Curve control method and device, equipment and storage medium

Abstract

The invention belongs to the technical field of vehicle control, and discloses a curve control method, device and equipment and a storage medium. The method comprises the following steps: in response to a bend entering control instruction, acquiring target road curvature information in navigation; determining target steering curvature information according to the target road curvature information and a preset curvature correction coefficient; and determining a target driving speed according to the target steering curvature information, and performing bending control according to the target driving speed. The curvature of navigation is corrected according to the road curvature detected by the vehicle in the past, so that the accuracy of road curvature detection is improved, and the comfort and safety of curve control are further improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a curve control method, device, equipment and storage medium. Background Art

[0002] With the development of technology, the safety and comfort of vehicle driving are becoming increasingly important. When driving on a curve, the vehicle may often become unstable or increase the probability of an accident due to excessive speed. Therefore, accurate recognition of curves is very important for the use of various vehicle functions. However, there are certain problems in identifying lane lines through visual solutions. Identifying lane lines requires high accuracy of visual hardware. At the same time, when it is necessary to ensure sufficient deceleration distance, extremely high distance judgment requirements are placed on visual devices such as cameras, and the reliability is not high, resulting in the fact that it is very difficult to accurately control the deceleration control technology when entering the curve.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a curve control method, device, equipment and storage medium, aiming to solve the technical problem of low accuracy of curve entry control in the prior art.

[0005] To achieve the above object, the present invention provides a curve control method, the method comprising the following steps:

[0006] Respond to the cornering control command and obtain the target road curvature information in the navigation;

[0007] Determine target turning curvature information according to target road curvature information and a preset curvature correction coefficient;

[0008] A target driving speed is determined according to the target turning curvature information, and a cornering control is performed according to the target driving speed.

[0009] Optionally, before determining the target turning curvature information according to the target road curvature information and the preset curvature correction coefficient, the method further includes:

[0010] Obtain road curvature information and measured curvature information in navigation;

[0011] Fitting is performed according to the road curvature information and the measured curvature information to determine a preset curvature correction coefficient.

[0012] Optionally, obtaining the measured curvature information includes:

[0013] When the current vehicle speed is greater than or equal to a first preset vehicle speed, obtaining a yaw angular velocity;

[0014] Determine the measured curvature information according to the yaw rate and the vehicle speed;

[0015] When the current vehicle speed is less than the first preset vehicle speed and greater than or equal to the second preset vehicle speed, obtaining the front wheel steering angle;

[0016] Determining a measurement curvature according to the front wheel turning angle and the vehicle wheelbase;

[0017] When the current vehicle speed is less than a second preset vehicle speed, obtaining a yaw angular velocity and a front wheel turning angle;

[0018] The measured curvature is determined according to the yaw rate, the vehicle speed, the front wheel steering angle and the vehicle wheelbase.

[0019] Optionally, determining a target driving speed according to the target turning curvature information includes:

[0020] Get the current road surface type;

[0021] Determine the road friction coefficient according to the current road surface type;

[0022] Determining a speed constraint condition according to the target steering curvature information, the road friction coefficient, and a vehicle type adjustment parameter, wherein the vehicle type adjustment parameter is calibrated by the current vehicle type;

[0023] The target driving speed is determined according to the speed constraint condition and the target turning curvature information.

[0024] Optionally, the performing the cornering control according to the target driving speed includes:

[0025] Determine the current vehicle position information and the vehicle turning point position information;

[0026] Determine deceleration efficiency constraint information according to the current vehicle position information, the vehicle cornering point position information and the target speed;

[0027] The cornering control is performed according to the deceleration efficiency constraint information and the preset comfort constraint information, and the preset comfort constraint information is calibrated according to the vehicle model information.

[0028] Optionally, after performing the cornering control according to the deceleration efficiency constraint information and the preset comfort constraint information, the method further includes:

[0029] Responding to a vehicle braking command, determining corresponding braking information according to the vehicle braking command;

[0030] Determining a target braking curve according to the deceleration efficiency constraint information and preset comfort constraint information;

[0031] The cornering control is performed according to the braking information and the target braking curve.

