CN109835337B - Turning control method and device and automatic driving vehicle - Google Patents
Turning control method and device and automatic driving vehicle Download PDFInfo
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Abstract
The invention discloses a turning control method, a turning control device and an automatic driving vehicle, wherein the method comprises the following steps: acquiring current image information positioned in front of an automatic driving vehicle; identifying dynamic change information of a lane line blanking point in the current lane line information according to the current image information, and identifying lane line curvature and bending direction of the current curve according to the dynamic change information; the turning operation of a turning actuator of an autonomous vehicle is controlled according to the curvature and the bending direction of the lane line. According to the control method provided by the embodiment of the invention, the transverse movement of the vehicle can be accurately controlled when the vehicle approaches a curve, so that the riding comfort is effectively ensured, and the safety of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a turning control method and device and an automatic driving vehicle.
Background
At present, many vehicles have driving assistance functions, such as adaptive cruise, automatic emergency braking, etc., so that the vehicles can automatically sense the environment around the vehicle, thereby estimating the relative distance and relative speed with the vehicle ahead in real time, and recognizing traffic environment information, such as lane line information, road signboard information, and traffic environment information, such as vehicles and pedestrians, to implement the driving assistance function.
However, once an autonomous vehicle is not equipped with a map required for autonomous driving, it is impossible to accurately determine whether there is a curve on a road ahead in real time, and also impossible to determine direction information of the curve, which is likely to affect a movement path planning, and it is impossible to implement a driving assistance function.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a turning control method for an autonomous vehicle, which can improve the safety of the vehicle while effectively ensuring ride comfort.
A second object of the present invention is to provide a turning control apparatus for an autonomous vehicle.
A third object of the invention is to propose an autonomous vehicle.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a turning control method for an autonomous vehicle, including: acquiring current image information positioned in front of an automatic driving vehicle; identifying dynamic change information of a lane line blanking point in the current lane line information according to the current image information, and identifying lane line curvature and bending direction of the current curve according to the dynamic change information; and controlling the turning action of a turning actuating mechanism of the automatic driving vehicle according to the curvature of the lane line and the bending direction.
According to the turning control method of the automatic driving vehicle, the curvature and the bending direction of the lane line of the current curve can be identified according to the current image information in front of the vehicle, so that the transverse movement of the vehicle is accurately controlled when the vehicle approaches the curve, the riding comfort is effectively ensured, the safety of the vehicle is improved, and safety accidents during turning are effectively avoided.
In addition, the turning control method of the autonomous vehicle according to the above-described embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the identifying, according to the current image information, dynamic change information of a lane line blanking point in current lane line information includes: carrying out binarization processing on the current image information to obtain a gray level image, and carrying out hopping identification on the gray level image line by line to extract lane line characteristics; identifying the current lane line information according to the lane line characteristics, and identifying lines where lane lines intersect to determine the lane line blanking points; and identifying the change information of the lane line and/or the steering wheel corner to acquire the dynamic change information of the blanking point of the lane line.
Further, in an embodiment of the present invention, before acquiring the dynamic change information, the method further includes: judging whether the change information is effective or not; and if the change information is valid, identifying the change information according to the valid change information.
Further, in an embodiment of the present invention, the identifying the curvature and the bending direction of the lane line of the current curve according to the dynamic change information includes: acquiring position information of a blanking point of a current lane line; and judging whether the current curve exists or not according to a continuous curve obtained by the maximum transverse offset of the blanking point under the radiuses of different curves and the position change information of the current lane line blanking point.
Further, in an embodiment of the present invention, the identifying the curvature and the bending direction of the lane line of the current curve according to the dynamic change information further includes: when the blanking point of the current lane line moves to the left and the transverse value is larger than the maximum transverse offset, the current curve exists, and the bending direction is to the left; when the current lane line blanking point moves rightwards and the transverse value is larger than the maximum transverse offset, the current curve exists, and the bending direction is rightward; and acquiring the curvature of the lane line of the current curve according to the continuous curve.
