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

Abstract

The application provides a vehicle curve control method, device, equipment, medium and computer program product. The method comprises the following steps: determining a real-time turning radius of a target vehicle; in the case that the load of the target vehicle is within a 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 a vehicle turning time based on driving data of the target vehicle; and controlling a gear of the target vehicle based on the vehicle turning time and operation data of the target vehicle. The vehicle control method in the curve exit mode avoids the occurrence of a circulating gear of a vehicle with a trailer when turning, and improves the power performance and smoothness of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application 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

[0002] When the vehicle is turning, the turning radius is used to determine the influence factor of the curve on the shift point, so as to change the shift map (shift logic) and the target speed map after shifting, which generally increases the shift point and the target speed after shifting during turning. In the later stage of vehicle turning, the tractor of the vehicle exits the curve, at this time, the calculated turning radius is close to zero, but in the case of a vehicle with a trailer, the trailer is still in the turning process. In this case, the influence factor of the curve on the shift map and the target speed map after shifting is small, which is easy to trigger the upshift point, but the curve resistance of the trailer is still large, which will cause a large loss of vehicle speed during shifting, and the engine speed after shifting is low, so it will trigger downshift again, forming a cycle shift, thereby affecting the power performance and smoothness of the vehicle. SUMMARY

[0003] The present application provides a vehicle curve control method, device, equipment, medium and computer program product to solve the defect that the existing vehicle turning control scheme will form a cycle shift, thereby affecting the power performance and smoothness of the vehicle.

[0004] The present application provides a vehicle curve control method, comprising the following steps:

[0005] determining the real-time turning radius of the target vehicle;

[0006] in the case that 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;

[0007] in the curve exit mode, determining the vehicle turning time based on the driving data of the target vehicle;

[0008] controlling the gear position of the target vehicle based on the vehicle turning time and the running data of the target vehicle.

[0009] According to the vehicle curve control method provided by the present application, the real-time turning radius of the target vehicle is determined, and then the following steps are included:

[0010] in the case that 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;

[0011] determining that the target vehicle is in a normal driving mode when the load of the target vehicle is not in a target load range and the real-time turning radius is less than a target threshold value;

[0012] controlling a gear of the target vehicle based on the real-time turning radius in the curve mode.

[0013] According to the vehicle curve control method provided by the present application, the control of the gear of the target vehicle based on the vehicle turning time and the running data of the target vehicle comprises:

[0014] determining a comparison result of the vehicle turning time and a turning delay time; the turning delay time is determined based on the vehicle turning time and a time of entering the curve exit mode;

[0015] determining a corrected slope difference based on the running data of the target vehicle;

[0016] switching 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 slope difference is in a target slope range.

[0017] According to the vehicle curve control method provided by the present application, the determination of the vehicle turning time based on the driving data of the target vehicle comprises:

[0018] obtaining a vehicle speed, an acceleration and a turning influence length of the target vehicle;

[0019] determining the vehicle turning time based on the vehicle speed, the acceleration and the turning influence length.

[0020] According to the vehicle curve control method provided by the present application, the control of the gear of the target vehicle based on the vehicle turning time and the running data of the target vehicle comprises:

[0021] determining a turning resistance of the target vehicle; the turning resistance is determined based on a driving force, a sliding resistance, a slope resistance and an acceleration resistance of the target vehicle;

[0022] determining a corrected slope based on the turning resistance and the slope resistance;

[0023] controlling the gear of the target vehicle based on the corrected slope.

[0024] According to the vehicle curve control method provided by the present application, the vehicle curve control method further comprises:

[0025] determining the driving force of the target vehicle based on the formula determining the driving force of the target vehicle based on the formula is the driving force; is the engine torque; is the transmission gear ratio; is the main reducer gear ratio; is the mechanical efficiency of the transmission system; is the wheel rolling radius;

[0026] is determined based on the formula is the cornering resistance of the target vehicle; is the cornering resistance; is the coasting resistance; is the slope resistance; is the acceleration resistance;

[0027] is determined based on the formula is the corrected slope; is the corrected slope; is the weight of the target vehicle.

