Vehicle turning speed control method and related equipment

Abstract

The invention provides a vehicle turning speed control method and related equipment, and is characterized in that the method comprises the steps that in the vehicle driving process, the current first speed of a vehicle and the second speed planned and determined by the vehicle in the current intelligent driving mode are obtained, and the second speed is the target driving speed after the vehicle completes turning; detecting vehicle information in the driving direction of the vehicle, and acquiring the distance between the vehicle and the intersection stop line under the condition that the vehicle information is detected to meet a first condition; according to the first speed, the second speed and the distance between the vehicle and the intersection stop line, the acceleration of the vehicle is dynamically adjusted, so that the speed of the vehicle reaches the second speed. According to the method, the vehicle information is detected, and the vehicle speed is dynamically reduced according to the vehicle information, so that gentle speed reduction of the vehicle in the turning process is realized, the vehicle speed reduction smoothness is ensured, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle turning speed control method and related equipment. Background Art

[0002] Intelligent / autonomous driving systems generally include an adaptive cruise control system (ACC), which can identify the vehicle in front through radar and / or camera and follow it while maintaining a certain distance. The intelligent driving system quickly processes the perception data to identify the target in front, and then controls the energy recovery system and braking system to slow down the vehicle to achieve the desired speed while avoiding collision.

[0003] How to respond to braking commands in the safest and most effective way in complex road environments, thereby reducing the possibility of traffic accidents and improving traffic efficiency and driving experience, is an urgent problem that needs to be solved. Summary of the invention

[0004] In view of this, the present application provides a vehicle turning speed control method and related equipment, which can achieve smooth deceleration when the vehicle turns right, thereby improving the user's driving experience.

[0005] A first aspect of an embodiment of the present application provides a vehicle turning speed control method, including: during vehicle driving, obtaining a current first speed of the vehicle and a second speed planned and determined by the vehicle in the current intelligent driving mode, the second speed being a target driving speed after the vehicle completes the turn; detecting vehicle information in the driving direction of the vehicle, and obtaining the distance between the vehicle and a stop line at an intersection when it is detected that the vehicle information satisfies a first condition; and dynamically adjusting the acceleration of the vehicle according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection so that the vehicle speed reaches the second speed.

[0006] Compared with the related art, the embodiment of the present application has at least the following advantages: by detecting vehicle information in real time, the vehicle can cope with complex road conditions when turning. At the same time, the acceleration of the vehicle is dynamically adjusted according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, so that the braking control based on the frame speed is more accurate and the smoothness of the vehicle deceleration is improved.

[0007] In one embodiment, when it is detected that vehicle information satisfies a first condition, it includes: detecting vehicle information, if no vehicle information is detected in the direction of travel of the vehicle; and / or, in the direction of travel of the vehicle, a leading vehicle is detected and the speed of the leading vehicle is greater than a first speed; then it is determined that the vehicle information satisfies the first condition.

[0008] In one embodiment, the acceleration of the vehicle is dynamically adjusted according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, including: obtaining the speed difference between the first speed and the second speed; obtaining the maximum acceleration and the acceleration change rate corresponding to the speed difference according to a preset corresponding relationship; determining the moment of acceleration change according to the second speed and the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the acceleration change rate; and dynamically adjusting the acceleration of the vehicle according to the moment of acceleration change, the maximum acceleration and the acceleration change rate.

[0009] In one embodiment, the moment of acceleration change is determined based on the second speed and the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the rate of change of acceleration, including: setting a first moment, a second moment, a third moment and a fourth moment, the first moment being used to indicate the moment when the acceleration value begins to increase, the second moment being used to indicate the moment when the acceleration reaches the maximum acceleration, the third moment being used to indicate the moment when the acceleration begins to decrease, and the fourth moment indicating the moment when the vehicle decelerates and stops; the first moment, the second moment, the third moment and the fourth moment are calculated based on the second speed and the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the rate of change of acceleration.

