CN110816541B - Curve identification method and device, computer equipment and storage medium - Google Patents
Curve identification method and device, computer equipment and storage medium Download PDFInfo
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- CN110816541B CN110816541B CN201810910163.1A CN201810910163A CN110816541B CN 110816541 B CN110816541 B CN 110816541B CN 201810910163 A CN201810910163 A CN 201810910163A CN 110816541 B CN110816541 B CN 110816541B
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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
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral 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
- B60W2540/18—Steering angle
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Abstract
The present application relates to a curve identification method, system, computer device and storage medium. The method comprises the following steps: acquiring the lateral acceleration and the steering wheel angle of the current vehicle; determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle; determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree; determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed; and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention. By adopting the method, the power consumption and the cost can be reduced, and the algorithm is simple and easy to realize.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a curve identification method, apparatus, computer device, and storage medium.
Background
Research on the dynamic performance of vehicles has been one of the important directions for vehicle development. The judgment of the state of the vehicle entering the bend and exiting the bend can be used as important input of vehicle control, so that the control performance of the vehicle can be improved, the driving feeling can be improved, the dynamic posture of the vehicle can be optimized, and the stability boundary of vehicle motion can be enlarged. Various chassis dynamic control systems with different names but the same functions, such as an acceleration vector control system, a dynamic chassis control system and an agility control system, are proposed in mass-produced vehicle models, and are auxiliary control systems developed for improving the performance of a vehicle chassis dynamic system, and the purpose of the auxiliary control systems is to enable the dynamic response of a vehicle in a curve process to better meet the expectation of a driver and to achieve the expansion of a stable control boundary of the vehicle to a certain extent.
However, the development of the dynamic performance of the chassis usually involves coordination among multiple subsystems such as chassis suspension system design, special system design, and power system, and how much control quantity should be output among the subsystems at any time involves the problem of curve state recognition, and the control system needs to input information through some sensors, and most of the current methods for curve recognition in the market are based on image processing or map data processing technology.
The image processing-based mode not only needs a large amount of sensor cooperation controllers to intervene, but also has complex image processing algorithm, larger power consumption and higher operation cost; the curve identification method based on the map data needs a large amount of road information input, and is difficult to realize and complex in algorithm.
Disclosure of Invention
In view of the above, there is a need to provide a curve identification method, an apparatus, a computer device and a storage medium, which can reduce power consumption and cost, and have a simple and easy-to-implement algorithm.
A method of curve identification, the method comprising:
acquiring the lateral acceleration and the steering wheel angle of the current vehicle;
determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle;
determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree;
determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed;
and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
In one embodiment, the determining the current over-bending stage of the current vehicle according to the lateral acceleration and the lateral impact may include:
acquiring a first product of the lateral acceleration and the lateral impact;
when the first product is larger than a preset first threshold value, determining that the current curve passing stage is a curve entering stage;
and when the first product is smaller than a preset second threshold value, determining that the current curve passing stage is a curve exiting stage.
In one embodiment, the determining the current curve-passing intention of the driver of the current vehicle according to the steering wheel angle and the steering wheel angle speed as described above includes:
obtaining a second product of the steering wheel angle and the steering wheel angular velocity;
when the second product is larger than a preset third threshold value, determining that the current curve passing intention is a curve entering intention;
when the second product is smaller than a preset fourth threshold, determining that the current curve passing intention is a curve exiting intention;
and when the second product is less than or equal to the third threshold and greater than or equal to the fourth threshold, determining that the current intention of passing through the curve is in the curve.
In one embodiment, the above determining the current over-bending stage of the current vehicle according to the lateral acceleration and the lateral impact further includes:
when the first product is smaller than a preset fifth threshold and larger than a preset sixth threshold, determining that the current curve passing stage is a curve middle stage;
and when the first product is less than or equal to the first threshold and greater than or equal to the fifth threshold, or when the first product is less than or equal to the sixth threshold and greater than or equal to the second threshold, determining the curve passing stage where the current vehicle is located, which is determined last time, as the current curve passing stage.
