CN114590256A - Vehicle speed control method and device in curve - Google Patents
Vehicle speed control method and device in curve Download PDFInfo
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- CN114590256A CN114590256A CN202210310128.2A CN202210310128A CN114590256A CN 114590256 A CN114590256 A CN 114590256A CN 202210310128 A CN202210310128 A CN 202210310128A CN 114590256 A CN114590256 A CN 114590256A
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention aims to provide a vehicle speed control method and device in a curve, which can determine the highest vehicle speed of a vehicle in the curve ahead on a road capable of acquiring the radius of the curve ahead of the vehicle based on the radius of the curve ahead of the vehicle; when the radius of a curve ahead based on a vehicle cannot be acquired, if a crossroad scene without a high-precision map and lane lines exists, the highest vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle and a turn signal of a steering lamp of the vehicle, the highest vehicle speed controlled by an automatic driving system in the curve can be more accurately adjusted, and the problems that the vehicle speed is not reduced in time when the vehicle enters a curve, the vehicle speed is too high when the vehicle passes the curve and riding is uncomfortable are solved.
Description
Technical Field
The invention relates to a method and a device for controlling vehicle speed in a curve.
Background
Some vehicles on the market today are equipped with autonomous driving functions, such as adaptive cruise systems, to varying degrees. The vehicle system can realize following vehicle cruise and constant speed cruise, and when the vehicle runs into a curve, the system can control the speed of the vehicle to be too fast or the speed of the vehicle to be reduced untimely, so that a driver is panic and uncomfortable.
A typical solution of a vehicle in the current market is to convert steering wheel angle information into a curve radius, and then define a maximum allowable adaptive cruise vehicle speed value under different curve radii, but because the steering wheel angle is in an initial stage when the vehicle enters a curve, the angle value is small, and the curve radius calculated according to the angle is large, the problems of untimely vehicle deceleration and over-high vehicle speed during passing the curve can still be caused.
Disclosure of Invention
The invention provides a method and a device for controlling vehicle speed in a curve.
The invention provides a vehicle speed control method in a curve, wherein the method comprises the following steps:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
Further, the method, in which the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on a radius of the curve ahead of the vehicle, includes:
calculating the maximum longitudinal vehicle speed of the vehicle in a forward curve based on the following formula
：
Wherein,
is the curvature of the curve ahead of the vehicle, i.e. the inverse of the radius of the curve ahead of the vehicle;
is the vehicle lateral acceleration.
Further, the method for attempting to detect the radius of the curve ahead of the vehicle includes:
detecting whether there is a high-precision map of a curve ahead of the vehicle,
if the high-precision map exists, the radius of the curve ahead of the vehicle is obtained based on the high-precision map.
Further, the method, after detecting whether there is a high-precision map of a curve ahead of the vehicle, further includes:
if no high-precision map exists, a camera of the vehicle tries to acquire the radius of the curve ahead of the vehicle.
Further, in the above method, if there is no high-precision map, the method further includes, while trying to obtain the radius of the curve ahead of the vehicle by using a camera of the vehicle:
attempting to acquire the lane line length of a curve ahead of the vehicle through a camera of the vehicle;
determining a maximum longitudinal vehicle speed of the vehicle in the forward curve based on the radius of the forward curve of the vehicle if the radius of the forward curve of the vehicle is detected, comprising:
if the radius of the front curve is larger than a preset radius threshold value and the length of the lane line of the front curve is larger than a preset length threshold value, calculating the highest longitudinal speed of the vehicle in the front curve based on the following formula
：
Wherein,
is the curvature of the curve ahead of the vehicle, i.e. the inverse of the radius of the curve ahead of the vehicle;
is the vehicle lateral acceleration.
Further, the above method, wherein if the radius of the curve ahead of the vehicle is detected, determining a maximum longitudinal vehicle speed of the vehicle in the curve ahead based on the radius of the curve ahead of the vehicle, further comprises:
and if the radius of the front curve is smaller than or equal to the preset radius threshold, determining that the highest longitudinal speed of the vehicle in the front curve is the preset highest longitudinal speed.
