Vehicle curve control method, device, equipment, medium and computer program product

Abstract

The invention provides a vehicle curve control method, device and equipment, a medium and a computer program product. The method comprises the steps that the real-time turning radius of a target vehicle is determined; under the condition that the load of the target vehicle is within a target load range and the real-time turning radius is smaller than a target threshold value, the target vehicle is controlled to enter a curve exit mode; in the curve exit mode, vehicle turning time is determined based on driving data of the target vehicle; and controlling the gear of the target vehicle based on the vehicle turning time and the operation data of the target vehicle. According to the vehicle control method in the curve exit mode, the vehicle with the trailer is prevented from forming a circulation gear during turning, and the power performance and smoothness of the vehicle are improved.

Description

Technical Field

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

[0002] When the vehicle is turning, the influence factor of the curve on the shift point is determined by the turning radius, thereby changing the shift map (shift logic) and the target speed map after the shift. The change is generally to increase the shift point during the turn and the target speed after the shift. In the late stage of the vehicle turning, the tractor head of the vehicle is turning. At this time, the calculated turning radius is close to zero. However, if the vehicle has a trailer, the trailer is still in the process of turning. In this case, the influence of the curve factor on the shift map and the target speed map after the shift is small, and it is easy to trigger the upshift point. However, the curve resistance of the trailer is still large, which will cause a large loss of vehicle speed during the shift. The engine speed is low after the shift, so it will trigger downshift again, forming a cycle gear, which affects the vehicle's power performance and smoothness. Summary of the invention

[0003] The present invention provides a vehicle curve control method, device, equipment, medium and computer program product, which are used to solve the defect that the existing vehicle curve control scheme forms a cyclic gear, thereby affecting the power performance and smoothness of the vehicle.

[0004] The present invention provides a vehicle curve control method, comprising the following steps: Determine the real-time turning radius of the target vehicle; When the load of the target vehicle is within the target load range and the real-time turning radius is less than the target threshold, controlling the target vehicle to enter a curve exit mode; In the curve exit mode, determining a vehicle turning time based on the driving data of the target vehicle; The gear position of the target vehicle is controlled based on the vehicle turning time and the operating data of the target vehicle.

[0005] According to a vehicle curve control method provided by the present invention, the step of determining the real-time turning radius of the target vehicle comprises: When the load of the target vehicle is not within the target load range and the real-time turning radius is greater than or equal to the target threshold, controlling the target vehicle to enter a curve mode; When the load of the target vehicle is not within the target load range and the real-time turning radius is less than a target threshold, determining that the target vehicle is in a normal driving mode; In the curve mode, the gear position of the target vehicle is controlled based on the real-time turning radius.

[0006] According to a vehicle curve control method provided by the present invention, the gear position of the target vehicle is controlled based on the vehicle turning time and the operating data of the target vehicle, and then includes: Determining a comparison result of the vehicle turning time and the turning delay time; the turning delay time is determined based on the vehicle turning time and the time of entering the curve exit mode; determining a corrected slope difference based on the operating data of the target vehicle; When the comparison result is that the vehicle turning time is less than the turning delay time and the corrected slope difference is within the target slope range, the target vehicle is switched from the curve exit mode to the normal driving mode.

[0007] According to a vehicle curve control method provided by the present invention, determining the vehicle turning time based on the driving data of the target vehicle comprises: Obtaining the speed, acceleration and turning impact length of the target vehicle; A vehicle turning time is determined based on the vehicle speed, the acceleration, and the turning impact length.

[0008] According to a vehicle curve control method provided by the present invention, controlling the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle includes: Determining a turning resistance of the target vehicle; the turning resistance is determined based on a driving force, a sliding resistance, a ramp resistance, and an acceleration resistance of the target vehicle; determining a corrected slope based on the turning resistance and the slope resistance; The gear position of the target vehicle is controlled based on the corrected slope.

[0009] According to a vehicle curve control method provided by the present invention, the vehicle curve control method further includes: Based on the formula determining a driving force of the target vehicle; is the driving force; is the engine torque; is the transmission ratio; is the main reducer transmission ratio; is the mechanical efficiency of the transmission system; is the wheel rolling radius; Based on the formula determining a turning resistance of the target vehicle; is the turning resistance; is the sliding resistance; is the ramp resistance; is the acceleration resistance; Based on the formula Determine the revised ramp; For the revised ramp; is the weight of the target vehicle.