In one embodiment, the determining the curve recognition result of the current vehicle according to the current curve passing stage and the current curve passing intention includes:
and when the current bending stage is consistent with the current bending intention, determining the current bending stage or the bending stage corresponding to the current bending intention as the curve identification result of the current vehicle.
In one embodiment, the curve identification method further includes:
acquiring a time difference value between the moment of determining the curve identification result in the current curve identification and the moment of determining the curve identification result in the previous curve identification;
and when the time difference value is not greater than the preset time length threshold value, judging that the curve identification result determined this time is invalid.
In one embodiment, the curve identification method further includes:
acquiring the speed of the current vehicle and the pressure of a brake master cylinder;
detecting whether the vehicle speed, the pressure of the brake master cylinder, the lateral impact degree and the steering wheel turning speed all meet corresponding curve judgment conditions;
and if so, determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact.
A curve recognition apparatus, the apparatus comprising:
the acquisition module is used for acquiring the lateral acceleration and the steering wheel angle of the current vehicle;
the preprocessing module is used for determining the lateral impact degree of the current vehicle according to the lateral acceleration and determining the steering wheel rotating speed of the current vehicle according to the steering wheel rotating angle;
a first defining module, configured to determine, according to the lateral acceleration and the lateral impact, a current curve passing stage where the current vehicle is located;
a second defining module for determining a current curve-passing intention of a driver of the current vehicle based on the steering wheel angle and the steering wheel angle speed;
and the identification module is used for determining the curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring the lateral acceleration and the steering wheel angle of the current vehicle;
determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle;
determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree;
determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed;
and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of:
acquiring the lateral acceleration and the steering wheel angle of the current vehicle;
determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle;
determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree;
determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed;
and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
The curve identification method, the curve identification device, the curve identification computer equipment and the storage medium have the advantages that the lateral acceleration and the steering wheel angle of the current vehicle are obtained, the lateral impact degree of the current vehicle is determined according to the lateral acceleration, the steering wheel angle speed of the current vehicle is determined according to the steering wheel angle, the current curve passing stage where the current vehicle is located is determined according to the lateral acceleration and the lateral impact degree, the current curve passing intention of a driver of the current vehicle is determined according to the steering wheel angle and the steering wheel angle speed, the curve identification result of the current vehicle is determined according to the current curve passing stage and the current curve passing intention, and as the lateral acceleration and the steering wheel angle can be acquired by the existing sensors on the current vehicle without additionally increasing the sensors and changing the performances of the sensors, road information does not need to be input, the algorithm is simple, and effective input can be provided for improving the vehicle dynamic control algorithm while power consumption and cost are saved.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a method for curve recognition;
FIG. 2 is a schematic illustration of a vehicle staged during an ideal cornering maneuver;
FIG. 3 is a flow diagram illustrating a method for curve identification in one embodiment;
FIG. 4 is a flow chart illustrating a current curve passing stage determination method according to an embodiment;
FIG. 5 is a schematic illustration of a scope of lateral impact force definition as described in one embodiment;
FIG. 6 is a flow diagram illustrating a current curve-crossing intent determination method in accordance with one embodiment;
FIG. 7 is a schematic illustration of a work field definition of a driver's driving intent as described in one embodiment;
FIG. 8 is a flowchart illustrating a curve recognition method according to another embodiment;
FIG. 9 is a block diagram showing the structure of a curve recognizing apparatus according to an embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The curve identification method provided by the application can be applied to the application environment shown in fig. 1. The electronics communicate with each sensor over a bus. The electronic device includes a processor, a nonvolatile storage medium, an internal memory, and an input device connected by a system bus. The non-volatile storage medium of the electronic device stores an operating system and also comprises a curve recognition device, and the curve recognition device of the electronic device is used for realizing a curve recognition method. The processor is used to provide computing and control capabilities to support the operation of the entire electronic device. An internal memory in the electronic device provides an environment for operation of the curve recognition device in the non-volatile storage medium. Specifically, the curve recognition device may obtain a lateral acceleration and a steering wheel angle of a current vehicle (the lateral acceleration and the steering wheel angle are collected by a sensor), determine a lateral impact degree of the current vehicle according to the lateral acceleration, determine a steering wheel angle speed of the current vehicle according to the steering wheel angle, determine a current curve passing stage where the current vehicle is located according to the lateral acceleration and the lateral impact degree, determine a current curve passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angle speed, and determine a curve recognition result of the current vehicle according to the current curve passing stage and the current curve passing intention. The electronic device includes, but is not limited to, various vehicle-mounted terminals, a vehicle body controller, and the like, and may also be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices.
