WO2020168743A1 - 一种车速控制方法和装置 - Google Patents

一种车速控制方法和装置 Download PDF

Info

Publication number
WO2020168743A1
WO2020168743A1 PCT/CN2019/115906 CN2019115906W WO2020168743A1 WO 2020168743 A1 WO2020168743 A1 WO 2020168743A1 CN 2019115906 W CN2019115906 W CN 2019115906W WO 2020168743 A1 WO2020168743 A1 WO 2020168743A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle body
vehicle speed
vehicle
information
speed
Prior art date
Application number
PCT/CN2019/115906
Other languages
English (en)
French (fr)
Inventor
杜新新
Original Assignee
苏州风图智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州风图智能科技有限公司 filed Critical 苏州风图智能科技有限公司
Priority to EP19916170.4A priority Critical patent/EP3929049A4/en
Publication of WO2020168743A1 publication Critical patent/WO2020168743A1/zh
Priority to US17/407,017 priority patent/US11993259B2/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00—Arrangements, adaptations or methods for cruise controls
    • B60K2310/24—Speed setting methods
    • B60K2310/244—Speed setting methods changing target speed or setting a new target speed, e.g. changing algorithms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • 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
    • B60W2720/12—Lateral speed
    • B60W2720/125—Lateral acceleration

Definitions

  • the present disclosure relates to the field of unmanned driving technology, and in particular to a vehicle speed control method and device.
  • unmanned driving technology has been applied in agriculture, industry and other fields.
  • the process of unmanned driving includes sensing the position of the car body through sensors, and controlling driving according to the desired path through related motion control methods. Speed and steering, driving from start to finish.
  • the motion control includes longitudinal control and lateral control.
  • the longitudinal control refers to the realization of precise following the desired vehicle speed through the coordination of the accelerator and the brake, and the lateral control realizes the path tracking of the unmanned vehicle.
  • the motion control of unmanned vehicles mostly considers what kind of speed should be adopted to safely avoid obstacles when encountering obstacles; the speed of the vehicle is controlled without considering the comfort of passengers and other factors, so The application of unmanned vehicle motion control in related technologies is limited.
  • the present disclosure provides a vehicle speed control method and device.
  • a vehicle speed control method including:
  • the first vehicle speed is referred to as the target vehicle speed.
  • the road safety information includes:
  • One or more of safety obstacle avoidance information line driving information, speed limit information, safe distance information, lane turning information, and traffic indicator information.
  • the acquiring the driving section of the vehicle body and determining the change of the vehicle body posture in the driving section includes:
  • the change amount of the vehicle body posture in the driving section is determined.
  • the determining, according to the curvature change information of the driving trajectory, the driving trajectory of the vehicle body attitude change amount in the driving section includes:
  • the vehicle body posture change amount in the driving section is determined.
  • the method further includes:
  • a node with a faster speed change in the driving section of the driving track is detected, and the target vehicle speed at the node is smoothed.
  • the method further includes:
  • the target vehicle speed is controlled to be less than or equal to the maximum travel speed of the vehicle body.
  • a vehicle speed control device including;
  • the first determination module is configured to determine the first vehicle speed travel trajectory of the vehicle body based on road safety information when the vehicle body state is normal;
  • An acquisition module configured to acquire the driving section of the vehicle body, and determine the amount of change in the vehicle body posture in the driving section;
  • a processing module configured to determine the vehicle body tangential acceleration in the driving section according to the correspondence between the vehicle body pose change and the vehicle body tangential acceleration;
  • the second determining module is configured to determine the second vehicle speed of the vehicle body when the tangential acceleration of the vehicle body reaches a preset maximum tangential acceleration
  • the judgment module is used to judge whether the second vehicle speed is less than the first vehicle speed, if the second vehicle speed is less than the first vehicle speed, use the second vehicle speed as the target vehicle speed, and if the second vehicle speed is greater than the first vehicle speed, A vehicle speed, the first vehicle speed is taken as the target vehicle speed.
  • the road safety information includes:
  • One or more of safety obstacle avoidance information line driving information, speed limit information, safe distance information, lane turning information, and traffic indicator information.
  • the acquisition module includes:
  • the determining sub-module is used to determine the amount of change of the vehicle body posture in the driving section according to the curvature change information of the driving track.
  • the determining submodule includes:
  • An obtaining unit configured to divide the traveling trajectory into multiple sub-intervals according to the curvature change information of the traveling trajectory, and obtain vehicle body steering wheel angle information in the sub-intervals;
  • the determining unit is configured to determine the amount of vehicle body posture change in the driving section according to the corresponding relationship between the vehicle body steering wheel angle information and the vehicle body posture change.
  • the device further includes:
  • the smoothing module is used to detect nodes with faster speed changes in the driving track, and perform smoothing processing on the target vehicle speed at the nodes.
  • the device further includes:
  • the third determining module when the state of the vehicle body is abnormal, determines the maximum travel speed of the vehicle body
  • the control module is used to control the target vehicle speed to be less than or equal to the maximum travel speed of the vehicle body.
  • a vehicle speed control device including:
  • a memory for storing processor executable instructions
  • the processor is configured to execute the method described in any embodiment of the present disclosure.
  • a non-transitory computer-readable storage medium including when the instructions in the storage medium are executed by a processor, the processor can execute what is described in any embodiment of the present disclosure. The method described.
  • the technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: when the state of the vehicle body of the present disclosure is normal, the first speed of the vehicle body is determined based on road safety information, and under the condition of ensuring safe driving, comprehensive consideration The factor of passenger comfort, choosing the target speed that meets the passenger comfort requirements, promotes the practical application of unmanned vehicles.
  • Fig. 1 is a flowchart showing a method for controlling a vehicle speed according to an exemplary embodiment.
  • Fig. 2 is a flow chart showing a method for controlling vehicle speed according to an exemplary embodiment.
  • Fig. 3 is a flowchart showing a vehicle speed control method according to an exemplary embodiment.
  • Fig. 4 is a flowchart showing a vehicle speed control method according to an exemplary embodiment.
  • Fig. 5 is a flowchart showing a vehicle speed control method according to an exemplary embodiment.
  • Fig. 6 is a block diagram showing a vehicle speed control device according to an exemplary embodiment.
  • Fig. 7 is a block diagram showing a vehicle speed control device according to an exemplary embodiment.
  • Fig. 8 is a block diagram showing a vehicle speed control device according to an exemplary embodiment.
  • Fig. 9 is a block diagram showing a vehicle speed control device according to an exemplary embodiment.
  • Fig. 10 is a block diagram showing a vehicle speed control device according to an exemplary embodiment.
  • Fig. 11 is a block diagram showing a vehicle speed control device according to an exemplary embodiment.
  • Fig. 12 is a block diagram showing a vehicle speed control device according to an exemplary embodiment.
  • Unmanned vehicle body control technology including simulating a skilled driver to drive, using detection devices to continuously preview the road ahead, and determine the steering wheel angle based on the curvature of the path ahead and the current vehicle speed and pose information. , So that the unmanned vehicle body tries to follow the planned path as much as possible. In the actual driving process, it is inevitable that you will encounter obstacles, such as sudden creatures or gravel; sudden changes in road conditions, such as turning or ramps, require timely measures. In related technologies, people have adopted some speed control methods on how to avoid obstacles safely, but they have not comprehensively considered factors such as vehicle body condition and passenger comfort, which makes unmanned driving limited in practical applications.
  • a vehicle speed control method provided by the present disclosure can integrate factors such as vehicle body status, passenger comfort, and vehicle body driving life to control the speed of unmanned vehicles, which is closer to For practical applications.
  • Fig. 1 is a method flowchart of an embodiment of a vehicle speed control method provided by the present disclosure.
  • the present disclosure provides method operation steps as shown in the following embodiments or drawings, more or less operation steps may be included in the method based on conventional or without creative labor. In steps where there is no necessary causality logically, the execution order of these steps is not limited to the execution order provided by the embodiments of the present disclosure.
  • FIG. 1 an embodiment of the vehicle speed control method provided by the present disclosure is shown in FIG. 1, and includes:
  • Step S11 when the vehicle body is in a normal state, determine the first vehicle speed travel trajectory of the vehicle body based on road safety information;
