CN114684130A - Vehicle start control method and vehicle start control device - Google Patents

Vehicle start control method and vehicle start control device Download PDF

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Publication number
CN114684130A
CN114684130A CN202011624971.5A CN202011624971A CN114684130A CN 114684130 A CN114684130 A CN 114684130A CN 202011624971 A CN202011624971 A CN 202011624971A CN 114684130 A CN114684130 A CN 114684130A
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vehicle
steering angle
value
acceleration parameter
control
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CN202011624971.5A
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Chinese (zh)
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沈念晨
王雅琼
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Robert Bosch GmbH
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Robert Bosch GmbH
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Priority to CN202011624971.5A priority Critical patent/CN114684130A/en
Publication of CN114684130A publication Critical patent/CN114684130A/en
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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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • 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

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

Abstract

The invention relates to a vehicle starting control method and a device thereof, wherein the vehicle starting control method comprises the following steps: a first judgment step (S100) of judging whether an Adaptive Cruise Control (ACC) system of a vehicle is activated, and if the ACC system is judged to be activated, continuing the subsequent steps; a second determination step (S200) of determining whether the vehicle is in a curve start state, and if not, performing a first control step (S400), and if the vehicle is in the curve start state, performing a second control step (S500); a first control step (S400) of outputting a control signal for controlling an ACC system and controlling the vehicle to start and accelerate according to a first acceleration parameter; and a second control step (S500) of outputting an acceleration limiting command for controlling an ACC system if the vehicle is judged to be in the curve starting state, controlling the vehicle to start and accelerate by using a second acceleration parameter, wherein the second acceleration parameter is smaller than the first acceleration parameter within the same vehicle speed range.