[0010] In one embodiment, the preset corresponding relationship includes: the speed difference is proportional to the maximum acceleration, the speed difference is proportional to the acceleration change rate, and the larger the speed difference is, the larger the maximum acceleration and the acceleration change rate are.

[0011] In one embodiment, the above method also includes: detecting vehicle information; in the direction of vehicle travel, detecting a front vehicle and the speed of the front vehicle is not greater than a first speed, judging that the vehicle information meets the second condition; in the direction of vehicle travel, detecting an obstacle vehicle that is about to cut into the current lane, judging that the vehicle information meets the third condition.

[0012] In one embodiment, the above method includes: when it is detected that the vehicle information meets the second condition, the vehicle speed is reduced to the second speed according to the speed of the preceding vehicle; when it is detected that the vehicle information meets the third condition, the distance between the obstacle vehicle and the vehicle is obtained, and when the distance is greater than the safety distance, the vehicle speed is reduced to the second speed according to the speed of the obstacle vehicle.

[0013] In the second aspect, an embodiment of the present application also provides a vehicle turning speed control device, including: a detection unit, used to detect the right-turn road condition and obtain the first speed of the vehicle; a judgment unit, used to obtain the braking distance of the vehicle and the right-turn speed of the vehicle when judging that the right-turn road condition is the first road condition; a deceleration unit, used to dynamically adjust the acceleration of the vehicle according to the braking distance, the first speed and the right-turn target speed.

[0014] In a third aspect, an embodiment of the present application further provides a car, wherein the electronic device comprises a processor and a memory, the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the vehicle turning speed control method as described in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the vehicle turning speed control method as described in the first aspect.

[0016] The technical effects obtained by the above-mentioned second, third and fourth aspects are similar to the technical effects obtained by the corresponding technical means in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of the steps of a vehicle turning speed control method provided in one embodiment of the present application.

[0018] Figure 2 A flowchart of the vehicle turning process provided in one embodiment of the present application.

[0019] Figure 3 A flowchart of the steps of a vehicle turning speed control method provided in yet another embodiment of the present application.

[0020] Figure 4 A schematic diagram of an acceleration curve of a vehicle turning speed control method provided in an embodiment of the present application.

[0021] Figure 5 A vehicle right turn speed control method is provided in one embodiment of the present application.

[0022] Figure 6 A functional module diagram of a vehicle turning speed control device provided in one embodiment of the present application.

[0023] Figure 7 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0027] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0028] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0029] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0030] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given by way of example for reference.

[0031] Intelligent / autonomous driving systems generally include an adaptive cruise control system (ACC), which can identify the vehicle in front through radar and / or camera and follow it while maintaining a certain distance. The intelligent driving system quickly processes the perception data to identify the target in front, and then controls the energy recovery system and braking system to slow down the vehicle to achieve the desired speed while avoiding collision.

[0032] How to respond to braking commands in the safest and most effective way in complex road environments, thereby reducing the possibility of traffic accidents and improving traffic efficiency and driving experience, is an urgent problem that needs to be solved.

[0033] In view of the above, the embodiments of the present application provide a vehicle turning speed control method and related equipment, which can achieve smooth deceleration when the vehicle turns right, thereby improving the user's driving experience.

[0034] The specific process of this embodiment is as follows Figure 1 As shown, the following steps are included: Step 101, during the driving process of the vehicle, obtain the current first speed of the vehicle and the second speed of the vehicle planned and determined in the current intelligent driving mode, where the second speed is the target driving speed of the vehicle after completing the turn.

[0035] Among them, the second speed can be determined based on the identified front vehicle. For example, when the intelligent driving mode of the vehicle identifies the speed of the front vehicle and measures the distance to the front vehicle, the second speed of the vehicle after turning is calculated based on the safe vehicle spacing. In the case where the front vehicle includes multiple vehicles, the second speed is also determined based on multiple identified front vehicles. The determination scheme for the identification of the front vehicle is not discussed in detail in this application. Optionally, the second speed can also be the target speed calculated by the intelligent driving mode based on the vehicle speed and turning radius after acquiring the road map.

