CN114735075A - Vehicle turning state determination method and device, electronic equipment and storage medium - Google Patents
Vehicle turning state determination method and device, electronic equipment and storage medium Download PDFInfo
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- CN114735075A CN114735075A CN202210386307.4A CN202210386307A CN114735075A CN 114735075 A CN114735075 A CN 114735075A CN 202210386307 A CN202210386307 A CN 202210386307A CN 114735075 A CN114735075 A CN 114735075A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a method and a device for determining a turning state of a vehicle, electronic equipment and a storage medium. The method includes the steps that the current speed, the current lateral acceleration and the current steering wheel angle of a target vehicle are obtained, the initial turning state is determined according to the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration, the initial judgment of the turning state of the vehicle is achieved, further, the target turning state is determined according to the current speed, the current steering wheel angle and the initial turning state, the turning state of the vehicle is confirmed, the method comprehensively considers the speed, the lateral acceleration and the steering wheel angle to recognize the turning state of the vehicle, the judgment result is more accurate, and the anti-jamming capability is higher. In addition, the speed, the lateral acceleration and the steering wheel angle required by the method can be obtained from the existing device of the vehicle, no additional sensor is needed, and the identification cost is low.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for determining a turning state of a vehicle, an electronic device, and a storage medium.
Background
Currently, new energy smart vehicles have become a research hotspot in the automobile industry, and both traditional automobile manufacturing enterprises and internet technology companies have increased research on related automatic driving and auxiliary driving technologies of smart vehicles. The method can be used for automatically identifying the vehicle turning states such as vehicle turning in and turning out, can be used for making a vehicle control strategy in a more targeted manner, and plays an important role in the automatic driving or driving assistance technology.
The existing vehicle turning state identification method mainly obtains GPS positioning data through the Internet of vehicles or vehicle-mounted GPS equipment to judge the turning state, the GPS positioning accuracy obtained by the method is low, and the turning state is difficult to judge when the vehicle speed is low and the turning radius is small.
The other turning state identification method is to judge through historical course angle data and a current course angle to identify the current turning state of the vehicle, and the turning state identification method only judges through course angle information, is difficult to identify the turning state when the vehicle speed is low or the turning radius is large, is easily influenced by the noise of course angle signals, has error judgment conditions and has poor robustness.
Therefore, the prior art has the technical problems of low accuracy of identifying the turning state and high identification cost.
Disclosure of Invention
The invention provides a method and a device for determining a turning state of a vehicle, electronic equipment and a storage medium, which are used for solving the technical problem of low accuracy in recognizing the turning state of the vehicle in the prior art.
According to an aspect of the present invention, there is provided a vehicle turning state determination method including:
acquiring the current speed, the current lateral acceleration and the current steering wheel angle of a target vehicle;
determining an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
Optionally, the determining the target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle and the initial turning state includes:
determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle;
determining a target turning state of the target vehicle based on the turn angle type, the turn angle speed type, and the initial turning state.
Optionally, the determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and a steering wheel steering angle speed corresponding to the current steering wheel angle include:
determining a first rotation angle threshold value, a second rotation angle threshold value, a first rotation angle speed threshold value and a second rotation angle speed threshold value corresponding to the target vehicle based on the current vehicle speed;
determining a steering angle type corresponding to the target vehicle based on the current steering wheel steering angle, the first steering angle threshold value and the second steering angle threshold value;
and determining a steering wheel steering angle speed corresponding to the current steering wheel angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold value and the second steering angle speed threshold value.
Optionally, the determining the target turning state of the target vehicle based on the turning angle type, the medium turning angle type and the initial turning state includes:
if the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; alternatively, the first and second liquid crystal display panels may be,
and if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining a target turning state of the target vehicle based on an initial turning state.
Optionally, the determining a target turning state of the target vehicle based on the corner type, the corner speed type, and the initial turning state further includes:
if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; alternatively, the first and second electrodes may be,
and if the corner type is a transit corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
Optionally, the determining an initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration includes:
determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value corresponding to the lateral acceleration change information;
and determining the initial turning state of the target vehicle based on each piece of direction information and the current value.
Optionally, the determining an initial turning state of the target vehicle based on each of the directional information and the current value includes:
if the current numerical value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle out-of-turn state;
if the current numerical value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state;
and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
According to another aspect of the present invention, there is provided a vehicle turning state determination device including:
the acquisition module is used for acquiring the current speed, the current lateral acceleration and the current steering wheel angle of the target vehicle;
the first determination module is used for determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration;
a second determination module to determine a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the vehicle turning state determination method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle turning state determination method according to any one of the embodiments of the present invention when executed.
