CN114954465A - Method, device and equipment for controlling vehicle to run and storage medium - Google Patents
Method, device and equipment for controlling vehicle to run and storage medium Download PDFInfo
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- 238000003860 storage Methods 0.000 title claims abstract description 16
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- 238000004590 computer program Methods 0.000 claims description 13
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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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/103—Speed profile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/24—Direction of travel
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the application discloses a method, a device, equipment and a storage medium for controlling vehicle running, belongs to the technical field of vehicle intelligent driving, and can be applied in scenes such as curves of high speed, ports, mines, urban traffic and the like, windy roads, windy curves and the like, and the method comprises the following steps: in the running process of the vehicle, target adjustment information is determined based on a vehicle running parameter set, and a running variable of the vehicle is adjusted through the target adjustment information, namely when the target adjustment information and the running variable are different parameters, the running speed, the running attitude and/or the running direction are determined by respectively applying the vehicle running parameter set consisting of first deceleration information, second deceleration information, first damping information, second damping information and/or steering information, so that the vehicle under the influence of a curve and/or crosswind is controlled independently, and the influence of the crosswind on the running of the vehicle can be eliminated more accurately.
Description
Technical Field
The application relates to the technical field of intelligent driving of vehicles, and provides a method, a device, equipment and a storage medium for controlling the driving of a vehicle.
Background
During the driving process of the vehicle, particularly when the driving road is an open road, a seaside, a bridge or the like, the vehicle is often influenced by crosswind. Due to the large cross-sectional area of the vehicle body, the side wind acts to generate a lateral force perpendicular to the direction of travel of the vehicle, which affects the direction of travel of the vehicle. In this case, the driver needs to exert additional hand force at the steering wheel to correct the driving direction of the vehicle, which obviously increases the driving alertness and fatigue of the driver, with a corresponding increase in the probability of a traffic accident. If the crosswind encountered by the vehicle exceeds the driver's expectations, it may cause the vehicle to be out of control, and in severe cases, even to roll over.
In the existing solutions, the magnitude of the crosswind is usually detected by using sensors commonly used on the vehicle, for example, a lateral acceleration sensor, a yaw rate sensor, a wheel speed sensor, a steering angle sensor, etc., and the vehicle is controlled according to signals acquired by these sensors. However, the above solutions neglect the influence of the curve because the curve in which the vehicle is traveling affects the measurement of the crosswind, i.e., the value directly measured by the sensor is often mixed with the common influence of the curve and the crosswind. If the measured value is directly used for crosswind judgment, control deviation to a certain degree is inevitably caused.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment and a storage medium for controlling a vehicle to run, and the method, the device, the equipment and the storage medium are used for accurately controlling the vehicle to run under the influence of curves and crosswind.
In a first aspect, an embodiment of the present application provides a method for controlling vehicle driving, including:
determining target adjustment information based on a vehicle running parameter set in the vehicle running process;
adjusting the running variable of the vehicle through the target adjustment information;
wherein, in a case where the vehicle driving parameter set includes first deceleration information and second deceleration information, the target adjustment information is target deceleration information, and the driving variable includes a driving speed, wherein the target deceleration information is determined based on the first deceleration information and the second deceleration information;
in a case where the vehicle travel parameter set includes first damping information and second damping information, the target adjustment information is target damping adjustment information, and the travel variable includes a travel attitude, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;
in the case that the vehicle driving parameter set comprises steering information, the target adjustment information is target steering adjustment information, and the driving variable comprises a driving direction, wherein the steering information is used for representing an actual curvature generated by a steering system of the vehicle on a driving road; the first deceleration information and the first damping information are determined based on current curve information, the current curve information is determined based on the curvature of a road on which a vehicle is located and a current vehicle speed, the second deceleration information, the second damping information and the steering information are determined based on current crosswind influence information, the current crosswind influence information is determined based on current driving variable information of the vehicle and the current curve information, and the current driving variable information is measured by a sensor group on the vehicle.
The accuracy of crosswind measurement of the vehicle in the curve running process is guaranteed by adjusting different running variables under different vehicle running parameter sets, so that the vehicle can be independently controlled under the influence of the curve and/or crosswind, and the accurate control of the vehicle under the influence of the curve and/or crosswind is facilitated.
Optionally, the method further comprises:
under the condition that first deceleration information and first damping information need to be determined, after a target control condition is met, determining based on current curve information; and/or
Under the condition that second deceleration information, second damping information and steering information need to be determined, after target control conditions are met, determining based on current crosswind influence information;
and the target control condition is that the curvature difference value between the road curvature and the actual curvature corresponding to the steering information does not exceed the track threshold range.
Through the setting of the target control condition, the driving variable is not adjusted under the condition that the influence of the curve and/or the crosswind is small, namely, the safe and stable driving of the vehicle can be ensured without changing the current driving condition of the vehicle, and only when the target control condition is reached, the influence of the curve and/or the crosswind is taken to take measures, so that the unnecessary adjustment of the driving variable of the vehicle is omitted.