As shown in fig. 2, the process of the vehicle in the ideal process of passing a curve is generally divided into five stages, the first stage, braking of the straight line segment before entering the curve, the second stage, with or without braking while turning, the third stage, with the steering wheel held steady, the fourth stage, with or without accelerating while the steering wheel starts to return to normal, and the fifth stage, with the steering wheel completely returning to normal, with linear acceleration. The scheme of the invention mainly aims at pattern recognition from the second stage to the fourth stage.
In one embodiment, as shown in fig. 3, a curve identification method is provided, which is described by taking the method as an example applied to the electronic device in fig. 1, and includes the following steps:
step S301: acquiring the lateral acceleration and the steering wheel angle of the current vehicle;
the lateral direction in the embodiment of the invention refers to a direction perpendicular to the current vehicle running direction;
the lateral acceleration and the steering wheel angle can be acquired by the existing sensors of the current vehicle, and can be acquired according to the original acquisition signals of the sensors; in addition, the lateral acceleration and the steering wheel angle CAN be read through a finished automobile CAN line, and the lateral acceleration and the steering wheel angle CAN also be read through an external sensor and data acquisition equipment.
Step S302: determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle;
specifically, the lateral impact of the current vehicle may be obtained by performing first order differentiation on the lateral acceleration, and the steering wheel angular velocity of the current vehicle may be obtained by performing first order differentiation on the input signal of the steering wheel angle.
Step S303: determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree;
the current curve passing stage is the curve state of the current vehicle determined according to the lateral acceleration and the lateral impact degree; the current curve passing stage may be any one of a curve entering stage, a curve in stage, and a curve exiting stage.
Step S304: determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed;
the current curve-passing intention refers to the intention of a driver driving the current vehicle to pass a curve, which is determined according to the steering wheel angle and the steering wheel angle speed, and the current curve-passing intention can be any one of an intention of entering the curve, an intention of going in the curve and an intention of going out of the curve, wherein the intention of going out of the curve refers to the fact that the vehicle is determined to be in the curve based on the steering wheel angle and the steering wheel angle speed.
Step S305: determining a curve identification result of the current vehicle according to the current bending stage and the current bending intention;
specifically, the current turning stage and the current turning intention may be and-operated to obtain a curve identification result for determining the current vehicle.
In the curve identification method, the lateral acceleration and the steering wheel angle of the current vehicle are obtained, the lateral impact degree of the current vehicle is determined according to the lateral acceleration, the steering wheel angle speed of the current vehicle is determined according to the steering wheel angle, the current curve passing stage where the current vehicle is located is determined according to the lateral acceleration and the lateral impact degree, the current curve passing intention of the driver of the current vehicle is determined according to the steering wheel angle and the steering wheel angle speed, the curve identification result of the current vehicle is determined according to the current curve passing stage and the current curve passing intention, and as the lateral acceleration and the steering wheel angle can be acquired by the existing sensors on the current vehicle, no additional sensor is needed, the performance of the sensor is not needed to be changed, and no road information is needed to be input, the algorithm is simple, and effective input can be provided for improving the vehicle dynamic control algorithm while the power consumption and the cost are saved.
Further, it is possible to perform butterworth filtering on the lateral acceleration, then perform first order differentiation on the lateral acceleration to obtain the lateral impact degree of the current vehicle, perform first order differentiation on the input signal of the steering wheel angle to obtain the steering wheel angle velocity of the current vehicle, and then perform butterworth filtering again on the differentiated signal. The accuracy of the curve identification result is convenient to improve.
In one embodiment, as shown in fig. 4, the determining the current over-bending stage of the current vehicle according to the lateral acceleration and the lateral impact degree may include:
step S401: acquiring a first product of the lateral acceleration and the lateral impact;
step S402: when the first product is larger than a preset first threshold value, determining that the current curve passing stage is a curve entering stage;
step S403: and when the first product is smaller than a preset second threshold value, determining that the current curve passing stage is a curve exiting stage.