According to the technical scheme of the embodiment of the invention, the initial turning state of the target vehicle is determined according to the current lateral acceleration, the current lateral acceleration and the current steering wheel corner of the target vehicle, and the initial turning state of the target vehicle is further determined according to the current vehicle speed, the current steering wheel corner and the initial turning state, so that the turning state of the vehicle is confirmed. In addition, the current speed, the current lateral acceleration and the current steering wheel angle required by the method can be obtained from the existing device of the vehicle, no additional sensor is needed, and the identification cost is low.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1A is a schematic flow chart illustrating a method for determining a turning state of a vehicle according to an embodiment of the present invention;
FIG. 1B is a flow chart illustrating an initial turning state determination according to an embodiment of the present invention;
FIG. 2A is a schematic flow chart illustrating a method for determining a turning state of a vehicle according to a second embodiment of the present invention;
fig. 2B is a flowchart of determining a corner type according to a second embodiment of the present invention;
fig. 2C is a flow chart of the determination of the type of the rotational speed according to the second embodiment of the present invention;
fig. 3A is a schematic flowchart of a vehicle turning state determination method according to a third embodiment of the present invention;
fig. 3B is a flowchart illustrating a vehicle turning state determining method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle turning state determination apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1A is a flowchart of a vehicle turning state determination method according to an embodiment of the present invention, which is applicable to a situation where a turning state of a vehicle is identified according to a vehicle speed, a lateral acceleration and a steering wheel angle of the vehicle, and the method may be implemented by a vehicle turning state determination device, which may be implemented in hardware and/or software, and may be configured in a driving assistance system of the vehicle. As shown in fig. 1A, the method includes:
and S110, acquiring the current speed, the current lateral acceleration and the current steering wheel angle of the target vehicle.
Wherein the current vehicle speed may be an instantaneous speed at which the target vehicle is currently traveling. For example, the current vehicle speed of the target vehicle may be acquired from a wheel speed sensor of the target vehicle. The current lateral acceleration may be an instantaneous lateral acceleration at which the target vehicle is currently traveling. For example, the current lateral acceleration of the target vehicle may be obtained from an on-board accelerometer. The current steering wheel angle may be the current steering wheel angle of the target vehicle. For example, the current steering wheel angle of the target vehicle may be obtained from a vehicle power steering system of the target vehicle.
It should be noted that, compared with the scheme that additional vehicle-mounted GPS equipment and communication data transmission equipment are required in the prior art, the scheme can acquire the current vehicle speed, the current lateral acceleration and the current steering wheel turning angle without adding additional equipment to the vehicle, thereby realizing accurate identification of the vehicle turning state.
And S120, determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration.
The turning state may be a turn-in state, a steady-state steering state, or a turn-out state. Specifically, the turning state may be a turning process in which the vehicle starts to run straight, including but not limited to obstacle avoidance by the vehicle and turning of the vehicle into a curve; in this state, the absolute value of the lateral acceleration of the vehicle gradually increases from 0. The steady-state steering state may be a state in which the vehicle makes a steady turn, in which the lateral acceleration of the vehicle is not 0, and the absolute value of the lateral acceleration remains unchanged. The curve-out state may be a process in which the vehicle gradually makes a straight-line driving from a curve state, including but not limited to a state in which the vehicle recovers a route after avoiding an obstacle and the vehicle goes out of a curve, in which the absolute value of the lateral acceleration of the vehicle gradually decreases until it decreases to 0.
Therefore, the present embodiment may preliminarily determine the turning state of the target vehicle, that is, the initial turning state, based on the current lateral acceleration of the target vehicle. Specifically, the initial turning state of the target vehicle may be determined according to the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration. The lateral acceleration change information corresponding to the current lateral acceleration may be change information of the lateral acceleration of the target vehicle in a unit time. Alternatively, the calculation result of the lateral acceleration derivative may be used as the lateral acceleration change information, for example, the lateral acceleration change information may be calculated based on the current lateral acceleration at the current sampling time and the lateral acceleration at the previous sampling time, that is: lateral acceleration change information is (current lateral acceleration at the current sampling time-lateral acceleration at the previous sampling time)/sampling time interval.