[0010] The present invention also provides a vehicle curve control device, comprising the following modules: A real-time turning radius determination module, used to determine the real-time turning radius of the target vehicle; A curve exit mode switching module, used to control the target vehicle to enter a curve exit mode when the load of the target vehicle is within a target load range and the real-time turning radius is less than a target threshold; A vehicle turning time determination module, configured to determine a vehicle turning time based on the driving data of the target vehicle in the curve exit mode; The vehicle curve control module is used to control the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle.

[0011] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, any of the vehicle curve control methods described above is implemented.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle curve control method as described in any one of the above is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle curve control method as described above is implemented.

[0014] The vehicle curve control method, device, equipment, medium and computer program product provided by the present invention determine the turning radius of the target vehicle in real time. When the load of the target vehicle is within a certain range and the turning radius is less than the target threshold, it is determined that the target vehicle is in a situation where the front of the vehicle is out of the curve while the trailer is still turning. In this case, the target vehicle is controlled to enter the curve exit mode. In this mode, the turning time of the vehicle is determined by the driving data of the target vehicle, and finally the gear position of the target vehicle is controlled by the turning time and the vehicle operation data. The present application uses a vehicle control method in the curve exit mode to avoid the occurrence of a cyclic gear when a vehicle with a trailer turns, thereby improving the power performance and smoothness of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is one of the flow charts of the vehicle curve control method provided by the present invention.

[0017] Figure 2 This is the second flow chart of the vehicle curve control method provided by the present invention.

[0018] Figure 3 It is a schematic structural diagram of the vehicle curve control device provided by the present invention.

[0019] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Combine the following Figure 1-Figure 4 The present invention describes a vehicle curve control method, device, apparatus, medium and computer program product.

[0022] Figure 1 is one of the flow charts of the vehicle curve control method provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 100: determining the real-time turning radius of the target vehicle; The embodiment of the present application calculates the turning radius by the wheel speed difference between the left rear wheel and the right rear wheel of the tractor head. When the turning radius meets certain conditions, it is determined that the vehicle enters a curve. It can be seen that the turning radius of the vehicle changes in real time. When the vehicle is moving straight, the wheel speed difference between the left rear wheel and the right rear wheel of the tractor head is almost zero. Therefore, the turning radius of the target vehicle (which can be only the tractor head or the tractor head plus the trailer) changes in real time, that is, the real-time turning radius in this embodiment.

[0023] Step 200: When the load of the target vehicle is within the target load range and the real-time turning radius is less than the target threshold, control the target vehicle to enter a curve exit mode; The purpose of determining the load of the target vehicle is to determine whether the target vehicle has a trailer, and the problem existing in the background technology of this application will not occur if the target vehicle does not have a trailer. Assuming that the weight of the tractor head is 9 tons, it can be determined that the target vehicle with a load of more than 15 tons is a combination of the tractor head and the trailer (carrying goods). The target load range in this embodiment is a range of more than 15 tons and below a certain load threshold.

[0024] In this case, if the real-time turning radius of the target vehicle changes from large to small, and is thus less than the target threshold, it means that the tractor head of the target vehicle has exited the curve, but the trailer has not yet exited the curve. In this case, the target vehicle is controlled to enter the curve exit mode provided in the embodiment of the present application. In the prior art scheme, the situation where the tractor head exits the curve but the trailer has not yet exited the curve will trigger an upshift, and after the upshift, because the trailer has not yet exited the curve, the curve resistance is still large, resulting in a large loss of vehicle speed and a low engine speed; and the low engine speed will trigger a downshift, thus forming an up-and-down cycle gear. The curve exit mode proposed in the embodiment of the present application is to solve this problem.

[0025] Step 300: in the curve exit mode, determining a vehicle turning time based on the driving data of the target vehicle; In the curve exit mode provided in the embodiment of the present application, the vehicle turning time of the target vehicle, that is, the time it takes for the trailer of the target vehicle to completely exit the curve, is calculated based on the trailer length and driving data of the target vehicle (including the real-time speed and real-time acceleration of the target vehicle, etc.).

[0026] Step 400: Control the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle.