Further, the above method, wherein if the radius of the curve ahead of the vehicle is detected, determining a maximum longitudinal vehicle speed of the vehicle in the curve ahead based on the radius of the curve ahead of the vehicle, further comprises:
if the radius of the front curve is larger than a preset radius threshold value, but the length of the lane line of the front curve is smaller than or equal to a preset length threshold value, acquiring the current steering wheel turning angle of the vehicle;
and if the acquired current steering wheel angle of the vehicle is greater than a preset angle threshold, determining that the highest longitudinal vehicle speed of the vehicle in the front curve is the preset highest longitudinal vehicle speed.
Further, the above method, in which if the radius of the curve ahead of the vehicle is not detected, determining a highest longitudinal vehicle speed in the curve ahead of the vehicle based on a current steering wheel angle of the vehicle and a turn signal of a turn lamp, includes:
trying to acquire the current speed, turn signal and current steering wheel angle of the vehicle;
and if the current vehicle speed of the vehicle is less than the preset vehicle speed threshold value, the turn signal of the steering lamp is obtained, and the current steering wheel turning angle is greater than the preset angle threshold value, determining that the highest longitudinal vehicle speed of the vehicle in the front curve is the preset highest longitudinal vehicle speed.
According to another aspect of the present invention, there is also provided a vehicle speed control apparatus in a curve, wherein the apparatus includes:
detecting means for attempting to detect a radius of a forward curve of the vehicle;
determining means for determining a highest longitudinal vehicle speed of the vehicle in a forward curve of the vehicle based on a radius of the forward curve of the vehicle if the radius of the forward curve of the vehicle is detected; if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal.
According to another aspect of the present invention, there is also provided a computing-based device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
According to another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
In summary, the invention determines the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle on the road where the radius of the front curve of the vehicle can be obtained; when the radius of a curve ahead based on a vehicle cannot be acquired, if a crossroad scene without a high-precision map and lane lines exists, the highest longitudinal speed in the curve ahead of the vehicle is determined based on the current steering wheel angle and a turn signal of a steering lamp of the vehicle, the highest longitudinal speed controlled by an automatic driving system in the curve can be more accurately adjusted, and the problems of untimely speed reduction of the vehicle when the vehicle enters the curve, excessively high vehicle speed when the vehicle passes the curve and uncomfortable riding are solved.
In addition, in the range of a road area with a high-precision map, the invention can predict the radius of a curve ahead of the road through the high-precision map and a high-precision positioning module, so that the highest longitudinal speed of the vehicle when the vehicle passes the curve can be determined based on the radius of the curve.
In addition, in a road area without a high-precision map but with a lane line, the vehicle can determine the highest longitudinal vehicle speed when the vehicle passes a curve based on the radius of the curve by the radius of the curve detected by the camera.
And under the condition of the crossroad without a high-precision map and a lane line, the system accurately and reliably identifies the turning scene of the crossroad through the vehicle speed, the steering lamp and the steering wheel, and at the moment, the maximum vehicle speed of the cruise control can be defined as a lower vehicle speed value.
Drawings
FIG. 1 illustrates a schematic diagram of a method for controlling vehicle speed in a curve according to an embodiment of the present invention;
FIG. 2 is a schematic representation of vehicle speed versus comfort lateral acceleration according to one embodiment of the present invention;
FIG. 3 shows a flow chart of a method of controlling vehicle speed in a curve using a camera according to an embodiment of the invention;
FIG. 4 shows a flow chart of a method of vehicle speed control in a curve of a crossroad scenario in accordance with an embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
The invention provides a vehicle speed control method in a curve, which comprises the following steps:
step S1, attempting to detect the radius of the front curve of the vehicle;
step S2, if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
in step S3, if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal.
The radius of the front curve is the radius of a road to be turned during the driving process of the vehicle, so that the radius of the front curve of the vehicle is obtained, and the highest longitudinal speed of the vehicle in the front curve is determined.