Generally, vehicle turning can be divided into three phases, respectively: a bending-in stage, a steady-state steering stage and a bending-out stage. In the stage of entering a curve, a driver starts to operate a steering wheel, the turning angle of the steering wheel is gradually increased, the vehicle starts to drive into the curve or avoid obstacles in the stage, the derivative of the lateral acceleration of the vehicle is a positive value, and the lateral acceleration starts to be gradually increased from 0; then, the vehicle starts to perform a steady-state steering stage, the steering wheel angle is kept unchanged, the lateral acceleration absolute value is kept constant, and the lateral acceleration derivative is 0; the vehicle then proceeds to a cornering phase in which the steering wheel angle is gradually reduced and the lateral acceleration is gradually reduced, the lateral acceleration derivative being less than 0.
Therefore, the present embodiment can directly determine the initial turning state of the target vehicle according to the value of the current lateral acceleration and the positive and negative of the lateral acceleration change information. As an alternative, the determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration includes: determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value of the lateral acceleration change information; and determining the initial turning state of the target vehicle based on each piece of direction information and the current value.
The direction information of the current lateral acceleration may be information describing the positive and negative values of the current lateral acceleration, and the direction information of the lateral acceleration change information may be information describing the positive and negative values of the lateral acceleration derivative.
For example, the determining the initial turning state of the target vehicle based on each of the direction information and the current value may be: if the current numerical value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle out-of-turn state; if the current numerical value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state; and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
If the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, and the value of the lateral acceleration change information is not 0, the lateral acceleration is greater than 0, and the lateral acceleration change information is less than 0, that is, the lateral acceleration of the target vehicle is gradually reduced, and the target vehicle is in a vehicle out-of-curve state. If the two pieces of direction information are the same, and the value of the lateral acceleration change information is not 0, the lateral acceleration change information may be greater than 0, and the lateral acceleration change information is also greater than 0, that is, the lateral acceleration of the target vehicle gradually increases, and the target vehicle is in a vehicle cornering state. If the value of the lateral acceleration change information is 0, the lateral acceleration can be kept at a fixed value, and the target vehicle is in a vehicle steady-state steering state.
In this example, the preliminary judgment of the vehicle turning state is realized by the direction information of the lateral acceleration change information, the direction information of the current lateral acceleration, and the current value of the lateral acceleration change information.
In another embodiment, the initial turning state of the target vehicle is determined based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration, and may further be: and determining a turning state identifier based on the current lateral acceleration and the lateral acceleration change information, and determining an initial turning state based on the turning state identifier.
The turning state identifier is determined based on the current lateral acceleration and the lateral acceleration change information, and the following formula can be satisfied:
sign _ judge ═ Sign (current lateral acceleration × lateral acceleration change information);
in the formula, sign is a sign function, and if the variable is a positive value, sign (variable) is 1, if the variable is a negative value, sign (variable) is-1, and if the variable is 0, sign (variable) is 0. sign (current lateral acceleration × lateral acceleration change information) represents the sign of the result of multiplication of the current lateral acceleration and the lateral acceleration change information. Sign _ judge represents a turning state flag, Sign _ judge-1 represents that the initial turning state is the vehicle in-turning state, Sign _ judge-0 represents that the initial turning state is the vehicle steady-state steering state, and Sign _ judge-1 represents that the initial turning state is the vehicle out-turning state.
The embodiment can directly calculate the turning state identifier according to the formula, determine the initial turning state of the target vehicle according to the turning state identifier, and realize the initial judgment of the turning state of the vehicle. In addition, since the value of the current lateral acceleration may be 0 when the vehicle is in a straight-ahead driving state, and Sign _ judge is 0 at this time, and Sign _ judge is 0 may also indicate that the vehicle is in a straight-ahead driving state, it may be determined whether the value of the current lateral acceleration is 0 when Sign _ judge is 0, and if not, the initial turning state may be determined as the vehicle steady-state steering state.
For example, referring to fig. 1B, fig. 1B shows a flowchart for determining an initial turning state, first, according to an obtained current lateral acceleration, a first derivative of the lateral acceleration, that is, lateral acceleration change information is calculated, and it is further determined whether the current lateral acceleration × the lateral acceleration derivative is greater than 0, if so, it is preliminarily determined that the initial turning state is a vehicle turning state, and Sign _ j _ ge is-1; if not, further judging whether the current lateral acceleration multiplied by the lateral acceleration derivative is smaller than 0, if so, preliminarily judging that the initial turning state is the vehicle out-of-curve state, and Sign _ judge is 1; if not, continuously judging whether the current lateral acceleration multiplied by the lateral acceleration derivative is equal to 0, if so, preliminarily judging that the initial turning state is the vehicle steady-state steering state, and Sign _ judge is equal to 0.
