Curve vehicle speed control method and device, equipment and medium

Abstract

The embodiment of the invention discloses a curve vehicle speed control method and device, equipment and a medium. The method comprises the steps of when it is detected that the driving condition of a vehicle is the condition that the vehicle is about to drive into a curve, obtaining track point information of a driving track within the preset distance in front of the current position of the vehicle; determining a target speed limit value corresponding to each track point according to the road speed limit value and curvature corresponding to each track point and a preset lateral acceleration threshold value, and performing speed limit filtering on the target speed limit value corresponding to each track point; and in the running process of the vehicle, determining the current target vehicle speed of the vehicle according to the preset preview time and the target speed limit values corresponding to the filtered track points, and controlling the vehicle to run according to the current target vehicle speed of the vehicle until the running working condition of the vehicle is the working condition of driving out of the curve. According to the method of the invention, the vehicle can stably decelerate in advance when the vehicle is about to run to a curve with a relatively large curvature, and can safely pass through a curve section with a relatively large curvature at a low speed, so that the safety and comfort of the vehicle are improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving vehicle control, and in particular to a method, device, equipment and medium for controlling the speed of a curve. Background technique [0002] Self-driving vehicles, also known as unmanned vehicles, are intelligent vehicles that are equipped with intelligent perception systems, high-precision positioning systems and planning control systems to achieve unmanned driving. Self-driving vehicles can improve traffic safety and road traffic rates. [0003] Self-driving vehicles can drive on roads in closed parks and open roads in cities, where the driving scene is complex and the curvature of the road is constantly changing. In order to improve driving efficiency, self-driving vehicles need to drive at a faster speed when the road curvature is small (such as a long straight road), and when the road curvature is large (such as a sharp turn, a right-angle bend or a U-turn ...

AI Technical Summary

Problems solved by technology

[0004] In related technologies, when the self-driving vehicle is driving from a road with a small curvature to a curve with a large curvature, the speed limit of the self-driving vehicle is limited solely by the curvature. , the long straight road is connected to the U-turn section), and the vehicle cannot slow down in time, and the vehicle may quickly enter the U-turn section and cause danger

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