Method for determining vehicle speed on a curve, intelligent driving simulation test system and medium

Abstract

The present invention discloses a method for determining the speed of a vehicle on a curve, an intelligent driving simulation test system, and a medium. The method includes: when the vehicle is driving along a curve, determining the lateral offset and the change in the steering wheel angle of the vehicle; and determining the speed of the vehicle on the curve according to the lateral offset and the change in the steering wheel angle. The method for determining the speed of a vehicle on a curve, the intelligent driving simulation test system, and the medium of the present invention can accurately and effectively determine the speed of the vehicle on the curve, which is beneficial to vehicle simulation verification based on the speed of the vehicle on the curve.

Description

Technical Field

[0001] The present invention relates to the technical field of simulation testing, and particularly to a method for determining the speed of a vehicle on a curve, an intelligent driving simulation testing system, and a medium. Background Art

[0002] In the intelligent driving simulation testing of a vehicle, the running trajectory of the simulated vehicle is involved. Among them, the calculated vehicle speed is a key signal, which represents the real-time motion state of the vehicle and affects many functions such as vehicle trajectory prediction, lateral control, braking distance, and collision distance. Therefore, it is necessary to obtain an accurate and effective vehicle speed signal for vehicle simulation verification. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this purpose, the first object of the present invention is to propose a method for determining the speed of a vehicle on a curve, which can accurately and effectively determine the speed of the vehicle on a curve and is beneficial to vehicle simulation verification based on the speed of the vehicle on a curve.

[0004] The second object of the present invention is to propose a computer-readable storage medium.

[0005] The third object of the present invention is to propose an intelligent driving simulation testing system.

[0006] To achieve the above object, an embodiment of the first aspect of the present invention proposes a method for determining the speed of a vehicle on a curve, the method including: when the vehicle is driving along a curve, determining the lateral offset and the change amount of the steering wheel angle of the vehicle; and determining the speed of the vehicle on the curve according to the lateral offset and the change amount of the steering wheel angle.

[0007] According to the method for determining the speed of a vehicle on a curve of the embodiment of the present invention, when the vehicle is driving along a curve, the lateral offset and the change amount of the steering wheel angle of the vehicle are determined, and then the speed of the vehicle is accurately and effectively determined according to the lateral offset and the change amount of the steering wheel angle, which is beneficial to vehicle simulation verification based on the speed of the vehicle on a curve.

[0008] In some embodiments of the present invention, the determining the lateral offset of the vehicle includes: when the vehicle is not driving following on the curve, obtaining a first distance and a second distance, where the first distance is the distance between the vehicle and the lane line of the curve at a previous moment, and the second distance is the distance between the vehicle and the lane line of the curve at the current moment; and determining the lateral offset of the vehicle according to the first distance and the second distance.

[0009] In some embodiments of the present invention, determining the change amount of the steering wheel angle includes: when the vehicle is not following a curve, obtaining the first steering wheel angle of the vehicle at a previous moment, the curve attribute at the previous moment, and a pre-calibrated reference correspondence, where the reference correspondence is the correspondence between the curve attribute and the reference steering wheel angle when the vehicle is following a curve; determining the change amount of the steering wheel angle according to the first steering wheel angle, the curve attribute, and the reference correspondence.

[0010] In some embodiments of the present invention, the determining the change amount of the steering wheel angle according to the first steering wheel angle, the curve attribute, and the reference correspondence includes: based on the reference correspondence, determining the reference steering wheel angle corresponding to the curve attribute; determining the change amount of the steering wheel angle according to the first steering wheel angle and the reference steering wheel angle.

[0011] In some embodiments of the present invention, determining the change amount of the steering wheel angle includes: when the vehicle is following a curve, obtaining the first steering wheel angle of the vehicle at a previous moment and the second steering wheel angle of the vehicle at the current moment; determining the change amount of the steering wheel angle according to the first steering wheel angle and the second steering wheel angle.

[0012] In some embodiments of the present invention, the determining the lateral offset of the vehicle further includes: when the vehicle is following a curve, obtaining the curve attribute at a previous moment; determining the lateral offset of the vehicle according to the curve attribute and the change amount of the steering wheel angle.

