Curve driving control method of vehicle, vehicle and electronic equipment

Abstract

The invention discloses a curve driving control method of a vehicle, the vehicle and electronic equipment. The curve driving control method of the vehicle comprises the steps that at least one track point in a curve driving path of the vehicle is determined; acquiring a wheel turning angle of the vehicle at at least one track point; and determining the maximum driving speed of the vehicle at the at least one track point based on the wheel turning angle of the vehicle at the at least one track point. According to the method and the device, curvature fluctuation caused by an unsmooth curve driving path or path splicing of the vehicle can be effectively avoided, so that the safety and the comfort in the curve driving process of the vehicle are improved.

Description

Technical Field

[0001] This application belongs to the technical field of vehicles, and particularly relates to a vehicle curve driving control method, a vehicle and an electronic device, as well as a computer-readable storage medium and a computer program product. Background Art

[0002] When a vehicle is driving at high speed on a curve, there may be insufficient centripetal force, and it may get out of control due to centrifugal force, resulting in phenomena such as vehicle sideslip, rollover, or even running off the road. Therefore, in related technologies, curve overspeed alarms and automatic curve speed limits have been proposed to limit the vehicle speed on curves; however, excessive speed limits may also lead to false alarms or false brakes during driving, thus affecting driving comfort. How to ensure the safety and comfort of a vehicle during curve driving is a technical problem to be solved. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application proposes a vehicle curve driving control method, a vehicle and an electronic device, as well as a computer-readable storage medium and a computer program product, which can improve the safety and comfort of a vehicle during curve driving.

[0004] In a first aspect, an embodiment of this application provides a vehicle curve driving control method, including:

[0005] Determine at least one trajectory point in the vehicle curve driving path;

[0006] Obtain the wheel turning angle of the vehicle at at least one trajectory point;

[0007] Based on the wheel turning angle of the vehicle at at least one trajectory point, determine the maximum driving speed of the vehicle at at least one trajectory point.

[0008] In some embodiments, the above-mentioned obtaining the wheel turning angle of the vehicle at at least one trajectory point includes:

[0009] In the curve driving path, determine a preview point corresponding to the trajectory point;

[0010] Based on the preview point corresponding to the trajectory point, determine the wheel turning angle of the vehicle at the trajectory point.

[0011] In some embodiments, the above-mentioned determining a preview point corresponding to the trajectory point in the curve driving path includes;

[0012] Determine a preview distance according to the current driving speed of the vehicle, and based on the preview distance, determine a preview point corresponding to the trajectory point.

[0013] In some embodiments, the above-mentioned determining a preview distance according to the current driving speed of the vehicle includes:

[0014] Determine the final preview distance according to the current driving speed, preview coefficient, maximum preview distance, and minimum preview distance of the vehicle.

[0015] In some embodiments, the above-mentioned determining the final preview distance according to the current driving speed, preview coefficient, maximum preview distance, and minimum preview distance of the vehicle includes:

[0016] Obtain the product of the current driving speed and the preview coefficient of the vehicle;

[0017] When the product of the current driving speed and the preview coefficient of the vehicle is greater than the maximum preview distance, use the maximum preview distance as the final preview distance;

[0018] When the product of the current driving speed and the preview coefficient of the vehicle is less than the minimum preview distance, use the minimum preview distance as the final preview distance;

[0019] When the product of the current driving speed and the preview coefficient of the vehicle is greater than or equal to the minimum preview distance and less than or equal to the maximum preview distance, use the product of the current driving speed and the preview coefficient of the vehicle as the final preview distance.

[0020] In some embodiments, the above-mentioned wheel turning angle is the front-wheel turning angle, and the above-mentioned determining the wheel turning angle of the vehicle at the trajectory point based on the preview point corresponding to the trajectory point includes:

[0021] Based on the preview distance between the trajectory point and the corresponding preview point, the angle between the line connecting the center of the rear axle of the vehicle and the preview point and the vehicle body, and the distance between the front and rear axles of the vehicle, determine the front-wheel turning angle of the vehicle at the trajectory point.

[0022] In some embodiments, the above-mentioned determining the front-wheel turning angle of the vehicle at the trajectory point based on the preview distance between the trajectory point and the corresponding preview point, the angle between the line connecting the center of the rear axle of the vehicle and the preview point and the vehicle body, and the distance between the front and rear axles of the vehicle includes:

[0023] Based on the preview distance between the trajectory point and the corresponding preview point, and the angle between the line connecting the center of the rear axle of the vehicle and the preview point and the vehicle body, determine the instantaneous rotation radius of the rear axle of the vehicle;

[0024] Based on the instantaneous rotation radius of the rear axle of the vehicle and the distance between the front and rear axles of the vehicle, determine the front-wheel turning angle of the vehicle at the trajectory point.

[0025] In some embodiments, the above-mentioned wheel turning angle is the front-wheel turning angle, and the above-mentioned determining the maximum driving speed of the vehicle at at least one trajectory point based on the wheel turning angle of the vehicle at at least one trajectory point includes:

[0026] Based on the front-wheel turning angle of the vehicle at at least one trajectory point, the distance between the front and rear axles of the vehicle, and the maximum lateral acceleration of the vehicle, determine the maximum driving speed of the vehicle at at least one trajectory point.

[0027] In some embodiments, the distance between the at least one trajectory point and the current position of the vehicle is less than or equal to a preset search distance.

[0028] In some embodiments, it further includes:

[0029] Perform curve driving control on the vehicle based on the maximum driving speed of the vehicle at at least one trajectory point.

[0030] In some embodiments, the performing curve driving control on the vehicle based on the maximum driving speed of the vehicle at at least one trajectory point includes:

[0031] Determine a first speed limit value of the vehicle on the curve driving path based on the minimum value of the maximum driving speed of the vehicle at at least one trajectory point;

[0032] When the current driving speed of the vehicle is greater than or equal to the first speed limit value of the vehicle on the curve driving path, trigger a curve speeding alarm.

[0033] In some embodiments, before determining the first speed limit value of the vehicle on the curve driving path based on the minimum value of the maximum driving speed of the vehicle at at least one trajectory point, it further includes:

[0034] Determine that the vehicle is in the manual driving mode.

[0035] In some embodiments, the performing curve driving control on the vehicle based on the maximum driving speed of the vehicle at at least one trajectory point includes:

[0036] Based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point, determine a second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point;

[0037] Determine the minimum value of the second speed limit values of the vehicle at the target trajectory point corresponding to at least one subsequent trajectory point as the final speed limit value of the target trajectory point;

[0038] Control the vehicle to drive according to the final speed limit value of the target trajectory point.

