Vehicle curve speed control method and device, vehicle and storage medium

Abstract

The invention relates to a curve speed control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining curve data of a target curve; generating an actual curve planning track meeting a preset curvature condition of the vehicle based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, and obtaining a target control value of the vehicle based on the actual curve planning track; and converting the target control value into a speed signal and a steering signal of the vehicle, and controlling the vehicle by using the speed signal and the steering signal until the vehicle passes through the target curve. Therefore, the technical problems that in the prior art, flexibility is poor, effective change is difficult to conduct under special working conditions, and then traffic efficiency, traffic safety and driving comfort are difficult to consider at the same time are solved.

Description

Technical Field

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

[0002] Curve speed control refers to the control of the longitudinal speed of the vehicle at different curve positions when the ICA (Integrated Cruise Assist) / ICA+ (Integrated Cruise Assist Plus) / NCA (Navigate Connected Autopilot) functions are turned on for vehicles with autonomous driving. In the autonomous driving driving experience, users are more concerned about the efficiency and comfort of passing through curves. In actual roads, the size of curves is fixed. At this stage, the curve control is either based on the calculation of the corresponding speed limit value based on the curvature of each curve to control the speed, or based on the curvature of the lane line, the speed is controlled by the centerline fitting equation, and the speed is controlled by the trajectory centerline fitting equation when there are no lane lines.

[0003] That is to say, in the related art, the speed control on a curve is basically based on the curvature input of each point of the lane for speed control, and the speed of each point depends entirely on the curvature size of the corresponding point.

[0004] In the case of narrow lanes, such as one-way streets, relevant technologies can only be controlled based on the curvature of the curve. If one wants to improve traffic efficiency and ensure cornering safety, comfort will be sacrificed to a certain extent, thus affecting the user's driving experience.

[0005] In summary, the relevant technologies have poor flexibility and are difficult to make effective adjustments under special working conditions, making it difficult to balance traffic efficiency, traffic safety and driving comfort, and this technology needs to be improved. Summary of the invention

[0006] The present application provides a vehicle curve speed control method, device, vehicle and storage medium to solve the technical problems in the related technology, such as poor flexibility, difficulty in making effective adjustments under special working conditions, and difficulty in balancing traffic efficiency, traffic safety and driving comfort.

[0007] The first aspect of the present application provides a method for controlling the curve speed of a vehicle, comprising the following steps: acquiring curve data of a target curve; generating an actual curve planning trajectory of the vehicle that meets a preset curvature condition based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, and obtaining a target control value of the vehicle based on the actual curve planning trajectory; converting the target control value into a speed signal and a steering signal of the vehicle, and controlling the vehicle using the speed signal and the steering signal until the vehicle passes the target curve.

[0008] Optionally, in one embodiment of the present application, the actual curve planning trajectory of the vehicle that meets the preset curvature conditions is generated based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, including: determining the curve type of the target curve based on the curve data; extracting multiple position key points from the target curve according to the curve type and pre-constructed key point extraction rules, and obtaining the initial curve planning path of the target curve based on the multiple position key points; and obtaining the actual curve planning trajectory by combining the initial curve planning path, the current positioning data and the current driving parameters.

[0009] Optionally, in one embodiment of the present application, the actual curve planning trajectory is obtained by combining the initial curve planning path, the current positioning data and the current driving parameters, including: generating a navigation path of the vehicle based on the current positioning data, the current driving parameters and the navigation data of the vehicle; and optimizing the initial curve planning path using the navigation path to obtain the actual curve planning path.

[0010] Optionally, in one embodiment of the present application, after using the speed signal and the turn signal to control the vehicle, it also includes: obtaining the external environmental parameters of the vehicle at preset time intervals; judging whether the vehicle passes through the target curve based on the external environmental parameters; if the vehicle does not pass through the target curve, updating the curve data, the current driving parameters and the current positioning data of the vehicle, and optimizing the actual curve planning path using the updated curve data, the current driving parameters and the updated current positioning data, and obtaining a new target control value using the optimized actual curve planning path, so as to control the vehicle based on the speed signal and turn signal obtained based on the new target control value until the vehicle passes through the target curve.

[0011] Optionally, in one embodiment of the present application, it also includes: recording the actual driving path of the vehicle when passing through the target curve; and optimizing the key point extraction rule based on the actual driving path.

