CN111824167B - Vehicle speed limiting method and device, vehicle and electronic equipment - Google Patents
Vehicle speed limiting method and device, vehicle and electronic equipment Download PDFInfo
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- CN111824167B CN111824167B CN201910300924.6A CN201910300924A CN111824167B CN 111824167 B CN111824167 B CN 111824167B CN 201910300924 A CN201910300924 A CN 201910300924A CN 111824167 B CN111824167 B CN 111824167B
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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
- B60W40/10—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
- B60W40/105—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
- 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
- B60W40/064—Degree of grip
Abstract
The invention provides a speed limiting method of a vehicle, wherein the method comprises the following steps: the method comprises the steps of obtaining a pre-driving path of a vehicle, and extracting driving information of at least two track points on the pre-driving path; acquiring the acceleration of the track points according to the driving information of the track points; judging whether the acceleration of the track point is larger than the safe adhesion acceleration of the road surface at the track point; and if the acceleration of the track point is greater than the safe adhesion acceleration of the road surface at the track point, limiting the speed of the track point according to the acceleration and the safe adhesion acceleration. According to the invention, the information of at least two track points in the pre-driving path of the vehicle is obtained, the acceleration of the track points extracted from the information is compared with the safe adhesion acceleration of the road surface at the track points, the speed of the track points is limited, and the vehicle is controlled to drive according to the limited speed, so that the technical problem that the vehicle cannot intervene in the control process of the vehicle according to the road adhesion condition in the prior art is solved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for limiting a speed of a vehicle, and an electronic device.
Background
Reducing energy consumption and increasing road capacity have become an important research direction in the development process of vehicles, and the status of autonomous vehicles as an important component thereof is becoming more important. The application scene of the curve puts forward special requirements on the control method of the automatic driving vehicle. The automatic driving vehicle is taken as a mainstream technology in the field of future vehicle control, and application scenes are mostly applied in a straight road scene, so that in the application scene of a curve, the automatic driving vehicle is easy to generate dangerous conditions such as sideslip, drifting and tail flicking when driving in the curve due to insufficient adhesive force, and the normal use of the automatic driving vehicle is influenced.
In the related art, regarding control of an autonomous vehicle in a curve scene, only acquisition and out-of-control alarm can be performed according to a road adhesion coefficient.
However, the related art has the following disadvantages: in the prior art, the out-of-control alarm can be only carried out according to the collected road adhesion coefficient, and the automatic driving vehicle cannot be actively regulated, so that the automatic driving vehicle cannot safely run and huge hidden dangers of traffic accidents exist.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a speed limiting method for a vehicle, so as to solve the technical problem in the prior art that the vehicle cannot intervene in the control process of the vehicle according to the road adhesion condition.
A second object of the invention is to propose a speed limiting device for a vehicle.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose an electronic device.
A fifth object of the present invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a speed limiting method for a vehicle, including the steps of: the method comprises the steps of obtaining a pre-driving path of a vehicle, and extracting driving information of at least two track points on the pre-driving path; acquiring the acceleration of the track points according to the driving information of the track points; and judging whether the acceleration of the track points is greater than the safe adhesion acceleration of the road surface at the track points, if so, limiting the speed of the track points according to the acceleration and the safe adhesion acceleration.
According to one embodiment of the invention, the driving information of the track points comprises speed information and road curvature of the track points; and acquiring the acceleration of the track point according to the driving information of the track point, wherein the acceleration comprises the following steps: acquiring a previous track point adjacent to the track point, and determining the longitudinal acceleration of the track point according to the speed information of the track point and the speed information of the previous track point; determining the transverse acceleration of the track points according to the speed information of the track points and the road curvature of the track points; and obtaining the acceleration of the track point according to the transverse acceleration and the longitudinal acceleration.
According to an embodiment of the present invention, before extracting the driving information of at least two track points on the pre-driving path, the method further includes: and extracting the track points from the pre-driving path according to a preset time interval.
According to an embodiment of the present invention, further comprising: and if the acceleration of the track point is less than or equal to the safe attachment acceleration, maintaining the speed of the track point.