Description

Vehicle start control method and vehicle start control device
Technical Field
The present invention relates to a vehicle control method and device, and more particularly to a vehicle start control method and device.
Background
With the advancement of vehicle control technology, an adaptive cruise control system has attracted considerable attention, which is capable of adaptively controlling a vehicle speed according to a road situation to reduce a burden on a driver. When the vehicle is in the front vehicle, the vehicle is controlled to follow to run, the automatically set workshop separation distance is kept, and the vehicle is controlled to accelerate to the set speed (target speed) to run under the working condition without following.
A conventional Adaptive Cruise Control (ACC) has a Set Speed Control module (SSC). Under the condition of no following vehicle, the ACC system controls the self vehicle to accelerate according to the calibrated SSC acceleration parameters. To meet customer requirements for acceleration and comfort, the control logic for the SSC acceleration parameters is typically: accelerating to the set speed as soon as possible on the basis of smooth acceleration, i.e. starting with as great an acceleration as possible until the set speed is reached. When starting and accelerating on a straight road, the control logic brings comfortable operation feeling and safety feeling for a driver.
However, the SSC acceleration parameter is generally based on straight-track calibration and is not applicable to acceleration of curve starting. Because the radar of the vehicle easily loses the target when starting and accelerating on a curve, particularly when starting and accelerating at an intersection with a turning radius close to 90 degrees, the vehicle is judged to be under the condition without following, and the ACC system can control the vehicle to suddenly accelerate at a larger acceleration, however, if a target exists in front of the vehicle, the control logic can cause the sense of insecurity of an occupant and even the danger of collision with a front vehicle.
Disclosure of Invention
In view of the above, the present invention aims to provide a vehicle start control method and a vehicle start control device, which improve the safety of a vehicle when starting on a curve.
A vehicle launch control method comprising:
a first judgment step of judging whether an Adaptive Cruise Control (ACC) system of the vehicle is activated, and if the ACC system is judged to be activated, continuing the subsequent steps;
a second judgment step of judging whether the vehicle is in a curve starting state, if not, performing the first control step, and if so, performing the second control step;
a first control step of outputting a control signal for controlling an ACC system and controlling the vehicle to start and accelerate by a first acceleration parameter; and
and a second control step of outputting an acceleration limiting instruction for controlling the ACC system if the vehicle is judged to be in the curve starting state, and controlling the vehicle to start and accelerate by using a second acceleration parameter, wherein the second acceleration parameter is smaller than the first acceleration parameter within the same vehicle speed range.
A vehicle take-off control apparatus comprising:
a first determination module to determine whether an Adaptive Cruise Control (ACC) system of a vehicle is activated;
the second judgment module is used for judging whether the vehicle is in a curve starting state or not;
the first control module is used for outputting a control signal for controlling the ACC system and controlling the vehicle to start and accelerate according to a first acceleration parameter; and
and the second control module is used for outputting an acceleration limiting instruction for controlling the ACC system, controlling the starting acceleration of the vehicle by using a second acceleration parameter, and enabling the second acceleration parameter to be smaller than the first acceleration parameter within the same vehicle speed range.
The computer-readable storage medium of the present invention has stored thereon a computer program that, when executed by a processor, implements the vehicle launch control method described above.
The invention provides a computer device which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the vehicle starting control method.
Drawings
A more complete understanding of the present features, details, and advantages of the invention will be afforded to those skilled in the art by a consideration of the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings. Wherein:
fig. 1 is a flowchart showing a vehicle start control method according to an embodiment of the present invention.
Fig. 2 is a specific flowchart showing a vehicle start control method according to another embodiment of the present invention.
Fig. 3 is a block diagram of a vehicle start control device according to an embodiment of the present invention.
Detailed Description
The following description is of some of the several embodiments of the invention and is intended to provide a basic understanding of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a vehicle start control method according to an embodiment of the present invention, including:
a first judgment step S100 of judging whether an Adaptive Cruise Control (ACC) system of a vehicle is activated, and if the ACC system is judged to be activated, continuing the subsequent steps;
a second judgment step S200 of judging whether the vehicle is in a curve starting state, if not, performing a first control step S400, and if the vehicle is in the curve starting state, performing a second control step S500;
a first control step S400, outputting a control signal for controlling an ACC system, and controlling starting acceleration of the vehicle by a first acceleration parameter; and