[0039] In some embodiments, the determining a second speed limit value of the vehicle at the current trajectory point corresponding to each subsequent trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point includes:

[0040] Determine the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point, the distance between the target trajectory point and the subsequent trajectory point, and a preset deceleration value.

[0041] In some embodiments, the above control for the vehicle to drive at the final speed limit value of the target trajectory point includes:

[0042] Obtain the speed difference between the current speed of the vehicle and the final speed limit value of the target trajectory point;

[0043] Based on the speed difference, obtain the target acceleration of the vehicle based on the PID control method.

[0044] In some embodiments, before determining the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point, it further includes:

[0045] Determine that the vehicle is in the autonomous driving mode.

[0046] In a second aspect, an embodiment of the present application provides a vehicle curve driving control device, including:

[0047] A trajectory point determination module, configured to determine at least one trajectory point in the curve driving path of the vehicle;

[0048] A turning angle acquisition module, configured to acquire the front wheel turning angle of the vehicle at at least one trajectory point;

[0049] A speed calculation module, configured to determine the maximum driving speed of the vehicle at at least one trajectory point based on the front wheel turning angle of the vehicle at at least one trajectory point.

[0050] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory, where the memory stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle curve driving control method described in the first aspect are implemented.

[0051] In a fourth aspect, an embodiment of the present application provides a vehicle, including the electronic device described in the third aspect, where the memory of the electronic device stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle curve driving control method described in the first aspect are implemented.

[0052] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, where a program or instruction is stored on the readable storage medium, and when the program or instruction is executed by the processor, the steps of the vehicle curve driving control method described in the first aspect are implemented.

[0053] In a sixth aspect, an embodiment of the present application provides a computer program product. When the program or instruction in the computer program product is executed by a processor, the steps of the above-described method for controlling a vehicle to travel on a curve are implemented.

[0054] In the technical solution provided by the present application, at least one trajectory point on the curve travel path of the vehicle is determined. Then, the front wheel turning angle of the vehicle at at least one trajectory point is obtained. Finally, based on the wheel turning angle of the vehicle at at least one trajectory point, the maximum traveling speed of the vehicle at the at least one trajectory point is determined. Since, when the above technical solution controls the vehicle to travel on a curve, the vehicle speed is limited by calculating the wheel turning angle of the vehicle to determine the maximum traveling speed of the vehicle at the trajectory point, it is possible to effectively avoid the curvature fluctuations caused by the unevenness or path splicing of the vehicle curve travel path, thereby improving the safety and comfort during the vehicle curve travel.

[0055] Some of the additional aspects and advantages of the present application will be given in the following description, some will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0057] Figure 1 is a schematic flowchart of a method for controlling a vehicle to travel on a curve in an embodiment of the present application;

[0058] Figure 2 is Figure 1 a schematic flowchart of the specific execution of step 102 shown;

[0059] Figure 3 is a schematic diagram for calculating the instantaneous rotation radius of the rear axle of a vehicle in an embodiment of the present application;

[0060] Figure 4 is a schematic diagram for calculating the front wheel turning angle of a vehicle in an embodiment of the present application;

[0061] Figure 5 is a schematic diagram for calculating the maximum traveling speed of a vehicle at a trajectory point in an embodiment of the present application;

[0062] Figure 6 is a schematic flowchart of another method for controlling a vehicle to travel on a curve in an embodiment of the present application;

[0063] Figure 7 is a schematic flowchart of yet another method for controlling a vehicle to travel on a curve in an embodiment of the present application;

[0064] Figure 8 Schematic diagram of the second speed limit value of a vehicle at a target trajectory point in an embodiment of the present application;

[0065] Figure 9 For Figure 7 Schematic diagram of the specific execution process of step 703 shown in

[0066] Figure 10 Schematic diagram of the process of another vehicle curve driving control method in an embodiment of the present application;

[0067] Figure 11 Schematic diagram of the structure of a vehicle curve driving control device in an embodiment of the present application;

[0068] Figure 12 Schematic diagram of the structure of an electronic device in an embodiment of the present application;

[0069] Figure 13 Schematic diagram of the structure of a vehicle in an embodiment of the present application. Detailed implementation manners

[0070] Embodiments of the present application will be described in more detail with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.

[0071] It should be understood that the various steps recorded in the method embodiments of the present application can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this regard.

[0072] As described in the background art section, the proposed coping methods such as curve speeding alarm and curve automatic speed limit in the related art usually calculate the speed limit value of the vehicle based on the curvature of the vehicle curve driving path, that is, the curvature is inversely proportional to the speed, and the greater the curvature, the smaller the corresponding speed limit value. However, in actual situations, it is difficult to ensure that all curves are ideal smooth trajectories. When the local part of the curve is not smooth enough, a large curvature will be calculated, resulting in inaccurate speed limit values calculated according to the curvature, leading to false alarms or false braking, which greatly affects the safety and comfort of the vehicle during curve driving.

[0073] In addition, when controlling a vehicle's turning driving using the above technology, often within a certain range before the vehicle is about to enter a curve, the minimum speed limit instruction at the curve is directly executed, lacking a smooth deceleration transition process, thereby further reducing the comfort during the vehicle's turning driving.

[0074] Therefore, in the technical solution provided in the embodiments of the present application, by determining at least one trajectory point on the vehicle's turning driving path, then, obtaining the wheel turning angles of the vehicle at the at least one trajectory point, and finally, based on the wheel turning angles of the vehicle at the at least one trajectory point, determining the maximum driving speed of the vehicle at the at least one trajectory point. Since, when controlling the vehicle's turning driving with the above technical solution, the vehicle speed is restricted by calculating the wheel turning angles of the vehicle at at least one trajectory point on the turning driving path, it can effectively avoid the curvature fluctuations caused by the unevenness or path splicing of the vehicle's turning driving path, thereby improving the safety and comfort during the vehicle's turning driving.

[0075] Figure 1 It is a schematic flowchart of a method for controlling a vehicle's turning driving in an embodiment of the present application. This method for controlling a vehicle's turning driving can be implemented by a corresponding vehicle turning driving control device, such as Figure 1 shown, the method includes the following steps:

[0076] Step 101: Determine at least one trajectory point on the vehicle's turning driving path;

[0077] In the embodiments of the present application, the turning driving path refers to the route of the vehicle when driving on a road with a specific curvature change. For example, when the vehicle is driving on curves such as high-speed curves, hairpin curves, and S-shaped curves, the formed route; the trajectory points among them refer to the specific position points defined and recorded on the turning driving path, and these points together constitute the driving trajectory that the vehicle should follow to safely and accurately pass through the curve. Multiple technical means such as sensor data, a global positioning system tracker, and a trajectory prediction model can be used to determine the position of the vehicle, thereby determining the trajectory points on the vehicle's turning driving path.