Wherein the first threshold is greater than zero and the second threshold is less than zero.
According to the scheme of the embodiment, the current curve passing stage can be determined in a threshold judgment mode, the algorithm is simple and easy to implement, the system power consumption can be saved, and the cost is saved.
In one embodiment, as shown in fig. 4, the determining the current over-bending stage of the current vehicle according to the lateral acceleration and the lateral impact degree may further include:
step S404: when the first product is smaller than a preset fifth threshold and larger than a preset sixth threshold, determining that the current curve passing stage is a curve middle stage;
step S405: and when the first product is less than or equal to the first threshold and greater than or equal to the fifth threshold, or when the first product is less than or equal to the sixth threshold and greater than or equal to the second threshold, determining the curve passing stage where the current vehicle is located, which is determined last time, as the current curve passing stage.
Wherein, the first threshold > the fifth threshold >0> the sixth threshold > the second threshold, ">" indicates a greater than sign.
In the solution of this embodiment, instead of directly classifying the entire region between the first threshold and the second threshold as the middle-of-curve stage, two buffer regions, i.e., the region between the first threshold and the fifth threshold and the region between the second threshold and the sixth threshold, are added, and in the buffer region, the curve-passing stage where the current vehicle is located, which is determined last time, is determined as the current curve-passing stage, and therefore, false recognition due to driver operation can be filtered.
Specifically, as can be seen in fig. 5, the vertical axis is the product of lateral acceleration (Gy) and lateral jerk (differential lateral acceleration, Gyjerk), and the horizontal axis is time. It is divided into five areas, A, B, C, D four areas respectively; the region A represents that the vehicle enters a curve, the region C represents that the vehicle enters the curve, the region D represents that the vehicle is in a curve state, and the region B is a buffer zone.
In one embodiment, as shown in fig. 6, the determining the current curve-passing intention of the driver of the current vehicle according to the steering wheel angle and the steering wheel angle speed as described above may include:
step S601: obtaining a second product of the steering wheel angle and the steering wheel angular velocity;
step S602: when the second product is larger than a preset third threshold value, determining that the current curve passing intention is a curve entering intention;
step S603: when the second product is smaller than a preset fourth threshold, determining that the current curve passing intention is a curve exiting intention;
step S604: and when the second product is less than or equal to the third threshold and greater than or equal to the fourth threshold, determining that the current intention of passing through the curve is in the curve.
Wherein the third threshold is greater than zero and the fourth threshold is less than zero.
By adopting the scheme of the embodiment, the current curve-passing intention of the driver can be determined in a threshold judgment mode, the algorithm is simple and easy to implement, the system power consumption can be saved, and the cost can be saved.
Specifically, as shown in fig. 7, the vertical axis is the product of Steering Wheel Angle (SWA) and steering wheel angle Speed (SWAR), and the horizontal axis is time. The work area definition may be made for the product of the steering wheel angle and the steering wheel angle speed, where area a represents the vehicle's intention to bend in, area B represents the curve, and area C represents the intention to bend out.
Because the difference of the operation habits of different drivers, the difference of the driving levels, the diversity and the complexity of social roads and the curve identification signal as an important index need to be input to a chassis dynamic control system, the intervention frequency needs to be controlled, and the curve identification effect in an ideal state is ensured as much as possible. For this reason, a delay and hysteresis control method is introduced to filter jitter caused by external information input.
Specifically, in one embodiment, a curve identification method is provided, and the curve identification method in this embodiment may further include: acquiring a time difference value between the moment of determining the curve identification result in the current curve identification and the moment of determining the curve identification result in the previous curve identification; and when the time difference value is not greater than the preset time length threshold value, judging that the curve identification result determined this time is invalid.
And outputting the curve identification result when the curve identification result determined this time is valid, otherwise, not outputting. The output herein may refer to the input chassis dynamics control system.
