses a deceleration tracking control method, device and equipment for a vehicle under a low-speed working condition, and relates to the technical field of vehicles. The method comprises the steps of determining a parking distance error according to the acquired vehicle speed, the actual deceleration and the target deceleration, determining a first deceleration according to the acquired vehicle speed, the actual deceleration, the target deceleration and the historical target deceleration when the parking distance error and the acquired vehicle speed, the target deceleration and the ABS activation state information of the vehicle meet preset comfortable parking enabling conditions, adjusting the acquired vehicle target deceleration to obtain a second deceleration when the acquired vehicle speed, the ABS activation state information and the parking request state information of the vehicle meet preset parking enabling conditions, and controlling the vehicle according to the first deceleration, the second deceleration and the acquired actual deceleration of the vehicle. The application can improve the smoothness of the vehicle in the parking process.