and a second control step S500, if the vehicle is judged to be in the curve starting state, outputting an acceleration limiting command for controlling an ACC system, and controlling the vehicle to start and accelerate by using a second acceleration parameter, wherein the second acceleration parameter is smaller than the first acceleration parameter within the same vehicle speed range.
In the first determination step S100, an activation signal of the ACC system is acquired, and it is determined whether the ACC system of the vehicle is activated based on the activation signal. If the ACC system of the vehicle is determined to be activated, the second determination step S200 is performed, otherwise, the first determination step S100 is resumed. Wherein the activation signal of the ACC system is from an ACC switch of the ACC system of the vehicle.
In the second determination step S200, sensor signals are acquired, the vehicle speed of the vehicle and the steering angle of the steering wheel are calculated from the sensor signals, the vehicle speed is compared with the highest value of the start vehicle speed (e.g., 40km/h), and the steering angle is compared with a steering angle threshold value (e.g., the steering angle threshold value is 15 °). Judging whether the following conditions are met: the vehicle speed is lower than the highest value of the starting vehicle speed, the steering angle is larger than the steering angle threshold value, if the vehicle speed is higher than the highest value of the starting vehicle speed, the vehicle is judged to be in a curve starting state, and a second control step S500 is carried out; if not, the first control step S400 is performed.
In the second determination step S200, sensor signals are from a wheel speed sensor and a steering angle sensor to calculate a vehicle speed and a steering angle. In the present embodiment, the maximum value of the starting vehicle speed is 40km/h, and the steering angle threshold value is 15 °. The method can set the highest value of the starting vehicle speed and a steering angle threshold value according to different vehicle types, driving styles and requirements, wherein the highest value of the starting vehicle speed is usually selected from any value in a range of 10-45 km/h, and for example, the highest value of the starting vehicle speed can be set to 35km/h, 37km/h or 40km/h and the like; the steering angle threshold value is generally selected from any value in the range of 13 ° to 30 °, and for example, the steering angle threshold value may be set to 20 °, 25 °, 30 °.
The conventional ACC system has a Set Speed Control module (SSC). Under the working condition of no following vehicle, the ACC system controls the self vehicle to accelerate according to the calibrated SSC acceleration parameters.
The first acceleration parameter in the first control step S400 is an SSC acceleration parameter, and the control logic of the SSC acceleration parameter is: accelerating to the set speed as soon as possible on the basis of smooth acceleration, i.e. starting with as great an acceleration as possible until the set speed is reached. The ACC system controls the vehicle to accelerate with different first acceleration parameters according to different vehicle speed ranges. For example, when the vehicle speed is 0-10 km/h, the first acceleration parameter value is 1.8m/s2(ii) a When the vehicle speed is 10-20 km/h, the first acceleration parameter value is 1.4m/s2(ii) a When the vehicle speed is 20-30 km/h, the first acceleration parameter value is 1m/s2(ii) a When the vehicle speed is 30-40 km/h, the first acceleration parameter value is 0.8m/s2。
In the second control step S500, an acceleration limiting instruction is output to make the second acceleration parameter smaller than the first acceleration parameter, so that unnecessary acceleration caused by the ACC system is prevented when starting on a curve, which not only ensures smooth operation of curve starting, but also improves safety, comfort and driving feeling of the vehicle when starting on a curve, and improves user experience. And controlling the vehicle to accelerate with different second acceleration parameters for different vehicle speed ranges. For example, when the vehicle speed is 0-10 km/h, the second acceleration parameter value is 0.9m/s2(ii) a When the vehicle speed is 10-20 km/h, the second acceleration parameter value is 0.7m/s2(ii) a And when the vehicle speed is 20-30 km/h, the second acceleration parameter value is 0.5m/s2(ii) a When the vehicle speed is 30-40 km/h, the second acceleration parameter value is 0.4m/s2. Different second acceleration parameters can be set according to different vehicle types, driving styles and comfort requirements. The value of the second acceleration parameter is approximately 1/2 times the value of the first acceleration parameter.
Taking the example that the highest value of the starting vehicle speed is 40km/h and the steering angle threshold is 15 °, the vehicle activated by the ACC system is in a curve starting state, including the following common scenarios:
1. the vehicle waiting at the intersection starts to turn left, the steering angle is usually more than 15 degrees, and the vehicle speed is less than 40kph when starting from a static state. If the vehicle starts to turn left according to the control logic of the existing ACC system, the ACC system will accelerate according to the calibrated first acceleration parameter (i.e. SSC acceleration parameter), and the turning radius is usually close to 90 ° when the vehicle starts to turn left at the intersection, the sensor (e.g. radar) of the vehicle is easy to lose the target, and the driving feeling is very uncomfortable.
In contrast, according to the vehicle start control method according to the embodiment of the present invention, the condition for executing the second control step S500 is satisfied at this time, that is: the vehicle speed is lower than 40km/h and the steering angle is larger than 15 deg., acceleration is performed according to a second acceleration parameter. The device can ensure the smooth running of curve starting, can improve the safety, comfort and driving feeling of the vehicle when starting at the curve, and improves the user experience.
