CN116985801A - Method and device for controlling vehicle speed of vehicle in self-adaptive cruising curve - Google Patents
Method and device for controlling vehicle speed of vehicle in self-adaptive cruising curve Download PDFInfo
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- 230000009471 action Effects 0.000 claims abstract description 66
- 230000003044 adaptive effect Effects 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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Abstract
The application discloses a method and a device for controlling the speed of a vehicle in a self-adaptive cruising curve, wherein the method comprises the following steps: detecting whether the current vehicle enters a curve working condition; when the current vehicle enters a curve working condition is detected, calculating the actual curve curvature of the curve where the current vehicle is located, and identifying lane line information of the curve where the current vehicle is located; and identifying the lane where the current vehicle is located according to the lane line information, obtaining the predicted track of the current vehicle according to the lane where the current vehicle is located and the curvature of the actual curve, and executing the preset vehicle following cruising action according to the current speed of the adaptive cruising target vehicle when the adaptive cruising target vehicle is in the predicted track, otherwise executing the preset constant speed cruising action according to the preset adaptive cruising speed of the current vehicle. Therefore, the technical problems that in the related art, when a vehicle runs on a curve, a target vehicle is easy to lose or follow the curve, the self-adaptive cruising is low in reliability and poor in physical examination, and the safety of the vehicle is reduced are solved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a method and a device for controlling the speed of a vehicle in a self-adaptive cruising curve.
Background
In the related art, a sensor is used for detecting target information of a tracked object, a certain algorithm is combined for controlling the speed of the vehicle, and cruise control logic can be realized through fusion of a radar and a camera, so that the vehicle can follow the vehicle in a straight way on a highway and a highway.
However, in the related art, when the vehicle is running on a curve, due to the limitation of the millimeter wave radar detection angle, the vehicle-to-vehicle interface does not display the target vehicle outside the detection range, so that the target vehicle is easy to lose or follow the vehicle by mistake, the self-adaptive cruising is low in reliability and poor in physical examination, the safety of the vehicle is reduced, the driving experience of a user is reduced, the driving requirement of the user cannot be met, and the problem is to be solved.
Disclosure of Invention
The present application is based on the inventors' knowledge and knowledge of the following problems:
the ACC (Adaptive Cruise Control, self-adaptive cruise control system) is used as an important component of the intelligent driving system, and is used for upgrading a traditional constant-speed cruise control system, the ACC cruises at a constant speed set by a driver and cruises with a vehicle, the vehicle cruises at a constant speed when no vehicle is in front, the vehicle is driven with the vehicle in front as a target vehicle when the vehicle is in front and meets the condition of vehicle following, the distance between two workshops is the time interval set by the driver, the vehicle driving comfort and safety are used as references during the vehicle following, the vehicle is controlled to be at a speed of 0-150 km in general by coordinating with an electronic stability control system and an engine management system, and the speed of the vehicle is controlled to be at a full speed range according to the model of millimeter wave radar in front of the selected vehicle.
At present, two main current logic control schemes of a self-adaptive cruise system are adopted, one is a single radar scheme for realizing basic cruise control logic, the other is a cruise control logic for realizing more accurate control by a radar and camera fusion scheme, a sensor is used for detecting target information of a tracking object, and a certain algorithm is combined for controlling the speed of a vehicle, so that the vehicle can play a good role in following a straight road of a highway and a expressway, but comfort is reduced to a great extent when the vehicle is followed in a curve.
In the course of vehicle-following cruising in a curve, the target vehicle may lose the target due to the turning, namely, because of the limitation of the detection angle of the MRR (Mid Range Radar, millimeter wave medium Range Radar)/LRR (Long Range Radar), the target vehicle is out of the detection Range, the target vehicle is not displayed on the vehicle-to-vehicle interface of the vehicle, at this time, if the vehicle does not recognize a new vehicle-following target, and the cruising speed set by the driver is relatively high, the acceleration condition may occur, and if the vehicle of the vehicle lane is recognized, the vehicle of the vehicle lane is regarded as the target vehicle, the rapid deceleration condition may occur, and the two conditions are extremely dangerous in some cases, and safety accidents are easy to occur, so that the safety of the vehicle in the curve is relatively low.