[0036] Step 102: Detect vehicle information in the driving direction of the vehicle, and when the detected vehicle information satisfies a first condition, obtain the distance between the vehicle and the stop line at the intersection.

[0037] In step 102, the vehicle information includes: the lane lines during the vehicle's driving process, the obstacle vehicles on the lane lines in the direction of the vehicle's driving, and the vehicles cutting in the direction of the vehicle's turning. The cutting-in vehicle can be in a fully cut-in state or a half-cut-in state. The fully cut-in state refers to when the front vehicle has completely entered the self-lane, at which time the entire body of the front vehicle has crossed the lane line and completely entered the self-lane. When the front vehicle partially enters the self-lane but has not completely crossed the lane line, the vehicle is in a half-cut-in state, at which time part of the body of the front vehicle has entered the self-lane, but a part is still outside the self-lane.

[0038] When detecting vehicle information, if there is a vehicle ahead or a vehicle cutting in, it is necessary to determine whether there is interference with the driving of the vehicle. If so, it is necessary to process the turning of the vehicle that the vehicle is driving. If not, the vehicle can be flexibly decelerated according to the pre-set settings.

[0039] In one embodiment, when it is detected that vehicle information satisfies a first condition, it includes: detecting vehicle information, if no vehicle information is detected in the direction of travel of the vehicle; and / or, in the direction of travel of the vehicle, a leading vehicle is detected and the speed of the leading vehicle is greater than a first speed; then it is determined that the vehicle information satisfies the first condition.

[0040] In this embodiment, the vehicle has no interfering vehicles in the traveling direction, or there is a preceding vehicle in the traveling direction, but the preceding vehicle has a speed greater than the first speed of the vehicle, and the preceding vehicle has no interfering vehicles. Therefore, the preceding vehicle can be decelerated.

[0041] In one embodiment, the detecting of vehicle information in the direction of travel of the vehicle includes: detecting the vehicle information; in the direction of travel of the vehicle, if a leading vehicle is detected and the speed of the leading vehicle is not greater than the first speed, it is determined that the vehicle information satisfies a second condition; in the direction of travel of the vehicle, if an obstacle vehicle is detected that is about to cut into the current lane, it is determined that the vehicle information satisfies a third condition.

[0042] When the vehicle information shows that there are vehicles around, determine the impact of the current vehicle on the vehicle's deceleration. If the front vehicle is detected and the speed of the front vehicle is not greater than the first speed, the front vehicle has a leading role in the vehicle's driving speed. The vehicle should follow the speed of the front vehicle to reduce speed. When an obstacle vehicle is detected that is about to cut into the current lane in the driving direction of the vehicle, in order to ensure safety, it is necessary to first open a safe distance from the obstacle vehicle that cuts in. Optionally, the safe distance is one and a half body lengths of the current vehicle.

[0043] Step 103: dynamically adjust the acceleration of the vehicle according to the first speed, the second speed, and the distance between the vehicle and the stop line at the intersection, so that the speed of the vehicle reaches the second speed.

[0044] This embodiment obtains the first speed, the second speed, and the distance between the vehicle and the stop line at the intersection to achieve flexible deceleration of the vehicle. Figure 2 As shown, the flexible deceleration process includes: a first stage S1 in which the acceleration value increases, a second stage S2 in which the acceleration reaches the maximum acceleration value, and a third stage S3 in which the acceleration value begins to decrease.

[0045] like Figure 3 In one embodiment, the acceleration of the vehicle is dynamically adjusted according to the first speed, the second speed, and the distance between the vehicle and the stop line at the intersection, including: Step 301, obtaining a speed difference between a first speed and a second speed; and obtaining a maximum acceleration and an acceleration change rate corresponding to the speed difference according to a preset corresponding relationship.

[0046] In step 301, the first speed V1 and the second speed V2 are obtained, and the speed difference is calculated. , The calculation formula is: =V1-V2.