[0032] Optionally, after performing the cornering control according to the deceleration efficiency constraint information and the preset comfort constraint information, the method further includes:

[0033] In response to a vehicle acceleration command, determining an accelerator pedal opening;

[0034] When the accelerator pedal opening is less than the vehicle takeover threshold, return to the step of determining the current vehicle position information and the vehicle cornering point position information.

[0035] In addition, to achieve the above-mentioned purpose, the present invention further provides a curve control device, the curve control device comprising:

[0036] An acquisition module, used to respond to a curve control instruction and acquire curvature information of a target road in navigation;

[0037] A processing module, used to determine target turning curvature information according to target road curvature information and a preset curvature correction coefficient;

[0038] A control module is used to determine a target driving speed according to the target turning curvature information, and perform a cornering control according to the target driving speed.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes a curve control device, which includes: a memory, a processor, and a curve control program stored in the memory and executable on the processor, and the curve control program is configured to implement the steps of the curve control method described above.

[0040] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a curve control program is stored, and when the curve control program is executed by a processor, the steps of the curve control method described above are implemented.

[0041] The present invention responds to a curve entry control instruction, obtains target road curvature information in navigation; determines target turning curvature information according to the target road curvature information and a preset curvature correction coefficient; determines a target driving speed according to the target turning curvature information, and performs curve entry control according to the target driving speed. The curvature of the navigation is corrected according to the road curvature detected by the vehicle in the past, thereby improving the accuracy of road curvature detection and further improving the comfort and safety of curve control. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 It is a schematic diagram of the flow chart of the first embodiment of the curve control method of the present invention;

[0045] Figure 2 It is a schematic flow chart of a second embodiment of a curve control method of the present invention;

[0046] Figure 3 is a structural block diagram of a first embodiment of a curve control device of the present invention;

[0047] Figure 4 It is a structural schematic diagram of a curve control device in a hardware operating environment involved in an embodiment of the present invention.

[0048] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of the embodiment of the present application is: responding to the curve control instruction through the vehicle controller to obtain the target road curvature information in the navigation; determining the target steering curvature information according to the target road curvature information and a preset curvature correction coefficient; determining the target driving speed according to the target steering curvature information, and performing curve control according to the target driving speed.

[0052] In this embodiment, for the convenience of description, the following description is made by taking identification of the vehicle controller as the execution subject.

[0053] As the existing technology develops, the safety and comfort of vehicle driving are becoming more and more important. When driving on a curve, the vehicle often becomes unstable or increases the probability of an accident due to excessive speed. Therefore, accurate recognition of curves is very important for the use of various vehicle functions. However, there are certain problems in identifying lane lines through visual solutions. Identifying lane lines requires high accuracy of visual hardware. At the same time, when it is necessary to ensure sufficient deceleration distance, extremely high distance judgment requirements are placed on visual devices such as cameras, and the reliability is not high, resulting in it being very difficult to accurately control the deceleration control technology when entering the curve.

[0054] The present application provides a solution to correct the curvature of navigation according to the road curvature detected by the vehicle in the past, thereby improving the accuracy of road curvature detection and further improving the comfort and safety of curve control.

[0055] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle controller, etc. The following takes the vehicle controller as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the embodiment of the present application provides a curve control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the curve control method of the present application.

[0057] In this embodiment, the curve control method includes the following steps:

[0058] Step S10: Responding to the curve control instruction, obtaining the target road curvature information in the navigation.

[0059] It should be noted that the cornering control instruction is the instruction for activating the cornering control function. The activation conditions may depend on the specific vehicle conditions. For example, cornering control may be performed when it is detected that the user has the intention to corner, or a cornering control instruction may be generated when the vehicle is at a certain distance from the corner.

[0060] It can be understood that the target road curvature information is the curvature or curvature change of the road to be passed.

[0061] Step S20: determining target turning curvature information according to the target road curvature information and a preset curvature correction coefficient.

[0062] It can be understood that the target road curvature information is the road curvature information obtained in the navigation. However, under different road conditions, different driving habits of the driver, and different vehicle conditions, the curvature of the vehicle's actual driving path is often different from the target road curvature information recorded in the navigation. Therefore, this embodiment proposes to correct the curvature information by presetting a curvature correction coefficient.

[0063] Among them, the preset curvature correction coefficient can be calibrated by parameters such as the vehicle model and driver habits. For example, through training through a neural network model, the curvature information obtained by navigation, the user's driving operation, and the vehicle attributes are used as output samples, and the actual steering curvature information test samples and verification samples are used for model training to obtain the weight coefficient in the model as the preset curvature correction coefficient.

