CN112238860A - Identification method, identification device and computer readable storage medium - Google Patents

Identification method, identification device and computer readable storage medium Download PDF

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Publication number
CN112238860A
CN112238860A CN202011434267.3A CN202011434267A CN112238860A CN 112238860 A CN112238860 A CN 112238860A CN 202011434267 A CN202011434267 A CN 202011434267A CN 112238860 A CN112238860 A CN 112238860A
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steering wheel
yaw rate
current
angle
vehicle speed
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CN112238860B (en
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陶喆
朱心放
刘海珍
张万里
范鹏
蔡润佳
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Nasn Automotive Electronics Co Ltd
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Nasn Automotive Electronics 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
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

Abstract

The invention provides an identification method, an identification device and a computer readable storage medium, wherein the identification method is applied to the identification device and comprises the steps of obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise an actual yaw rate, a current steering wheel corner, a last steering wheel corner, a transverse acceleration and a current vehicle speed; determining a target yaw angular speed, a current driving angle and a steering wheel operation direction of the vehicle according to the working condition parameters; when the relationship between at least one of the current driving angle and the steering wheel operation direction and the relationship between the actual yaw rate and the target yaw rate meet preset conditions, calculating a lateral yaw difference value according to the lateral acceleration, the current vehicle speed and the actual yaw rate; and identifying whether the vehicle is in the running working condition of the inclined road surface or not according to the lateral yaw difference value and the current vehicle speed. The invention can correctly identify the running condition of the inclined road surface when the vehicle runs at a large angle and/or the steering wheel is turned reversely, thereby ensuring the running safety.

Description

Identification method, identification device and computer readable storage medium
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to an identification method, an identification device and a computer readable storage medium.
Background
At present, the method for identifying the running condition of the inclined road surface mainly calculates the inclination angle of the inclined road surface, and the calculation formula is as follows: the inclination angle = arcsin (target yaw rate vehicle speed-lateral acceleration), and whether the road surface is an inclined road surface is determined by the result of comparing the inclination angle with a threshold value.
However, the calculation method provided by the method has certain limiting conditions (the current driving angle is required to be very small and the steering wheel is steered in the same direction), when the vehicle is driven at a large angle and/or the steering wheel is steered in the reverse direction, the method cannot accurately estimate the road surface angle, finally the recognition of the driving condition of the inclined road surface fails, the electronic stability control system cannot automatically start the functions related to the inclined road surface, and the driving safety is reduced.
Disclosure of Invention
In view of the above technical problems, the present invention provides an identification method, an identification device and a computer readable storage medium, so as to correctly identify the driving condition on an inclined road surface when driving at a large angle and/or steering in a reverse direction, thereby ensuring driving safety.
The invention provides an identification method, which comprises the steps of obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise an actual yaw rate, a current steering wheel angle, a last steering wheel angle, a transverse acceleration and a current vehicle speed; determining a target yaw rate, a current running angle and a steering wheel operation direction of the vehicle according to the working condition parameters; when the relation between the current driving angle and at least one of the steering wheel operation direction and the actual yaw rate meets a preset condition, calculating a lateral yaw difference value according to the transverse acceleration, the current vehicle speed and the actual yaw rate; and identifying whether the vehicle is in an inclined road surface running condition or not according to the lateral yaw difference value and the current vehicle speed.
In one embodiment, the step of determining the target yaw rate, the current driving angle and the steering wheel operation direction of the vehicle according to the operating condition parameters includes: determining the target yaw rate according to the current vehicle speed and the current steering wheel angle; determining the current driving angle according to the current vehicle speed and the target yaw velocity; and determining the steering wheel operation direction according to the current steering wheel angle, the last steering wheel angle and the actual yaw rate.
In one embodiment, the step of determining the current driving angle based on the current vehicle speed and the target yaw rate includes: setting a minimum yaw rate, ωmin=P1V, wherein ωminIs the minimum yaw rate, P1Is a first correction parameter, v is the current vehicle speed; obtaining a first weight factor, f, from the minimum yaw rate and the target yaw rate1=ωminω', where f1Is the first weight factor, ω' is the target yaw rate.