  • Step S12 Obtain the driving section of the vehicle body, and determine the driving track of the vehicle body attitude change amount in the driving section;
  • Step S13 Determine the vehicle body tangential acceleration travel trajectory in the travel section according to the corresponding relationship between the vehicle body pose change and the vehicle body tangential acceleration;
  • Step S14 when the tangential acceleration of the vehicle body reaches a preset maximum tangential acceleration, determine the second vehicle speed of the vehicle body;
  • Step S15 Determine whether the second vehicle speed is less than the first vehicle speed, if the second vehicle speed is less than the first vehicle speed, use the second vehicle speed as the target vehicle speed, and if the second vehicle speed is greater than the first vehicle speed , Take the first vehicle speed as the target vehicle speed.
  • the normal state of the vehicle body includes that the vehicle body is running stably, no parts are damaged, the sensor is broken, or the amount of fuel is insufficient.
  • the road safety information includes safe obstacle avoidance, driving without pressing the line, driving at the speed required by road traffic, etc., when encountering obstacles, such as pedestrians, pets, gravel, potholes, construction sites or traffic accidents.
  • the way of stopping or changing lanes can be adopted to avoid the obstacle, and the vehicle speed can be reduced to zero. If the volume of the obstacle is large, and the safe obstacle avoidance cannot be achieved by changing lanes, then the method of stopping is adopted.
  • a constant acceleration can be used to speed Carry out reduction control; in most cases, in order to maintain the efficient operation of the vehicle, the way of changing lanes is adopted to avoid obstacles.
  • the position coordinates of the vehicle body and the road information can be input into a pre-stored driving trajectory model to determine the Describe the driving track of the vehicle body. According to the driving trajectory, the first vehicle speed that can follow the driving trajectory without deviation is determined.
  • the lidar and/or visual sensor installed on the vehicle body can be used to detect the travel section of the vehicle body in the travel direction, and then simulate the travel trajectory of the vehicle body in the travel section to determine the The vehicle body posture change amount in the driving section is determined, and the vehicle body posture change amount is determined by the corresponding relationship between the vehicle body posture change amount and the vehicle body tangential acceleration.
  • the corresponding relationship of the car body tangential acceleration can be obtained through pre-tests.
  • the maximum tangential acceleration refers to the maximum tangential acceleration that satisfies the comfort of passengers, and the corresponding relationship between the vehicle body attitude change and the vehicle body tangential acceleration can be obtained through experiments, such as:
  • r 1 is the yaw rate of the vehicle body
  • ⁇ is the front wheel turning angle of the vehicle body
  • L 1 is the wheelbase of the vehicle body
  • K 1 is the stability factor of the vehicle body, which depends on The center of mass parameters of the car body and the tire cornering stiffness.
  • the yaw rate and steady-state steering gain of the vehicle body is related to the performance of the vehicle body and can be obtained through experiments.
  • the vehicle body yaw angle r 1 can be obtained by the pose sensor installed on the vehicle body.
  • the passenger’s experience of the steering angle of the car body in the car body determines the car body steering angle that satisfies the comfort level, and determines the driving speed of the car body by inputting the steering angle of the car body, thereby determining the maximum tangential acceleration.
  • the obtained vehicle body tangential acceleration is compared with the maximum tangential acceleration.
  • the vehicle body tangential acceleration reaches the preset maximum tangential acceleration, the vehicle body will be The speed and the preset maximum acceleration determine the second vehicle speed of the vehicle body.
  • the second vehicle speed is compared with the first vehicle speed, and if the second vehicle speed is less than the first vehicle speed, the second vehicle speed is determined as the target vehicle speed, that is, if the first vehicle speed is higher Faster, under the same driving track, the faster the vehicle speed will cause greater changes in body posture, which will affect the comfort of passengers.
  • the target vehicle speed is determined as the slower second vehicle speed. It can meet the requirements of passenger comfort and passengers can get a better riding experience.
  • the first speed of the vehicle body is determined based on the road safety information, and the passenger comfort factor is considered comprehensively to select the goal that meets the passenger comfort requirements while ensuring safe driving. Speed promotes the practical application of unmanned vehicles.
  • the road safety information includes one or more of: safe obstacle avoidance information, line driving information, speed limit information, safe distance information, lane turning information, and traffic indicator information .
  • Fig. 2 is a method flowchart of an embodiment of a vehicle speed control method provided by the present disclosure.
  • the present disclosure provides method operation steps as shown in the following embodiments or drawings, more or less operation steps may be included in the method based on conventional or without creative labor. In steps where there is no necessary causality logically, the execution order of these steps is not limited to the execution order provided by the embodiments of the present disclosure.
  • step S12 the driving section of the vehicle body is acquired, and the vehicle in the driving section is determined.
  • the amount of body posture change includes step S121 and step S122:
  • step S121 obtain the travel trajectory in the vehicle body travel section, and determine the curvature change information of the travel trajectory
  • step S122 according to the curvature change information of the driving trajectory, the amount of change of the vehicle body posture in the driving section is determined.
  • the driving trajectory includes a curved driving trajectory
  • the curved driving trajectory can be regarded as composed of a series of nodes, wherein the point where the curvature changes relatively large, the vehicle body posture changes relatively large.
  • the curvature and arc length of a node of the curved driving track are determined, and then the tangent direction at the node is determined. Since the tangent direction has an associated correspondence with the change of the vehicle body pose, The vehicle body posture at the node and the vehicle body posture change of two adjacent nodes are determined, so as to determine the vehicle body posture change amount in the driving section.
  • Fig. 3 is a method flowchart of an embodiment of a vehicle speed control method provided by the present disclosure.
  • the present disclosure provides method operation steps as shown in the following embodiments or drawings, more or less operation steps may be included in the method based on conventional or without creative labor. In steps where there is no necessary causality logically, the execution order of these steps is not limited to the execution order provided by the embodiments of the present disclosure.
  • step S122 according to the curvature change information of the driving track, determine the The amount of vehicle body posture change includes steps S1221 and S1222:
  • step S1221 according to the curvature change information of the driving trajectory, the driving trajectory is divided into a plurality of sub-intervals, and the steering wheel angle information of the vehicle body in the sub-intervals is acquired;
  • step S1222 according to the correspondence between the vehicle body steering wheel angle information and the vehicle body posture change, the vehicle body posture change amount in the driving section is determined.
  • the driving trajectory can be simulated, and the driving trajectory can be divided into a plurality of sub-sections, which can be divided into the following ways. For example, for a place with a large curvature change, a section with a smaller length corresponds to Segment, for the place where the curvature changes less, corresponds to the interval segment of larger length.
  • the tangent direction at the interval end point of the sub-interval is determined, and converted into the wheel angle information of the vehicle body according to the tangent direction, and the wheel angle of the vehicle body is the same as that of the vehicle body.
  • the steering wheel angles which can be obtained by reading the parameters of the vehicle steering wheel controller.
  • the corresponding relationship between the turning angle of the vehicle body steering wheel and the body posture change may be obtained through pre-tests, and the corresponding relationship may include: when the vehicle body steering wheel instantaneously rotates, it corresponds to the right steering of the vehicle body ; When the vehicle body steering wheel rotates counterclockwise, it corresponds to the vehicle body steering left. Furthermore, the rotation angle of the steering wheel of the vehicle body may be one-to-one corresponding to the steering angle of the vehicle body. Therefore, according to the corresponding relationship between the vehicle body steering wheel angle information and the vehicle body posture change, the vehicle body posture change amount in the driving section can be determined.
  • Fig. 4 is a method flowchart of an embodiment of a vehicle speed control method provided by the present disclosure.
  • the present disclosure provides method operation steps as shown in the following embodiments or drawings, more or less operation steps may be included in the method based on conventional or without creative labor. In steps where there is no necessary causality logically, the execution order of these steps is not limited to the execution order provided by the embodiments of the present disclosure.
  • the method further includes:
  • Step S16 Detecting nodes with faster speed changes in the driving section of the driving track, and smoothing the target vehicle speed at the nodes.
  • the nodes with faster speed changes may appear, including the nodes where the curvature of the driving track changes suddenly and the nodes when the first vehicle speed and the second vehicle speed are switched.