[0078] Step 102: Obtain the wheel turning angles of the vehicle at the at least one trajectory point;

[0079] After at least one trajectory point is determined in step 101, the wheel turning angle of the vehicle at the above-mentioned trajectory point can be further obtained based on the vehicle's kinematic model and by a preview method. The above-mentioned kinematic model is a simplified mathematical model used to describe the vehicle's motion state and its changes over time. It mainly focuses on the change law of the vehicle's kinematic parameters such as position, speed, acceleration, etc., without considering the forces acting on the vehicle. This model is usually established based on the vehicle's geometric relationship and motion constraints, and is suitable for scenarios such as path planning and trajectory tracking; the wheel turning angle refers to the angle that the vehicle's wheels need to turn when the vehicle is traveling on a curve. In the embodiment of the present application, the wheel turning angle can be at least one of the front wheel turning angle and the rear wheel turning angle.

[0080] In this step, the preview method refers to a method of predetermining a preview point and then using the preview point for calculating the wheel turning angle.

[0081] Step 103: Determine a maximum driving speed of the vehicle at at least one trajectory point based on a wheel turning angle of the vehicle at at least one trajectory point.

[0082] Based on step 102, the maximum speed of the vehicle at the track point is calculated according to the obtained wheel turning angle of the vehicle. The maximum speed is the maximum speed at which the vehicle can travel at the track point, and its specific value is equal to the maximum speed limit at the track point.

[0083] As described above, by using the above method to control the vehicle's curved driving, the vehicle speed can be limited by the turning angle, which can effectively avoid the curvature fluctuation caused by the uneven curved driving path or path splicing of the vehicle, thereby improving the safety and comfort of the vehicle during curved driving.

[0084] Specifically, Figure 2 for Figure 1 The specific execution flow diagram of step 102 is shown in FIG. Figure 2 As shown, the following steps are included:

[0085] Step 201: on a curved driving path, determine a preview point corresponding to a trajectory point;

[0086] Based on step 101, a preview point corresponding to the at least one trajectory point is determined on the curved driving path of the vehicle. The preview point refers to a path point preset in advance in order to safely pass the curve.

[0087] In the embodiments of the present application, the preview distance can be determined according to the current driving speed of the vehicle, and then the preview point corresponding to the trajectory point can be determined based on the preview distance. In the specific process of determining the preview distance, the final preview distance can be determined according to the current driving speed of the vehicle, the preview coefficient, the maximum preview distance, and the minimum preview distance. Then, in front of the curved driving path of the vehicle, a point at a distance equal to the preview distance from the current position of the vehicle is selected as the preview point. The above maximum preview distance can be preset to ensure that the selected preview point will not be too far from the current position of the vehicle, thereby avoiding potential safety risks caused by over-previewing; the minimum preview distance is preset to ensure that the selected preview point will not be too close to the current position of the vehicle, thereby allowing the vehicle to have sufficient space and time to plan the driving path smoothly and efficiently, especially in complex and changeable driving environments, such as urban congestion sections or narrow curves, and the preview coefficient can be determined according to the actual situation.

[0088] Specifically, when determining the above preview distance, the product of the current driving speed and the preview coefficient can be obtained first, and then the obtained product is compared with the maximum preview distance and the minimum preview distance. Then, according to the comparison result, the final preview distance is determined. Specifically, it includes the following situations:

[0089] The first case: when the comparison result is that the product of the current driving speed and the preview coefficient is greater than the maximum preview distance, the maximum preview distance is determined as the final preview distance. For example, when k*v_cur > d_max, the final preview distance d = d_max, where k represents the preview coefficient, which is preset, v_cur represents the current vehicle speed, d_max represents the maximum preview distance, and d represents the final preview distance.

[0090] The second case: when the comparison result is that the product of the current driving speed and the preview coefficient is less than the minimum preview distance, the minimum preview distance is determined as the final preview distance. For example, when k*v_cur < d_min, the final preview distance d = d_min, where k represents the preview coefficient, which is preset, v_cur represents the current vehicle speed, d_min represents the minimum preview distance, and d represents the final preview distance.

[0091] The third case: when the product of the current driving speed and the preview coefficient is greater than or equal to the minimum preview distance and less than or equal to the maximum preview distance, that is, when it is between the minimum preview distance and the maximum preview distance, the product of the current driving speed and the preview coefficient can be used as the final preview distance. For example, when d_min ≤ k * v_cur ≤ d_max, d = k * v_cur, where k represents the preview coefficient which is preset, v_cur represents the current driving speed of the vehicle, d_max represents the maximum preview distance, d_min represents the minimum preview distance, and d represents the final preview distance.

[0092] Step 202: Determine the wheel turning angle of the vehicle at the trajectory point based on the preview point corresponding to the trajectory point.

[0093] Based on step 201, the kinematic model of the vehicle can be referred to, and based on the preview point corresponding to the trajectory point determined in the above step 201, the wheel turning angle of the vehicle at the trajectory point can be calculated.

[0094] In the embodiment of the present application, taking the wheel turning angle as the front wheel turning angle as an example, the specific calculation process will be described. Specifically, when determining the front wheel turning angle of the vehicle at the trajectory point according to the preview point, the kinematic model of the vehicle can be referred to, and based on the preview distance between the determined trajectory point and the corresponding preview point, the included angle between the line connecting the rear axle center of the vehicle and the preview point and the vehicle body, and the distance between the front and rear axles of the vehicle, the front wheel turning angle of the vehicle at the trajectory point can be determined.

[0095] Specifically, the kinematic model of the vehicle can be referred to. First, based on the preview distance between the trajectory point and the corresponding preview point, and the included angle between the line connecting the rear axle center of the vehicle and the preview point and the vehicle body, the instantaneous rotation radius of the vehicle's rear axle can be determined; then, according to the instantaneous rotation radius of the vehicle's rear axle and the distance between the front and rear axles of the vehicle, the front wheel turning angle of the vehicle at the trajectory point can be determined. The above two steps, on the one hand, establish the correlation between the instantaneous rotation radius of the vehicle's rear axle and the above preview distance and included angle, and on the other hand, establish the correlation between the instantaneous rotation radius of the vehicle's rear axle, the distance between the front and rear axles of the vehicle, and the front wheel turning angle of the vehicle at the trajectory point. Based on this, according to the above two correlations, the front wheel turning angle of the vehicle at the trajectory point can be calculated.