[0012] The second aspect of the present application provides a vehicle curve speed control device, including: a first acquisition module, used to acquire curve data of a target curve; a generation module, used to generate an actual curve planning trajectory of the vehicle that meets a preset curvature condition based on the curve data, the vehicle's current positioning data and the vehicle's current driving parameters, and obtain a target control value of the vehicle based on the actual curve planning trajectory; a control module, used to convert the target control value into a speed signal and a steering signal of the vehicle, and use the speed signal and the steering signal to control the vehicle until the vehicle passes the target curve.

[0013] Optionally, in one embodiment of the present application, the generation module includes: a determination unit, used to determine the curve type of the target curve based on the curve data; an extraction unit, used to extract multiple position key points from the target curve according to the curve type and pre-constructed key point extraction rules, and obtain the initial curve planning path of the target curve based on the multiple position key points; a first generation unit, used to combine the initial curve planning path, the current positioning data and the current driving parameters to obtain the actual curve planning trajectory.

[0014] Optionally, in one embodiment of the present application, the generation module includes: a second generation unit, used to generate a navigation path of the vehicle based on the current positioning data, the current driving parameters and the navigation data of the vehicle; an optimization unit, used to optimize the initial curve planning path using the navigation path to obtain the actual curve planning path.

[0015] Optionally, in one embodiment of the present application, it also includes: a second acquisition module, used to acquire the external environmental parameters of the vehicle at preset time intervals; a judgment module, used to judge whether the vehicle has passed the target curve based on the external environmental parameters; a first optimization module, used to update the curve data, the current driving parameters and the current positioning data of the vehicle if the vehicle has not passed the target curve, and optimize the actual curve planning path using the updated curve data, the current driving parameters and the updated current positioning data, and obtain a new target control value using the optimized actual curve planning path, so as to control the vehicle based on the speed signal and steering signal obtained from the new target control value until the vehicle passes the target curve.

[0016] Optionally, in one embodiment of the present application, it also includes: a recording module, used to record the actual driving path of the vehicle when passing through the target curve; and a second optimization module, used to optimize the key point extraction rule based on the actual driving path.

[0017] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle cornering speed control method as described in the above embodiment.

[0018] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle cornering speed control method as described in the above embodiments.

[0019] The fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned vehicle curve speed control method.

[0020] The embodiment of the present application can generate the actual curve planning trajectory of the vehicle that meets the preset curvature conditions according to the curve data of the target curve, the current positioning data of the vehicle and the current driving parameters of the vehicle, and obtain the target control value of the vehicle based on the actual curve planning trajectory, and convert the target control value into the speed signal and steering signal of the vehicle, so as to control the vehicle by using the speed signal and steering signal until the vehicle passes the target curve, that is, by obtaining the road curve information for re-planning, in the single curve scenario, a planning path with a curve curvature radius larger than the actual lane curve curvature is obtained, so that the vehicle has a smaller turning angle and a faster turning speed, which improves the traffic efficiency of the curve. In the multi-curve scenario, due to the larger curvature radius and smaller steering wheel angle, the vehicle has a smaller roll at the same speed and is safer in the curve. Therefore, the technical problem in the related technology that the flexibility is poor, it is difficult to make effective adjustments under special working conditions, and it is difficult to take into account the traffic efficiency, traffic safety and driving comfort.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A flowchart of a vehicle curve speed control method provided according to an embodiment of the present application;

[0024] Figure 2 A schematic diagram of right-angle curve planning according to an embodiment of the present application;

[0025] Figure 3 A schematic diagram of U-shaped curve planning according to an embodiment of the present application;

[0026] Figure 4 This is a schematic diagram of S-curve planning according to an embodiment of the present application;

[0027] Figure 5 A schematic diagram of multi-S-curve planning according to an embodiment of the present application;

[0028] Figure 6 Schematic diagram of the principle of a vehicle curve speed control method according to an embodiment of the present application;

[0029] Figure 7 It is a structural schematic diagram of a vehicle curve speed control device provided according to an embodiment of the present application;