The application provides a method and a device for controlling the speed of a vehicle in a self-adaptive cruising curve, which are used for solving the problems that in the related art, when the vehicle runs in the curve, a target vehicle is easy to lose or follow, so that the self-adaptive cruising has lower reliability and poorer physical examination, the safety of the vehicle is reduced, the driving experience of a user is reduced, and the driving requirement of the user cannot be met.
An embodiment of a first aspect of the present application provides a method for controlling a vehicle speed at a vehicle adaptive cruise curve, including the steps of: detecting whether the current vehicle enters a curve working condition; when the current vehicle is detected to enter the curve working condition, calculating the actual curve curvature of the curve where the current vehicle is located, and identifying lane line information of the curve where the current vehicle is located; and identifying the lane where the current vehicle is located according to the lane line information, obtaining a predicted track of the current vehicle according to the lane where the current vehicle is located and the actual curve curvature, and executing a preset vehicle following cruising action along with the current speed of the adaptive cruising target vehicle when the adaptive cruising target vehicle is in the predicted track, otherwise executing a preset constant speed cruising action according to the preset adaptive cruising speed of the current vehicle.
Optionally, in one embodiment of the present application, before the performing the preset cruise action according to the preset adaptive cruise speed of the current vehicle, the method further includes: identifying movement trends of other vehicles in adjacent lanes of the lane in which the vehicle is located; and when the movement trend is the trend of going into the own lane, taking the other vehicles as the self-adaptive cruise target vehicles so as to follow the current speed of the other vehicles to execute the preset vehicle following cruise action.
Optionally, in an embodiment of the present application, the calculating an actual curve curvature of the curve in which the current is located includes: collecting an actual turning angle of a steering wheel and a yaw rate of the current vehicle; and calculating the actual curve curvature according to the actual rotation angle and the yaw rate.
Optionally, in one embodiment of the present application, after calculating the actual curve curvature, the method further includes: and calculating the maximum speed of the current curve according to the actual curve curvature so as to optimize the preset following vehicle cruising action and/or the preset constant speed cruising action based on the maximum speed of the current curve.
Optionally, in one embodiment of the present application, before performing the preset following cruise action and/or the preset constant speed cruise action, the method further includes: collecting the speed limit mark of the curve where the current position is; and identifying the speed limit information of the curve where the current speed limit mark is located, and optimizing the preset vehicle-following cruising action and/or the preset constant speed cruising action based on the speed limit information.
An embodiment of a second aspect of the present application provides an apparatus for vehicle speed control in a vehicle adaptive cruise curve, including: the detection module is used for detecting whether the current vehicle enters a curve working condition or not; the processing module is used for identifying lane line information of the curve where the current vehicle is located while calculating the actual curve curvature of the curve where the current vehicle is located when the current vehicle is detected to enter the curve working condition; the self-adaptive cruising module is used for identifying a lane where the current vehicle is located according to the lane line information, obtaining a predicted track of the current vehicle according to the lane where the current vehicle is located and the actual curve curvature, and executing a preset vehicle following cruising action along with the current speed of the self-adaptive cruising target vehicle when the self-adaptive cruising target vehicle is in the predicted track, otherwise executing a preset speed cruising action according to the preset self-adaptive cruising speed of the current vehicle.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the identification module is used for identifying the movement trend of other vehicles in the adjacent lanes of the lane where the vehicle is located before the preset constant-speed cruising action is executed according to the preset self-adaptive cruising speed of the current vehicle; and the judging module is used for taking the other vehicles as the self-adaptive cruise target vehicles when the movement trend is a trend of going into the lane before the preset constant-speed cruise action is executed according to the preset self-adaptive cruise speed of the current vehicle so as to execute the preset vehicle following cruise action along with the current speed of the other vehicles.