[0096] For example, for the correlation between the instantaneous rotation radius of the vehicle's rear axle, the distance between the front and rear axles of the vehicle, and the front wheel turning angle of the vehicle at the trajectory point, it can be as Figure 3As shown in the figure, first, a kinematic model with the center of the rear axle of the vehicle as the origin and the distance between the front and rear axles of the vehicle are used to calculate the instantaneous turning radius of the rear axle of the vehicle. Specifically, it can be \(R = L\times an(\sigma)\), where \(R\) represents the instantaneous turning radius of the rear axle of the vehicle, \(L\) represents the distance between the front and rear axles of the vehicle, \(\sigma\) represents the turning angle of the front wheels of the vehicle, and \(O\) represents the instantaneous center of rotation of the vehicle.

[0097] Then, for the correlation between the instantaneous turning radius of the rear axle of the vehicle and the above preview distance and angle, it can be as Figure 4 shown in the figure. Still using the above kinematic model of the vehicle, the instantaneous turning radius of the rear axle of the vehicle can be calculated according to the preview distance and the angle between the line connecting the center of the rear axle of the vehicle and the preview point and the vehicle body, \(R = d / (2\times\sin( heta))\), where \(R\) represents the instantaneous turning radius of the rear axle of the vehicle, \(d\) represents the preview distance, and \( heta\) represents the angle between the line connecting the center of the rear axle of the vehicle and the preview point and the vehicle body.

[0098] In the specific calculation process, when the preview distance is obtained, the above instantaneous turning radius can be directly calculated according to the above preview distance and angle. Then, according to the instantaneous turning radius and the correlation between the distance between the front and rear axles of the vehicle and the turning angle of the front wheels of the vehicle at the trajectory point, the turning angle of the front wheels is determined.

[0099] In addition, according to the above correlation, the calculation formula for the turning angle \(\sigma\) of the front wheels can be directly obtained, that is, the turning angle \(\sigma=\arctan(d / (2L\sin( heta)))\). At this time, when the preview distance \(d\) is obtained, the turning angle \(\sigma\) of the front wheels of the vehicle at the trajectory point can be directly determined according to the angle \( heta\) and the distance \(L\) between the front and rear axles of the vehicle.

[0100] In the embodiments of the present application, the above motion model of the vehicle can be represented as a bicycle model with two wheels, the front wheel of which can be steered, and the direction of the rear wheel is consistent with the direction of the vehicle body.

[0101] Generally, the driving speed of the vehicle during turning is limited by the maximum lateral acceleration allowed by the vehicle to prevent the tire grip from being insufficient due to excessive speed, thereby causing skidding or out-of-control situations, and thus ensuring driving safety. The above maximum lateral acceleration is related to the vehicle speed, weight, tire performance, and the driving mode set by the user, and can be calibrated according to the actual application scenario.

[0102] In the embodiments of the present application, still taking the wheel turning angle as the front wheel turning angle as an example, when determining the maximum driving speed of the vehicle at the above trajectory points according to the wheel turning angles of the vehicle at at least one trajectory point, specifically, the maximum driving speed of the vehicle at the above trajectory points can be calculated based on the calculated front wheel turning angles of the vehicle at at least one trajectory point, the distance between the front and rear axles of the vehicle, and the maximum lateral acceleration of the vehicle.

[0103] The maximum driving speed calculated in this way can not only improve driving safety, but also optimize the driving efficiency of the vehicle on the premise of ensuring driving safety, making the driving experience of users smoother and more comfortable. In the embodiments of the present application, the maximum driving speed of the vehicle at the trajectory point can be calculated by the following formula:

[0104]

[0105] Among them, v represents the maximum driving speed of the vehicle at the trajectory point, a_max represents the maximum lateral acceleration of the vehicle, L represents the distance between the front and rear axles of the vehicle, and σ represents the front wheel turning angle of the vehicle.

[0106] In some embodiments, a search distance can be set to limit the number of trajectory points that the vehicle can search for at the current position, so as to ensure the accuracy of the calculated maximum driving speed of the vehicle at the trajectory point. Specifically, the distance between at least one trajectory point and the current position of the vehicle can be calculated, and then the calculated distance is compared with the preset search distance. When the distance between a certain trajectory point and the vehicle is greater than the search distance, the trajectory point search ends, and the trajectory points within the preset search distance are determined, so that at least one trajectory point in the curved driving path of the vehicle obtained in the above embodiments is less than or equal to the preset search distance from the current position of the vehicle. For example, the preset search distance is s_max, and the distance between the calculated i-th trajectory point and the current position of the vehicle is s_i. Then, when s_i is greater than s_max, the trajectory point search ends. Then, the vehicle is controlled to move forward in sequence according to the searched trajectory points, and the maximum driving speed v_max_i of the vehicle at each trajectory point is calculated. Finally, (s_i, v_max_i) can be obtained for all trajectory points within the preset search distance, where s_i represents the distance between the i-th trajectory point and the current position of the vehicle, and v_max_i represents the calculated maximum driving speed of the vehicle at the i-th point, that is, the speed limit value, as Figure 5 shown.

[0107] In the embodiments of the present application, after calculating the maximum driving speed of the vehicle at at least one trajectory point through the above embodiments, the vehicle can be controlled for curved driving according to the above maximum driving speed. In this way, the influence of all trajectory points on the vehicle speed on the curved driving path of the vehicle can be fully considered, so as to ensure that the vehicle can maintain a safe and stable driving state during turning, and can maximize the performance potential of the vehicle, thereby improving the overall driving experience and safety.

[0108] In the embodiments of the present application, when controlling the vehicle for curved driving according to the maximum driving speed of the vehicle at at least one trajectory point, specifically, as Figure 6 shown, the following steps are included:

[0109] Step 601: Determine the first speed limit value of the vehicle on the curved driving path based on the minimum value of the maximum driving speed of the vehicle at at least one trajectory point;

[0110] In this step, the calculated maximum driving speed of the vehicle at at least one trajectory point is further processed to obtain the minimum value of the maximum driving speed of the vehicle at at least one trajectory point, and the above minimum value is used as the first speed limit value of the vehicle on the curved driving path. Specifically, the minimum value of the maximum driving speed of the vehicle at at least one trajectory point is calculated by a minimum value function, and then the above minimum value is set as the first speed limit value. For example, when there are 3 trajectory points a, b, and c, and their maximum driving speeds are v_max_0, v_max_1, and v_max_2 respectively, at this time, the minimum value v_limit_curve of the trajectory points is the minimum value among v_max_0, v_max_1, and v_max_2, that is, v_limit_curve = min(v_max_0, v_max_1, v_max_2), and v_limit_curve is the first speed limit value of the vehicle on the curved driving path.