[0013] In some embodiments of the present invention, the lateral offset of the vehicle is calculated by the following formula: where L is the lateral offset of the vehicle, K is the curve attribute, θ is the change amount of the steering wheel angle, and T is the wheel steering ratio.

[0014] In some embodiments of the present invention, the curve speed of the vehicle is calculated by the following formula: where V is the curve speed of the vehicle, L is the lateral offset of the vehicle, θ is the change amount of the steering wheel angle, and T is the wheel steering ratio.

[0015] To achieve the above object, a second aspect embodiment of the present invention proposes a computer-readable storage medium, on which a program for determining the curve speed is stored. When the program for determining the curve speed is executed by a processor, the method for determining the curve speed described in any one of the above embodiments is implemented.

[0016] A computer-readable storage medium according to an embodiment of the present invention determines a lateral offset and a steering wheel angle change amount of a vehicle when the vehicle is traveling along a curve, and then accurately and effectively determines the vehicle according to the lateral offset and the steering wheel angle change amount, which is beneficial to vehicle simulation verification according to the curve speed.

[0017] To achieve the above object, an embodiment of the third aspect of the present invention provides an intelligent driving simulation test system, which includes: a sensor module for determining a lateral offset and a steering wheel angle change amount of the vehicle when the vehicle is traveling along a curve; and a vehicle controller for determining a curve speed of the vehicle according to the lateral offset and the steering wheel angle change amount.

[0018] An intelligent driving simulation test system according to an embodiment of the present invention determines a lateral offset and a steering wheel angle change amount of a vehicle when the vehicle is traveling along a curve, and then accurately and effectively determines the vehicle according to the lateral offset and the steering wheel angle change amount, which is beneficial to vehicle simulation verification according to the curve speed.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0021] Figure 1 is a flowchart of a method for determining a curve speed according to an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of a simulation result of a method for determining a curve speed according to an embodiment of the present invention;

[0023] Figure 3 is a flowchart of a method for determining a curve speed according to another embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of a scenario of a method for determining a curve speed according to an embodiment of the present invention;

[0025] Figure 5 is a flowchart of a method for determining a curve speed according to another embodiment of the present invention;

[0026] Figure 6 is a flowchart of a method for determining a curve speed according to another embodiment of the present invention;

[0027] Figure 7 is a schematic diagram of a scenario of a method for determining a curve speed according to another embodiment of the present invention;

[0028] Figure 8 is a schematic flowchart of a method for determining the vehicle speed on a curve according to another embodiment of the present invention;

[0029] Figure 9 is a schematic flowchart of a method for determining the vehicle speed on a curve according to another embodiment of the present invention;

[0030] Figure 10 is a schematic diagram of a scenario of a method for determining the vehicle speed on a curve according to another embodiment of the present invention;

[0031] Figure 11 is a structural block diagram of an intelligent driving simulation test system according to an embodiment of the present invention. Detailed implementation manners

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0033] The method for determining the vehicle speed on a curve, the intelligent driving simulation test system and the medium according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0034] Figure 1 is a schematic flowchart of a method for determining the vehicle speed on a curve according to an embodiment of the present invention. As Figure 1 shown, the method for determining the vehicle speed on a curve according to the embodiment of the present invention includes the following steps:

[0035] S11: When the vehicle is traveling along a curve, determine the lateral offset and the change in the steering wheel angle of the vehicle;

[0036] S13: Determine the vehicle speed on the curve according to the lateral offset and the change in the steering wheel angle.

[0037] According to the method for determining the vehicle speed on a curve according to the embodiment of the present invention, when the vehicle is traveling along a curve, the lateral offset and the change in the steering wheel angle of the vehicle are determined, and then the vehicle speed on the curve is accurately and effectively determined according to the lateral offset and the change in the steering wheel angle, which is beneficial to vehicle simulation verification according to the vehicle speed on the curve. At the same time, the error between the vehicle speed on the curve determined by this method and the actual vehicle speed is small, and the vehicle speed on the curve can be determined in real time. In addition, it can also reduce the interference caused by the kinematic model, the vehicle dynamics model, the slipping factor, etc. to the calculation of the vehicle speed on the curve.

