CN109050528B - Cruise vehicle speed control device and method under arc road scene - Google Patents
Cruise vehicle speed control device and method under arc road scene Download PDFInfo
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- CN109050528B CN109050528B CN201810843058.0A CN201810843058A CN109050528B CN 109050528 B CN109050528 B CN 109050528B CN 201810843058 A CN201810843058 A CN 201810843058A CN 109050528 B CN109050528 B CN 109050528B
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2540/00—Input parameters relating to occupants
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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
- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
本发明提出了一种弧形道路场景下的巡航车速控制装置及方法，该装置包括前方道路信息采集模块、弧形道路场景判断模块、当前车辆状态采集模块、历史车辆状态调用模块、加速度获得模块和车速控制模块。前方道路信息采集模块用于采集前方道路信息，弧形道路场景判断模块用于判断当前车辆是否处于弧形道路场景中，当前车辆状态采集模块用于采集当前车辆状态信息，历史车辆状态调用模块用于调用对应的历史车辆状态信息，加速度获得模块用于根据历史车辆状态信息和当前车辆状态信息，获得加速度，车速控制模块用于根据加速度，控制当前车辆加速到预定速度。本发明能够避免在弧形道路场景下目标丢失后，发生突然加速的状况，提高了行车安全和驾驶体验。
The invention provides a cruising vehicle speed control device and method in an arc-shaped road scene. The device includes a forward road information acquisition module, an arc-shaped road scene judgment module, a current vehicle state acquisition module, a historical vehicle state invocation module, and an acceleration acquisition module. and speed control module. The front road information collection module is used to collect the road information ahead, the arc road scene judgment module is used to judge whether the current vehicle is in an arc road scene, the current vehicle status collection module is used to collect the current vehicle status information, and the historical vehicle status call module is used for In order to call the corresponding historical vehicle state information, the acceleration obtaining module is used to obtain the acceleration according to the historical vehicle state information and the current vehicle state information, and the vehicle speed control module is used to control the current vehicle to accelerate to a predetermined speed according to the acceleration. The present invention can avoid the situation of sudden acceleration after the target is lost in the arc-shaped road scene, thereby improving the driving safety and driving experience.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a cruise vehicle speed control device and method under an arc road scene.
Background
The intelligent driving technology is a hot spot in the current automobile industry, and the intelligent driving technology refers to a technology that a robot assists a person to drive and completely replaces the person to drive under special conditions. The machine behavior is more accurate and stylized, so that fatigue caused by long-term attention of a driver for driving is avoided, and the driving safety is improved.
In the intelligent driving technology, a cruise system is one of important components, wherein the cruise system is mainly realized by detecting surrounding road condition information by a millimeter wave radar sensor or a camera or a combination mode of the millimeter wave radar sensor and the camera, and the cruise system is divided into an adaptive cruise mode and a constant speed cruise mode. The constant-speed cruise can control the vehicle to run according to a preset speed. Adaptive cruise control is an automotive function that allows a vehicle cruise control system to adapt to traffic conditions by adjusting speed. A radar installed in front of the vehicle is used to detect whether there is a slower speed vehicle on the road on which the host vehicle is traveling. If there is a slower vehicle, the adaptive cruise control will reduce the speed and control the clearance or time gap with the vehicle in front. If the system detects that the front vehicle is not on the running road of the vehicle, the speed of the vehicle is increased to return to the previously set speed.
Under the arc road scene (like arc road surface, arc bridge floor, undulation road surface, undulation bridge floor, slope road etc.), because the radar position is along with the change of cambered surface to lead to the place ahead target to lose, can lose the detectability to the place ahead target, among the prior art, when the target of cruising is lost, the car certainly can switch to the constant speed mode of cruising, when switching, often can accelerate until accelerating to predetermined constant speed of cruising. At a curved road, if the vehicle suddenly accelerates, the drivability of the vehicle may be severely affected.