2. Road changing due to road congestion
Lane switching scene for road congestion:
when the road is crowded and a driver needs to switch lanes, the steering wheel angle of the vehicle is larger than 15 degrees and the vehicle speed is lower than 40kph, if the ACC system is started in the process of switching lanes, because the adjacent lane targets easily exceed the detection range of the front radar in the process of switching lanes, the conventional ACC system can wash out according to the calibrated first acceleration parameter (namely SSC acceleration parameter), the vehicle speed cannot be effectively controlled, and the collision risk is caused.
According to the vehicle starting control method provided by the embodiment of the invention, because the condition for executing the second control step is met, the vehicle can be accelerated by the second acceleration parameter smaller than the first acceleration parameter until the steering angle of the vehicle is smaller than the steering angle threshold (15 ℃) or the vehicle speed is higher than the highest value (40kph) of the starting vehicle speed, and because the vehicle has already finished changing lanes, the sensor of the vehicle can also identify the vehicle following target, so that the unsafe feeling and the collision danger are avoided.
After the second determining step S200, the method further includes:
and an anti-interference step S300, when the steering angle is greater than the steering angle threshold, judging whether the duration of the steering angle greater than the steering angle threshold is greater than a first time preset value, and if so, continuing the second control step S500. The anti-jamming step S300 can prevent the vehicle from being temporarily jammed due to a road surface depression or a temporary obstacle, and the vehicle start control method according to an embodiment of the present invention is erroneously started.
After the second control step S500, the method includes:
a third determining step S600, determining whether the execution time of the second controlling step S500 is greater than a second time preset value, if so: if the time is greater than the preset time value, the second determination step S200 is performed again, and if the time is less than the preset time value, the second control step S500 is continued.
Referring to fig. 2, fig. 2 is a detailed flowchart showing a vehicle start control method according to another embodiment of the present invention, and the vehicle start control method according to this embodiment includes, taking as an example that the maximum value of the start vehicle speed is 40km/h and the steering angle threshold value is 15 °:
in step S20, the method starts
In step S21, a signal of the ACC switch is acquired, it is determined whether or not the ACC system of the vehicle is activated, and if the determination result is yes ("Y" in the drawing), the process proceeds to step S22, and if it is not ("N" in the drawing), the process returns to step S20;
in step S22, signals of a wheel speed sensor and a steering angle sensor are acquired to calculate a vehicle speed and a steering angle, and it is determined whether the vehicle speed is lower than 40km/h and the steering angle is larger than 15 ° to determine whether the vehicle is in a curve starting state, if the determination result is yes (Y in the figure), the step S23 is continued, and if the determination result is no (N in the figure), the step S24 is continued;
in step S23, it is determined whether the duration of the steering angle greater than 15 ° is greater than a first preset time value, if yes ("Y" in the figure), the process continues to step S25, and if no ("N" in the figure), the process continues to step S22;
in step S24, outputting a control signal for controlling the ACC system to control the vehicle to start and accelerate with the first acceleration parameter;
in step S25, an acceleration limiting command for controlling the ACC system is output to control the vehicle to start accelerating with a second acceleration parameter, which is smaller than the first acceleration parameter and has a value of about 1/2 of the value of the first acceleration parameter, within the same vehicle speed range; and
in step S26, it is determined whether the execution time in step S24 is greater than one and the time preset value is set, and if the determination result is yes ("Y" in the drawing), the process proceeds to step S22, and if the determination result is no ("N" in the drawing), the process proceeds to step S24.
Referring to fig. 3, fig. 3 is a block diagram of a vehicle start control device according to an embodiment of the present invention, an input end of the vehicle start control device 9 according to the embodiment of the present invention is connected to a signal input unit, an output end of the vehicle start control device is connected to an execution unit, and the signal input unit is used for inputting signals to the vehicle start control device and includes an ACC switch 11, a wheel speed sensor 12 and a steering angle sensor 13. A vehicle start control device according to an embodiment of the present invention acquires a sensor signal from a signal input unit and outputs a control signal to control an execution unit. The execution unit is an ACC system 30. The vehicle start control device 9 according to an embodiment of the present invention may be a control unit provided separately, or may be integrated into any control unit of the vehicle, such as a control unit of an ACC system, a control unit of an electronic stability control system, or a vehicle control unit.
A vehicle start control device 9 according to an embodiment of the present invention includes:
a first determination module 91 for determining whether an Adaptive Cruise Control (ACC) system of a vehicle is activated;
the second judging module 92 is used for judging whether the vehicle is in a curve starting state or not;