[0064] In some embodiments, road curvature information and measured curvature information in navigation are obtained; fitting is performed according to the road curvature information and the measured curvature information to determine a preset curvature correction coefficient.

[0065] It should be noted that this embodiment proposes a low-cost method for obtaining a preset curvature correction coefficient, for example: collecting the actual measured curvature information during driving, such as the detection value of the inertial sensor, and then obtaining the road curvature information in the navigation to perform a quadratic fit on the two. For example: when the vehicle is following a vehicle into a curve, the stored navigation target curvature is a, and the vehicle controller calculates the average measured curvature in the curve according to the actual inertial sensor as b. In order to reduce the error of curve recognition during curve driving, a self-learning optimization scheme is constructed as follows. This part can be completed based on the flexible data acquisition of the central gateway: the curvature information ai obtained from the navigation and the correction value bi calculated by the inertial sensor are regressed for quadratic fitting to make corrections according to the driver's natural driving behavior habits, where i is the number of curvature acquisitions, and the maximum regression sample condition is set to i_max. After collecting ai and bi that meet the conditions, bi=mai2+nai+p is used for regression fitting to obtain the correction coefficients m, n, p. When i is greater than the maximum regression sample condition, the correction flag position is 1, and the navigation curvature information a obtained subsequently is corrected using m, n, and p to obtain a_correct, which replaces the latest ai in the navigation target curvature storage unit for output. After accumulating the number of points, the quadratic curve correction coefficients m, n, and p are obtained by scanning points, which are used to correct the subsequent curvature information, where m, n, and p are the preset curvature correction coefficients.

[0066] In some embodiments, when the current vehicle speed is greater than or equal to a first preset vehicle speed, the yaw angular velocity is obtained; the measured curvature information is determined based on the yaw angular velocity and the vehicle speed; when the current vehicle speed is less than the first preset vehicle speed and greater than or equal to a second preset vehicle speed, the front wheel angle is obtained; the measured curvature is determined based on the front wheel angle and the vehicle wheelbase; when the current vehicle speed is less than the second preset vehicle speed, the yaw angular velocity and the front wheel angle are obtained; the measured curvature is determined based on the yaw angular velocity, vehicle speed, front wheel angle and vehicle wheelbase.

[0067] It should be noted that how to perform accurate measurement to ensure the rationality of the preset curvature correction coefficient, this embodiment proposes the following solution, by adopting different measurement curvature acquisition methods at different speeds to improve the accuracy of the measured curvature. For example: the simplified model of the method for estimating road curvature proposed in this embodiment can be expressed as the following calculation formula:

[0068] According to technical verification, when the vehicle speed is greater than or equal to the first preset speed, it has a higher accuracy rate. Where k is the curvature, is the yaw rate, and vt is the vehicle speed. When the vehicle meets the first increment condition of curvature correction, the vehicle controller obtains the yaw rate from the inertial sensor and the vehicle speed when the vehicle is driving steadily, and obtains the average curvature after the target calculation cycle (refer to the navigation curvature sending cycle, which can be calibrated). When it is detected that the vehicle longitudinal acceleration increment exceeds the second increment condition of curvature correction, the calculation is stopped, and the measured curvature k is finally obtained.

[0069] Furthermore, when the current vehicle speed is less than the first preset vehicle speed and greater than or equal to the second preset vehicle speed, the curvature information of the target curve is determined according to the front wheel steering angle and the vehicle wheelbase. For example, when the vehicle speed is less than 30 km / h, since the vehicle speed is relatively low at this time, a relatively large yaw angle will cause a relatively large error in the estimation of the road curvature. Therefore, the simplified model of the method for estimating the road curvature at low speed can be expressed as the following calculation formula: When the vehicle speed is low, δ f is the front wheel turning angle, which can be calculated from the steering wheel angle and steering ratio. L is the wheelbase of the vehicle, and finally the measured curvature k is obtained.

[0070] It should be noted that when the current vehicle speed is less than the second preset vehicle speed, for example, less than 20 km / h, the curvature prediction calculation result may be affected by the low speed, and the collected data may not be smooth and prone to oscillation. Therefore, the above two calculation models can be used at the same time, and the two sets of results can be weighted and corrected to obtain a set of calculated curvatures to ensure that the overall trend of the curvature prediction results is consistent and there is no large fluctuation.

