Vehicle curve recognition and control method, equipment and device and storage medium

Abstract

The invention discloses a curve recognition and control method, device and equipment of a vehicle and a computer readable storage medium, and the method comprises the steps that the curve state is determined according to the obtained steering wheel rotation angle state, steering wheel rotation angle speed state, yaw angle speed state, yaw angle acceleration state and duration, the bend state comprises a straight line state, a bend-in state, a steady state state and a bend-out state; according to the curve state, the driving torque or the braking torque of the vehicle is controlled, the technical problems that an existing curve recognition and driving control technology is insufficient in technical implementation difficulty, cost, reliability and control timeliness in the prior art are solved, curve recognition through an algorithm is achieved, the computing power of an ECU is not increased, and the driving torque or the braking torque of the vehicle is controlled. And different torques of the vehicle are controlled at different stages on the curve, so that the stability and comfort of the vehicle are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and particularly to a method, device, equipment and computer-readable storage medium for identifying and controlling vehicle curves. Background Art

[0002] In recent years, the automotive industry has been undergoing profound changes in intelligence and electrification. To improve the driving comfort and driving stability of vehicles, intelligent auxiliary driving systems and chassis dynamic control technologies are increasingly widely used. During vehicle driving, curve conditions pose higher requirements for vehicle handling performance and safety. Precise curve identification and efficient curve driving control strategies have become the core technologies to ensure lane keeping and stable driving of vehicles in curves. In the field of curve identification technology, current mainstream methods are mainly based on image processing or map data processing. The curve identification technology based on image processing usually relies on visual sensors such as cameras to collect road image information, and then extracts curve features through complex image recognition algorithms. However, the accuracy and reliability of this technology highly depend on the quality, performance and environmental adaptability of the sensors. In harsh conditions such as rain, fog and night, the image quality degradation will lead to a significant reduction in recognition accuracy; at the same time, the real-time processing of a large amount of image data requires strong computing power support, with high algorithm complexity, large implementation cost and technical difficulty. The curve identification technology based on map data processing requires high-precision maps to provide accurate road curvature, curve radius and other information, but the acquisition and update costs of high-precision maps are high, and there are data lag problems, which are difficult to meet the needs of real-time dynamic driving of vehicles. In terms of curve driving control technology, most of the existing control strategies belong to passive control. When the vehicle shows unstable states such as understeer (pushing the head) or oversteer (fishtailing), the control system intervenes and corrects the vehicle attitude by adjusting the driving force or braking force of the wheels. This lagging control method cannot fundamentally prevent vehicle instability. Especially in conditions such as high-speed cornering or emergency avoidance, the risk of vehicle out of control may increase due to response delay, which is difficult to meet users' higher expectations for vehicle active safety and stable handling. In summary, the existing curve identification and driving control technologies have deficiencies in terms of technical implementation difficulty, cost, reliability and control timeliness, and there is an urgent need to research and develop a more efficient, reliable and adaptable curve identification and driving control technology to promote the further development and application of intelligent driving technology. Summary of the Invention

[0003] This application provides a method, device, equipment and computer-readable storage medium for identifying and controlling vehicle curves, which can solve the technical problems existing in the prior art that the existing curve identification and driving control technologies have deficiencies in terms of technical implementation difficulty, cost, reliability and control timeliness.

[0004] In a first aspect, an embodiment of the present application provides a method for identifying and controlling a curve of a vehicle. The method for identifying and controlling the curve of the vehicle includes: Determining a curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration, where the curve state includes a straight state, a curve entry state, a steady state, and a curve exit state; Controlling the driving torque or braking torque of the vehicle according to the curve state.

[0005] In combination with the first aspect, in an embodiment, the determining the curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration includes: Obtaining the steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration; If the obtained steering wheel angle state is 0, the steering wheel angular velocity state is 0, the yaw angular velocity state is 0, the yaw angular acceleration state is 0, and the duration is greater than or equal to a preset duration, determining that the curve state is a straight state; If the obtained steering wheel angle state is -1 or 1, the steering wheel angular velocity state is 1, the yaw angular velocity state is -1 or 1, the yaw angular acceleration state is 1, and the duration is greater than or equal to a preset duration, determining that the curve state is a curve entry state; If the obtained steering wheel angle state is -1 or 1, the steering wheel angular velocity state is 0, the yaw angular velocity state is -1 or 1, the yaw angular acceleration state is 0, and the duration is greater than or equal to a preset duration, determining that the curve state is a steady state; If the obtained steering wheel angle state is -1 or 1, the steering wheel angular velocity state is -1, the yaw angular velocity state is -1 or 1, the yaw angular acceleration state is -1, and the duration is greater than or equal to a preset duration, determining that the curve state is a curve exit state.

