Methods, devices, computer equipment, and storage media for determining vehicle cornering.

Abstract

This application relates to a method, apparatus, computer device, and storage medium for determining vehicle cornering. The method includes: acquiring the vehicle's current speed; obtaining the vehicle's wheel steering angle based on the current speed; obtaining the vehicle's cornering radius based on the wheel steering angle; acquiring the target cornering radius; comparing the target cornering radius with the vehicle's cornering radius to obtain a comparison result; and using the comparison result to push reference information. This method can solve the safety problem caused by the driver's untimely intervention when a vehicle is cornering, as described in the prior art.

Description

Technical Field

[0001] This application relates to the field of automotive control technology, and in particular to a method, apparatus, computer device, and storage medium for determining vehicle cornering. Background Technology

[0002] Lane Keeping Assist (LKA) is a type of intelligent driving assistance system that controls the steering system to help the vehicle stay within its lane when it deviates from its lane. However, due to safety requirements regarding steering performance, LKA is typically only effective on curves with a radius greater than 250 meters. When the vehicle is traveling on a curve with a radius less than 250 meters, LKA will automatically disengage due to insufficient steering ability to keep the vehicle within the curve, and will prompt the driver to take over. The prompt to take over is often too late; if the driver fails to do so within a short time, it can lead to a traffic accident where the vehicle touches the edge of the road. Summary of the Invention

[0003] Based on this, a method, apparatus, computer equipment, and storage medium for determining vehicle cornering are provided to solve the safety problems caused by the driver's failure to take over the vehicle in a timely manner in the prior art.

[0004] On the one hand, a method for determining vehicle cornering is provided, the method comprising: acquiring the current speed of the vehicle, obtaining the wheel steering angle of the vehicle based on the current speed; obtaining the vehicle cornering radius based on the wheel steering angle; acquiring the target cornering radius, and comparing the target cornering radius with the vehicle cornering radius to obtain a comparison result, so as to push reference information through the comparison result.

[0005] In one embodiment, before acquiring the vehicle's current speed and obtaining the vehicle's wheel steering angle based on the current speed, the method further includes: acquiring the vehicle's current coordinates and obtaining the distance between the vehicle and the target curve based on the current coordinates; when the distance reaches a distance threshold, acquiring the vehicle's current speed and obtaining the vehicle's wheel steering angle based on the current speed.

[0006] In one embodiment, obtaining the vehicle's cornering radius based on the wheel steering angle includes: acquiring the vehicle's attribute information, and obtaining the vehicle's cornering radius based on the attribute information and the wheel steering angle, wherein the attribute information includes wheel track and vehicle length.

[0007] In one embodiment, the mathematical expression for the vehicle's cornering radius is:

[0008] R = L / sinβ + (bM) / 2

[0009] Where L is the vehicle length, β is the wheel steering angle, b is the wheel track, and M is the axle center distance.

[0010] In one embodiment, the target curve radius is obtained and compared with the vehicle's curve radius to obtain a comparison result. Reference information is pushed based on the comparison result, including: obtaining the vehicle's current coordinates, determining the target curve radius based on the current coordinates, and comparing the target curve radius with the vehicle's curve radius; if the target curve radius is smaller than the vehicle's curve radius, a takeover prompt is issued.

[0011] In one embodiment, if the target curve radius is smaller than the vehicle's curve radius, a takeover prompt is issued, including: if the target curve radius is smaller than the vehicle's curve radius, reducing the current vehicle speed to a speed threshold; performing another vehicle curve determination based on the speed threshold to obtain a determination result, and issuing a takeover prompt based on the determination result.

[0012] In one embodiment, the vehicle cornering is determined again based on the vehicle speed threshold to obtain a determination result, and a takeover prompt is given based on the determination result. This includes: obtaining a wheel steering angle threshold based on the vehicle speed threshold; obtaining a vehicle cornering radius threshold based on the wheel steering angle threshold and the vehicle's attribute information; comparing the target cornering radius with the vehicle cornering radius threshold, and if the target cornering radius is less than the vehicle cornering radius threshold, a takeover prompt is given.