Disclosure of Invention
The invention aims to solve the technical problem of vehicle speed control after a cruise target is lost in an arc road scene. In order to solve the problems, the invention provides a cruise vehicle speed control device and method under an arc road scene, and the invention is realized by the following technical scheme:
the invention provides a cruising speed control device under an arc road scene, which comprises a front road information acquisition module, an arc road scene judgment module, a current vehicle state acquisition module, a historical vehicle state calling module, an acceleration acquisition module and a speed control module, wherein the front road information acquisition module is used for acquiring the current vehicle state;
the front road information acquisition module is used for acquiring front road information;
the arc road scene judging module is used for judging whether the current vehicle is in an arc road scene;
the current vehicle state acquisition module is used for acquiring current vehicle state information when a current vehicle is in an arc road scene;
the historical vehicle state calling module is used for calling corresponding historical vehicle state information when the current vehicle is in an arc road scene;
the acceleration obtaining module is used for obtaining acceleration according to the historical vehicle state information and the current vehicle state information;
and the vehicle speed control module is used for controlling the current vehicle to accelerate to a preset speed according to the acceleration. Further, the acceleration obtaining module comprises a first acceleration obtaining unit, a second acceleration obtaining unit and an acceleration comparing unit;
the first acceleration obtaining unit is used for obtaining first acceleration according to the historical vehicle state information;
and the second acceleration obtaining unit is used for obtaining a second acceleration according to the current vehicle state information.
And the acceleration comparison unit is used for comparing the first acceleration with the second acceleration, selecting the acceleration with a smaller value and sending the acceleration to the vehicle speed control module.
Specifically, the vehicle speed control module is used for controlling the current vehicle to accelerate to a preset speed according to the acceleration with a smaller value.
Further, the device also comprises an arc road scene storage module and a driver intention judgment module, wherein the arc road scene storage module is used for storing the historical vehicle state information; and the driver intention judging module is used for judging whether the vehicle turns according to the intention of the driver, and if so, controlling the speed of the vehicle so that the speed of the vehicle when the turning operation is executed is within the limited speed range.
Specifically, the historical vehicle state information includes scene information, acceleration information, speed information, and vehicle distance information, and the current vehicle state information includes current scene information, current speed information, and current vehicle distance information.
The invention provides a cruising vehicle speed control method under an arc road scene, which comprises the following steps:
judging whether the cruise target is lost or not;
when the cruising target is lost, acquiring front road information;
judging whether the current vehicle is in an arc road scene or not according to the front road information;
when the current vehicle is in an arc road scene, acquiring current vehicle state information and calling corresponding historical vehicle state information;
acquiring acceleration according to the historical vehicle state information and the current vehicle state information;
and controlling the current vehicle to accelerate to a preset speed according to the acceleration.
Further, the obtaining the acceleration according to the historical vehicle state information and the current vehicle state information includes: and obtaining a first acceleration according to the historical vehicle state information, and obtaining a second acceleration according to the current vehicle state information.
Further, the controlling the vehicle to accelerate to a predetermined speed according to the acceleration includes: comparing the first acceleration with the second acceleration, and selecting the acceleration with a smaller value; and controlling the vehicle to accelerate to a preset speed according to the acceleration with the smaller value.
Further, before determining whether the cruise target is lost, the method further includes:
storing the historical vehicle state information;
before controlling the vehicle to accelerate to the preset speed according to the first acceleration, the method further comprises the following steps:
and judging the intention of the driver, judging whether the vehicle turns according to the intention of the driver, and if so, controlling the speed of the vehicle so that the speed of the vehicle when the turning operation is executed is within the limited speed range.
Further, the historical vehicle state information includes scene information, acceleration information, speed information and vehicle distance information, and the current vehicle state information includes current scene information, current speed information and current vehicle distance information.