In order to achieve the above object, according to another aspect of the present invention, there is provided a turning control apparatus for an autonomous vehicle, comprising: the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring current image information positioned in front of an automatic driving vehicle; the identification module is used for identifying the dynamic change information of the lane line blanking point in the current lane line information according to the current image information and identifying the lane line curvature and the bending direction of the current curve according to the dynamic change information; and the control module is used for controlling the turning action of the turning actuating mechanism of the automatic driving vehicle according to the curvature of the lane line and the bending direction.
The turning control device of the automatic driving vehicle can identify the curvature and the bending direction of the lane line of the current curve according to the current image information in front of the vehicle, so that the transverse movement of the vehicle is accurately controlled when the vehicle approaches the curve, the riding comfort is effectively ensured, the safety of the vehicle is improved, and safety accidents during turning are effectively avoided.
In addition, the turning control apparatus of an autonomous vehicle according to the above-described embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the identification module includes: the extraction unit is used for carrying out binarization processing on the current image information to obtain a gray level image, and carrying out hopping identification on the gray level image line by line to extract lane line characteristics; the identification unit is used for identifying the current lane line information according to the lane line characteristics and identifying lines crossed by lane lines so as to determine the lane line blanking points; the first acquisition unit is used for identifying the change information of the lane line and/or the steering wheel corner so as to acquire the dynamic change information of the blanking point of the lane line.
Further, in an embodiment of the present invention, the identification module further includes: the second acquisition unit is used for acquiring the position information of the blanking point of the current lane line; and the first judging unit is used for judging whether the current curve exists or not according to a continuous curve obtained by the maximum transverse offset of the blanking point under the radius of different curves and the position change information of the current lane line blanking point.
Further, in an embodiment of the present invention, the identification module further includes: a second determination unit, configured to determine that the current curve exists when the current lane line blanking point moves to the left and a lateral value is greater than the maximum lateral offset, and that the bending direction is to the left, and determine that the current curve exists when the current lane line blanking point moves to the right and a lateral value is greater than the maximum lateral offset, and that the bending direction is to the right; and the third acquisition unit is used for acquiring the curvature of the lane line of the current curve according to the continuous curve.
In order to achieve the above object, an embodiment of a third aspect of the invention proposes an autonomous vehicle including the turning control apparatus of the autonomous vehicle described above. The automatic driving vehicle can identify the curvature and the bending direction of the lane line of the current curve according to the current image information in front of the vehicle, so that the transverse motion of the vehicle is accurately controlled when the vehicle approaches the curve, the riding comfort is effectively guaranteed, the safety of the vehicle is improved, and safety accidents are effectively avoided when the vehicle turns.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of turn control for an autonomous vehicle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a turn control method for an autonomous vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a turn control method for an autonomous vehicle in accordance with one embodiment of the present invention;
FIG. 4 is a schematic illustration of a continuous curve according to one embodiment of the present invention; and
fig. 5 is a block schematic diagram of a turning control apparatus of an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Turning control methods, apparatuses, and autonomous vehicles proposed according to embodiments of the present invention will be described below with reference to the accompanying drawings, and first, turning control methods of autonomous vehicles proposed according to embodiments of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a turning control method of an autonomous vehicle according to an embodiment of the present invention.
As shown in fig. 1, the turning control method of an autonomous vehicle includes the steps of:
in step S101, current image information located in front of the autonomous vehicle is acquired.
In the embodiment of the invention, taking a vehicle with a camera as an example, as shown in fig. 2, 1 is the camera, 2 is the vehicle, and 3 is the turning actuating mechanism, the embodiment of the invention can predict whether a curve exists in front by using the front-view camera, and judge the curvature and the bending direction of a lane line, so that when the vehicle approaches the curve, the transverse movement of the vehicle is accurately controlled, and the condition of too late control is avoided.