In one embodiment, the step of determining the current driving angle based on the current vehicle speed and the target yaw rate includes: correcting the first weight factor by a second correction parameter to obtain a second weight factor f2=(1-f1)/（1-P2) Wherein f is2Is the second weight factor, P2Is the second correction parameter.
In one embodiment, the step of determining the current driving angle based on the current vehicle speed and the target yaw rate includes: if the second weight factor is larger than or equal to a first threshold value, defining the current driving angle as a first angle; and if the second weight factor is smaller than the first threshold value, defining the current driving angle as a second angle.
In one embodiment, the step of determining the steering wheel operation direction based on the current steering wheel angle, the previous steering wheel angle, and the actual yaw rate includes: if δ × δ' < 0, the steering wheel operation direction is reverse; and if delta & omega is larger than or equal to 0, the steering wheel operation direction is a positive direction, wherein delta is the current steering wheel angle, delta' is the last steering wheel angle, and omega is the actual yaw rate.
In one embodiment, the relationship between the current travel angle and at least one of the steering wheel operation direction, and the actual yaw rate and the target yaw rate satisfies a preset condition, and includes: the current driving angle is a first angle, and/or the steering wheel operation direction is a reverse direction; the difference between the actual yaw rate and the target yaw rate is less than a second threshold value.
In one embodiment, the step of calculating a lateral yaw difference value based on the lateral acceleration, the current vehicle speed, and the actual yaw rate includes: calculating the lateral yaw difference value according to the following formula: Δ = ayV- ω, where Δ is the lateral yaw difference, ayThe lateral acceleration is the lateral acceleration, v is the current vehicle speed, and ω is the actual yaw rate.
In one embodiment, the identification method includes: correcting the lateral yaw difference value through the influence factor correction parameters to obtain a lateral yaw difference value correction value, wherein delta' = delta PfWherein Δ' is the lateral yaw difference correction value, PfAnd delta is the lateral yaw difference value for the impact factor correction parameter.
In one embodiment, the step of identifying whether the vehicle is in an inclined road driving condition according to the lateral yaw difference value and the current vehicle speed comprises: integrating the product of the lateral yaw difference value and the current vehicle speed; if the integral result of the product of the lateral yaw difference value and the current vehicle speed is larger than a third threshold value, the vehicle is in the inclined road surface running working condition; if the integral result of the product of the lateral yaw difference value and the current vehicle speed is smaller than a fourth threshold value, the vehicle is not in the inclined road surface running working condition; wherein the third threshold value is greater than the fourth threshold value.
The invention also provides an identification device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the identification method when executing the computer program.
The invention also provides a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned identification method.
The identification method, the identification device and the computer readable storage medium provided by the invention can correctly identify the running condition of the inclined road surface when the vehicle runs at a large angle and/or turns a steering wheel reversely so as to accurately trigger the related functions of an electronic stability control system and guarantee the running safety.
Drawings
Fig. 1 is a schematic flowchart of an identification method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an identification apparatus according to a second embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further elaborated by combining the drawings and the specific embodiments in the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic flowchart of an identification method according to an embodiment of the present invention. As shown in fig. 1, the identification method of the present invention may include the following steps:
step S101: obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise an actual yaw rate, a current steering wheel angle, a last steering wheel angle, a lateral acceleration and a current vehicle speed;
specifically, the above-mentioned operating condition parameters may be acquired by a sensor in real time or obtained by calculation, optionally, the actual yaw rate is acquired by a yaw rate sensor, the lateral acceleration is acquired by a lateral acceleration sensor, the current wheel speed is acquired by a wheel speed sensor or the current vehicle speed is calculated according to a GPS signal, and the steering wheel angle is acquired by a steering wheel angle sensor, wherein the current steering wheel angle and the previous steering wheel angle are distinguished by performing delay logic output on the sensor signal.