[0111] Step 602: Trigger a curved driving speed warning when the current driving speed of the vehicle is greater than or equal to the first speed limit value of the vehicle on the curved driving path.

[0112] Based on step 601, the current driving speed of the vehicle is compared with the calculated first speed limit value of the vehicle on the curved driving path. When it is greater than or equal to the first speed limit value, a curved driving speed warning is automatically triggered to prompt the user in time, so that the user can quickly realize the potential speeding risk and take corresponding deceleration measures, thereby ensuring the safety of the vehicle during curved driving. For example, the user is prompted that the vehicle has exceeded the speed limit in forms such as sound, vision, and vibration; on the contrary, if the current driving speed of the vehicle is lower than the first speed limit value, then no operation will be triggered. The above current driving speed is the vehicle speed at the current position.

[0113] In the embodiments of the present application, before determining the first speed limit value of the vehicle on the curved road driving path according to the minimum value of the maximum driving speed of the vehicle at at least one trajectory point, it is also possible to determine the driving mode of the vehicle. When it is determined that the current vehicle is in the manual driving mode, when the current driving speed of the vehicle is greater than or equal to the first speed limit value of the vehicle on the curved road driving path, a curved road speeding alarm is triggered to prompt the user; when it is determined that the vehicle is in other driving modes, such as the automatic driving mode, other operations are taken. Specifically, reference can be made to the following embodiments.

[0114] In some embodiments, when it is determined that the current vehicle is in other driving modes, such as the automatic driving mode, and then when performing curved road driving control on the vehicle according to the maximum driving speed of the vehicle at at least one trajectory point, as Figure 7 shown, the following steps are included:

[0115] Step 701: Determine the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point;

[0116] In this step, when the vehicle travels to a certain trajectory point, the above trajectory point is used as the target trajectory point. Then, according to the maximum driving speed of at least one subsequent trajectory point after the above target trajectory point, the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point is calculated.

[0117] In the embodiments of the present application, when the vehicle decelerates to the trajectory point at a comfortable uniform speed, the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point can be determined according to the maximum driving speed of at least one subsequent trajectory point after the target trajectory point, the distance between the target trajectory point and the subsequent trajectory point, and the preset deceleration value. Specifically, the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point can be calculated by the following formula:

[0118]

[0119] Among them, v_limit_i_0 represents the second speed limit value of the vehicle at the target trajectory point calculated by the i-th trajectory point, dec represents the absolute value of the deceleration of the vehicle's comfortable deceleration, s_i represents the distance from the i-th trajectory point to the current position of the vehicle, and v_max_i represents the maximum driving speed of the vehicle at the i-th trajectory point. And when i = 0, the maximum driving speed of the vehicle at the target trajectory point is the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point. For example, as Figure 8As shown, for trajectory points a, b, c, and e, when the vehicle is at the estimated point a, the calculated second speed limit values of the vehicle corresponding to the subsequent trajectory points b, c, and e at trajectory point a are v_limit_1_0, v_limit_2_0, and v_limit_3_0 respectively, and the second speed limit value of the vehicle at trajectory point a is v_limit_0_0.

[0120] The embodiments of the present application are mainly directed to the autonomous driving mode. Therefore, in some embodiments, before performing this step, it may be further determined that the vehicle is in the autonomous driving mode, and then this step 701 is executed.

[0121] Step 702: Determine the minimum value among the second speed limit values of the vehicle corresponding to at least one subsequent trajectory point at the target trajectory point as the final speed limit value of the target trajectory point;

[0122] Based on step 701, calculate the minimum value among the second speed limit values of the vehicle corresponding to at least one subsequent trajectory point at the target trajectory point through a minimum value function, and use the above minimum value as the final speed limit value of the vehicle at the target trajectory point. For example, when there are 4 trajectory points a, b, c, and e, and the vehicle is at the estimated point a, the calculated second speed limit values of the vehicle corresponding to the subsequent trajectory points b, c, and e at trajectory point a are v_limit_1_0, v_limit_2_0, and v_limit_3_0 respectively, and the second speed limit value of the vehicle at trajectory point a is v_limit_0_0. At this time, the minimum value v_limit of the above second speed limit values is v_limit = min(v_limit_0_0, v_limit_1_0, v_limit_2_, v_limit_3_0), where v_limit is the final speed limit value of the vehicle at the target trajectory point.

[0123] Step 703: Control the vehicle to travel at the final speed limit value of the target trajectory point.

[0124] Based on step 702, control the vehicle to travel according to the calculated final speed limit value of the vehicle at the target trajectory point. Specifically, use the obtained final speed limit value of the target trajectory point as the planned speed for the vehicle curve driving path planning period, and then send it to the control module of the vehicle to achieve the longitudinal control of the vehicle. For example, control the vehicle to decelerate so that the driving speed of the vehicle at the target trajectory point is less than or equal to the final speed limit value.

[0125] Specifically, Figure 9 For Figure 7 the specific execution flow diagram of step 703 shown in Figure 9 As shown, it includes the following steps:

[0126] Step 901: Obtain the speed difference between the current speed of the vehicle and the final speed limit value of the target trajectory point;

[0127] After obtaining the final speed limit value of the vehicle at the target trajectory point in step 702, further calculate the speed difference between the current speed of the vehicle and the final speed limit value of the target trajectory point. For example, for the current speed v_acyual of the vehicle and the final speed limit value v_limit of the target trajectory point, the speed difference e(t) = v_limit - v_acyual.

[0128] Step 902: Based on the speed difference, obtain the target acceleration of the vehicle based on the PID control method.

[0129] Based on step 901, according to the obtained speed difference and combined with the PID control method, calculate the target acceleration of the vehicle, thereby completing the control of the vehicle's curved driving. The above PID control method calculates the error between the target value and the actual value through a proportional-integral-derivative controller, and adjusts the control input according to this error and the historical change (integration) and future trend (differentiation) of the error, so as to achieve precise control of the controlled object. Specifically, the target acceleration of the vehicle can be calculated through the following PID control formula:

[0130] u(t) = Kp * e(t) + Ki * ∫e(t)dt + Kd * de(t) / dt

[0131] Among them, u(t) represents the target acceleration of the vehicle, e(t) represents the speed difference between the current speed of the vehicle and the final speed limit value of the target trajectory point, and Kp, Ki, and Kd are the proportional, integral, and differential coefficients respectively, which are used to adjust the performance of the PID controller.