Further, in an embodiment of the present invention, identifying the dynamic change information of the lane line blanking point in the current lane line information according to the current image information includes: carrying out binarization processing on current image information to obtain a gray level image, and carrying out hopping identification on the gray level image line by line to extract lane line characteristics; identifying current lane line information according to the lane line characteristics, and identifying lines where lane lines intersect to determine lane line blanking points; and identifying the change information of the lane line and/or the steering wheel corner to acquire the dynamic change information of the blanking point of the lane line.
Specifically, as shown in fig. 3, firstly, the camera performs binarization processing on the acquired road picture information to obtain a gray scale map, performs hopping recognition on the obtained gray scale map line by line to extract lane line features, then identifies lane lines through clustering, performs kalman filtering to remove noise, and expresses the obtained lane lines by quadratic equations, such as L1, L2, and L3 in the figure.
Secondly, after the lane lines are identified, intersecting points on the picture by combining all parallel lane lines on the structured road are blanking points in the perspective relation, wherein the points with the most intersecting lines are selected as the blanking points according to the identified intersecting lines, for example, the points are shown as points O in the picture.
Finally, a rectangle can be selected, and the length and the width of the rectangle can be adjusted according to needs. For example, a blank point is represented by five pixels, wherein the blank point changes as the identified lane line changes, and the blank point also changes as the steering angle of the steering wheel of the vehicle changes.
Further, in an embodiment of the present invention, before acquiring the dynamic change information, the method further includes: judging whether the change information is effective or not; if so, identifying the change information according to the valid change information.
For example, as shown by the feedback of the turn mechanism, when the steering wheel angle is within +/-5 degrees and the rate of change of the steering wheel angle is less than or equal to 5 degrees/second, the change of the steering wheel angle is considered to not affect the selection of the blanking point.
In step S102, dynamic change information of the lane line blanking point in the current lane line information is identified based on the current image information, and the lane line curvature and the curve direction of the current curve are identified based on the dynamic change information.
In one embodiment of the present invention, identifying the curvature and the bending direction of the lane line of the current curve according to the dynamic change information includes: acquiring position information of a blanking point of a current lane line; and judging whether the current curve exists or not according to a continuous curve obtained by the maximum transverse offset of the blanking point under the radiuses of different curves and the position change information of the current lane line blanking point.
Further, in an embodiment of the present invention, identifying the curvature and the bending direction of the lane line of the current curve according to the dynamic change information further includes: when the blanking point of the current lane line moves leftwards and the transverse value is larger than the maximum transverse offset, the current curve exists, and the bending direction is leftwards; when the current lane line blanking point moves rightwards and the transverse value is larger than the maximum transverse offset, the current curve exists, and the bending direction is rightwards; and acquiring the curvature of the lane line of the current curve according to the continuous curve.
Specifically, first, whether a curve exists in the front lane is judged according to the position change of the blanking point, and the direction of the curve is judged:
step 1: the position of the blanking point of the current frame, i.e. the coordinates of the pixel, is recorded. It should be noted that, considering that the vehicle may change the running direction of the vehicle according to the left and right rotation of the steering wheel, an experimental method may be made, for example: recording the variation range of the blanking point when the steering wheel moves leftwards or rightwards at a rate less than or equal to 5 degrees/second below the steering wheel rotation angle on a long straight track, wherein the blanking point moves leftwards or rightwards in the transverse direction during the period, and recording the pixel position information SHO after the movementLAnd SHOR(ii) a Recording the variation range of the blanking point when the steering wheel moves leftwards or rightwards at a speed less than or equal to 5 degrees/second of the steering wheel turning angle variation rate on a long straight road and a curve (the curve radius R is 200 m, 300 m, 400 m, 500 m, 600 m, 700 m, 800 m, 900 m and 1000 m), respectively, wherein the blanking point moves leftwards or rightwards in the transverse direction during the period, recording the pixel position information MHO after the movementLR and MHORR。
Step 2: according to the maximum offset MHO of the blanking point in the transverse direction at different curve radiusesLR and MHORR, for the case that R is continuously changed from 200 m to 1000 m, for the obtained MHOLR and MHORR is linearly interpolated to obtain a continuous curve, as shown in fig. 4.