[0038] It is understandable that if the maximum speed of the four tires during the vehicle's turning along a curve is used as the vehicle's cornering speed, or the average speed of the four tires during the vehicle's turning along a curve is used as the vehicle's cornering speed, it cannot represent the true speed under skidding conditions, and there is a problem of large error; if the state measurement information of the vehicle system model at the current moment and the vehicle state estimation information at the previous moment are used to obtain the vehicle's cornering speed at the current moment through a recurrence formula, it will lead to problems of large computational complexity and large error; if the acceleration is calculated by calculating the wheel-end torque according to the torque of the engine or motor when simulating and calculating the vehicle speed, and then the vehicle speed is calculated by the sum of the initial speed and the time integral of the acceleration, it will lead to a large error in the vehicle speed during continuous turning, affecting the verification effect of the algorithm.

[0039] Specifically, in some embodiments of the present invention, the vehicle's cornering speed is calculated by the following formula:

[0040]

[0041] Wherein, V is the vehicle's cornering speed, L is the vehicle's lateral offset, θ is the change amount of the steering wheel angle, and T is the wheel steering ratio. The value of T can be 13 or other values, which is not limited herein.

[0042] Specifically, in the above formula (1), the unit of the vehicle's lateral offset L is m, and the unit of the cornering speed V is m / s. If the unit of the cornering speed is converted to km / h, the above formula (1) should be transformed into:

[0043]

[0044] Wherein, V' is the vehicle's cornering speed in km / h.

[0045] It can be understood that in the above formula (1) and formula (2), θ / T is the change amount of the wheel steering angle α. In one example, the simulation of the cornering speed is as follows:

[0046] L = 0:0.1:3.5;

[0047] α = 0:1:35;

[0048] [α,L] = meshgrid(α,L);

[0049] V = 0.55.*L. / sind(2.*α);

[0050] mesh(α,L,V)

[0051] xlabel('Change amount of wheel steering angle'); ylabel('Lateral offset'); zlabel('Cornering speed');

[0052] The simulation results are as Figure 2 shown below.

[0053] Please refer to Figure 3 , in some embodiments of the present invention, determining the lateral offset of the vehicle includes:

[0054] S111: When the vehicle is not following the curve, obtain the first distance and the second distance, where the first distance is the distance between the vehicle and the lane line of the curve at the previous moment, and the second distance is the distance between the vehicle and the lane line of the curve at the current moment;

[0055] S112: Determine the lateral offset of the vehicle according to the first distance and the second distance.

[0056] In this way, the lateral offset of the vehicle is determined according to the first distance and the second distance, so as to facilitate accurately and effectively determining the vehicle speed on the curve when the vehicle is not following the curve according to the lateral offset and the change amount of the steering wheel angle in the subsequent process.

[0057] Specifically, the vehicle following the curve can be understood as that the driving trajectory of the vehicle is basically parallel to the center line of the curve during the driving process along the curve; the vehicle not following the curve can be understood as that the driving trajectory of the vehicle is not parallel to the center line of the curve during the driving process along the curve. The first distance between the vehicle and the lane line of the curve at the previous moment may include the distance Lf between the vehicle and the left lane line and the distance Lr between the vehicle and the right lane line. The second distance between the vehicle and the lane line of the curve at the current moment may include the distance Lf' between the vehicle and the left lane line and the distance Lr' between the vehicle and the right lane line, where the previous moment and the current moment are two adjacent sampling moments. Please refer to Figure 4 , in some embodiments, calculate the values of Lf'-Lf and Lr'-Lr respectively. When Lf'-Lf = 0 and Lr'-Lr = 0, it can be determined that the vehicle is following the curve, otherwise it is determined that the vehicle is not following the curve.