[0132] In the embodiment of the present application, a kinematic model with the center of the rear axle of the vehicle as the origin and a preview method are used to calculate the wheel turning angles of the vehicle at at least one trajectory point, and then, the deceleration of the current position of the vehicle is calculated through a smooth uniform deceleration strategy to achieve the control of the vehicle's curved driving. Specifically, as Figure 10 shown, it includes the following steps:

[0133] Step 1001: Determine at least one trajectory point in the curved driving path of the vehicle;

[0134] This step can use various technical means such as sensor data, a global positioning system tracker, and a trajectory prediction model to determine the position of the vehicle, thereby determining the trajectory points in the curved driving path of the vehicle.

[0135] Step 1002: Determine the preview point corresponding to the trajectory point;

[0136] Based on step 1001, according to the determined trajectory points, the speed of the vehicle, and the preset maximum preview distance and minimum preview distance, determine the preview points corresponding to the trajectory points, that is, from the current position of the vehicle, calculate the current preview distance according to the current vehicle speed and the set maximum and minimum preview distances, and then, in front of the curved driving path of the vehicle, select a point whose distance from the current position of the vehicle is equal to the preview distance as the preview point.

[0137] Step 1003: Calculate the wheel turning angle of the vehicle at the trajectory point. In the embodiments of the present application, the calculation of the front wheel turning angle is taken as an example for illustration;

[0138] Based on step 1002, adopt a kinematic model with the center of the rear axle of the vehicle as the origin to obtain the relationship between the front wheel turning angle of the vehicle and the instantaneous rotation radius of the rear axle. Then, according to the kinematic model of the vehicle, the preview distance between the determined trajectory point and the corresponding preview point, and the angle between the line connecting the center of the rear axle of the vehicle and the preview point and the vehicle body, calculate the instantaneous rotation radius of the rear axle of the vehicle, and thus calculate the front wheel turning angle of the vehicle at the trajectory point. For example, the relationship between the front wheel turning angle of the vehicle and the rear axle rotation radius is R = L * tan(σ), and the rear axle rotation radius R calculated according to the preview point is R = d / (2 * sin(θ)), then the front wheel turning angle σ = arctan(d / (2Lsin(θ))), where R represents the instantaneous rotation radius of the rear axle of the vehicle, L represents the distance between the front and rear axles of the vehicle, σ represents the front wheel turning angle of the vehicle, d represents the preview distance, and θ represents the angle between the line connecting the center of the rear axle of the vehicle and the preview point and the vehicle body.

[0139] Step 1004: Calculate the maximum driving speed of the vehicle at the trajectory point;

[0140] Based on step 1003, according to the calculated wheel turning angle of the vehicle at at least one trajectory point, the distance between the front and rear axles of the vehicle, and the maximum lateral acceleration of the vehicle, calculate the maximum driving speed of the vehicle at the above trajectory point.

[0141] Step 1005: Determine whether all the trajectory points within the search distance have been traversed;

[0142] According to the set search distance, search for the trajectory points within the range of the distance from the current position of the vehicle, and determine whether all the trajectory points within the search distance have been traversed, that is, whether the maximum driving speeds of all the trajectory points searched by the vehicle within the search distance have been calculated. If all the trajectory points have been traversed, execute step 1007; otherwise, execute step 1006.

[0143] Step 1006: Move the vehicle to the next trajectory point;

[0144] After determining in step 1005 that not all the trajectory points within the search distance have been traversed, move the vehicle to the next trajectory point and execute steps 1002 - 1004 again.

[0145] Step 1007: Determine the driving mode of the vehicle;

[0146] If it is determined in step 1005 that all the trajectory points within the search distance have been traversed, then further determine the driving mode of the vehicle. If the driving mode of the vehicle is the manual driving mode, execute step 1008; otherwise, execute step 1010.

[0147] Step 1008: Determine whether the vehicle is speeding;

[0148] After determining in step 1007 that the vehicle is in the manual driving mode, continue to determine whether the vehicle is speeding at the current position, that is, determine whether the current driving speed of the vehicle is greater than or equal to the minimum value of the maximum driving speeds of the vehicle at at least one trajectory point. If the vehicle is speeding, execute step 1009.

[0149] Step 1009: Trigger a curve speeding alarm;

[0150] After determining in step 1008 that the vehicle is speeding, automatically trigger a curve speeding alarm to prompt the user. For example, prompt the user that the vehicle is speeding through forms such as sound, vision, and vibration.

[0151] Step 1010: Calculate the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point;

[0152] After determining in step 1007 that the vehicle is in the autonomous driving mode, use the maximum driving speed of the vehicle at the trajectory point calculated in step 1004 to calculate the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point. For example, calculate the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point through the following formula:

[0153]

[0154] where v_limit_i_0 represents the second speed limit value of the vehicle at the target trajectory point calculated from the i-th trajectory point, dec represents the absolute value of the deceleration for the vehicle's comfortable deceleration, s_i represents the distance from the i-th trajectory point to the current position of the vehicle, and v_max_i represents the maximum driving speed of the vehicle at the i-th trajectory point.

[0155] Step 1011: Determine the final speed limit value of the vehicle at the target speed limit point;

[0156] Based on step 1010, calculate the minimum value of all the second speed limit values of the vehicles corresponding to each subsequent trajectory point at the target trajectory point. The obtained minimum value v_limit is the final speed limit value of the vehicle at the target speed limit point.

[0157] Step 1012: Control the vehicle to drive through the curve.

[0158] After completing step 1009 or step 1011, adjust the driving speed of the vehicle according to the curve speeding alarm or the final speed limit value of the vehicle at the target speed limit point to ensure that the vehicle safely passes through the curve.

[0159] Corresponding to the above Figures 1 - 10 For any of the provided vehicle curve driving control methods, the embodiments of the present application provide corresponding devices. Figure 11 It is a schematic structural diagram of a vehicle curve driving control device in an embodiment of the present application. As Figure 11 shown, the vehicle curve driving control device includes a trajectory point determination module 11, a turning angle acquisition module 12, and a speed calculation module 13. The trajectory point determination module 11 is used to determine at least one trajectory point in the curve driving path of the vehicle; the turning angle acquisition module 12 is used to acquire the wheel turning angle of the vehicle at at least one trajectory point; the speed calculation module 13 is used to determine the maximum driving speed of the vehicle at at least one trajectory point based on the wheel turning angle of the vehicle at at least one trajectory point.

[0160] In some embodiments, the above-mentioned acquisition of the wheel turning angle of the vehicle at at least one trajectory point includes:

[0161] In the curve driving path, determine a preview point corresponding to the trajectory point;

[0162] Based on the preview point corresponding to the trajectory point, determine the wheel turning angle of the vehicle at the trajectory point.

[0163] In some embodiments, the above-mentioned determination of the preview point corresponding to the trajectory point in the curve driving path includes;

[0164] Determine the preview distance according to the current driving speed of the vehicle, and determine the preview point corresponding to the trajectory point based on the preview distance.