The magnitudes of the first threshold, the second threshold, the third threshold, the fourth threshold, the fifth threshold and the sixth threshold may be obtained in advance by performing statistical analysis on a large amount of relevant data. For example, data acquisition of 30-80 kph and different road curvatures is performed on 5 drivers with different driving styles and driving abilities, relevant parameters of the drivers in the curve process, including vehicle states such as steering wheel angles, vehicle speeds, road curvatures, brakes and the like, driver operation and road information are recorded, and then post-processing and analysis are performed on the relevant data to obtain a first threshold, a second threshold, a third threshold, a fourth threshold, a fifth threshold and a sixth threshold.
In one embodiment, the determining the curve recognition result of the current vehicle according to the current curve passing stage and the current curve passing intention includes: and when the current bending stage is consistent with the current bending intention, determining the current bending stage or the bending stage corresponding to the current bending intention as the curve identification result of the current vehicle.
For example, if the current bending stage is a bending stage and the current bending intention is a bending intention, the current bending stage is consistent with the current bending intention, and the bend recognition result is the bending stage; similarly, if the current bending stage is the bending stage and the current bending intention is the bending intention, the bending recognition result is the bending stage, and if the current bending stage is the middle bending stage and the current bending intention is the middle bending stage, the bending recognition result is the middle bending stage.
In one embodiment, as shown in fig. 8, a curve identification method is provided, which is described by taking the example that the method is applied to the terminal in fig. 1, and may include the following steps:
step S801: acquiring the lateral acceleration, the steering wheel angle, the vehicle speed and the pressure of a brake master cylinder of the current vehicle;
the speed and the pressure of the brake master cylinder CAN be read through a whole vehicle CAN line and CAN also be read through an external sensor and data acquisition equipment.
Step S802: and detecting whether the vehicle speed, the pressure of the brake master cylinder, the lateral impact degree and the steering wheel turning angle speed all meet corresponding curve judgment conditions, if so, entering a step S803, and if not, ending the identification process.
The curve judgment conditions corresponding to the vehicle speed, the pressure of the brake master cylinder, the lateral impact degree and the steering wheel turning angle speed can be set according to actual conditions. The curve determination condition may be obtained in the process of post-processing and analyzing the recorded relevant parameters of the driver during the curve.
Specifically, when the vehicle speed is higher than a preset vehicle speed threshold value, the vehicle speed is judged to meet a corresponding curve judgment condition, otherwise, the vehicle speed is not met; when the lateral impact degree is higher than a preset lateral impact degree threshold value, judging that the lateral impact degree meets a corresponding curve judgment condition, otherwise, judging that the lateral impact degree does not meet the corresponding curve judgment condition; when the steering wheel angle is higher than a preset steering wheel angle threshold value, judging that the steering wheel angle meets a corresponding curve judgment condition, otherwise, judging that the steering wheel angle does not meet the corresponding curve judgment condition; and when the steering wheel angular speed is higher than a preset steering wheel angular speed threshold value, judging that the steering wheel angular speed meets the corresponding curve judgment condition, otherwise, judging that the steering wheel angular speed does not meet the corresponding curve judgment condition.
Step S803: determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle;
step S804: determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree;
step S805: determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed;
step S806: and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
In this embodiment, the subsequent determination process is activated only when the vehicle speed, the pressure of the brake master cylinder, the lateral impact degree and the steering wheel turning angle speed all meet the corresponding curve determination conditions, so that the error operation of the driver can be filtered, and the curve error determination conditions during low-speed driving and straight-line driving can be filtered.
It should be understood that although the steps in the flowcharts of fig. 3, 4, 6 and 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3, 4, 6, and 8 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 9, there is provided a curve recognition apparatus including: an acquisition module 901, a pre-processing module 902, a first bounding module 903, a second bounding module 904, and an identification module 905, wherein:
an obtaining module 901, configured to obtain a lateral acceleration and a steering wheel angle of a current vehicle;
the preprocessing module 902 is configured to determine a lateral impact degree of the current vehicle according to the lateral acceleration, and determine a steering wheel rotation angle speed of the current vehicle according to the steering wheel rotation angle;
a first defining module 903, configured to determine, according to the lateral acceleration and the lateral impact, a current curve passing stage where the current vehicle is located;
a second defining module 904 for determining a current curve-passing intention of a driver of the current vehicle based on the steering wheel angle and the steering wheel angle speed;
an identifying module 905, configured to determine a curve identification result of the current vehicle according to the current turning stage and the current turning intention.