Optionally, in one embodiment of the present application, the processing module includes: the acquisition unit is used for acquiring the actual rotation angle of the steering wheel and the yaw rate of the current vehicle; and a calculation unit configured to calculate the actual curve curvature from the actual rotation angle and the yaw rate.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: and the calculation module is used for calculating the maximum speed of the curve where the current curve is located according to the actual curve curvature after calculating the actual curve curvature so as to optimize the preset vehicle-following cruising action and/or the preset constant-speed cruising action based on the maximum speed of the curve.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the acquisition module is used for acquiring the speed limit identification of the curve in which the current position is located; the identification module is used for identifying the speed limit information of the curve where the current speed limit mark is located and optimizing the preset following vehicle cruising action and/or the preset constant speed cruising action based on the speed limit information.
An embodiment of a third aspect of the present application provides a vehicle including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the method for controlling the vehicle speed of the adaptive cruise curve of the vehicle according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method of vehicle adaptive cruise curve speed control as above.
According to the embodiment of the application, the predicted track of the current vehicle can be obtained according to the lane where the current vehicle is located and the actual curve curvature, and when the adaptive cruise vehicle is in the predicted track, the following cruise action can be executed along with the current speed of the adaptive cruise target vehicle, otherwise, the current vehicle executes the constant-speed cruise action, so that the applicability and the safety of the adaptive cruise of the vehicle are effectively improved, and the driving experience of a user is improved. Therefore, the problems that in the related art, when a vehicle runs on a curve, a target vehicle is easy to lose or follow the vehicle by mistake, so that the self-adaptive cruising reliability is low, the self-adaptive cruising is poor in physical examination, the safety of the vehicle is reduced, the driving experience of a user is reduced, and the driving requirement of the user cannot be met are solved.
Additional aspects and advantages of the application 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 application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a method for vehicle speed control for an adaptive cruise curve for a vehicle, according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a vehicle adaptive cruise curve speed control in accordance with one embodiment of the present application;
FIG. 3 is a schematic diagram of a device for controlling the speed of a vehicle at an adaptive cruise curve according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a method and apparatus for vehicle speed control in a vehicle adaptive cruise curve according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the problems that in the related art mentioned in the background technology center, when a vehicle runs on a curve, a target vehicle is easy to lose or follow, so that the reliability of adaptive cruise is lower, physical examination is poorer, the safety of the vehicle is reduced, the driving experience of a user is reduced, and the driving requirement of the user cannot be met, the application provides a vehicle adaptive cruise curve speed control method. Therefore, the problems that in the related art, when a vehicle runs on a curve, a target vehicle is easy to lose or follow the vehicle by mistake, so that the self-adaptive cruising reliability is low, the self-adaptive cruising is poor in physical examination, the safety of the vehicle is reduced, the driving experience of a user is reduced, and the driving requirement of the user cannot be met are solved.
Specifically, fig. 1 is a schematic flow chart of a method for controlling a vehicle speed in a vehicle adaptive cruise curve according to an embodiment of the present application.
As shown in fig. 1, the method for controlling the vehicle speed of the adaptive cruise curve comprises the following steps:
in step S101, it is detected whether the current vehicle enters a curve condition.
It can be understood that, the embodiment of the application can detect whether the current vehicle enters a curve, for example, the embodiment of the application can detect the lane information and the yaw rate of the current vehicle in the following steps through an MPC (Multi-Purpose Camera) and output the detected yaw rate to an ACC, and the ACC judges whether the current vehicle enters the curve, thereby improving the executable performance of the vehicle speed control of the adaptive cruise curve.
In step S102, when the current vehicle is detected to enter the curve condition, the actual curve curvature of the curve where the current vehicle is located is calculated, and meanwhile, the lane line information of the curve where the current vehicle is located is identified.
It can be understood that when the current vehicle enters the curve working condition, the embodiment of the application can calculate the actual curve curvature of the curve where the current vehicle is located in the following steps and identify the lane line information of the curve where the current vehicle is located, for example, the lane line information of the road in front can be obtained through MPC, so that the running stability and safety of the vehicle are improved.
Optionally, in one embodiment of the present application, calculating an actual curve curvature of the curve in which the current is located includes: collecting the actual turning angle of the steering wheel and the yaw rate of the current vehicle; and calculating the actual curve curvature according to the actual rotation angle and the yaw rate.
