CN111824158A - 一种车辆控制方法、装置、车辆、存储介质 - Google Patents
一种车辆控制方法、装置、车辆、存储介质 Download PDFInfo
- Publication number
- CN111824158A CN111824158A CN202010725137.9A CN202010725137A CN111824158A CN 111824158 A CN111824158 A CN 111824158A CN 202010725137 A CN202010725137 A CN 202010725137A CN 111824158 A CN111824158 A CN 111824158A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- determining
- road
- inclination angle
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000003860 storage Methods 0.000 title abstract description 8
- 230000001133 acceleration Effects 0.000 claims abstract description 71
- 230000006399 behavior Effects 0.000 claims abstract description 44
- 238000010801 machine learning Methods 0.000 claims abstract description 24
- 238000005070 sampling Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
-
- 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
- B60W40/076—Slope angle of the road
-
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
-
- 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
- B60W40/10—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 vehicle motion
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010725137.9A CN111824158B (zh) | 2020-07-24 | 2020-07-24 | 一种车辆控制方法、装置、车辆、存储介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010725137.9A CN111824158B (zh) | 2020-07-24 | 2020-07-24 | 一种车辆控制方法、装置、车辆、存储介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111824158A true CN111824158A (zh) | 2020-10-27 |
CN111824158B CN111824158B (zh) | 2021-10-12 |
Family
ID=72924874
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010725137.9A Active CN111824158B (zh) | 2020-07-24 | 2020-07-24 | 一种车辆控制方法、装置、车辆、存储介质 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111824158B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113212443A (zh) * | 2021-06-23 | 2021-08-06 | 上海西井信息科技有限公司 | 基于自动驾驶的路径生成方法、装置、设备、存储介质 |
CN113409591A (zh) * | 2021-06-23 | 2021-09-17 | 广州小鹏自动驾驶科技有限公司 | 弯道限速方法、车载终端、车辆以及计算机可读存储介质 |
CN114234986A (zh) * | 2021-10-29 | 2022-03-25 | 广州小鹏自动驾驶科技有限公司 | 一种地图数据的处理方法和装置 |
CN116572997A (zh) * | 2023-07-11 | 2023-08-11 | 北京集度科技有限公司 | 车辆控制器、车辆及车辆控制方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08219799A (ja) * | 1995-02-15 | 1996-08-30 | Mazda Motor Corp | 車両の進行路推定装置 |
CN106114507A (zh) * | 2016-06-21 | 2016-11-16 | 百度在线网络技术(北京)有限公司 | 用于智能车辆的局部轨迹规划方法和装置 |
CN107284442A (zh) * | 2017-05-15 | 2017-10-24 | 北京理工大学 | 一种用于自动驾驶车辆的弯道行驶纵向控制方法 |
CN108569284A (zh) * | 2018-05-21 | 2018-09-25 | 西藏帝亚维新能源汽车有限公司 | 一种在复杂路况条件下提高行车安全性的方法 |
CN109655076A (zh) * | 2019-02-22 | 2019-04-19 | 百度在线网络技术(北京)有限公司 | 车辆转弯的速度规划方法、装置和存储介质 |
CN110440824A (zh) * | 2019-08-27 | 2019-11-12 | 广州小鹏汽车科技有限公司 | 一种路径规划方法及路径规划系统 |
-
2020
- 2020-07-24 CN CN202010725137.9A patent/CN111824158B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08219799A (ja) * | 1995-02-15 | 1996-08-30 | Mazda Motor Corp | 車両の進行路推定装置 |
CN106114507A (zh) * | 2016-06-21 | 2016-11-16 | 百度在线网络技术(北京)有限公司 | 用于智能车辆的局部轨迹规划方法和装置 |
CN107284442A (zh) * | 2017-05-15 | 2017-10-24 | 北京理工大学 | 一种用于自动驾驶车辆的弯道行驶纵向控制方法 |