[0047] In one embodiment, the preset corresponding relationship includes: the speed difference is proportional to the maximum acceleration, the speed difference is proportional to the acceleration change rate, and the larger the speed difference is, the larger the maximum acceleration and the acceleration change rate are.

[0048] In this embodiment, the vehicle acceleration is set to a and the vehicle acceleration change rate is set to jerk, and the maximum acceleration absolute value is set to be less than 3m / s^2, and the maximum acceleration change rate absolute value is set to be less than 2m / s^3. relation: The larger the speed difference, the larger the maximum acceleration value, and the target acceleration maximum value The acceleration jerk value is related to relation: , the greater the speed difference, the greater the acceleration jerk value, and the target maximum acceleration jerk is .

[0049] Optionally, in some embodiments, obtaining the corresponding relationship includes: obtaining the current driving information of the vehicle, determining whether there is a level corresponding to the driving information in a preset database, and triggering obtaining comparison information of the required acceleration value and the actual acceleration value when there is no level corresponding to the driving information. That is, calculating the ratio information according to V2 and V1.

[0050] This embodiment uses a larger acceleration slope when the vehicle speed is high and the distance is short, and uses a smaller acceleration slope when the vehicle speed is low and the distance is long, so as to improve the vehicle control comfort as much as possible under the conditions permitted.

[0051] Step 302, determining the time when the acceleration changes according to the second speed and the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the acceleration change rate; and dynamically adjusting the acceleration of the vehicle according to the time when the acceleration changes, the maximum acceleration and the acceleration change rate.

[0052] In this embodiment, a first moment, a second moment, a third moment and a fourth moment are set, the first moment is used to indicate the moment when the acceleration value starts to increase, the second moment is used to indicate the moment when the acceleration reaches the maximum acceleration, the third moment is used to indicate the moment when the acceleration starts to decrease, and the fourth moment indicates the moment when the vehicle decelerates and stops; the first moment, the second moment, the third moment and the fourth moment are calculated according to the second speed and the distance between the vehicle and the stop line of the intersection, the maximum acceleration and the acceleration change rate.

[0053] In this embodiment, the first moment is Figure 3 The start event of S1 in the second moment is Figure 3 The end time of S1, the third time is Figure 3 The end time of S2, the fourth time is Figure 3 The end time of S3 in the above example. The second speed and the distance S between the vehicle and the stop line at the intersection are obtained. The calculation formula is shown in formula (1), including: Formula (1); According to the above calculation formula, the first moment t1, the second moment t2, the third moment t3 and the fourth moment t4 are determined.

[0054] like Figure 4 As shown, Figure 4 Indicates the accelerations corresponding to the two first speeds (speed 1 and speed 2), curve 1 is the acceleration change curve corresponding to speed 1, and curve 2 is the acceleration change curve corresponding to speed 2. Speed ​​1 is greater than speed 2. Figure 4 The horizontal axis represents time, and the vertical axis represents acceleration. Each moment can be determined by the horizontal and vertical axes.

[0055] For speed 1, the difference between the first speed and the second speed is large, so acceleration curve 1 with a large acceleration is selected. For speed 2, the difference between the first speed and the second speed is small, so acceleration curve 2 with a gentle acceleration curve is selected. In speed 1, deceleration begins at time t1 (the coordinate of t1 is (0, 0)), and the acceleration of deceleration begins to increase until the maximum acceleration is reached at time t2 (the coordinate of t2 is (3, -0.15)). When the vehicle decelerates from the maximum acceleration to time t3 (the coordinate of t3 is (11, -0.15)), the acceleration begins to decrease, and the time t4 (the coordinate of t4 is (14, -0)) is obtained. In speed 2, deceleration begins at time t1` (the coordinates of t1` are (6, 0)), and the deceleration acceleration begins to increase until the maximum acceleration is reached at time t2` (the coordinates of t2` are (8, -0.05)). When the vehicle decelerates from the maximum acceleration to time t3` (the coordinates of t3` are (10, -0.05)), the acceleration begins to decrease, resulting in time t4 (the coordinates of t4` are (14, 0)).