[0027] Finally, by acquiring the operating data of the target vehicle, including the various forces generated during the operation of the vehicle, the corrected ramp, and the weight data of the target vehicle, as well as the vehicle turning time calculated as above, the vehicle control scheme of the target vehicle in the curve exit mode is determined. The vehicle control scheme in the curve exit mode includes a corrected shift point and a corrected target speed. At the same time, the changes in the vehicle turning time and the changes in the ramp are obtained in real time, wherein the ramp is calculated through the force data generated during the operation of the vehicle. When the vehicle turning time meets the time condition and the corrected ramp meets the ramp condition, the curve exit mode is switched to the normal driving mode. The embodiment of the present application avoids the problem of cyclic gears in the prior art solution by controlling the gear points of the target vehicle in the curve exit mode and in the process of switching from the curve exit mode to the normal driving mode.

[0028] This embodiment determines the turning radius of the target vehicle in real time. When the load of the target vehicle is within a certain range and the turning radius is less than the target threshold, it is determined that the target vehicle is in a situation where the front of the vehicle is exiting the curve while the trailer is still turning. In this case, the target vehicle is controlled to enter the curve exit mode. In this mode, the turning time of the vehicle is determined by the driving data of the target vehicle, and finally the gear position of the target vehicle is controlled by the turning time and the vehicle operation data. The present application uses a vehicle control method in the curve exit mode to avoid the occurrence of a cyclic gear when a vehicle with a trailer turns, thereby improving the power performance and smoothness of the vehicle.

[0029] In one embodiment, the vehicle curve control method provided in the embodiment of the present application may further include: Step 10: When the load of the target vehicle is not within the target load range and the real-time turning radius is greater than or equal to the target threshold, control the target vehicle to enter the curve mode; Step 20: When the load of the target vehicle is not within the target load range and the real-time turning radius is less than the target threshold, determine that the target vehicle is in a normal driving mode; Step 30: In the curve mode, control the gear position of the target vehicle based on the real-time turning radius.

[0030] Specifically, based on the target load range and target threshold determined in the above embodiment, it can be known that if the load of the target vehicle is not within the target load range and the real-time turning radius of the target vehicle is greater than or equal to the target threshold, it means that the target vehicle only has a tractor head and is in the process of turning. In this case, the target vehicle is controlled to enter the curve mode. In the curve mode, the influence factor of the curve on the shift point is determined by the real-time turning radius, thereby changing the shift map and the engine speed map after the shift, and increasing the shift point during the turn and the engine speed after the shift.

[0031] If the load of the target vehicle is not within the target load range and the real-time turning radius is less than the target threshold, it means that the target vehicle is in a normal driving mode, that is, the target vehicle does not have a turning situation.

[0032] This embodiment controls the target vehicle to maintain a mode or switch to another mode by calculating and determining the load and real-time turning radius of the target vehicle, thereby increasing the flexibility of the target vehicle control.

[0033] Figure 2 FIG. 2 is a flow chart of the vehicle curve control method provided by the present invention. Figure 2 As shown, the method may also include: Step 500: Determine a comparison result between the vehicle turning time and the turning delay time; the turning delay time is determined based on the vehicle turning time and the time of entering the curve exit mode; Step 600, determining a corrected slope difference based on the operating data of the target vehicle; Step 700: When the comparison result is that the vehicle turning time is less than the turning delay time and the corrected ramp difference is within a target ramp range, switch the target vehicle from the curve exit mode to the normal driving mode.

[0034] Specifically, the turning delay time provided in this embodiment is the time when the target vehicle is in the curve exit mode (from the time point of entering the curve exit mode to the current moment), and the calculation process of the vehicle turning time is described in detail below. The ramp before correction is calculated based on the turning resistance and gravity of the target vehicle; the corrected ramp is calculated based on the ramp resistance, turning resistance and gravity of the target vehicle. The corrected ramp difference provided in this embodiment refers to the absolute difference between the corrected ramp and the ramp before correction. The conditions for switching the target vehicle from the curve exit mode to the normal driving mode include: the vehicle turning time is less than the turning delay time, and the corrected ramp difference is within a preset range (i.e., the target ramp range in this embodiment).