[0071] Step S30: determining a target driving speed according to the target turning curvature information, and performing a turn entry control according to the target driving speed.

[0072] It should be noted that the target driving speed is determined based on the target turning curvature information in order to meet the constraints on the turning speed for the safety and comfort of the vehicle when turning. If the vehicle's turning speed is too fast, it will cause a decrease in vehicle stability. Therefore, the target driving speed becomes the main means of controlling the cornering. Specifically, the target speed can be selected according to the mapping relationship table between the target turning curvature and the safe driving speed. The safe speed planning problem when driving on a curve is to control the speed starting from the current position of the vehicle until the vehicle reaches the desired safe speed when entering the curve, while ensuring the safety and comfort of the vehicle's lateral movement.

[0073] In some embodiments, the current road surface type is obtained; the road surface friction coefficient is determined based on the current road surface type; the speed constraint condition is determined based on the target steering curvature information, the road surface friction coefficient and the vehicle type adjustment parameter, and the vehicle type adjustment parameter is calibrated by the current vehicle model; the target driving speed is determined based on the speed constraint condition and the target steering curvature information.

[0074] Specifically, the target vehicle speed may be obtained by, for example, cornering deceleration control-target vehicle speed acquisition logic. In order to ensure the safety of the vehicle entering a corner, the vehicle speed needs to be limited according to dynamic information. The vehicle speed may satisfy:

[0075] |ay|=|k|v2≤aymax, Where k is the curvature, is the yaw angular velocity, ay is the lateral acceleration, v is the vehicle speed, and aymax is the maximum lateral acceleration constraint.

[0076] aymax=kyμg, ky, are the lateral force coefficient and the yaw angle factor coefficient respectively, and μ is the friction coefficient.

[0077] The speed constraint condition for entering the corner is:

[0078]

[0079]

[0080] By adapting different ky, A one-dimensional table is set for the target speed of the target vehicle entering curves with different curvatures. The input is the curvature and the output is the target speed to obtain the basic target speed.

[0081] This embodiment responds to the curve control instruction, obtains the target road curvature information in the navigation; determines the target turning curvature information according to the target road curvature information and the preset curvature correction coefficient; determines the target driving speed according to the target turning curvature information, and performs curve control according to the target driving speed. The curvature of the navigation is corrected according to the road curvature detected by the vehicle in the past, which improves the accuracy of road curvature detection and further improves the comfort and safety of curve control.

[0082] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , step S30, the curve control method further includes:

[0083] Step S31: Determine the current vehicle position information and the vehicle turning point position information.

[0084] It should be noted that the current vehicle position information can be the origin of the vehicle coordinate system. The vehicle's turning point position information can be determined through navigation or detected by vehicle sensors, such as curve markers or detecting changes in the lane line ahead to determine the turning point.

[0085] Step S32: Determine deceleration efficiency constraint information according to the current vehicle position information, the vehicle cornering point position information and the target speed.

[0086] It should be noted that the deceleration efficiency constraint information is determined based on the current vehicle position information, the vehicle cornering point position information and the target speed. The safe speed planning problem when driving on a curve is to control the speed starting from the current position of the vehicle until the vehicle reaches the desired safe speed when entering the curve, while ensuring the safety and comfort of the vehicle's lateral movement. The deceleration process when entering a curve can be regarded as a point-to-point speed planning, with the starting point of the curve deceleration control as the starting point A and the cornering point as the end point B. The control logic of the curve recognition and early deceleration for different curves is as follows: the target deceleration is calculated based on the distance between points A and B, the current speed at point A and the target speed at point B, and the slow deceleration starts under the conditions of ensuring vehicle stability and comfort. At this time, the deceleration meets the stability and comfort conditions, achieving early deceleration before entering the curve.

[0087] Step S33: performing cornering control according to the deceleration efficiency constraint information and preset comfort constraint information, wherein the preset comfort constraint information is calibrated according to vehicle type information.

