Curve vehicle speed control method and device, storage medium and product

Abstract

The invention provides a curve vehicle speed control method and device, a storage medium and a product. According to the method, road condition information of a target road section in the vehicle driving process is obtained, after the road section type of the current road section is determined according to curvature and gradient in the road condition information, a cruising vehicle speed threshold value and a braking vehicle speed threshold value corresponding to the road section type of the current road section are determined according to the road section type of the current road section and the road condition information of the target road section; and performing vehicle speed control on the vehicle on the current road section according to the cruise vehicle speed threshold value and the braking vehicle speed threshold value of the current road section. Therefore, the cruise speed threshold value and the brake speed threshold value when the vehicle turns on the ramp are determined by combining the curvature and the gradient of the road section, the turning speed is controlled through the determined speed threshold values, the corresponding control speed when the risk working condition type of out-of-control collision occurs during turning is reduced, and thus the turning safety of the vehicle is improved.

Description

Technical Field

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

[0002] The predictive cruise function of commercial vehicles can control the vehicle speed based on the acquired road information.

[0003] In existing vehicle speed control schemes, when the vehicle is in a slope turning condition, the vehicle speed is usually controlled according to the curvature information in the road information, for example, deceleration on a road with a larger curvature and acceleration on a road with a smaller curvature.

[0004] However, the above-mentioned solution based on curvature control has the problem of poor turning safety. Summary of the invention

[0005] The present application provides a curve vehicle speed control method, device, storage medium and product, which are used to solve the problem of poor turning safety in existing solutions when the vehicle is in a slope turning condition.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling vehicle speed on a curve, comprising:

[0007] Acquire the road condition information of the target road section during the driving process of the vehicle, the target road section includes the current road section and the future road section within a preset distance, and the road condition information includes: curvature and slope;

[0008] Determining the section type of the current section according to the curvature of the target section, the section types including: a curved section, a section before entering a curve, and a common section, the curved section being a first section whose curvature is greater than or equal to a preset curvature, the section before entering a curve being a second section before the first section, and the common section being a section other than the curved section and the section before entering a curve;

[0009] Determining a cruising speed threshold and a braking speed threshold of the current road section according to the road section type of the current road section and the road condition information of the target road section;

[0010] The vehicle speed is controlled on the current road section according to the cruising speed threshold and the braking speed threshold of the current road section.

[0011] In a possible implementation manner, the cruising speed threshold and the braking speed threshold of the ordinary road section are respectively greater than the cruising speed threshold and the braking speed threshold of the road section before entering the curve, and the cruising speed threshold and the braking speed threshold of the road section before entering the curve are respectively greater than the cruising speed threshold and the braking speed threshold of the road section before entering the curve;

[0012] The cruising speed threshold and the braking speed threshold are both negatively correlated to the curvature;

[0013] The cruising speed threshold and the braking speed threshold of an uphill section are respectively greater than the cruising speed threshold and the braking speed threshold of a downhill section.

[0014] In a possible implementation manner, the target threshold table is determined according to the road section type of the current road section, and different road section types correspond to different target threshold tables;

[0015] The cruising speed threshold and the braking speed threshold corresponding to the road condition information are determined from the target threshold table.

[0016] In another possible implementation, driving data of the driver of the vehicle in a historical time period is obtained;

[0017] Determining the driver's reaction time to abnormal road conditions ahead in a historical time period according to the driving data;

[0018] The preset distance is determined according to the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0019] In another possible implementation, a weight of each target road section is determined according to the distance between each target road section and the current road section, and the weight is negatively correlated to the distance;

[0020] Performing weighted averaging on the curvatures of the target sections according to the weights of the plurality of target sections to obtain a weighted average curvature;

[0021] The number of the target road segments is determined according to the weighted average curvature, and the weighted average curvature is positively correlated to the number.