[0006] In combination with the first aspect, in an embodiment, the controlling the driving torque or braking torque of the vehicle according to the curve state includes: If it is the curve entry state and the vehicle is in a driving state, reducing the front axle driving torque and transferring the reduced torque of the front axle to the rear axle; If it is the curve entry state and the vehicle is in a braking state, reducing the rear axle braking torque and transferring the reduced braking torque of the rear axle to the front axle; If it is the steady state and the vehicle is under driving or braking, maintain the torque transfer amount during driving or braking before the steady state. If it is the out - bend state and the vehicle is under driving, reduce the driving torque of the rear axle and transfer the reduced driving torque of the rear axle to the front axle. If it is the out - bend state and the vehicle is under braking, reduce the braking torque of the front axle and transfer the reduced braking torque of the front axle to the rear axle.

[0007] Combined with the first aspect, in one embodiment, the obtaining of the steering wheel angle state includes: Collect the steering wheel angle value and the steering wheel angle threshold value. According to the steering wheel angle value, the steering wheel angle threshold value, the preset upper limit of the steering wheel threshold and the preset lower limit of the steering wheel threshold, obtain the steering wheel angle state.

[0008] Combined with the first aspect, in one embodiment, the obtaining of the steering wheel angle state includes: The obtaining of the steering wheel angular velocity state includes: Collect the change amount of the steering wheel angular velocity According to the change amount of the steering wheel angular velocity, the preset lower limit of the angular velocity change threshold and the preset upper limit of the angular velocity change threshold, obtain the steering wheel angular velocity state.

[0009] Combined with the first aspect, in one embodiment, the obtaining of the yaw angular velocity state includes: Collect the yaw angular velocity of the vehicle. According to the yaw angular velocity, the preset lower limit of the yaw angular velocity threshold and the preset upper limit of the yaw angular velocity threshold, obtain the yaw angular velocity state.

[0010] Combined with the first aspect, in one embodiment, the obtaining of the yaw angular acceleration state includes: Obtain the change amount of the yaw angular acceleration of the vehicle; According to the change amount of the yaw angular acceleration, the preset lower limit of the yaw angular acceleration change amount threshold and the preset upper limit of the yaw angular acceleration change amount threshold, obtain the yaw angular acceleration state.

[0011] In the second aspect, the embodiments of the present application provide a vehicle corner recognition and control device, characterized in that the vehicle corner recognition and control device includes: A determination module, configured to determine the corner state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state and the duration, wherein the corner state includes a straight - line state, an in - bend state, a steady state and an out - bend state; A control module for controlling the driving torque or braking torque of a vehicle according to the bend state.

[0012] In a third aspect, an embodiment of the present application provides a bend recognition and control device for a vehicle. The bend recognition and control device for the vehicle includes a processor, a memory, and a bend recognition and control program for the vehicle stored on the memory and executable by the processor. When the bend recognition and control program for the vehicle is executed by the processor, the steps of the bend recognition and control method for the vehicle as described above are implemented.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. A bend recognition and control program for a vehicle is stored on the computer-readable storage medium. When the bend recognition and control program for the vehicle is executed by a processor, the steps of the bend recognition and control method for the vehicle as described above are implemented.