For example, the embodiment of the application can detect the steering wheel turning angle speed through the EPS (Electronic Power Steering) and output steering wheel control information to the ACC, and detect the current running state value of the vehicle in real time by using the ESC, such as the current real-time speed of the vehicle, the acceleration of the vehicle, the yaw rate, the wheel speed information and the like, so that the actual curve curvature can be calculated according to the actual turning angle of the steering wheel and the yaw rate of the vehicle, the current curve running road track of the vehicle can be predicted, and the stability and the safety of the vehicle can be improved.
Optionally, in one embodiment of the present application, after calculating the actual curve curvature, further includes: and calculating the maximum speed of the curve at present according to the actual curve curvature so as to optimize the preset vehicle-following cruising action and/or the preset constant-speed cruising action based on the maximum speed of the curve.
In the actual execution process, the embodiment of the application can calculate the over-bend maximum speed of the current bend according to the actual bend curvature, if the over-bend speed of the current vehicle is smaller than the over-bend maximum speed, the ACC controls the current vehicle to continue to run with the vehicle at the current speed, if the over-bend speed of the current vehicle is larger than the over-bend maximum speed, the ACC transmits the speed to the ESC, the ESC controls the speed and the steering of the current vehicle according to the vehicle state, the ACC is switched to the constant speed cruising mode, and controls the running in the current lane line of the current vehicle, so that the safety and the reliability of the vehicle are effectively improved.
According to the embodiment of the application, the target speed of the current vehicle can be calculated according to the safe speed of the current vehicle and the running state information of the current vehicle, so that the over-bending speed of the current vehicle is controlled.
In step S103, the lane where the current vehicle is located is identified according to the lane line information, the predicted track of the current vehicle is obtained according to the lane where the current vehicle is located and the curvature of the actual curve, and when the adaptive cruise target vehicle is within the predicted track, the preset vehicle following cruise action is executed following the current speed of the adaptive cruise target vehicle, otherwise, the preset constant speed cruise action is executed according to the preset adaptive cruise speed of the current vehicle.
It can be understood that the embodiment of the application can identify the lane where the current vehicle is located according to the lane line information, obtain the predicted track of the current vehicle according to the lane where the current vehicle is located and the actual curve curvature, and execute the following cruising action along with the current speed of the adaptive cruising target vehicle if the adaptive cruising target vehicle is in the predicted track of the current vehicle, for example, if the MPC identifies that the target vehicle is in the predicted track of the current vehicle, i.e. when the vehicle runs in the lane line, or execute the constant speed cruising action according to the adaptive cruising speed of the current vehicle, thereby effectively improving the stability and safety of the vehicle and improving the driving experience of the user.
Optionally, in one embodiment of the present application, before performing the preset cruise action according to the preset adaptive cruise speed of the current vehicle, the method further includes: identifying movement trends of other vehicles in adjacent lanes of the lane where the vehicle is located; and when the movement trend is the trend of going into the lane, taking the other vehicles as self-adaptive cruising target vehicles so as to execute preset vehicle following cruising actions along with the current speed of the other vehicles.
In the actual execution process, the embodiment of the application can detect the front target vehicle through the forward millimeter wave radar MRR/LRR, and when the front target vehicle is not detected and the forward millimeter wave radar MRR/LRR detects that other vehicles exist in the adjacent lane, and the MPC detects that the vehicles in the adjacent lane enter the own lane, the ACC judges the other vehicles in the adjacent lane as the target vehicles so as to execute the following cruising action along with the current speed of the other vehicles, thereby effectively improving the intelligent level of the vehicles.
Optionally, in one embodiment of the present application, before performing the preset following cruise action and/or the preset constant speed cruise action, the method further includes: collecting the speed limiting mark of the curve where the current position is; and identifying the speed limit information of the curve where the current speed limit mark is located, and optimizing the preset vehicle-following cruising action and/or the preset constant speed cruising action based on the speed limit information.