[0028] The present application also provides a vehicle corner control device, comprising the following modules:

[0029] a real-time cornering radius determination module, configured to determine a real-time cornering radius of a target vehicle;

[0030] a corner exit mode switching module, configured to control the target vehicle to enter a corner exit mode when the load of the target vehicle is within a target load range and the real-time cornering radius is less than a target threshold;

[0031] a vehicle cornering time determination module, configured to determine a vehicle cornering time based on driving data of the target vehicle in the corner exit mode;

[0032] a vehicle corner control module, configured to control the gear of the target vehicle based on the vehicle cornering time and the driving data of the target vehicle.

[0033] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the vehicle corner control method according to any one of the above when executing the computer program.

[0034] The present application also provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the vehicle corner control method according to any one of the above.

[0035] The present application also provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the vehicle corner control method according to any one of the above.

[0036] The vehicle curve control method, device, equipment, medium and computer program product provided by the present application, by determining the turning radius of the target vehicle in real time, in the case that the load of the target vehicle is within a certain range and the turning radius is less than a target threshold, determining that the target vehicle belongs to the case that the tractor is out of the curve and the trailer is still turning, in this case, controlling the target vehicle to enter the curve exit mode, in this mode, determining the turning time of the vehicle through the driving data of the target vehicle, and finally controlling the gear of the target vehicle through the turning time of the vehicle and the running data of the vehicle. The vehicle control method in the curve exit mode avoids the occurrence of circulating gear of the vehicle with trailer during turning, and improves the power performance and smoothness of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 is one of the flowcharts of the vehicle curve control method provided by the present application.

[0039] Figure 2 is the second flowchart of the vehicle curve control method provided by the present application.

[0040] Figure 3 is the structural schematic diagram of the vehicle curve control device provided by the present application.

[0041] Figure 4 is the structural schematic diagram of the electronic equipment provided by the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions in the present application will be described clearly and completely in the following combined with the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0043] The vehicle curve control method, device, equipment, medium and computer program product of the present application will be described in the following combined with Figures 1-4

[0044] Figure 1 is one of the flowcharts of the vehicle curve control method provided by the present application, as Figure 1 ​As shown, the method comprises the following:

[0045] Step 100, determining a real-time turning radius of the target vehicle;

[0046] The embodiment of the present application calculates the turning radius by the wheel speed difference of 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 the curve. It can be known that the turning radius of the vehicle is real-time changing. When the vehicle is straight, the wheel speed difference of 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 the tractor head only or the tractor head plus trailer) is real-time changing, i.e. the real-time turning radius in the embodiment.

[0047] Step 200, controlling the target vehicle to enter the curve exit mode when the load of the target vehicle is in the target load range and the real-time turning radius is less than the target threshold value;

[0048] The purpose of determining the load of the target vehicle is to determine whether the target vehicle has a trailer. The problem in the background art will not occur when 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 plus trailer (carrying). The target load range in the embodiment is more than 15 tons, and the range below the certain load threshold value.

[0049] In this case, if the real-time turning radius of the target vehicle changes from large to small and is less than the target threshold value, it indicates that the tractor head of the target vehicle has exited the curve, while the trailer has not exited the curve. In this case, the target vehicle is controlled to enter the curve exit mode provided by the embodiment. In the prior art, the above-mentioned situation that the tractor head exits the curve while the trailer has not exited the curve will trigger the upshift. After the upshift, because the trailer has not exited the curve, the curve resistance is still large, resulting in large speed loss and low engine speed. Low engine speed will trigger the downshift, thus forming the up-down cycle shift. The curve exit mode provided by the embodiment is to solve this problem.

[0050] Step 300, determining the vehicle turning time of the target vehicle based on the driving data of the target vehicle in the curve exit mode;

[0051] In the curve exit mode provided by the embodiment, the vehicle turning time of the target vehicle, i.e. the time when the trailer of the target vehicle completely exits the curve, is calculated by the length of the trailer of the target vehicle and the driving data (including the real-time speed and real-time acceleration of the target vehicle, etc.) of the target vehicle.

[0052] Step 400, controlling the gear position of the target vehicle based on the vehicle turning time and the running data of the target vehicle.