[0058] Furthermore, in some embodiments, the lateral offset L of the vehicle is calculated by the following formula:

[0059] L = |Lf'-Lf| (3)

[0060] where Lf is the first distance between the vehicle and the left lane line of the curve at the previous moment, and Lf' is the second distance between the vehicle and the left lane line of the curve at the current moment. In some embodiments, the lateral offset L of the vehicle is calculated by the following formula:

[0061] L = |Lr'-Lr| (4)

[0062] Wherein, Lr is the first distance between the vehicle and the right lane line of the curve at the previous moment, and Lr' is the second distance between the vehicle and the right lane line of the curve at the current moment.

[0063] Please combine Figure 5 , in some embodiments of the present invention, determining the change amount of the steering wheel angle includes:

[0064] S113: When the vehicle is not following the curve, obtain the first steering wheel angle of the vehicle at the previous moment, the curve attribute at the previous moment, and the pre-calibrated reference correspondence, wherein the reference correspondence is the correspondence between the curve attribute and the reference steering wheel angle when the vehicle is following the curve;

[0065] S114: Determine the change amount of the steering wheel angle according to the first steering wheel angle, the curve attribute, and the reference correspondence.

[0066] In this way, the change amount of the steering wheel angle is determined according to the first steering wheel angle, the curve attribute, and the reference correspondence, so as to facilitate accurately and effectively determining the curve vehicle speed when the vehicle is not following the curve according to the lateral offset and the change amount of the steering wheel angle subsequently.

[0067] Specifically, the first steering wheel angle can be understood as the angle rotated by the steering wheel of the vehicle at the previous moment. Vehicles of the same model rotate by basically the same angle when the steering wheel rotates by the same angle. The curve attribute may include the curve curvature.

[0068] Furthermore, when the vehicle is following the curve, collect the reference steering wheel angle and the curve attribute when the vehicle is following the curve. It can be understood that the collected reference steering wheel angle and the curve attribute correspond one by one at this time. In some embodiments, when the vehicle is following the curve, record and store the reference steering wheel angle and the curve attribute in the simulation process at this time, and cumulatively store 10 groups of data of the reference steering wheel angle and the curve attribute when the vehicle is following the curve. Calculate the average value of the reference steering wheel angles in the above 10 groups of data, and calculate the average value of the curve attributes in the above 10 groups of data. Generate the reference correspondence according to the average value of the reference steering wheel angles and the average value of the curve attributes. When the subsequent vehicle is following another curve, the reference correspondence can be supplemented according to the reference steering wheel angle and the curve attribute when the vehicle is following the other curve, so as to obtain the reference correspondence between the reference steering wheel angle and the curve attribute under different curves.

[0069] Please combine Figure 6 , in some embodiments of the present invention, step S114 includes:

[0070] S1141: Based on the reference correspondence, determine the reference steering wheel angle corresponding to the curve attribute;

[0071] S1142: Determine the change in the steering wheel angle based on the first steering wheel angle and the reference steering wheel angle.

[0072] In this way, it is possible to determine the difference between the steering wheel angle when the vehicle does not follow the curve and the steering wheel angle when the vehicle follows the curve under the current curve attribute, so as to facilitate accurately and effectively determining the curve speed of the vehicle when it does not follow the curve based on this difference and the lateral offset.

[0073] Specifically, the curve attribute is the attribute of the curve at the previous position collected at the previous moment, and the reference steering wheel angle is the steering wheel angle when the vehicle corresponding to the curve attribute follows the curve at the previous position.

[0074] Please refer to Figure 7 , when the vehicle does not follow the curve, the change in the steering wheel angle can be understood as the difference between the first steering wheel angle when the vehicle did not follow the curve at the previous moment and the steering wheel angle when the vehicle follows the curve. In some embodiments, the change in the steering wheel angle is calculated by the following formula:

[0075] θ = |θ1 - θ0| (5)

[0076] Where θ is the change in the steering wheel angle, θ1 is the first steering wheel angle at the previous moment, and θ0 is the reference steering wheel angle.

[0077] It should be noted that the curve speed determined when the vehicle does not follow the curve is the vehicle speed at the previous moment.