[0088] It should be noted that the specific deceleration process also needs to take comfort requirements into consideration. It is necessary to complete deceleration in time and not let the driver feel frustrated. Therefore, it is necessary to establish a constraint relationship to control the deceleration process. Specifically, the vehicle target deceleration is combined with the actual vehicle speed in the initial state and the basic target vehicle speed at the target point. Considering the two optimization goals of the deceleration efficiency constraint a before entering the corner and the comfort constraint j, the vehicle speed is planned. Goal: Make the average deceleration of the vehicle speed drop meet the deceleration efficiency constraint a, and the maximum change rate of the deceleration meets the comfort constraint j. For the convenience of processing, it can be simply equivalent to a two-dimensional table to look up the output of the target deceleration, where the horizontal axis is the current vehicle speed, and the vertical axis is the speed difference (the difference between the basic target vehicle speed and the current vehicle speed. This value is selected to avoid the reduction of the available braking distance caused by the driver's active acceleration behavior during the process, resulting in insufficient deceleration for early deceleration). The output value of the table is the target deceleration, and the change rate of the output target deceleration (refer to TWH and TTC) is limited by the comfort constraint j (for example, the calibration value, the maximum should not exceed 0.06g / s).

[0089] In some embodiments, in response to a vehicle braking command, corresponding braking information is determined according to the vehicle braking command; a target braking curve is determined according to the deceleration efficiency constraint information and preset comfort constraint information; and cornering control is performed according to the braking information and the target braking curve.

[0090] It should be noted that since the driver is unaware during the driving process, there may be conflicts with the driver's driving instructions. For example, during the deceleration control process, the driver is also consciously controlling, so driving rights arbitration is required. At this time, the driver takes over the arbitration of deceleration (stepping on the brakes), and the arbitration judgment is made when the driver has an active deceleration behavior. When the deceleration takeover arbitration conditions are met, the deceleration with the driver's required deceleration is compared, and the deceleration with a larger absolute value is selected for execution. After the driver's deceleration behavior ends (the brake pedal opening is less than the takeover threshold, and the judgment time condition is met), the deceleration gradually recovers to the current curve advance deceleration target deceleration according to the torque recovery slope after the braking behavior exits. By comparing the braking information made by the driver with the target braking curve made by the control system in real time, the side with a larger braking amount is selected to perform the braking operation, which ensures the driver's operating rights while satisfying the unaware control of the vehicle deceleration into the corner.

[0091] In some embodiments, in response to a vehicle acceleration command, the accelerator pedal opening is determined; when the accelerator pedal opening is less than a vehicle takeover threshold, the process returns to the step of determining the current vehicle position information and the vehicle cornering point position information.

[0092] It is understandable that there will be situations where the driver accelerates when entering a curve, such as when avoiding danger, changing lanes, overtaking, etc. At this time, there is an obvious conflict between the driver's operation and the deceleration function when entering a curve. The driver takes over the arbitration process of acceleration, and the arbitration judgment is made when the driver actively accelerates. When the acceleration takeover arbitration conditions are met, the torque is restored at a certain slope to avoid the frustration of the entire vehicle. After the driver's acceleration behavior ends (the accelerator pedal opening is less than the takeover threshold and the judgment time conditions are met), the deceleration gradually recovers to the current curve advance deceleration target deceleration according to the torque recovery slope after the acceleration behavior exits. The function of being able to quickly recover from an emergency at any time is realized, which improves the user experience.

[0093] This embodiment determines the current vehicle position information and the vehicle turning point position information; determines the deceleration efficiency constraint information according to the current vehicle position information, the vehicle turning point position information and the target speed; performs turning control according to the deceleration efficiency constraint information and the preset comfort constraint information, and the preset comfort constraint information is calibrated according to the vehicle model information. Performing turning control by using the deceleration efficiency constraint information and the preset comfort constraint information realizes the non-sensitivity of turning control and improves the comfort of turning control.

[0094] In addition, an embodiment of the present invention further provides a storage medium, on which a curve control program is stored. When the curve control program is executed by a processor, the steps of the curve control method described above are implemented.

[0095] Reference Figure 3 , Figure 3 It is a structural block diagram of the first embodiment of the curve control device of the present invention.