[0030] Figure 8 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0032] The following describes a vehicle curve speed control method, device, vehicle, and storage medium according to an embodiment of the present application with reference to the accompanying drawings. In view of the technical problems that the related technologies mentioned in the above background technology have poor flexibility and are difficult to make effective adjustments under special working conditions, and thus it is difficult to take into account the traffic efficiency, traffic safety and driving comfort, the present application provides a vehicle curve speed control method, in which the actual curve planning trajectory of the vehicle that meets the preset curvature conditions can be generated according to the curve data of the target curve, the current positioning data of the vehicle and the current driving parameters of the vehicle, and the target control value of the vehicle is obtained based on the actual curve planning trajectory, and the target control value is converted into the speed signal and steering signal of the vehicle, so as to control the vehicle using the speed signal and steering signal until the vehicle passes the target curve, that is, by obtaining the road curve information for re-planning, in a single-curve scenario, a planned path with a curve curvature radius larger than the actual lane curve curvature is obtained, so that the vehicle has a smaller turning angle and a faster cornering speed, which improves the traffic efficiency of the curve. At the same time, in a multi-curve scenario, due to the larger curvature radius and the smaller steering wheel angle, the vehicle has a smaller roll at the same speed and is safer on the curve. Thereby, the technical problems in the related technologies, namely, poor flexibility, difficulty in making effective adjustments under special working conditions, and difficulty in balancing traffic efficiency, traffic safety and driving comfort, are solved.

[0033] Specifically, Figure 1A schematic flow chart of a vehicle cornering speed control method provided in an embodiment of the present application.

[0034] like Figure 1 As shown, the vehicle curve speed control method includes the following steps:

[0035] In step S101 , curve data of a target curve is acquired.

[0036] During the actual implementation process, the embodiments of the present application can use high-precision maps or navigation maps to obtain curve data of the target curve; the embodiments of the present application can also be based on self-built maps and draw maps according to the driving data of the vehicle itself or other vehicles; the embodiments of the present application can also be based on sensor data of perception devices, such as lidar perception, visual perception and other sensors to obtain curve data.

[0037] The embodiment of the present application can convert the obtained curve data into geometric features to facilitate subsequent curve planning.

[0038] The curve data may include curve type, curve curvature, curve width, etc.

[0039] In step S102, an actual curve planning trajectory of the vehicle that meets a preset curvature condition is generated based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, and a target control value of the vehicle is obtained based on the actual curve planning trajectory.

[0040] Based on the curve data, the embodiment of the present application can combine the vehicle's current positioning data and current driving parameters to perform curve planning, and obtain an actual curve planning trajectory that meets certain curvature conditions, so that the vehicle can take into account traffic efficiency, safety and comfort at the same time when turning.

[0041] Positioning information can be obtained through RTK (Real-Time Kinematic) and sensor perception, and can also be obtained based on wheel speed, IMU (Inertial Measurement Unit) and vision or laser radar combined with self-built maps. Current driving parameters such as wheel speed, vehicle speed, steering wheel angle, etc. can be obtained by the vehicle controller.

[0042] The embodiment of the present application can determine the target control value of the vehicle according to the actual curve planning trajectory, so as to use the target control value to control the vehicle through the cornering.

[0043] Optionally, in one embodiment of the present application, an actual curve planning trajectory of the vehicle that meets preset curvature conditions is generated based on curve data, current positioning data of the vehicle and current driving parameters of the vehicle, including: determining the curve type of the target curve based on the curve data; extracting multiple position key points from the target curve according to the curve type and pre-constructed key point extraction rules, and obtaining an initial curve planning path for the target curve based on the multiple position key points; and obtaining the actual curve planning trajectory by combining the initial curve planning path, the current positioning data and the current driving parameters.

[0044] As a possible implementation method, the embodiment of the present application can obtain the curve type of the target curve through the curve data, such as a right-angle curve, a U-shaped curve, an S-shaped curve, etc.

[0045] According to the type of curve, the embodiment of the present application can perform a preliminary determination of the curve planning trajectory.