Optionally, the road curvature is determined by:
searching the curvature corresponding to the position information of the vehicle in the preset corresponding relation between the position information and the curvature;
and taking the searched curvature as the road curvature of the driving road.
The curvature is determined according to the position of the vehicle, and the road curvature is further calculated, so that the accuracy of road curvature calculation is guaranteed, and the curve rigidity and/or the side wind influence of the vehicle can be more accurate.
Optionally, the first deceleration information and the first damping information are determined by:
determining first deceleration information based on the current driving speed of the vehicle and the road curvature when the road curvature corresponding to the current curve information is within a first curve threshold range;
under the condition that the road curvature corresponding to the current curve information is within a second curve threshold range, determining first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature;
and the curve influence value corresponding to the second curve threshold range is larger than the curve influence value corresponding to the first curve threshold range, and the curve influence value indicates the deviation degree of the running track of the vehicle subjected to the current curve information.
The above-described manner of determining the first deceleration information or the first damping information of the vehicle according to the different distribution ranges of the road curvature can adjust the vehicle from different driving variable angles, so that the influence of different curves can be dealt with more accurately.
Optionally, the second deceleration information, the second damping information and the steering information are determined by:
under the condition that the current crosswind influence information is within the first crosswind threshold value range, determining second speed reduction information based on the current running speed of the vehicle and the current crosswind influence information;
determining second damping information based on the current damping information of the vehicle and the current crosswind influence information under the condition that the current crosswind influence information is within the second crosswind threshold range;
determining steering information based on a steering system of the vehicle if the current crosswind impact information is within a third crosswind threshold range;
the wind speed value corresponding to the third crosswind threshold range is larger than the wind speed value corresponding to the second crosswind threshold range, the wind speed value corresponding to the second crosswind threshold range is larger than the wind speed value corresponding to the first crosswind threshold range, and the wind speed value represents the deviation degree of the information of the running track of the vehicle affected by the current crosswind.
The above-mentioned mode of determining the second deceleration information, the second damping information and/or the steering information of the vehicle according to the different distribution ranges of the current crosswind influence information can adjust the vehicle from different driving variable angles, so that the influence of different crosswinds can be dealt with more accurately.
In a second aspect, an embodiment of the present application further provides an apparatus for controlling vehicle driving, including:
the determining unit is used for determining target adjustment information based on the vehicle running parameter set in the vehicle running process;
an adjusting unit for adjusting a running variable of the vehicle by the target adjustment information;
wherein, in a case where the vehicle driving parameter set includes first deceleration information and second deceleration information, the target adjustment information is target deceleration information, and the driving variable includes a driving speed, wherein the target deceleration information is determined based on the first deceleration information and the second deceleration information;
in a case where the vehicle travel parameter set includes first damping information and second damping information, the target adjustment information is target damping adjustment information, and the travel variable includes a travel attitude, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;
in the case that the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variable includes a driving direction, wherein the steering information is used for representing an actual curvature generated by a steering system of the vehicle on a driving road; the first deceleration information and the first damping information are determined based on current curve information, the current curve information is determined based on a road curvature of a driving road where the vehicle is located and a current vehicle speed, the second deceleration information, the second damping information and the steering information are determined based on current crosswind influence information, the current crosswind influence information is determined based on current driving variable information of the vehicle and the current curve information, and the current driving variable information is measured by a sensor group on the vehicle.
Optionally, the method further comprises:
under the condition that first deceleration information and first damping information need to be determined, after a target control condition is met, determining based on current curve information; and/or
Under the condition that second deceleration information, second damping information and steering information need to be determined, after target control conditions are met, determining based on current crosswind influence information;
and the target control condition is that the curvature difference value between the road curvature and the actual curvature corresponding to the steering information does not exceed the track threshold range.
Optionally, the road curvature is determined by:
searching the curvature corresponding to the position information of the vehicle in the preset corresponding relation between the position information and the curvature;
and taking the searched curvature as the road curvature of the driving road.
Optionally, the first deceleration information and the first damping information are determined by:
determining first deceleration information based on the current driving speed of the vehicle and the road curvature when the road curvature corresponding to the current curve information is within a first curve threshold range;
under the condition that the road curvature corresponding to the current curve information is within a second curve threshold range, determining first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature;
and the curve influence values corresponding to the second curve threshold range are all larger than the curve influence values corresponding to the first curve threshold range, and the curve influence values represent the deviation degree of the driving track of the vehicle from the current curve information.