The implementation of the invention has the following beneficial effects: the invention provides a cruising speed control device under an arc road scene, which is provided with an arc road scene storage module, can store historical vehicle state information under the arc road scene, obtains a first acceleration according to the historical vehicle state, obtains current vehicle state information at the same time, obtains a second acceleration according to the current vehicle state information, takes a smaller value of the two accelerations as a final acceleration, accelerates the vehicle to the speed of constant-speed cruising through the acceleration when the vehicle is switched to the constant-speed cruising after a cruising target is lost, improves the precision of acceleration control, avoids the condition of sudden acceleration when the vehicle is switched to the constant-speed cruising after the target is lost, and improves the driving safety and the driving experience.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a first structural block diagram of a cruise vehicle speed control device in an arc road scene according to an embodiment of the present invention;
fig. 2 is a second structural block diagram of the cruise vehicle speed control device in an arc road scene according to the embodiment of the invention;
FIG. 3 is a first flowchart of a cruise control method under an arc road scene according to an embodiment of the present invention;
fig. 4 is a second flowchart of a cruise vehicle speed control method under an arc road scene according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the several embodiments provided in this application, the described system embodiments are only illustrative, for example, the division of the modules is only one logical function division, and there may be other division manners in actual implementation, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of modules or units through some interfaces, and may be in an electrical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Example 1:
the embodiment of the invention provides a cruising vehicle speed control device under an arc road scene, as shown in figure 1, the device comprises: the vehicle speed control system comprises an arc road scene storage module, a front road information acquisition module, an arc road scene judgment module, a current vehicle state acquisition module, a historical vehicle state calling module, an acceleration acquisition module and a vehicle speed control module.
The arc road scene storage module is used for storing historical vehicle state information applicable to the arc road scene, and the historical vehicle state information comprises arc road scene information, acceleration information, speed information and inter-vehicle distance information. Historical vehicle state information such as acceleration information, speed information and vehicle distance information is taken as an average value in multiple experiments under the arc road scene.
The front road information acquisition module is used for acquiring the front road information of the current vehicle, the front road information acquisition module can be used for positioning the position of the vehicle and acquiring the front road information through a camera, a radar or a GPS + high-precision map, and the front road information is the front road information and the traffic information about 100 meters in front.
And the arc road scene judging module is used for judging whether the vehicle is in the arc road scene according to the front road information when the cruising target is lost, and calling corresponding historical vehicle state information according to the arc road scene. When the cruise target is lost, whether the vehicle is in an arc road scene or not is judged, wherein the cruise target is a front vehicle, and when the detection of the front vehicle is lost along with the change of the arc surface under the arc road scene, the vehicle can be switched from the self-adaptive cruise following the front vehicle to the constant-speed cruise. When the vehicle is switched to cruise control, the vehicle can accelerate to the set cruise control speed, and at the moment, the vehicle needs to be enabled to smoothly transit.
The current vehicle state acquisition module is used for acquiring current vehicle state information when a current vehicle is in an arc road scene, wherein the current vehicle state information comprises current scene information, current speed information and current vehicle distance information.
And the historical vehicle state calling module is used for calling the historical vehicle state information stored in the arc-shaped road scene storage module when the current vehicle is in the arc-shaped road scene.
And the acceleration obtaining module is used for obtaining acceleration according to the historical vehicle state information and the current vehicle state information and sending the acceleration to the vehicle speed control module.
The acceleration obtaining module is placed in the embodiment and comprises a first acceleration obtaining unit, a second acceleration obtaining unit and an acceleration comparison unit, the first acceleration obtaining unit can obtain or calculate a first acceleration according to historical vehicle state information called by the arc-shaped road scene judging module, and the second acceleration obtaining unit can obtain or calculate a second acceleration according to the current vehicle state information. The acceleration comparison unit is used for comparing the first acceleration with the second acceleration, selecting the smaller value of the two accelerations and sending the smaller value to the vehicle speed control module, and the vehicle speed control module executes the acceleration requirement.
The speed control module is used for selecting proper acceleration according to the arc road scene, the position information of the vehicle, the front road information of the vehicle and the running state of the vehicle, controlling the speed of the vehicle and preventing the vehicle from being too fast when the vehicle is switched from the self-adaptive cruise following the front vehicle to the constant-speed cruise.
Specifically, the data of the arc-shaped road scene is stored in the arc-shaped road scene storage module, the arc-shaped road scene comprises an arc-shaped road surface, an arc-shaped bridge surface, a fluctuant road surface, a fluctuant bridge surface and the like, different vehicle speed information, acceleration information and vehicle distance information are collected according to different arc-shaped road scenes and stored in the arc-shaped road scene storage module.