The reason for attempting to detect the radius of the front curve of the vehicle is that the method can determine the highest longitudinal speed of the vehicle in the front curve by attempting to detect the radius of the front curve of the vehicle when the radius of the front curve of the vehicle can be detected, according to the configuration, the operating condition and the operating environment of the vehicle; when the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle can then be obtained on the basis of the information characterizing the turning characteristics of the sensor signals present in the vehicle, such as the steering wheel angle signal, the turn signal for the steering lamp, etc.
The reasonability of the vehicle speed in the longitudinal control process is an important index considering the automatic driving capacity, and the highest longitudinal vehicle speed is an important parameter in the curve running of the vehicle and is also an important component of the active safety of the vehicle, and is related to the stability, the comfort and the safety of riding.
Here, the present invention determines the highest longitudinal vehicle speed of the vehicle in the forward curve based on the radius of the forward curve of the vehicle on a road where the radius of the forward curve of the vehicle can be acquired; when the radius of a curve ahead based on a vehicle cannot be acquired, if a crossroad scene without a high-precision map and lane lines exists, the highest longitudinal speed in the curve ahead of the vehicle is determined based on the current steering wheel angle and a turn signal of a steering lamp of the vehicle, the highest longitudinal speed controlled by an automatic driving system in the curve can be more accurately adjusted, and the problems of untimely speed reduction of the vehicle when the vehicle enters the curve, excessively high vehicle speed when the vehicle passes the curve and uncomfortable riding are solved.
In one embodiment of the method for controlling vehicle speed in a curve of the present invention, the step S2 of determining the highest longitudinal vehicle speed in the curve ahead of the vehicle based on the radius of the curve ahead of the vehicle includes:
calculating the maximum longitudinal vehicle speed of the vehicle in a forward curve based on the following formula
：
Wherein,
is the curvature of the curve ahead of the vehicle, i.e. the inverse of the radius of the curve ahead of the vehicle;
Here, in order to ensure safety and comfort of passengers on the vehicle, the maximum lateral acceleration is limited, and the maximum longitudinal vehicle speed is calculated using the curve radius information.
In this embodiment, after the radius of the curve ahead of the vehicle is obtained, the lateral acceleration of the vehicle, which is comfortable for human body to feel, can be investigated, and then the highest longitudinal vehicle speed can be accurately and efficiently converted into the highest longitudinal vehicle speed based on the radius of the curve ahead of the vehicle and the lateral acceleration of the vehicle.
Furthermore, the comfort standards of different drivers and passengers can be directionally recorded by investigating the value of the lateral acceleration of the vehicle, which is comfortable for human bodies to feel, and when different drivers and passengers exist, the experience of personalized and combinable automatic driving control for adjusting the curve can be provided, the automatic driving capability is improved, and the comfort and the maneuverability of passengers are improved.
As shown in fig. 1, in an embodiment of the method for controlling vehicle speed in a curve according to the present invention, the step S1 of attempting to detect the radius of the curve ahead of the vehicle includes:
step S11, detecting whether there is a high-precision map of the curve ahead of the vehicle,
in step S12, if there is a high-precision map, the radius of the curve ahead of the vehicle is obtained based on the high-precision map.
Here, the high-precision map can be applied to unmanned positioning. At present, an automatic driving system is provided with a high-precision map and a high-precision positioning module on a whole vehicle, so that lane-level positioning can be achieved, the radius or curvature of the front of a road where the vehicle is located can be known, the type of the lane can be obtained, such as whether the lane is a common road or a ramp, whether the line of the lane is a solid line or a dotted line, and the like.
The embodiment can be applied to the road area range with a high-precision map, and the system can predict the radius of a curve ahead of the road in advance through the high-precision map and the high-precision positioning module, so that the highest longitudinal speed of the vehicle when the vehicle passes the curve can be determined based on the radius of the curve.