Optionally, the second deceleration information, the second damping information and the steering information are determined by:
determining second deceleration information based on the current driving speed of the vehicle and the current crosswind influence information under the condition that the current crosswind influence information is within the first crosswind threshold range;
determining second damping information based on current damping information of the vehicle and the current crosswind influence information under the condition that the current crosswind influence information is within a second crosswind threshold range;
determining steering information based on a steering system of the vehicle if the current crosswind impact information is within a third crosswind threshold range;
the wind speed value corresponding to the third crosswind threshold range is larger than the wind speed value corresponding to the second crosswind threshold range, the wind speed value corresponding to the second crosswind threshold range is larger than the wind speed value corresponding to the first crosswind threshold range, and the wind speed value represents the deviation degree of the information of the running track of the vehicle affected by the current crosswind.
In a third aspect, an electronic device includes:
a memory for storing executable instructions;
a processor for reading and executing executable instructions stored in the memory to implement a method as in any one of the first aspect.
In a fourth aspect, a computer-readable storage medium, wherein instructions, when executed by a processor, enable the processor to perform the method of any of the first aspect.
In a fifth aspect, a computer program product comprises a computer program which, when executed by a processor, enables the processor to perform the method of any of the first aspect described above.
In summary, in the embodiments of the present application, a method, an apparatus, a device and a storage medium for controlling vehicle driving are provided, where the method includes: determining target adjustment information based on a vehicle driving parameter set during driving of the vehicle, adjusting a driving variable of the vehicle by the target adjustment information, i.e. determining a driving speed, a driving attitude and/or a driving direction by applying a vehicle driving parameter set consisting of first and second deceleration information, first and second damping information and/or steering information, respectively, when the target adjustment information and the driving variable are different parameters, the first deceleration information and the first damping information being determined based on current curve information, the current curve information being determined based on a road curvature of a driving road on which the vehicle is located and a current vehicle speed, the second deceleration information, the second damping information and the steering information being determined based on current crosswind influence information, the current crosswind influence information being determined based on the current driving variable information of the vehicle and the current curve information, the current running variable information is measured through a sensor group on the vehicle, and accurate current curve information and current crosswind influence information can be determined in the implementation process, so that the vehicle can be controlled independently under the influence of the curve and the crosswind, and the influence of the crosswind on the running of the vehicle can be eliminated more accurately.
Drawings
Fig. 1 is a schematic view of an application scenario of vehicle driving in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a control of vehicle driving according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a logic architecture of an apparatus for controlling vehicle driving according to an embodiment of the present application;
fig. 4 is a schematic entity architecture diagram of an intelligent terminal in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application. In the present application, the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
The terms "first" and "second" in the embodiments of the present application are used to distinguish different objects, and are not used to describe a specific order. Furthermore, the term "comprises" and any variations thereof, which are intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The term "a plurality" in the present application may mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.
It has been mentioned above that in the current solutions for detecting the crosswind magnitude by using the sensor on the vehicle, the influence of the curve is ignored, because the curve in which the vehicle is running affects the measurement of the crosswind, i.e. the value directly measured by the sensor is often mixed with the common influence of the curve and the crosswind. If the measured value is directly used for crosswind judgment, an accurate crosswind value obviously cannot be obtained, so that the vehicle under the influence of curves and crosswind cannot be accurately controlled.
In order to solve the above problem, an embodiment of the present application provides a method for controlling a vehicle to travel, where current curve information is determined according to a curvature of a road on which the vehicle is traveling, current crosswind influence information is determined according to current traveling variable information of the vehicle and the current curve information, further, first deceleration information and first damping information are determined based on the current curve information, second deceleration information, second damping information, and steering information are determined based on the current crosswind influence information, and a traveling speed, a traveling posture, and/or a traveling direction of the vehicle are adjusted based on the first deceleration information and the first damping information.
Fig. 1 is a schematic view of an application scenario corresponding to an embodiment of the present application.
As shown in fig. 1, the application scenario may include a vehicle traveling on a sea-crossing bridge, where the influence factors on the vehicle traveling on the road include a curve, a crosswind, and the like, the curve may influence the traveling variables of the vehicle, and similarly, the crosswind may also influence the traveling variables of the vehicle, and since the curve influence and the crosswind influence are mixed in the existing processing scheme, it is difficult to accurately control the vehicle.
In addition, it should be particularly noted that, if the road on which the vehicle travels is a straight line, the current curve information is zero; and if the vehicle does not have the crosswind influence on the road, the current crosswind influence information is zero. Therefore, in the embodiment of the application, the independent extraction of the influence of the curve and the crosswind is realized, and the vehicle is controlled based on the influence of the curve and the crosswind respectively, which is specifically described below.
Referring to fig. 2, in the embodiment of the present application, a specific process for controlling the vehicle to run is as follows:
since the vehicle is equipped with a lateral acceleration sensor, a yaw rate sensor, a wheel speed sensor, a steering angle sensor, and the like, in the embodiment of the present application, the lateral acceleration sensor, the yaw rate sensor, the wheel speed sensor, the steering angle sensor, and the like are collectively referred to as a sensor group, current travel variable information is measured by the sensor group on the vehicle, and a detailed description is given of a method of controlling the travel of the vehicle on the premise that the sensor group obtains the current travel variable information of the vehicle.