When the vehicle runs on a road, when the cruise target is judged to be lost, namely the target of the front vehicle is abnormally lost, the vehicle can be adjusted from the adaptive cruise following the front vehicle to the constant-speed cruise, at the moment, the vehicle can accelerate to the set value of the constant-speed cruise, and in order to avoid sudden acceleration, an appropriate acceleration value needs to be selected.
And the arc road scene judging module judges whether the vehicle is in the arc road scene when the cruising target is lost. The specific arc road scene can be judged by carrying out high-precision map + GPS positioning or image acquisition by a camera through a front road information acquisition module. Such as the type of curved road, the grade of the curved road, etc., and may also include traffic congestion on the curved road.
When the vehicle speed is controlled, different control strategies are provided according to different scenes. For example: if the following front vehicle runs, when the current vehicle enters the arc road at a higher speed, the speed of the current vehicle can be controlled to be reduced, and the following front vehicle is accelerated after passing through the arc road to stably follow the vehicle;
when the acceleration is required to be limited, according to the current arc-shaped road scene, calling historical vehicle state information, obtaining a first acceleration according to the historical vehicle state information, and simultaneously, according to the current vehicle state information obtained by the vehicle state obtaining module, obtaining a second acceleration according to the current vehicle state information. And comparing the first acceleration with the second acceleration, obtaining the acceleration and the vehicle speed applicable at the moment, and controlling the speed of the vehicle so that the vehicle cannot be suddenly accelerated due to abnormal loss of the cruise target.
The cruise vehicle speed control device under the arc road scene that this embodiment provided, the device can save under all kinds of arc road scenes, the required acceleration of vehicle, speed or vehicle distance, when being in under the arc road scene, controlling means obtains the acceleration according to the historical vehicle state information that prestores to obtain the acceleration according to current vehicle state information, synthesize and select less value as the acceleration of vehicle when switching to the cruise and control the speed of vehicle, when avoiding appearing when the target of cruising suddenly loses, because switch to the cruise at the constant speed, lead to the vehicle to accelerate suddenly, consequently improved the driving safety of vehicle, also improved driver experience.
Example 2:
the embodiment of the invention provides a cruising vehicle speed control device under an arc road scene, as shown in fig. 2, the device comprises: the system comprises an arc road scene storage module, a front road information acquisition module, an arc road scene judgment module, a current vehicle state acquisition module, a historical vehicle state calling module, a driver intention judgment module, an acceleration acquisition module and a vehicle speed control module.
The arc road scene storage module is used for storing historical vehicle state information applicable to the arc road scene, and the historical vehicle state information comprises arc road scene information, acceleration information, speed information and inter-vehicle distance information. Historical vehicle state information such as acceleration information, speed information and vehicle distance information is taken as an average value in multiple experiments under the arc road scene.
The front road information acquisition module is used for acquiring the front road information of the current vehicle, the front road information acquisition module can be used for positioning the position of the vehicle and acquiring the front road information through a camera, a radar or a GPS + high-precision map, and the front road information is the front road information and the traffic information about 100 meters in front.
And the arc road scene judging module is used for judging whether the vehicle is in the arc road scene according to the front road information when the cruising target is lost, and calling corresponding historical vehicle state information according to the arc road scene. When the cruise target is lost, whether the vehicle is in an arc road scene or not is judged, wherein the cruise target is a front vehicle, and when the detection of the front vehicle is lost along with the change of the arc surface under the arc road scene, the vehicle can be switched from the self-adaptive cruise following the front vehicle to the constant-speed cruise. When the vehicle is switched to cruise control, the vehicle can accelerate to the set cruise control speed, and at the moment, the vehicle needs to be enabled to smoothly transit.
The current vehicle state acquisition module is used for acquiring current vehicle state information when a current vehicle is in an arc road scene, wherein the current vehicle state information comprises current scene information, current speed information and current vehicle distance information.
And the historical vehicle state calling module is used for calling the historical vehicle state information stored in the arc-shaped road scene storage module when the current vehicle is in the arc-shaped road scene.