  • the target vehicle speed may be smoothed by a speed smooth interpolation method. Specifically, when a sudden change in the curvature of the estimated driving trajectory is detected, a relatively smooth curve is found next to the node to replace the estimated driving trajectory as the actual driving trajectory, and the actual driving trajectory curve is different from the estimated driving trajectory. It is necessary to determine a maximum allowable value of error, such as chord error. In the research of related technologies, the interpolation speed is calculated to obtain formula (2)
  • ⁇ and ⁇ represent the chord error and the radius of curvature, respectively.
  • Fig. 5 is a method flowchart of an embodiment of a vehicle speed control method provided by the present disclosure.
  • the present disclosure provides method operation steps as shown in the following embodiments or drawings, more or less operation steps may be included in the method based on conventional or without creative labor. In steps where there is no necessary causality logically, the execution order of these steps is not limited to the execution order provided by the embodiments of the present disclosure.
  • step S17 an embodiment of the vehicle speed control method provided by the present disclosure is shown in FIG. 5, and different from the foregoing embodiment, the method further includes step S17 and step S18:
  • step S17 when the state of the vehicle body is abnormal, the maximum travel speed of the vehicle body is determined
  • step S18 the target speed is controlled to be less than or equal to the maximum travel speed.
  • the vehicle body state information includes the working state of each component of the vehicle body, including normal working state and fault state.
  • a fault state such as sensor breakage, controller failure, etc.
  • the vehicle speed is maintained at a low maximum travel speed to avoid accidents.
  • the maximum travel speed can be obtained through experiments, or it can be set before the vehicle body starts according to the types of materials loaded on the vehicle body, for example, when the vehicle When the body is loaded with fragile materials, the maximum travel speed of the body can be preset.
  • the maximum travel speed is the maximum travel speed in the entire journey.
  • the vehicle speed can be controlled by releasing the accelerator and starting the brake, so that the target vehicle speed is less than or equal to the maximum travel speed.
  • Fig. 6 is a device block diagram of an embodiment of a vehicle speed control device provided by the present disclosure.
  • the first determining module 11 is configured to determine the first vehicle speed travel trajectory of the vehicle body based on road safety information when the vehicle body state is normal;
  • the acquiring module 12 is configured to acquire the driving range of the vehicle body, and determine the amount of change of the vehicle body posture in the driving range;
  • the processing module 13 is configured to determine the vehicle body tangential acceleration in the driving section according to the corresponding relationship between the vehicle body pose change and the vehicle body tangential acceleration;
  • the second determining module 14 is configured to determine the second vehicle speed of the vehicle body when the tangential acceleration of the vehicle body reaches a preset maximum tangential acceleration;
  • the judging module 15 is used to judge whether the second vehicle speed is less than the first vehicle speed, if the second vehicle speed is less than the first vehicle speed, use the second vehicle speed as the target vehicle speed, and if the second vehicle speed is greater than the first vehicle speed, For the first vehicle speed, the first vehicle speed is taken as the target vehicle speed.
  • the road safety information includes one or more of: safe obstacle avoidance information, line driving information, speed limit information, safe distance information, lane turning information, and traffic indicator information .
  • Fig. 7 is a device block diagram of an embodiment of a vehicle speed control device provided by the present disclosure.
  • the difference from the foregoing embodiment is that the acquisition module 12 includes:
  • the obtaining sub-module 121 is used to obtain the driving trajectory in the driving section of the vehicle body
  • the determining sub-module 122 is configured to determine the amount of change of the vehicle body posture in the driving section according to the curvature change information of the driving track.
  • Fig. 8 is a device block diagram of an embodiment of a vehicle speed control device provided by the present disclosure.
  • the determining submodule 122 includes:
  • the obtaining unit 1221 is configured to divide the traveling trajectory into a plurality of sub-intervals according to the curvature change information of the traveling trajectory, and obtain the steering wheel angle information of the vehicle body in the sub-intervals;
  • the determining unit 1222 is configured to determine the amount of vehicle body posture change in the driving section according to the correspondence between the vehicle body steering wheel angle information and the vehicle body posture change.
  • Fig. 9 is a device block diagram of an embodiment of a vehicle speed control device provided by the present disclosure. The difference from the foregoing embodiment is that a smoothing module 16 is further included.
  • the smoothing module 16 is used to detect nodes with faster speed changes in the driving track, and perform smoothing processing on the target vehicle speed at the nodes.
  • Fig. 10 is a device block diagram of an embodiment of a vehicle speed control device provided by the present disclosure. Different from the above embodiment, it also includes:
  • the third determining module 17 determines the maximum travel speed of the vehicle body when the vehicle body state is abnormal
  • the control module 18 is used to control the target vehicle speed to be less than or equal to the maximum travel speed of the vehicle body.
  • Fig. 11 is a block diagram showing a device 800 for navigation according to an exemplary embodiment.
  • the device 800 may be a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.
  • the device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, And the communication component 816.
  • the processing component 802 generally controls the overall operations of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method.
  • the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components.
  • the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
  • the memory 804 is configured to store various types of data to support operations in the device 800. Examples of these data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc.
  • the memory 804 can be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Magnetic Disk Magnetic Disk or Optical Disk.
  • the power supply component 806 provides power to various components of the device 800.
  • the power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.
  • the multimedia component 808 includes a screen that provides an output interface between the device 800 and the user.
  • the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation.
  • the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (MIC), and when the device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive external audio signals.
  • the received audio signal may be further stored in the memory 804 or transmitted via the communication component 816.
  • the audio component 810 further includes a speaker for outputting audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module.
  • the peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include but are not limited to: home button, volume button, start button, and lock button.
  • the sensor component 814 includes one or more sensors for providing the device 800 with various aspects of status assessment.
  • the sensor component 814 can detect the on/off status of the device 800 and the relative positioning of the components.
  • the component is the display and the keypad of the device 800.
  • the sensor component 814 can also detect the position change of the device 800 or a component of the device 800. , The presence or absence of contact between the user and the device 800, the orientation or acceleration/deceleration of the device 800, and the temperature change of the device 800.
  • the sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact.
  • the sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.
  • the communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices.
  • the device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof.
  • the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the apparatus 800 may be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing equipment (DSPD), programmable logic devices (PLD), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • ASIC application specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing equipment
  • PLD programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • non-transitory computer-readable storage medium including instructions, such as the memory 804 including instructions, which can be executed by the processor 820 of the device 800 to complete the foregoing method.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
  • Fig. 12 is a block diagram showing a device 1900 for navigation according to an exemplary embodiment.
  • the device 1900 may be provided as a server. 12
  • the apparatus 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by the memory 1932, for storing instructions executable by the processing component 1922, such as application programs.
  • the application program stored in the storage 1932 may include one or more modules each corresponding to a set of instructions.
  • the processing component 1922 is configured to execute instructions to perform the aforementioned navigation method
  • the device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to the network, and an input output (I/O) interface 1958.
  • the device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.
  • non-transitory computer-readable storage medium including instructions, such as the memory 1932 including instructions, which may be executed by the processing component 1922 of the device 1900 to complete the foregoing method.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Landscapes