As shown in fig. 1, in an embodiment of the method for controlling a vehicle speed in a curve according to the present invention, after detecting whether there is a high-precision map of the curve ahead of the vehicle in step S11, the method further includes:
in step S13, if there is no high-precision map, the camera of the vehicle attempts to acquire the radius of the curve ahead of the vehicle.
Here, the present embodiment can be applied to a road area without a high-precision map but with a lane line, and the maximum longitudinal vehicle speed when the vehicle passes a curve can be determined based on the radius of the curve by the vehicle passing through the curve radius detected by the camera.
The embodiment provides a method for acquiring the radius of the curve ahead of the vehicle under the condition that no high-precision map exists, and the method can provide a calculation basis for the method for acquiring the radius of the curve ahead of the vehicle under the condition that the vehicle lacks the high-precision map and the like, and also provide another calculation mode for the subsequent calculation of the highest longitudinal vehicle speed of the vehicle.
As shown in fig. 3, in an embodiment of the method for controlling a vehicle speed in a curve according to the present invention, if there is no high-precision map, the method further includes, in step S13, while attempting to obtain a radius of a curve ahead of the vehicle by a camera of the vehicle:
attempting to acquire the lane line length of a curve ahead of the vehicle through a camera of the vehicle;
step S2, when the radius of the curve ahead of the vehicle is detected, determining a maximum longitudinal vehicle speed of the vehicle in the curve ahead based on the radius of the curve ahead of the vehicle, includes:
step S21, if the radius of the front curve is larger than the preset radius threshold value and the length of the lane line of the front curve is larger than the preset length threshold value, calculating the highest longitudinal speed of the vehicle in the front curve based on the following formula
：
Wherein,
is the curvature of the curve ahead of the vehicle, i.e. the inverse of the radius of the curve ahead of the vehicle;
Here, a plurality of cameras may be provided on the entire vehicle, and the cameras may calculate the radius or curvature of the lane line in the curve ahead based on image recognition. When the high-precision map is not available and the road with the lane line is available, the lane line can be used as an obtaining source of the radius of the front curve of the vehicle, and then the highest longitudinal speed is obtained. And (3) detecting the length of the lane line and the radius of the lane line by the camera through image processing, and determining the highest longitudinal speed by adopting the calculation formula if the radius of the front curve is 60m and is larger than a preset radius threshold value of 50m, the length of the lane line of the front curve is 30m and is larger than a preset length threshold value of 20 m.
Here, the main implementation scenario of the embodiment is that a road without a high-precision map but with a lane line is obtained, the radius of a front curve of the vehicle is obtained by processing the lane line, and then the maximum longitudinal speed of the vehicle is obtained, the radius of the front curve is compared with a preset radius threshold, the length of the lane line of the front curve is compared with a preset length threshold, and the maximum longitudinal speed of the vehicle in the front curve under the current state is obtained by performing calculation of the maximum longitudinal speed.
As shown in fig. 3, in an embodiment of the method for controlling vehicle speed in a curve according to the present invention, step S2, when the radius of the curve ahead of the vehicle is detected, determines the highest longitudinal vehicle speed in the curve ahead of the vehicle based on the radius of the curve ahead of the vehicle, further includes:
and step S22, if the radius of the front curve is less than or equal to the preset radius threshold, determining that the highest longitudinal speed of the vehicle in the front curve is the preset highest longitudinal speed.
When the high-precision map is not available and the road with the lane line is available, if the radius of the road curve is detected to be 40m and is smaller than the preset radius threshold value 50m, the curve can be processed according to the sharp curve situation, and the highest longitudinal speed of the vehicle in the front curve is determined to be the preset highest longitudinal speed, such as 30 km/h.
In the scenario of the embodiment, the maximum value of the longitudinal vehicle speed is controlled during the sharp curve processing, so that the dangerous situation caused by too small radius of the curve of the road ahead and too fast vehicle speed can be avoided during the driving process.
