Vehicle turning deceleration planning method and system, vehicle and storage medium

Abstract

The invention discloses a vehicle turning deceleration planning method and system, a vehicle and a storage medium, and the method comprises the following steps: 1, establishing a whole vehicle coordinate system through employing a front bumper center of the vehicle as an origin of coordinates, a forward driving direction of the vehicle as an X axis, and a vertical forward driving direction as a Y axis; 2, planning a curve target speed V1 according to the road curvature input by the camera, judging whether the current vehicle speed is greater than the curve target speed V1, and planning a deceleration a1 if the current vehicle speed is greater than the curve target speed V1; otherwise, making the vehicle run normally; planning a curve target speed V2 according to the road curvature input by the ADAS map, judging whether the current vehicle speed is greater than the curve target speed V2, and planning a deceleration a2 if the current vehicle speed is greater than the curve target speed V2; otherwise, making the vehicle run normally; and 3, arbitrating the planned deceleration a1 and a2, and outputting the smaller one of the planned deceleration a1 and a2 as the final deceleration for control. According to the method, the bending stability is enhanced; and after entering the curve, the vehicles can be controlled to pass safely in real time.

Description

technical field [0001] The invention belongs to the technical field of vehicle curve control, and in particular relates to a vehicle curve deceleration planning method, system, vehicle and storage medium. Background technique [0002] With the popularity of automobiles in our country becoming more and more widespread, the traffic accidents that occur in curves every year have an obvious growth trend, and the main reasons for the accidents are the driver's inattention and excessive speed. The existing control method of vehicle cornering speed, such as the patent document CN107571858A Vehicle Curve Deceleration Method and Device, uses a single front camera to identify and obtain road radius information. However, because the front camera is affected by the environment, such as rain and fog, night, and lane line wear on the road, the curvature of the road output by the camera is not ideal. At the same time, due to the limited field of view of the camera, the distance ahead of t...

AI Technical Summary

Problems solved by technology

However, because the front camera is affected by the environment, such as rain and fog, night, and lane wear on the road, the curvature of the road output by the camera is not ideal.

At the same time, due to the limited field of view of the camera, the distance ahead of the recognized road is relatively short, and eventually the vehicle decelerates too slowly or too slowly before entering the curve.

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