the first control module 94 is used for outputting a control signal for controlling the ACC system 30 to control the vehicle to start and accelerate according to a first acceleration parameter; and
and the second control module 95 is configured to output an acceleration limiting instruction for controlling the ACC system, and control the vehicle to start and accelerate with a second acceleration parameter, where the second acceleration parameter is smaller than the first acceleration parameter within the same vehicle speed range.
The first determining module 91 is configured to obtain an activation signal of the ACC system, and determine whether the ACC system of the vehicle is activated according to the activation signal. The activation signal of the ACC system comes from the ACC switch 11 of the ACC system of the vehicle.
The second decision block 92 is used to obtain sensor signals, calculate the vehicle speed and steering angle of the vehicle from the sensor signals, compare the vehicle speed to a maximum value of a start-up vehicle speed (e.g., 40km/h), and compare the steering angle to a steering angle threshold (e.g., 15 deg.). Judging whether the following conditions are met: the vehicle speed is lower than the highest value of the starting vehicle speed, and the steering angle is larger than the steering angle threshold value. Wherein the sensor signals are from a wheel speed sensor and a steering angle sensor for calculating a vehicle speed and a steering angle. In the present embodiment, the maximum value of the starting vehicle speed is 40km/h, and the steering angle threshold value is 15 °. The method can set the highest value of the starting vehicle speed and a steering angle threshold value according to different vehicle types, driving styles and requirements, wherein the highest value of the starting vehicle speed is usually selected from any value in a range of 10-45 km/h, and for example, the highest value of the starting vehicle speed can be set to 35km/h, 37km/h or 40km/h and the like; the steering angle threshold value is generally selected from any value in the range of 13 ° to 30 °, and for example, the steering angle threshold value may be set to 20 °, 25 °, 30 °. The sensors are a wheel speed sensor 12 and a steering angle sensor 13.
The conventional ACC system has a Set Speed Control (SSC) module. Under the working condition of no following vehicle, the ACC system controls the self vehicle to accelerate according to the calibrated SSC acceleration parameters.
First of the first control modules 94The acceleration parameter is an SSC acceleration parameter, and the control logic of the SSC acceleration parameter is: accelerating to the set speed as soon as possible on the basis of smooth acceleration, i.e. starting with as great an acceleration as possible until the set speed is reached. The ACC system controls the vehicle to accelerate with different first acceleration parameters according to different vehicle speed ranges. For example, when the vehicle speed is 0-10 km/h, the first acceleration parameter value is 1.8m/s2(ii) a When the vehicle speed is 10-20 km/h, the first acceleration parameter value is 1.4m/s2(ii) a When the vehicle speed is 20-30 km/h, the first acceleration parameter value is 1m/s2(ii) a When the vehicle speed is 30-40 km/h, the first acceleration parameter value is 0.8m/s2。
The second control module 95 is configured to output an acceleration limiting instruction, so that the second acceleration parameter is smaller than the first acceleration parameter, thereby preventing unnecessary acceleration caused by the ACC system when starting on a curve, ensuring smooth operation of starting on a curve, improving safety, comfort and driving feeling of the vehicle when starting on a curve, and improving user experience. And controlling the vehicle to accelerate with different second acceleration parameters for different vehicle speed ranges. For example, when the vehicle speed is 0-10 km/h, the second acceleration parameter value is 0.9m/s2(ii) a When the vehicle speed is 10-20 km/h, the second acceleration parameter value is 0.7m/s2(ii) a When the vehicle speed is 20-30 km/h, the second acceleration parameter value is 0.5m/s2(ii) a When the vehicle speed is 30-40 km/h, the second acceleration parameter value is 0.4m/s2. Different second acceleration parameters can be set according to different vehicle types, driving styles and comfort requirements. The value of the second acceleration parameter is approximately 1/2 times the value of the first acceleration parameter.
Vehicle start control device a vehicle start control device 9 according to an embodiment of the present invention further includes:
and the anti-interference module 93 is used for judging whether the duration time that the steering angle is greater than the steering angle threshold value is greater than a first time preset value. The anti-jamming module 93 is used for preventing the vehicle from being temporarily disturbed by reasons such as potholes on the road surface or temporarily appeared obstacles and the like, so that the vehicle starting control device of one embodiment of the invention is started by mistake;
the third determining module 96 is configured to determine whether the execution time of the second control module 95 is greater than a second preset time value.
Further, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle launch control method described above.
Further, the invention also provides a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle starting control method.
As described above, according to the vehicle start control method and the vehicle start control device of the present invention, when the vehicle is in the curve start state, the acceleration limit command can be output, and the vehicle start acceleration can be controlled by the second acceleration parameter smaller than the SSC acceleration parameter, so that it is possible to ensure smooth running of the curve start, and to improve safety, comfort, and driving feeling of the vehicle when starting at the curve, and improve user experience.