[0035] This embodiment determines the conditions for switching the target vehicle from the curve exit mode to the normal driving mode through the operating data and time data of the target vehicle, thereby further improving the accuracy of the vehicle mode switching to improve the smoothness of the vehicle.

[0036] In one embodiment, the vehicle curve control method provided in the embodiment of the present application may further include: Step 310: Obtain the speed, acceleration and turning impact length of the target vehicle; Step 320: Determine the vehicle turning time based on the vehicle speed, the acceleration, and the turning impact length.

[0037] Specifically, the target vehicle is initially judged whether it has a trailer by the vehicle load. If the target vehicle's load is less than 15 tons, it is determined that the target vehicle has no trailer, and the vehicle turning radius can represent the vehicle's turning state. In this case, there is no need to calculate the trailer turning time, and the estimated trailer turning time can be set to a smaller T1 value; when the target vehicle's load is 15 tons or more, it is determined that the target vehicle has a trailer, and the vehicle turning radius cannot represent the trailer's turning state, so it is necessary to calculate the trailer's turning time T2 value through vehicle information such as trailer length, speed, and acceleration.

[0038] The method of calculating the T2 value is as follows: the t2 value is calculated every 5 ms within 20 ms after the turning radius is less than the set threshold, and then the rationality of the t2 obtained by the four calculations is further judged to finally obtain the T2 value. The calculation of the t2 value is shown in Formula 1, where: is the current vehicle speed; is the current acceleration of the vehicle; is the corrected trailer length. and When taking the value, the average value within 5 ms can be used as the value.

[0039] ; (1) According to formula 1, t21, t22, t23 and t24 can be obtained. The minimum value (assuming t23) is selected from the four t2 values. T23 is compared with the preset threshold 1 to determine the minimum value of the two (assuming t23). Then t23 is compared with the preset threshold 2 to determine the minimum value of the two (assuming t23). T23 is used as the T2 value. By calculating the vehicle turning time based on the vehicle acceleration and the corrected trailer length through the T2 value, the problem of the automated mechanical transmission (AMT) vehicle load not being calculated successfully can be avoided, especially when the actual vehicle is empty but the load is the default load (for example, 30 tons), and the gear is not shifted for a long time.

[0040] This embodiment calculates the turning time of the trailer by using vehicle information such as trailer length, vehicle speed and acceleration, thereby improving the accuracy of calculating the vehicle turning time.

[0041] In one embodiment, the vehicle curve control method provided in the embodiment of the present application may further include: Step 410: determining the turning resistance of the target vehicle; the turning resistance is determined based on the driving force, sliding resistance, ramp resistance and acceleration resistance of the target vehicle; Step 420: determining a corrected ramp based on the turning resistance and the ramp resistance; Step 430: Control the gear position of the target vehicle based on the corrected slope.

[0042] Specifically, in the curve exit mode, the correction process of the gear shift map and the target speed map after the gear shift is as follows: calculate the vehicle driving force and driving resistance and obtain the turning resistance; convert the turning resistance into ramp resistance and correct the current ramp; correct the gear shift map and the target speed map after the gear shift by the ramp factor.

[0043] This embodiment prevents the vehicle with a trailer from forming a cycle gear when turning by setting a vehicle control scheme in a curve exit mode, thereby improving the vehicle's power performance and smoothness.

[0044] In one embodiment, the vehicle curve control method provided in the embodiment of the present application may further include: Step 401: Based on the formula determining a driving force of the target vehicle; is the driving force; is the engine torque; is the transmission ratio; is the main reducer transmission ratio; is the mechanical efficiency of the transmission system; is the wheel rolling radius; Step 402: Based on the formula determining a turning resistance of the target vehicle; is the turning resistance; is the sliding resistance; is the ramp resistance; is the acceleration resistance; Step 403: Based on the formula Determine the revised ramp; For the revised ramp; is the weight of the target vehicle.

[0045] Specifically, the vehicle driving force The calculation of is shown in formula 2, where is the engine torque; is the transmission ratio; is the main reducer transmission ratio; is the mechanical efficiency of the transmission system; is the wheel rolling radius.

[0046] ; (2) The calculation process of vehicle driving resistance is as follows: Vehicle sliding resistance The vehicle's sliding resistance includes air resistance and rolling resistance, which can be calculated using the vehicle dynamics formula or by using the sliding resistance coefficient under different loads stored in the Transmission Control Unit.