[0046] For example, when there is only one bend, if it is a right-angle bend, such as Figure 2 As shown, the embodiment of the present application can extract the outer corner points (point a and point c) and the inner corner point (point b) as key points, and construct an arc path through point a, point b and point c;

[0047] If it is a U-shaped curve, such as Figure 3 As shown, in the embodiment of the present application, two outer corner points (point a and point c) and the inner arc (b) can be taken as key points to construct a path tangent to point b;

[0048] The curve is a continuous curve, that is, when there is an S-bend, such as Figure 4 As shown, the embodiment of the present application can extract the outer corner point (point a) and the curve (f) as key points for planning, extract or fit the center line, take the dividing point of the counterclockwise and clockwise curves of the curve or the end point of the counterclockwise and clockwise curves, the center line point (point b), pass through the outer corner point (point a) and the center line intersection point (point b), cut the inner curve (f), and complete the first section of path planning. Similarly, the embodiment of the present application can take the dividing point of the counterclockwise and clockwise curves of the lower end curve or the starting point of the counterclockwise and clockwise curves, the center line intersection point (point b) and the outer corner point (point c), cut the other side curve (e), and construct another section of path planning;

[0049] When there are multiple S-curves, such as Figure 5 As shown, the curve paths at both ends are the same as the S-curve. For the middle curve, the embodiment of the present application can take the dividing point between the counterclockwise curve and the clockwise curve of the center line of the curve or the corresponding point when the end point and the starting point of the counterclockwise curve and the clockwise curve are connected, passing through the above two breakpoints and cutting the corresponding inner circle of the curve.

[0050] Furthermore, the embodiment of the present application can provide the speed limit of each point of the planned path according to the curvature of the initial curved planned path. The main method is Wherein, g is the centripetal acceleration, which is fixed when the tire and the ground are fixed, v is the longitudinal speed, and r is the radius of curvature. The embodiment of the present application can give the corresponding v as the target control value according to different curvatures.

[0051] Optionally, in one embodiment of the present application, the actual curve planning trajectory is obtained by combining the initial curve planning path, current positioning data and current driving parameters, including: generating a navigation path of the vehicle based on the current positioning data, current driving parameters and navigation data of the vehicle; and optimizing the initial curve planning path using the navigation path to obtain the actual curve planning path.

[0052] In some embodiments, if the vehicle is in navigation mode, the embodiments of the present application can also generate a corresponding navigation path through positioning data, driving parameters and navigation data, and optimize the initial curve planning path in combination with the navigation path to avoid multi-channel curves being identified as single-channel curves due to recognition errors, causing the vehicle to cross lanes while driving, and the curve planning path can be adjusted according to the data of the vehicle during actual driving, which is more flexible and avoids the situation where the planned curve path does not match due to sudden working conditions.

[0053] In step S103, the target control value is converted into a speed signal and a steering signal of the vehicle, and the speed signal and the steering signal are used to control the vehicle until the vehicle passes the target curve.

[0054] The embodiment of the present application can convert the target control value into an acceleration signal, a deceleration signal and a steering signal of the vehicle, and then control the vehicle until the vehicle passes the target curve.

[0055] Optionally, in one embodiment of the present application, after controlling the vehicle using speed signals and turn signals, it also includes: obtaining external environmental parameters of the vehicle at preset time intervals; judging whether the vehicle passes through a target curve based on the external environmental parameters; if the vehicle does not pass through the target curve, updating the curve data, the current driving parameters and the current positioning data of the vehicle, and optimizing the actual curve planning path using the updated curve data, the current driving parameters and the updated current positioning data, and obtaining a new target control value using the optimized actual curve planning path, so as to control the vehicle based on the speed signal and turn signal obtained based on the new target control value until the vehicle passes through the target curve.

[0056] During the actual implementation process, the embodiments of the present application can determine whether the vehicle has passed the target curve at regular intervals based on the vehicle's external environmental parameters, for example, through sensor parameters, map data, etc. obtained by the sensing device. If the target curve is not passed, the curve data, the vehicle's current driving parameters and current positioning data can be re-collected, and the updated data can be used to adjust the curve planning, thereby obtaining a new target control value, so that the vehicle can always maintain a cornering state that takes into account traffic efficiency, safety and comfort.

[0057] Optionally, in one embodiment of the present application, it also includes: recording the actual driving path of the vehicle when passing through the target curve; and optimizing the key point extraction rules based on the actual driving path.

[0058] As a possible implementation method, the embodiment of the present application can adaptively optimize the extraction of key points, so that the vehicle can further increase the efficiency, safety and comfort of passing curves as the road data traveled increases.