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

Abstract

一种车速控制方法和装置，该方法包括：当车体状态正常时，基于道路安全信息，确定所述车体的第一车速（S11）；获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量（S12）；根据所述车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度（S13）；当所述车体切向加速度达到预设的最大切向加速度时，确定所述车体的第二车速（S14）；判断所述第二车速是否小于第一车速，如果所述第二车速小于所述第一车速，确定所述第二车速作为目标车速（S15）。在保证安全行驶的情况下，综合考虑乘客的舒适度的因素，选择满足乘客舒适性要求的目标速度，促进了无人车的实际应用。

Description

一种车速控制方法和装置 技术领域
本公开涉及无人驾驶技术领域，尤其涉及一种车速控制方法和装置。
背景技术
随时传感器及计算机技术的发展，无人驾驶技术已经在农业、工业等领域得以应用，无人驾驶过程包括，通过传感器感知车体的位置，按照期望的路径，通过相关的运动控制方法，控制行驶速度和转向，从起点行驶到终点。所述运动控制包括纵向控制和横向控制，纵向控制是指通过油门和制动的协调，实现对期望车速的精确跟随，横向控制实现无人驾驶车辆的路径跟踪。
相关技术中，无人车的运动控制多考虑遇到障碍物时，应该采取什么样的变化速度以进行安全避障；没有考虑乘客的舒适度等多因素的情况下，车速的控制问题，因此相关技术中无人车运动控制的应用受限。
发明内容
为克服相关技术中存在的问题，本公开提供一种车速控制方法和装置。
根据本公开实施例的第一方面，提供一种车速控制方法，包括：
当车体状态正常时，基于道路安全信息，确定所述车体的第一车速；
获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量；
根据所述车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度；
当所述车体切向加速度达到预设的最大切向加速度时，确定所述车体的第二车速；
判断所述第二车速是否小于第一车速，如果所述第二车速小于所述第一车速，将所述第二车速作为目标车速，如果所述第二车速大于所述第一车速，将所述第一车速作为目标车速。
在一种可能的实现方式中，所述道路安全信息包括：
安全避障信息、压线行驶信息、限速信息、安全车距信息、车道转向信息和交通指示灯信息中的一种或几种。
在一种可能的实现方式中，所述获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量，包括：
获取所述车体行驶区间内的行驶轨迹，确定所述行驶轨迹的曲率变化信息；
根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量。
在一种可能的实现方式中，所述根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量行驶轨迹，包括：
根据所述行驶轨迹的曲率变化信息，将所述行驶轨迹划分为多个子区间，获取所述子区间内车体方向盘转角信息；
根据所述车体方向盘转角信息与车体位姿变化的对应关系，确定所述行驶区间内的车体位姿变化量。
在一种可能的实现方式中，所述方法还包括：
检测所述行驶轨迹行驶区间内速度变化较快的节点，对所述节点处的所述目标车速进行平滑处理。
在一种可能的实现方式中，所述方法还包括：
当车体状态异常时，确定所述车体最大行驶速度；
控制所述目标车速小于或等于所述车体最大行驶速度。
根据本公开实施例的第二方面，提供一种车速控制装置，包括；
第一确定模块，用于当车体状态正常时，基于道路安全信息，确定所述车体的第一车速行驶轨迹；
获取模块，用于获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量；
处理模块，用于根据所述车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度；
第二确定模块，用于当所述车体切向加速度达到预设的最大切向加速度时，确定所述车体的第二车速；
判断模块，用于判断所述第二车速是否小于第一车速，如果所述第二车速小于所述第一车速，将所述第二车速作为目标车速，如果所述第二车速大于所述第一车速，将所述第一车速作为目标车速。
在一种可能的实现方式中，所述道路安全信息包括：
安全避障信息、压线行驶信息、限速信息、安全车距信息、车道转向信息和交通指示灯信息中的一种或几种。
在一种可能的实现方式中，所述获取模块包括：
获取子模块，用于获取所述车体行驶区间内的行驶轨迹；
确定子模块，用于根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量。
在一种可能的实现方式中，所述确定子模块包括：
获取单元，用于根据所述行驶轨迹的曲率变化信息，将所述行驶轨迹划分为多个子区间，获取所述子区间内车体方向盘转角信息；
确定单元，用于根据所述车体方向盘转角信息与车体位姿变化的对应关系，确定所述行驶区间内的车体位姿变化量。
在一种可能的实现方式中，所述装置还包括：
平滑模块，用于检测所述行驶轨迹中速度变化较快的节点，对所述节点处的所述目标车速进行平滑处理。
在一种可能的实现方式中，所述装置还包括：
第三确定模块，当车体状态异常时，确定所述车体最大行驶速度；
控制模块，用于控制所述目标车速小于或等于所述车体最大行驶速度。
根据本公开实施例的第三方面，提供一种车速控制装置，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为执行本公开任一实施例所述的方法。
根据本公开实施例的第四方面，提供一种非临时性计算机可读存储介质，包括当所述存储介质中的指令由处理器执行时，使得处理器能够执行根据本公开任一实施例所述的方法。
本公开的实施例提供的技术方案可以包括以下有益效果：本公开车体状态正常时，基于道路安全信息，确定所述车体行驶的第一速度，在保证安全行驶的的情况下，综合考虑乘客的舒适度的因素，选择满足乘客舒适性要求的目标速度，促进了无人车的实际应用。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1是根据一示例性实施例示出的一种车速控制方法的流程图。
图2是根据一示例性实施例示出的一种车速控制方法的流程图。
图3是根据一示例性实施例示出的一种车速控制方法的流程图。
图4是根据一示例性实施例示出的一种车速控制方法的流程图。
图5是根据一示例性实施例示出的一种车速控制方法的流程图。
图6是根据一示例性实施例示出的一种车速控制装置的框图。
图7是根据一示例性实施例示出的一种车速控制装置的框图。
图8是根据一示例性实施例示出的一种车速控制装置的框图。
图9是根据一示例性实施例示出的一种车速控制装置的框图。
图10是根据一示例性实施例示出的一种车速控制装置的框图。
图11是根据一示例性实施例示出的一种车速控制装置的框图。
图12是根据一示例性实施例示出的一种车速控制装置的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
为了方便本领域技术人员理解本公开实施例提供的技术方案，下面先对技术方案实现的技术环境进行说明。
无人驾驶的车体控制技术，包括模拟熟练的驾驶员开车，利用检测装置，不断的对前方道路进行预瞄，根据前方路径的曲率以及当前车辆的速度和位姿信息等，决定方向盘的转角，使得无人驾驶车体尽量按照规划的路径前行。实际驾驶过程中，难免会遇到障碍物，如突然出现的生物或碎石；路况 突变，如转弯或坡道等情况，需要及时采取相关措施。相关技术中，人们对如何安全避障采取了一些速度控制方法，但是没有综合考虑车体状态、乘客舒适度等因素，使得无人驾驶在实际应用中受到限制。
基于类似于上文所述的实际技术需求，本公开提供的一种车速控制方法，能够综合车体状态、乘客舒适度、车体行驶寿命等因素，对无人驾驶的车速进行控制，更加贴近于实际应用。