[0022] In a possible implementation manner, the required cruising speed of the vehicle on the current road section is determined according to the cruising target speed set by the user and the road condition information of the current road section;

[0023] When the cruise demand vehicle speed is greater than or equal to the cruise speed threshold, correcting the cruise demand vehicle speed to the cruise speed threshold;

[0024] Controlling the current actual speed of the vehicle according to the cruise demand speed;

[0025] When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

[0026] In a second aspect, an embodiment of the present application provides a vehicle speed control device for a curve, comprising:

[0027] An acquisition module is used to acquire the road condition information of a target road section during the driving process of the vehicle, wherein the target road section includes a current road section and a future road section within a preset distance, and the road condition information includes: curvature and slope;

[0028] a first processing module, configured to determine a section type of the current section according to the curvature of the target section, wherein the section types include: a curved section, a section before entering a curve, and a common section, wherein the curved section is a first section whose curvature is greater than or equal to a preset curvature, the section before entering a curve is a second section before the first section, and the common section is a section other than the curved section and the section before entering a curve;

[0029] A second processing module is used to determine a cruising speed threshold and a braking speed threshold of the current road section according to the road section type of the current road section and the road condition information of the target road section;

[0030] A control module is used to control the speed of the vehicle on the current road section according to the cruising speed threshold and the braking speed threshold of the current road section.

[0031] In a possible implementation, the acquisition module is specifically used for the cruising speed threshold and the braking speed threshold of the ordinary road section to be respectively greater than the cruising speed threshold and the braking speed threshold of the road section before entering the curve, and the cruising speed threshold and the braking speed threshold of the road section before entering the curve are respectively greater than the cruising speed threshold and the braking speed threshold of the road section before entering the curve;

[0032] The cruising speed threshold and the braking speed threshold are both negatively correlated to the curvature;

[0033] The cruising speed threshold and the braking speed threshold of an uphill section are respectively greater than the cruising speed threshold and the braking speed threshold of a downhill section.

[0034] In a possible implementation, the acquisition module is specifically used to determine the target threshold table according to the road section type of the current road section, and different road section types correspond to different target threshold tables;

[0035] The cruising speed threshold and the braking speed threshold corresponding to the road condition information are determined from the target threshold table.

[0036] In a possible implementation, the first processing module is specifically configured to obtain driving data of the driver of the vehicle in a historical time period;

[0037] Determining the driver's reaction time to abnormal road conditions ahead in a historical time period according to the driving data;

[0038] The preset distance is determined according to the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0039] In a possible implementation, the first processing module is specifically configured to determine a weight of each target road section according to a distance between each target road section and a current road section, wherein the weight is negatively correlated with the distance;

[0040] Performing weighted averaging on the curvatures of the target sections according to the weights of the plurality of target sections to obtain a weighted average curvature;

[0041] The number of the target road segments is determined according to the weighted average curvature, and the weighted average curvature is positively correlated to the number.

[0042] In a possible implementation, the control module is specifically configured to determine a required cruising speed of the vehicle on the current road section according to a cruising target speed set by a user and road condition information of the current road section;

[0043] When the cruise demand vehicle speed is greater than or equal to the cruise speed threshold, correcting the cruise demand vehicle speed to the cruise speed threshold;

[0044] Controlling the current actual speed of the vehicle according to the cruise demand speed;

[0045] When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0047] The memory stores computer-executable instructions;

[0048] The processor executes the computer-executable instructions stored in the memory to implement the method as described above.

[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-readable storage medium is stored computer-executable instructions, and the computer-executable instructions are used to implement the method described above when executed by a processor.

[0050] In a fifth aspect, an embodiment of the present application provides a computer program product, characterized in that it includes a computer program that implements the above method when executed by a processor.

[0051] The curve speed control method, device, storage medium and product provided by the embodiments of the present application determine the section type of the current section by acquiring the curvature and slope in the road condition information during the vehicle's driving process, determine the cruising speed threshold and braking speed threshold corresponding to the section type of the current section according to the section type of the current section and the road condition information of the target section, and control the speed of the vehicle on the current section according to the cruising speed threshold and braking speed threshold of the current section. Therefore, the present application determines the cruising speed threshold and braking speed threshold for the vehicle when it is turning on a slope by combining the curvature and slope of the current section, controls the turning speed by the determined speed threshold, reduces the corresponding control speed for the risk type of uncontrolled collision when turning, and thus improves the turning safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0053] Figure 1 Schematic diagram of the process of the curve vehicle speed control method provided in this application Figure 1 ;

[0054] Figure 2 Schematic diagram of the process of the curve vehicle speed control method provided in this application Figure 2 ;

[0055] Figure 3 A schematic diagram of the structure of the curve vehicle speed control device provided in this application;

[0056] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0057] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances shall be provided for users to choose to authorize or refuse.