Step 201: during vehicle travel, target adjustment information is determined based on a set of vehicle travel parameters.
Considering that the driving variables during the driving of the vehicle include the driving speed, the driving posture and the driving direction, for this reason, during the driving of the vehicle, corresponding adjustments in terms of the driving speed, the driving posture, the driving direction and the like are needed, i.e. in implementation, different target adjustment information is determined according to different sets of driving parameters of the vehicle.
In one scenario, in a case that the vehicle driving parameter set includes first deceleration information and second deceleration information, the target adjustment information is target deceleration information, and the driving variable includes a driving speed, where the target deceleration information is determined based on the first deceleration information and the second deceleration information.
In this scenario, the driving variable of the vehicle to be adjusted includes a driving speed, and accordingly, the target adjustment information to be determined is target deceleration information, and in the implementation process, the determination of the target deceleration information needs to depend on the first deceleration information and the second deceleration information, that is, the specific vehicle driving parameter set includes the first deceleration information and the second deceleration information.
For example, when the vehicle travels on a road having both a curve and a crosswind effect, the vehicle tends to roll over when the current traveling speed is too high, and therefore, it is necessary to reduce the current traveling speed to continue traveling, and in such a situation, it is necessary to determine the first deceleration information 1 based on the current curve information 1 and to determine the second deceleration information 1 based on the current crosswind effect information 1. After the independent influence of the curve and the crosswind is respectively determined, the first deceleration information 1 and the second deceleration information 1 are used for determining the target deceleration information 1, and the vehicle is enabled to continue to move ahead according to the driving speed indicated by the target deceleration information 1, so that the curve influence corresponding to the current curve information 1 and the crosswind influence corresponding to the current crosswind influence information 1 are overcome.
The target deceleration information can also be conveyed to a driver of the vehicle by supplementary introduction, namely, the driver performs manual deceleration processing according to the target deceleration information, and the specific conveying mode comprises deceleration reminding and the like through an instrument panel, light of a display lamp, a voice prompter and the like. For example, after the preset target deceleration information reaches the target deceleration threshold 1, deceleration reminding is performed through the light of an instrument panel or a display lamp; after the target deceleration information reaches a target deceleration threshold 2, deceleration reminding is carried out through lamplight of an instrument panel or a display lamp and a voice prompter and the like; after the target deceleration information reaches the target deceleration threshold 3, the vehicle is decelerated through the lamplight of an instrument panel or a display lamp and a voice prompter, and the vehicle is allowed to actively brake and decelerate flexibly.
In another scenario, in a case that the vehicle driving parameter set includes first damping information and second damping information, the target adjustment information is target damping adjustment information, and the driving variable includes a driving posture, where the target damping adjustment information is determined based on the first damping information and the second damping information.
In this scenario, the driving variable of the vehicle to be adjusted includes a driving posture, accordingly, the target adjustment information to be determined is target damping adjustment information, and in the implementation process, the determination of the target damping adjustment information needs to depend on the first damping information and the second damping information, that is, the specific vehicle driving parameter set includes the first damping information and the second damping information.
For example, when the vehicle travels on a road affected by both a curve and a crosswind, the vehicle is likely to roll over, and therefore, it is necessary to improve the suspension damping on the easily-rolled side to continue traveling, and in this case, it is necessary to determine the first damping information 1 from the current curve information 2 and to determine the second damping information 1 from the current crosswind affected information 2. After the independent influences of the curve and the crosswind are respectively determined, the first damping information 1 and the second damping information 1 are used for determining target damping adjustment information 1, and the vehicle is enabled to continue to move forwards according to the driving posture indicated by the target damping adjustment information 1, so that the curve influence corresponding to the current curve information 2 and the crosswind influence corresponding to the current crosswind influence information 2 are overcome.
It should be noted that the adjustment of the damping is achieved by adjusting the suspension of the vehicle.
In a third scenario, in a case that the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variable includes a driving direction, where the steering information is used to represent an actual curvature generated by a steering system of the vehicle on a driving road.
In such a scenario, the driving variables of the vehicle to be adjusted include a driving direction, accordingly, the target adjustment information to be determined is target steering adjustment information, and in the implementation process, the determination of the target steering adjustment information needs to depend on the steering information, that is, a specific vehicle driving parameter set includes the steering information.
