CN111994065A - Intelligent speed limiting system and method for vehicle - Google Patents

Intelligent speed limiting system and method for vehicle Download PDF

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CN111994065A
CN111994065A CN202010840453.0A CN202010840453A CN111994065A CN 111994065 A CN111994065 A CN 111994065A CN 202010840453 A CN202010840453 A CN 202010840453A CN 111994065 A CN111994065 A CN 111994065A
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CN111994065B (en
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谢书港
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Nanjing Waythink Automobile Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses an intelligent speed limiting system and method for a vehicle. The control method comprises the following steps: setting individual willingness and preference information of a driver, collecting vehicle type information, evaluating the running state of a vehicle, collecting a speed limit value of a road area where the vehicle is located and the running speed of the vehicle; calculating the speed limit value of the vehicle, forming a control strategy according to the speed limit value, and outputting a control instruction; and controlling the vehicle speed according to the control command. The speed limiting system and the speed limiting method integrate a plurality of factors such as driver states, vehicle conditions, vehicle types, loads, weather environments, road speed limits and the like, and intelligently control the vehicle speed. The speed limiting system and the speed limiting method have the advantages of simple hardware structure, high method intelligence degree, sensitive and rapid response and capability of effectively preventing accidents caused by overspeed of the vehicle.

Description

Intelligent speed limiting system and method for vehicle
Technical Field
The invention belongs to the technical field of automobile safety, and particularly relates to an intelligent speed limiting system and method for a vehicle.
Background
The safety of the vehicle is always the most important problem of the automobile, and the running speed of the vehicle is an important factor for determining whether the vehicle is safe, so that the intelligent vehicle has a speed limit control function at present.
At present, the speed limit control of automobile auxiliary driving or automatic driving generally determines the highest speed limit of a vehicle according to a road speed limit value specified by a road management department, and when the speed of the vehicle is higher than the speed limit, an execution mechanism executes a speed control instruction. The speed limit function does not reflect many factors such as driver state, vehicle condition, vehicle type, load, weather environment and the like, so that the safety problem caused by the vehicle speed is difficult to solve.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent speed limiting system and method for a vehicle, which not only meet the road speed limiting requirement specified by a road management department, but also integrate a plurality of factors such as driver states, vehicle conditions, vehicle types, loads, weather environments and the like to realize dynamic speed limiting control.
In order to realize the purpose, the invention adopts the following technical scheme:
an intelligent speed limiting system for a vehicle comprises a driver preference selection module, a vehicle type module, a driving state evaluation module, a road speed limiting module, a vehicle speed module, a speed limiting calculation and strategy module and an execution mechanism. The driver preference selection module, the vehicle type module, the driving state evaluation module, the road speed limit module and the vehicle speed module all output information to the speed limit calculation and strategy module, and the speed limit calculation and strategy module outputs control instructions to the execution mechanism. The driver preference selection module is used for setting personal willingness and preference information of a driver. The vehicle type module collects vehicle type information. The driving state evaluation module is used for evaluating the driving state of the vehicle. The vehicle speed module is used for acquiring the speed limit value of the road area where the vehicle is located. The vehicle speed module is used for acquiring the running speed of the vehicle. And the speed limit calculation and strategy module is used for calculating the speed limit value of the vehicle, forming a control strategy according to the speed limit value and outputting a control instruction. The actuating mechanism is used for controlling the running speed of the vehicle.
The driver preference selection module outputs information as a driver preference factor Ka，KaThe range is 0.5 to 1.5. KaThe value is generally 1, the smaller the numerical value is, the more stable the driving character of the driver is reflected, and the larger the numerical value is, the more the driver is biased to the enthusiasm.
Further, the output information of the vehicle type module is a vehicle type factor Kb，KbIn the range of 0.5 to 1, KbAccording toDetermining the rated load of the vehicle, wherein the rated load is more than 10 tons KbK is 0.5 and less than 1 tonb1, medium tonnage linear split.
Further, the driving state evaluation module comprises a driver state evaluation module, a vehicle condition evaluation module, a driving environment evaluation module and a weather condition evaluation module. The information output by the driving state evaluation module is a driving state factor Kc，Kc＝min{Kc1 Kc2 Kc3 Kc4}。
Wherein, Kc1For the driver state factor, reflecting the driver fatigue, the driver state is evaluated by means of a Driver Monitoring System (DMS) and continuous driving times, Kc1The value range is 0.5-1, and the value is normally 1.
Kc2For the factor of vehicle condition, reflecting vehicle condition, comprehensively considering factors such as vehicle fault, tire pressure, load and the like, and obtaining the factor through a tire pressure sensor, in-vehicle network data and a vehicle load measuring sensor, Kc2The value range is 0.5-1, and the value is normally 1.
