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Automatic driving control method and device, vehicle and storage medium

A technology of automatic driving control and automatic driving, applied in control devices, vehicle parts, transportation and packaging, etc., can solve problems such as reducing the driver's experience, increasing vehicle danger, and failing to activate the automatic driving function, so as to enhance the driving experience, The effect of improving safety and solving hidden dangers of driving safety

Active Publication Date: 2020-12-11
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the development of Internet of Vehicles technology, the automatic driving function has become the research focus of the industry. At present, the application of automatic driving on vehicles can gradually adapt to driving conditions in different scenarios. However, for roads with steep slopes, existing vehicles cannot activate automatic driving. function, or, a takeover reminder occurs during the execution of an autopilot function
Frequently exiting the automatic driving function or failing to enter the automatic driving function will seriously reduce the driver's experience and increase the risk of driving

Method used

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  • Automatic driving control method and device, vehicle and storage medium
  • Automatic driving control method and device, vehicle and storage medium
  • Automatic driving control method and device, vehicle and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] figure 1 It is a flow chart of an automatic driving control method provided in Embodiment 1 of the present application. This embodiment is applicable to the situation where the vehicle drives automatically on a slope. The method can be executed by an automatic driving control device, which can use hardware and / or implemented by software, see figure 1 , the method provided in the embodiment of the present application specifically includes the following steps:

[0029] Step 110, start the slope automatic driving state when the vehicle is on the slope.

[0030] Among them, the vehicle can be a car with automatic driving function, which can include new energy vehicles and traditional fuel vehicles. A ramp may be a roadway with a slope. The slope automatic driving state may be a state in which the vehicle is automatically driving on a slope.

[0031] Specifically, the vehicle can detect the lane it is in, and when it is determined that the vehicle is on a slope, the veh...

Embodiment 2

[0039] figure 2 It is a flow chart of an automatic driving control method provided in Embodiment 2 of the present application. The embodiment of the present application is based on the above-mentioned embodiment. It is determined that the vehicle is on a slope through the slope and slope change rate, and according to the slope acceleration Determine the corresponding preset decoupling curve, see figure 2 , the method provided in the embodiment of the present application includes the following steps:

[0040] Step 210, acquiring environmental data around the vehicle, and determining the slope of the lane based on the environmental data.

[0041] Wherein, the environmental data may be the data of the environment in which the vehicle is located, and may include lane data, road sign data, landscape data, and the like.

[0042] Specifically, the sensors installed in the vehicle can collect the data of the environment in which it is located, and can collect environmental data su...

Embodiment approach

[0063] Figure 4 It is an example diagram of an automatic driving control method provided in Embodiment 2 of the present application, see Figure 4 , an exemplary embodiment includes the following steps:

[0064] 1. The vehicle judges the current state of the vehicle, whether the slope of the lane it is in exceeds 3% of the longitudinal slope of the general road. If it does not exceed 3%, the vehicle can normally activate the slope automatic driving function; if the slope of the longitudinal slope is greater than 3%, and the rate of change of the slope of the longitudinal slope ζ, where the rate of change of the slope of the longitudinal slope can be the vertical slope of the current measurement period per unit time The difference between the slope value and the longitudinal slope value of the previous measurement cycle. When the longitudinal slope is less than ζ 0 , then enter the driving state of the slope road section; if the rate of change of the longitudinal slope is g...

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Abstract

The invention discloses an automatic driving control method and device, a vehicle and a storage medium. The automatic driving control method comprises the steps: a ramp automatic driving state is started when the vehicle is located at a ramp; ramp acceleration is determined according to the current driving information of the vehicle, and driving torque and braking torque corresponding to the rampacceleration are determined according to a preset decoupling curve; and the vehicle is controlled to run according to the driving torque and the braking torque. According to the automatic driving control method, the driving torque and the braking torque of the ramp acceleration required by the vehicle driving are determined by using the preset decoupling curve in the ramp, so that the automatic driving of the vehicle under the ramp road condition is realized, the safety of the vehicle is enhanced, and the driving experience of a driver can be improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automation control, and in particular, to an automatic driving control method, device, vehicle, and storage medium. Background technique [0002] With the development of Internet of Vehicles technology, the automatic driving function has become the research focus of the industry. At present, the application of automatic driving on vehicles can gradually adapt to driving conditions in different scenarios. However, for roads with steep slopes, existing vehicles cannot activate automatic driving. function, or, a takeover reminder occurs during the execution of an automated driving function. This frequent exit from the automatic driving function or failure to enter the automatic driving function will seriously reduce the driver's experience and increase the risk of driving the vehicle. Contents of the invention [0003] The present invention provides an automatic driving control metho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/04B60W10/18B60W40/076
CPCB60W10/04B60W10/18B60W40/076B60W2552/15B60W2710/0666B60W2710/083B60W2710/18
Inventor 张航
Owner CHINA FIRST AUTOMOBILE
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