According to an embodiment of the present invention, the limiting the speed of the track point includes: acquiring the maximum lateral acceleration allowed by the track point according to the safe attachment acceleration and the longitudinal acceleration of the track point; and acquiring the maximum longitudinal speed allowed by the track point according to the maximum transverse acceleration and the road curvature of the track point, and updating the speed of the track point to be the maximum longitudinal speed.
According to an embodiment of the present invention, further comprising: and identifying the type of the road surface at the track point, determining the adhesion coefficient of the road surface according to the type of the road surface, and determining the safe adhesion acceleration according to the adhesion coefficient.
According to an embodiment of the present invention, further comprising: identifying the track point to be driven to at the next moment of the vehicle, and acquiring the speed of the vehicle at the current moment; if the speed of the vehicle at the current moment is greater than the maximum longitudinal speed of the track point, controlling the vehicle to decelerate; and if the speed at the current moment is less than the maximum longitudinal speed of the track point, controlling the vehicle to accelerate.
According to the speed limiting method of the vehicle, the obtained information of at least two track points in the pre-driving path of the vehicle is extracted, the acceleration of the track points is compared with the safe adhesion acceleration of the road surface at the track points, the speed of the track points is limited according to the comparison result, and the vehicle is controlled to drive according to the limited speed, so that the driving speed of the vehicle can be timely adjusted according to the actual conditions of different road surfaces, the vehicle can be guaranteed to be driven safely and stably on different road surfaces, and the purpose of intervening the control process of the vehicle according to the road adhesion condition is achieved.
In order to achieve the above object, a second aspect of the present invention provides a speed limiting device for a vehicle, including: the route acquisition module is used for acquiring a pre-driving route of a vehicle and extracting driving information of at least two track points on the pre-driving route; the acceleration acquisition module is used for acquiring the acceleration of the track points according to the running information of the track points; and the speed control module is used for judging whether the acceleration of the track points is greater than the safe adhesion acceleration of the road surface of the track points, and if the acceleration of the track points is greater than the safe adhesion acceleration of the road surface of the track points, the speed of the track points is limited according to the acceleration and the safe adhesion acceleration.
According to an embodiment of the present invention, the acceleration acquisition module is configured to: the driving information of the track points comprises speed information and road curvature of the track points; acquiring the acceleration of the track point according to the running information of the track point, wherein the acceleration includes: acquiring a previous track point adjacent to the track point, and determining the longitudinal acceleration of the track point according to the speed information of the track point and the speed information of the previous track point; determining the transverse acceleration of the track points according to the speed information of the track points and the road curvature of the track points; and obtaining the acceleration of the track point according to the transverse acceleration and the longitudinal acceleration.
According to an embodiment of the present invention, the path obtaining module is further configured to: and extracting the track points from the pre-driving path according to a preset time interval.
According to an embodiment of the invention, the speed control module is further configured to: and when the acceleration of the track point is judged to be smaller than or equal to the safe attachment acceleration, maintaining the speed of the track point.
According to one embodiment of the invention, the speed control module is configured to: the limiting of the speed of the track points comprises: acquiring the maximum lateral acceleration allowed by the track point according to the safe attachment acceleration and the longitudinal acceleration of the track point; and acquiring the maximum longitudinal speed allowed by the track point according to the maximum transverse acceleration and the road curvature of the track point, and updating the speed of the track point to be the maximum longitudinal speed.
According to an embodiment of the invention, the speed control module is further configured to: and identifying the type of the road surface at the track point, determining the adhesion coefficient of the current road surface according to the type of the current road surface, and determining the safe adhesion acceleration according to the adhesion coefficient.
According to an embodiment of the invention, the speed control module is further configured to: identifying the track point to be driven to at the next moment of the vehicle, and acquiring the speed of the vehicle at the current moment; if the speed at the current moment is greater than the maximum longitudinal speed of the track point, controlling the vehicle to decelerate; and if the speed at the current moment is less than the maximum longitudinal speed of the track point, controlling the vehicle to accelerate.