[0056] In one embodiment, the above method also includes: detecting vehicle information; in the direction of vehicle travel, detecting a front vehicle and the speed of the front vehicle is not greater than a first speed, judging that the vehicle information meets the second condition; in the direction of vehicle travel, detecting an obstacle vehicle that is about to cut into the current lane, judging that the vehicle information meets the third condition.

[0057] In one embodiment, the above method includes: when it is detected that the vehicle information meets the second condition, the vehicle speed is reduced to the second speed according to the speed of the preceding vehicle; when it is detected that the vehicle information meets the third condition, the distance between the obstacle vehicle and the vehicle is obtained, and when the distance is greater than the safety distance, the vehicle speed is reduced to the second speed according to the speed of the obstacle vehicle.

[0058] When the vehicle turns on the city navigation function and has turned into the first right lane, preparing to turn right at the intersection, the perception system first determines whether there is an environmental vehicle in front. If there is an environmental vehicle, it determines the relationship between the first speed and the speed of the vehicle in front.

[0059] If the first speed is greater than the speed of the vehicle in front, the vehicle will slow down and follow the vehicle in front until it reaches the expected right turn speed. If the first speed is less than the speed of the vehicle in front and there is no slow-moving vehicle, the vehicle's speed control is based on the city navigation function turned on by the vehicle. The vehicle has been adjusted to the turning lane and is ready to turn right at the intersection. If a slow-moving vehicle is encountered, the vehicle will slow down to increase the distance from the vehicle in front, and then follow the vehicle at a low speed until it reaches the expected right turn speed.

[0060] like Figure 5 As shown, Figure 5 A schematic diagram of the deceleration steps for a vehicle turning right provided in this application, such as Figure 5 As shown, Figure 5 Including: S1: the pilot vehicle prepares to turn right and step S2: obtain the first speed and the second speed. Detect the vehicle information, and when it is determined that the vehicle information meets the second condition, execute step S3, and judge that step S3 is yes. Step S3 includes: whether the vehicle changes lanes to the right lane and is slowed down by the vehicle in front; execute S4 according to step S3: drive at a high speed according to the speed of the vehicle in front. When the vehicle information does not meet the second condition, judge whether the third condition is met. If the third condition is met, execute step S5, and judge that S5 is yes. Step S5: whether there is a slow-moving vehicle in front of the vehicle. Execute step S6 according to step S5: reduce the speed of the vehicle, and drive at a low speed according to the speed of the vehicle in front when pulling away to a safe distance; the execution target of steps S4 and S6 is step S8: reach the second speed. If both step S3 and step S5 are not satisfied, the vehicle information meets the first condition at this time, and step S7 is executed. Step S7 decelerates according to steps S101 to S103, and specifically includes: obtaining the distance between the vehicle and the stop line at the intersection, and dynamically adjusting the acceleration of the vehicle according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, so that the vehicle speed reaches the second speed.

[0061] Compared with the related art, the embodiment of the present application has at least the following advantages: by detecting vehicle information in real time, the vehicle can cope with complex road conditions when turning. At the same time, the acceleration of the vehicle is dynamically adjusted according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, so that the braking control based on the frame speed is more accurate and the smoothness of the vehicle deceleration is improved.

[0062] like Figure 6 As shown, the present application provides a vehicle turning speed control device 60, comprising: The first unit 601 is used to obtain a current first speed of the vehicle and a second speed planned and determined by the vehicle in the current intelligent driving mode during the driving of the vehicle, where the second speed is a target driving speed after the vehicle completes a turn; The second unit 602 is used to detect vehicle information in the driving direction of the vehicle, and obtain the distance between the vehicle and the stop line of the intersection when the vehicle information is detected to meet the first condition; The third unit 603 is used to dynamically adjust the acceleration of the vehicle according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, so that the speed of the vehicle reaches the second speed.