[0013] On the other hand, a device for determining vehicle cornering is provided. The device includes: an information acquisition module for acquiring the current vehicle speed and obtaining the wheel steering angle of the vehicle based on the current vehicle speed; a cornering radius acquisition module for obtaining the vehicle cornering radius based on the wheel steering angle; and a cornering determination module for acquiring the target cornering radius and comparing the target cornering radius with the vehicle cornering radius to obtain a comparison result, so as to push reference information based on the comparison result.

[0014] On another front, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: acquiring the current speed of the vehicle and obtaining the wheel steering angle of the vehicle based on the current speed; acquiring the target curve radius and comparing the target curve radius with the vehicle's curve radius to obtain a comparison result, so as to push reference information based on the comparison result.

[0015] On another front, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the following steps are performed: acquiring the current speed of the vehicle, obtaining the wheel steering angle of the vehicle based on the current speed; acquiring the target curve radius, comparing the target curve radius with the vehicle's curve radius, obtaining a comparison result, and pushing reference information based on the comparison result.

[0016] The aforementioned method, device, computer equipment, and storage medium for determining vehicle cornering speed obtains the vehicle's current speed in advance, calculates the vehicle's wheel steering angle based on the current speed, calculates the vehicle's cornering radius based on the wheel steering angle, obtains the target curve radius, and determines the vehicle's cornering speed based on the target curve radius and the vehicle's cornering radius. This allows for early intervention warnings when the vehicle is under-cornering, further improving vehicle cornering safety. Attached Figure Description

[0017] Figure 1 This is a diagram illustrating the application environment of a vehicle cornering determination method in one embodiment.

[0018] Figure 2 This is a flowchart illustrating a method for determining vehicle cornering in one embodiment;

[0019] Figure 3 This is a gradient limit table for wheel steering angle and vehicle speed in one embodiment;

[0020] Figure 4 This is a structural block diagram of a vehicle cornering determination device in one embodiment;

[0021] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] The method for determining vehicle cornering provided in this application can be applied to, for example... Figure 1In the application environment shown, terminal 102 and server 104 communicate via a network. The vehicle's current speed can be collected in advance via an onboard receiver, and server 104 can obtain the vehicle's wheel steering angle based on the current speed; the turning radius can be obtained based on the wheel steering angle; the target curve radius can be obtained, and the vehicle's turning radius can be used to determine the turning behavior. This allows for advance control of the vehicle in cornering scenarios, avoiding safety issues caused by untimely human intervention. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices, and server 104 can be a standalone server or a server cluster consisting of multiple servers.

[0024] In one embodiment, such as Figure 2 As shown, a method for determining vehicle cornering is provided, which is then applied to... Figure 1 Taking the terminal in the example, the explanation includes the following steps:

[0025] Step 201: Collect the vehicle's current speed and obtain the vehicle's wheel steering angle based on the current speed.

[0026] Step 202: Obtain the vehicle's cornering radius based on the wheel steering angle;

[0027] Step 203: Obtain the target curve radius and compare it with the vehicle's curve radius to obtain the comparison result, so as to push reference information based on the comparison result.

[0028] The aforementioned method for determining vehicle cornering can be applied to cornering scenarios. Currently, in Level 2 driving functions, Lane Departure Assist (LKA) is one of the most commonly used driver assistance features. It primarily utilizes image acquisition devices or sensors, such as cameras, to acquire lane markings ahead of the vehicle, thus determining the vehicle's position within the lane. Then, it controls the steering system to achieve lane departure mitigation. This provides good steering assistance when cornering. However, based on safety requirements for steering performance, when using LKA to assist a vehicle in cornering, the target curve radius must be greater than 250 meters. When the target curve radius is less than 250 meters, LKA's steering ability is insufficient to keep the vehicle in its original lane. Therefore, LKA will disengage when the target curve radius is less than 250 meters and prompt the driver to take over. However, because LKA's curve determination and prompting are relatively late, the driver needs to take over the vehicle within a very short time; otherwise, delayed takeover can easily lead to vehicle deviation and traffic accidents. In this embodiment, in order to determine the vehicle's cornering in advance and ensure that the driver has enough time to take over the vehicle, thereby avoiding safety issues caused by the vehicle's failure to take over in time, the current vehicle speed can be collected, the vehicle's wheel steering angle can be obtained based on the current vehicle speed, the vehicle's cornering radius can be obtained based on the wheel steering angle, the target corner radius can be obtained, and the vehicle's cornering determination can be made based on the target corner radius and the vehicle's cornering radius.