And S130, determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle and the initial turning state.
After the vehicle turning state of the target vehicle is preliminarily determined, the present embodiment needs to further confirm the vehicle turning state. Specifically, since lateral acceleration information is easily disturbed and signal noise is large, erroneous determination easily occurs depending on only the lateral acceleration. Therefore, the present embodiment may introduce the current vehicle speed and the current steering wheel angle to perform auxiliary judgment, so as to verify the initial turning state through the current vehicle speed and the current steering wheel angle, and improve the accuracy of the identified turning state.
For example, if the current steering wheel angle is small and the steering wheel angle speed corresponding to the current steering wheel angle is also small, it may be indicated that the target vehicle is in the vehicle steady-state steering state, and it may be determined that the target turning state of the target vehicle is in the vehicle steady-state steering state. If the current steering wheel angle is large or the steering wheel angular speed corresponding to the current steering wheel angle is large, it can be indicated that the target vehicle is in a vehicle turning state or a vehicle turning state, and at the moment, the target turning state can be determined according to the initial turning state, that is, the initial turning state is determined as the target turning state.
For example, if the current vehicle speed is low, the current steering wheel angle is low, and the steering wheel angle speed corresponding to the current steering wheel angle is also low, the target turning state of the target vehicle can be determined as the vehicle steady-state turning state, and the initial turning state does not need to be considered. If the current vehicle speed is larger, even if the current steering wheel angle and the steering wheel angle speed are smaller, the vehicle possibly enters a turning state due to an emergency obstacle avoidance, and at the moment, the target turning state can be determined according to the initial turning state.
According to the technical scheme of the embodiment, the initial turning state of the target vehicle is determined according to the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration by acquiring the current speed, the current lateral acceleration and the current steering wheel corner of the target vehicle, so that the initial judgment of the turning state of the vehicle is realized, further, the target turning state of the target vehicle is determined according to the current speed, the current steering wheel corner and the initial turning state so as to realize the confirmation of the turning state of the vehicle.
In addition, the current vehicle speed, the current lateral acceleration and the current steering wheel angle required by the method can be obtained from the existing device of the vehicle, for example, the current vehicle speed is obtained from a wheel speed sensor, the current steering wheel angle is obtained from a power-assisted steering system of the vehicle, the current lateral acceleration is obtained from a vehicle-mounted accelerometer, no additional sensor is needed, and the identification cost is low.
In addition, after the initial turning state of the vehicle is preliminarily judged, the target turning state can be further judged by combining the current vehicle speed and the current steering wheel angle, the current vehicle speed can be understood as vehicle response information, and the current steering wheel angle can be understood as driver input information. Compared with the method for judging the steering state of the vehicle only by adopting the course angle in the prior art, the method in the prior art only depends on the course angle information without introducing other signals for auxiliary judgment, and the misjudgment condition is easy to occur when the course angle signal is interfered.
Example two
Fig. 2A is a flowchart of a vehicle turning state determination method according to a second embodiment of the present invention, and this embodiment is based on the above-mentioned embodiments and additionally describes a process of determining a target turning state according to a current vehicle speed, a current steering wheel angle, and an initial turning state. As shown in fig. 2A, the method includes:
s210, obtaining the current speed, the current lateral acceleration and the current steering wheel angle of the target vehicle, and determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration.
S220, determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle.
In the present embodiment, in consideration of the different sensitivities of the vehicle to the steering wheel angle at different vehicle speeds, for example, in the case where the vehicle speed is high, the vehicle can be brought into a turning state with a small steering wheel angle, and in the case where the vehicle speed is low, the vehicle can be brought into a turning state with a large steering wheel angle.
Therefore, the present embodiment may determine the steering angle type in conjunction with the current vehicle speed and the current steering wheel angle of the target vehicle, and determine the steering angle speed type in conjunction with the current vehicle speed and the steering wheel angle speed.