[0063] In one embodiment, when it is detected that vehicle information satisfies a first condition, it includes: detecting vehicle information, if no vehicle information is detected in the direction of travel of the vehicle; and / or, in the direction of travel of the vehicle, a leading vehicle is detected and the speed of the leading vehicle is greater than a first speed; then it is determined that the vehicle information satisfies the first condition.

[0064] In one embodiment, the acceleration of the vehicle is dynamically adjusted according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, including: obtaining the speed difference between the first speed and the second speed; obtaining the maximum acceleration and the acceleration change rate corresponding to the speed difference according to a preset corresponding relationship; determining the moment of acceleration change according to the second speed and the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the acceleration change rate; and dynamically adjusting the acceleration of the vehicle according to the moment of acceleration change, the maximum acceleration and the acceleration change rate.

[0065] In one embodiment, the moment of acceleration change is determined based on the second speed and the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the rate of change of acceleration, including: setting a first moment, a second moment, a third moment and a fourth moment, the first moment is used to indicate the moment when the acceleration value begins to increase, the second moment is used to indicate the moment when the acceleration reaches the maximum acceleration, the third moment is used to indicate the moment when the acceleration begins to decrease, and the fourth moment indicates the moment when the vehicle decelerates and stops; the first moment, the second moment, the third moment and the fourth moment are calculated based on the second speed and the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the rate of change of acceleration.

[0066] In one embodiment, the preset corresponding relationship includes: the speed difference is proportional to the maximum acceleration, the speed difference is proportional to the acceleration change rate, and the larger the speed difference is, the larger the maximum acceleration and the acceleration change rate are.

[0067] In one embodiment, detecting vehicle information in the direction of vehicle travel includes: detecting vehicle information; in the direction of vehicle travel, detecting a leading vehicle and the leading vehicle speed is not greater than a first speed, and judging that the vehicle information satisfies a second condition; in the direction of vehicle travel, detecting an obstacle vehicle that is about to cut into the current lane, and judging that the vehicle information satisfies a third condition.

[0068] In one embodiment, the method further includes: when it is detected that the vehicle information satisfies the second condition, reducing the speed of the vehicle to a second speed according to the speed of the preceding vehicle; when it is detected that the vehicle information satisfies the third condition, obtaining the distance between the obstacle vehicle and the vehicle, and when the distance is greater than the safety distance, reducing the vehicle speed to the second speed according to the speed of the obstacle vehicle.

[0069] Compared with the related art, the embodiment of the present application has at least the following advantages: by detecting vehicle information in real time, the vehicle can cope with complex road conditions when turning. At the same time, the acceleration of the vehicle is dynamically adjusted according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, so that the braking control based on the frame speed is more accurate and the smoothness of the vehicle deceleration is improved.

[0070] Please refer to Figure 7 , Figure 7 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0071] The electronic device 100 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, the steps in the above-mentioned vehicle turning speed control method embodiment are implemented, for example Figure 1 Steps 101 to 103 shown, or, Figure 3 Step 102~step 102 shown.

[0072] Exemplarily, the computer program 40 can also be divided into one or more modules / units, one or more modules / units are stored in the memory 20 and executed by the processor 30. One or more modules / units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 40 in the electronic device 100. For example, it can be divided into the first data unit 601, the second unit 620, and the third unit 630 shown.

[0073] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 100 and does not constitute a limitation of the electronic device 100. The electronic device 100 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 100 may also include input and output devices, network access devices, buses, etc.

[0074] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, a single-chip microcomputer, or the processor 30 may also be any conventional processor, etc.

[0075] The memory 20 can be used to store the computer program 40 and / or the module / unit. The processor 30 realizes various functions of the electronic device 100 by running or executing the computer program and / or the module / unit stored in the memory 20 and calling the data stored in the memory 20. The memory 20 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data (such as audio data) created according to the use of the electronic device 100, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0076] If the module / unit integrated in the electronic device 100 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

Claims

1. A vehicle turning speed control method, characterized in that: include: During vehicle driving, obtaining a current first speed of the vehicle and a second speed of the vehicle planned and determined in the current intelligent driving mode, where the second speed is a target driving speed of the vehicle after the vehicle completes a turn; Detecting vehicle information in the driving direction of the vehicle, and acquiring the distance between the vehicle and the stop line at the intersection when detecting that the vehicle information satisfies a first condition; The acceleration of the vehicle is dynamically adjusted according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection so that the speed of the vehicle reaches the second speed.