The embodiment of the second aspect of the invention provides a speed limiting device for a vehicle, which can control the vehicle to run at a limited speed by extracting the acceleration of track points from the acquired information of at least two track points in a pre-running path of the vehicle, comparing the acceleration of the track points with the safe adhesion acceleration of the road surface at the track points, and limiting the speed of the track points according to the comparison result, so that the vehicle can adjust the running speed of the vehicle in time according to the actual conditions of different road surfaces, thereby ensuring that the vehicle can drive safely and stably on different road surfaces and achieving the purpose of intervening the control process of the vehicle according to the road adhesion conditions.
In order to achieve the above object, an embodiment of a third aspect of the present invention provides a vehicle including a speed limiting device of the vehicle provided in the embodiment of the second aspect of the present invention.
To achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the speed limiting method of the vehicle according to any one of claims 1 to 6.
In order to achieve the above object, a fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor implements the speed limiting method of the vehicle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for limiting a speed of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for limiting vehicle speed provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of the acceleration of the vehicle and the acceleration of the safety accessory provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of the longitudinal speed control principle provided by the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a vehicle speed limiting device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A speed limiting method of a vehicle, a speed limiting device of a vehicle, and an electronic apparatus according to embodiments of the invention are described below with reference to the drawings.
Due to the limitation of the development of the automatic driving technology, the automatic driving vehicle intelligently acquires data and gives out an out-of-control alarm in special scenes such as curves and the like, and cannot actively adjust the vehicle, so that the vehicle cannot stably run in all driving scenes, and even huge hidden dangers of traffic accidents are caused. In order to solve the problem, in the embodiment of the invention, the acceleration of the track point is extracted from the acquired information of at least two track points in the pre-driving path of the vehicle, then the acceleration of the track point is compared with the safe adhesion acceleration of the road surface at the track point, then the speed of the track point is limited according to the comparison result, and the vehicle is controlled to drive according to the limited speed, so that the driving speed of the vehicle can be timely adjusted according to the actual conditions of different road surfaces, the vehicle can be ensured to be driven safely and stably on different road surfaces, and the aim of intervening the control process of the vehicle according to the road adhesion condition is fulfilled.
Fig. 1 is a flowchart of a speed limiting method for a vehicle according to an embodiment of the present invention. As shown in fig. 1, the method specifically comprises the following steps:
s101: the method comprises the steps of obtaining a pre-driving path of a vehicle, and extracting driving information of at least two track points on the pre-driving path.
The following describes a speed limit control method for a vehicle according to an embodiment of the present invention, taking an autonomous vehicle as an example.
It should be noted that, in the embodiment of the present invention, for the speed limit of the autonomous vehicle, path planning may be performed according to the driving purpose of the vehicle and information of the road surface at the track point, so as to live a pre-driving path. Furthermore, the pre-driving path can be updated according to the real-time road condition in the driving process. The pre-driving path is formed by combining a plurality of ordered track points, and each track point is provided with corresponding driving information. Wherein, the track points have a preset time interval. The travel information of the track points includes: velocity information and position information of the track points, and the like.
In the embodiment of the invention, the driving path of the vehicle in a future period of time can be acquired, wherein the future period of time can be 4 s. The travel path in the future period of time is referred to herein as a pre-travel path.
Specifically, the travel information of at least two track points in the vehicle pre-travel path may be first acquired, and the speed information and the road curvature of the at least two track points are extracted therefrom and marked. For example, the velocity of at least two trace points may be marked sequentially. For example, it can be labeled v1,v2,v3～vn. Wherein v isnThe speed of the nth track point on the pre-travel path.
It should be noted that the vehicle may perform route navigation according to the destination expected to arrive, and after the destination acquired by the navigation server, a navigation route is generated for the vehicle, and in combination with the road condition, a piece of speed information is estimated for each track point in the navigation route.
S102: and acquiring the acceleration of the track points according to the driving information of the track points.
It should be noted that the control of the autonomous vehicle is divided into longitudinal control and lateral control. The longitudinal control means that the target speed is accurately followed through coordination of an accelerator and a brake; lateral control may then enable path tracking of the autonomous vehicle. That is, the control of the autonomous vehicle is intended to make it possible not only to make the vehicle accurately follow a desired path, but also to make the vehicle have good dynamic characteristics and riding comfort, while ensuring the handling stability of the vehicle. Further, during the running of the autonomous vehicle, the acceleration of the track point is determined by both the longitudinal acceleration and the lateral acceleration, and therefore, it is attempted to acquire the track point based on the running information of the track pointWhen the acceleration a is accelerated, the longitudinal acceleration a of the tracing point needs to be obtained firstlyxAnd lateral acceleration ay。
Specifically, the driving information of the nth track point and the previous track point adjacent to the nth track point may be first obtained, and the speed information v of the nth track point may be respectively extracted and marked from the driving informationnAnd velocity information v of the previous track pointn-1. And the obtained nth track point is any one track point on the pre-driving path.