[0053] Finally, by acquiring the running data of the target vehicle, including various forces generated during the running of the vehicle, the corrected slope and the weight data of the target vehicle, and also including the vehicle turning time calculated 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 the corrected shift point and the corrected target speed. At the same time, the change of the vehicle turning time and the change of the slope are acquired in real time, wherein the slope is calculated by the force data generated during the running of the vehicle. When the vehicle turning time meets the time condition and the corrected slope meets the slope condition, the curve exit mode is switched to the normal driving mode. The embodiments of the present application avoid the generation of the circulating shift problem in the prior art scheme by controlling the shift point of the target vehicle in the curve exit mode and the switching from the curve exit mode to the normal driving mode.

[0054] The embodiments of the present application determine that the target vehicle belongs to the case that the vehicle head exits the curve while the trailer is still turning in the case that the turning radius of the target vehicle is determined in real time and the load of the target vehicle is within a certain range and the turning radius is less than a target threshold. 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 running data of the target vehicle, and finally the shift of the target vehicle is controlled by the vehicle turning time and the vehicle running data. The vehicle control method in the curve exit mode of the present application avoids the occurrence of the circulating shift of the vehicle with the trailer during turning, and improves the dynamic performance and smoothness of the vehicle.

[0055] In one embodiment, the vehicle curve control method provided by the embodiments of the present application can further include:

[0056] Step 10, in the case that 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, the target vehicle is controlled to enter the curve mode;

[0057] Step 20, in the case that 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 is determined that the target vehicle is in the normal driving mode;

[0058] Step 30, in the curve mode, the shift of the target vehicle is controlled based on the real-time turning radius.

[0059] Specifically, based on the target load range and the target threshold determined in the above embodiment, if the load of the target vehicle is not in the target load range and the real-time turning radius of the target vehicle is greater than or equal to the target threshold, it indicates that the target vehicle only has a tractor head and the target vehicle is in the turning process, and 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, so as to change the shift map and the engine speed map after shifting, and improve the shift point and the engine speed after shifting in the turning process.

[0060] If the load of the target vehicle is not in the target load range and the real-time turning radius is less than the target threshold, it indicates that the target vehicle is in the normal driving mode, i.e., the target vehicle does not have the turning condition.

[0061] In this embodiment, the load of the target vehicle and the real-time turning radius are calculated to control the target vehicle to maintain the mode or switch to other modes, thereby increasing the flexibility of the target vehicle control.

[0062] Figure 2 FIG. 2 is a flowchart of a vehicle curve control method provided by the present application, as shown in FIG. 2, the method can further include the following steps. Figure 2

[0063] Step 500: 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;

[0064] Step 600: determining a corrected slope difference based on the running data of the target vehicle;

[0065] Step 700: in the case that the comparison result is that the vehicle turning time is less than the turning delay time and the corrected slope difference is in the target slope range, switching the target vehicle from the curve exit mode to the normal driving mode.

[0066] Specifically, the turning delay time of the present embodiment, i.e., the time of the target vehicle in the curve exit mode (from the time point of entering the curve exit mode to the current time), is calculated in the following process. The slope before correction is calculated based on the turning resistance and the gravity of the target vehicle; the slope after correction is calculated based on the slope resistance, the turning resistance and the gravity of the target vehicle. The corrected slope difference provided by the present embodiment refers to the absolute difference between the slope after correction and the slope before correction. The conditions for switching the target vehicle from the curve exit mode to the normal driving mode include that the vehicle turning time is less than the turning delay time, and the corrected slope difference is in the preset range (i.e., the target slope range in the present embodiment).

[0067] ​The embodiment determines the condition for switching from the curve exit mode to the normal driving mode of the target vehicle through the operation data and time data of the target vehicle, further improves the accuracy of the vehicle mode switching, and improves the smoothness of the vehicle.

[0068] In one embodiment, the vehicle curve control method provided by the embodiment of the application further includes:

[0069] In step 310, the vehicle speed, acceleration, and turning influence length of the target vehicle are acquired.

[0070] In step 320, the vehicle turning time is determined based on the vehicle speed, acceleration, and turning influence length.

[0071] Specifically, whether the target vehicle is with a trailer is preliminarily determined through the vehicle load. If the load of the target vehicle is less than 15 tons, it is determined that the target vehicle is without a trailer, and the turning radius of the vehicle can represent the turning state of the vehicle. In this case, the trailer turning time does not need to be calculated, and the estimated trailer turning time can be set as a smaller T1 value. When the load of the target vehicle is 15 tons or more, it is determined that the target vehicle is with a trailer, and the turning radius of the vehicle cannot represent the turning state of the trailer. Therefore, the turning time T2 value of the trailer needs to be calculated through the vehicle information such as the trailer length, vehicle speed, and acceleration.