Step S102: determining a target yaw rate, a current running angle and a steering wheel operation direction of the vehicle according to the working condition parameters;
specifically, step S102 includes: determining a target yaw rate according to the current vehicle speed and the current steering wheel angle; determining a current driving angle according to the current vehicle speed and the target yaw angular speed; and determining the steering wheel operation direction according to the current steering wheel angle, the previous steering wheel angle and the actual yaw velocity.
In one embodiment, a method for determining a target yaw rate based on a current vehicle speed and a current steering wheel angle, comprises: calculating the target yaw rate through the Ackerman formula:
ω’=(v*δ/i)/[l*(1+v2/vch 2)]
where ω' is a target yaw angular velocity, v is a current vehicle speed, δ is a current steering wheel angle, i is a steering ratio, l is a wheel base, v is a target yaw angular velocitychIs a characteristic vehicle speed; steering ratio i, wheel base l and characteristic vehicle speed vchIs an intrinsic parameter of the vehicle.
In one embodiment, the step of determining the current driving angle based on the current vehicle speed and the target yaw rate includes:
setting a minimum yaw rate, ωmin=P1V, wherein ωminIs the minimum yaw rate, P1Is a first correction parameter, v is the current vehicle speed;
according to minimum yaw rate andtarget yaw rate, obtaining a first weight factor, f1=ωminω', where f1The first weight factor, ω' is the target yaw rate.
Furthermore, the first weighting factor can be further modified by a second modification parameter to obtain a second weighting factor, f2=(1-f1)/(1-P2) Wherein f is2Is the second weight factor, P2Is the second correction parameter.
Furthermore, if the second weight factor is greater than or equal to the first threshold value, the current driving angle is defined as a first angle; and if the second weight factor is smaller than the first threshold value, defining the current driving angle as a second angle.
The first threshold is a parameter threshold for judging whether the vehicle runs at a large angle, and optionally, the value range is [0,20 ].
In one embodiment, the step of determining the steering wheel operation direction based on the current steering wheel angle, the previous steering wheel angle, and the actual yaw rate includes: if delta is less than 0, the operation direction of the steering wheel is reverse; and if delta omega is more than or equal to 0, the operation direction of the steering wheel is the positive direction, wherein delta is the current steering wheel angle, delta' is the last steering wheel angle, and omega is the actual yaw velocity.
Step S103: when the relation between the current driving angle and at least one of the steering wheel operation direction and the actual yaw rate meets a preset condition, calculating a lateral yaw difference value according to the transverse acceleration, the current vehicle speed and the actual yaw rate;
specifically, if the current driving angle is a first angle and/or the steering wheel operation direction is reverse, and the difference between the actual yaw rate and the target yaw rate is smaller than a second threshold value, the step of calculating the lateral yaw difference value according to the lateral acceleration, the current vehicle speed and the actual yaw rate is performed. The second threshold is a parameter threshold for determining whether the vehicle is in a stable driving state, and optionally, the numeric area is [0.2, 1], and the unit is rad/s.
Further, the step of calculating a lateral yaw difference value based on the lateral acceleration, the current vehicle speed, and the actual yaw rate includes: calculating the lateral yaw difference value according to the following formula:
Δ=ay/v-ω
wherein, Delta is a lateral yaw difference value ayThe lateral acceleration, v the current vehicle speed, and ω the actual yaw rate.
It is worth mentioning that the lateral yaw difference value may be further corrected by the influencing factor correction parameter to obtain a lateral yaw difference value correction value, Δ' = Δ × PfWherein Δ' is a lateral yaw difference correction value, PfFor the impact factor correction parameter, Δ is the lateral yaw difference.
Step S104: and identifying whether the vehicle is in an inclined road surface running condition or not according to the lateral yaw difference value and the current vehicle speed.