As shown in fig. 3, in an embodiment of the method for controlling vehicle speed in a curve according to the present invention, step S2, when the radius of the curve ahead of the vehicle is detected, determines the highest longitudinal vehicle speed in the curve ahead of the vehicle based on the radius of the curve ahead of the vehicle, further includes:
step S23, if the radius of the front curve is larger than a preset radius threshold value, but the length of the lane line of the front curve is smaller than or equal to a preset length threshold value, acquiring the current steering wheel angle of the vehicle;
and step S24, if the acquired current steering wheel angle of the vehicle is larger than a preset angle threshold, determining that the highest longitudinal vehicle speed of the vehicle in the front curve is the preset highest longitudinal vehicle speed.
Here, in the case of a road without a high-precision map and with a lane line, if the radius of the curve is larger than 50m, but the detected lane line length is smaller than 20m and the steering wheel angle is larger than 10 °, the processing is performed according to the sharp curve situation, and the maximum longitudinal vehicle speed can be controlled to be 30 km/h.
In the embodiment, when the turning radius of the front curve of the vehicle is detected, if the radius of the front curve is less than or equal to the preset radius threshold, the highest longitudinal vehicle speed in the front curve of the vehicle is determined to be a scene of the preset highest longitudinal vehicle speed, the scene can be used for efficiently drawing a map without high precision, and if the radius of the front curve is greater than the preset radius threshold and the length of the lane line of the front curve is less than or equal to the preset length threshold, the current steering wheel turn angle of the vehicle is obtained, and the preset highest longitudinal vehicle speed in the front curve of the vehicle is determined according to the steering wheel turn angle under the condition of lane lines. The angle that this embodiment is more refined has obtained and has predetermine the highest longitudinal speed, is favorable to the security, the stability and the travelling comfort of driving.
As shown in fig. 4, in an embodiment of the method for controlling vehicle speed in a curve of the present invention, the step S3, if the radius of the curve ahead of the vehicle is not detected, determining the highest longitudinal vehicle speed in the curve ahead of the vehicle based on the current steering wheel angle of the vehicle and the turn signal of the turn lamp, includes:
step S31, trying to obtain the current speed, turn signal and current steering wheel angle of the vehicle;
and step S32, if the current vehicle speed of the vehicle is less than a preset vehicle speed threshold value, and the turn signal of the steering lamp is obtained, and the current steering wheel angle is greater than a preset angle threshold value, determining that the highest longitudinal vehicle speed of the vehicle in the front curve is the preset highest longitudinal vehicle speed.
The turn signal of the steering lamp can obtain the turning information of the vehicle, the steering wheel corner signal can obtain the corner information of the vehicle in the driving process of the driver, and when the corner information is too large, the turning operation of the vehicle can be judged.
When no high-precision map exists and no lane line exists at the crossroad, the system accurately and reliably identifies the turning scene of the crossroad through the vehicle speed, the steering lamp and the steering wheel, and at the moment, the maximum vehicle speed of cruise control can be defined as a lower vehicle speed value to ensure the safe driving of the vehicle.
According to another aspect of the present invention, there is also provided a vehicle speed control apparatus in a curve, wherein the apparatus includes:
detecting means for attempting to detect a radius of a forward curve of the vehicle;
determining means for determining a highest longitudinal vehicle speed of the vehicle in a forward curve of the vehicle based on a radius of the forward curve of the vehicle if the radius of the forward curve of the vehicle is detected; if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal.
According to another aspect of the present invention, there is also provided a computing-based device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal.
According to another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
Details of the embodiments of the apparatuses of the present invention may specifically refer to corresponding parts of the embodiments of the methods, and are not described herein again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present invention can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method and/or technical solution according to the present invention through the operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (11)
1. A method of controlling a vehicle speed in a curve, wherein the method comprises:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
2. The method of claim 1, wherein determining a highest longitudinal vehicle speed in a curve ahead of the vehicle based on a radius of the curve ahead of the vehicle comprises:
calculating the maximum longitudinal vehicle speed of the vehicle in a forward curve based on the following formula
：
Wherein,
is the curvature of the curve ahead of the vehicle, i.e. the inverse of the radius of the curve ahead of the vehicle;
is the vehicle lateral acceleration.