[0059] Combination Figures 2 to 6 As shown, the working principle of the vehicle curve speed control method of the embodiment of the present application is described in detail with an embodiment.

[0060] like Figure 6 As shown, it is a schematic diagram of the principle of an embodiment of the present application. In the actual implementation process of the embodiment of the present application, it can rely on this structure to be implemented.

[0061] Among them, the embodiment of the present application may include: a curve information acquisition module 601, a curve planning module 602 and a curve control module 603.

[0062] The embodiment of the present application can obtain the geometric features of the curve through the curve information acquisition module 601, the curve planning module 602 extracts the geometric features of the curve to generate new curve features (planned path), and the curve control module 603 forms a relationship diagram between the curvature radius and the speed limit according to the different speed limits of the curvature at different positions of the planned path, and finally calibrates and adjusts the speed limit in combination with comfort.

[0063] The curve information acquisition module 601 is used for: a. obtaining curve information acquisition methods: 1. high-precision map or navigation map. 2. based on self-built map, map drawn according to the driving of the vehicle or other vehicles. 3. based on perception. LiDAR perception, visual perception and other sensors, to obtain the perceived curve conditions.

[0064] b. Convert the acquired curve information into geometric features and input them into the curve planning module 602.

[0065] The curve planning module 602 is used for a. Positioning function: 1. Obtaining positioning information through RTK and sensor perception; 2. Obtaining the vehicle position based on wheel speed, IMU and vision or lidar, combined with self-built map (which can be temporarily created based on the vehicle itself or based on the vehicle itself or other vehicles that have passed through the area). In the process, it will interact with the sensors of the curve information acquisition module 601 to correct the route. b. Planning the path, based on several features input by the curve information acquisition module, taking a wide single lane as an example, when there is only one curve, if it is a right-angle curve, such as Figure 2 As shown, the embodiment of the present application can extract the outer corner points (point a and point c) and the inner corner point (point b) as key points, and construct an arc path through point a, point b and point c;

[0066] If it is a U-shaped curve, such as Figure 3 As shown, in the embodiment of the present application, two outer corner points (point a and point c) and the inner arc (b) can be taken as key points to construct a path tangent to point b;

[0067] The curve is a continuous curve, that is, when there is an S-bend, such as Figure 4 As shown, the embodiment of the present application can extract the outer corner point (point a) and the curve (f) as key points for planning, extract or fit the center line, take the dividing point of the counterclockwise and clockwise curves of the curve or the end point of the counterclockwise and clockwise curves, the center line point (point b), pass through the outer corner point (point a) and the center line intersection point (point b), cut the inner curve (f), and complete the first section of path planning. Similarly, the embodiment of the present application can take the dividing point of the counterclockwise and clockwise curves of the lower end curve or the starting point of the counterclockwise and clockwise curves, the center line intersection point (point b) and the outer corner point (point c), cut the other side curve (e), and construct another section of path planning;

[0068] When there are multiple S-curves, such as Figure 5 As shown, the curve paths at both ends are the same as the S-curve. For the middle curve, the embodiment of the present application can take the dividing point between the counterclockwise curve and the clockwise curve of the center line of the curve or the corresponding point when the end point and the starting point of the counterclockwise curve and the clockwise curve are connected, passing through the above two breakpoints and cutting the corresponding inner circle of the curve.

[0069] Furthermore, the embodiment of the present application can provide the speed limit of each point of the planned path according to the curvature of the initial curved planned path. The main method is Wherein, g is the centripetal acceleration, which is fixed when the tire and the ground are fixed, v is the longitudinal speed, and r is the radius of curvature. The embodiment of the present application can give the corresponding v as the target control value according to different curvatures.

[0070] The curve control module 603 is used to receive the target control value of the curve control module 602 and convert the corresponding acceleration signal, deceleration signal and steering signal. During the process, the curve planning module 602 may update the target control value and interact with the curve planning module 603.