[0047] Ramp resistance :Through the vehicle dynamics formula Calculated.

[0048] Acceleration resistance :Through the vehicle dynamics formula Calculated.

[0049] Turning resistance The calculation of is shown in formula 3. After the turning resistance and the ramp resistance are superimposed, the corrected ramp resistance is obtained. , the corrected ramp is obtained by calculating the ramp resistance .

[0050] ; (3) Corrected ramp resistance : Through the formula Calculated.

[0051] Corrected ramp : Through the formula Calculated.

[0052] Via the ramp , determine the influence factor of the slope on the shift point , the ramp factor further affects the shift point, and a corrected shift map and a corrected target speed map are obtained.

[0053] ; (4) ; (5) Revised shift points The calculation of is shown in formula 4, the corrected target speed The calculation of is shown in Formula 5. Where, The engine speed for the highest shift point; is the basic shift point; is the maximum target speed after shifting; It is the basic target speed after shifting.

[0054] This embodiment corrects the shift point in the curve exit mode and the target speed after the shift, thereby avoiding the occurrence of a cycle gear when the vehicle with a trailer turns, thereby improving the power performance and smoothness of the vehicle.

[0055] The vehicle curve control device provided by the present invention is described below. The vehicle curve control device described below and the vehicle curve control method described above can be referenced to each other.

[0056] Please refer to Figure 3 The present invention also provides a vehicle curve control device, comprising: A real-time turning radius determination module 301 is used to determine the real-time turning radius of the target vehicle; A curve exit mode switching module 302 is used to control the target vehicle to enter a curve exit mode when the load of the target vehicle is within a target load range and the real-time turning radius is less than a target threshold; A vehicle turning time determination module 303, configured to determine a vehicle turning time based on the driving data of the target vehicle in the curve exit mode; The vehicle curve control module 304 is used to control the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle.

[0057] Optionally, the vehicle curve control device further includes: A curve mode control module, used for controlling the target vehicle to enter a curve mode when the load of the target vehicle is not within a target load range and the real-time turning radius is greater than or equal to a target threshold; a normal driving mode control module, configured to determine that the target vehicle is in a normal driving mode when the load of the target vehicle is not within a target load range and the real-time turning radius is less than a target threshold; A vehicle control module is used to control the gear position of the target vehicle based on the real-time turning radius in the curve mode.

[0058] Optionally, the vehicle curve control device further includes: A time comparison result determination module, used to determine a comparison result between the vehicle turning time and the turning delay time; the turning delay time is determined based on the vehicle turning time and the time of entering the curve exit mode; A modified slope difference determination module, configured to determine a modified slope difference based on the operating data of the target vehicle; A mode switching module is used to switch the target vehicle from the curve exit mode to the normal driving mode when the comparison result is that the vehicle turning time is less than the turning delay time and the corrected ramp difference is within the target ramp range.

[0059] Optionally, the vehicle turning time determination module includes: A driving data acquisition unit, used to acquire the speed, acceleration and turning impact length of the target vehicle; The vehicle turning time determination unit is used to determine the vehicle turning time based on the vehicle speed, the acceleration and the turning impact length.

[0060] Optionally, controlling the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle includes: A turning resistance determination unit, configured to determine a turning resistance of the target vehicle; the turning resistance is determined based on a driving force, a sliding resistance, a ramp resistance, and an acceleration resistance of the target vehicle; a modified slope determination unit, configured to determine a modified slope based on the turning resistance and the slope resistance; A gear control unit is used to control the gear of the target vehicle based on the corrected slope.

[0061] Optionally, the vehicle curve control device further includes: Driving force determination module for formula-based determining a driving force of the target vehicle; is the driving force; is the engine torque; is the transmission ratio; is the main reducer transmission ratio; is the mechanical efficiency of the transmission system; is the wheel rolling radius; Cornering resistance determination module for the equation based determining a turning resistance of the target vehicle; is the turning resistance; is the sliding resistance; is the ramp resistance; is the acceleration resistance; Modified ramp determination module for use based on the formula Determine the revised ramp; For the revised ramp; is the weight of the target vehicle.