[0060] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0061] Predictive Cruise Control (PCC), as a speed control solution based on road traffic information, has been widely used in commercial vehicles.

[0062] The vehicle speed control scheme in the existing predictive cruise control function is usually based on the acquired road information ahead, such as the curvature of the curve, and according to the cruising speed set by the driver, the driving speed and gear are dynamically planned to achieve curve speed control such as deceleration before the curve and acceleration after passing the curve.

[0063] The working process of the above-mentioned existing vehicle speed control scheme is analyzed. When the vehicle is in a turning condition, the target vehicle speed of the vehicle when turning is determined according to the curve curvature of the road ahead information, and the vehicle is controlled based on the determined target speed; or when the vehicle is in a slope condition, the target vehicle speed of the vehicle when going uphill or downhill is determined according to the slope of the road ahead information, for example, when the slope is large, the vehicle speed is reduced, and when the slope is small, the vehicle speed is increased.

[0064] However, when the vehicle is turning on a slope, the existing speed control scheme only controls the vehicle speed according to the curvature of the curve, without combining the slope information to calculate the predicted cruise speed, which makes the vehicle's speed too high when turning uphill or downhill, resulting in the vehicle's uncontrolled collision with other surrounding vehicles. At this time, the vehicle's turning safety is poor; or the control speed of the predicted cruise is calculated only based on the slope information, without considering the speed limit of the curve, and the excessively high speed of entering the curve will also increase the driving risk, reducing the turning safety of the vehicle. Therefore, when the vehicle is in the condition of turning on a slope, the existing speed control scheme controls the speed only according to the curvature information or slope in the road information, which makes the vehicle's speed too high when turning on the slope, causing the vehicle to be easily out of control when turning, resulting in the problem of poor turning safety.

[0065] In view of this, the present application provides a method for controlling vehicle speed on a curve, which determines the type of the current road section by acquiring the curvature and slope in the road condition information during the vehicle's driving process, determines the cruising speed threshold and braking speed threshold corresponding to the road section type of the current road section according to the road section type of the current road section and the road condition information of the target road section, and controls the vehicle speed on the current road section according to the cruising speed threshold and braking speed threshold of the current road section. Therefore, the present application determines the cruising speed threshold and braking speed threshold for the vehicle when it is turning on a slope by combining the curvature and slope of the road section, controls the vehicle speed when turning by the determined speed threshold, reduces the risk of a loss of control collision when turning on a slope, and thus improves the turning safety of the vehicle.

[0066] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0067] Figure 1 Schematic diagram of the process of the curve vehicle speed control method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0068] S101. Obtaining road condition information of a target road section during driving of a vehicle, wherein the target road section includes a current road section and a future road section within a preset distance, and the road condition information includes: curvature and slope.

[0069] Specifically, the current position information is obtained through the vehicle positioning unit, and after the current road section is determined based on the current position information, the preset distance is obtained based on the driving data of the vehicle driver in the historical time period, and multiple future road sections within the preset distance are obtained based on the determined current road section.

[0070] Furthermore, after obtaining the target section including the current section and multiple future sections within a preset distance, the road condition information including the corresponding curvature and slope of each section in the current target section is obtained through a high-precision map such as an ADAS (Advanced Driver Assistance Systems) map.

[0071] S102. Determine the section type of the current section according to the curvature of the target section, the section types including: a curved section, a section before entering a curve, and a normal section. The curved section is a first section whose curvature is greater than or equal to a preset curvature, the section before entering a curve is a second section before the first section, and the normal section is a section other than the curved section and the section before entering a curve.