[0029] In step 201, for example, the current vehicle speed is collected, and the wheel steering angle is obtained based on the current speed. For instance, before determining whether the vehicle is in LKA mode, it is necessary to first determine whether the vehicle is in LKA mode. If it is not in LKA mode, the lane keeping assist warning function is not activated; if the vehicle is in LKA mode, the LKA lane keeping assist warning function is activated, and the autonomous driving domain controller sends the LKA status information to the in-vehicle infotainment system (IVI). After receiving confirmation that LKA is enabled, the IVI runs the map navigation forward road condition detection module in the background to generate real-time road condition information. When it is determined that the radius of the target curve 500 meters ahead of the vehicle is less than 250 meters, the current vehicle speed is collected to determine whether the vehicle is in LKA mode. In LKA mode, the wheel steering angle is gradient-limited based on the vehicle speed, as shown in the gradient limitation table. Figure 3 As shown in the table, K1-K8 are the calibration coefficients related to the gradient limit between vehicle speed and wheel steering angle. It should be noted that the gradient limit relationship between wheel steering angle and vehicle speed is not limited to this table. It can be adjusted according to vehicle type, etc. Therefore, according to this gradient limit, when the current vehicle speed is collected, the corresponding wheel steering angle will be obtained.

[0030] In step 202, it is illustrated by way of example that the vehicle's cornering radius is obtained based on the wheel steering angle. For example, the vehicle's cornering radius can be calculated in advance by combining the wheel steering angle with the autonomous driving domain controller. Specifically, after the autonomous driving domain controller obtains the corresponding wheel steering angle based on the current vehicle speed obtained by the Electronic Stability Controller (ESC), it can calculate the vehicle's cornering radius. Specifically, the vehicle's cornering radius can be obtained by the wheel steering angle, wheel track, and vehicle length. That is, the obtained vehicle cornering radius is the maximum cornering radius that the vehicle can pass through LKA at the current vehicle speed. Therefore, the vehicle's cornering radius can be used to determine whether the vehicle is cornering.

[0031] In step 203, for example, the target curve radius is obtained and compared with the vehicle's turning radius to obtain a comparison result. Reference information is pushed through the comparison result. For example, the target curve radius is the radius of the curve that the vehicle needs to pass through. When the target curve radius is smaller than the vehicle's turning radius, the vehicle's steering ability at the current speed is difficult to safely pass through the target curve, and the vehicle can be slowed down or manually taken over. When the target curve radius is greater than or equal to the vehicle's turning radius, the vehicle's steering ability at the current speed can safely pass through the target curve radius, and the vehicle passes through the target curve in LKA mode.

[0032] In one specific implementation of step 201, before collecting the vehicle's current speed and obtaining the vehicle's wheel steering angle based on the current speed, the method further includes: obtaining the vehicle's current coordinates and obtaining the distance between the vehicle and the target curve based on the current coordinates; when the distance reaches a distance threshold, collecting the vehicle's current speed and obtaining the vehicle's wheel steering angle based on the current speed.