2. The vehicle turning speed control method according to claim 1, characterized in that: When it is detected that the vehicle information satisfies the first condition, the method includes: detecting the vehicle information, if the vehicle information is not detected in the driving direction of the vehicle; and / or, In the driving direction of the vehicle, a leading vehicle is detected and the speed of the leading vehicle is greater than the first speed; It is determined that the vehicle information meets the first condition.

3. The vehicle turning speed control method according to claim 1, characterized in that: The dynamically adjusting the acceleration of the vehicle according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection includes: obtaining a speed difference between the first speed and the second speed; According to a preset corresponding relationship, obtaining a maximum acceleration and an acceleration change rate corresponding to the speed difference; Determining a time when acceleration changes according to the second speed, the distance between the vehicle and the stop line at the intersection, the maximum acceleration, and the acceleration change rate; The acceleration of the vehicle is dynamically adjusted according to the acceleration change time, the maximum acceleration and the acceleration change rate.

4. The vehicle turning speed control method according to claim 3, characterized in that: Determining the moment of acceleration change according to the second speed, the distance between the vehicle and the stop line at the intersection, the maximum acceleration, and the acceleration change rate includes: Setting a first moment, a second moment, a third moment and a fourth moment, wherein the first moment is used to indicate the moment when the acceleration value starts to increase, the second moment is used to indicate the moment when the acceleration reaches the maximum acceleration, the third moment is used to indicate the moment when the acceleration starts to decrease, and the fourth moment indicates the moment when the vehicle decelerates and stops; The first moment, the second moment, the third moment and the fourth moment are calculated according to the second speed, the distance between the vehicle and the stop line at the intersection, the maximum acceleration and the acceleration change rate.

5. The vehicle turning speed control method according to claim 3, characterized in that: The preset corresponding relationship includes: the speed difference is proportional to the maximum acceleration, the speed difference is proportional to the acceleration change rate, and the larger the speed difference is, the larger the maximum acceleration and the acceleration change rate are.

6. The vehicle turning speed control method according to claim 2, characterized in that: The detecting vehicle information in the driving direction of the vehicle comprises: detecting the vehicle information; In the driving direction of the vehicle, when the preceding vehicle is detected and the speed of the preceding vehicle is not greater than the first speed, determining that the vehicle information satisfies a second condition; In the traveling direction of the vehicle, when an obstacle vehicle about to cut into the current lane is detected, it is determined that the vehicle information satisfies the third condition.

7. The vehicle turning speed control method according to claim 6, characterized in that: The method further comprises: When it is detected that the vehicle information satisfies the second condition, decelerating the vehicle to the second speed according to the speed of the preceding vehicle; When it is detected that the vehicle information satisfies the third condition, the distance between the obstacle vehicle and the vehicle is obtained, and when the distance is greater than the safety distance, the vehicle speed is reduced to the second speed according to the speed of the obstacle vehicle.

8. A vehicle turning speed control device, characterized in that: include: The first unit is used to obtain a current first speed of the vehicle and a second speed of the vehicle planned and determined in the current intelligent driving mode during the driving of the vehicle, where the second speed is a target driving speed of the vehicle after the vehicle completes the turn; A second unit is used to detect vehicle information in the driving direction of the vehicle, and obtain the distance between the vehicle and the stop line of the intersection when it is detected that the vehicle information meets the first condition; The third unit is used to dynamically adjust the acceleration of the vehicle according to the first speed, the second speed and the distance between the vehicle and the stop line at the intersection, so that the speed of the vehicle reaches the second speed.

9. A car, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle executes the vehicle turning speed control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a vehicle, the vehicle executes the vehicle turning speed control method according to any one of claims 1 to 7.

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