Wherein the steering wheel angle speed may be a change speed of the steering wheel angle per unit time. The steering wheel turning speed can be calculated through the current steering wheel turning angle at the current sampling moment and the steering wheel turning angle at the last sampling moment. For example, the steering wheel angle speed is (current steering wheel angle at the current sampling time-steering wheel angle at the previous sampling time)/sampling time interval.
Specifically, the turning angle types may include a small turning angle type, a medium turning angle type, and a large turning angle type, and the turning angle speed types include a small turning angle speed type, a medium turning angle speed type, and a large turning angle speed type. Of course, the division of the type of turning angle and the type of turning angle speed is not limited to the above-described manner, and a more specific range may be divided.
In this embodiment, the corner type is determined according to the current vehicle speed and the current steering wheel corner, and the corner speed type is determined according to the current vehicle speed and the current steering wheel corner speed, so that the determined corner type and the determined corner speed type are not only dependent on the current steering wheel corner and the current steering wheel corner speed, but also are combined with vehicle speed information.
For example, if the current vehicle speed is low, the target vehicle is not sensitive to the input of the steering wheel angle, and a relatively large input of the steering wheel angle is required to perform the turning action, and at this time, if the current steering wheel angle is lower than a set threshold, the type of the steering wheel may be determined to be a small steering wheel type or a medium steering wheel type. If the current speed is higher, the vehicle is sensitive to the steering wheel input, and the vehicle can generate a turning action by a smaller steering wheel angle input, so that if the current steering wheel angle is higher than another set threshold, the type of the steering wheel can be determined to be a medium steering angle type or a large steering angle type.
Correspondingly, if the current vehicle speed is lower, the target vehicle is insensitive to the steering wheel turning speed, and at the moment, if the steering wheel turning speed is lower than a set threshold, the turning speed type can be determined to be a small turning speed type or a medium turning speed type. If the current vehicle speed is higher and the steering wheel turning speed is higher than a set threshold, the turning speed type can be determined to be a medium turning speed type or a large turning speed type.
In one embodiment, the determining the steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel angle, and the determining the steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel angle speed corresponding to the current steering wheel angle comprise: determining a first turning angle threshold value, a second turning angle threshold value, a first turning angle speed threshold value and a second turning angle speed threshold value corresponding to the target vehicle based on the current vehicle speed; determining a steering angle type corresponding to the target vehicle based on the current steering wheel steering angle, the first steering angle threshold value and the second steering angle threshold value; and determining a steering wheel steering angle speed corresponding to the current steering wheel angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold value and the second steering angle speed threshold value.
The first rotation angle threshold, the second rotation angle threshold, the first rotation angle speed threshold and the second rotation angle speed threshold corresponding to the current vehicle speed can be determined according to the current vehicle speed. Specifically, each steering angle threshold value, each steering angle speed threshold value and each vehicle speed may be stored locally in advance in an associated manner, and the larger the vehicle speed is, the smaller the corresponding threshold value is.
The first rotational angle threshold may be greater than the second rotational angle threshold, and the first rotational angle speed threshold may be greater than the second rotational angle speed threshold. In this alternative embodiment, the first and second rotation angle threshold values may be threshold values of a division rotation angle type, and the first and second rotation angle speed threshold values may be threshold values of a division rotation angle speed type.
Furthermore, according to the comparison result between the current steering wheel angle and the first and second steering angle thresholds, the steering angle type corresponding to the target vehicle can be determined; and according to the comparison result of the steering wheel rotating speed, the first rotating speed threshold value and the second rotating speed threshold value, determining the rotating speed type corresponding to the target vehicle.
For example, if the current steering wheel angle is greater than the first angle threshold, the angle type may be determined as a large angle type, if the current steering wheel angle is less than the second angle threshold, the angle type may be determined as a small angle type, and if the current steering wheel angle is less than the first angle threshold and greater than the second angle threshold, the angle type may be determined as a medium angle type. If the steering wheel angular velocity is greater than a first angular velocity threshold, the turning angle velocity type may be determined as a large turning angle velocity type, if the steering wheel angular velocity is less than a second turning angle velocity threshold, the turning angle type may be determined as a small turning angle velocity type, and if the steering wheel angular velocity is less than the first turning angle velocity threshold and greater than the second turning angle velocity threshold, the turning angle type may be determined as a medium turning angle velocity type.
Of course, the division between the steering angle type and the steering angle speed type may be more specific, and for example, a third steering angle threshold value, a third steering angle speed threshold value, and the like may also be provided, which is not limited in the present application.