And step 3: when the actual blanking point moves to the left, its lateral value is greater than SHOLAnd SHORWhen the current is in the middle, the blanking point moves to the left, so that the situation that a curve is formed in the front of the current is judged, and the direction of the curve is left; the blanking point moves rightwards, so that the curve in front can be judged and the direction is rightwards; the curve radius R can be determined from the continuous curve, i.e. the curvature F is 1/R.
In step S103, the turning operation of the turning actuator of the autonomous vehicle is controlled according to the curvature and the curving direction of the lane line.
It can be understood that after judging whether there is a curve ahead, the curvature of the curve and the direction of the curve by the data of the camera, a real-time basis can be provided for the dynamic path planning of the vehicle, and the actuating mechanism of the vehicle, such as a steering wheel and an accelerator brake, can be controlled in advance, so that the stability and the safety of the vehicle passing the curve can be well obtained.
Specifically, in the embodiment of the present invention, the object and the lane line information may be identified through information collected by the forward-looking camera, and since the image captured by the camera is a two-dimensional image, the extension lines of the lane lines meet at a point called a blanking point. In addition, because the blanking point is dynamically changed due to the vehicle-mounted vibration of the camera, the change of the road gradient and the like, whether the front road has a curve or not and the direction of the curve can be judged according to the dynamic change of the blanking point, whether the front road has the curve or not, the direction of the curve and the corresponding curvature information can be judged in a weighting mode according to the change of the lane line included angle, then the actuating mechanisms of the vehicle such as a steering wheel and an accelerator brake can be controlled in advance, and therefore the stability and the safety of the vehicle passing the curve can be well achieved.
It should be noted that the embodiment of the present invention is used for both single lanes and multiple lanes, and the whole calculation and judgment process is completed within 100ms, so as to effectively meet the control requirement, that is, when the lane detection is completed and at least two lane lines are successfully detected, the embodiment of the present invention can accurately and effectively control the lateral movement of the vehicle.
According to the turning control method of the automatic driving vehicle, the curvature and the bending direction of the lane line of the current curve can be identified according to the current image information in front of the vehicle, so that the transverse movement of the vehicle is accurately controlled when the vehicle approaches the curve, the riding comfort is effectively ensured, the safety of the vehicle is improved, and safety accidents during turning are effectively avoided.
Next, a turning control apparatus of an autonomous vehicle proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 5 is a block schematic diagram of a turning control apparatus of an autonomous vehicle according to an embodiment of the present invention.
As shown in fig. 5, the turning control device 10 of the autonomous vehicle includes: an acquisition module 100, a recognition module 200 and a control module 300.
The obtaining module 100 is configured to obtain current image information located in front of an autonomous vehicle. The identification module 200 is configured to identify dynamic change information of a lane line blanking point in the current lane line information according to the current image information, and identify a lane line curvature and a curve direction of the current curve according to the dynamic change information. The control module 300 is configured to control a turning motion of a turning actuator of the autonomous vehicle according to a curvature and a bending direction of the lane line. The control device 10 of the embodiment of the invention can accurately control the transverse movement of the vehicle when approaching a curve, effectively ensure the riding comfort and simultaneously improve the safety of the vehicle.
Further, in one embodiment of the present invention, the identification module 200 comprises: the device comprises an extracting unit, a recognizing unit and a first acquiring unit.
The extraction unit is used for carrying out binarization processing on current image information to obtain a gray level image, and carrying out jump identification on the gray level image line by line to extract lane line characteristics. The identification unit is used for identifying the current lane line information according to the lane line characteristics and identifying lines crossed by the lane lines so as to determine the lane line blanking points. The first acquisition unit is used for identifying the change information of the lane line and/or the steering wheel corner so as to acquire the dynamic change information of the blanking point of the lane line.
Further, in an embodiment of the present invention, the identification module 200 further includes: the device comprises a second acquisition unit and a first judgment unit.