Further, the road curvature at the locus point may be directly carried in the travel information. In this embodiment, the curvature of the road may be extracted from the driving information of the nth track point and marked as ρn
Optionally, the driving information does not carry the curvature of the road at the track point, but carries the position information of the track point, so that the curvature of the road at the track point can be queried according to the position information. For example, the position information of the nth track point is extracted from the driving information, then the road where the nth track point is located is inquired according to the acquired position information, and the curvature of the road is further obtained and marked as rhon。
It should be noted that, in the embodiment of the present invention, the acceleration described refers to a specific value of acceleration, and may be understood as an absolute value of acceleration, and the acceleration in actual measurement is not.
Further, the longitudinal acceleration and the transverse acceleration of the track point can be determined according to the acquired speed information and the acquired road curvature, and then the acceleration of the track point is determined.
Alternatively, the longitudinal acceleration a at the nth trace point is attempted to be obtainedxCan be according to formula ax＝Δv/Δt＝(vn-vn-1) Obtaining the longitudinal acceleration a of the tracing pointx. Where Δ t is the time required to travel from track point to the next track point, vnFor the speed, v, of the nth point on the pre-travelled pathn-1The speed of the (n-1) th track point on the pre-travel path is obtained.
Alternatively, lateral acceleration in an attempt to obtain a trace pointDegree ayCan be according to formula ay＝vn 2/R＝vn 2*ρnAcquiring the transverse acceleration a of the track pointy. Wherein R is the curvature radius.
Further, the obtained a can be usedxAnd ayUsing the formula
The acceleration a of the trace point is determined.
S103: and judging whether the acceleration of the track point is larger than the safe adhesion acceleration of the road surface at the track point.
It should be noted that, in practical applications, the acceleration a of the track point should be less than or equal to the maximum adhesion force that the vehicle can provide on the current road surface, that is, the safe adhesion acceleration, otherwise the vehicle may have risks such as sideslip, drifting, and drifting at the track point. Therefore, after the acceleration a is obtained, the safe adhesion acceleration of the current road surface of the vehicle can be obtained, then the acceleration is compared with the safe adhesion acceleration of the current road surface of the vehicle, the speed of the track point is limited according to different comparison results, and the speed limit is obtained, so that the vehicle can adjust the running speed of the vehicle in time according to the actual conditions of different road surfaces, and the vehicle can be driven safely and stably on different road surfaces.
Specifically, the adhesion coefficient μ of the current road surface may be determined first according to the type of the road surface at the locus point. The type of the road surface at the track point may include: rain road, snow, sand, etc.
As a possible implementation manner, the road where the track point is located may be queried according to the position information of the track point, so as to obtain the road surface type of the road and determine the adhesion coefficient μ of the current road surface.
As another possible implementation, the acquired road surface type information of the road may be stored in the running information, and when attempting to acquire the road surface type at the locus point, the road surface type may be directly acquired from the running information, and the adhesion coefficient μ of the current road surface may be determined.
Further, the road surface adhesion coefficient μ of the track point can be multiplied by the gravity acceleration g to obtain the safe adhesion acceleration.
S104: and if the acceleration of the track point is greater than the safe adhesion acceleration of the road surface at the track point, limiting the speed of the track point according to the acceleration and the safe adhesion acceleration.
When the acceleration a is greater than the safe adhesion acceleration of the current road surface of the vehicle, the vehicle may slide, drift, and the like at the track points, so that the acceleration needs to be limited, and the speeds, that is, the limited speeds, of all the track points that enable the vehicle to safely travel on the pre-travel path are fitted.