As a possible implementation manner, the embodiment of the application can identify the curve speed limit sign in front of the current vehicle through the MPC and send the curve speed limit sign to the ACC, so that the speed limit information of the curve where the current vehicle is located can be identified according to the curve speed limit sign, the following cruising action or the constant speed cruising action of the current vehicle can be optimized based on the speed limit information, the automation level of the vehicle is effectively improved, and the driving experience of a user is improved.
For example, as shown in fig. 2, when the forward millimeter wave radar MRR/LRR detects the target vehicle and the MPC detects that the target vehicle remains in the own lane during the course of the current vehicle passing through the curve, the ACC controls the current vehicle to follow the target vehicle while v=min (speed of the target vehicle, curve speed limit value) to run through the curve, that is, the minimum value of the speed of the target vehicle and the curve speed limit value is taken as the over-curve speed.
Then, when the current vehicle passes through a curve, the forward millimeter wave radar MRR/LRR does not detect a front target vehicle, and when no vehicle is detected in an adjacent lane, the ACC judges that no vehicle following target is available in front, the ACC automatically switches from a vehicle following cruising mode to a constant speed cruising mode, and the vehicle is controlled to drive in a curved speed V=Min (curve speed limit value, the maximum curved speed value of the vehicle, the set cruising speed of the vehicle), namely the curved speed limit value, the maximum curved speed value of the vehicle and the minimum value of the set cruising speed of the vehicle are used as the curved speed.
Secondly, in the process that the current vehicle passes through a curve, if the forward millimeter wave radar MRR/LRR does not detect a front target vehicle and meanwhile the forward millimeter wave radar MRR/LRR detects that an adjacent lane has other vehicles, and the MPC detects that the adjacent lane vehicle is not in the own lane, the ACC judges that the adjacent lane vehicle is not a target vehicle, the current vehicle does not need to run at a reduced speed so as to improve the comfort of personnel in the vehicle, and simultaneously the current vehicle exits from a vehicle following cruising mode and enters into a constant speed cruising mode, wherein the cruising speed V=Min (curve speed limit value, the maximum over-bending speed value of the own vehicle and the set cruising speed of the own vehicle) is used as the over-bending speed.
And when the forward millimeter wave radar MRR/LRR detects that other vehicles exist in the adjacent lane, and the forward millimeter wave radar MRR/LRR detects that the adjacent lane vehicle enters the own lane, the ACC judges that the adjacent lane vehicle is used as a new target vehicle and the new target vehicle follows, wherein the following speed V=Min (curve speed limit value, the maximum over-bending speed value of the own vehicle and the target vehicle speed) is used for over-bending running, namely the curve speed limit value, the maximum over-bending speed value of the own vehicle and the minimum value of the target vehicle speed are used as over-bending speeds.
In summary, the embodiment of the application can identify the lane line according to the MPC, predict the road track of the curve of the vehicle on the basis of the lane line, if the target vehicle identified by the MPC is in the predicted track, continue to follow the vehicle, otherwise switch to the constant-speed cruising mode, reduce the situation of losing the following target to a greater extent, effectively improve the intelligent level of the vehicle and improve the driving experience of the user.
According to the vehicle self-adaptive cruising curve speed control method provided by the embodiment of the application, the predicted track of the current vehicle can be obtained according to the lane where the current vehicle is located and the actual curve curvature, and when the self-adaptive cruising vehicle is in the predicted track, the current speed of the self-adaptive cruising target vehicle can be followed to execute the following cruising action, otherwise, the current vehicle executes the constant speed cruising action, so that the applicability and the safety of the self-adaptive cruising of the vehicle are effectively improved, and the driving experience of a user is improved. Therefore, the problems that in the related art, when a vehicle runs on a curve, a target vehicle is easy to lose or follow the vehicle by mistake, so that the self-adaptive cruising reliability is low, the self-adaptive cruising is poor in physical examination, the safety of the vehicle is reduced, the driving experience of a user is reduced, and the driving requirement of the user cannot be met are solved.
Next, an apparatus for vehicle speed control of an adaptive cruise curve according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a block schematic diagram of an apparatus for vehicle adaptive cruise curve speed control according to an embodiment of the present application.