[0096] like Figure 3 As shown, the curve control device proposed in the embodiment of the present invention includes:

[0097] An acquisition module 10 is used to respond to a curve control instruction and acquire curvature information of a target road in navigation;

[0098] The processing module 20 is used to determine the target turning curvature information according to the target road curvature information and the preset curvature correction coefficient;

[0099] The control module 30 is used to determine a target driving speed according to the target turning curvature information, and perform a cornering control according to the target driving speed.

[0100] The curve control device provided by the present application adopts the curve control method in the above embodiment, which can solve the technical problem of curve control. Compared with the prior art, the beneficial effects of the curve control device provided by the present application are the same as the beneficial effects of the curve control method provided by the above embodiment, and other technical features in the curve control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0101] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0102] In this embodiment, the acquisition module 10 responds to the curve control instruction and acquires the target road curvature information in the navigation; the processing module 20 determines the target turning curvature information according to the target road curvature information and the preset curvature correction coefficient; the control module 30 determines the target driving speed according to the target turning curvature information, and performs the curve control according to the target driving speed. The curvature of the navigation is corrected according to the road curvature detected by the vehicle in the past, which improves the accuracy of the road curvature detection and further improves the comfort and safety of the curve control.

[0103] In some embodiments, the processing module 20 is further used to obtain road curvature information and measurement curvature information in navigation;

[0104] Fitting is performed according to the road curvature information and the measured curvature information to determine a preset curvature correction coefficient.

[0105] In some embodiments, the processing module 20 is further configured to obtain a yaw angular velocity when the current vehicle speed is greater than or equal to a first preset vehicle speed;

[0106] Determine the measured curvature information according to the yaw rate and the vehicle speed;

[0107] When the current vehicle speed is less than the first preset vehicle speed and greater than or equal to the second preset vehicle speed, obtaining the front wheel steering angle;

[0108] Determining a measurement curvature according to the front wheel turning angle and the vehicle wheelbase;

[0109] When the current vehicle speed is less than a second preset vehicle speed, obtaining a yaw angular velocity and a front wheel turning angle;

[0110] The measured curvature is determined according to the yaw rate, the vehicle speed, the front wheel steering angle and the vehicle wheelbase.

[0111] In some embodiments, the control module 30 is further used to obtain the current road surface type;

[0112] Determine the road friction coefficient according to the current road surface type;

[0113] Determining a speed constraint condition according to the target steering curvature information, the road friction coefficient, and a vehicle type adjustment parameter, wherein the vehicle type adjustment parameter is calibrated by the current vehicle type;

[0114] The target driving speed is determined according to the speed constraint condition and the target turning curvature information.

[0115] In some embodiments, the control module 30 is further used to determine the current vehicle position information and the vehicle turning point position information;

[0116] Determine deceleration efficiency constraint information according to the current vehicle position information, the vehicle cornering point position information and the target speed;

[0117] The cornering control is performed according to the deceleration efficiency constraint information and the preset comfort constraint information, and the preset comfort constraint information is calibrated according to the vehicle model information.

[0118] In some embodiments, the control module 30 is further used to respond to a vehicle braking command and determine corresponding braking information according to the vehicle braking command;

[0119] Determining a target braking curve according to the deceleration efficiency constraint information and preset comfort constraint information;

[0120] The cornering control is performed according to the braking information and the target braking curve.

[0121] In some embodiments, the control module 30 is further configured to determine the accelerator pedal opening in response to a vehicle acceleration command;

[0122] When the accelerator pedal opening is less than the vehicle takeover threshold, return to the step of determining the current vehicle position information and the vehicle cornering point position information.

[0123] The present application provides a curve control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the curve control method in the above-mentioned embodiment one.

[0124] Reference below Figure 4, which shows a schematic diagram of the structure of a curve control device suitable for implementing the embodiment of the present application. The curve control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The curve control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0125] like Figure 4 As shown, the curve control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the curve control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the curve control device to communicate with other devices wirelessly or wired to exchange data. Although the curve control device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0126] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0127] The curve control device provided by the present application adopts the curve control method in the above embodiment to solve the technical problem of curve control. Compared with the prior art, the beneficial effects of the curve control device provided by the present application are the same as the beneficial effects of the curve control method provided by the above embodiment, and the other technical features in the curve control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0128] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0129] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0130] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the curve control method in the above-mentioned embodiment.

[0131] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0132] The computer-readable storage medium may be included in the curve control device; or may exist independently without being assembled into the curve control device.