[0072] For example, the method for 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 value, and then the rationality of the t2 value calculated four times is further determined, and finally the T2 value is obtained. The calculation of the t2 value is shown in formula 1, wherein, is the current vehicle speed; is the current vehicle acceleration; is the corrected trailer length. In and When the values are taken, the average value within 5 ms can be taken as the value.

[0073] (1)

[0074] Formula 1 yields t21, t22, t23, and t24. The smallest t2 value (let's say t23) is selected from these four. t23 is then compared to a preset threshold 1 to determine the minimum of the two (let's say t23). Next, t23 is compared to a preset threshold 2 to determine the minimum of the two (let's say t23). This t23 is then used as the T2 value. Using the T2 value, the vehicle's turning time is calculated based on the vehicle's acceleration and the corrected trailer length. This avoids the problem of delayed upshifting in cases where the load calculation for an automated mechanical transmission (AMT) fails, especially when the vehicle is actually empty but the load is the default load (e.g., 30 tons).

[0075] This embodiment calculates the turning time of the trailer using vehicle information such as trailer length, speed, and acceleration, thus improving the accuracy of vehicle turning time calculation.

[0076] In one embodiment, the vehicle curve control method provided in this application may further include:

[0077] Step 410: Determine the turning resistance of the target vehicle; the turning resistance is determined based on the target vehicle's driving force, coasting resistance, slope resistance, and acceleration resistance;

[0078] Step 420: Determine the corrected ramp based on the turning resistance and the ramp resistance;

[0079] Step 430: Control the gear of the target vehicle based on the corrected slope.

[0080] Specifically, in corner exit mode, the correction process for the shift map and the target speed map after shifting is as follows: calculate the vehicle driving force and driving resistance to obtain the turning resistance; convert the turning resistance into slope resistance and correct the current slope; correct the shift map and the target speed map after shifting through the slope factor.

[0081] This embodiment improves vehicle power performance and smoothness by setting a vehicle control scheme in the curve exit mode to avoid the occurrence of circular gears when turning a vehicle with a trailer.

[0082] In one embodiment, the vehicle curve control method provided in this application may further include:

[0083] Step 401, based on the formula Determine the driving force of the target vehicle; The driving force; This refers to engine torque; This refers to the gear ratio of the transmission. The main reducer transmission ratio; mechanical efficiency of the transmission system; rolling radius of the wheel;

[0084] Step 402, based on formula determining the cornering resistance of the target vehicle; the cornering resistance; the coasting resistance; the slope resistance; the acceleration resistance;

[0085] Step 403, based on formula determining the corrected slope; the corrected slope; the weight of the target vehicle.

[0086] Specifically, the vehicle driving force is calculated as shown in formula 2, wherein, is the engine torque; is the transmission gear ratio; is the main reducer gear ratio; mechanical efficiency of the transmission system; rolling radius of the wheel.

[0087] ; (2)

[0088] The calculation process of the vehicle running resistance is as follows: the vehicle coasting resistance , which includes air resistance and rolling resistance, can be calculated by vehicle dynamics formula or by the coasting resistance coefficient under different loads stored by the transmission control unit.

[0089] Slope resistance : calculated by vehicle dynamics formula .

[0090] Acceleration resistance : calculated by vehicle dynamics formula .

[0091] Cornering resistance is calculated as shown in formula 3. After the cornering resistance is superimposed on the slope resistance, the corrected slope resistance is obtained, and the corrected slope is calculated by the slope resistance.

[0092] ; (3)

[0093] corrected slope resistance : calculated by formula .

[0094] corrected ramp : calculated by formula .

[0095] through the ramp , determine the ramp influence factor on the shift point , the ramp factor further influences the shift point, to obtain the corrected shift map and the corrected target speed map.

[0096] ; (4)

[0097] ; (5)

[0098] corrected shift point The calculation of the corrected target speed is shown in formula 5. Wherein, is the engine speed of the highest shift point; is the basic shift point; is the highest target speed after shifting; is the basic target speed after shifting.