In one embodiment, the first defining module 903 may obtain a first product of the lateral acceleration and the lateral impact, determine that the current curve passing stage is a curve entering stage when the first product is greater than a preset first threshold, and determine that the current curve passing stage is a curve exiting stage when the first product is less than a preset second threshold.
In one embodiment, the second defining module 904 may obtain a second product of the steering wheel angle and the steering wheel angle speed, determine that the current curve-passing intention is a curve-entering intention when the second product is greater than a preset third threshold, determine that the current curve-passing intention is a curve-exiting intention when the second product is less than a preset fourth threshold, and determine that the current curve-passing intention is in a curve when the second product is less than or equal to the third threshold and greater than or equal to the fourth threshold.
In one embodiment, the first defining module 903 may further determine that the current curve passing stage is a curve middle stage when the first product is smaller than a preset fifth threshold and larger than a preset sixth threshold, and determine that the last determined curve passing stage where the current vehicle is located is the current curve passing stage when the first product is smaller than or equal to the first threshold and larger than or equal to the fifth threshold, or when the first product is smaller than or equal to the sixth threshold and larger than or equal to the second threshold.
In one embodiment, the identification module 905 may determine, as the curve identification result of the current vehicle, the current bending stage or the bending stage corresponding to the current bending intention when the current bending stage and the current bending intention are consistent.
In one embodiment, the identification module 905 may be further configured to obtain a time difference between a time when the curve identification result is determined in the current curve identification and a time when the curve identification result is determined in the previous curve identification, determine that the current curve identification result is valid when the time difference is greater than a preset time threshold, and determine that the current curve identification result is invalid when the time difference is not greater than the preset time threshold.
The obtaining module 901 may also be configured to obtain a vehicle speed and a brake master cylinder pressure of the current vehicle, and detect whether the vehicle speed, the brake master cylinder pressure, the lateral impact degree, and the steering wheel turning speed all satisfy corresponding curve determination conditions; the first defining module 903 determines the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact when the vehicle speed, the brake master cylinder pressure, the lateral impact and the steering wheel turning speed all meet corresponding curve judgment conditions.
For the specific definition of the curve identification means, reference may be made to the above definition of the curve identification method, which is not described in detail here. The modules in the curve identifying device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, and the computer device may be a vehicle-mounted terminal or a vehicle body controller, and the internal structure diagram of the computer device may be as shown in fig. 10. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a curve recognition method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring the lateral acceleration and the steering wheel angle of the current vehicle; determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle; determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree; determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed; and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
In one embodiment, the processor, when executing the computer program, performs the step of determining the current over-bending stage of the current vehicle according to the lateral acceleration and the lateral impact degree, and specifically performs the steps of: acquiring a first product of the lateral acceleration and the lateral impact; when the first product is larger than a preset first threshold value, determining that the current curve passing stage is a curve entering stage; and when the first product is smaller than a preset second threshold value, determining that the current curve passing stage is a curve exiting stage.
In one embodiment, the processor, when executing the computer program to perform the step of determining a current curve-passing intention of the driver of the current vehicle as a function of the steering wheel angle and the steering wheel angle speed, specifically performs the steps of: obtaining a second product of the steering wheel angle and the steering wheel angular velocity; when the second product is larger than a preset third threshold value, determining that the current curve passing intention is a curve entering intention; when the second product is smaller than a preset fourth threshold, determining that the current curve passing intention is a curve exiting intention; and when the second product is less than or equal to the third threshold and greater than or equal to the fourth threshold, determining that the current intention of passing through the curve is in the curve.
In one embodiment, when the processor executes the computer program to implement the step of determining the current over-bending stage of the current vehicle according to the lateral acceleration and the lateral impact degree, the processor further implements the following steps: when the first product is smaller than a preset fifth threshold and larger than a preset sixth threshold, determining that the current curve passing stage is a curve middle stage; and when the first product is less than or equal to the first threshold and greater than or equal to the fifth threshold, or when the first product is less than or equal to the sixth threshold and greater than or equal to the second threshold, determining the curve passing stage where the current vehicle is located, which is determined last time, as the current curve passing stage.