[0033] It should be noted that, to ensure the driver can take over the vehicle in time when its steering ability is insufficient to navigate the target curve, a distance threshold between the vehicle and the target curve can be set. When the vehicle reaches or exceeds this distance threshold, the driver is judged to have taken over the curve, ensuring sufficient time for the driver to take over. This distance threshold can be set differently depending on the vehicle conditions and is not limited here. Specifically, the distance threshold can be set to 500 meters. Calculated at a vehicle speed of 60 km / h, the driver has approximately 30 seconds to take over. In the current LKA mode, the driver only has 0.6 seconds to take over. In comparison, this embodiment increases the driver's takeover time, further improving the safety of the vehicle when cornering. In some implementation processes, GPS / BeiDou positioning signals, LTE / 5G / WLAN / BLE and other auxiliary positioning signals can be received by an onboard receiver, such as an onboard antenna and / or a telematics box (T-BOX). Combined with attitude data and map information from the onboard inertial navigation system, the vehicle's current coordinates, driving direction, and road conditions ahead can be calculated to obtain the distance between the vehicle and the target curve. When this distance reaches 500 meters or other set distance thresholds, the information of the target curve, such as the radius of the target curve and the width of the target curve lane, is sent to the autonomous driving domain controller through the gateway for vehicle curve determination.

[0034] One specific implementation of step 202 involves obtaining the vehicle's turning radius based on the wheel steering angle, including: acquiring the vehicle's attribute information and obtaining the vehicle's turning radius based on the attribute information and the wheel steering angle, wherein the attribute information includes the wheel track and the vehicle length.

[0035] It should be noted that the mathematical expression for the vehicle's cornering radius is as follows:

[0036] R = L / sinβ + (bM) / 2

[0037] Where R is the vehicle's cornering radius, L is the vehicle's length, β is the wheel steering angle, b is the wheel track, and M is the axle center distance. In some implementations, when the vehicle is four-wheel drive, M is the axle center distance. In other implementations, when the vehicle is six-wheel drive or more, M can be the maximum axle center distance, thus obtaining the vehicle's cornering radius.

[0038] In one specific implementation of step 203, the target curve radius is obtained, and the vehicle's curve determination is performed based on the target curve radius and the vehicle's curve radius. This includes: obtaining the vehicle's current coordinates, determining the target curve radius based on the current coordinates, and comparing the target curve radius with the vehicle's curve radius; if the target curve radius is smaller than the vehicle's curve radius, a takeover prompt is issued.

[0039] It should be noted that the target curve radius can be obtained by acquiring the vehicle's current coordinates, identifying the target curve to be traversed, and obtaining the starting and ending coordinates of the target curve, thus determining the radius of curvature of the target curve. For example, based on the vehicle model and current speed, in LKA mode, the vehicle's steering ability is sufficient to navigate a target curve radius greater than 250 meters. Therefore, this embodiment can be applied to situations where the target curve radius is less than 250 meters. Specifically, when the target curve radius is smaller than the vehicle's turning radius, the wheel steering angle at the vehicle's current speed is insufficient to allow the vehicle to navigate the target curve radius. Therefore, the vehicle's steering ability can be further improved by reducing speed, or an alarm can be issued by the autonomous driving domain controller to inform the driver that the target curve ahead exceeds the limit and LKA mode is about to exit, requesting the driver to take over the vehicle. After receiving the alarm information, the IVI can inform the driver through audio and visual reminders, and then exit LKA mode. This avoids most traffic accidents caused by untimely takeover in LKA mode.

[0040] In one specific implementation based on the above embodiments, if the target curve radius is smaller than the vehicle's curve radius, a takeover prompt is issued, including: if the target curve radius is smaller than the vehicle's curve radius, reducing the current vehicle speed to a speed threshold; performing another vehicle curve determination based on the speed threshold, obtaining a determination result, and issuing a takeover prompt based on the determination result.