[0078] Please refer to Figure 8 , in some embodiments of the present invention, determining the change in the steering wheel angle includes:

[0079] S115: When the vehicle follows the curve, obtain the first steering wheel angle of the vehicle at the previous moment and the second steering wheel angle of the vehicle at the current moment;

[0080] S116: Determine the change in the steering wheel angle based on the first steering wheel angle and the second steering wheel angle.

[0081] In this way, determining the change in the steering wheel angle based on the first steering wheel angle and the second steering wheel angle facilitates subsequent accurately and effectively determining the curve speed of the vehicle when it follows the curve based on the lateral offset and the change in the steering wheel angle.

[0082] Specifically, when the vehicle follows the curve, the change in the steering wheel angle can be understood as the difference between the first steering wheel angle of the vehicle at the previous moment and the second steering wheel angle of the vehicle at the current moment. In some embodiments, the change in the steering wheel angle θ is calculated by the following formula:

[0083] θ = |θ1 - θ2| (6)

[0084] Wherein, θ1 is the first steering wheel angle at the previous moment, and θ2 is the second steering wheel angle at the current moment.

[0085] Please combine Figure 9 In some embodiments of the present invention, determining the lateral offset of the vehicle further includes:

[0086] S117: When the vehicle is following a curve, obtain the curve attribute at the previous moment;

[0087] S118: Determine the lateral offset of the vehicle according to the curve attribute and the change amount of the steering wheel angle.

[0088] In this way, the lateral offset of the vehicle is determined according to the curve attribute and the change amount of the steering wheel angle, so as to facilitate accurately and effectively determining the curve vehicle speed when the vehicle is following a curve according to the lateral offset and the change amount of the steering wheel angle in the subsequent process.

[0089] Specifically, please combine Figure 10 In some embodiments of the present invention, the lateral offset of the vehicle is calculated by the following formula:

[0090]

[0091] Wherein, L is the lateral offset of the vehicle, K is the curve attribute, θ is the change amount of the steering wheel angle, and T is the wheel steering ratio. It can be understood that when the curve attribute is the curve curvature, 1 / K in formula (7) is the curvature radius of the curve corresponding to the curve curvature.

[0092] It can be understood that due to the relatively short sampling interval, when the vehicle is following a curve, the change amount of the steering wheel angle within two adjacent sampling moments can be approximated as the central angle corresponding to the vehicle driving trajectory within two adjacent sampling moments.

[0093] It should be noted that the determination method of the lateral offset when the vehicle is following a curve is different from the determination method of the lateral offset when the vehicle is not following a curve, and the determination method of the change amount of the steering wheel angle when the vehicle is following a curve is different from the determination method of the change amount of the steering wheel angle when the vehicle is not following a curve. The driving situation of the vehicle along the curve can be determined by calculating the values of Lf’ - Lf and Lr’ - Lr first, and then the determination method of the curve vehicle speed can be dynamically selected according to the driving situation of the vehicle along the curve (following the curve or not following the curve) to ensure the accuracy of the determined curve vehicle speed.

[0094] It should be noted that the specific values mentioned above are only for illustrating the implementation of the present invention in detail by way of examples, and should not be construed as a limitation to the present invention. In other examples, embodiments or implementations, other values can be selected according to the present invention, and no specific limitation is made herein.

[0095] To implement the above embodiments, an embodiment of the present invention further provides a computer-readable storage medium, on which a program for determining the speed on a curve is stored. When the program for determining the speed on a curve is executed by a processor, the method for determining the speed on a curve according to any one of the above embodiments is implemented.

[0096] According to the computer-readable storage medium of the embodiment of the present invention, when a vehicle is driving along a curve, the lateral offset and the change amount of the steering wheel angle of the vehicle are determined, and then the vehicle is accurately and effectively determined according to the lateral offset and the change amount of the steering wheel angle, which is beneficial to vehicle simulation verification according to the speed on the curve.