[0165] In some embodiments, the above-mentioned determination of the preview distance according to the current driving speed of the vehicle includes:

[0166] Determine the final preview distance according to the current driving speed of the vehicle, the preview coefficient, the maximum preview distance, and the minimum preview distance.

[0167] In some embodiments, determining the final preview distance according to the current driving speed, preview coefficient, maximum preview distance, and minimum preview distance of the vehicle includes:

[0168] Obtain the product of the current driving speed of the vehicle and the preview coefficient;

[0169] When the product of the current driving speed of the vehicle and the preview coefficient is greater than the maximum preview distance, use the maximum preview distance as the final preview distance;

[0170] When the product of the current driving speed of the vehicle and the preview coefficient is less than the minimum preview distance, use the minimum preview distance as the final preview distance;

[0171] When the product of the current driving speed of the vehicle and the preview coefficient is greater than or equal to the minimum preview distance and less than or equal to the maximum preview distance, use the product of the current driving speed of the vehicle and the preview coefficient as the final preview distance.

[0172] In some embodiments, the wheel turning angle is the front wheel turning angle. Determining the wheel turning angle of the vehicle at the trajectory point based on the preview point corresponding to the trajectory point includes:

[0173] Based on the preview distance between the trajectory point and the corresponding preview point, the angle between the line connecting the rear axle center of the vehicle and the preview point and the vehicle body, and the distance between the front and rear axles of the vehicle, determine the front wheel turning angle of the vehicle at the trajectory point.

[0174] In some embodiments, determining the front wheel turning angle of the vehicle at the trajectory point based on the preview distance between the trajectory point and the corresponding preview point, the angle between the line connecting the rear axle center of the vehicle and the preview point and the vehicle body, and the distance between the front and rear axles of the vehicle includes:

[0175] Based on the preview distance between the trajectory point and the corresponding preview point, and the angle between the line connecting the rear axle center of the vehicle and the preview point and the vehicle body, determine the instantaneous rotation radius of the rear axle of the vehicle;

[0176] Based on the instantaneous rotation radius of the rear axle of the vehicle and the distance between the front and rear axles of the vehicle, determine the front wheel turning angle of the vehicle at the trajectory point.

[0177] In some embodiments, the wheel turning angle is the front wheel turning angle. Determining the maximum driving speed of the vehicle at at least one trajectory point based on the vehicle turning angle of the vehicle at at least one trajectory point includes:

[0178] Based on the front wheel turning angle of the vehicle at at least one trajectory point, the distance between the front and rear axles of the vehicle, and the maximum lateral acceleration of the vehicle, determine the maximum driving speed of the vehicle at at least one trajectory point.

[0179] In some embodiments, the distance between at least one of the above trajectory points and the current position of the vehicle is less than or equal to a preset search distance.

[0180] In some embodiments, it further includes:

[0181] Perform curve driving control on the vehicle based on the maximum driving speed of the vehicle at at least one trajectory point.

[0182] In some embodiments, the above-mentioned performing curve driving control on the vehicle based on the maximum driving speed of the vehicle at at least one trajectory point includes:

[0183] Determine a first speed limit value of the vehicle on the curve driving path based on the minimum value of the maximum driving speed of the vehicle at at least one trajectory point;

[0184] When the current driving speed of the vehicle is greater than or equal to the first speed limit value of the vehicle on the curve driving path, trigger a curve speeding alarm.

[0185] In some embodiments, before the above-mentioned determining the first speed limit value of the vehicle on the curve driving path based on the minimum value of the maximum driving speed of the vehicle at at least one trajectory point, it further includes:

[0186] Determine that the vehicle is in the manual driving mode.

[0187] In some embodiments, the above-mentioned performing curve driving control on the vehicle based on the maximum driving speed of the vehicle at at least one trajectory point includes:

[0188] Determine a second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point;

[0189] Determine the minimum value of the second speed limit values of the vehicle at the target trajectory point corresponding to at least one subsequent trajectory point as the final speed limit value of the target trajectory point;

[0190] Control the vehicle to drive according to the final speed limit value of the target trajectory point.

[0191] In some embodiments, the above-mentioned determining the second speed limit value of the vehicle at the current trajectory point corresponding to each subsequent trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point includes:

[0192] Determine the second speed limit value of the vehicle at the target trajectory point corresponding to each subsequent trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point, the distance between the target trajectory point and the subsequent trajectory point, and a preset deceleration value.

[0193] In some embodiments, controlling the vehicle to travel at the final speed limit value of the target trajectory point includes:

[0194] Obtaining the speed difference between the current speed of the vehicle and the final display value of the target trajectory point;

[0195] Based on the speed difference, obtaining the target acceleration of the vehicle based on the PID control method.

[0196] As described above, when using the above-mentioned vehicle curve driving control device to control a vehicle driving on a curve, the vehicle speed can be limited by the turning angle, which can effectively avoid the curvature fluctuations caused by the unevenness or path splicing of the vehicle's curve driving path, thereby improving the safety and comfort during the vehicle's curve driving.

[0197] This application also provides an electronic device. As Figure 12 shown, the electronic device includes: a processor 21 and a memory 22. The memory 22 stores a program or instruction that can run on the processor. When the above program or instruction is executed by the processor, the steps of the vehicle curve driving control method as Figures 1 - 10 described are implemented.

[0198] This application also provides a vehicle. As Figure 13 shown, the vehicle includes Figure 12 the above-mentioned electronic device 31. Among them, the memory of the electronic device stores a program or instruction that can run on the processor. When the above program or instruction is executed by the processor, the steps of the vehicle curve driving control method as Figures 1 - 10 described are implemented.

[0199] This application also provides a computer-readable storage medium. A program or instruction is stored on the above-readable storage medium. When the program or instruction is executed by the processor, the steps of the vehicle curve driving control method as Figures 1 - 10 described are implemented.

[0200] This application also provides a computer program product. When the program or instruction in the computer program product is executed by the processor, the steps of the vehicle curve driving control method as Figures 1 - 10 described are implemented.

[0201] It should be noted that in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0202] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of computer software products plus the necessary general hardware platforms, and of course, they can also be implemented by hardware. The computer software products are stored in storage media (such as ROM, RAM, magnetic disks, optical disks, etc.) and include several instructions for causing a terminal or a network-side device to execute the methods described in the various embodiments of the present application.

[0203] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms of embodiments without departing from the purpose of the present application and the scope protected by the claims. All these embodiments fall within the protection scope of the present application.