[0014] The beneficial effects brought by the technical solutions provided in the embodiments of the present application include: By determining the bend state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration, where the bend state includes a straight state, an entering-bend state, a steady state, and an exiting-bend state; and controlling the driving torque or braking torque of the vehicle according to the bend state, the technical problems existing in the related art, such as the deficiencies in technical implementation difficulty, cost, reliability, and control timeliness of the existing bend recognition and driving control technologies, are solved. It is realized to identify bends through algorithms without increasing the computing power of the ECU, and different torque controls are performed on the vehicle at different stages on the bend, improving the vehicle stability and comfort. Description of the Drawings

[0015] Figure 1 It is a schematic flowchart of the first embodiment of the bend recognition and control method for the vehicle of the present application; Figure 2 For the present application Figure 1 It is a schematic flowchart of the refinement of step S10; Figure 3 It is a schematic diagram of the functional modules of an embodiment of the bend recognition and control device for the vehicle of the present application; Figure 4 It is a schematic diagram of the hardware structure of the bend recognition and control device for the vehicle involved in the solution of the embodiment of the present application. Detailed Embodiments

[0016] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without making creative efforts shall fall within the scope of protection of this application.

[0017] First, some technical terms in this application are explained to facilitate the understanding of this application by those skilled in the art.

[0018] To make the purpose, technical solutions, and advantages of this application clearer, the embodiments of this application will be further described in detail below in conjunction with the accompanying drawings.

[0019] In a first aspect, an embodiment of this application provides a method for identifying and controlling a vehicle's curve.

[0020] In one embodiment, refer to Figure 1 , Figure 1 is a schematic flowchart of the first embodiment of the method for identifying and controlling a vehicle's curve in this application. As Figure 1 shown, the method for identifying and controlling a vehicle's curve includes: Step S10: Determine the curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration, where the curve state includes a straight state, an entering curve state, a steady state, and an exiting curve state; Exemplarily, obtain the steering wheel angle value and the steering wheel angle threshold value; according to the steering wheel angle value, the steering wheel angle threshold value, the preset upper limit of the steering wheel threshold, and the preset lower limit of the steering wheel threshold, obtain the steering wheel angle state. The steering wheel angle threshold value is obtained by the driver operating the steering wheel. When the vehicle speed is low, even if a relatively large steering wheel angle is input, the steering action of the vehicle will not be very obvious; while when the vehicle speed is high, gently operating the steering wheel to generate a relatively small angle, the vehicle moving at a high speed will also show an obvious steering trend. Therefore, it is necessary to judge the steering wheel angle state for different vehicle speed intervals respectively. The steering wheel angle state threshold values at different vehicle speeds in this example are as follows in the table:

[0021] In the demonstration example, when the steering wheel angle is negative and the absolute value of the steering wheel angle is greater than or equal to the steering wheel angle threshold value, and the upper limit of the steering wheel threshold is 5, the steering wheel angle state is left turn, and the value is -1; when the steering wheel angle is positive and the absolute value of the steering wheel angle is greater than or equal to the steering wheel angle threshold value, and the upper limit of the steering wheel threshold is 5, the steering wheel angle state is right turn, and the value is 1; when the steering wheel angle is positive or negative, and the absolute value of the steering wheel angle is less than the steering wheel angle threshold value minus the lower limit of the steering wheel threshold 3, the steering wheel angle state is not turned, and the value is 0.

[0022] Collect the change amount of the steering wheel angular velocity; according to the change amount of the steering wheel angular velocity, the preset lower limit of the steering wheel angular velocity change threshold and the preset upper limit of the steering wheel angular velocity change threshold, obtain the steering wheel angular velocity state. In the demonstration example, when the change amount of the steering wheel angular velocity within a unit time of 10 ms is less than the lower limit of the steering wheel angular velocity change threshold -3 deg / s, the steering wheel angular velocity state is defined as rotation, and the value is -1; when the change amount of the steering wheel angular velocity within a unit time of 10 ms is greater than or equal to the upper limit of the steering wheel angular velocity change threshold 3 deg / s, the steering wheel angular velocity state is defined as steering, and the value is 1; when the change amount of the steering wheel angular velocity within a unit time of 10 ms is less than the upper limit of the steering wheel angular velocity change threshold 3 deg / s, the steering wheel angular velocity state is defined as stable, and the value is 0.

[0023] Collect the yaw angular velocity of the vehicle; according to the yaw angular velocity, the preset lower limit of the yaw angular velocity threshold and the preset upper limit of the yaw angular velocity threshold, obtain the yaw angular velocity state. In the demonstration example, when the yaw angular velocity is less than the lower limit of the yaw angular velocity threshold -3 deg / s, it is defined as left turn, and the value is -1; when the yaw angular velocity is greater than or equal to the lower limit of the angular velocity threshold 3 deg / s, it is defined as right turn, and the value is 1; when the yaw angular velocity is greater than the preset upper limit of the yaw angular velocity threshold, the yaw angular velocity state is obtained as 0.