[0071] According to the vehicle curve speed control method proposed in the embodiment of the present application, the actual curve planning trajectory of the vehicle that meets the preset curvature conditions can be generated according to the curve data of the target curve, the current positioning data of the vehicle and the current driving parameters of the vehicle, and the target control value of the vehicle is obtained based on the actual curve planning trajectory, and the target control value is converted into the speed signal and steering signal of the vehicle, so as to control the vehicle using the speed signal and steering signal until the vehicle passes the target curve, that is, by obtaining the road curve information for re-planning, in a single curve scenario, a planning path with a curve curvature radius larger than the actual lane curve curvature is obtained, so that the vehicle has a smaller turning angle and a faster turning speed, and the traffic efficiency of the curve is improved. In the multi-curve scenario, due to the larger curvature radius and smaller steering wheel angle, the vehicle has a smaller roll at the same speed and is safer in the curve. Thus, the technical problem in the related technology that the flexibility is poor, it is difficult to make effective adjustments under special working conditions, and it is difficult to take into account the traffic efficiency, traffic safety and driving comfort.

[0072] Next, the vehicle curve speed control device proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0073] Figure 7 It is a block diagram of a vehicle curve speed control device according to an embodiment of the present application.

[0074] like Figure 7 As shown, the vehicle curve speed control device 10 includes: a first acquisition module 100 , a generation module 200 and a control module 300 .

[0075] Specifically, the first acquisition module 100 is used to acquire the curve data of the target curve.

[0076] The generation module 200 is used to generate an actual curve planning trajectory of the vehicle that meets a preset curvature condition based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, and obtain a target control value of the vehicle based on the actual curve planning trajectory.

[0077] The control module 300 is used to convert the target control value into a speed signal and a steering signal of the vehicle, and use the speed signal and the steering signal to control the vehicle until the vehicle passes the target curve.

[0078] Optionally, in one embodiment of the present application, the generation module 200 includes: a determination unit, an extraction unit and a first generation unit.

[0079] Wherein, the determination unit is used to determine the curve type of the target curve based on the curve data.

[0080] The extraction unit is used to extract multiple position key points from the target curve according to the curve type and pre-constructed key point extraction rules, and obtain an initial curve planning path of the target curve based on the multiple position key points.

[0081] The first generating unit is used to obtain an actual curve planning trajectory by combining an initial curve planning path, current positioning data and current driving parameters.

[0082] Optionally, in one embodiment of the present application, the generation module 200 includes: a second generation unit and an optimization unit.

[0083] The second generating unit is used to generate a navigation path of the vehicle based on the current positioning data, the current driving parameters and the navigation data of the vehicle.

[0084] The optimization unit is used to optimize the initial curve planning path using the navigation path to obtain the actual curve planning path.

[0085] Optionally, in one embodiment of the present application, the vehicle curve speed control device 10 further includes: a second acquisition module, a judgment module and a first optimization module.

[0086] The second acquisition module is used to acquire the external environment parameters of the vehicle at preset time intervals.

[0087] The judgment module is used to judge whether the vehicle passes the target curve based on external environmental parameters.

[0088] The first optimization module is used to update the curve data, the current driving parameters and the current positioning data of the vehicle when the vehicle has not passed the target curve, and optimize the actual curve planning path using the updated curve data, the current driving parameters and the updated current positioning data, and obtain a new target control value using the optimized actual curve planning path to control the vehicle based on the speed signal and steering signal obtained from the new target control value until the vehicle passes the target curve.

[0089] Optionally, in one embodiment of the present application, the vehicle curve speed control device 10 further includes: a recording module and a second optimization module.

[0090] Among them, the recording module is used to record the actual driving path of the vehicle when passing the target curve.

[0091] The second optimization module is used to optimize the key point extraction rules based on the actual driving path.

[0092] It should be noted that the above explanation of the embodiment of the vehicle curve speed control method is also applicable to the vehicle curve speed control device of this embodiment, which will not be repeated here.

[0093] According to the vehicle curve speed control device proposed in the embodiment of the present application, the actual curve planning trajectory of the vehicle that meets the preset curvature conditions can be generated according to the curve data of the target curve, the current positioning data of the vehicle and the current driving parameters of the vehicle, and the target control value of the vehicle is obtained based on the actual curve planning trajectory, and the target control value is converted into the speed signal and steering signal of the vehicle, so as to control the vehicle by using the speed signal and steering signal until the vehicle passes the target curve, that is, by obtaining the road curve information for re-planning, in a single curve scenario, a planning path with a curve curvature radius larger than the actual lane curve curvature is obtained, so that the vehicle has a smaller turning angle and a faster turning speed, and the traffic efficiency of the curve is improved. In the multi-curve scenario, due to the larger curvature radius and smaller steering wheel angle, the vehicle has a smaller roll at the same speed and is safer in the curve. Therefore, the technical problem in the related technology that the flexibility is poor, it is difficult to make effective adjustments under special working conditions, and it is difficult to take into account the traffic efficiency, traffic safety and driving comfort.