For example, when the vehicle travels on a road having both a curve and a crosswind effect, the current traveling direction of the vehicle is too deviated, and therefore, the vehicle is likely to turn over, and therefore, the current traveling direction needs to be twisted to continue traveling, and in such a situation, it is necessary to determine the target steering adjustment information 1 based on the actual curvature of the steering system (e.g., a steering wheel, etc.) of the vehicle on the traveling road represented by the steering information and the road curvature of the traveling road on which the vehicle is located, and to continue traveling in the traveling direction indicated by the target steering adjustment information 1, so as to overcome the curve effect corresponding to the current curve information 3 and the crosswind effect corresponding to the current crosswind effect information 3.
In addition, in practice, the actual curvature and the road curvature are directly subtracted, and the obtained difference value is used as the angle correction value of the steering gear.
It should be added that the road curvature is determined by:
(1) and searching the curvature corresponding to the position information of the vehicle in the preset corresponding relation between the position information and the curvature.
Before determining the target adjustment information based on the vehicle driving parameter set, the position information of all roads involved in the vehicle driving and the curvature corresponding to each road are collected in advance, and a one-to-one corresponding relationship is established between the collected position information of the roads and the corresponding curvatures, and the corresponding relationship is stored in the vehicle.
In the implementation process, after the position information of the vehicle is determined in the driving process of the vehicle, the corresponding curvature is searched in the corresponding relation according to the position information.
For example, assuming that the correspondence relationship is position information a-curvature a, information B-curvature B, …, and information N-curvature N, when the position information B where the vehicle is located is determined, curvature B is determined based on the correspondence relationship.
(2) And taking the searched curvature as the road curvature of the driving road.
In the implementation process, the searched curvature b is used as the road curvature of the current running road of the vehicle.
It should be noted that the current curve information is determined based on the road curvature of the traveling road on which the vehicle is located and the current vehicle speed, and the current crosswind influence information is determined based on the current traveling variable information of the vehicle and the current curve information.
In order to acquire accurate current curve information and current crosswind influence information, in the embodiment of the application, on one hand, the current curve information is directly determined according to the road curvature of a driving road where a vehicle is located and the current speed of the vehicle, so that the accuracy of acquiring the current curve information is ensured; on the other hand, after the current running variable information of the vehicle is obtained through the sensor group, the current side wind influence information can be obtained by subtracting the current curve information from the current running variable information. Because, in the embodiment of the present application, the factors affecting the vehicle driving are only the curve and the crosswind, and when the factors affecting the vehicle driving include other factors besides the curve and the crosswind, the current curve information and the other factor influence information are sequentially subtracted from the current driving variable information, so that the current crosswind influence information can be obtained, which is not described in detail herein.
In addition, considering that some minor curves and crosswinds have negligible influence on the driving of the vehicle, the embodiment of the present application further includes:
in the first case: in the case where the first deceleration information and the first damping information need to be determined, after the target control condition is satisfied, it is determined based on the current curve information.
The target control condition is that the curvature difference between the curvature of the road and the actual curvature corresponding to the steering information does not exceed the track threshold range, that is, the running track of the vehicle does not deviate from the preset allowable track range, the influence of the curve and the crosswind on the running of the vehicle is small, and the running variable of the vehicle can be adjusted by compensation, that is, the running of the vehicle needs to be controlled for the curve alone.
In the implementation process, the first deceleration information or the first damping information is determined according to the size of the curve, and the specific first deceleration information and the specific first damping information are determined in the following way:
case (1): when the road curvature corresponding to the current curve information is within the first curve threshold range, first deceleration information is determined based on the current driving speed of the vehicle and the road curvature.
Since the curve influence value indicates the degree of deviation of the driving trajectory of the vehicle from the current curve information, the larger the curve influence value is, the larger the degree of deviation of the driving trajectory of the vehicle from the current curve information is. In the implementation process, the curve influence value corresponding to the first curve threshold range is small, the running speed is preferentially adjusted at the moment, and first deceleration information needs to be determined according to the current running speed of the vehicle and the curvature of the road.
For example, the current running speed of the vehicle is m, the road curvature is s, the due running speed corresponding to the road curvature s is determined to be n, and the first deceleration information is determined to be m-n on the basis.
Case (2): and under the condition that the road curvature corresponding to the current curve information is within the second curve threshold range, determining first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature.
Similarly, the curve influence value represents the deviation degree of the running track of the vehicle from the current curve information, and the curve influence values corresponding to the second curve threshold range are all larger than the curve influence values corresponding to the first curve threshold range, namely the deviation degree of the running track of the vehicle within the second curve threshold range from the current curve information is larger. In such a situation, the driving posture is preferably selected and adjusted, and the first damping information is specifically determined according to the current damping information of the vehicle, the current vehicle speed and the curvature of the road. It should be noted that, in this case, the vehicle may also be compensated in a combination manner, that is, the driving speed and the driving posture of the vehicle are adjusted at the same time, so as to achieve the purpose of fast adjustment.
For example, the current damping information of the vehicle is p, the road curvature is s, the due damping information corresponding to the road curvature s is determined to be k, and on the basis, the first damping information is determined to be p-k.