[0099] The embodiment corrects the shift point and the target speed after shifting in the curve exit mode, avoids the occurrence of the cycle shift of the vehicle with the trailer when turning, and improves the power performance and the smoothness of the vehicle.

[0100] The vehicle curve control device provided by the present application is described below, and the vehicle curve control device described below can be correspondingly referred to the vehicle curve control method described above.

[0101] Please refer to Figure 3 , the present application also provides a vehicle curve control device, comprising:

[0102] a real-time turning radius determination module 301 for determining the real-time turning radius of the target vehicle;

[0103] a curve exit mode switching module 302 for controlling the target vehicle to enter the curve exit mode 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;

[0104] a vehicle turning time determination module 303 for determining the vehicle turning time based on the driving data of the target vehicle in the curve exit mode;

[0105] The vehicle corner control module 304 is configured to control a gear of the target vehicle based on the vehicle cornering time and the running data of the target vehicle.

[0106] Optionally, the vehicle corner control device further comprises:

[0107] The corner mode control module is configured to control the target vehicle to enter a corner mode when the load of the target vehicle is not within the target load range and the real-time cornering radius is greater than or equal to a target threshold.

[0108] The normal driving mode control module is configured to determine that the target vehicle is in a normal driving mode when the load of the target vehicle is not within the target load range and the real-time cornering radius is less than a target threshold.

[0109] The vehicle control module is configured to control the gear of the target vehicle based on the real-time cornering radius in the corner mode.

[0110] Optionally, the vehicle corner control device further comprises:

[0111] The time comparison result determination module is configured to determine a comparison result of the vehicle cornering time and a cornering delay time, the cornering delay time being determined based on the vehicle cornering time and a time of entering the corner exit mode.

[0112] The corrected ramp difference determination module is configured to determine a corrected ramp difference based on the running data of the target vehicle.

[0113] The mode switching module is configured to switch the target vehicle from the corner exit mode to the normal driving mode when the comparison result is that the vehicle cornering time is less than the cornering delay time and the corrected ramp difference is within a target ramp range.

[0114] Optionally, the vehicle cornering time determination module comprises:

[0115] The running data acquisition unit is configured to acquire a vehicle speed, an acceleration, and a cornering influence length of the target vehicle.

[0116] The vehicle cornering time determination unit is configured to determine a vehicle cornering time based on the vehicle speed, the acceleration, and the cornering influence length.

[0117] Optionally, the control of the gear of the target vehicle based on the vehicle cornering time and the running data of the target vehicle comprises:

[0118] a turning resistance determination unit configured to determine a turning resistance of the target vehicle, the turning resistance being determined based on a driving force, a coasting resistance, a hill resistance and an acceleration resistance of the target vehicle;

[0119] a corrected hill determination unit configured to determine a corrected hill based on the turning resistance and the hill resistance;

[0120] a gear control unit configured to control a gear of the target vehicle based on the corrected hill.

[0121] Optionally, the vehicle curve control device further comprises:

[0122] a driving force determination module configured to determine a driving force of the target vehicle based on a formula is the driving force; is an engine torque; is a transmission gear ratio; is a main reducer gear ratio; is a mechanical efficiency of a drive train; is a rolling radius of a wheel;

[0123] a turning resistance determination module configured to determine a turning resistance of the target vehicle based on a formula is the turning resistance; is the coasting resistance; is the hill resistance; is the acceleration resistance;

[0124] a corrected hill determination module configured to determine a corrected hill based on a formula is the corrected hill; is a weight of the target vehicle.

[0125] Figure 4 An example of a schematic diagram of a physical structure of an electronic device is shown in FIG. 1, which includes a housing 100, a display 110, a processor 120, a memory 130, a communication interface 140, and a power supply 150. Figure 4 ​​​As shown, the electronic device can include a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 complete communications with each other through the communications bus 440. The processor 410 can invoke a logical instruction in the memory 430 to execute a vehicle curve control method, which includes determining a real-time turning radius of a target vehicle; in a case where a load of the target vehicle is within a 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 a vehicle turning time based on driving data of the target vehicle; and controlling a gear of the target vehicle based on the vehicle turning time and operation data of the target vehicle.