[0024] Obtain the change amount of the vehicle's yaw angular acceleration; according to the change amount of the yaw angular acceleration, the preset lower limit of the yaw angular acceleration change amount threshold and the preset upper limit of the yaw angular acceleration change amount threshold, obtain the yaw angular acceleration state. In the demonstration example, when the change amount of the yaw angular acceleration within a unit time of 10 ms is less than the lower limit of the yaw angular acceleration change amount threshold -3 deg / s^2), it is defined as rotation, and the value is -1; when the change amount of the yaw angular acceleration within a unit time of 10 ms is greater than or equal to the upper limit of the yaw angular acceleration change amount threshold 3 deg / s^2, it is defined as steering, and the value is 1; when the change amount of the yaw angular acceleration within a unit time is less than the preset upper limit of the yaw angular acceleration change amount threshold 3 deg / s^2, it is defined as stable, and the value is 0.

[0025] The unit time length is 10 ms, and the steering wheel angle value, the change amount of the steering wheel angle speed, and the yaw angular velocity can be obtained through the IMU. The yaw angular acceleration can be calculated from the change amount of the yaw angular velocity within a unit time. The steering angle threshold value is obtained based on the vehicle speed and the preset vehicle speed steering wheel angle state threshold table.

[0026] As Figure 2 shown, Figure 2 This is Figure 1 the detailed process schematic diagram of step S10 in this application. As Figure 2 shown, step S10 includes: Step S11: Obtain the steering wheel angle state, the steering wheel angle speed state, the yaw angular velocity state, the yaw angular acceleration state, and the duration; Step S12: If the obtained steering wheel angle state is 0, and the steering wheel angle speed state is 0, and the yaw angular velocity state is 0, and the yaw angular acceleration state is 0, and the duration is greater than or equal to the preset duration, then determine that the curve state is a straight line state; Exemplarily, if the obtained steering wheel angle state is not 0, and the steering wheel angle speed state is not 0, and the yaw angular velocity state is not 0, and the yaw angular acceleration state is not 0, and the duration is greater than the preset duration of 1 s, then determine that the curve state is not a straight line state.

[0027] Step S13: If the obtained steering wheel angle state is -1 or 1, and the steering wheel angle speed state is 1, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is 1, and the duration is greater than or equal to the preset duration, then determine that the curve state is an entering curve state; Exemplarily, if the obtained steering wheel angle state is not -1 or 1, and the steering wheel angle speed state is not 1, and the yaw angular velocity state is not -1 or 1, and the yaw angular acceleration state is not 1, and the duration is greater than the preset duration of 1 s, then determine that the curve state is not an entering curve state.

[0028] Step S14: If the obtained steering wheel angle state is -1 or 1, and the steering wheel angle speed state is 0, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is 0, and the duration is greater than or equal to the preset duration, then determine that the curve state is a steady state; Exemplarily, if the obtained steering wheel angle state is not -1 or 1, and the steering wheel angle speed state is not 0, and the yaw angular velocity state is not -1 or 1, and the yaw angular acceleration state is not 0, and the duration is greater than the preset duration of 1 s, then determine that the curve state is not a steady state.

[0029] Step S15: If the obtained steering wheel angle state is -1 or 1, the steering wheel angular velocity state is -1, the yaw rate state is -1 or 1, the yaw acceleration state is -1, and the duration is greater than or equal to a preset duration, then determine that the curve state is the out-of-curve state.

[0030] Exemplarily, if the obtained steering wheel angle state is not -1 or 1, the steering wheel angular velocity state is not -1, the yaw rate state is not -1 or 1, the yaw acceleration state is not -1, and the duration is greater than the preset duration of 1 s, then determine that the curve state is not the out-of-curve state.

[0031] Step S20: Control the driving torque or braking torque of the vehicle according to the curve state.