Kc3For the driving environment factor, reflecting the environment of the road of the driving vehicle, such as traffic flow, and the like, the road condition is estimated by a forward-looking camera and map navigation information, Kc3The value range is 0.5-1, and the value is normally 1.
Kc3For the weather condition factor, which is generally evaluated by temperature and also by information provided by the vehicle network, in response to weather conditions, such as normal weather, rainy weather, snowy weather, Kc4The value range is 0.5-1, and the value is normally 1.
Furthermore, the speed limit calculation and strategy module comprises a speed limit calculation submodule and a strategy submodule.
An intelligent speed limiting method for a vehicle comprises the following steps:
1) setting individual willingness and preference information of a driver, collecting vehicle type information, evaluating the running state of a vehicle, collecting a speed limit value of a road area where the vehicle is located, and collecting the running speed of the vehicle;
2) calculating the speed limit value of the vehicle according to the information in the step 1), forming a control strategy according to the speed limit value, and outputting a control instruction;
3) and controlling the vehicle speed according to the control command.
Further, the personal desire and preference information of the driver is a preference factor K of the drivera，
Figure BDA0002639834350000021
Where PH is a preference of the driver, PH 1, 2, 3, 4, and 5 indicates that the driver prefers low-speed driving to the highest extent, and PH 5 indicates that the driver prefers high-speed driving to the highest extent.
Further, the vehicle type information is a vehicle type factor Kb，
Figure BDA0002639834350000031
Wherein G iswThe vehicle is rated for load.
Further, the driving state evaluation process comprises driver state evaluation, vehicle condition evaluation, driving environment evaluation and weather condition evaluation; the information output by the running state evaluation is a running state factor Kc，Kc＝min{Kc1 Kc2 Kc3Kc4}
Wherein, Kc1As a driver state factor, reflecting the driver fatigue level:
Figure BDA0002639834350000032
wherein, tcContinuous driving time for the driver; calculating through vehicle bus speed information;
Kc2the vehicle condition factor mainly reflects the condition of the vehicle tire:
wherein, PT: the tire pressure of the tire is measured by a tire pressure sensor, and the minimum tire pressure of the four tires is taken during calculation;
PN: normal tire pressure of the vehicle;
Pmin: minimum tire pressure when the tire bursts;
Kc3as a running environment factor, reflecting the environment of the running vehicle road: the road curvature is mainly obtained by evaluating the road condition through a forward-looking camera and map navigation information,
Figure BDA0002639834350000034
kappa is the curvature of the road and can be obtained through information such as a camera, a navigation map and the like;
VRthe speed limit specified for the road can be obtained through information such as a camera, a navigation map and the like;
ARallowing the lateral acceleration of the vehicle, the normal road is generally 2-5 m/s2；
Kc4For the weather condition factor, reflecting the weather condition, such as the information provided by the vehicle network in normal weather, rainy day and snowy weather, Kc4The normal weather is 1, and the monthly snow weather is 0.5.
Further, the calculation formula of the speed limit value of the vehicle is as follows: vlim＝VRmaxKaKbKc(ii) a The control strategy is as follows: when the speed of the vehicle is lower than the speed limit value of the vehicle, the intelligent control does not work; when the speed of the vehicle is greater than the speed limit value of the vehicle and reaches a certain time, automatically reducing the opening of the accelerator or taking braking measures; the speed limit control is as follows:
Uv＝kv(Vlim-Vc) (6)
if-0.1 g < UvThe opening of the accelerator is zero when the opening is less than 0, and braking is not implemented;
Uvless than or equal to 0.1gBraking;
kvthe scale factor is obtained by test calibration;
Vcis the vehicle speed.
The intelligent speed limiting system and the intelligent speed limiting method for the vehicle, disclosed by the invention, integrate a plurality of factors such as the state of a driver, the condition of the vehicle, the type of the vehicle, the load, the weather environment, the road speed limit and the like, intelligently control the speed of the vehicle and prevent the vehicle from causing safety accidents due to overspeed. The speed limiting system and the speed limiting method have the advantages of simple hardware structure, high method intelligence degree, sensitive and rapid response and capability of effectively preventing accidents caused by overspeed of the vehicle.
Drawings
FIG. 1 is a block diagram of the vehicle intelligent speed limiting system of the present invention.
Detailed Description
The following describes a vehicle intelligent speed limiting system and method according to the present invention in detail with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper", "lower", "bottom", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
As shown in fig. 1, an intelligent speed-limiting system for a vehicle includes a driver preference selection module a, a vehicle type module B, a driving state evaluation module C, a road speed-limiting module D, a vehicle speed module E, a speed-limiting calculation and strategy module F, and an execution mechanism G. The driver preference selection module, the vehicle type module, the driving state evaluation module, the road speed limit module and the vehicle speed module all output information to the speed limit calculation and strategy module, and the speed limit calculation and strategy module outputs control instructions to the execution mechanism. The driver preference selection module is used for setting personal willingness and preference information of a driver. The vehicle type module collects vehicle type information. The driving state evaluation module is used for evaluating the driving state of the vehicle. The vehicle speed module is used for acquiring the speed limit value of the road area where the vehicle is located. The vehicle speed module is used for acquiring the running speed of the vehicle. The speed limit calculation and strategy module is used for calculating the speed limit value of the vehicle, forming a control strategy according to the speed limit value and outputting a control instruction. The actuator is used for controlling the running speed of the vehicle.