As shown in fig. 3, the apparatus 10 for vehicle speed control of an adaptive cruise curve vehicle includes: a detection module 100, a processing module 200, and an adaptive cruise module 300.
Specifically, the detection module 100 is configured to detect whether the current vehicle enters a curve condition.
The processing module 200 is configured to, when detecting that the current vehicle enters the curve working condition, calculate an actual curve curvature of the curve where the current vehicle is located, and identify lane line information of the curve where the current vehicle is located.
The adaptive cruise module 300 is configured to identify a lane where a current vehicle is located according to lane line information, obtain a predicted track of the current vehicle according to the lane where the current vehicle is located and an actual curve curvature, and execute a preset following cruise action following a current speed of the adaptive cruise target vehicle when the adaptive cruise target vehicle is within the predicted track, or execute a preset constant speed cruise action according to a preset adaptive cruise speed of the current vehicle.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: the device comprises an identification module and a judgment module.
The recognition module is used for recognizing the movement trend of other vehicles in the adjacent lanes of the lane where the vehicle is located before the preset cruise action is executed according to the preset self-adaptive cruise speed of the current vehicle.
And the judging module is used for taking other vehicles as the self-adaptive cruise target vehicles when the movement trend is about to enter the lane trend before the preset constant-speed cruise action is executed according to the preset self-adaptive cruise speed of the current vehicle so as to execute the preset vehicle following cruise action along with the current speed of the other vehicles.
Optionally, in one embodiment of the present application, the processing module 200 includes: an acquisition unit and a calculation unit.
The collecting unit is used for collecting the actual rotation angle of the steering wheel and the yaw rate of the current vehicle.
And a calculation unit for calculating an actual curve curvature from the actual rotation angle and the yaw rate.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: and a calculation module.
The calculation module is used for calculating the maximum speed of the current curve according to the actual curve curvature after calculating the actual curve curvature so as to optimize the preset vehicle following cruising action and/or the preset constant speed cruising action based on the maximum speed of the current curve.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: the device comprises an acquisition module and an identification module.
The collection module is used for collecting the speed limit identification of the curve where the current situation is located.
The identification module is used for identifying the speed limit information of the curve where the current speed limit mark is located according to the speed limit mark, and optimizing the preset vehicle-following cruising action and/or the preset speed-setting cruising action based on the speed limit information.
It should be noted that the foregoing explanation of the method embodiment of vehicle adaptive cruise curve speed control is also applicable to the apparatus for vehicle adaptive cruise curve speed control of this embodiment, and will not be repeated here.
According to the vehicle self-adaptive cruising curve vehicle speed control device provided by the embodiment of the application, the predicted track of the current vehicle can be obtained according to the lane where the current vehicle is located and the actual curve curvature, and when the self-adaptive cruising vehicle is in the predicted track, the current vehicle speed of the self-adaptive cruising target vehicle can be followed to execute the following cruising action, otherwise, the current vehicle executes the constant speed cruising action, so that the applicability and the safety of the vehicle self-adaptive cruising are effectively improved, and the driving experience of a user is improved. Therefore, the problems that in the related art, when a vehicle runs on a curve, a target vehicle is easy to lose or follow the vehicle by mistake, so that the self-adaptive cruising reliability is low, the self-adaptive cruising is poor in physical examination, the safety of the vehicle is reduced, the driving experience of a user is reduced, and the driving requirement of the user cannot be met are solved.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402, when executing a program, implements the method of vehicle adaptive cruise curve speed control provided in the above-described embodiment.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
Memory 401 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete communication with each other through internal interfaces.
The processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU) or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of vehicle adaptive cruise curve speed control as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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 N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A method for vehicle speed control in an adaptive cruise curve, comprising the steps of:
detecting whether the current vehicle enters a curve working condition;
when the current vehicle is detected to enter the curve working condition, calculating the actual curve curvature of the curve where the current vehicle is located, and identifying lane line information of the curve where the current vehicle is located; and
and identifying the lane where the current vehicle is located according to the lane line information, obtaining a predicted track of the current vehicle according to the lane where the current vehicle is located and the actual curve curvature, and executing a preset vehicle following cruising action along with the current speed of the adaptive cruising target vehicle when the adaptive cruising target vehicle is in the predicted track, otherwise executing a preset constant speed cruising action according to the preset adaptive cruising speed of the current vehicle.