The second acquisition unit is used for acquiring the position information of the blanking point of the current lane line. The first judging unit is used for judging whether the current curve exists or not according to a continuous curve obtained by the maximum transverse offset of the blanking point under the radius of different curves and the position change information of the current lane line blanking point.
Further, in an embodiment of the present invention, the identification module 200 further includes: a second judging unit and a third acquiring unit.
The second judging unit is used for judging whether a current curve exists or not when a current lane line blanking point moves to the left and a transverse value is larger than a maximum transverse offset, and judging whether the current curve exists or not when a current lane line blanking point moves to the right and the transverse value is larger than the maximum transverse offset. And the third acquisition unit is used for acquiring the curvature of the lane line of the current curve according to the continuous curve.
It should be noted that the foregoing explanation of the embodiment of the turning control method for an autonomous vehicle is also applicable to the turning control device for an autonomous vehicle of this embodiment, and will not be described again here.
According to the turning control device of the automatic driving vehicle, the curvature and the bending direction of the lane line of the current curve can be identified according to the current image information in front of the vehicle, so that the transverse movement of the vehicle is accurately controlled when the vehicle approaches the curve, the riding comfort is effectively ensured, the safety of the vehicle is improved, and safety accidents during turning are effectively avoided.
Furthermore, an embodiment of the present invention also proposes an autonomous vehicle including the turning control device of the autonomous vehicle described above. The vehicle can identify the curvature and the bending direction of the lane line of the current curve according to the current image information in front of the vehicle, so that the transverse motion of the vehicle is accurately controlled when the vehicle approaches the curve, the riding comfort is effectively guaranteed, the safety of the vehicle is improved, and safety accidents when the vehicle turns are effectively avoided.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (3)
1. A turning control method of an autonomous vehicle, characterized in that the method is used for turning control of a single lane or multiple lanes, and the whole calculation and judgment process is completed within 100ms to meet the control demand, comprising the following steps:
acquiring current image information positioned in front of an automatic driving vehicle;
identifying dynamic change information of a lane line blanking point in the current lane line information according to the current image information, and identifying lane line curvature and bending direction of the current curve according to the dynamic change information; the identifying of the dynamic change information of the lane line blanking point in the current lane line information according to the current image information includes: carrying out binarization processing on the current image information to obtain a gray level image, carrying out hopping identification on the gray level image line by line to extract lane line characteristics, identifying lane lines through clustering, then removing noise through Kalman filtering, and expressing the obtained lane lines by a quadratic equation; identifying the current lane line information according to the lane line characteristics, and identifying lines where lane lines intersect to determine blanking points of the lane lines, wherein the points where the lines intersect most are the blanking points; selecting a rectangle, adjusting the length and width of the rectangle as required, using five pixels to represent a blanking point, and identifying the change information of the lane line and/or the steering wheel corner along with the change of the identified lane line of the blanking point so as to obtain the dynamic change information of the blanking point of the lane line; before acquiring the dynamic change information, the method further comprises: judging whether the change information is effective or not; if the change information is valid, identifying the change information according to the valid change information, wherein when the steering wheel angle is within +/-5 degrees and the steering wheel angle change rate is less than or equal to 5 degrees/second, the change of the steering wheel angle is considered not to influence the selection of the blanking point; the identifying of the curvature and the bending direction of the lane line of the current curve according to the dynamic change information includes: acquiring position information of a blanking point of a current lane line; judging whether the current curve exists or not according to a continuous curve obtained by maximum transverse offset of blanking points under the radiuses of different curves and the position change information of the current lane line blanking point; the identifying of the curvature and the bending direction of the lane line of the current curve according to the dynamic change information further includes: when the blanking point of the current lane line moves to the left and the transverse value is larger than the maximum transverse offset, the current curve exists, and the bending direction is to the left; when the current lane line blanking point moves rightwards and the transverse value is larger than the maximum transverse offset, the current curve exists, and the bending direction is rightward; acquiring the curvature of the lane line of the current curve according to the continuous curve; and
and controlling the turning action of a turning actuating mechanism of the automatic driving vehicle according to the curvature of the lane line and the bending direction.