下面结合附图1对本公开提供的车速控制方法进行详细的说明。图1是本公开提供的车速控制方法的一种实施例的方法流程图。虽然本公开提供了如下述实施例或附图所示的方法操作步骤，但基于常规或者无需创造性的劳动在所述方法中可以包括更多或者更少的操作步骤。在逻辑性上不存在必要因果关系的步骤中，这些步骤的执行顺序不限于本公开实施例提供的执行顺序。
具体的，本公开提供的车速控制方法的一种实施例如图1所示，包括：
步骤S11，当车体状态正常时，基于道路安全信息，确定所述车体的第一车速行驶轨迹；
步骤S12，获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量行驶轨迹；
步骤S13，根据所述车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度行驶轨迹；
步骤S14，当所述车体切向加速度达到预设的最大切向加速度时，确定所述车体的第二车速；
步骤S15，判断所述第二车速是否小于第一车速，如果所述第二车速小于所述第一车速，将所述第二车速作为目标车速，如果所述第二车速大于所述第一车速，将所述第一车速作为目标车速。
本公开实施例中，所述车体状态正常包括，车体运行稳定，没有部件损坏、传感器断裂或油量不足等。所述道路安全信息包括安全避障、不压线行驶、按照道路交通要求的速度行驶等，当遇到障碍物时，如突然出现的行人、宠物；碎石、坑洼、施工地或交通事故等，根据障碍物体积大小，可以采取停靠或变道的方式进行避障，将所述车速降低至零。如所述障碍物的体积较大，采取变道的方式仍不能实现安全避障，则采取停靠的方式，根据所述障碍物的位置，综合考虑乘客的舒适性，可以采用恒定的加速度对速度进行减小控制；多数情况下，为了保持车辆的高效运行，采用变道的方式进行避障。类似的，控制车体行驶速度和转向，使其按照道路分界线内轨迹行驶，进一步的，可以将所述车体的位置坐标与所述道路信息输入到预先存储的行驶轨迹模型中，确定所述车体的行驶轨迹。根据所述行驶轨迹，确定能够按照所述行驶轨迹，不发生偏离的第一车速。
在一个实施例中，可以利用车体安装的激光雷达和/或视觉传感器，对所述车体行驶方向的行驶区间进行检测，进而对所述行驶区间内车体的行驶轨迹进行仿真，确定所述行驶区间内的车体位姿变化量，并根据车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度，其中所述车体位姿变化量与车体切向加速度的对应关系可以通过预先试验获得。
本公开实施例中，所述最大切向加速度指的是满足乘客舒适性的最大切向加速度，所述车体位姿变化量与车体切向加速度的对应关系，可以通过试验获得，比如：
在一个实施例中，为了保证车体行驶的稳定性，车体的转向角度与速度之间具有某种对应关系，在一种可能的实现方式中，有相关的研究得到所述车体横摆角速度稳态转向增益包括式(1)，
Figure PCTCN2019115906-appb-000001
其中，r 1为所述车体的横摆角速度，δ为所述车体的前轮转角，L 1为所述车体的轴距，K 1为所述车体的稳定性因数，取决于车体的质心参数和轮胎侧偏刚度。所述车体的横摆角速度稳态转向增益与车体的性能有关系，可以通过试验获得，所述车体横摆角度r 1可通过车体本身安装的位姿传感器获取，这样，通过多名乘客乘坐车体对车体转向角度的体验，确定满足舒适度的车体转向角度，通过输入所述车体的转向角度，确定所述车体的行驶车速，进而确定最大切向加速度。
本公开实施例中，将获得所述车体切向加速度与最大切向加速度做比较，当所述车体切向加速度达到预设的最大切向加速度时，根据所述车体上一时刻的速度以及预设的最大加速度，确定所述车体的第二车速。
本公开实施例中，将所述第二车速与所述第一车速做比较，如果所述第二车速小于所述第一车速，确定所述第二车速作为目标车速，即如果第一车速较快，在相同的行驶轨下，车速越快引起的车身位姿变化较大，进而影响乘客乘坐的舒适度，通过与第二车速做比较，将目标车速确定为车速较慢的第二车速，可以满足乘客舒适性的要求，乘客能够获得更好的乘车体验。
本公开车体状态正常时，基于道路安全信息，确定所述车体行驶的第一速度，在保证安全行驶的的情况下，综合考虑乘客的舒适度的因素，选择满足乘客舒适性要求的目标速度，促进了无人车的实际应用。
在一种可能的实现方式中，所述道路安全信息包括：安全避障信息、压线行驶信息、限速信息、安全车距信息、车道转向信息和交通指示灯信息中的一种或几种。
下面结合附图2对本公开提供的车速控制方法进行详细的说明。图2是本公开提供的车速控制方法的一种实施例的方法流程图。虽然本公开提供了如下述实施例或附图所示的方法操作步骤，但基于常规或者无需创造性的劳动在所述方法中可以包括更多或者更少的操作步骤。在逻辑性上不存在必要因果关系的步骤中，这些步骤的执行顺序不限于本公开实施例提供的执行顺序。
具体的，本公开提供的车速控制方法的一种实施例如图2所示，与上述实施例不同的是，所述步骤S12，获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量，包括步骤S121和步骤S122：
在步骤S121中，获取所述车体行驶区间内的行驶轨迹，确定所述行驶轨迹的曲率变化信息；
在步骤S122中，根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量。
本公开实施例中，所述行驶轨迹包括曲线行驶轨迹，所述曲线行驶轨迹可以看做由一系列节点组成，其中曲率变化比较大的点处，所述车体位姿变化也比较大。在一种可能的实现方式中，确定所述曲线行驶轨迹某一节点的曲率以及弧长，进而确定所述节点处切线方向，由于所述切线方向与车体位姿变化具有相关联的对应关系，确定所述节点处的车体位姿以及相邻两节点的车体位姿变化，从而确定述行驶区间内的车体位姿变化量。
下面结合附图3对本公开提供的车速控制方法进行详细的说明。图3是本公开提供的车速控制方 法的一种实施例的方法流程图。虽然本公开提供了如下述实施例或附图所示的方法操作步骤，但基于常规或者无需创造性的劳动在所述方法中可以包括更多或者更少的操作步骤。在逻辑性上不存在必要因果关系的步骤中，这些步骤的执行顺序不限于本公开实施例提供的执行顺序。
具体的，本公开提供的车速控制方法的一种实施例如图3所示，与上述实施例不同的是，所述步骤S122，根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量，包括步骤S1221和步骤S1222：
在步骤S1221中，根据所述行驶轨迹的曲率变化信息，将所述行驶轨迹划分为多个子区间，获取所述子区间内车体方向盘转角信息；
在步骤S1222中，根据所述车体方向盘转角信息与车体位姿变化的对应关系，确定所述行驶区间内的车体位姿变化量。
本公开实施例中，可以对所述行驶轨迹进行仿真，将所述行驶轨迹划分成多个子区间段，可以按照如下划分方式进行，比如，对于曲率变化较大的地方，对应较小长度的区间段，对于曲率变化较小的地方，对应较大长度的区间段。在一种可能的实现方式中，确定所述子区间的区间端点处的切线方向，并根据所述切线方向转换成所述车体的车轮转角信息，而所述车体车轮转角与所述车体方向盘转角之间也同样具有关联的对应关系，可以通过阅读车体方向盘控制器的参数获得。
在一个实施例中，可以通过预先试验获得车体方向盘的转角与车身位姿变化的对应关系，所述对应关系可以包括：当所述车体方向盘瞬时针旋转，对应于所述车体右转向；当所述车体方向盘逆时针旋转，对应于所述车体左转向。更进一步的，可以将所述车体方向盘的旋转角度与所述车体的转向角度一一对应。因此，根据所述车体方向盘转角信息与车体位姿变化的对应关系，可以确定所述行驶区间内的车体位姿变化量。
下面结合附图4对本公开提供的车速控制方法进行详细的说明。图4是本公开提供的车速控制方法的一种实施例的方法流程图。虽然本公开提供了如下述实施例或附图所示的方法操作步骤，但基于常规或者无需创造性的劳动在所述方法中可以包括更多或者更少的操作步骤。在逻辑性上不存在必要因果关系的步骤中，这些步骤的执行顺序不限于本公开实施例提供的执行顺序。
具体的，本公开提供的车速控制方法的一种实施例如图4所示，与上述实施例不同的是，所述方法还包括：
步骤S16，检测所述行驶轨迹行驶区间内速度变化较快的节点，对所述节点处的所述目标车速进行平滑处理。