[0072] Specifically, after obtaining the traffic information of the target section, determine whether the current section is a curve according to the curvature in the traffic information of the current section in the target section, that is, when the curvature of the current section is greater than or equal to the preset curvature, determine that the section type of the current section is a curve section. If the curvature of the current section is less than the preset curvature, determine that the section type of the current section is a section before entering the curve, and continue to detect whether the future section is a curve section, until it is confirmed that the future section is a curve section, and confirm that the multiple future sections between the curve section and the current section are ordinary sections.

[0073] S103: Determine a cruising speed threshold and a braking speed threshold of the current road section according to the road section type of the current road section and the road condition information of the target road section.

[0074] Specifically, after obtaining the section type of the current section and the road condition information of each section in the target section, the corresponding target threshold table is determined according to the section type of the current section, and the corresponding cruising speed threshold and braking speed threshold are determined in the corresponding target threshold table according to the curvature and slope in the road condition information of the current section.

[0075] S104: Control the speed of the vehicle on the current road section according to the cruising speed threshold and the braking speed threshold of the current road section.

[0076] Specifically, after obtaining the cruising speed threshold and braking speed threshold of the current road section, the cruising target speed set by the driver is obtained, and the cruising demand speed of the current vehicle is corrected according to the cruising target speed and the cruising speed threshold, so that the vehicle travels based on the corrected cruising demand speed, and the vehicle is braked according to the braking speed threshold to achieve vehicle speed control.

[0077] The curve speed control method provided in the embodiment of the present application obtains the road condition information of the target road section during the driving process of the vehicle, determines the road section type of the current road section according to the curvature and slope in the road condition information, and then determines the cruising speed threshold and braking speed threshold corresponding to the road section type of the current road section according to the road section type of the current road section and the road condition information of the target road section, and controls the speed of the vehicle on the current road section according to the cruising speed threshold and braking speed threshold of the current road section. Therefore, the present application determines the cruising speed threshold and braking speed threshold for the vehicle when it is turning on a slope by combining the curvature and slope of the road section, controls the turning speed by the determined speed threshold, reduces the corresponding control speed for the risk type of uncontrolled collision when turning, and thus improves the turning safety of the vehicle.

[0078] Figure 2 Schematic diagram of the process of the curve vehicle speed control method provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, a method for controlling vehicle speed on a curve is described in detail. The method includes:

[0079] S201 obtains driving data of the driver of the vehicle in a historical time period, and determines a preset distance according to the driving data.

[0080] Specifically, multiple emergency braking distances and corresponding braking speeds are obtained in the historical control database, where the emergency braking distance is used to indicate the distance the vehicle travels from the start of braking to safely avoiding the obstacle or passing the curve when the driver finds an obstacle or curve ahead, and the average value of multiple emergency braking distances is obtained as driving data.

[0081] Furthermore, the habitual braking time is calculated based on the driving data and the average value of multiple braking speeds as the driver's reaction time to abnormal road conditions ahead, and a preset distance is determined based on the reaction time, wherein the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0082] S202: Obtain road condition information of a target road section during the driving process of the vehicle.

[0083] Specifically, after determining the corresponding preset distance, the current position information of the vehicle is obtained, and after the current road section is determined based on the current position information, the preset distance, such as multiple sections within two kilometers, is obtained based on the determined current section. Through the high-precision map, the curvature and slope of each section in the current target section are obtained as the road condition information of the corresponding target section.

[0084] S203: Determine the weight of each target section according to the distance between each target section and the current section, and determine the number of the target sections according to the weights of the multiple target sections.

[0085] Specifically, after obtaining the traffic information of the target section, the weight of each future section is determined according to the distance between the future section and the current section, so as to update the number of future sections in the target section in real time, wherein the weight of each future section is negatively correlated with the distance.

[0086] Furthermore, the curvatures of the future sections are weighted averaged according to the weights of the future sections in the multiple target sections to obtain a weighted average curvature, and the number of future sections is determined according to the weighted average curvature, such as eighty sections, and the weighted average curvature is positively correlated to the number, wherein the length distance between each future section and the current section is the same.