2. A turning control apparatus of an autonomous vehicle, characterized in that the apparatus is used for turning control of a single lane or a plurality of lanes, and the whole calculation and judgment process is completed within 100ms to meet the control demand, comprising:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring current image information positioned in front of an automatic driving vehicle;
the identification module is used for identifying the dynamic change information of the lane line blanking point in the current lane line information according to the current image information and identifying the lane line curvature and the bending direction of the current curve according to the dynamic change information; the identification module comprises: the extraction unit is used for carrying out binarization processing on the current image information to obtain a gray level image, carrying out hopping identification on the gray level image line by line to extract lane line characteristics, identifying lane lines through clustering, removing noise through Kalman filtering, and expressing the obtained lane lines by a quadratic equation; the identification unit is used for identifying the current lane line information according to the lane line characteristics and identifying lines intersected with the lane lines to determine the blanking points of the lane lines, wherein the points with the most intersected lines are the blanking points; the first acquisition unit is used for selecting a rectangle, adjusting the length and the width of the rectangle as required, representing a blanking point by five pixels, and identifying the change information of the lane line and/or the steering wheel corner along with the change of the identified lane line by the blanking point so as to acquire the dynamic change information of the lane line blanking point; before acquiring the dynamic change information, the method further comprises: judging whether the change information is effective or not; if the change information is valid, identifying the change information according to the valid change information, wherein when the steering wheel angle is within +/-5 degrees and the steering wheel angle change rate is less than or equal to 5 degrees/second, the change of the steering wheel is considered to not influence the selection of the blanking point, and when the steering wheel angle is within +/-5 degrees and the steering wheel angle change rate is less than or equal to 5 degrees/second, the change of the steering wheel is considered to not influence the selection of the blanking point; the identification module further comprises: the second acquisition unit is used for acquiring the position information of the blanking point of the current lane line; the first judging unit is used for judging whether the current curve exists or not according to a continuous curve obtained by the maximum transverse offset of the blanking point under the radius of different curves and the position change information of the current lane line blanking point; a second determination unit, configured to determine that the current curve exists when the current lane line blanking point moves to the left and a lateral value is greater than the maximum lateral offset, and that the bending direction is to the left, and determine that the current curve exists when the current lane line blanking point moves to the right and a lateral value is greater than the maximum lateral offset, and that the bending direction is to the right; a third obtaining unit, configured to obtain a lane line curvature of the current curve according to the continuous curve; and
and the control module is used for controlling the turning action of the turning actuating mechanism of the automatic driving vehicle according to the curvature of the lane line and the bending direction.
3. An autonomous vehicle, comprising: the turning control apparatus of an autonomous vehicle according to claim 2.
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| CN110979162A (en) * | 2019-12-20 | 2020-04-10 | 北京海纳川汽车部件股份有限公司 | Vehicle headlamp control method and system and vehicle |
| CN110979163A (en) * | 2019-12-20 | 2020-04-10 | 北京海纳川汽车部件股份有限公司 | Vehicle headlamp control method and system and vehicle |
| CN111077893B (en) * | 2019-12-31 | 2023-06-23 | 驭势科技（浙江）有限公司 | Navigation method based on multiple vanishing points, electronic equipment and storage medium |
| CN111674393B (en) * | 2020-05-12 | 2021-12-07 | 坤泰车辆系统（常州）有限公司 | Control method for long-curve running of automatic driving system with lane centering auxiliary function |
| CN113511202A (en) * | 2021-07-30 | 2021-10-19 | 东风汽车有限公司东风日产乘用车公司 | Curve vehicle speed control method of adaptive cruise system, storage medium and electronic equipment |
| CN114368397B (en) * | 2022-02-07 | 2023-11-28 | 中国第一汽车股份有限公司 | Curve judging method and device, storage medium and electronic equipment |
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