In one embodiment, the processor, when executing the computer program to perform the step of determining the curve identification result of the current vehicle based on the current stage of cornering and the current intention of cornering, is embodied to perform the steps of: and when the current bending stage is consistent with the current bending intention, determining the current bending stage or the bending stage corresponding to the current bending intention as the curve identification result of the current vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a time difference value between the moment of determining the curve identification result in the current curve identification and the moment of determining the curve identification result in the previous curve identification; and when the time difference value is not greater than the preset time length threshold value, judging that the curve identification result determined this time is invalid.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the speed of the current vehicle and the pressure of a brake master cylinder; detecting whether the vehicle speed, the pressure of the brake master cylinder, the lateral impact degree and the steering wheel turning speed all meet corresponding curve judgment conditions; and if so, determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring the lateral acceleration and the steering wheel angle of the current vehicle; determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle; determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree; determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed; and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
In one embodiment, the computer program when executed by the processor performs the step of determining the current over-bending stage of the current vehicle based on the lateral acceleration and the lateral impact degree, specifically performs the steps of: acquiring a first product of the lateral acceleration and the lateral impact; when the first product is larger than a preset first threshold value, determining that the current curve passing stage is a curve entering stage; and when the first product is smaller than a preset second threshold value, determining that the current curve passing stage is a curve exiting stage.
In one embodiment, the computer program when executed by the processor performs the step of determining a current curve-passing intention of the driver of the current vehicle based on the steering wheel angle and the steering wheel angle speed, specifically implements the steps of: obtaining a second product of the steering wheel angle and the steering wheel angular velocity; when the second product is larger than a preset third threshold value, determining that the current curve passing intention is a curve entering intention; when the second product is smaller than a preset fourth threshold, determining that the current curve passing intention is a curve exiting intention; and when the second product is less than or equal to the third threshold and greater than or equal to the fourth threshold, determining that the current intention of passing through the curve is in the curve.
In one embodiment, when the computer program is executed by the processor to implement the step of determining the current over-bending stage of the current vehicle according to the lateral acceleration and the lateral impact degree, the following steps are further implemented: when the first product is smaller than a preset fifth threshold and larger than a preset sixth threshold, determining that the current curve passing stage is a curve middle stage; and when the first product is less than or equal to the first threshold and greater than or equal to the fifth threshold, or when the first product is less than or equal to the sixth threshold and greater than or equal to the second threshold, determining the curve passing stage where the current vehicle is located, which is determined last time, as the current curve passing stage.
In one embodiment, the computer program when being executed by a processor for the step of determining the curve identification result of the current vehicle based on the current stage of cornering and the current intention of cornering, specifically executes the steps of: and when the current bending stage is consistent with the current bending intention, determining the current bending stage or the bending stage corresponding to the current bending intention as the curve identification result of the current vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a time difference value between the moment of determining the curve identification result in the current curve identification and the moment of determining the curve identification result in the previous curve identification; and when the time difference value is not greater than the preset time length threshold value, judging that the curve identification result determined this time is invalid.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the speed of the current vehicle and the pressure of a brake master cylinder; detecting whether the vehicle speed, the pressure of the brake master cylinder, the lateral impact degree and the steering wheel turning speed all meet corresponding curve judgment conditions; and if so, determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of curve identification, the method comprising:
acquiring the lateral acceleration and the steering wheel angle of the current vehicle;
determining the lateral impact degree of the current vehicle according to the lateral acceleration, and determining the steering wheel turning speed of the current vehicle according to the steering wheel turning angle;
determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact degree; the current curve passing stage comprises any one of a curve entering stage, a curve middle stage and a curve exiting stage;
determining a current curve-passing intention of a driver of the current vehicle according to the steering wheel angle and the steering wheel angular speed; the current curve-passing intention comprises any one of an intention of entering a curve, an intention in the curve and an intention of exiting the curve;
and determining a curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
2. The curve identification method according to claim 1, wherein the determining a current stage of the curve in which the current vehicle is located based on the lateral acceleration and the lateral impact includes:
acquiring a first product of the lateral acceleration and the lateral impact;
when the first product is larger than a preset first threshold value, determining that the current curve passing stage is a curve entering stage;
and when the first product is smaller than a preset second threshold value, determining that the current curve passing stage is a curve exiting stage.