Claims

1. A vehicle curve driving control method, characterized in that: include: Determining at least one trajectory point in a curved driving path of the vehicle; Obtaining a wheel turning angle of the vehicle at the at least one trajectory point; Based on the wheel turning angle of the vehicle at the at least one trajectory point, a maximum driving speed of the vehicle at the at least one trajectory point is determined.

2. The method according to claim 1, characterized in that The step of obtaining the wheel turning angle of the vehicle at the at least one trajectory point comprises: Determining a preview point corresponding to a trajectory point on the curved driving path; The wheel turning angle of the vehicle at the trajectory point is determined based on the preview point corresponding to the trajectory point.

3. The method according to claim 2, characterized in that Determining the preview point corresponding to the trajectory point on the curved driving path includes: A preview distance is determined according to a current driving speed of the vehicle, and a preview point corresponding to the trajectory point is determined based on the preview distance.

4. The method according to claim 3, characterized in that: Determining the preview distance according to the current driving speed of the vehicle includes: The final preview distance is determined based on the vehicle's current speed, preview coefficient, maximum preview distance, and minimum preview distance.

5. The method according to claim 4, characterized in that Determining the final preview distance according to the current speed of the vehicle, the preview coefficient, the maximum preview distance and the minimum preview distance includes: Obtaining the product of the current driving speed of the vehicle and the preview coefficient; When the product of the current speed of the vehicle and the preview coefficient is greater than the maximum preview distance, the maximum preview distance is used as the final preview distance; When the product of the current speed of the vehicle and the preview coefficient is less than the minimum preview distance, the minimum preview distance is used as the final preview distance; When the product of the current driving speed of the vehicle and the preview coefficient is greater than or equal to the minimum preview distance and less than or equal to the maximum preview distance, the product of the current driving speed of the vehicle and the preview coefficient is used as the final preview distance.

6. The method according to claim 3, characterized in that: The wheel turning angle is a front wheel turning angle, and determining the wheel turning angle of the vehicle at the track point based on the preview point corresponding to the track point includes: The front wheel turning angle of the vehicle at the trajectory point is determined based on the preview distance between the trajectory point and the corresponding preview point, the angle between the center of the rear axle of the vehicle and the line connecting the preview point and the vehicle body, and the distance between the front and rear axles of the vehicle.

7. The method according to claim 6, characterized in that The method of determining a front wheel turning angle of the vehicle at the trajectory point based on a preview distance between the trajectory point and a corresponding preview point, an angle between a line connecting a rear axle center of the vehicle and the preview point and a vehicle body, and a distance between front and rear axles of the vehicle, comprises: Determine the instantaneous rotation radius of the rear axle of the vehicle based on the preview distance between the trajectory point and the corresponding preview point, and the angle between the line connecting the rear axle center of the vehicle and the preview point and the vehicle body; Based on the instantaneous rotation radius of the rear axle of the vehicle and the distance between the front and rear axles of the vehicle, the front wheel turning angle of the vehicle at the trajectory point is determined.

8. The method according to any one of claims 1 to 7, characterized in that: The wheel turning angle is a front wheel turning angle, and determining the maximum driving speed of the vehicle at the at least one trajectory point based on the wheel turning angle of the vehicle at the at least one trajectory point includes: The maximum driving speed of the vehicle at the at least one trajectory point is determined based on the front wheel turning angle of the vehicle at the at least one trajectory point, the distance between the front and rear axles of the vehicle, and the maximum lateral acceleration of the vehicle.

9. The method according to claim 1, characterized in that: The distance between the at least one trajectory point and the current position of the vehicle is less than or equal to a preset search distance.

10. The method according to any one of claims 1 to 9, characterized in that: Also includes: The vehicle is controlled to travel along a curve based on the maximum travel speed of the vehicle at the at least one trajectory point.

11. The method according to claim 10, characterized in that The controlling the vehicle to drive on a curve based on the maximum driving speed of the vehicle at the at least one trajectory point includes: Determining a first speed limit value of the vehicle on a curved driving path based on a minimum value of the maximum driving speed of the vehicle at the at least one trajectory point; When the current driving speed of the vehicle is greater than or equal to a first speed limit value of the vehicle on a curved driving path, a curve speeding alarm is triggered.

12. The method according to claim 11, characterized in that Before determining the first speed limit value of the vehicle on the curved driving path based on the minimum value of the maximum driving speed of the vehicle at the at least one trajectory point, the method further includes: It is determined that the vehicle is in a manual driving mode.

13. The method according to claim 10, characterized in that The controlling the vehicle to drive on a curve based on the maximum driving speed of the vehicle at the at least one trajectory point includes: Determining a second speed limit value of the vehicle corresponding to each subsequent trajectory point at the target trajectory point based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point; Determine a minimum value among the second speed limit values ​​of the vehicle corresponding to the at least one subsequent trajectory point at the target trajectory point as a final speed limit value of the target trajectory point; The vehicle is controlled to travel according to the final speed limit value of the target trajectory point.

14. The method according to claim 13, characterized in that The determining, based on the maximum travel speed of at least one subsequent trajectory point after the target trajectory point, a second speed limit value of the vehicle corresponding to each subsequent trajectory point at the current trajectory point comprises: Based on the maximum driving speed of at least one subsequent trajectory point after the target trajectory point, the distance between the target trajectory point and the subsequent trajectory point, and the preset deceleration value, a second speed limit value of the vehicle corresponding to each subsequent trajectory point at the target trajectory point is determined.

15. The method according to claim 13, characterized in that The controlling the vehicle to travel according to the final speed limit value of the target trajectory point includes: Get the speed difference between the vehicle's current speed and the final speed limit value at the target trajectory point; Based on the speed difference, a target acceleration of the vehicle is obtained based on a PID control method.

16. The method according to claim 13, characterized in that The method of determining, based on the maximum travel speed of at least one subsequent trajectory point after the target trajectory point, that the vehicle corresponding to each subsequent trajectory point is before the second speed limit value of the target trajectory point, further includes: Determining that the vehicle is in an autonomous driving mode.

17. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle curve driving control method as described in any one of claims 1 to 16 are implemented.

18. A vehicle, characterized in that: The electronic device comprises the electronic device as claimed in claim 17, wherein the memory of the electronic device stores a program or instruction that can be run on a processor, and the program or instruction, when executed by the processor, implements the steps of the vehicle curve driving control method as claimed in any one of claims 1 to 16.

19. A computer-readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the vehicle curve driving control method as described in any one of claims 1 to 16 are implemented.

20. A computer program product, characterized in that When the program or instructions in the computer program product are executed by a processor, the steps of the vehicle curve driving control method as described in any one of claims 1 to 16 are implemented.

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