[0087] S204: Determine the section type of the current section according to the curvature of the target section.

[0088] Specifically, after determining the traffic information of the current section and each future section in the target section, the section type of the current section is determined according to the traffic information of the current section. If the curvature in the traffic information of the current section is greater than or equal to the preset curvature, the section type of the current section is a curved section. If the curvature in the traffic information of the current section is less than the preset curvature, the section type of the current section is a section before entering a curve.

[0089] Among them, if the section type of the current section is the section before entering the curve, the section type of the future section is continuously obtained. If the curvature of multiple future sections in front of the current section is less than the preset curvature, the section type of the multiple future sections in front are all set to the section before entering the curve.

[0090] Furthermore, if the road section type of the current road section is a curved road section, the current road section is determined to be an uphill section or a downhill section based on the slope of the current road section. If the slope of the current road section is greater than or equal to the preset slope, the current road section is a turning uphill section. If the slope of the current road section is less than the preset slope, the current road section is a turning downhill section.

[0091] S205: Determine a target threshold table according to the road section type of the current road section, where different road section types correspond to different target threshold tables.

[0092] Specifically, after determining the section type of the current section according to the road condition information, a corresponding target threshold table is determined in a threshold database according to the section type of the current section, wherein the threshold database pre-associately stores different section types and corresponding threshold tables.

[0093] Furthermore, according to the road section type of the current road section, the same road section type is retrieved in the threshold database, and the corresponding threshold table is obtained as the target threshold table according to the same road section type, wherein the target threshold table includes a cruise threshold table and a braking threshold table, the cruise threshold table pre-associatedly stores the correspondence between different road condition information and each cruise speed threshold, and the braking threshold table pre-associatedly stores the correspondence between different road condition information and each braking speed threshold.

[0094] S206: Determine a cruising speed threshold and a braking speed threshold corresponding to the road condition information from the target threshold table.

[0095] Specifically, after determining the target threshold table according to the road type of the current road section, the corresponding cruising speed threshold and braking speed threshold are obtained from the cruising threshold table and the braking threshold table according to the curvature and slope of the current road section, wherein the cruising speed threshold and the braking speed threshold are both negatively correlated with the curvature.

[0096] Furthermore, the cruising speed threshold and braking speed threshold of the ordinary road section are respectively greater than the cruising speed threshold and braking speed threshold of the section before entering the curve, and the cruising speed threshold and braking speed threshold of the section before entering the curve are respectively greater than the cruising speed threshold and braking speed threshold of the curve section.

[0097] Further, for a road section type of a turning uphill section or a turning downhill section, a cruising speed threshold and a braking speed threshold of the uphill section are respectively greater than a cruising speed threshold and a braking speed threshold of the downhill section.

[0098] S207: Determine a required cruising speed of the vehicle on the current road section according to the cruising target speed set by the user and the road condition information of the current road section.

[0099] Specifically, after determining the corresponding cruising speed threshold and braking speed threshold, the cruising target speed set by the driver is obtained, and based on the cruising target speed and the road condition information of the current road section, the cruise demand speed is calculated through a predictive control algorithm, where the cruise demand speed is used to indicate the predicted maximum cruising speed that the vehicle can reach.

[0100] S208: When the required cruising speed is greater than or equal to the cruising speed threshold, correct the required cruising speed to the cruising speed threshold, and control the current actual speed of the vehicle according to the required cruising speed.

[0101] Specifically, after obtaining the cruise demand speed, a first comparison result between the cruise demand speed and the cruise speed threshold is obtained. If the first comparison result indicates that the cruise demand speed is greater than or equal to the cruise speed threshold, the cruise demand speed is updated to the cruise speed threshold, and the actual speed of the current vehicle is controlled based on the updated cruise speed threshold.

[0102] Furthermore, if the first comparison result indicates that the cruise demand speed is less than the cruise speed threshold, the speed of the current vehicle is directly controlled based on the cruise demand speed at that time.

[0103] S209: When the current actual vehicle speed is greater than or equal to the braking speed threshold, brake the vehicle.