[0133] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the curve control device, the curve control device: responds to the curve entry control instruction and obtains the target road curvature information in the navigation;

[0134] Determine target turning curvature information according to target road curvature information and a preset curvature correction coefficient;

[0135] A target driving speed is determined according to the target turning curvature information, and a cornering control is performed according to the target driving speed.

[0136] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0139] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned curve control method, and can solve the technical problem of curve control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the curve control method provided in the above-mentioned embodiment, and will not be elaborated here.

[0140] The present application also provides a computer program product, including a computer program, which implements the steps of the curve control method as described above when executed by a processor.

[0141] The computer program product provided in this application can solve the technical problem of curve control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the curve control method provided in the above embodiment, which will not be repeated here.

[0142] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A curve control method, characterized in that: The curve control method comprises: Respond to the cornering control command and obtain the target road curvature information in the navigation; Determine target turning curvature information according to target road curvature information and a preset curvature correction coefficient; A target driving speed is determined according to the target turning curvature information, and a cornering control is performed according to the target driving speed.

2. The method according to claim 1, characterized in that Before determining the target turning curvature information according to the target road curvature information and the preset curvature correction coefficient, the method further includes: Obtain road curvature information and measured curvature information in navigation; Fitting is performed according to the road curvature information and the measured curvature information to determine a preset curvature correction coefficient.

3. The method according to claim 2, characterized in that The obtaining of the measured curvature information comprises: When the current vehicle speed is greater than or equal to a first preset vehicle speed, obtaining a yaw angular velocity; Determine the measured curvature information according to the yaw rate and the vehicle speed; When the current vehicle speed is less than the first preset vehicle speed and greater than or equal to the second preset vehicle speed, obtaining the front wheel steering angle; Determining a measurement curvature according to the front wheel turning angle and the vehicle wheelbase; When the current vehicle speed is less than a second preset vehicle speed, obtaining a yaw angular velocity and a front wheel turning angle; The measured curvature is determined according to the yaw rate, the vehicle speed, the front wheel steering angle and the vehicle wheelbase.

4. The method according to claim 1, characterized in that The determining the target driving speed according to the target turning curvature information comprises: Get the current road surface type; Determine the road friction coefficient according to the current road surface type; Determining a speed constraint condition according to the target steering curvature information, the road friction coefficient, and a vehicle type adjustment parameter, wherein the vehicle type adjustment parameter is calibrated by the current vehicle type; The target driving speed is determined according to the speed constraint condition and the target turning curvature information.

5. The method according to claim 1, characterized in that The performing the cornering control according to the target driving speed includes: Determine the current vehicle position information and the vehicle turning point position information; Determine deceleration efficiency constraint information according to the current vehicle position information, the vehicle cornering point position information and the target speed; The cornering control is performed according to the deceleration efficiency constraint information and the preset comfort constraint information, and the preset comfort constraint information is calibrated according to the vehicle model information.

6. The method according to claim 5, characterized in that After the cornering control is performed according to the deceleration efficiency constraint information and the preset comfort constraint information, the method further includes: Responding to a vehicle braking command, determining corresponding braking information according to the vehicle braking command; Determining a target braking curve according to the deceleration efficiency constraint information and preset comfort constraint information; The cornering control is performed according to the braking information and the target braking curve.

7. The method according to claim 5, characterized in that After the cornering control is performed according to the deceleration efficiency constraint information and the preset comfort constraint information, the method further includes: In response to a vehicle acceleration command, determining an accelerator pedal opening; When the accelerator pedal opening is less than the vehicle takeover threshold, return to the step of determining the current vehicle position information and the vehicle cornering point position information.

8. A curve control device, characterized in that: The curve control device comprises: An acquisition module, used to respond to a curve control instruction and acquire curvature information of a target road in navigation; A processing module, used to determine target turning curvature information according to target road curvature information and a preset curvature correction coefficient; A control module is used to determine a target driving speed according to the target turning curvature information, and perform a cornering control according to the target driving speed.

9. A curve control device, characterized in that: The device comprises: a memory, a processor, and a curve control program stored in the memory and executable on the processor, wherein the curve control program is configured to implement the steps of the curve control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a curve control program, and when the curve control program is executed by the processor, the steps of the curve control method according to any one of claims 1 to 7 are implemented.

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