As a possible implementation, the maximum lateral acceleration a can be usedymaxAnd the road curvature rho of the nth track pointnObtaining the maximum longitudinal speed v allowed by the track pointxmaxAnd then updating the speed of the track point to the maximum longitudinal speed so as to limit the speed of the track point.
Specifically, one may first follow a formula
Obtaining the maximum lateral acceleration a allowed by the track pointymaxThen according to the formula
Maximum longitudinal speed v allowed by obtaining track pointxmaxUpdating the speed of the acquired track point to vxmaxAnd stored.
For example, when a of the obtained track point is obtainedxIs 1, ρnWhen v is 100km/h, a is 8.7, and the safe adhesion coefficient of the current road surface on which the vehicle is located is 0.4, it is known that a is greater than the safe adhesion acceleration μ × g (4) of the current road surface of the vehicle, and at this time a exceeds the maximum adhesion force that can be provided by the road surface, i.e., the safe adhesion acceleration, and the vehicle is likely to slip, drift, and the like at the track point. Therefore, the speed of the tracing point needs to be limited. Specifically, firstAccording to the formula
Obtaining aymaxIs 3.9, then according to the formula
Obtaining vxmaxAt 19.7m/s (70.8km/h), the velocity of the trace point is updated to 19.7m/s (70.8km/h) and stored.
Further, after the limiting speeds of at least two track points in the pre-travel path are obtained and stored, when the vehicle travels to one of the track points, the speed of the vehicle can be limited according to the limiting speed of the track point.
In this embodiment, in the driving process of the vehicle, it may be determined that the vehicle will drive to the ith track point at the next time, and then the limited speed v of the ith track point is extracted from the stored limited speeds of at least two track points on the pre-driving pathiAnd the speed of the vehicle is limited according to the limited speed.
It should be noted that the above-mentioned speed limiting method for a vehicle only applies to the case where the acceleration a of the track point is larger than the safe adhesion acceleration of the current road surface of the vehicle. When the acceleration a of the track point is smaller than the safe attachment acceleration of the current road surface of the vehicle, the speed of the track point is not required to be limited, and the speed of the track point can be directly maintained to continue driving.
Further, after the speed of the updated track point is obtained, the speed information is sent to a longitudinal speed controller, the longitudinal speed controller calculates the acceleration of the Vehicle at the next track point, and the acceleration is sent to an Electronic Stability Program (ESP) and a Vehicle Control Unit (VCU) through a Control Area Network (CAN) bus to Control the accelerator and the brake, so as to limit the speed of the Vehicle.
Therefore, according to the speed limiting method of the vehicle provided by the embodiment of the invention, the speed of the track point can be limited according to the comparison result by extracting the acceleration of the track point from the acquired information of at least two track points in the pre-driving path of the vehicle, then comparing the acceleration of the track point with the safe adhesion acceleration of the road surface at the track point, and controlling the vehicle to drive according to the limited speed, so that the driving speed of the vehicle can be timely adjusted according to the actual conditions of different road surfaces, the vehicle can be ensured to be driven safely and stably on different road surfaces, and the purpose of intervening the control process of the vehicle according to the road adhesion condition can be realized.
In order to implement the foregoing embodiment, an embodiment of the present invention further provides a flowchart of another method for limiting a speed of a vehicle, as shown in fig. 2, specifically including the following steps:
it should be noted that, the speed limiting method for a vehicle according to the embodiment of the present invention determines whether the longitudinal speed in the future 4s will touch the road adhesion condition according to the constraint of the adhesion condition, and intervenes the longitudinal speed in different ways according to different situations, so that the vehicle runs at the dry-to-future speed, thereby achieving the purpose of controlling the vehicle.
S201: calculating the longitudinal acceleration a of at least two track points in the 4s predicted pathxAnd lateral acceleration ay。
S202: the total acceleration a of the trace point is calculated.
In particular, one may first follow formula ax＝Δv/Δt＝(vn-vn-1) Acquiring longitudinal acceleration a of track point by/delta txAccording to formula ay＝vn 2/R＝vn 2*ρnAcquiring the transverse acceleration a of a track pointyAccording to the formula
The acceleration a of the trace point is determined.