The driver preference selection module outputs information as a driver preference factor Ka，KaThe range is 0.5 to 1.5. KaThe value is generally 1, the smaller the numerical value is, the more stable the driving character of the driver is reflected, and the larger the numerical value is, the more the driver is biased to the enthusiasm.
The output information of the vehicle type module is a vehicle type factor Kb，KbAccording to the rated load of the vehicle.
The driving state evaluation module comprises a driver state evaluation module, a vehicle condition evaluation module, a driving environment evaluation module and a weather condition evaluation module. The information output by the driving state evaluation module is a driving state factor Kc，Kc＝min{Kc1Kc2 Kc3 Kc4}。
Wherein, Kc1For the driver state factor, reflecting the driver fatigue, the driver state is evaluated by means of a Driver Monitoring System (DMS) and continuous driving times, Kc1The value range is 0.5-1, and the value is normally 1.
Kc2For the factor of vehicle condition, reflecting vehicle condition, comprehensively considering factors such as vehicle fault, tire pressure, load and the like, and obtaining the factor through a tire pressure sensor, in-vehicle network data and a vehicle load measuring sensor, Kc2The value range is 0.5-1, and the value is normally 1.
Kc3For the driving environment factor, reflecting the environment of the road of the driving vehicle, such as traffic flow, and the like, the road condition is estimated by a forward-looking camera and map navigation information, Kc3The value range is 0.5-1, and the value is normally 1.
Kc3For the weather condition factor, which is generally evaluated by temperature and also by information provided by the vehicle network, in response to weather conditions, such as normal weather, rainy weather, snowy weather, Kc4The value range is 0.5-1, and the value is normally 1.
Furthermore, the speed limit calculation and strategy module comprises a speed limit calculation submodule and a strategy submodule.
An intelligent speed limiting method for a vehicle comprises the following steps:
1) setting individual willingness and preference information of a driver, collecting vehicle type information, evaluating the running state of a vehicle, collecting a speed limit value of a road area where the vehicle is located, and collecting the running speed of the vehicle; obtaining road speed limit V through map informationRmax. The vehicle speed Vc can be obtained through the vehicle intranet.
2) Calculating the speed limit value of the vehicle according to the information in the step 1), forming a control strategy according to the speed limit value, and outputting a control instruction;
3) and controlling the vehicle speed according to the control command.
The personal desire and preference information of the driver are the preference factor K of the drivera，KaThe range is 0.5 to 1.5. KaThe value is generally 1, the smaller the numerical value is, the more stable the driving character of the driver is reflected, and the larger the numerical value is, the more the driver is biased to the enthusiasm.
The vehicle type information is a vehicle type factor Kb，KbIn the range of 0.5 to 1, KbAccording to the rated load of the vehicle, the rated load is more than 10 tons KbK is 0.5 and less than 1 tonb1, medium tonnage linear split.
The running state evaluation process includes driver state evaluation, vehicle condition evaluation, running environment evaluation, weather condition evaluation. The information output by the running state evaluation is a running state factor Kc，Kc＝min{Kc1 Kc2 Kc3 Kc4}。
Wherein, Kc1For the driver state factor, reflecting the driver fatigue, the driver state is evaluated by means of a Driver Monitoring System (DMS) and continuous driving times, Kc1The value range is 0.5-1, and the value is normally 1.
Kc2For the factor of vehicle condition, reflecting vehicle condition, comprehensively considering factors such as vehicle fault, tire pressure, load and the like, and obtaining the factor through a tire pressure sensor, in-vehicle network data and a vehicle load measuring sensor, Kc2The value range is 0.5-1, and the value is normally 1.
Kc3For the driving environment factor, reflecting the environment of the road of the driving vehicle, such as traffic flow, and the like, the road condition is estimated by a forward-looking camera and map navigation information, Kc3The value range is 0.5-1, and the value is normally 1.
Kc3For the weather condition factor, which is generally evaluated by temperature and also by information provided by the vehicle network, in response to weather conditions, such as normal weather, rainy weather, snowy weather, Kc4The value range is 0.5-1, and the value is normally 1.
The calculation formula of the speed limit value of the vehicle is as follows: vlim＝VRmaxKaKbKc(ii) a The control strategy is as follows: when the speed of the vehicle is lower than the speed limit value of the vehicle, the intelligent control does not work; when the speed of the vehicle is larger than the speed limit value of the vehicle and reaches a certain time, the opening of the accelerator is automatically reduced or braking measures are taken. For example, the throttle opening is automatically 0, or braking measures are taken, and the module is implemented in a microcontroller.
Based upon the foregoing description of the preferred embodiment of the invention, it should be apparent that the invention defined by the appended claims is not limited solely to the specific details set forth in the foregoing description, as many apparent variations thereof are possible without departing from the spirit or scope thereof.