[0094] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0095] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0096] When the processor 802 executes the program, the vehicle curve speed control method provided in the above embodiment is implemented.

[0097] Furthermore, the vehicle also includes:

[0098] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0099] The memory 801 is used to store computer programs that can be executed on the processor 802 .

[0100] The memory 801 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0101] If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0102] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0103] The processor 802 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0104] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned vehicle curve speed control method is implemented.

[0105] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the vehicle curve speed control method provided by an embodiment of the present invention.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0109] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0110] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0111] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0112] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0113] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling the speed of a vehicle on a curve, characterized in that: The following steps are involved: Acquire curve data of a target curve; Generate an actual curve planning trajectory of the vehicle that meets a preset curvature condition based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, and obtain a target control value of the vehicle based on the actual curve planning trajectory; The target control value is converted into a speed signal and a steering signal of the vehicle, and the vehicle is controlled using the speed signal and the steering signal until the vehicle passes the target curve.

2. The method according to claim 1, characterized in that The generating, based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, an actual curve planning trajectory of the vehicle that meets a preset curvature condition comprises: determining a curve type of the target curve based on the curve data; Extracting a plurality of position key points from the target curve according to the curve type and a pre-constructed key point extraction rule, and obtaining an initial curve planning path of the target curve based on the plurality of position key points; The actual curve planning trajectory is obtained by combining the initial curve planning path, the current positioning data and the current driving parameters.

3. The method according to claim 2, characterized in that The obtaining the actual curve planning trajectory by combining the initial curve planning path, the current positioning data and the current driving parameters includes: generating a navigation path of the vehicle based on the current positioning data, the current driving parameters and the navigation data of the vehicle; The initial curve planning path is optimized using the navigation path to obtain the actual curve planning path.

4. The method according to claim 3, characterized in that After controlling the vehicle using the speed signal and the turn signal, the method further comprises: Obtaining external environment parameters of the vehicle at preset time intervals; Determining whether the vehicle passes through the target curve based on the external environment parameter; If the vehicle does not pass the target curve, the curve data, the current driving parameters and the current positioning data of the vehicle are updated, and the actual curve planning path is optimized using the updated curve data, the current driving parameters and the updated current positioning data, and a new target control value is obtained using the optimized actual curve planning path to control the vehicle based on the speed signal and steering signal obtained based on the new target control value until the vehicle passes the target curve.

5. The method according to claim 2, characterized in that: Also includes: Recording the actual driving path of the vehicle when passing through the target curve; The key point extraction rule is optimized based on the actual driving path.

6. A vehicle curve speed control device, characterized in that: include: An acquisition module, used for acquiring curve data of a target curve; A generating module, configured to generate an actual curve planning trajectory of the vehicle that meets a preset curvature condition based on the curve data, the current positioning data of the vehicle and the current driving parameters of the vehicle, and obtain a target control value of the vehicle based on the actual curve planning trajectory; The control module is used to convert the target control value into a speed signal and a steering signal of the vehicle, and use the speed signal and the steering signal to control the vehicle until the vehicle passes the target curve.

7. The device according to claim 6, characterized in that The generation module comprises: a determining unit, configured to determine a curve type of the target curve based on the curve data; An extraction unit, configured to extract a plurality of position key points from the target curve according to the curve type and a pre-constructed key point extraction rule, and obtain an initial curve planning path of the target curve based on the plurality of position key points; The first generating unit is used to obtain the actual curve planning trajectory by combining the initial curve planning path, the current positioning data and the current driving parameters.

8. The device according to claim 7, characterized in that The generation module comprises: A second generating unit, configured to generate a navigation path of the vehicle based on the current positioning data, the current driving parameters and the navigation data of the vehicle; The optimization unit is used to optimize the initial curve planning path by using the navigation path to obtain the actual curve planning path.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle curve speed control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle curve speed control method as described in any one of claims 1 to 5.

Images