[0097] For example, when the program for determining the speed on a curve is executed by a processor, the following steps of the method for determining the speed on a curve are implemented:

[0098] S11: When the vehicle is driving along a curve, determine the lateral offset and the change amount of the steering wheel angle of the vehicle;

[0099] S13: Determine the speed of the vehicle on the curve according to the lateral offset and the change amount of the steering wheel angle.

[0100] It should be noted that the above explanations of the embodiments and beneficial effects of the method for determining the speed on a curve are also applicable to the computer-readable storage medium of the embodiment of the present invention. To avoid redundancy, no detailed expansion is made herein.

[0101] To implement the above embodiments, an embodiment of the present invention further provides an intelligent driving simulation test system Figure 11 is a structural block diagram of an intelligent driving simulation test system according to an embodiment of the present invention. As Figure 11 shown, the intelligent driving simulation test system 300 includes a sensor module 302 and a vehicle controller 304. The sensor module 302 is used to determine the lateral offset and the change amount of the steering wheel angle of the vehicle when the vehicle is driving along a curve. The simulation vehicle controller 304 is used to determine the speed of the vehicle on the curve according to the lateral offset and the change amount of the steering wheel angle.

[0102] According to the intelligent driving simulation test system 300 of the embodiment of the present invention, when the vehicle is driving along a curve, the lateral offset and the change amount of the steering wheel angle of the vehicle are determined, and then the vehicle is accurately and effectively determined according to the lateral offset and the change amount of the steering wheel angle, which is beneficial to vehicle simulation verification according to the speed on the curve.

[0103] Specifically, the sensor module 302 may include a lane line recognition sensor, a binocular camera, a trinocular camera, a steering wheel angle sensor, etc. The lane line recognition sensor, the binocular camera or the trinocular camera can be used to recognize the lane line and obtain the curvature data of the curve along which the vehicle follows the curve, as well as obtain the first distance between the vehicle and the lane line of the curve at the current moment, the current curvature of the curve, and the second distance between the vehicle and the lane line of the curve at the next moment. The steering wheel angle sensor can be used to obtain the first steering wheel angle of the vehicle following the curve and the first steering wheel angle of the vehicle at the current moment.

[0104] In some embodiments of the present invention, the sensor module 302 is further configured to: when the vehicle does not follow the curve, obtain a first distance and a second distance, where the first distance is the distance between the vehicle and the lane line of the curve at the previous moment, and the second distance is the distance between the vehicle and the lane line of the curve at the current moment; determine the lateral offset of the vehicle according to the first distance and the second distance.

[0105] In some embodiments of the present invention, the sensor module 302 is further configured to: when the vehicle does not follow the curve, obtain the first steering wheel angle of the vehicle at the previous moment, the curve attribute at the previous moment, and a pre-calibrated reference correspondence, where the reference correspondence is the correspondence between the curve attribute and the reference steering wheel angle when the vehicle follows the curve; determine the change amount of the steering wheel angle according to the first steering wheel angle, the curve attribute, and the reference correspondence.

[0106] In some embodiments of the present invention, the sensor module 302 is further configured to: based on the reference correspondence, determine the reference steering wheel angle corresponding to the curve attribute; determine the change amount of the steering wheel angle according to the first steering wheel angle and the reference steering wheel angle.

[0107] In some embodiments of the present invention, the sensor module 302 is further configured to: when the vehicle follows the curve, obtain the first steering wheel angle of the vehicle at the previous moment and the second steering wheel angle of the vehicle at the current moment; determine the change amount of the steering wheel angle according to the first steering wheel angle and the second steering wheel angle.

[0108] In some embodiments of the present invention, the sensor module 302 is further configured to: when the vehicle follows the curve, obtain the curve attribute at the previous moment; determine the lateral offset of the vehicle according to the curve attribute and the change amount of the steering wheel angle.

[0109] In some embodiments of the present invention, the lateral offset of the vehicle is calculated by the following formula: where L is the lateral offset of the vehicle, K is the curve attribute, θ is the change amount of the steering wheel angle, and T is the wheel steering ratio.