Claims (10)

1. An intelligent speed limiting system of a vehicle is characterized by comprising a driver preference selection module, a vehicle type module, a driving state evaluation module, a road speed limiting module, a vehicle speed module, a speed limiting calculation and strategy module and an execution mechanism; the driver preference selection module, the vehicle type module, the driving state evaluation module, the road speed limit module and the vehicle speed module all output information to the speed limit calculation and strategy module, and the speed limit calculation and strategy module outputs a control instruction to the execution mechanism; the driver preference selection module is used for setting personal willingness and preference information of a driver; the vehicle type module collects vehicle type information; the driving state evaluation module is used for evaluating the driving state of the vehicle; the vehicle speed module is used for acquiring the speed limit value of a road area where a vehicle is located; the vehicle speed module is used for acquiring the running speed of a vehicle; the speed limit calculation and strategy module is used for calculating the speed limit value of the vehicle, forming a control strategy according to the speed limit value and outputting a control instruction; the actuating mechanism is used for controlling the running speed of the vehicle.
2. The intelligent speed limiting system for vehicles according to claim 1, wherein the vehicle type module outputs information as a vehicle type factor Kb，KaThe range is 0.5 to 1.5.
3. The intelligent speed limiting system for vehicles according to claim 1, wherein the vehicle type module outputs information as a vehicle type factor Kb，KbIn the range of 0.5 to 1, KbAccording to the rated load of the vehicle.
4. The intelligent speed limit system for the vehicle according to claim 1, wherein the driving state evaluation module comprises a driver state evaluation module, a vehicle condition evaluation module, a driving environment evaluation module and a weather condition evaluation module; the information output by the driving state evaluation module is a driving state factor Kc，Kc＝min{Kc1 Kc2 Kc3 Kc4}；
Wherein, Kc1For the driver state factor, reflecting the driver fatigue, the driver state is evaluated by means of a Driver Monitoring System (DMS) and continuous driving times, Kc1The value range is 0.5-1;
Kc2for the vehicle condition factor, the vehicle condition is reflected, and the vehicle fault, the tire pressure and the load are comprehensively consideredFactor, obtained from tire pressure sensors, in-vehicle network data and vehicle load measuring sensors, Kc2The value range is 0.5-1;
Kc3reflecting the environment of the running vehicle road for a running environment factor, and performing road condition evaluation through a forward-looking camera and map navigation information, Kc3The value range is 0.5-1;
Kc3for weather condition factors, reflecting weather conditions, by evaluating the temperature and information provided by the vehicle network, Kc4The value range is 0.5-1.
5. The intelligent speed-limiting system of vehicles of claim 1, wherein the speed-limiting calculation and strategy module comprises a speed-limiting calculation submodule and a strategy submodule.
6. An intelligent speed limiting method for a vehicle is characterized by comprising the following steps:
1) setting individual willingness and preference information of a driver, collecting vehicle type information, evaluating the running state of a vehicle, collecting a speed limit value of a road area where the vehicle is located, and collecting the running speed of the vehicle;