Specifically, step S104 includes: integrating the product of the lateral yaw difference value and the current vehicle speed, namely ^ Δ × vdt; if the integral result of the product of the lateral yaw difference value and the current vehicle speed is larger than a third threshold value, the vehicle is in the inclined road surface running working condition; if the integral result of the product of the lateral yaw difference value and the current vehicle speed is smaller than the fourth threshold value, the vehicle is not in the inclined road surface running condition; wherein the third threshold is greater than the fourth threshold; the integration time period and the integration frequency are preset values.
The third threshold value and the fourth threshold value are parameter threshold values for judging whether the vehicle is in the running condition of the inclined road surface, and optionally, the numeric area of the third threshold value is [1,2 ]]The fourth threshold value range is [0.2, 0.5 ]]The units are all m/s2。
It is worth mentioning that the third threshold value and the fourth threshold value belong to a hysteresis interval, and if the integral result of the product of the lateral yaw difference value and the current vehicle speed falls back to the hysteresis interval from the third threshold value, the vehicle is still in the inclined road surface running condition; and if the integral result of the product of the lateral yaw difference value and the current vehicle speed is increased from the fourth threshold value to the hysteresis interval, the vehicle is not in the inclined road surface running condition.
Preferably, the lateral yaw difference value correction value in step S103 may be used instead of the lateral yaw difference value to improve the recognition accuracy of the inclined road running condition.
Wherein the first correction parameter P1A second correction parameter P2An influence factor correction parameter PfThe first threshold value, the second threshold value, the third threshold value and the fourth threshold value are all test calibration values.
The embodiment of the invention provides the method for identifying the running condition of the inclined road aiming at the working condition of large-angle running and/or reverse steering wheel, has low implementation cost and high identification accuracy, can accurately trigger the related functions of the electronic stability control system, provides electronic stability control for the running condition of the vehicle on the inclined road and ensures the running safety.
Fig. 2 is a schematic structural diagram of an identification apparatus according to a second embodiment of the present invention. As shown in fig. 2, the identification device of this embodiment includes: a processor 110, a memory 111 and a computer program 112 stored in said memory 111 and executable on said processor 110. The processor 110 executes the computer program 112 to implement the steps in the above-mentioned embodiments of the identification method, such as the steps S101 to S104 shown in fig. 1.
The identification means may include, but is not limited to, a processor 110, a memory 111. It will be appreciated by those skilled in the art that fig. 2 is merely an example of an identification appliance and does not constitute a limitation of an identification appliance, and may include more or less components than those shown, or some components in combination, or different components, for example, the identification appliance may also include input output devices, network access devices, buses, etc.
The Processor 110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 111 may be an internal storage unit of the identification device, such as a hard disk or a memory of the identification device. The memory 111 may also be an external storage device of the identification apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the identification apparatus. Further, the memory 111 may also include both an internal storage unit and an external storage device of the identification apparatus. The memory 111 is used for storing the computer program and other programs and data required by the identification means. The memory 111 may also be used to temporarily store data that has been output or is to be output.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the identification method as described above.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (12)

1. An identification method is applied to an identification device, and comprises the following steps:
obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise an actual yaw rate, a current steering wheel angle, a last steering wheel angle, a lateral acceleration and a current vehicle speed;
determining a target yaw rate, a current running angle and a steering wheel operation direction of the vehicle according to the working condition parameters;
when the relation between the current driving angle and at least one of the steering wheel operation direction and the actual yaw rate meets a preset condition, calculating a lateral yaw difference value according to the transverse acceleration, the current vehicle speed and the actual yaw rate;
and identifying whether the vehicle is in an inclined road surface running condition or not according to the lateral yaw difference value and the current vehicle speed.
2. The identification method according to claim 1, wherein the step of determining the target yaw rate, the current driving angle, and the steering wheel operation direction of the vehicle based on the operating condition parameters comprises:
determining the target yaw rate according to the current vehicle speed and the current steering wheel angle;
determining the current driving angle according to the current vehicle speed and the target yaw velocity;
and determining the steering wheel operation direction according to the current steering wheel angle, the last steering wheel angle and the actual yaw rate.