本公开实施例中，所述速度变化较快的节点可以出现在，包括所述行驶轨迹曲率突变的节点以及在第一车速和第二车速相切换时的节点。在一种可能的实现方式中，可以通过速度平滑插补的方法对所述目标车速进行平滑处理。具体为，当检测到所述预估的行驶轨迹曲率突变时，在所述节点旁边寻找相对平滑的曲线替换预估的行驶轨迹作为实际行驶轨迹，所述实际行驶轨迹曲线与预估行驶轨迹之间需确定一个误差最大允许值，如弦误差，相关技术研究中，对插补速度进行相关的计算，得到式(2)
Figure PCTCN2019115906-appb-000002
其中，δ和ρ分别表示弦误差和曲率半径。
下面结合附图5对本公开提供的车速控制方法进行详细的说明。图5是本公开提供的车速控制方法的一种实施例的方法流程图。虽然本公开提供了如下述实施例或附图所示的方法操作步骤，但基于常规或者无需创造性的劳动在所述方法中可以包括更多或者更少的操作步骤。在逻辑性上不存在必要因果关系的步骤中，这些步骤的执行顺序不限于本公开实施例提供的执行顺序。
具体的，本公开提供的车速控制方法的一种实施例如图5所示，与上述实施例不同的是，所述方法还包括步骤S17和步骤S18：
在步骤S17中，当车体状态异常时，确定所述车体最大行驶速度；
在步骤S18中，控制所述目标速度小于或等于最大行驶速度。
本公开实施例中，所述车体状态信息包括车体各个部件的工作状态，包括正常工作状态和故障状态，当所述车体状态处于故障状态时，如传感器断裂，控制器故障等，需要车速保持一个较低的最大行驶速度，以免发生意外，所述最大行驶速度可以通过实验获得，也可以根据所述车体上装载物资的种类在车体出发前进行设置，比如，当所述车体上装载有易碎物资时，可以预先设置所述车体的最大行驶速度。所述最大行驶速度为全程最大行驶速度，当所述目标车速大于所述最大行驶速度时，可通过松油门、启动刹车的方式进行车速控制，使得所述目标车速小于或等于最大行驶速度。
下面结合附图6对本公开提供的车速控制装置进行详细的说明。图6是本公开提供的车速控制装置的一种实施例的装置框图。
第一确定模块11，用于当车体状态正常时，基于道路安全信息，确定所述车体的第一车速行驶轨迹；
获取模块12，用于获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量；
处理模块13，用于根据所述车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度；
第二确定模块14，用于当所述车体切向加速度达到预设的最大切向加速度时，确定所述车体的第二车速；
判断模块15，用于判断所述第二车速是否小于第一车速，如果所述第二车速小于所述第一车速，将所述第二车速作为目标车速，如果所述第二车速大于所述第一车速，将所述第一车速作为目标车速。
在一种可能的实现方式中，所述道路安全信息包括：安全避障信息、压线行驶信息、限速信息、安全车距信息、车道转向信息和交通指示灯信息中的一种或几种。
下面结合附图7对本公开提供的车速控制装置进行详细的说明。图7是本公开提供的车速控制装置的一种实施例的装置框图。与上述实施例不同的是，所述获取模块12包括：
获取子模块121，用于获取所述车体行驶区间内的行驶轨迹；
确定子模块122，用于根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化 量。
下面结合附图8对本公开提供的车速控制装置进行详细的说明。图8是本公开提供的车速控制装置的一种实施例的装置框图。与上述实施例不同的是，所述确定子模块122包括：
获取单元1221，用于根据所述行驶轨迹的曲率变化信息，将所述行驶轨迹划分为多个子区间，获取所述子区间内车体方向盘转角信息；
确定单元1222，用于根据所述车体方向盘转角信息与车体位姿变化的对应关系，确定所述行驶区间内的车体位姿变化量。
下面结合附图9对本公开提供的车速控制装置进行详细的说明。图9是本公开提供的车速控制装置的一种实施例的装置框图。与上述实施例不同的是，还包括平滑模块16。
平滑模块16，用于检测所述行驶轨迹中速度变化较快的节点，对所述节点处的所述目标车速进行平滑处理。
下面结合附图10对本公开提供的车速控制装置进行详细的说明。图10是本公开提供的车速控制装置的一种实施例的装置框图。与上述实施例不同的是，还包括：
第三确定模块17，当车体状态异常时，确定所述车体最大行驶速度；
控制模块18，用于控制所述目标车速小于或等于所述车体最大行驶速度。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图11是根据一示例性实施例示出的一种用于导航的装置800的框图。例如，装置800可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等。
参照图11，装置800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口812，传感器组件814，以及通信组件816。
处理组件802通常控制装置800的整体操作，诸如与显示，电话呼叫，数据通信，摄像装置操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。
存储器804被配置为存储各种类型的数据以支持在装置800的操作。这些数据的示例包括用于在装置800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件806为装置800的各种组件提供电力。电源组件806可以包括电源管理系统，一个或多个电源，及其他与为装置800生成、管理和分配电力相关联的组件。
多媒体组件808包括在所述装置800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当装置800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当装置800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。
I/O接口812为处理组件802和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件814包括一个或多个传感器，用于为装置800提供各个方面的状态评估。例如，传感器组件814可以检测到装置800的打开/关闭状态，组件的相对定位，例如所述组件为装置800的显示器和小键盘，传感器组件814还可以检测装置800或装置800一个组件的位置改变，用户与装置800接触的存在或不存在，装置800方位或加速/减速和装置800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件816被配置为便于装置800和其他设备之间有线或无线方式的通信。装置800可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器804，上述指令可由装置800的处理器820执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
图12是根据一示例性实施例示出的一种用于导航的装置1900的框图。例如，装置1900可以被提供为一服务器。参照图12，装置1900包括处理组件1922，其进一步包括一个或多个处理器，以及由存储器1932所代表的存储器资源，用于存储可由处理组件1922的执行的指令，例如应用程序。存储 器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922被配置为执行指令，以执行上述导航方法
装置1900还可以包括一个电源组件1926被配置为执行装置1900的电源管理，一个有线或无线网络接口1950被配置为将装置1900连接到网络，和一个输入输出(I/O)接口1958。装置1900可以操作基于存储在存储器1932的操作系统，例如Windows ServerTM，Mac OS XTM，UnixTM,LinuxTM，FreeBSDTM或类似。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1932，上述指令可由装置1900的处理组件1922执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (14)