The driver intention judging module is used for predicting the running state of the vehicle and judging whether the vehicle is required to turn, for example, whether the vehicle is required to turn, and the like. The driver intention judging module can judge according to the intention of the driver, and the vehicle speed control module can better control the vehicle speed. The driver intention judging module comprises a driving route obtaining unit, a turn light signal obtaining unit, a steering wheel moment obtaining unit, a traffic signal obtaining unit and a traffic sign obtaining unit. The speed control module can better control the speed of the vehicle by judging whether the driver needs to turn or not through the driving route, the steering lamp signal, the steering wheel moment, the traffic signal and the traffic sign on the vehicle.
Specifically, when the square target is lost and the vehicle needs to turn to enter the arc-shaped road, whether the vehicle can turn or not can be judged through the driver intention judgment module. .
When the driver intention determination module is provided, since the acceleration required for the vehicle to turn and the vehicle to go straight are different, the driver intention is introduced into the acceleration obtaining module.
And the acceleration obtaining module is used for obtaining acceleration according to the intention of the driver, the historical vehicle state information and the current vehicle state information and sending the acceleration to the vehicle speed control module.
In this embodiment, the acceleration obtaining module includes a first acceleration obtaining unit, a second acceleration obtaining unit, and an acceleration comparing unit, where the first acceleration obtaining unit can obtain or calculate a first acceleration according to the historical vehicle state information and the driver intention called by the curved road scene determining module, and the second acceleration obtaining unit can obtain or calculate a second acceleration according to the current vehicle state information and the driver intention. The acceleration comparison unit is used for comparing the first acceleration with the second acceleration, selecting the smaller value of the two accelerations and sending the smaller value to the vehicle speed control module, and the vehicle speed control module executes the acceleration requirement.
The cruise vehicle speed control device under the arc road scene can store the acceleration, the speed or the vehicle distance required by a vehicle under various arc road scenes, when the device is under the arc road scenes, the control device obtains a first acceleration according to the pre-stored historical vehicle state information and the intention of the driver, obtains a second acceleration according to the current vehicle state information and the intention of the driver, comprehensively selects a smaller value as the acceleration of the vehicle when the vehicle is switched to the constant-speed cruise, controls the speed of the vehicle, and avoids the phenomenon that when a cruise target is suddenly lost, the vehicle is suddenly accelerated due to the fact that the vehicle is switched to the constant-speed cruise, so that the driving safety of the vehicle is improved, and the experience of the driver is also improved.
For example: if the following front vehicle runs, the front vehicle turns to, and the steering indicator lamp or the steering wheel is turned on from the vehicle, so that the driver can know that the following front vehicle turns to, the target is lost due to the turning, the acceleration can occur from the vehicle, the acceleration is limited when the vehicle passes through the arc-shaped road, and the following front vehicle runs through the post-acceleration.
According to the cruise vehicle speed control device during turning under the arc-shaped road scene, whether the device needs to turn or not can be judged through the driver intention judging module, so that the speed of a vehicle is limited, the driving safety of the vehicle is improved, and the driver experience is also improved.
Example 3:
the embodiment of the invention provides a cruising vehicle speed control method under an arc road scene, as shown in fig. 3, the method comprises the following steps:
s1, judging whether a cruise target is lost or not;
in the embodiment, before determining whether the cruise target is lost, historical vehicle state information may be stored, where the historical vehicle state information includes arc-shaped road scene information, acceleration information, speed information, and inter-vehicle distance information. Historical vehicle state information such as acceleration information, speed information and vehicle distance information is taken as an average value in multiple experiments under the arc road scene. . The arc road scene comprises an arc road surface, an arc bridge floor, a fluctuant road surface, a fluctuant bridge floor and the like, and different vehicle speed information, acceleration information and vehicle distance information are collected and stored according to different arc road scenes.
S2, when the cruising target is lost, collecting front road information;
in the embodiment, the position of the vehicle can be located and the front road information can be obtained through a camera, a radar or a GPS + high-precision map, wherein the front road information is about 100 meters ahead and traffic information.