[0062] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the vehicle curve control method, which includes: determining the real-time turning radius of the target vehicle; when the load of the target vehicle is within the target load range and the real-time turning radius is less than the target threshold, controlling the target vehicle to enter the curve exit mode; in the curve exit mode, determining the vehicle turning time based on the driving data of the target vehicle; and controlling the gear of the target vehicle based on the vehicle turning time and the operating data of the target vehicle.

[0063] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0064] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle curve control method provided by the above-mentioned methods, which includes: determining the real-time turning radius of the target vehicle; when the load of the target vehicle is within the target load range and the real-time turning radius is less than the target threshold, controlling the target vehicle to enter a curve exit mode; in the curve exit mode, determining the vehicle turning time based on the driving data of the target vehicle; and controlling the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle.

[0065] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the vehicle curve control method provided by the above-mentioned methods, the method comprising: determining the real-time turning radius of the target vehicle; when the load of the target vehicle is within the target load range and the real-time turning radius is less than a target threshold, controlling the target vehicle to enter a curve exit mode; in the curve exit mode, determining the vehicle turning time based on the driving data of the target vehicle; and controlling the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle.

[0066] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0067] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle curve control method, characterized in that: include: Determine the real-time turning radius of the target vehicle; When the load of the target vehicle is within the target load range and the real-time turning radius is less than the target threshold, controlling the target vehicle to enter a curve exit mode; In the curve exit mode, determining a vehicle turning time based on the driving data of the target vehicle; The gear position of the target vehicle is controlled based on the vehicle turning time and the operating data of the target vehicle.

2. The vehicle curve control method according to claim 1, characterized in that: The step of determining the real-time turning radius of the target vehicle comprises: When the load of the target vehicle is not within the target load range and the real-time turning radius is greater than or equal to the target threshold, controlling the target vehicle to enter a curve mode; When the load of the target vehicle is not within the target load range and the real-time turning radius is less than a target threshold, determining that the target vehicle is in a normal driving mode; In the curve mode, the gear position of the target vehicle is controlled based on the real-time turning radius.

3. The vehicle curve control method according to claim 2, characterized in that: The method of controlling the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle comprises: Determining a comparison result of the vehicle turning time and the turning delay time; the turning delay time is determined based on the vehicle turning time and the time of entering the curve exit mode; determining a corrected slope difference based on the operating data of the target vehicle; When the comparison result is that the vehicle turning time is less than the turning delay time and the corrected slope difference is within the target slope range, the target vehicle is switched from the curve exit mode to the normal driving mode.

4. The vehicle curve control method according to claim 1, characterized in that: The determining of the vehicle turning time based on the driving data of the target vehicle comprises: Obtaining the speed, acceleration and turning impact length of the target vehicle; A vehicle turning time is determined based on the vehicle speed, the acceleration, and the turning impact length.

5. The vehicle curve control method according to claim 1, characterized in that: The controlling the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle comprises: Determining a turning resistance of the target vehicle; the turning resistance is determined based on a driving force, a sliding resistance, a ramp resistance, and an acceleration resistance of the target vehicle; determining a corrected slope based on the turning resistance and the slope resistance; The gear position of the target vehicle is controlled based on the corrected slope.

6. The vehicle curve control method according to claim 5, characterized in that: The vehicle curve control method further includes: Based on the formula determining a driving force of the target vehicle; is the driving force; is the engine torque; is the transmission ratio; is the main reducer transmission ratio; is the mechanical efficiency of the transmission system; is the wheel rolling radius; Based on the formula determining a turning resistance of the target vehicle; is the turning resistance; is the sliding resistance; is the ramp resistance; is the acceleration resistance; Based on the formula Determine the corrected ramp; For the revised ramp; is the weight of the target vehicle.

7. A vehicle curve control device, characterized in that: include: A real-time turning radius determination module, used to determine the real-time turning radius of the target vehicle; A curve exit mode switching module, used to control the target vehicle to enter a curve exit mode when the load of the target vehicle is within a target load range and the real-time turning radius is less than a target threshold; A vehicle turning time determination module, configured to determine a vehicle turning time based on the driving data of the target vehicle in the curve exit mode; The vehicle curve control module is used to control the gear position of the target vehicle based on the vehicle turning time and the operating data of the target vehicle.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the vehicle curve control method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle curve control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle curve control method according to any one of claims 1 to 6 is implemented.

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