It should be noted that the road adhesion condition is that the total force of the longitudinal force and the transverse force applied to the vehicle is less than or equal to the maximum adhesion force provided by the road, as shown in fig. 3, i.e. the adhesion circle condition. Wherein the longitudinal force is equal to the longitudinal directionAcceleration axThe lateral force is equivalent to the lateral acceleration ayThe resultant force of the two is equal to the total acceleration a of the tracing point. Thus, according to formula ay＝vn 2/R＝vn 2*ρnAnd formula
It can be seen that when the vehicle travels up a curve of a certain curvature, the larger v, the larger ayThe larger the a, the larger a. At this time, when the road adhesion limit is exceeded, the road adhesion force does not provide the force required by the vehicle for steering, acceleration, or the like, and the vehicle is dangerous. Therefore, a can be reduced by reducing the target speedyThereby reducing the total a to ensure the driving safety of the vehicle.
In practical applications, the longitudinal acceleration a of the vehicle is used to ensure the driving safety of the vehiclexGenerally between-5 and 3. Further, as shown in FIG. 3, at maximum longitudinal acceleration axmaxLongitudinal acceleration a in the shaded range where the left side intersects with the attachment circlexActually, the temperature is between-4 and 3. In addition, the real vehicle experience test also shows that the longitudinal acceleration axLess than-4 the user experiences extreme discomfort. It can be seen that, in order to further ensure the driving safety of the vehicle and the riding comfort of the user, the longitudinal acceleration a of the vehicle should be controlledxIs between-4 and 3.
S203: and judging whether the a is less than mu x g.
The road surface adhesion coefficient changes with the change of the road surface, and may be set in accordance with the actual situation at the time of calculation. For example, when the road surface type is an ice and snow road surface, the road surface adhesion coefficient is set to be about 0.3; when the road surface type is a dry asphalt road surface, the road adhesion coefficient is set to about 0.85. In the embodiment of the invention, the selection is participated in the calculation.
Specifically, when a is less than μ × g, the step S206 may be directly performed to control the vehicle to follow the speed v in the original path information without changing the planned speednAnd then the next sampling period is entered. When a is larger than μ x g, a change in the programming speed is required,the execution continues with step S204 and step S205.
S204: calculating the maximum lateral acceleration aymaxAnd a maximum longitudinal velocity vxmax。
S205: by maximum longitudinal speed vxmaxTo replace the velocity v in the original path informationn。
S206: and controlling the speed and entering the next sampling period.
Specifically, step S204 and step S205 may be performed first, according to the formula
Obtaining aymaxAccording to the formula
Obtaining vxmaxThen using the calculated vxmaxReplacing v in original path informationn. Further, step S206 is executed to control the vehicle to follow vxmaxAnd the vehicle runs, and the changed path information can meet the requirement of the road adhesion condition, so that the running safety of the vehicle is ensured.
It should be noted that, an automatic driving control framework as shown in fig. 4 is provided on the automatic driving vehicle, wherein the control framework includes an environment decision unit, a speed preprocessing unit, a longitudinal speed controller, an ESP and a VCU, and is used to implement automatic driving control of the vehicle. Specifically, the environment decision unit is used for sensing the external environment and planning a piece of front 4s of pre-travel path information in each sampling period. Wherein, the information carried in the driving path comprises: longitudinal speed v, yaw angle theta, road curvature rho and the like of each point in a vehicle coordinate system; the speed preprocessing unit is used for judging road adhesion limiting conditions, preprocessing vehicle speed data and transmitting the speed data to the longitudinal speed controller after the preprocessing is finished; the longitudinal speed controller is used for calculating the acceleration of the vehicle at the next moment according to the preprocessed speed data, and constraining the speed of the track point by comparing the acceleration of the track point with the safe attachment acceleration; when the vehicle is about to travel to the track point, the acceleration corresponding to the track point can be obtained according to the current speed and the speed after the track point is contracted, and the ESP is used for responding to the acceleration of the track point after the track point is contracted. And a motor torque request is generated according to the acceleration of the track point and is sent to the VCU, and the current speed of the vehicle is limited to the limiting speed of the track point through the VCU so as to limit the speed of the vehicle.
In order to realize the embodiment, the invention also provides a speed limiting device of the vehicle.