For example, fig. 2B shows a flow chart of determining a steering angle type, first, determining whether an acquired current steering wheel steering angle is greater than a first steering angle threshold, and if so, determining that the steering angle type is a large steering angle type; if not, further judging whether the current steering wheel angle is larger than a second steering wheel threshold value and does not exceed a first steering wheel threshold value, if so, judging that the steering wheel type is a medium steering wheel type, if not, continuously judging whether the current steering wheel angle is smaller than or equal to the second steering wheel threshold value, and if so, judging that the steering wheel type is a small steering wheel type. The corner type may be described by using a corner type identifier, for example, Steer _ Mode ═ 1 indicates a large corner type, Steer _ Mode ═ 0 indicates a medium corner type, and Steer _ Mode ═ 1 indicates a small corner type.
Exemplarily, fig. 2C shows a flow chart for determining a type of a turning speed, first, a turning speed of a steering wheel is calculated according to an obtained current steering wheel angle, and it is determined whether the turning speed of the steering wheel is greater than a first turning speed threshold, if yes, the type of the turning speed is determined as a large turning speed type, if no, it is continuously determined whether the turning speed of the steering wheel does not exceed the first turning speed threshold and is greater than a second turning speed threshold, if yes, the type of the turning speed is determined as a medium turning speed type, if not, the type of the turning speed of the steering wheel is determined as less than or equal to the second turning speed threshold, and if yes, the type of the turning speed is determined as a small turning speed type. The turning speed type may be described by using a turning speed type identifier, for example, Steer _ jerk _ Mode is 1 to indicate a large turning speed type, Steer _ jerk _ Mode is 0 to indicate a medium turning speed type, and Steer _ jerk _ Mode is-1 to indicate a small turning speed type.
And S230, determining a target turning state of the target vehicle based on the turning angle type, the turning angle speed type and the initial turning state.
In this embodiment, after the corner type and the corner speed type are determined, whether the target vehicle is in a vehicle steady-state steering state or not can be determined according to the corner type and the corner speed type, if yes, the target turning state is in the vehicle steady-state steering state, and if not, the target turning state is in an initial turning state.
According to the technical scheme of the embodiment, the corner type is determined according to the current speed of the target vehicle and the current steering wheel corner, the corner speed type is determined according to the current speed of the target vehicle and the steering wheel corner speed, the target turning state is determined according to the corner type, the corner speed type and the initial turning state, and the accurate identification of the turning state of the vehicle is achieved.
EXAMPLE III
Fig. 3A is a flowchart of a vehicle turning state determination method according to a third embodiment of the present invention, and this embodiment provides a supplementary description of a process for determining a target turning state of a target vehicle according to a corner type, a corner speed type, and an initial turning state on the basis of the above-described embodiments. As shown in fig. 3A, the method includes:
s310, obtaining the current speed, the current lateral acceleration and the current steering wheel angle of the target vehicle, and determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration.
S320, determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle.
The corner types comprise a small corner type, a medium corner type and a large corner type, and the corner speed types comprise a small corner speed type, a medium corner speed type and a large corner speed type.
S330, if the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; or, if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining the target turning state of the target vehicle based on the initial turning state.
Specifically, when the corner type is a large corner type, or the corner speed type is a large corner speed type, or the corner type is a medium corner type and the corner speed type is a medium corner speed type, the target turning state may be an initial turning state determined based on the current lateral acceleration.
Optionally, the determining the target turning state of the target vehicle based on the corner type, the corner speed type and the initial turning state further includes: if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; or if the corner type is a transit corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
That is, when the rudder angle type is the small rudder angle type, and the rudder angle speed type is the small rudder angle speed type or the medium rudder angle speed type, or when the rudder angle type is the medium rudder angle type, and the rudder angle speed type is the small rudder angle speed type, the target turning state of the target vehicle may be the vehicle steady-state turning state.
For example, referring to table 1, table 1 shows a judgment rule of a target steering state.