In the second case: and under the condition that the second deceleration information, the second damping information and the steering information need to be determined, after the target control condition is met, determining based on the current crosswind influence information.
Similarly, the target control condition is that the curvature difference between the road curvature and the actual curvature corresponding to the steering information does not exceed the track threshold range, that is, the driving track of the vehicle does not deviate from the preset allowable track range, the influence of the curve and the crosswind on the driving of the vehicle is small, and the driving variable of the vehicle can be adjusted by compensation, that is, the driving variable of the vehicle needs to be controlled separately for the crosswind.
In the implementation process, second deceleration information, second damping information and steering information are determined according to the size of the crosswind, and the specific second deceleration information, second damping information and steering information are determined in the following way:
the wind speed value is used for representing the deviation degree of the running track of the vehicle influenced by the current crosswind, namely the larger the wind speed value is, the larger the deviation degree of the running track of the vehicle influenced by the current crosswind is. In the embodiment of the application, when the influence of the crosswind in the vehicle running process cannot be ignored, the wind speed value that may be received in the vehicle running process is specifically divided into three ranges, namely a first crosswind threshold range, a second crosswind threshold range and a third crosswind threshold range, wherein the wind speed value corresponding to the third crosswind threshold range is greater than the wind speed value corresponding to the second crosswind threshold range, and the wind speed value corresponding to the second crosswind threshold range is greater than the wind speed value corresponding to the first crosswind threshold range.
Case 1: in the case where the current crosswind influence information is within the first crosswind threshold range, second deceleration information is determined based on the current traveling speed of the vehicle and the current crosswind influence information.
In the implementation process, when the influence of the crosswind is small, that is, when the current crosswind influence information is within the first crosswind threshold range, the running speed of the vehicle is preferably adjusted, and at this time, the second deceleration information needs to be determined according to the current running speed of the vehicle and the current crosswind influence information.
For example, the current traveling speed of the vehicle is w, the current crosswind influence information is v, the due traveling speed corresponding to the current crosswind influence information is determined to be x, and the second deceleration information is determined to be w-x on the basis.
Case 2: and determining second damping information based on the current damping information of the vehicle and the current crosswind influence information under the condition that the current crosswind influence information is within the second crosswind threshold range.
In the implementation process, when the influence of the crosswind is large, namely, under the condition that the current crosswind influence information is within the second crosswind threshold value range, the driving posture of the vehicle, namely the damping of the side which is easy to turn over and the like, is preferentially adjusted, and at the moment, the second damping information is determined according to the current damping information and the current crosswind influence information of the vehicle. It should be noted that, in this case, the vehicle may also be compensated in a combination manner, that is, the driving speed and the driving posture of the vehicle are adjusted at the same time, so as to achieve the purpose of fast adjustment.
For example, the current damping information of the vehicle is u, the current crosswind influence information is o, the due damping information corresponding to the current crosswind influence information is determined to be z, and the second damping information is determined to be u-z on the basis.
Case 3: in a case where the current crosswind influence information is within the third crosswind threshold range, the steering information is determined based on a steering system of the vehicle.
In the implementation process, when the influence of the crosswind is larger, namely in the case that the current crosswind influence information is within the range of the third crosswind threshold value, the driving direction of the vehicle is preferentially adjusted, and at the moment, the steering information needs to be determined according to the steering system of the vehicle, namely the influence of the crosswind on the driving is overcome by controlling the driving direction of the vehicle. It should be added that, in this case, the vehicle may also be compensated in combination, that is, the driving speed, the driving posture and the driving direction of the vehicle are adjusted at the same time, so as to achieve the purpose of quick adjustment.
For example, the actual curvature of a steering system of the vehicle on a running road is f, the curvature of the road is s, the difference value corresponding to the curvature of the road is determined to be f-s, and the corresponding steering information is determined to be the rotation value of the curvature of the road f-s acting on the steering system.
Step 202: and adjusting the running variable of the vehicle through the target adjustment information.