2. The method according to claim 1, characterized by further comprising, before performing the preset cruise action according to a preset adaptive cruise vehicle speed of the current vehicle:
identifying movement trends of other vehicles in adjacent lanes of the lane in which the vehicle is located;
and when the movement trend is the trend of going into the own lane, taking the other vehicles as the self-adaptive cruise target vehicles so as to follow the current speed of the other vehicles to execute the preset vehicle following cruise action.
3. The method of claim 1, wherein said calculating an actual curve curvature of the curve in which the current is located comprises:
collecting an actual turning angle of a steering wheel and a yaw rate of the current vehicle;
and calculating the actual curve curvature according to the actual rotation angle and the yaw rate.
4. A method according to claim 3, further comprising, after calculating the actual curve curvature:
and calculating the maximum speed of the current curve according to the actual curve curvature so as to optimize the preset following vehicle cruising action and/or the preset constant speed cruising action based on the maximum speed of the current curve.
5. The method according to claim 1, characterized in that before performing the preset following cruise action and/or the preset cruise action, further comprising:
collecting the speed limit mark of the curve where the current position is;
and identifying the speed limit information of the curve where the current speed limit mark is located, and optimizing the preset vehicle-following cruising action and/or the preset constant speed cruising action based on the speed limit information.
6. An apparatus for vehicle speed control in an adaptive cruise curve, comprising:
the detection module is used for detecting whether the current vehicle enters a curve working condition or not;
the processing module is used for identifying lane line information of the curve where the current vehicle is located while calculating the actual curve curvature of the curve where the current vehicle is located when the current vehicle is detected to enter the curve working condition; and
the self-adaptive cruising module is used for identifying a lane where the current vehicle is located according to the lane line information, obtaining a predicted track of the current vehicle according to the lane where the current vehicle is located and the actual curve curvature, and executing a preset vehicle following cruising action along with the current speed of the self-adaptive cruising target vehicle when the self-adaptive cruising target vehicle is in the predicted track, otherwise executing a preset speed cruising action according to the preset self-adaptive cruising speed of the current vehicle.
7. The apparatus as recited in claim 6, further comprising:
the identification module is used for identifying the movement trend of other vehicles in the adjacent lanes of the lane where the vehicle is located before the preset constant-speed cruising action is executed according to the preset self-adaptive cruising speed of the current vehicle;
and the judging module is used for taking the other vehicles as the self-adaptive cruise target vehicles when the movement trend is a trend of going into the lane before the preset constant-speed cruise action is executed according to the preset self-adaptive cruise speed of the current vehicle so as to execute the preset vehicle following cruise action along with the current speed of the other vehicles.
8. The apparatus of claim 6, wherein the processing module comprises:
the acquisition unit is used for acquiring the actual rotation angle of the steering wheel and the yaw rate of the current vehicle;
and a calculation unit configured to calculate the actual curve curvature from the actual rotation angle and the yaw rate.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of vehicle adaptive cruise curve speed control as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a method of vehicle adaptive cruise curve speed control according to any one of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310980250.5A CN116985801A (en) | 2023-08-04 | 2023-08-04 | Method and device for controlling vehicle speed of vehicle in self-adaptive cruising curve |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310980250.5A CN116985801A (en) | 2023-08-04 | 2023-08-04 | Method and device for controlling vehicle speed of vehicle in self-adaptive cruising curve |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118270048A (en) * | 2024-06-03 | 2024-07-02 | 苏州魔视智能科技有限公司 | Self-adaptive cruising method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118270048A (en) * | 2024-06-03 | 2024-07-02 | 苏州魔视智能科技有限公司 | Self-adaptive cruising method and device |
| CN118270048B (en) * | 2024-06-03 | 2024-09-27 | 苏州魔视智能科技有限公司 | Self-adaptive cruising method and device |
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