[0041] It should be noted that when the target curve radius is smaller than the vehicle's turning radius, the current speed can be reduced to a speed threshold, and then the vehicle's turning determination can be made again based on the speed threshold. Specifically, the speed threshold can be set to reduce by 0-30 km / h. If LKA can support the vehicle to pass through the target curve after the current speed is reduced by 0-30 km / h, the autonomous driving domain controller sends a driver reminder message to the instrument panel and large screen. The reminder message may include: the curve ahead exceeds the limit; maintaining LKA requires reducing the current speed, and the cruise speed will be reduced soon. Subsequently, the autonomous driving domain controller will perform the corresponding vehicle deceleration processing before entering the target curve. However, when the target curve radius is too small, and the vehicle cannot pass through even after reducing speed, a level one alarm reminder can be issued through the autonomous driving domain controller as described above. The alarm message includes: the curve ahead exceeds the limit; LKA function is about to disengage; please take over the vehicle.

[0042] In a specific implementation based on the above embodiments, the vehicle cornering is determined again based on the vehicle speed threshold, a determination result is obtained, and a takeover prompt is given based on the determination result. This includes: obtaining a wheel steering angle threshold based on the vehicle speed threshold; obtaining a vehicle cornering radius threshold based on the wheel steering angle threshold and the vehicle's attribute information; comparing the target cornering radius with the vehicle cornering radius threshold, and if the target cornering radius is less than the vehicle cornering radius threshold, a takeover prompt is given.

[0043] It should be noted that if the current vehicle speed is insufficient to pass the target curve, the vehicle speed can be reduced to re-evaluate the curve. Similarly, this curve determination requires calculating the vehicle's curve radius threshold based on the reduced speed threshold, and then comparing the target curve radius with the vehicle's curve radius threshold. If the target curve radius is smaller than the vehicle's curve radius threshold, it means that even with speed reduction, the vehicle cannot pass the target curve, and therefore, manual intervention is initiated. The wheel steering angle threshold corresponding to the speed threshold can also be determined based on... Figure 3 The gradient limit table is obtained. In addition, the autonomous driving domain controller can also monitor the lane lines of the target curve in real time through the Multimedia Personal Computer (MPC) camera. When the lane line is detected to be straight for more than 5 seconds, it can be considered that the vehicle has passed the target curve, the LKA speed limit is released, and the vehicle's current speed is restored to the set cruise speed.

[0044] It should be understood that, although Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0045] In one embodiment, such as Figure 4 As shown, a device for determining vehicle cornering is provided, comprising: an information acquisition module, a cornering radius acquisition module, and a cornering determination module, wherein:

[0046] The information acquisition module is used to collect the vehicle's current speed and obtain the vehicle's wheel steering angle based on the current speed.

[0047] The cornering radius acquisition module is used to obtain the vehicle's cornering radius based on the wheel steering angle;

[0048] The cornering determination module is used to obtain the target corner radius and compare it with the vehicle's cornering radius to obtain the comparison result, so as to push reference information based on the comparison result.

[0049] Preferably, the information acquisition module is also used to obtain the vehicle's current coordinates and the distance between the vehicle and the target curve based on the current coordinates; when the distance reaches a distance threshold, the current vehicle speed is collected and the vehicle's wheel steering angle is obtained based on the current vehicle speed.

[0050] Preferably, the cornering radius acquisition module is also used to acquire vehicle attribute information and obtain the vehicle's cornering radius based on the attribute information and wheel steering angle. The attribute information includes wheel track and vehicle length. The mathematical expression for the vehicle's cornering radius is:

[0051] R = L / sinβ + (bM) / 2

[0052] Where R is the vehicle's cornering radius, L is the vehicle's length, β is the wheel steering angle, b is the wheel track, and M is the axle center distance.

[0053] Preferably, the cornering determination module is also used to obtain the vehicle's current coordinates, determine the target corner radius based on the current coordinates, and compare the target corner radius with the vehicle's cornering radius; if the target corner radius is greater than the vehicle's cornering radius, a takeover prompt is issued.

[0054] Preferably, the cornering determination module is also used to reduce the current vehicle speed to a speed threshold if the target curve radius is smaller than the vehicle's cornering radius; to perform another cornering determination based on the speed threshold, obtain the determination result, and provide a takeover prompt based on the determination result.

[0055] Preferably, the cornering determination module is also used to obtain the wheel steering angle threshold based on the vehicle speed threshold; and to obtain the vehicle cornering radius threshold based on the wheel steering angle threshold and the vehicle attribute information; and to compare the target cornering radius with the vehicle cornering radius threshold. If the target cornering radius is less than the vehicle cornering radius threshold, a takeover prompt is issued.

[0056] Specific limitations regarding the vehicle cornering detection device can be found in the limitations of the vehicle cornering detection method described above, and will not be repeated here. Each module in the aforementioned vehicle cornering detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0057] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for determining vehicle cornering. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0058] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0059] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: acquiring the current vehicle speed, obtaining the vehicle's wheel steering angle based on the current vehicle speed; obtaining the vehicle's cornering radius based on the wheel steering angle; acquiring the target cornering radius, comparing the target cornering radius with the vehicle's cornering radius, obtaining a comparison result, and pushing reference information based on the comparison result.

[0060] In one embodiment, when the processor executes the computer program, it also performs the following steps: obtaining the current coordinates of the vehicle and obtaining the distance between the vehicle and the target curve based on the current coordinates; when the distance reaches a distance threshold, collecting the current speed of the vehicle and obtaining the wheel steering angle of the vehicle based on the current speed.

[0061] In one embodiment, when the processor executes the computer program, it also performs the following steps: obtaining vehicle attribute information and obtaining the vehicle's cornering radius based on the attribute information and wheel steering angle, wherein the attribute information includes wheel track and vehicle length.

[0062] In one embodiment, when the processor executes the computer program, it also performs the following steps: The mathematical expression for the vehicle's cornering radius is:

[0063] R = L / sinβ + (bM) / 2

[0064] Where R is the vehicle's cornering radius, L is the vehicle's length, β is the wheel steering angle, b is the wheel track, and M is the axle center distance.

[0065] In one embodiment, when the processor executes the computer program, it also performs the following steps: obtaining the current coordinates of the vehicle, determining the target curve radius based on the current coordinates, and comparing the target curve radius with the vehicle's curve radius; if the target curve radius is greater than the vehicle's curve radius, then issuing a takeover prompt.

[0066] In one embodiment, when the processor executes the computer program, it also performs the following steps: if the target curve radius is smaller than the vehicle's curve radius, the current vehicle speed is reduced to a speed threshold; the vehicle curve determination is performed again based on the speed threshold, a determination result is obtained, and a takeover prompt is given based on the determination result.

[0067] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining a wheel steering angle threshold based on a vehicle speed threshold; obtaining a vehicle cornering radius threshold based on the wheel steering angle threshold and vehicle attribute information; comparing the target cornering radius with the vehicle cornering radius threshold, and if the target cornering radius is less than the vehicle cornering radius threshold, issuing a takeover prompt.

[0068] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When the computer program is executed by a processor, it performs the following steps: acquiring the current vehicle speed, obtaining the vehicle's wheel steering angle based on the current vehicle speed; obtaining the vehicle's cornering radius based on the wheel steering angle; acquiring the target cornering radius, and determining the vehicle's cornering based on the target cornering radius and the vehicle's cornering radius.

[0069] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the current coordinates of the vehicle and obtaining the distance between the vehicle and the target curve based on the current coordinates; when the distance reaches a distance threshold, collecting the current speed of the vehicle and obtaining the wheel steering angle of the vehicle based on the current speed.

[0070] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining vehicle attribute information and obtaining the vehicle's cornering radius based on the attribute information and wheel steering angle, wherein the attribute information includes wheel track and vehicle length.

[0071] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: The mathematical expression for the vehicle's cornering radius is:

[0072] R = L / sinβ + (bM) / 2

[0073] Where R is the vehicle's cornering radius, L is the vehicle's length, β is the wheel steering angle, b is the wheel track, and M is the axle center distance.

[0074] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the current coordinates of the vehicle, determining the target curve radius based on the current coordinates, and comparing the target curve radius with the vehicle's curve radius; if the target curve radius is greater than the vehicle's curve radius, then issuing a takeover prompt.

[0075] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the target curve radius is smaller than the vehicle's curve radius, a takeover prompt is given, including: if the target curve radius is smaller than the vehicle's curve radius, the current vehicle speed is reduced to a vehicle speed threshold; the vehicle curve determination is performed again based on the vehicle speed threshold, a determination result is obtained, and a takeover prompt is given based on the determination result.

[0076] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining a wheel steering angle threshold based on a vehicle speed threshold; obtaining a vehicle cornering radius threshold based on the wheel steering angle threshold and vehicle attribute information; comparing the target cornering radius with the vehicle cornering radius threshold, and if the target cornering radius is less than the vehicle cornering radius threshold, issuing a takeover prompt.

[0077] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0079] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for determining vehicle cornering, characterized in that, include: In LKA mode, the current vehicle speed is collected, and the wheel steering angle of the vehicle is obtained based on the current vehicle speed. The vehicle's cornering radius is obtained based on the wheel steering angle. The target curve radius is obtained, and the target curve radius is compared with the vehicle's curve radius to obtain a comparison result, which is then used to push reference information.

2. The method for determining vehicle cornering as described in claim 1, characterized in that, In LKA mode, before acquiring the vehicle's current speed and obtaining the wheel steering angle based on the current speed, the process also includes: Obtain the vehicle's current coordinates, and determine the distance between the vehicle and the target curve based on the current coordinates; When the distance reaches the distance threshold, the current speed of the vehicle is collected, and the wheel steering angle of the vehicle is obtained based on the current speed.

3. The method for determining vehicle cornering as described in claim 1, characterized in that, The vehicle's cornering radius is obtained based on the wheel steering angle, including: The vehicle's attribute information is obtained, and the vehicle's cornering radius is obtained based on the attribute information and the wheel steering angle, wherein the attribute information includes wheel track and vehicle length.

4. The method for determining vehicle cornering as described in claim 3, characterized in that, The mathematical expression for the vehicle's cornering radius is: ； in, Let be the radius of the vehicle when it turns. For vehicle length, For the wheel steering angle, The wheel track. This is the center distance between the axles.

5. The method for determining vehicle cornering as described in claim 1, characterized in that, Obtain the target curve radius and compare it with the vehicle's curve radius to obtain a comparison result. Reference information, including: Obtain the vehicle's current coordinates, determine the target curve radius based on the current coordinates, and compare the target curve radius with the vehicle's curve radius; If the target curve radius is smaller than the vehicle's curve radius, a takeover prompt will be issued.

6. The method for determining vehicle cornering as described in claim 5, characterized in that, If the target curve radius is smaller than the vehicle's curve radius, a takeover prompt will be issued, including: If the target curve radius is smaller than the vehicle's curve radius, then reduce the current vehicle speed to a speed threshold. Based on the vehicle speed threshold, the vehicle cornering is judged again to obtain the judgment result, and a takeover prompt is given based on the judgment result.

7. The method for determining vehicle cornering as described in claim 6, characterized in that, Based on the vehicle speed threshold, the vehicle cornering is reassessed to obtain a result. Based on this result, a takeover prompt is issued, including: The wheel steering angle threshold is obtained based on the vehicle speed threshold. And based on the wheel steering angle threshold and the vehicle attribute information, the vehicle cornering radius threshold is obtained; If the target curve radius is less than the vehicle curve radius threshold, a takeover prompt is issued.

8. A device for determining vehicle cornering, characterized in that, include: The information acquisition module is used to acquire the vehicle's current speed in LKA mode and obtain the vehicle's wheel steering angle based on the current speed. A cornering radius acquisition module is used to obtain the vehicle's cornering radius based on the wheel steering angle. The cornering determination module is used to obtain the target corner radius and compare the target corner radius with the vehicle's cornering radius to obtain a comparison result, so as to push reference information based on the comparison result.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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