Fig. 5 is a schematic structural diagram of a vehicle speed limiting device according to an embodiment of the present invention. As shown in fig. 5, a speed limiting apparatus 100 for a vehicle according to an embodiment of the present invention includes: the route acquisition module 11 is used for acquiring a pre-driving route of a vehicle and extracting driving information of at least two track points on the pre-driving route; the acceleration acquisition module 12 is configured to acquire an acceleration of the track point according to the driving information of the track point; and the speed control module 13 is used for judging whether the acceleration of the track points is greater than the safe adhesion acceleration of the road surface of the track points, and if the acceleration of the track points is greater than the safe adhesion acceleration of the road surface of the track points, the speed of the track points is limited according to the acceleration and the safe adhesion acceleration.
Wherein, the acceleration obtaining module 12 is configured to: the driving information of the track points comprises speed information and road curvature of the track points; acquiring the acceleration of the track point according to the running information of the track point, wherein the acceleration includes: acquiring a previous track point adjacent to the track point, and determining the longitudinal acceleration of the track point according to the speed information of the track point and the speed information of the previous track point; determining the transverse acceleration of the track points according to the speed information of the track points and the road curvature of the track points; and obtaining the acceleration of the track point according to the transverse acceleration and the longitudinal acceleration.
Further, the path obtaining module 11 is further configured to: and extracting the track points from the pre-driving path according to a preset time interval.
Further, the speed control module 13 is further configured to: and if the acceleration of the track point is less than or equal to the safe attachment acceleration, maintaining the speed of the track point.
Further, a speed control module 13 is configured to: the limiting of the speed of the track points comprises: acquiring the maximum lateral acceleration allowed by the track point according to the safe attachment acceleration and the longitudinal acceleration of the track point; and acquiring the maximum longitudinal speed allowed by the track point according to the maximum transverse acceleration and the road curvature of the track point, and updating the speed of the track point to be the maximum longitudinal speed.
Further, the speed control module 13 is further configured to: and identifying the type of the current road surface of the track point, determining the adhesion coefficient of the current road surface according to the type of the current road surface, and determining the safe adhesion acceleration according to the adhesion coefficient.
Further, the speed control module 14 is further configured to: identifying the track point to be driven to at the next moment of the vehicle, and acquiring the speed of the vehicle at the current moment; if the speed of the vehicle at the current moment is greater than the maximum longitudinal speed of the track point, controlling the vehicle to decelerate; and if the speed of the vehicle at the current moment is less than the maximum longitudinal speed of the track point, controlling the vehicle to accelerate.
It should be noted that the explanation of the embodiment of the vehicle control method is also applicable to the vehicle speed limiting device of the embodiment, and is not repeated herein.
In order to implement the above embodiment, the present invention also provides a vehicle 300, as shown in fig. 6.
In order to implement the above embodiment, the present invention further provides an electronic device 200, as shown in fig. 7, including a memory 41, a processor 42, and a computer program stored on the memory and running on the processor, wherein when the processor executes the computer program, the speed limiting method for the vehicle is implemented.
In order to implement the above-described embodiments, the present invention also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the aforementioned speed limiting method of a vehicle.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units 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 module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (15)
1. A method of speed limiting of a vehicle, comprising the steps of:
the method comprises the steps of obtaining a pre-driving path of a vehicle, and extracting driving information of at least two track points on the pre-driving path;
acquiring the acceleration of the track points according to the driving information of the track points;
judging whether the acceleration of the track point is larger than the safe adhesion acceleration of the road surface at the track point;
if the acceleration of the track point is larger than the safe adhesion acceleration of the road surface at the track point, limiting the speed of the track point according to the acceleration and the safe adhesion acceleration;
the limiting of the speed of the track points comprises:
acquiring the maximum lateral acceleration allowed by the track point according to the safe attachment acceleration and the longitudinal acceleration of the track point;
and acquiring the maximum longitudinal speed allowed by the track point according to the maximum transverse acceleration and the road curvature of the track point, and updating the speed of the track point to be the maximum longitudinal speed.