2) calculating the speed limit value of the vehicle according to the information in the step 1), forming a control strategy according to the speed limit value,
outputting a control instruction;
and controlling the vehicle speed according to the control command.
7. The intelligent speed limiting method for vehicles according to claim 6, characterized in that the personal will and preference information of the driver is a driver preference factor Ka，
Figure FDA0002639834340000021
Where PH is a preference of the driver, PH 1, 2, 3, 4, and 5 indicates that the driver prefers low-speed driving to the highest extent, and PH 5 indicates that the driver prefers high-speed driving to the highest extent.
8. The intelligent speed limiting method for vehicles according to claim 6, characterized in that the vehicle type information is a vehicle type factor Kb，
Figure FDA0002639834340000022
Wherein G iswThe vehicle is rated for load.
9. The intelligent speed limiting method for the vehicle according to claim 6, wherein the driving state evaluation process comprises driver state evaluation, vehicle condition evaluation, driving environment evaluation and weather condition evaluation; the information output by the running state evaluation is a running state factor Kc，Kc＝min{Kc1 Kc2 Kc3 Kc4}
Wherein, Kc1As a driver state factor, reflecting the driver fatigue level:
Figure FDA0002639834340000023
wherein, tcContinuous driving time for the driver;
Kc2the vehicle condition factor mainly reflects the condition of the vehicle tire:
Figure FDA0002639834340000024
wherein, PT: the tire pressure of the tire is measured by a tire pressure sensor;
PN: normal tire pressure of the vehicle;
Pmin: minimum tire pressure when the tire bursts;
Kc3the environment factor is a running environment factor and reflects the environment of a running vehicle road;
Figure FDA0002639834340000025
κ is road curvature;
VRspeed limit prescribed for the road;
ARallowing lateral acceleration of the vehicle;
Kc4is a weather condition factor.
10. The intelligent speed-limiting method for the vehicle according to claim 6, wherein the calculation formula of the speed-limiting value of the vehicle is as follows: vlim＝VRmaxKaKbKc(ii) a The control strategy is as follows: when the speed of the vehicle is lower than the speed limit value of the vehicle, the intelligent control does not work; when the speed of the vehicle is greater than the speed limit value of the vehicle and reaches a certain time, automatically reducing the opening of the accelerator or taking braking measures; the speed limit control is as follows:
Uv＝kv(Vlim-Vc) (6)
if-0.1 g < UvThe opening of the accelerator is zero when the opening is less than 0, and braking is not implemented;
Uvbraking is carried out at most 0.1 g;
kvis a proportionality coefficient;
Vcis the vehicle speed.
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CN112926137B (en) * 2021-03-16 2022-05-06 中南大学 Calculation method for road speed limit value evaluation
CN114132312A (en) * 2021-11-30 2022-03-04 上汽通用五菱汽车股份有限公司 Vehicle speed limiting method, system, device and computer readable storage medium
CN114132312B (en) * 2021-11-30 2024-05-28 上汽通用五菱汽车股份有限公司 Vehicle speed limiting method, system, equipment and computer readable storage medium
CN116189415A (en) * 2022-11-09 2023-05-30 久海纳(北京)物流有限公司 Whole vehicle operation system and method

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Denomination of invention: A vehicle intelligent speed limit system and method

Granted publication date: 20220415

Pledgee: Zijin Branch of Nanjing Bank Co.,Ltd.

Pledgor: NANJING WAYTHINK AUTOMOBILE TECHNOLOGY CO.,LTD.

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