CN108569284A (zh) * | 2018-05-21 | 2018-09-25 | 西藏帝亚维新能源汽车有限公司 | 一种在复杂路况条件下提高行车安全性的方法 |
CN109655076A (zh) * | 2019-02-22 | 2019-04-19 | 百度在线网络技术(北京)有限公司 | 车辆转弯的速度规划方法、装置和存储介质 |
CN110440824A (zh) * | 2019-08-27 | 2019-11-12 | 广州小鹏汽车科技有限公司 | 一种路径规划方法及路径规划系统 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113212443A (zh) * | 2021-06-23 | 2021-08-06 | 上海西井信息科技有限公司 | 基于自动驾驶的路径生成方法、装置、设备、存储介质 |
CN113409591A (zh) * | 2021-06-23 | 2021-09-17 | 广州小鹏自动驾驶科技有限公司 | 弯道限速方法、车载终端、车辆以及计算机可读存储介质 |
CN114234986A (zh) * | 2021-10-29 | 2022-03-25 | 广州小鹏自动驾驶科技有限公司 | 一种地图数据的处理方法和装置 |
CN116572997A (zh) * | 2023-07-11 | 2023-08-11 | 北京集度科技有限公司 | 车辆控制器、车辆及车辆控制方法 |
CN116572997B (zh) * | 2023-07-11 | 2023-09-15 | 北京集度科技有限公司 | 车辆控制器、车辆及车辆控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN111824158B (zh) | 2021-10-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111824158B (zh) | 一种车辆控制方法、装置、车辆、存储介质 | |
US9650043B2 (en) | Real-time anticipatory speed control | |
US10814876B2 (en) | Vehicle lane-changing control method, vehicle lane-changing control device and related equipment | |
JP6237256B2 (ja) | 車速制御装置 | |
CN104787045B (zh) | 自动驾驶系统、计算机实现的自动驾驶的方法以及计算设备 | |
JP4453046B2 (ja) | 車両挙動学習装置及び車両挙動学習プログラム | |
JP5045374B2 (ja) | 運転状態判定装置 | |
US11269329B2 (en) | Dynamic model with learning based localization correction system | |
US8005602B2 (en) | Vehicle speed control device, method of determining target speed by using the device, and program executing the method | |
EP3572896A1 (en) | Automatic driving method and device | |
US9618938B2 (en) | Field-based torque steering control | |
CN109421709A (zh) | 车辆的驾驶辅助装置 | |
KR101874186B1 (ko) | 기계 학습을 통한 주변 차량의 주행 경로 예측 방법 및 이를 이용하는 차량 제어 방법 | |
WO2008072515A1 (ja) | 車両用制御装置 | |
US20200363816A1 (en) | System and method for controlling autonomous vehicles | |
JP6817166B2 (ja) | 自動運転のポリシー生成装置及び車両 | |
US11377112B2 (en) | Low-speed, backward driving vehicle controller design | |
CN103568992A (zh) | 用于为车辆的驾驶员定位声音图像的设备和方法 | |
CN102481932B (zh) | 用于维持驾驶时间的系统和方法 | |
CN109492835B (zh) | 车辆控制信息的确定方法、模型训练方法和相关装置 | |
JP6590059B2 (ja) | 車両の自動運転制御システム | |
JP2018034549A (ja) | 車両の運動制御方法及び車両の運動制御装置 | |
CN115542899A (zh) | 车辆路径跟踪的方法、装置、车辆、电子设备及介质 | |
US11254326B2 (en) | Automatic comfort score system based on human driving reference data | |
KR101400267B1 (ko) | 무인자율차량 및 이의 야지주행방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Applicant after: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Guangzhou, Guangdong Province 510000 Applicant before: Guangzhou Xiaopeng Internet of vehicles Technology Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20201027 Assignee: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Assignor: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Contract record no.: X2021440000219 Denomination of invention: Vehicle control method, device, vehicle and storage medium Granted publication date: 20211012 License type: Common License Record date: 20211220 |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240228 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |