Vehicle posture adjustment method, device and electronic equipment

Abstract

The present application provides a vehicle posture adjustment method, device and electronic device, which obtain the current speed and current position of the vehicle, and when the first driving distance is less than or equal to the preset identification distance, identify the preset planned path according to the current position, so as to quickly obtain the curvature information set between the vehicle and the curve, and determine the posture adjustment direction of the vehicle according to the curvature information set. When the adjustment conditions are met, the whole vehicle posture is adjusted according to different posture adjustment directions. When the vehicle is far away from the starting point of the curve, the speed is reduced by adjusting the whole vehicle posture. When the vehicle is close to the starting point of the curve, the turning is assisted by adjusting the whole vehicle posture. When the driver cannot see the curvature of the curve clearly, the method helps the driver to enter the curve at a reasonable speed, and reduces the danger level of the turning process by assisted turning, thereby improving the driver's cornering safety.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device and electronic equipment for adjusting the posture of a whole vehicle. Background Art

[0002] During driving, the driver's sight distance is limited and he cannot see the road conditions beyond a long distance. The driver's field of vision is also limited, and he cannot understand the specific conditions of the curve, such as the sharpness of the curve. The curve can be a curve with a relatively gentle curvature, a curve with a moderate curvature, or a curve with a relatively sharp curvature. If the driver cannot see the curvature of the curve clearly, if the driver enters a curve with a relatively sharp curvature at a higher speed, the danger of the turning process may increase. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose a management method, device, electronic device and storage medium for in-vehicle care, which are used to solve the problem that fragmented time cannot be used for care in the car.

[0004] Based on the above objectives, the first aspect of the present application provides a vehicle posture adjustment method, comprising:

[0005] Get the current speed and current position of the vehicle;

[0006] In response to a first travel distance between the current position and a curve entry starting point being less than or equal to a preset identification distance, identifying a preset planned path according to the current position to obtain a curvature information set;

[0007] determining a posture adjustment direction of the vehicle according to the curvature information set;

[0008] Determining whether an adjustment condition is met according to the current speed and the curvature information set;

[0009] In response to the adjustment condition being met, the entire vehicle posture is adjusted according to the posture adjustment direction.

[0010] Optionally, the posture adjustment direction includes a lateral adjustment direction and a longitudinal adjustment direction; and determining the posture adjustment direction of the vehicle according to the curvature information set includes:

[0011] determining the first travel distance in the curvature information set;

[0012] In response to the first driving distance being less than or equal to a preset first adjustment distance, determining the lateral adjustment direction as the posture adjustment direction;

[0013] In response to the first driving distance being greater than the first adjustment distance and less than or equal to a preset second adjustment distance, the longitudinal adjustment direction is determined as the posture adjustment direction.

[0014] Optionally, the determining whether an adjustment condition is satisfied according to the current speed and the curvature information set includes:

[0015] In response to the posture adjustment direction being the longitudinal adjustment direction, obtaining a maximum lateral acceleration of the vehicle, and determining a maximum curvature value of the curve in the curvature information set;

[0016] determining a curvature radius according to the maximum curvature value;

[0017] calculating a vehicle speed threshold according to the curvature radius and the maximum lateral acceleration;

[0018] In response to the current speed being greater than or equal to the vehicle speed threshold, determining that the adjustment condition for the longitudinal adjustment direction is satisfied;

[0019] In response to the current speed being less than the vehicle speed threshold, it is determined that the adjustment condition of the longitudinal adjustment direction is not satisfied.

[0020] Optionally, the determining whether an adjustment condition is satisfied according to the current speed and the curvature information set includes:

[0021] In response to the posture adjustment direction being the lateral adjustment direction, obtaining a maximum lateral acceleration of the vehicle, and determining a maximum curvature value of the curve, a second travel distance, and a curve entry point curvature value in the curvature information set;

[0022] The second driving distance is the driving distance between the position on the curve where the maximum curvature value is located and the current position;

[0023] determining a curvature radius according to the maximum curvature value, and calculating a vehicle speed threshold of the curve according to the curvature radius and the maximum lateral acceleration;

[0024] determining the relative distance based on the first driving distance and the second driving distance;

[0025] determining whether the curve is a sharp curve according to the curvature value of the curve entry point;

[0026] In response to the current speed being greater than or equal to the vehicle speed threshold, the curve being a sharp curve, and the relative distance being less than or equal to a preset distance threshold, determining that the adjustment condition for the lateral adjustment direction is satisfied;

[0027] In response to the current speed being less than the vehicle speed threshold, the curve being not a sharp curve, or the relative distance being greater than the distance threshold, it is determined that the adjustment condition for the lateral adjustment direction is not satisfied.

[0028] Optionally, in response to satisfying the adjustment condition, adjusting the entire vehicle posture according to the posture adjustment direction includes:

[0029] In response to the posture adjustment direction being a longitudinal adjustment direction, executing a preset first-stage longitudinal action;

[0030] In response to not receiving a braking signal from the brake pedal within a preset response time, a preset second-stage longitudinal action is performed.

[0031] Optionally, in response to satisfying the adjustment condition, adjusting the entire vehicle posture according to the posture adjustment direction includes:

[0032] In response to the posture adjustment direction being the lateral adjustment direction, determining a front wheel turning angle according to the curvature value of the turning point;

[0033] determining a rear wheel execution turning angle according to the front wheel turning angle;

[0034] Increase suspension damping according to preset adjustment values;

[0035] In response to receiving a turning signal, a turning assist is provided to the steering wheel, and the rear wheels are turned according to a turning angle of the rear wheels.

[0036] Optionally, executing the preset first-stage longitudinal action includes:

[0037] Provide braking reminder;

[0038] Eliminate the dead travel at the front end of the brake pedal;

[0039] Reduce the distance between the brake disc and the brake pad.

[0040] Optionally, executing the preset second-stage longitudinal action includes:

[0041] Reduce driving torque output;

[0042] Increase the pressure on the accelerator pedal;

[0043] Lock upshift gear;

[0044] Control the vehicle's electronic stability system to perform braking actions.

[0045] A second aspect of the present application provides a vehicle posture adjustment device, comprising:

[0046] The data acquisition module is configured to: acquire the current speed and current position of the vehicle;

[0047] a curve pre-identification module configured to: in response to a first travel distance between the current position and a curve entry starting point being less than or equal to a preset identification distance, identify a preset planned path according to the current position to obtain a curvature information set;

[0048] an adjustment direction confirmation module, configured to: determine a posture adjustment direction of the vehicle according to the curvature information set;

[0049] an adjustment condition judgment module, configured to: judge whether an adjustment condition is met according to the current speed and the curvature information set;

[0050] The vehicle posture adjustment module is configured to: in response to satisfying the adjustment condition, adjust the vehicle posture according to the posture adjustment direction.

[0051] The third aspect of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the present application is implemented.

[0052] As can be seen from the above, the vehicle posture adjustment method, device and electronic device provided by the present application obtain the current speed and current position of the vehicle. When the first driving distance between the current position and the starting point of the curve is less than or equal to the preset identification distance, the preset planned path is identified according to the current position, and the curvature information set between the vehicle and the curve is quickly obtained. The posture adjustment direction of the vehicle is determined based on the curvature information set, and then it is judged whether the adjustment conditions are met based on the current speed and the curvature information set. When the adjustment conditions are met, the vehicle posture is adjusted according to different posture adjustment directions. When the vehicle is far away from the starting point of the curve, the speed is reduced by adjusting the vehicle posture. When the vehicle is close to the starting point of the curve, the turning is assisted by adjusting the vehicle posture. When the driver cannot see the curvature of the curve clearly, the device helps the driver to enter the curve at a reasonable speed, and reduces the danger level of the turning process through assisted turning, thereby improving the driver's cornering safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0054] Figure 1 This is a flow chart of the vehicle posture adjustment method according to an embodiment of the present application;

[0055] Figure 2 A flowchart for determining adjustment directions for embodiments of the present application;

[0056] Figure 3 A flow chart for determining adjustment conditions for the longitudinal adjustment direction according to an embodiment of the present application;

[0057] Figure 4 A flow chart for determining the adjustment conditions for the lateral adjustment direction according to an embodiment of the present application;

[0058] Figure 5 This is a flow chart of longitudinal vehicle posture adjustment according to an embodiment of the present application;

[0059] Figure 6 This is a flow chart of the lateral vehicle posture adjustment according to an embodiment of the present application;

[0060] Figure 7 This is a schematic structural diagram of the vehicle posture adjustment device according to an embodiment of the present application;

[0061] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0063] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0064] In some embodiments, as Figure 1 As shown, the vehicle posture adjustment method includes:

[0065] Step 100: Obtain the current speed and current position of the vehicle.

[0066] In this step, the vehicle's current position can optionally be obtained through the navigation function of an onboard mobile terminal or a control system. Obtaining the current position allows the vehicle's specific position on the road to be determined, thereby determining the relationship between the vehicle and various important locations on the curve at the current moment. For example, the distance traveled between the vehicle's current position and the curve entry point at the current moment can be determined, and the distance traveled between the vehicle's current position and the location of the maximum curvature value on the curve can be determined. The curve entry point is the intersection of the curve and the straight road, i.e., the starting point of the curve; the travel distance is the distance the vehicle travels while traveling on the road. The vehicle's current speed at the current moment is obtained to determine whether vehicle posture adjustment is necessary to travel at the current speed. When the current speed is slow, cornering is not difficult, generally not dangerous, and the driver can easily complete the corner. When the current speed is fast, cornering is difficult, difficult for the driver to complete smoothly on his own, and may be dangerous. In this case, vehicle posture adjustment can assist the driver in turning.

[0067] Step 200: In response to a first driving distance between the current position and the curve entry starting point being less than or equal to a preset identification distance, a preset planned path is identified according to the current position to obtain a curvature information set.

[0068] In this step, when driving on a straight road away from a curve, since it is a straight road, the driver's sight distance is far, and most of the road conditions of the guiding road can be seen clearly within the field of vision, and driving hazards will not easily occur. Therefore, there is no need to identify the planned path when it is too far away from the curve. The planned path is the vehicle's driving path planned by the navigation software according to the locations of the departure and destination, and the planned path can be updated in real time as the driver drives. The recognition distance is pre-set. Optionally, a distance of 2-3 kilometers from the curve entry point is generally selected as the recognition distance. Pre-setting the recognition distance provides the vehicle with sufficient reaction time to adjust its posture. Therefore, when the first driving distance between the current position and the curve entry point is less than or equal to the preset recognition distance, the preset planned path is recognized based on the current position. When the first driving distance between the current position and the curve entry point is less than or equal to the preset recognition distance, it indicates that the vehicle is relatively close to the curve and needs to begin curve recognition. Because curve recognition and curvature information set calculation both require a certain amount of time, setting the recognition distance in advance allows sufficient time for vehicle recognition and data calculation, ensuring the accuracy of vehicle posture adjustment. The curvature information set includes the first driving distance, the second driving distance (the second driving distance is the driving distance between the current position and the location with the maximum curvature value on the curve), the maximum curvature value of the curve, and the curvature value at the curve entry point.

[0069] Exemplarily, the planned path can be identified by map reconstruction. Map reconstruction is to reconstruct the planned path on the map in the navigation software into a mathematical model of a straight line or curve (the current position of the vehicle can be selected as the origin, or other position points can be selected, such as the starting point of the curve), and the length of the straight line or curve corresponds to the driving distance. After conversion into a mathematical model, the curvature value of each position of the curve is calculated, and the curvature value at the starting point of the curve is determined as the curvature value of the curve point. The curvature values ​​of each point on the curve corresponding to the curve are compared to determine the maximum curvature value and the position point where the maximum curvature value is located. The total length of the straight line and curve between this position point and the current position of the vehicle is the second driving distance, and the total length of the straight line and curve between the starting point of the curve and the current position of the vehicle is the first driving distance.

[0070] Step 300: Determine the posture adjustment direction of the vehicle according to the curvature information set.

[0071] In this step, when the vehicle is far away from the starting point of the turn, it is only necessary to control the current speed of the vehicle to reduce the difficulty of entering and passing the turn, and reduce the risk of passing the turn. Therefore, when the vehicle is far away from the starting point of the turn, it is necessary to adjust the vehicle's posture longitudinally, so the longitudinal adjustment direction is determined as the posture adjustment direction; wherein, the longitudinal adjustment direction is the length direction of the vehicle; when the vehicle is close to the starting point of the turn and the degree of curvature is large, it is necessary to control the vehicle to prepare for steering, assist the driver in performing the turning operation, and thereby reduce the difficulty of passing the turn, and reduce the risk of passing the turn. Therefore, when the vehicle is close to the starting point of the turn, it is necessary to adjust the vehicle's posture laterally, so the lateral adjustment direction is determined as the posture adjustment direction; wherein, the lateral adjustment direction is the width direction of the vehicle.

[0072] Step 400: Determine whether the adjustment condition is met based on the current speed and curvature information set.

[0073] In this step, after the posture adjustment direction is determined, it is necessary to judge in real time whether the adjustment conditions are met at the current moment based on the current speed of the vehicle and the identified curvature information set. The adjustment conditions are set because the posture of the entire vehicle cannot be adjusted in all situations. When the adjustment conditions are not met, if the vehicle posture is adjusted, it may have a greater impact on the driver's driving and cause greater danger. When the adjustment conditions are met, the posture of the entire vehicle is adjusted, which will not affect the driver's driving and can also help the driver to brake, slow down and turn smoothly.

[0074] Step 500: In response to an adjustment condition being met, the entire vehicle posture is adjusted according to a posture adjustment direction.

[0075] In this step, after determining that the adjustment conditions are met, different vehicle posture adjustment strategies are implemented for different posture adjustment directions. When the posture adjustment direction is longitudinal, longitudinal braking and deceleration can be performed to adjust the vehicle posture longitudinally; when the posture adjustment direction is lateral, lateral turning assistance can be performed to adjust the vehicle posture laterally.

[0076] In summary, the vehicle posture adjustment method, device, and electronic device provided in the embodiments of the present application obtain the current speed and current position of the vehicle. When the first driving distance is less than or equal to the preset recognition distance, the preset planned path is identified based on the current position, and a curvature information set between the vehicle and the curve is quickly obtained. The vehicle posture adjustment direction is determined based on the curvature information set, and then the adjustment conditions corresponding to the posture adjustment direction are determined based on the current speed and the curvature information set. If the adjustment conditions are met, the vehicle posture is adjusted according to the posture adjustment direction. When the vehicle is far away from the starting point of the curve and the posture adjustment direction is the longitudinal adjustment direction, the longitudinal vehicle posture adjustment can be used to reduce the vehicle speed, ensuring that the vehicle's cornering difficulty can be reduced by reducing the speed before entering the curve. When the vehicle is close to the starting point of the curve and the posture adjustment direction is the lateral adjustment direction, the lateral vehicle posture adjustment can be used to assist the driver in cornering, thereby helping the driver enter the curve at a reasonable speed through vehicle posture adjustment, and reducing the danger level of the cornering process through assisted turning, reducing the cornering difficulty, and improving the driver's cornering safety.

[0077] In some embodiments, the posture adjustment direction includes a lateral adjustment direction and a longitudinal adjustment direction; Figure 2 As shown, the vehicle posture adjustment direction is determined according to the curvature information set, including:

[0078] Step 310: Determine a first travel distance in the curvature information set.

[0079] In this step, identification starts from the time when the first driving distance is equal to the identification distance. As the vehicle travels, the vehicle gets closer and closer to the starting point of the curve, and the first driving distance becomes smaller and smaller. Therefore, the curvature information set obtained through real-time identification includes the identification of the first driving distance. When determining the posture adjustment direction of the vehicle, it is first necessary to determine the first driving distance in the curvature information set to judge the distance between the vehicle and the curve, and then determine different posture adjustment directions.

[0080] Step 320: In response to the first driving distance being less than or equal to a preset first adjustment distance, determining the lateral adjustment direction as the posture adjustment direction.

[0081] In this step, for example, the preset first adjustment distance can be 50 meters, so when the first driving distance is less than or equal to the preset first adjustment distance, it means that the vehicle is very close to the curve and can start to make auxiliary preparations for turning. Since the turning preparation belongs to the adjustment in the width direction of the vehicle, the lateral adjustment direction is determined as the posture adjustment direction.

[0082] Step 330 : In response to the first driving distance being greater than the first adjustment distance and less than or equal to a preset second adjustment distance, determining the longitudinal adjustment direction as the posture adjustment direction.

[0083] In this step, for example, the preset first adjustment distance can be 50 meters, and the preset second adjustment distance can be 300 meters. Therefore, when the first driving distance is greater than the first adjustment distance and less than or equal to the preset second adjustment distance, it means that the vehicle is relatively close to the curve and can start braking and slowing down for the curve. Since braking and deceleration are adjustments in the length direction of the vehicle, the longitudinal adjustment direction is determined as the posture adjustment direction.

[0084] In some embodiments, as Figure 3 As shown, whether the adjustment conditions are met is determined based on the current speed and curvature information set, including:

[0085] Step 410: In response to the attitude adjustment direction being the longitudinal adjustment direction, obtaining the maximum lateral acceleration of the vehicle, and determining the maximum curvature value of the curve in the curvature information set.

[0086] In this step, after determining that the posture adjustment direction is the longitudinal adjustment direction, it is necessary to determine the maximum lateral acceleration that the vehicle can provide based on the vehicle's performance. The maximum lateral acceleration is an inherent property of the vehicle and is determined when the vehicle leaves the factory. It is a data stored in the vehicle memory in advance. The maximum lateral acceleration can be obtained from the memory when needed. In the mathematical model, the maximum lateral acceleration is the centripetal acceleration, and the maximum curvature value in the curvature information set is obtained to calculate the curvature radius.

[0087] Step 420: Determine the curvature radius according to the maximum curvature value.

[0088] In this step, the curvature radius is calculated according to the curvature radius calculation formula, wherein the curvature radius calculation formula is:

[0089] r=1 / C

[0090] Wherein, C is the maximum curvature value in the curvature information set, and r is the curvature radius of the position point corresponding to the maximum curvature value.

[0091] Step 430: Calculate the vehicle speed threshold according to the curvature radius and the maximum lateral acceleration.

[0092] In this step, the vehicle speed threshold for the curve is calculated according to a variant of the centripetal acceleration (maximum lateral acceleration) calculation formula, wherein the variant of the centripetal acceleration (maximum lateral acceleration) calculation formula is:

[0093]

[0094] Among them, r is the curvature radius of the point corresponding to the maximum curvature value, a is the maximum lateral acceleration, V max The speed threshold indicates the maximum permissible speed within the identified curve. If the speed threshold is exceeded, the vehicle will undergo centrifugal motion and skid, which may cause the vehicle to fly out of the curve and cause a traffic accident.

[0095] Step 440 : In response to the current speed being greater than or equal to the vehicle speed threshold, determining that an adjustment condition for the longitudinal adjustment direction is satisfied.

[0096] In this step, when it is determined that the current speed is greater than or equal to the vehicle speed threshold, it means that the driver's turning operation at the current speed will cause the vehicle to undergo centrifugal motion and side slip, which will cause the vehicle to fly out of the curve and cause a traffic accident. Therefore, it is necessary to brake in the longitudinal direction of the vehicle, that is, the direction of travel, to reduce the vehicle's speed and allow the vehicle to enter the curve at a safer speed (less than or equal to the vehicle speed threshold) to ensure the safety of the turning process.

[0097] Step 450 : In response to the current speed being less than the vehicle speed threshold, determining that the adjustment condition for the longitudinal adjustment direction is not satisfied.

[0098] In this step, when it is determined that the current speed is less than the vehicle speed threshold, it means that the driver's turning operation at the current speed will not cause centrifugal movement of the vehicle, will not cause side slip, and the vehicle will not fly out of the curve, which is relatively safe. It is only necessary to perform assisted turning when turning. Therefore, at this time, there is no need to brake in the longitudinal direction of the vehicle, that is, the direction of travel, to ensure the safety of the turning process.

[0099] In some embodiments, as Figure 4 As shown, whether the adjustment conditions are met is determined based on the current speed and curvature information set, including:

[0100] Step 410 ′: in response to the attitude adjustment direction being a lateral adjustment direction, obtaining the maximum lateral acceleration of the vehicle, and determining the maximum curvature value of the curve, the second driving distance, and the curvature value of the curve entry point in the curvature information set.

[0101] The second driving distance is the driving distance between the position with the maximum curvature value on the curve and the current position.

[0102] In this step, after determining that the posture adjustment direction is the lateral adjustment direction, it is necessary to determine the maximum lateral acceleration that the vehicle can provide based on the vehicle's performance. The maximum lateral acceleration is an inherent property of the vehicle and is determined when the vehicle leaves the factory. It is a data stored in the vehicle memory in advance and can be obtained from the memory when needed. In the mathematical model, the maximum lateral acceleration is the centripetal acceleration, and the maximum curvature value in the curvature information set is obtained to calculate the curvature radius. The maximum curvature value of the curve, the second driving distance, and the curvature value of the curve entry point are determined in the curvature information set.

[0103] Step 420 ′: determining a curvature radius according to the maximum curvature value, and calculating a vehicle speed threshold of the curve according to the curvature radius and the maximum lateral acceleration.

[0104] In this step, the curvature radius is calculated according to the curvature radius calculation formula, wherein the curvature radius calculation formula is:

[0105] r=1 / C

[0106] Wherein, C is the maximum curvature value in the curvature information set, and r is the curvature radius of the position point corresponding to the maximum curvature value.

[0107] Then, the vehicle speed threshold of the curve is calculated according to a modified form of the centripetal acceleration (maximum lateral acceleration) calculation formula, wherein the modified form of the centripetal acceleration (maximum lateral acceleration) calculation formula is:

[0108]

[0109] Among them, r is the curvature radius of the point corresponding to the maximum curvature value, a is the maximum lateral acceleration, V max The speed threshold indicates the maximum permissible speed within the identified curve. If the speed threshold is exceeded, the vehicle will undergo centrifugal motion and skid, which may cause the vehicle to fly out of the curve and cause a traffic accident.

[0110] Step 430 ′: Determine a relative distance based on the first driving distance and the second driving distance.

[0111] In this step, the difference between the second driving distance and the first driving distance is calculated to obtain the relative distance between the starting point of the turn and the position point of the maximum curvature value. The relative distance is used to measure how far the vehicle will travel after entering the turn to reach the position point of the maximum curvature value. If the relative distance is small (for example, the relative distance is less than or equal to 100 meters), it means that the most difficult position point in the turn will be faced soon, so it is necessary to adjust the lateral posture for auxiliary turning; if the relative distance is large (for example, the relative distance is greater than 100 meters), it means that there is still a distance to the most difficult position point in the turn, and there is no need to adjust the lateral posture for auxiliary turning at the current moment.

[0112] Step 440 ′: Determine whether the curve is a sharp curve according to the curvature value of the curve entry point.

[0113] In this step, for example, the curvature of the curve is divided into three levels according to the curvature value, as follows:

[0114] When 0≤curvature value of the turning point≤0.054, the curvature of the curve is relatively small, and the curve is determined to be a gentle curve with a relatively gentle curvature. When the vehicle speed is lower than the speed threshold, the driver can easily complete the turning operation on this kind of curve without the need for lateral posture adjustment for assisted turning.

[0115] When 0.054<curvature value of the curve entry point≤0.108, the curvature of the curve is moderate, and the curve is determined to be a general curve with a relatively moderate curvature. When the vehicle speed is lower than the speed threshold, this degree of curvature increases the difficulty of the driver's cornering operation to a certain extent, but the difficulty increase is small, and there is no need to adjust the vehicle's lateral posture to assist in turning.

[0116] When 0.108<curvature value of the turning point≤0.162, the curvature of the curve is relatively large, and it is determined that the curve is a sharp curve with a relatively intense curvature. When the vehicle speed is lower than the speed threshold, this degree of curvature greatly increases the difficulty of the driver's cornering operation. At this time, the vehicle needs to be adjusted in lateral posture to assist in turning to ensure that the driver can turn smoothly.

[0117] However, when 0.162 is less than the curvature value of the curve entry point, the curve is too sharp. In order to avoid danger, even if the current speed is lower than the speed threshold, a braking and speed reduction prompt must be given. This can be a voice prompt, such as a loop of "There is a sharp turn ahead, please reduce your speed" until the speed drops to a preset safe speed, and then the announcement stops. The safe speed can be set very low to ensure that there is no danger when turning.

[0118] Step 450 ′: In response to the current speed being greater than or equal to the vehicle speed threshold, the curve being a sharp curve, and the relative distance being less than or equal to the preset distance threshold, determining that the adjustment condition for the lateral adjustment direction is satisfied.

[0119] In this step, only when the current speed is greater than or equal to the vehicle speed threshold, the curve is a sharp curve, and the relative distance is less than or equal to the preset distance threshold, can the adjustment conditions for the lateral adjustment direction be determined to be met. For example, when the following conditions are met at the same time, the lateral vehicle posture adjustment can be performed:

[0120] 0≤A≤50;

[0121] V≥Vmax ;

[0122] 0.108 <B≤0.162;

[0123] E≤100;

[0124] Where A is the first driving distance, V is the current speed, V max is the speed threshold, B is the curvature value of the curve entry point, and E is the relative distance.

[0125] Step 460 ′: In response to the current speed being less than the vehicle speed threshold, the curve being not a sharp curve, or the relative distance being greater than the distance threshold, determining that the adjustment condition for the lateral adjustment direction is not satisfied.

[0126] In this step, if any one of the four conditions in step 300 is not met, for example, the current speed is less than the vehicle speed threshold, the curve is not a sharp curve, or the relative distance is greater than the distance threshold, it is determined that the adjustment conditions for the lateral adjustment direction are not met and the lateral vehicle posture adjustment cannot be performed.

[0127] In some embodiments, as Figure 5 As shown, in response to the adjustment condition being met, the whole vehicle posture is adjusted according to the posture adjustment direction, including:

[0128] Step 510: In response to the posture adjustment direction being the longitudinal adjustment direction, executing a preset first-stage longitudinal action.

[0129] In this step, after determining that the posture adjustment direction is the longitudinal adjustment direction, a preset first-stage longitudinal action is performed. Further, performing the preset first-stage longitudinal action includes:

[0130] Provide braking reminder;

[0131] Eliminate the dead travel at the front end of the brake pedal;

[0132] Reduce the distance between the brake disc and the brake pad.

[0133] Among them, the braking reminder can be a voice broadcast prompt, such as "The current speed is fast, please slow down", etc. The braking reminder is to remind the driver that the current speed is too fast, and turning at the current speed may cause danger, prompting the driver to brake and slow down; eliminating the invalid travel at the front end of the brake pedal can make the response speed of the brake pedal faster, which is convenient for the driver to brake quickly; reducing the distance between the brake disc and the brake pad can respond to the braking action faster after the brake pedal is stepped on, and achieve rapid braking. No active braking action is performed in this stage, mainly to prompt the driver and assist the driver to brake.

[0134] Step 520 : In response to not receiving a braking signal from the brake pedal within a preset response time, executing a preset second-stage longitudinal action.

[0135] In this step, the timing starts after the braking reminder ends. When the timing time is less than the preset response time, the braking reminder continues, and only the first stage longitudinal action is still performed. However, when the timing time is greater than or equal to the preset response time, the braking signal from the brake pedal is still not received, indicating that the driver has not taken any braking operation within the response time. At this time, for safety reasons, the preset second stage longitudinal action is performed. Further, the preset second stage longitudinal action is performed, including:

[0136] Reduce driving torque output;

[0137] Increase the pressure on the accelerator pedal;

[0138] Lock upshift gear;

[0139] Control the vehicle's electronic stability system to perform braking actions.

[0140] Among them, reducing the driving torque output of the power motor or gas engine can reduce the current speed and achieve effective braking; increasing the pedaling pressure of the accelerator pedal can make the accelerator pedal feel harder, preventing the driver from accidentally stepping on the accelerator pedal when he wants to step on the brake pedal, and accelerating instead of braking, causing danger in cornering; locking the upshift gear is also to prevent the driver from upshifting in a hurry at this time, which can avoid further increase in vehicle speed, and finally control the vehicle body electronic stability system to perform braking action, automatically brake and slow down, and achieve safe cornering.

[0141] In some embodiments, as Figure 6 As shown, in response to the adjustment condition being met, the whole vehicle posture is adjusted according to the posture adjustment direction, including:

[0142] Step 510 ′: In response to the attitude adjustment direction being a lateral adjustment direction, determining the front wheel steering angle according to the curvature value of the turning point.

[0143] In this step, after determining that the posture adjustment direction is the lateral adjustment direction, the rear wheel steering is activated in advance, and a table is looked up based on the curvature value of the turning point at the starting point of the turn to obtain the front wheel turning angle required for turning. After the driver performs the turning operation, the front wheels of the vehicle can quickly respond to the driver's turning operation.

[0144] Step 520 ′: Determine the rear wheel steering angle according to the front wheel steering angle.

[0145] In this step, the rear wheel execution angle required for rear wheel coordination is calculated based on the front wheel turning angle, so that the rear wheels of the vehicle can quickly respond to the driver's turning operation after the driver performs the turning operation.

[0146] Step 530 ′: Increase the suspension damping according to a preset adjustment value.

[0147] In this step, for example, during vehicle driving, for low speeds or near-straight driving, a lower shock absorber stiffness is desirable to improve vehicle comfort. However, during steering, acceleration, or braking, a higher shock absorber stiffness is desirable to prevent or mitigate vehicle roll, tilt, or nodding, thereby enhancing vehicle maneuverability. Therefore, suspension dampers can be used to increase suspension damping and achieve smoother cornering. Suspension dampers are installed in parallel with elastic elements in the vehicle's suspension system to attenuate vibrations caused by impacts. To improve the vehicle's ride comfort, these dampers are typically hydraulic dampers. Their operating principle is that when the frame (or body) and axle vibrate relative to each other, the piston in the damper moves up and down, causing the oil in the damper chamber to repeatedly flow from one chamber to another through different pores. The stiffness of the vibration reduction and the suspension damping can be increased by increasing the extension stroke of the suspension (increasing the distance between the axle and the frame).

[0148] Step 540 ′: In response to receiving the turning signal, provide a turning assist to the steering wheel, and turn the rear wheels according to the rear wheel turning angle.

[0149] In this step, exemplarily, when the driver turns the steering wheel, a turning signal is received. At this time, in order to enable the driver to quickly realize the turning maneuver, the steering wheel can be provided with a turning assist, and the rear wheels can be turned according to the rear wheel execution angle to assist the driver to make a smooth turn.

[0150] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and performed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0151] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0152] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle posture adjustment device.

[0153] refer to Figure 7 The vehicle posture adjustment device comprises:

[0154] The data acquisition module 10 is configured to: acquire the current speed and current position of the vehicle;

[0155] The curve pre-identification module 20 is configured to: in response to a first driving distance between the current position and the curve entry starting point being less than or equal to a preset identification distance, identify a preset planned path according to the current position to obtain a curvature information set;

[0156] The adjustment direction confirmation module 30 is configured to: determine the posture adjustment direction of the vehicle according to the curvature information set;

[0157] The adjustment condition judgment module 40 is configured to: judge whether the adjustment condition is met according to the current speed and the curvature information set;

[0158] The vehicle posture adjustment module 50 is configured to: in response to the adjustment condition being met, adjust the vehicle posture according to the posture adjustment direction.

[0159] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0160] The device of the above embodiment is used to implement the corresponding vehicle posture adjustment method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0161] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the vehicle posture adjustment method described in any of the above embodiments is implemented.

[0162] Figure 8 10 is a schematic diagram showing a more specific hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0163] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0164] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0165] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0166] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0167] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0168] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0169] The electronic device of the above embodiment is used to implement the corresponding vehicle posture adjustment method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0170] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle posture adjustment method described in any of the above embodiments.

[0171] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0172] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the vehicle posture adjustment method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0173] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0174] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0175] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0176] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A vehicle posture adjustment method, characterized in that: include: Get the current speed and current position of the vehicle; In response to a first travel distance between the current position and a curve entry starting point being less than or equal to a preset identification distance, identifying a preset planned path according to the current position to obtain a curvature information set; Determining a posture adjustment direction of the vehicle according to the curvature information set; wherein the posture adjustment direction includes a lateral adjustment direction and a longitudinal adjustment direction; Determining whether an adjustment condition is met according to the current speed and the curvature information set; The determining whether an adjustment condition is satisfied based on the current speed and the curvature information set includes: In response to the posture adjustment direction being the lateral adjustment direction, obtaining a maximum lateral acceleration of the vehicle, and determining a maximum curvature value of the curve, a second travel distance, and a curve entry point curvature value in the curvature information set; The second driving distance is the driving distance between the position on the curve where the maximum curvature value is located and the current position; determining a curvature radius according to the maximum curvature value, and calculating a vehicle speed threshold of the curve according to the curvature radius and the maximum lateral acceleration; determining a relative distance based on the first driving distance and the second driving distance; determining whether the curve is a sharp curve according to the curvature value of the curve entry point; In response to the current speed being greater than or equal to the vehicle speed threshold, the curve being a sharp curve, and the relative distance being less than or equal to a preset distance threshold, determining that the adjustment condition for the lateral adjustment direction is satisfied; In response to the current speed being less than the vehicle speed threshold, or the curve being not a sharp curve, or the relative distance being greater than the distance threshold, determining that the adjustment condition for the lateral adjustment direction is not satisfied; In response to the adjustment condition being met, the entire vehicle posture is adjusted according to the posture adjustment direction.

2. The method according to claim 1, characterized in that Determining the posture adjustment direction of the vehicle according to the curvature information set includes: determining the first travel distance in the curvature information set; In response to the first driving distance being less than or equal to a preset first adjustment distance, determining the lateral adjustment direction as the posture adjustment direction; In response to the first driving distance being greater than the first adjustment distance and less than or equal to a preset second adjustment distance, the longitudinal adjustment direction is determined as the posture adjustment direction.

3. The method according to claim 2, characterized in that The determining whether an adjustment condition is satisfied according to the current speed and the curvature information set includes: In response to the posture adjustment direction being the longitudinal adjustment direction, obtaining a maximum lateral acceleration of the vehicle, and determining a maximum curvature value of the curve in the curvature information set; determining a curvature radius according to the maximum curvature value; calculating a vehicle speed threshold according to the curvature radius and the maximum lateral acceleration; In response to the current speed being greater than or equal to the vehicle speed threshold, determining that the adjustment condition for the longitudinal adjustment direction is satisfied; In response to the current speed being less than the vehicle speed threshold, it is determined that the adjustment condition of the longitudinal adjustment direction is not satisfied.

4. The method according to claim 1, wherein In response to the adjustment condition being met, adjusting the entire vehicle posture according to the posture adjustment direction includes: In response to the posture adjustment direction being a longitudinal adjustment direction, executing a preset first-stage longitudinal action; In response to not receiving a braking signal from the brake pedal within a preset response time, a preset second-stage longitudinal action is performed.

5. The method according to claim 1, wherein In response to the adjustment condition being met, adjusting the entire vehicle posture according to the posture adjustment direction includes: In response to the posture adjustment direction being the lateral adjustment direction, determining a front wheel turning angle according to the curvature value of the turning point; determining a rear wheel execution turning angle according to the front wheel turning angle; Increase suspension damping according to preset adjustment values; In response to receiving a turning signal, a turning assist is provided to the steering wheel, and the rear wheels are turned according to a turning angle of the rear wheels.

6. The method according to claim 4, characterized in that The first stage of performing the preset longitudinal action includes: Provide braking reminder; Eliminate the dead travel at the front end of the brake pedal; Reduce the distance between the brake disc and the brake pad.

7. The method according to claim 4, characterized in that The execution of the preset second-stage longitudinal action includes: Reduce driving torque output; Increase the pressure on the accelerator pedal; Lock upshift gear; Control the vehicle's electronic stability system to perform braking actions.

8. A vehicle posture adjustment device, characterized in that: include: The data acquisition module is configured to: acquire the current speed and current position of the vehicle; a curve pre-identification module configured to: in response to a first travel distance between the current position and a curve entry starting point being less than or equal to a preset identification distance, identify a preset planned path according to the current position to obtain a curvature information set; An adjustment direction confirmation module is configured to: determine a posture adjustment direction of the vehicle according to the curvature information set; wherein the posture adjustment direction includes a lateral adjustment direction and a longitudinal adjustment direction; The adjustment condition judgment module is configured to: judge whether the adjustment condition is met according to the current speed and the curvature information set; wherein, judging whether the adjustment condition is met according to the current speed and the curvature information set includes: In response to the posture adjustment direction being the lateral adjustment direction, obtaining a maximum lateral acceleration of the vehicle, and determining a maximum curvature value of the curve, a second travel distance, and a curve entry point curvature value in the curvature information set; The second driving distance is the driving distance between the position on the curve where the maximum curvature value is located and the current position; determining a curvature radius according to the maximum curvature value, and calculating a vehicle speed threshold of the curve according to the curvature radius and the maximum lateral acceleration; determining a relative distance based on the first driving distance and the second driving distance; determining whether the curve is a sharp curve according to the curvature value of the curve entry point; In response to the current speed being greater than or equal to the vehicle speed threshold, the curve being a sharp curve, and the relative distance being less than or equal to a preset distance threshold, determining that the adjustment condition for the lateral adjustment direction is satisfied; In response to the current speed being less than the vehicle speed threshold, or the curve being not a sharp curve, or the relative distance being greater than the distance threshold, determining that the adjustment condition for the lateral adjustment direction is not satisfied; The vehicle posture adjustment module is configured to: in response to satisfying the adjustment condition, adjust the vehicle posture according to the posture adjustment direction.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

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