S3, judging whether the current vehicle is in an arc road scene or not according to the front road information;
in this embodiment, when it is determined that the cruise target is lost, it is determined whether the vehicle is in an arc-shaped road scene, where the cruise target is a vehicle ahead, and when the detection of the vehicle ahead is lost along with a change in an arc surface in the arc-shaped road scene, the vehicle may be switched from adaptive cruise following a preceding vehicle to constant-speed cruise. When the vehicle is switched to cruise control, the vehicle can accelerate to the set cruise control speed, and at the moment, the vehicle needs to be enabled to smoothly transit. According to the embodiment, a specific arc road scene can be judged by carrying out high-precision map + GPS positioning or acquiring images by a camera through the front road information. Such as the type of curved road, the grade of the curved road, etc., and may also include traffic congestion on the curved road.
S4, when the current vehicle is in an arc road scene, acquiring current vehicle state information and calling corresponding historical vehicle state information;
in this embodiment, when the current vehicle is in an arc-shaped road scene, the current vehicle state information is collected, where the current vehicle state information includes current scene information, current speed information, and current vehicle distance information, and the historical vehicle state information stored in the arc-shaped road scene storage module is called.
S5, acquiring acceleration according to the historical vehicle state information and the current vehicle state information;
in this embodiment, the acceleration is obtained according to the historical vehicle state information and the current vehicle state information, specifically, the first acceleration is obtained or calculated according to the historical vehicle state information, and the second acceleration is obtained or calculated according to the current vehicle state information. The first acceleration and the second acceleration are compared, and the smaller of the two accelerations is selected as the final acceleration controlling the acceleration of the vehicle.
And S6, controlling the current vehicle to accelerate to a preset speed according to the acceleration.
In the embodiment, the current vehicle is controlled to accelerate to the preset speed according to the acceleration with the smaller value. That is, in the embodiment, according to the arc-shaped road scene, the position information of the vehicle, the road information in front of the vehicle, and the driving state of the vehicle, an appropriate acceleration is selected to control the speed of the vehicle, so that the vehicle is prevented from being too fast when the vehicle is switched from the adaptive cruise following the front vehicle to the constant speed cruise.
According to the cruise vehicle speed control method under the arc-shaped road scene, acceleration, speed or vehicle distance required by a vehicle under various arc-shaped road scenes can be stored, when the vehicle is under the arc-shaped road scene, the control device obtains first acceleration according to pre-stored historical vehicle state information, obtains second acceleration according to current vehicle state information, comprehensively selects a smaller value as the acceleration of the vehicle when the vehicle is switched to constant-speed cruise to control the speed of the vehicle, and avoids the phenomenon that when a cruise target is suddenly lost, the vehicle is suddenly accelerated due to switching to constant-speed cruise, so that the driving safety of the vehicle is improved, and the driver experience is also improved.
Example 4:
the embodiment of the invention provides a cruising speed control method under an arc road scene, as shown in fig. 4, the method comprises the following steps:
s1, judging whether a cruise target is lost or not;
in the embodiment, before determining whether the cruise target is lost, historical vehicle state information may be stored, where the historical vehicle state information includes arc-shaped road scene information, acceleration information, speed information, and inter-vehicle distance information. Historical vehicle state information such as acceleration information, speed information and vehicle distance information is taken as an average value in multiple experiments under the arc road scene. . The arc road scene comprises an arc road surface, an arc bridge floor, a fluctuant road surface, a fluctuant bridge floor and the like, and different vehicle speed information, acceleration information and vehicle distance information are collected and stored according to different arc road scenes.
S2, when the cruising target is lost, collecting front road information;
in the embodiment, the position of the vehicle can be located and the front road information can be obtained through a camera, a radar or a GPS + high-precision map, wherein the front road information is about 100 meters ahead and traffic information.
