Vehicle operation control method and device based on automatic driving

Abstract

The invention discloses a vehicle operation control method based on automatic driving. The method comprises the following steps: acquiring state information of a road ahead of the running of the vehicle through a vehicle external sensor, wherein the front road state information include an adhesion coefficient, road surface roughness, curve radius and gradient of the front road; calculating a stable driving envelope of the vehicle when the vehicle drives on the front road according to the state information of the front road, wherein the stable running envelope includes a maximum vehicle speed and a steering angle that satisfy the stable running of the vehicle; and controlling the vehicle to run at a first vehicle speed and a first steering angle when the vehicle automatically runs to the front road according to the stable running envelope, wherein the first vehicle speed and the first steering angle meet the vehicle stable running requirement. The method realize estimating of the road surface state in advance, so that the probability of the automatic driving vehicle entering the unstable state is reduced, and the driving safety is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automobiles, and in particular to a method and device for controlling vehicle operation based on automatic driving. Background technique [0002] The automotive electronic stability control system is a new type of active safety system for vehicles. It is a further expansion of the functions of the anti-lock braking system and traction control system of the vehicle. On this basis, the yaw rate sensor and lateral acceleration The sensor and the steering wheel angle sensor control the driving force and braking force of the front, rear, left and right wheels through the micro-control unit to ensure the lateral stability of the vehicle. [0003] The existing vehicle body electronic stability system evaluates the state of the vehicle body based on sensors such as wheel speed sensors and yaw angle sensors, and performs remedial control when the vehicle body becomes unstable. The existing b...

AI Technical Summary

Problems solved by technology

The existing body electronic stability system has complex algorithms and cannot predict the road state in advance. It cannot calculate the actual road state well under many working conditions such as bumps, local road slip rate is too low, the vehicle is driven aggressively, and the vehicle is off-road. , under the premise that the driver's behavior cannot be controlled, all controls are remedial measures after the vehicle loses stability

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