[0126] In addition, the logical instruction in the memory 430 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0127] On the other hand, the present application 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, and the computer program is executed by a processor, so that the computer can execute the vehicle curve control method provided by the above-mentioned methods, which includes: determining a real-time turning radius of a target vehicle; in a case where a load of the target vehicle is within a 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 a vehicle turning time based on driving data of the target vehicle; and controlling a gear of the target vehicle based on the vehicle turning time and operation data of the target vehicle.

[0128] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements a vehicle curve control method provided by any of the above methods, the method comprising: determining a real-time turning radius of a target vehicle; controlling the target vehicle to enter a curve exit mode when a load of the target vehicle is within a target load range and the real-time turning radius is less than a target threshold; determining a vehicle turning time based on driving data of the target vehicle in the curve exit mode; and controlling a gear of the target vehicle based on the vehicle turning time and operation data of the target vehicle.

[0129] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0130] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0131] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle curve control method characterized by, The method comprises: determining a real-time turning radius of a target vehicle; controlling the target vehicle to enter a curve exit mode when a load of the target vehicle is within a target load range of a trailer and the real-time turning radius is less than a target threshold value; in the curve exit mode, determining a vehicle turning time based on driving data of the target vehicle; controlling a gear of the target vehicle based on the vehicle turning time and running data of the target vehicle; the determination of the vehicle turning time based on the driving data of the target vehicle comprises: obtaining a vehicle speed, an acceleration and a turning influence length of the target vehicle; determining the vehicle turning time based on the vehicle speed, the acceleration and the turning influence length; the control of the gear of the target vehicle based on the vehicle turning time and the running 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 slope resistance and an acceleration resistance of the target vehicle; determining a corrected slope based on the turning resistance and the slope resistance; and controlling the gear of the target vehicle based on the corrected slope.

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

3. The vehicle curve control method according to claim 2, characterized by, The control of the gear of the target vehicle based on the vehicle turning time and the running data of the target vehicle further comprises: determining a comparison result of the vehicle turning time and a turning delay time; the turning delay time is from a time point of entering the curve exit mode to a current time; determining a corrected slope difference value based on the running data of the target vehicle; switching 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 slope difference value is within a target slope range.

4. The vehicle curve control method according to claim 1, characterized by, The vehicle curve control method further comprises: Based on the formula determining a drive force of the target vehicle; F t is the drive force; T tq is the engine torque; i g is the transmission gear ratio; i o is the main reducer gear ratio; η T is the mechanical efficiency of the drive train; r is the wheel rolling radius; Based on equation F c = F t - F d - F i - F j determining a cornering resistance of the target vehicle;F c is the cornering resistance;F d is the coasting resistance;F i is the hill resistance;F j is the acceleration resistance; Based on the formula determining a corrected ramp; a ′ mg is the weight of the target vehicle.

5. A vehicle curve control device characterized by comprising: The method comprises: a real-time turning radius determination module configured to determine a real-time turning radius of a target vehicle; a curve exit mode switching module configured to control the target vehicle to enter a curve exit mode when a load of the target vehicle is within a target load range of a trailer and the real-time turning radius is less than a target threshold value; a vehicle turning time determination module configured to determine a vehicle turning time based on driving data of the target vehicle in the curve exit mode; a vehicle curve control module configured to control a gear of the target vehicle based on the vehicle turning time and running data of the target vehicle; the determination of the vehicle turning time based on the driving data of the target vehicle comprises: obtaining a vehicle speed, an acceleration and a turning influence length of the target vehicle; determining the vehicle turning time based on the vehicle speed, the acceleration and the turning influence length; determining a vehicle turning time based on the vehicle speed, the acceleration, and the turning influence length; controlling a gear of the target vehicle based on the vehicle turning time and operation data of the target vehicle includes: determining a turning resistance of the target vehicle, the turning resistance being determined based on a driving force, a coasting resistance, a hill resistance, and an acceleration resistance of the target vehicle; determining a corrected hill based on the turning resistance and the hill resistance; controlling the gear of the target vehicle based on the corrected hill.

6. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The processor implements the vehicle curve control method of any one of claims 1 to 4 when executing the computer program.

7. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the vehicle curve control method of any one of claims 1 to 4.

8. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the vehicle curve control method of any one of claims 1 to 4.

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