TABLE 1 determination rules for target steering State
Wherein Steer _ Mode is a corner type identifier, wherein-1 represents a small corner type, 0 represents a medium corner type, and 1 represents a large corner type. Steer _ jerk _ Mode is a corner speed type identifier, a small corner speed type is represented by-1, a medium corner speed type is represented by 0, and a large corner speed type is represented by 1. sign _ judge represents the turning state identification of the initial turning state determined by the current lateral acceleration. As can be seen from table 1, Steer _ Mode is-1, and Steer _ jerk _ Mode is-1; or Steer _ Mode is-1 and Steer _ jerk _ Mode is 0; alternatively, when Steer _ Mode is 0 and Steer _ jerk _ Mode is 0, the target turning state is 0, that is, the target turning state is the vehicle steady-state steering state. In addition to the above cases, the target turning state may be the initial turning state.
Of course, the judgment rules in table 1 are merely one example. In another embodiment, it is also possible that the target turning state of the target vehicle is a vehicle steady-state turning state when the type of turning angle is a small turning angle type or the type of turning angular speed is a small turning angular speed type. Or, only when the corner type is the small corner type and the corner speed type is the small corner speed type, the target turning state of the target vehicle is the vehicle steady-state turning state, and otherwise, the target turning state is determined according to the initial turning state.
For example, referring to FIG. 3B, a flow chart of a vehicle turning condition determination method is shown. Obtaining a first turning angle threshold value and a second turning angle threshold value corresponding to the current vehicle speed according to a current vehicle speed table, and further determining a turning angle type identifier according to the current steering wheel turning angle, the first turning angle threshold value and the second turning angle threshold value; and according to the current vehicle speed, obtaining a first turning angular speed threshold value and a second turning angular speed threshold value corresponding to the current vehicle speed, and further according to the turning angular speed of the steering wheel, the first turning angular speed threshold value and the second turning angular speed threshold value, determining the turning angular speed type identifier. And finally, comprehensively judging the target turning state according to the initial turning state, the corner type identifier and the corner speed type identifier. The method and the device realize the initial identification of the turning state based on the lateral acceleration, realize the auxiliary judgment of the further turning state based on the current vehicle speed and the current steering wheel corner pair, and improve the accuracy of the identified turning state of the vehicle.
It should be noted that the present embodiment may also provide another vehicle turning state determination method, which may include: s1, determining a first turning angle threshold value, a second turning angle threshold value, a first turning angle speed threshold value and a second turning angle speed threshold value corresponding to the target vehicle based on the current vehicle speed of the target vehicle; s2, determining a steering angle type corresponding to the target vehicle based on the current steering wheel steering angle, the first steering angle threshold value and the second steering angle threshold value; s3, determining a steering wheel steering angle speed corresponding to the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold and the second steering angle speed threshold; and S4, if the corner type is a large corner type, or the corner speed type is a large corner speed type, or the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining the target turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration.
That is, the present embodiment may first identify whether the target vehicle is in the vehicle steady-state turning state according to the current vehicle speed and the current steering wheel angle, if so, then do not need to identify according to the current lateral acceleration, and if not, then identify the vehicle turning state according to the current lateral acceleration. Based on the mode, the vehicle steering state of the comprehensive vehicle speed, the lateral acceleration and the steering wheel angle can be recognized, and the technical problem that the recognition accuracy is reduced due to the fact that a certain single piece of information is interfered is solved.
According to the technical scheme of the embodiment, when the corner type is a large corner type, or the corner speed type is a large corner speed type, or the corner type is a medium corner type and the corner speed type is a medium corner speed type, the target turning state of the target vehicle can be an initial turning state.
Example four
Fig. 4 is a schematic structural diagram of a vehicle turning state determination device according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus includes an obtaining module 410, a first determining module 420, and a second determining module 430.
An obtaining module 410, configured to obtain a current vehicle speed, a current lateral acceleration, and a current steering wheel angle of a target vehicle;
a first determining module 420, configured to determine an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
a second determination module 430 for determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
Optionally, the second determining module 430 includes a type identifying unit and a state judging unit, where;
the type identification unit is used for determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle;
the state determination unit is configured to determine a target turning state of the target vehicle based on the steering angle type, the steering angle speed type, and the initial turning state.
Optionally, the type identification unit is specifically configured to:
determining a first turning angle threshold value, a second turning angle threshold value, a first turning angle speed threshold value and a second turning angle speed threshold value corresponding to the target vehicle based on the current vehicle speed; determining a steering angle type corresponding to the target vehicle based on the current steering wheel steering angle, the first steering angle threshold value and the second steering angle threshold value; and determining a steering wheel steering angle speed corresponding to the current steering wheel angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold value and the second steering angle speed threshold value.