3. The identification method according to claim 2, wherein the step of determining the current travel angle based on the current vehicle speed and the target yaw rate includes:
setting a minimum yaw rate, ωmin=P1V, wherein ωminIs the minimum yaw rate, P1Is a first correction parameter, v is the current vehicle speed;
obtaining a first weight factor, f, from the minimum yaw rate and the target yaw rate1=ωmin/ω', where f1Is the first weight factor, ω' is the target yaw rate.
4. The identification method according to claim 3, wherein the step of determining the current travel angle based on the current vehicle speed and the target yaw rate includes:
correcting the first weight factor by a second correction parameter to obtain a second weight factor f2=(1-f1)/（1-P2) Wherein f is2Is the second weight factor, P2Is the second correction parameter.
5. The identification method according to claim 4, wherein the step of determining the current driving angle based on the current vehicle speed and the target yaw rate includes:
if the second weight factor is larger than or equal to a first threshold value, defining the current driving angle as a first angle;
and if the second weight factor is smaller than the first threshold value, defining the current driving angle as a second angle.
6. The identification method according to claim 2, wherein said step of determining the steering wheel operation direction based on the current steering wheel angle, the last steering wheel angle, and the actual yaw rate includes:
if δ × δ' < 0, the steering wheel operation direction is reverse;
if delta omega is more than or equal to 0, the operation direction of the steering wheel is a positive direction;
wherein δ is the current steering wheel angle, δ' is the last steering wheel angle, and ω is the actual yaw rate.
7. The identification method according to claim 1, wherein the relationship between the current travel angle and at least one of the steering wheel operation direction, the actual yaw rate, and the target yaw rate satisfies preset conditions, including:
the current driving angle is a first angle, and/or the steering wheel operation direction is a reverse direction;
the difference between the actual yaw rate and the target yaw rate is less than a second threshold value.
8. The identification method according to claim 7, wherein said step of calculating a lateral yaw difference value based on said lateral acceleration, said current vehicle speed, and said actual yaw rate comprises:
calculating the lateral yaw difference value according to the following formula:
Δ=ay/v-ω
wherein Δ is the lateral yaw difference, ayThe lateral acceleration is the lateral acceleration, v is the current vehicle speed, and ω is the actual yaw rate.
9. The identification method of claim 1, wherein the identification method comprises:
correcting the lateral yaw difference value through the influence factor correction parameters to obtain a lateral yaw difference value correction value, wherein delta' = delta PfWherein Δ' is the lateral yaw difference correction value, PfAnd delta is the lateral yaw difference value for the impact factor correction parameter.
10. The method of identifying as claimed in claim 1, wherein said step of identifying whether said vehicle is in a banked road condition based on said lateral yaw difference value and said current vehicle speed comprises:
integrating the product of the lateral yaw difference value and the current vehicle speed;
if the integral result of the product of the lateral yaw difference value and the current vehicle speed is larger than a third threshold value, the vehicle is in the inclined road surface running working condition;
if the integral result of the product of the lateral yaw difference value and the current vehicle speed is smaller than a fourth threshold value, the vehicle is not in the inclined road surface running working condition;
wherein the third threshold value is greater than the fourth threshold value.
11. An identification device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the identification method according to any of claims 1 to 10 are implemented when the computer program is executed by the processor.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the identification method according to one of claims 1 to 10.
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CN115303280A (en) * 2022-08-04 2022-11-08 清智汽车科技(苏州)有限公司 Redundant low-delay vehicle driving road identification method and device
CN115303280B (en) * 2022-08-04 2023-08-15 清智汽车科技(苏州)有限公司 Redundant low-delay vehicle driving road identification method and device
CN116080408A (en) * 2023-01-09 2023-05-09 上海拿森汽车电子有限公司 Control method, equipment and storage medium for sliding energy recovery
CN116080408B (en) * 2023-01-09 2024-03-26 上海拿森汽车电子有限公司 Control method, equipment and storage medium for sliding energy recovery

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