  1. 一种车速控制方法，其特征在于，包括：
    当车体状态正常时，基于道路安全信息，确定所述车体的第一车速；
    获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量；
    根据所述车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度；
    当所述车体切向加速度达到预设的最大切向加速度时，确定所述车体的第二车速；
    判断所述第二车速是否小于第一车速，如果所述第二车速小于所述第一车速，将所述第二车速作为目标车速，如果所述第二车速大于所述第一车速，将所述第一车速作为目标车速。
  2. 根据权利要求1所述的方法，其特征在于，所述道路安全信息包括：
    安全避障信息、压线行驶信息、限速信息、安全车距信息、车道转向信息和交通指示灯信息中的一种或几种。
  3. 根据权利要求1所述的方法，其特征在于，所述获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量，包括：
    获取所述车体行驶区间内的行驶轨迹，确定所述行驶轨迹的曲率变化信息；
    根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量行驶轨迹，包括：
    根据所述行驶轨迹的曲率变化信息，将所述行驶轨迹划分为多个子区间，获取所述子区间内车体方向盘转角信息；
    根据所述车体方向盘转角信息与车体位姿变化的对应关系，确定所述行驶区间内的车体位姿变化量。
  5. 根据权利要求1所述的方法，其特征在于，还包括：
    检测所述行驶轨迹行驶区间内速度变化较快的节点，对所述节点处的所述目标车速进行平滑处理。
  6. 根据权利要求1所述的方法，其特征在于，还包括：
    当车体状态异常时，确定所述车体最大行驶速度；
    控制所述目标车速小于或等于所述车体最大行驶速度。
  7. 一种车速控制装置，其特征在于，包括：
    第一确定模块，用于当车体状态正常时，基于道路安全信息，确定所述车体的第一车速行驶轨迹；
    获取模块，用于获取所述车体的行驶区间，确定所述行驶区间内的车体位姿变化量；
    处理模块，用于根据所述车体位姿变化量与车体切向加速度的对应关系，确定所述行驶区间内的车体切向加速度；
    第二确定模块，用于当所述车体切向加速度达到预设的最大切向加速度时，确定所述车体的第二车速；
    判断模块，用于判断所述第二车速是否小于第一车速，如果所述第二车速小于所述第一车速，将所述第二车速作为目标车速，如果所述第二车速大于所述第一车速，将所述第一车速作为目标车速。
  8. 根据权利要求7所述的装置，其特征在于，所述道路安全信息包括：
    安全避障信息、压线行驶信息、限速信息、安全车距信息、车道转向信息和交通指示灯信息中的一种或几种。
  9. 根据权利要求7所述的装置，其特征在于，所述获取模块包括：
    获取子模块，用于获取所述车体行驶区间内的行驶轨迹；
    确定子模块，用于根据所述行驶轨迹的曲率变化信息，确定所述行驶区间内的车体位姿变化量。
  10. 根据权利要求9所述的装置，其特征在于，所述确定子模块122包括：
    获取单元，用于根据所述行驶轨迹的曲率变化信息，将所述行驶轨迹划分为多个子区间，获取所述子区间内车体方向盘转角信息；
    确定单元，用于根据所述车体方向盘转角信息与车体位姿变化的对应关系，确定所述行驶区间内的车体位姿变化量。
  11. 根据权利要求7所述的装置，其特征在于，还包括：
    平滑模块，用于检测所述行驶轨迹中速度变化较快的节点，对所述节点处的所述目标车速进行平滑处理。
  12. 根据权利要求7所述的装置，其特征在于，还包括：
    第三确定模块，当车体状态异常时，确定所述车体最大行驶速度；
    控制模块，用于控制所述目标车速小于或等于所述车体最大行驶速度。
  13. 一种车速控制装置，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为执行权利要求1至6所述的方法。
  14. 一种非临时性计算机可读存储介质，当所述存储介质中的指令由处理器执行时，使得处理器能够执行根据权利要求1至6所述的方法。
PCT/CN2019/115906 2019-02-20 2019-11-06 一种车速控制方法和装置 WO2020168743A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19916170.4A EP3929049A4 (en) 2019-02-20 2019-11-06 METHOD AND DEVICE FOR CONTROLLING VEHICLE SPEED
US17/407,017 US11993259B2 (en) 2019-02-20 2021-08-19 Vehicle speed control method and apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910127399.2A CN109733411B (zh) 2019-02-20 2019-02-20 一种车速控制方法和装置
CN201910127399.2 2019-02-20