Optionally, the corner types include a small corner type, a medium corner type, and a large corner type, the corner speed types include a small corner speed type, a medium corner speed type, and a large corner speed type, and the state determination unit is specifically configured to:
if the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; or, if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining the target turning state of the target vehicle based on the initial turning state.
Optionally, the state determining unit is further configured to:
if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; or if the corner type is a transit corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
Optionally, the first determining module 420 includes a direction determining unit and a judging unit, where;
the direction determining unit is used for determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value corresponding to the lateral acceleration change information;
the judging unit is used for determining the initial turning state of the target vehicle based on the direction information and the current value.
Optionally, the determining unit is specifically configured to:
if the current numerical value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle out-of-turn state; if the current numerical value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state; and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
According to the technical scheme of the embodiment, the initial turning state of the target vehicle is determined according to the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration by acquiring the current speed, the current lateral acceleration and the current steering wheel corner of the target vehicle, so that the initial judgment of the turning state of the vehicle is realized, further, the target turning state of the target vehicle is determined according to the current speed, the current steering wheel corner and the initial turning state so as to realize the confirmation of the turning state of the vehicle. In addition, the current speed, the current lateral acceleration and the current steering wheel angle required by the method can be obtained from the existing device of the vehicle, no additional sensor is needed, and the identification cost is low.
The vehicle turning state determining device provided by the embodiment of the invention can execute the vehicle turning state determining method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 executes the various methods and processes described above, such as the vehicle turning state determination method.
In some embodiments, the vehicle turning state determination method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle turning state determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle turning state determination method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
The computer program for implementing the vehicle turning state determination method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
EXAMPLE six
An embodiment of the present invention further provides a computer-readable storage medium storing computer instructions for causing a processor to execute a method for determining a turning state of a vehicle, the method including:
acquiring the current speed, the current lateral acceleration and the current steering wheel angle of a target vehicle;
determining an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle turning state determination method characterized by comprising:
acquiring the current speed, the current lateral acceleration and the current steering wheel angle of a target vehicle;
determining an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
2. The method of claim 1, wherein the determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state comprises:
determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle;
determining a target turning state of the target vehicle based on the turn angle type, the turn angle speed type, and the initial turning state.
3. The method of claim 2, wherein determining the type of steering angle corresponding to the target vehicle based on the current vehicle speed and the current steering wheel angle, and determining the type of steering wheel speed corresponding to the target vehicle based on the current vehicle speed and the steering wheel angle speed corresponding to the current steering wheel angle comprises:
determining a first turning angle threshold value, a second turning angle threshold value, a first turning angle speed threshold value and a second turning angle speed threshold value corresponding to the target vehicle based on the current vehicle speed;
determining a steering angle type corresponding to the target vehicle based on the current steering wheel steering angle, the first steering angle threshold value and the second steering angle threshold value;
and determining a steering wheel steering angle speed corresponding to the current steering wheel angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold value and the second steering angle speed threshold value.
4. The method according to claim 2, wherein the corner types include a small corner type, a medium corner type, and a large corner type, the corner speed types include a small corner speed type, a medium corner speed type, and a large corner speed type, and the determining the target turning state of the target vehicle based on the corner type, the corner speed type, and the initial turning state includes:
if the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; alternatively, the first and second electrodes may be,
and if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining a target turning state of the target vehicle based on an initial turning state.
5. The method of claim 4, wherein the determining a target turning state of the target vehicle based on the turn angle type, the turn angle speed type, and the initial turning state further comprises:
if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; alternatively, the first and second electrodes may be,
and if the corner type is a transit corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
6. The method of claim 1, wherein determining the initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration comprises:
determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value corresponding to the lateral acceleration change information;
and determining the initial turning state of the target vehicle based on each piece of direction information and the current value.
7. The method of claim 6, wherein determining an initial turning state of the target vehicle based on each of the directional information and the current value comprises:
if the current numerical value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle out-of-turn state;
if the current numerical value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state;
and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
8. A vehicle turning state determination device characterized by comprising:
the acquisition module is used for acquiring the current speed, the current lateral acceleration and the current steering wheel angle of the target vehicle;
the first determination module is used for determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration;
a second determination module to determine a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to execute the vehicle turning condition determining method according to any one of claims 1 to 7.
10. A computer-readable storage medium characterized in that it stores computer instructions for causing a processor to implement, when executed, the vehicle turning state determination method according to any one of claims 1 to 7.
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