[0104] Specifically, after obtaining the required cruising speed, when the actual vehicle speed is controlled according to the required cruising speed and the cruising speed threshold, a second comparison result between the current actual vehicle speed and the braking speed threshold is continuously obtained. If the second comparison result indicates that the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is controlled to brake.

[0105] Further, if the second comparison result indicates that the current actual vehicle speed is less than the braking speed threshold, the vehicle is not braked, and the current actual vehicle speed is maintained based on the first comparison result.

[0106] The curve speed control method provided in the embodiment of the present application obtains the road condition information of the target road section during the driving process of the vehicle, determines the road section type of the current road section according to the curvature and slope in the road condition information, and then determines the cruising speed threshold and braking speed threshold corresponding to the road section type of the current road section according to the road section type of the current road section and the road condition information of the target road section, and controls the speed of the vehicle on the current road section according to the cruising speed threshold and braking speed threshold of the current road section. Therefore, the present application determines the cruising speed threshold and braking speed threshold for the vehicle when it is turning on a slope by combining the curvature and slope of the road section, controls the turning speed by the determined speed threshold, reduces the corresponding control speed for the risk type of uncontrolled collision when turning, and thus improves the turning safety of the vehicle.

[0107] Figure 3 The schematic diagram of the structure of the curve speed control device provided by this application is as follows: Figure 3 As shown, the device 30 comprises:

[0108] The acquisition module 301 is used to acquire the road condition information of the target road section during the driving process of the vehicle, the target road section includes the current road section and the future road section within a preset distance, and the road condition information includes: curvature and slope.

[0109] The first processing module 302 is used to determine the section type of the current section according to the curvature of the target section, and the section types include: a curved section, a section before entering a curve, and a normal section. The curved section is the first section whose curvature is greater than or equal to a preset curvature, the section before entering a curve is the second section before the first section, and the normal section is a section other than the curved section and the section before entering a curve.

[0110] The second processing module 303 is used to determine a cruising speed threshold and a braking speed threshold of the current road section according to the road section type of the current road section and the road condition information of the target road section.

[0111] The control module 304 is used to control the speed of the vehicle on the current road section according to the cruising speed threshold and the braking speed threshold of the current road section.

[0112] In a possible implementation, the cruising speed threshold and the braking speed threshold of the first processing module 302 on the ordinary road section are respectively greater than the cruising speed threshold and the braking speed threshold of the road section before entering the curve, and the cruising speed threshold and the braking speed threshold of the road section before entering the curve are respectively greater than the cruising speed threshold and the braking speed threshold of the road section before entering the curve;

[0113] The cruising speed threshold and the braking speed threshold are both negatively correlated to the curvature;

[0114] The cruising speed threshold and the braking speed threshold of an uphill section are respectively greater than the cruising speed threshold and the braking speed threshold of a downhill section.

[0115] In a possible implementation, the first processing module 302 is specifically configured to determine a target threshold table according to the road section type of the current road section, and different road section types correspond to different target threshold tables;

[0116] The cruising speed threshold and the braking speed threshold corresponding to the road condition information are determined from the target threshold table.

[0117] In a possible implementation, the second processing module 303 is further used to obtain driving data of the driver of the vehicle in a historical time period;

[0118] Determining the driver's reaction time to abnormal road conditions ahead in a historical time period according to the driving data;

[0119] The preset distance is determined according to the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0120] In a possible implementation, the second processing module 303 is further configured to determine a weight of each target road section according to a distance between each target road section and the current road section, wherein the weight is negatively correlated to the distance;

[0121] Performing weighted averaging on the curvatures of the target sections according to the weights of the plurality of target sections to obtain a weighted average curvature;

[0122] The number of the target road segments is determined according to the weighted average curvature, and the weighted average curvature is positively correlated to the number.

[0123] In a possible implementation, the control module 304 is specifically configured to determine a required cruising speed of the vehicle on the current road section according to a cruising target speed set by a user and road condition information of the current road section;

[0124] When the cruise demand vehicle speed is greater than or equal to the cruise speed threshold, correcting the cruise demand vehicle speed to the cruise speed threshold;

[0125] Controlling the current actual speed of the vehicle according to the cruise demand speed;

[0126] When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

[0127] The road adhesion identification device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0128] Figure 4 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device 40 provided in this embodiment includes: at least one processor 401 and a memory 402. Optionally, the device 40 also includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0129] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that at least one processor 401 executes the above method.