2. The method according to claim 1, characterized in that the travel information of the track points comprises speed information and road curvature of the track points; acquiring the acceleration of the track point according to the running information of the track point, wherein the acceleration includes:
acquiring a previous track point adjacent to the track point, and determining the longitudinal acceleration of the track point according to the speed information of the track point and the speed information of the previous track point;
determining the transverse acceleration of the track points according to the speed information of the track points and the road curvature of the track points;
and obtaining the acceleration of the track point according to the transverse acceleration and the longitudinal acceleration.
3. The method according to claim 1, wherein before extracting the driving information of at least two track points on the pre-driving path, the method further comprises:
and extracting the track points from the pre-driving path according to a preset time interval.
4. The method of claim 1, further comprising:
and if the acceleration of the track point is smaller than or equal to the safe attachment acceleration, maintaining the speed of the track point.
5. The method of claim 1, further comprising:
and identifying the type of the road surface at the track point, determining the adhesion coefficient of the road surface at the track point according to the type of the road surface at the track point, and determining the safe adhesion acceleration according to the adhesion coefficient.
6. The method of claim 1, further comprising:
identifying the track point to be driven to at the next moment of the vehicle, and acquiring the speed of the vehicle at the current moment;
if the speed at the current moment is greater than the maximum longitudinal speed of the track point, controlling the vehicle to decelerate;
and if the speed at the current moment is less than the maximum longitudinal speed of the track point, controlling the vehicle to accelerate.
7. A speed limiting device for a vehicle, comprising:
the route acquisition module is used for acquiring a pre-driving route of the vehicle and extracting driving information of each track point on the pre-driving route;
the acceleration acquisition module is used for acquiring the acceleration of the track points according to the running information of the track points;
the speed control module is used for judging whether the acceleration of the track point is larger than the safe adhesion acceleration of the road surface at the track point, and if the acceleration of the track point is larger than the safe adhesion acceleration of the road surface at the track point, limiting the speed of the track point according to the acceleration and the safe adhesion acceleration;
the speed control module is further configured to:
acquiring the maximum lateral acceleration allowed by the track point according to the safe attachment acceleration and the longitudinal acceleration of the track point;
and acquiring the maximum longitudinal speed allowed by the track point according to the maximum transverse acceleration and the road curvature of the track point, and updating the speed of the track point to be the maximum longitudinal speed.
8. The apparatus of claim 7, wherein the acceleration acquisition module is further configured to:
acquiring a previous track point adjacent to the track point, and determining the longitudinal acceleration of the track point according to the speed information of the track point and the speed information of the previous track point;
determining the transverse acceleration of the track points according to the speed information of the track points and the road curvature of the track points;
and obtaining the acceleration of the track point according to the transverse acceleration and the longitudinal acceleration.
9. The apparatus of claim 7, wherein the speed control module is further configured to:
and if the acceleration of the track point is smaller than or equal to the safe attachment acceleration, maintaining the speed of the track point.
10. The apparatus of claim 7, wherein the path acquisition module is further configured to:
and extracting the track points from the pre-driving path according to a preset time interval.
11. The apparatus of claim 7, wherein the speed control module is further configured to:
and identifying the type of the road surface at the track point, determining the adhesion coefficient of the road surface at the track point according to the type of the road surface at the track point, and determining the safe adhesion acceleration according to the adhesion coefficient.
12. The apparatus of claim 7, wherein the speed control module is further configured to:
identifying the track point to be driven to at the next moment of the vehicle, and acquiring the speed of the vehicle at the current moment;
if the speed at the current moment is greater than the maximum longitudinal speed of the track point, controlling the vehicle to decelerate;
and if the speed at the current moment is less than the maximum longitudinal speed of the track point, controlling the vehicle to accelerate.
13. A vehicle, characterized by comprising: a speed limiting device of a vehicle according to any of claims 7-12.
14. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, when executing the program, implementing a method of speed limitation of a vehicle according to any of claims 1-6.
15. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for limiting the speed of a vehicle according to any one of claims 1 to 6.
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| CN112046465B (en) * | 2020-09-11 | 2022-03-18 | 中国第一汽车股份有限公司 | Vehicle stability control method, device, equipment and storage medium |
| CN113071486B (en) * | 2021-02-24 | 2022-04-26 | 中移智行网络科技有限公司 | Vehicle control method and device and automobile |
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