Claims (14)

1. A vehicle start control method characterized by comprising:
a first judgment step (S100) of judging whether an Adaptive Cruise Control (ACC) system of a vehicle is activated, and if the ACC system is judged to be activated, continuing the subsequent steps;
a second determination step (S200) of determining whether the vehicle is in a curve start state, and if not, performing a first control step (S400), and if the vehicle is in the curve start state, performing a second control step (S500);
a first control step (S400) of outputting a control signal for controlling an ACC system and controlling the vehicle to start and accelerate according to a first acceleration parameter; and
and a second control step (S500) of outputting an acceleration limiting command for controlling the ACC system, and controlling the vehicle to start and accelerate by using a second acceleration parameter, wherein the second acceleration parameter is smaller than the first acceleration parameter within the same vehicle speed range.
2. A vehicle startup control method according to claim 1, characterized in that in the second determination step (S200), sensor signals are acquired, the vehicle speed of the vehicle and the steering angle of the steering wheel are calculated from the sensor signals, the vehicle speed is compared with the highest value of the start-up vehicle speed, and the steering angle is compared with a steering angle threshold, and it is determined whether the following conditions are satisfied: the vehicle speed is lower than the highest value of the starting vehicle speed, the steering angle is larger than the steering angle threshold, if the vehicle speed is lower than the highest value of the starting vehicle speed, the steering angle is larger than the steering angle threshold, the vehicle is judged to be in a curve starting state, the sensor signals are from a wheel speed sensor and a steering angle sensor, the highest value of the starting vehicle speed is selected from any value in the range of 10-45 km/h, and the steering angle threshold is selected from any value in the range of 13-30 degrees.
3. The vehicle startup control method according to claim 2, characterized by further comprising, after the second determination step (S200): and an anti-interference step (S300) of judging whether the duration time of the steering angle greater than the steering angle threshold is greater than a first time preset value or not when the steering angle is greater than the steering angle threshold, and if so, continuing the second control step (S500).
4. A vehicle startup control method according to claim 3, characterized by further comprising, after said second control step (S500): a third determining step (S600) of determining whether the execution time of the second controlling step (S500) is greater than a second time preset value, if so: if the time is greater than the second time preset value, the second judgment step is performed again (S200), and if the time is less than the second time preset value, the second control step is continued (S500).
5. A vehicle startup control method according to claim 1, characterized in that in the first determination step (S100), an activation signal of the ACC system is acquired, and it is determined whether or not the ACC system of the vehicle is activated based on the activation signal, the ACC system activation signal being from an ACC switch of the ACC system.
6. A vehicle startup control method according to claim 1, characterized in that the first acceleration parameter in the first control step (S400) is a set speed control module (SSC) acceleration parameter of the ACC system; the vehicle acceleration is controlled with a second, different acceleration parameter for a range of different vehicle speeds, the value of the second acceleration parameter being about 1/2 times the value of the first acceleration parameter.
7. A vehicle start control device (9) includes:
a first determination module (91) for determining whether an Adaptive Cruise Control (ACC) system of a vehicle is activated;
the second judging module (92) is used for judging whether the vehicle is in a curve starting state or not;
the first control module (94) is used for outputting a control signal for controlling the ACC system and controlling the vehicle to start and accelerate according to a first acceleration parameter; and
and the second control module (95) is used for outputting an acceleration limiting instruction for controlling the ACC system, controlling the vehicle to start and accelerate by using a second acceleration parameter, and the second acceleration parameter is smaller than the first acceleration parameter in the same vehicle speed range.
8. The vehicle launch control device according to claim 7, characterised in that the second determination module (92) is adapted to obtain sensor signals, calculate the vehicle speed and the steering angle of the vehicle from the sensor signals, compare the vehicle speed with the highest value of the start-up vehicle speed, and compare the steering angle with a steering angle threshold, and determine whether the following conditions are fulfilled: the vehicle speed is lower than the highest value of the starting vehicle speed, and the steering angle is larger than the steering angle threshold value; the sensor signals are from a wheel speed sensor (12) and a steering angle sensor (13) for calculating a vehicle speed and a steering angle; the maximum value of the starting vehicle speed is selected from any value within the range of 10-45 km/h, and the steering angle threshold value is selected from any value within the range of 13-30 degrees.
9. The vehicle startup control device according to claim 8, characterized by further comprising: and the anti-interference module (93) is used for judging whether the duration time of the steering angle greater than the steering angle threshold value is greater than a first time preset value.
10. The vehicle startup control device according to claim 9, characterized by further comprising: and the third judging module (96) is used for judging whether the execution time of the second control module (95) is greater than a second preset time value.
11. The vehicle startup control apparatus according to claim 7, characterized in that the first determination module (91) is configured to obtain an activation signal of an ACC system, and determine whether the ACC system is activated based on the activation signal, the ACC system activation signal being from an ACC switch (11) of the ACC system.
12. Vehicle launch control arrangement according to claim 7, characterised in that the first acceleration parameter in the first control module (94) is a set speed control module (SSC) acceleration parameter of the ACC system; the vehicle acceleration is controlled with a second, different acceleration parameter for a range of different vehicle speeds, the value of the second acceleration parameter being approximately 1/2 times the value of the first acceleration parameter.
13. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a vehicle launch control method according to any one of claims 1 to 6.
14. A computer device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the program implements the vehicle launch control method of any of claims 1 to 6.
CN202011624971.5A 2020-12-31 2020-12-31 Vehicle start control method and vehicle start control device Pending CN114684130A (en)

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CN202011624971.5A CN114684130A (en) 2020-12-31 2020-12-31 Vehicle start control method and vehicle start control device

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Application Number Priority Date Filing Date Title
CN202011624971.5A CN114684130A (en) 2020-12-31 2020-12-31 Vehicle start control method and vehicle start control device

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CN114684130A true CN114684130A (en) 2022-07-01

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