In the implementation process, after the adjustment aspects such as the running speed, the running attitude, the running direction and the like are determined, the target adjustment information is determined through the vehicle running parameter set, namely the target deceleration information is determined based on the first deceleration information and the second deceleration information, the target damping adjustment information is determined based on the first damping information and the second damping information and/or the target steering adjustment information is determined based on the steering information, and the target steering adjustment information is adjusted according to the running variables such as the running speed, the running attitude, the running direction and the like of the vehicle on the running road so as to control the vehicle to continue running overcoming the influence of the curve and/or the crosswind.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
Referring to fig. 3, in an embodiment of the present application, there is provided an apparatus for controlling a vehicle to travel, including:
a determining unit 301, configured to determine target adjustment information based on a vehicle driving parameter set during vehicle driving;
an adjusting unit 302 for adjusting a driving variable of the vehicle by the target adjustment information;
wherein, in a case where the vehicle driving parameter set includes first deceleration information and second deceleration information, the target adjustment information is target deceleration information, and the driving variable includes a driving speed, wherein the target deceleration information is determined based on the first deceleration information and the second deceleration information;
in a case where the vehicle travel parameter set includes first damping information and second damping information, the target adjustment information is target damping adjustment information, and the travel variable includes a travel attitude, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;
in the case that the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variable includes a driving direction, wherein the steering information is used for representing an actual curvature generated by a steering system of the vehicle on a driving road; the first deceleration information and the first damping information are determined based on current curve information, the current curve information is determined based on the curvature of a road on which a vehicle is located and a current vehicle speed, the second deceleration information, the second damping information and the steering information are determined based on current crosswind influence information, the current crosswind influence information is determined based on current driving variable information of the vehicle and the current curve information, and the current driving variable information is measured by a sensor group on the vehicle.
Optionally, the method further comprises:
under the condition that first deceleration information and first damping information need to be determined, after a target control condition is met, determining based on current curve information;
under the condition that second deceleration information, second damping information and steering information need to be determined, after target control conditions are met, determining based on current crosswind influence information;
and the target control condition is that the curvature difference value between the road curvature and the actual curvature corresponding to the steering information does not exceed the track threshold range.
Optionally, the road curvature is determined by:
searching the curvature corresponding to the position information of the vehicle in the preset corresponding relation between the position information and the curvature;
and taking the searched curvature as the road curvature of the driving road.
Optionally, the first deceleration information and the first damping information are determined by:
determining first speed reduction information based on the current driving speed of the vehicle and the road curvature under the condition that the road curvature corresponding to the current curve information is within a first curve threshold range;
under the condition that the road curvature corresponding to the current curve information is within a second curve threshold range, determining first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature;
and the curve influence values corresponding to the second curve threshold range are all larger than the curve influence values corresponding to the first curve threshold range, and the curve influence values represent the deviation degree of the driving track of the vehicle from the current curve information.
Optionally, the second deceleration information, the second damping information and the steering information are determined by:
under the condition that the current crosswind influence information is within the first crosswind threshold value range, determining second speed reduction information based on the current running speed of the vehicle and the current crosswind influence information;
determining second damping information based on current damping information of the vehicle and the current crosswind influence information under the condition that the current crosswind influence information is within a second crosswind threshold range;
determining steering information based on a steering system of the vehicle if the current crosswind impact information is within a third crosswind threshold range;
the wind speed value corresponding to the third crosswind threshold range is larger than the wind speed value corresponding to the second crosswind threshold range, the wind speed value corresponding to the second crosswind threshold range is larger than the wind speed value corresponding to the first crosswind threshold range, and the wind speed value represents the deviation degree of the information of the running track of the vehicle affected by the current crosswind.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present application may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.
Referring to fig. 4, an embodiment of the present application provides an electronic device, including: a memory 401 for storing executable instructions; a processor 402 for reading and executing the executable instructions stored in the memory and performing any one of the methods of any one of the above embodiments.
The embodiment of the present application provides a computer-readable storage medium, and when executed by a processor, the instructions in the storage medium enable the processor to perform the method described in any one of the above embodiments.
The present application provides a computer program product comprising a computer program, which when executed by a processor, enables the processor to perform the method of any one of the above embodiments.
In summary, in the embodiments of the present application, a method, an apparatus, a device and a storage medium for controlling vehicle driving are provided, where the method includes: determining target adjustment information based on a vehicle driving parameter set during driving of the vehicle, adjusting a driving variable of the vehicle by the target adjustment information, i.e. determining a driving speed, a driving attitude and/or a driving direction by applying a vehicle driving parameter set consisting of first and second deceleration information, first and second damping information and/or steering information, respectively, when the target adjustment information and the driving variable are different parameters, the first deceleration information and the first damping information being determined based on current curve information, the current curve information being determined based on a road curvature of a driving road on which the vehicle is located and a current vehicle speed, the second deceleration information, the second damping information and the steering information being determined based on current crosswind influence information, the current crosswind influence information being determined based on the current driving variable information of the vehicle and the current curve information, the current running variable information is measured through a sensor group on the vehicle, and accurate current curve information and current crosswind influence information can be determined in the implementation process, so that the vehicle can be controlled independently under the influence of the curve and the crosswind, and the influence of the crosswind on the running of the vehicle can be eliminated more accurately.
In the embodiments of the present application, unless otherwise specified or conflicting with respect to logic, the terms and/or descriptions in different embodiments have consistency and may be mutually cited, and technical features in different embodiments may be combined to form a new embodiment according to their inherent logic relationship.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product system. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product system embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program product systems according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, to the extent that such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, it is intended that the present application also encompass such modifications and variations.