[0130] The specific implementation process of the processor 401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0131] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0132] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0133] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0134] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0135] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0136] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0137] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0138] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0141] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of 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.

[0142] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0143] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for controlling vehicle speed on a curve, characterized in that: include: Acquire the road condition information of the target road section during the driving process of the vehicle, the target road section includes the current road section and the future road section within a preset distance, and the road condition information includes: curvature and slope; Determining the section type of the current section according to the curvature of the target section, the section types including: a curved section, a section before entering a curve, and a common section, the curved section being a first section whose curvature is greater than or equal to a preset curvature, the section before entering a curve being a second section before the first section, and the common section being a section other than the curved section and the section before entering a curve; Determining a cruising speed threshold and a braking speed threshold of the current road section according to the road section type of the current road section and the road condition information of the target road section; The vehicle speed is controlled on the current road section according to the cruising speed threshold and the braking speed threshold of the current road section.

2. The method according to claim 1, characterized in that The cruising speed threshold and the braking speed threshold of the ordinary road section are respectively greater than the cruising speed threshold and the braking speed threshold of the road section before entering the curve, and the cruising speed threshold and the braking speed threshold of the road section before entering the curve are respectively greater than the cruising speed threshold and the braking speed threshold of the curved road section; The cruising speed threshold and the braking speed threshold are both negatively correlated to the curvature; The cruising speed threshold and the braking speed threshold of an uphill section are respectively greater than the cruising speed threshold and the braking speed threshold of a downhill section.

3. The method according to claim 2, characterized in that The determining of the cruising speed threshold and the braking speed threshold of the current road section according to the road section type of the current road section and the road condition information of the target road section includes: Determine a target threshold table according to the road section type of the current road section, where different road section types correspond to different target threshold tables; The cruising speed threshold and the braking speed threshold corresponding to the road condition information are determined from the target threshold table.

4. The method according to claim 1, characterized in that: The method further comprises: Acquiring driving data of the driver of the vehicle in a historical period; Determining the driver's reaction time to abnormal road conditions ahead in a historical time period according to the driving data; The preset distance is determined according to the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

5. The method according to claim 4, characterized in that The method further comprises: Determine a weight of each target road section according to the distance between each target road section and the current road section, wherein the weight is negatively correlated to the distance; Performing weighted averaging on the curvatures of the target sections according to the weights of the plurality of target sections to obtain a weighted average curvature; The number of the target road segments is determined according to the weighted average curvature, and the weighted average curvature is positively correlated to the number.

6. The method according to claim 1, characterized in that The controlling the speed of the vehicle on the current road section according to the cruising speed threshold and the braking speed threshold of the current road section includes: Determining a required cruising speed of the vehicle on the current road section according to a cruising target speed set by a user and road condition information of the current road section; When the cruise demand vehicle speed is greater than or equal to the cruise speed threshold, correcting the cruise demand vehicle speed to the cruise speed threshold; Controlling the current actual speed of the vehicle according to the cruise demand speed; When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

7. A vehicle speed control device on a curve, characterized in that: include: An acquisition module is used to acquire the road condition information of a target road section during the driving process of the vehicle, wherein the target road section includes a current road section and a future road section within a preset distance, and the road condition information includes: curvature and slope; a first processing module, configured to determine a section type of the current section according to the curvature of the target section, wherein the section types include: a curved section, a section before entering a curve, and a common section, wherein the curved section is a first section whose curvature is greater than or equal to a preset curvature, the section before entering a curve is a second section before the first section, and the common section is a section other than the curved section and the section before entering a curve; A second processing module is used to determine a cruising speed threshold and a braking speed threshold of the current road section according to the road section type of the current road section and the road condition information of the target road section; A control module is used to control the speed of the vehicle on the current road section according to the cruising speed threshold and the braking speed threshold of the current road section.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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