3. The method of claim 1, wherein attempting to detect a radius of a curve ahead of the vehicle comprises:
detecting whether there is a high-precision map of a curve ahead of the vehicle,
if the high-precision map exists, the radius of the curve ahead of the vehicle is obtained based on the high-precision map.
4. The method of claim 3, wherein detecting whether there is a high-precision map of a curve ahead of the vehicle further comprises:
if no high-precision map exists, a camera of the vehicle tries to acquire the radius of the curve ahead of the vehicle.
5. The method of claim 4, wherein if there is no high-precision map, the method further comprises, while attempting to obtain the radius of the curve ahead of the vehicle by a camera of the vehicle:
attempting to acquire the lane line length of a curve ahead of the vehicle through a camera of the vehicle;
determining a maximum longitudinal vehicle speed of the vehicle in the forward curve based on the radius of the forward curve of the vehicle if the radius of the forward curve of the vehicle is detected, comprising:
if the radius of the front curve is larger than a preset radius threshold value and the length of the lane line of the front curve is larger than a preset length threshold value, calculating the highest longitudinal speed of the vehicle in the front curve based on the following formula
：
Wherein,
is the curvature of the curve ahead of the vehicle, i.e. the inverse of the radius of the curve ahead of the vehicle;
is the vehicle lateral acceleration.
6. The method of claim 5, wherein if a radius of a curve ahead of the vehicle is detected, determining a highest longitudinal vehicle speed of the vehicle in the curve ahead based on the radius of the curve ahead of the vehicle, further comprising:
and if the radius of the front curve is smaller than or equal to the preset radius threshold, determining that the highest longitudinal speed of the vehicle in the front curve is the preset highest longitudinal speed.
7. The method of claim 5, wherein if a radius of a curve ahead of the vehicle is detected, determining a highest longitudinal vehicle speed of the vehicle in the curve ahead based on the radius of the curve ahead of the vehicle, further comprising:
if the radius of the front curve is larger than a preset radius threshold value, but the length of the lane line of the front curve is smaller than or equal to a preset length threshold value, acquiring the current steering wheel turning angle of the vehicle;
and if the acquired current steering wheel angle of the vehicle is greater than a preset angle threshold, determining that the highest longitudinal vehicle speed of the vehicle in the front curve is the preset highest longitudinal vehicle speed.
8. The method of claim 1, wherein determining a highest longitudinal vehicle speed in a curve ahead of the vehicle based on a current steering wheel angle of the vehicle and a turn signal on a turn signal if the radius of the curve ahead of the vehicle is not detected comprises:
trying to acquire the current speed, turn signal and current steering wheel angle of the vehicle;
and if the current vehicle speed of the vehicle is less than the preset vehicle speed threshold value, the turn signal of the steering lamp is obtained, and the current steering wheel turning angle is greater than the preset angle threshold value, determining that the highest longitudinal vehicle speed of the vehicle in the front curve is the preset highest longitudinal vehicle speed.
9. A vehicle speed control apparatus in a curve, wherein the apparatus comprises:
detecting means for attempting to detect a radius of a forward curve of the vehicle;
determining means for determining a highest longitudinal vehicle speed of the vehicle in a forward curve of the vehicle based on a radius of the forward curve of the vehicle if the radius of the forward curve of the vehicle is detected; if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
10. A computing-based device, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
11. A computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
attempting to detect a radius of a forward curve of the vehicle;
if the radius of the front curve of the vehicle is detected, determining the highest longitudinal speed of the vehicle in the front curve based on the radius of the front curve of the vehicle;
if the radius of the curve ahead of the vehicle is not detected, the highest longitudinal vehicle speed in the curve ahead of the vehicle is determined based on the current steering wheel angle of the vehicle and the turn signal on the turn signal.
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