S3, judging whether the current vehicle is in an arc road scene or not according to the front road information;
in this embodiment, when it is determined that the cruise target is lost, it is determined whether the vehicle is in an arc-shaped road scene, where the cruise target is a vehicle ahead, and when the detection of the vehicle ahead is lost along with a change in an arc surface in the arc-shaped road scene, the vehicle may be switched from adaptive cruise following a preceding vehicle to constant-speed cruise. When the vehicle is switched to cruise control, the vehicle can accelerate to the set cruise control speed, and at the moment, the vehicle needs to be enabled to smoothly transit. According to the embodiment, a specific arc road scene can be judged by carrying out high-precision map + GPS positioning or acquiring images by a camera through the front road information. Such as the type of curved road, the grade of the curved road, etc., and may also include traffic congestion on the curved road.
S4, when the current vehicle is in an arc road scene, acquiring current vehicle state information and calling corresponding historical vehicle state information;
in this embodiment, when the current vehicle is in an arc-shaped road scene, the current vehicle state information is collected, where the current vehicle state information includes current scene information, current speed information, and current vehicle distance information, and the historical vehicle state information stored in the arc-shaped road scene storage module is called.
S5, judging the intention of a driver;
because the acceleration that the vehicle turned to and the vehicle was gone straight required is different, so this embodiment introduces driver's intention, and the square object is lost before, and when the vehicle need turn and get into the arc road, can judge whether the vehicle will turn through driver's intention.
S6, acquiring acceleration according to the historical vehicle state information, the current vehicle state information and the intention of a driver;
in the embodiment, the acceleration is obtained according to the historical vehicle state information, the current vehicle state information and the driver intention, specifically, a first acceleration is obtained or calculated according to the historical vehicle state information and the driver intention, and a second acceleration is obtained or calculated according to the current vehicle state information and the driver intention. The first acceleration and the second acceleration are compared, and the smaller of the two accelerations is selected as the final acceleration controlling the acceleration of the vehicle.
And S7, controlling the current vehicle to accelerate to a preset speed according to the acceleration.
In the embodiment, the current vehicle is controlled to accelerate to the preset speed according to the acceleration with the smaller value. That is, in the present embodiment, an appropriate acceleration is selected according to the curved road scene, the position information of the vehicle, the road information ahead of the vehicle, the driving state of the vehicle, and the intention of the driver, so as to control the speed of the vehicle and prevent the vehicle from being too fast when the vehicle is switched from the adaptive cruise following the preceding vehicle to the constant speed cruise.
According to the cruise vehicle speed control method under the arc-shaped road scene, the acceleration, the speed or the vehicle distance required by the vehicle under various arc-shaped road scenes can be stored, when the vehicle is under the arc-shaped road scene, the control device obtains the first acceleration according to the pre-stored historical vehicle state information and the intention of the driver, obtains the second acceleration according to the current vehicle state information and the intention of the driver, comprehensively selects a smaller value as the acceleration of the vehicle when the vehicle is switched to the constant-speed cruise, controls the speed of the vehicle, and avoids the phenomenon that when a cruise target is suddenly lost, the vehicle is suddenly accelerated due to the fact that the vehicle is switched to the constant-speed cruise, so that the driving safety of the vehicle is improved, and the experience of the driver is also improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
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| CN113022564A (en) * | 2019-12-25 | 2021-06-25 | 北京宝沃汽车股份有限公司 | Vehicle speed control method, vehicle speed control device, storage medium and electronic equipment |
| CN112072963B (en) * | 2020-08-13 | 2022-05-03 | 惠州拓邦电气技术有限公司 | Electric tool and commutation control method thereof |
| CN112606840A (en) * | 2020-12-18 | 2021-04-06 | 武汉格罗夫氢能汽车有限公司 | Automatic switching system for fuel cell hydrogen energy automobile driving mode |
| CN112896162B (en) * | 2021-03-29 | 2022-09-27 | 东风汽车集团股份有限公司 | Method and device for optimally controlling longitudinal running of automobile under ramp working condition |
| CN114763140B (en) * | 2022-02-21 | 2023-01-31 | 广州汽车集团股份有限公司 | Method, device, equipment and storage medium for adaptive cruise control |
| CN119261895A (en) * | 2024-12-09 | 2025-01-07 | 威驰腾(福建)汽车有限公司 | A pure electric vehicle control method, system, device and medium |
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