[0110] In some embodiments of the present invention, the cornering speed of a vehicle is calculated by the following formula: Wherein, V is the cornering speed of the vehicle, L is the lateral offset of the vehicle, θ is the change in the steering wheel angle, and T is the wheel steering ratio.

[0111] It should be noted that the above explanations of the embodiments and beneficial effects of the method for determining the cornering speed are also applicable to the intelligent driving simulation test system 300 of the embodiments of the present invention. To avoid redundancy, no detailed elaboration will be made here.

[0112] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0114] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide means for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1Steps of the functions specified in one or more boxes.

[0116] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0117] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated in this embodiment. Thus, the features defined with the terms "first", "second", etc. in the embodiments of the present invention can clearly or implicitly indicate that at least one such feature is included in this embodiment. In the description of the present invention, the meaning of the word "plural" is at least two or more than two, such as two, three, four, etc., unless otherwise specifically defined in the embodiment.

[0118] It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0119] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for determining the vehicle speed on a curve, characterized in that, Including: When the vehicle is traveling along a curve, determining the lateral offset and the change in steering wheel angle of the vehicle; Determining the curve speed of the vehicle according to the lateral offset and the change in steering wheel angle; The determining of the lateral offset of the vehicle further includes: When the vehicle is traveling along a curve in a following manner, obtaining the curve attribute at the previous moment; Determining the lateral offset of the vehicle according to the curve attribute and the change in steering wheel angle; The lateral offset of the vehicle is calculated by the following formula: Where L is the lateral offset of the vehicle, K is the curve attribute, θ is the change in steering wheel angle, and T is the wheel steering ratio; the curve attribute is the curve curvature; The curve speed of the vehicle is calculated by the following formula: Where V is the curve speed of the vehicle, L is the lateral offset of the vehicle, θ is the change in steering wheel angle, and T is the wheel steering ratio.

2. The method for determining the vehicle speed on a curve according to claim 1, characterized in that, The determining of the lateral offset of the vehicle includes: When the vehicle is not traveling along a curve in a following manner, obtaining a first distance and a second distance, where the first distance is the distance between the vehicle and the lane line of the curve at the previous moment, and the second distance is the distance between the vehicle and the lane line of the curve at the current moment; Determining the lateral offset of the vehicle according to the first distance and the second distance.

3. The method for determining the vehicle speed on a curve according to claim 1, characterized in that Determining the change in steering wheel angle includes: When the vehicle is not traveling along a curve in a following manner, obtaining the first steering wheel angle of the vehicle at the previous moment, the curve attribute at the previous moment, and a pre-calibrated reference correspondence, where the reference correspondence is the correspondence between the curve attribute and the reference steering wheel angle when the vehicle is traveling along a curve in a following manner; Determining the change in steering wheel angle according to the first steering wheel angle, the curve attribute, and the reference correspondence.

4. The method for determining the vehicle speed on a curve according to claim 3, wherein, The determining the change in steering wheel angle according to the first steering wheel angle, the curve attribute, and the reference correspondence includes: Based on the reference correspondence, determining the reference steering wheel angle corresponding to the curve attribute; Determining the change in steering wheel angle according to the first steering wheel angle and the reference steering wheel angle.

5. The method for determining the vehicle speed on a curve according to claim 1, characterized in that, Determining the change in steering wheel angle includes: When the vehicle is traveling along a curve in a following manner, obtaining the first steering wheel angle of the vehicle at the previous moment and the second steering wheel angle of the vehicle at the current moment; Determining the change in steering wheel angle according to the first steering wheel angle and the second steering wheel angle.

6. A computer-readable storage medium, characterized in that, Stored thereon is a program for determining the curve speed, and when the program for determining the curve speed is executed by a processor, the method for determining the curve speed according to any one of claims 1-5 is implemented.

7. An intelligent driving simulation test system, adapted to implement the method for determining the vehicle speed on a curve according to any one of claims 1-5, characterized in that, Including: A sensor module for determining the lateral offset and the change in steering wheel angle of the vehicle when the vehicle is traveling along a curve; A vehicle controller for determining the curve speed of the vehicle according to the lateral offset and the change in steering wheel angle.

Images