Claims (10)
1. A method of controlling travel of a vehicle, the method comprising:
determining target adjustment information based on a vehicle running parameter set in the vehicle running process;
adjusting the running variable of the vehicle according to the target adjustment information;
wherein, in a case where the set of vehicle travel parameters includes first and second deceleration information, the target adjustment information is target deceleration information, the travel variable includes a travel speed, wherein the target deceleration information is determined based on the first and second deceleration information;
in a case where the set of vehicle travel parameters includes first damping information and second damping information, the target adjustment information is target damping adjustment information, the travel variable includes a travel attitude, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;
in the case that the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variable includes a driving direction, wherein the steering information is used for representing an actual curvature generated by a steering system of the vehicle on a driving road; wherein the first deceleration information and the first damping information are determined based on current curve information that is determined based on a road curvature of a traveling road on which a vehicle is located and a current vehicle speed,
the second deceleration information, the second damping information, and the steering information are determined based on current crosswind influence information determined based on current driving variable information of the vehicle measured by a sensor group on the vehicle and current curve information.
2. The method of claim 1, wherein the method further comprises:
determining based on the current curve information after a target control condition is satisfied in a case where the first deceleration information and the first damping information need to be determined; and/or
Under the condition that the second deceleration information, the second damping information and the steering information need to be determined, after a target control condition is met, determining based on the current crosswind influence information;
and the target control condition is that the curvature difference value between the road curvature and the actual curvature corresponding to the steering information does not exceed the track threshold range.
3. The method of claim 1, wherein the road curvature is determined by:
searching the curvature corresponding to the position information of the vehicle in the preset corresponding relation between the position information and the curvature;
and taking the searched curvature as the road curvature of the driving road.
4. A method according to any of claims 1-3, wherein the first deceleration information and the first damping information are determined by:
determining the first deceleration information based on a current driving speed of a vehicle and the road curvature when the road curvature corresponding to the current curve information is within a first curve threshold range;
determining the first damping information based on current damping information of a vehicle, a current vehicle speed and the road curvature when the road curvature corresponding to the current curve information is within a second curve threshold range;
and the curve influence values corresponding to the second curve threshold range are all larger than the curve influence values corresponding to the first curve threshold range, and the curve influence values represent the deviation degree of the running track of the vehicle from the current curve information.
5. The method of any of claims 1-3, wherein the second deceleration information, the second damping information, and the steering information are determined by:
determining the second deceleration information based on the current driving speed of the vehicle and the current crosswind influence information under the condition that the current crosswind influence information is within a first crosswind threshold range;
determining second damping information based on current damping information of a vehicle and the current crosswind influence information when the current crosswind influence information is within a second crosswind threshold range;
determining the steering information based on a steering system of a vehicle if the current crosswind impact information is within a third crosswind threshold range;
the wind speed value corresponding to the third crosswind threshold range is greater than the wind speed value corresponding to the second crosswind threshold range, the wind speed value corresponding to the second crosswind threshold range is greater than the wind speed value corresponding to the first crosswind threshold range, and the wind speed value represents the deviation degree of the current crosswind influence information on the driving track of the vehicle.
6. An apparatus for controlling running of a vehicle, characterized by comprising:
the determining unit is used for determining target adjustment information based on the vehicle running parameter set in the vehicle running process;
the adjusting unit is used for adjusting the running variable of the vehicle through the target adjusting information;
wherein, in a case where the set of vehicle travel parameters includes first and second deceleration information, the target adjustment information is target deceleration information, the travel variable includes a travel speed, wherein the target deceleration information is determined based on the first and second deceleration information;
in a case where the set of vehicle travel parameters includes first damping information and second damping information, the target adjustment information is target damping adjustment information, the travel variable includes a travel attitude, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;
in the case that the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variable includes a driving direction, wherein the steering information is used for representing an actual curvature generated by a steering system of the vehicle on a driving road; the first deceleration information and the first damping information are determined based on current curve information, the current curve information is determined based on a road curvature of a driving road where a vehicle is located and a current vehicle speed, the second deceleration information, the second damping information and the steering information are determined based on current crosswind influence information, the current crosswind influence information is determined based on current driving variable information of the vehicle and the current curve information, and the current driving variable information is measured by a sensor group on the vehicle.
7. The apparatus of claim 6, wherein the road curvature is determined by:
searching a curvature corresponding to the position information of the vehicle in a preset corresponding relation between the position information and the curvature;
and taking the searched curvature as the road curvature of the driving road.
8. An electronic device, comprising:
a memory for storing executable instructions;
a processor for reading and executing executable instructions stored in the memory to implement the method of any one of claims 1-5.
9. A computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor, enable the processor to perform the method of any of claims 1-5.
10. A computer program product, comprising a computer program which, when executed by a processor, enables the processor to carry out the method according to any one of claims 1-5.
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