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/407,017 Continuation US11993259B2 (en) 2019-02-20 2021-08-19 Vehicle speed control method and apparatus

Publications (1)

Publication Number Publication Date
WO2020168743A1 true WO2020168743A1 (zh) 2020-08-27

Family

ID=66367889

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/115906 WO2020168743A1 (zh) 2019-02-20 2019-11-06 一种车速控制方法和装置

Country Status (4)

Country Link
US (1) US11993259B2 (zh)
EP (1) EP3929049A4 (zh)
CN (1) CN109733411B (zh)
WO (1) WO2020168743A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109733411B (zh) 2019-02-20 2020-10-13 苏州风图智能科技有限公司 一种车速控制方法和装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1683194A (zh) * 2004-04-14 2005-10-19 丰田自动车株式会社 车辆的减速控制装置和减速控制方法
WO2013011615A1 (ja) * 2011-07-21 2013-01-24 日産自動車株式会社 車両用走行制御装置
CN103121447A (zh) * 2013-03-19 2013-05-29 大连理工大学 一种弯道防侧滑侧翻自动控制系统及方法
CN105667509A (zh) * 2015-12-30 2016-06-15 苏州安智汽车零部件有限公司 一种用于汽车自适应巡航控制系统的弯道控制系统及方法
CN107891860A (zh) * 2017-11-14 2018-04-10 重庆长安汽车股份有限公司 基于道路曲率自适应调节车速的系统及方法
CN109733411A (zh) * 2019-02-20 2019-05-10 苏州风图智能科技有限公司 一种车速控制方法和装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2988507B1 (fr) * 2012-03-23 2014-04-25 Inst Francais Des Sciences Et Technologies Des Transports De Lamenagement Et Des Reseaux Systeme d'assistance pour vehicule routier
EP3515780A1 (en) * 2016-09-29 2019-07-31 The Charles Stark Draper Laboratory, Inc. Autonomous vehicle with modular architecture
CN106740868B (zh) * 2016-12-30 2019-03-29 东软集团股份有限公司 一种车速规划的方法、装置和设备
CN107331182A (zh) * 2017-07-13 2017-11-07 北京航空航天大学 一种面向连续信号交叉口的网联环境下自动驾驶车速控制方法
CN108088456B (zh) * 2017-12-21 2021-07-16 北京工业大学 一种具有时间一致性的无人驾驶车辆局部路径规划方法
CN108189838B (zh) * 2017-12-30 2019-10-22 吉利汽车研究院（宁波）有限公司 一种融合型自适应巡航弯道控制方法及装置
KR102429180B1 (ko) * 2018-01-12 2022-08-03 현대자동차주식회사 차량 자세 제어 장치 및 방법
CN109017780B (zh) * 2018-04-12 2020-05-05 深圳市布谷鸟科技有限公司 一种车辆智能驾驶控制方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1683194A (zh) * 2004-04-14 2005-10-19 丰田自动车株式会社 车辆的减速控制装置和减速控制方法
WO2013011615A1 (ja) * 2011-07-21 2013-01-24 日産自動車株式会社 車両用走行制御装置
CN103121447A (zh) * 2013-03-19 2013-05-29 大连理工大学 一种弯道防侧滑侧翻自动控制系统及方法
CN105667509A (zh) * 2015-12-30 2016-06-15 苏州安智汽车零部件有限公司 一种用于汽车自适应巡航控制系统的弯道控制系统及方法
CN107891860A (zh) * 2017-11-14 2018-04-10 重庆长安汽车股份有限公司 基于道路曲率自适应调节车速的系统及方法
CN109733411A (zh) * 2019-02-20 2019-05-10 苏州风图智能科技有限公司 一种车速控制方法和装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3929049A4 *

Also Published As

Publication number Publication date
US11993259B2 (en) 2024-05-28
EP3929049A1 (en) 2021-12-29
CN109733411A (zh) 2019-05-10
CN109733411B (zh) 2020-10-13
US20220144268A1 (en) 2022-05-12
EP3929049A4 (en) 2022-11-30

Similar Documents

Publication Publication Date Title
US10145697B2 (en) Dynamic destination navigation system
US10858012B2 (en) Autonomous driving assistance device and computer program
RU2656933C2 (ru) Способ и устройство для предупреждения о встречном транспортном средстве
US10538252B2 (en) Information presenting device and information presenting method
KR20190115278A (ko) 차량 제어 장치, 그를 포함한 시스템 및 그 방법
US20180136643A1 (en) Visual communication system for autonomous driving vehicles (adv)
US10565868B2 (en) Method and apparatus for traffic light state alerts
JP2022184896A (ja) 自律車両の通知のシステムと方法
US11858531B2 (en) Method, device, and computer program for controlling stop of autonomous vehicle using speed profile
KR102343329B1 (ko) 차량의 운전을 보조하는 전자 장치 및 방법
EP3538846B1 (en) Using map information to smooth objects generated from sensor data
CN111243233B (zh) 用于管理疲劳驾驶的设备、系统和方法
US10705529B2 (en) Autonomous all-terrain vehicle (ATV)
WO2020168743A1 (zh) 一种车速控制方法和装置
CN110837258B (zh) 自动驾驶控制方法及装置、系统、电子设备和存储介质
CN115648957B (zh) 车辆控制方法、装置、存储介质及芯片
US20230303068A1 (en) Vehicle traveling control method and apparatus, device, and storage medium
CN115014372B (zh) 路径规划方法、装置、存储介质及车辆
CN110920614A (zh) 变道控制方法、装置、设备及存储介质
Ananya et al. Semi-Automted IoT Vehicles
CN113071513A (zh) 自动驾驶控制器及自动驾驶控制方法
WO2020110186A1 (ja) 運転計画変更指示装置および運転計画変更指示方法
CN114608603B (zh) 路径规划方法、装置、存储介质及车辆
CN114608602A (zh) 路径规划方法、装置、存储介质及车辆
CN116476835A (zh) 车辆控制方法、装置、电子设备、存储介质及车辆

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19916170

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2019916170

Country of ref document: EP

Effective date: 20210920