3. The curve recognition method according to claim 1 or 2, wherein the determining a current curve-passing intention of a driver of the current vehicle from the steering wheel angle and the steering wheel angle speed includes:
obtaining a second product of the steering wheel angle and the steering wheel angular velocity;
when the second product is larger than a preset third threshold value, determining that the current curve passing intention is a curve entering intention;
when the second product is smaller than a preset fourth threshold, determining that the current curve passing intention is a curve exiting intention;
and when the second product is less than or equal to the third threshold and greater than or equal to the fourth threshold, determining that the current intention of passing through the curve is in the curve.
4. The curve identification method according to claim 2, wherein the determining a current stage of the curve in which the current vehicle is located based on the lateral acceleration and the lateral impact further comprises:
when the first product is smaller than a preset fifth threshold and larger than a preset sixth threshold, determining that the current curve passing stage is a curve middle stage;
and when the first product is less than or equal to the first threshold and greater than or equal to the fifth threshold, or when the first product is less than or equal to the sixth threshold and greater than or equal to the second threshold, determining the curve passing stage where the current vehicle is located, which is determined last time, as the current curve passing stage.
5. The curve identification method according to claim 3, wherein the determining a curve identification result of the current vehicle from the current stage of cornering and the current intention of cornering includes:
and when the current bending stage is consistent with the current bending intention, determining the current bending stage or the bending stage corresponding to the current bending intention as the curve identification result of the current vehicle.
6. The curve identification method according to claim 1, further comprising:
acquiring a time difference value between the moment of determining the curve identification result in the current curve identification and the moment of determining the curve identification result in the previous curve identification;
and when the time difference value is not greater than the preset time length threshold value, judging that the curve identification result determined this time is invalid.
7. The curve identification method according to claim 1, further comprising:
acquiring the speed of the current vehicle and the pressure of a brake master cylinder;
detecting whether the vehicle speed, the pressure of the brake master cylinder, the lateral impact degree and the steering wheel turning speed all meet corresponding curve judgment conditions;
and if so, determining the current curve passing stage of the current vehicle according to the lateral acceleration and the lateral impact.
8. A curve recognition apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the lateral acceleration and the steering wheel angle of the current vehicle;
the preprocessing module is used for determining the lateral impact degree of the current vehicle according to the lateral acceleration and determining the steering wheel rotating speed of the current vehicle according to the steering wheel rotating angle;
a first defining module, configured to determine, according to the lateral acceleration and the lateral impact, a current curve passing stage where the current vehicle is located; the current curve passing stage comprises any one of a curve entering stage, a curve middle stage and a curve exiting stage;
a second defining module for determining a current curve-passing intention of a driver of the current vehicle based on the steering wheel angle and the steering wheel angle speed; the current curve-passing intention comprises any one of an intention of entering a curve, an intention in the curve and an intention of exiting the curve;
and the identification module is used for determining the curve identification result of the current vehicle according to the current curve passing stage and the current curve passing intention.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN113465934B (en) * | 2020-03-31 | 2024-08-16 | 广州汽车集团股份有限公司 | Vehicle response speed evaluation method and device |
| CN113525393B (en) * | 2020-04-17 | 2024-08-02 | 广州汽车集团股份有限公司 | Vehicle longitudinal acceleration estimation method and system and computer equipment thereof |
| CN113548036B (en) * | 2020-04-17 | 2023-12-01 | 广州汽车集团股份有限公司 | Engine output torque adjusting method, system and control equipment thereof |
| CN113548038B (en) * | 2020-04-22 | 2024-03-01 | 广州汽车集团股份有限公司 | Parking curvature control method and system, control equipment and storage medium |
| CN112660108B (en) * | 2020-12-25 | 2022-11-08 | 浙江吉利控股集团有限公司 | Four-wheel drive torque pre-control method and device |
| CN114407887B (en) * | 2022-01-18 | 2023-07-28 | 上汽通用五菱汽车股份有限公司 | Curve recognition method, apparatus, vehicle and computer readable storage medium |
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