[0032] Exemplarily, when a curve is recognized, adjust the driving or braking torque according to the curve state, and improve understeer or oversteer in advance before the vehicle becomes unstable, so as to improve the stability and driving comfort of the vehicle. Exemplarily, if it is recognized that the curve is in the in-curve state and the vehicle is in the driving state, then reduce the driving torque of the front axle and transfer the reduced torque of the front axle to the rear axle; if it is recognized that the curve is in the in-curve state and the vehicle is in the braking state, then reduce the braking torque of the rear axle and transfer the reduced braking torque of the rear axle to the front axle; if it is recognized that the curve is in the steady state and the vehicle is in the driving or braking state, maintain the torque transfer amount of the driving or braking before the steady state; if it is recognized that the curve is in the out-of-curve state and the vehicle is in the driving state, then reduce the driving torque of the rear axle and transfer the reduced driving torque of the rear axle to the front axle; if it is recognized that the curve is in the out-of-curve state and the vehicle is in the braking state, then reduce the braking torque of the front axle and transfer the reduced braking torque of the front axle to the rear axle.

[0033] In this embodiment, by determining the curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw rate state, yaw acceleration state and duration, where the curve state includes a straight state, an in-curve state, a steady state and an out-of-curve state; controlling the driving torque or braking torque of the vehicle according to the curve state, the technical problems existing in the related art that the existing curve recognition and driving control technologies have deficiencies in technical implementation difficulty, cost, reliability and control timeliness are solved, and the curve is recognized through an algorithm without increasing the computing power of the ECU, and different torque controls are performed on the vehicle at different stages of the curve, so as to improve the stability and comfort of the vehicle.

[0034] In a second aspect, an embodiment of the present application further provides a curve recognition and control device for a vehicle.

[0035] In one embodiment, refer to Figure 3 , Figure 3This is a schematic diagram of the functional modules of an embodiment of the vehicle curve recognition and control device of the present application. As Figure 3 shown, the vehicle curve recognition and control device includes: A determination module 10, configured to determine a curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration, wherein the curve state includes a straight state, a curve entry state, a steady state, and a curve exit state; A control module 20, configured to control the driving torque or braking torque of the vehicle according to the curve state.

[0036] Further, in an embodiment, the determination module 10 is configured to: Obtain the steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration; If the obtained steering wheel angle state is 0, and the steering wheel angular velocity state is 0, and the yaw angular velocity state is 0, and the yaw angular acceleration state is 0, and the duration is greater than or equal to a preset duration, then determine that the curve state is a straight state; If the obtained steering wheel angle state is -1 or 1, and the steering wheel angular velocity state is 1, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is 1, and the duration is greater than or equal to a preset duration, then determine that the curve state is a curve entry state; If the obtained steering wheel angle state is -1 or 1, and the steering wheel angular velocity state is 0, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is 0, and the duration is greater than or equal to a preset duration, then determine that the curve state is a steady state; If the obtained steering wheel angle state is -1 or 1, and the steering wheel angular velocity state is -1, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is -1, and the duration is greater than or equal to a preset duration, then determine that the curve state is a curve exit state.

[0037] Further, in an embodiment, the control module 20 is configured to: If it is the curve entry state and the vehicle is in a driving state, then reduce the front axle driving torque and transfer the reduced torque of the front axle to the rear axle; If it is the curve entry state and the vehicle is in a braking state, then reduce the rear axle braking torque and transfer the reduced braking torque of the rear axle to the front axle; If it is the steady state and the vehicle is in a driving or braking state, maintain the torque transfer amount of the driving or braking before the steady state; If it is in the state of exiting the curve and the vehicle is in the driving state, the driving torque of the rear axle is reduced, and the reduced driving torque of the rear axle is transferred to the front axle; If it is in the state of exiting the curve and the vehicle is in the braking state, the braking torque of the front axle is reduced, and the reduced braking torque of the front axle is transferred to the rear axle.

[0038] Furthermore, in one embodiment, the curve recognition and control device of the vehicle further includes a new module for: Collecting the steering wheel angle value and the steering wheel angle threshold value; Obtaining the steering wheel angle state according to the steering wheel angle value, the steering wheel angle threshold value, the preset upper limit of the steering wheel threshold and the preset lower limit of the steering wheel threshold.

[0039] Furthermore, in one embodiment, the curve recognition and control device of the vehicle further includes a new module for: Collecting the change amount of the steering wheel angular velocity Obtaining the steering wheel angular velocity state according to the change amount of the steering wheel angular velocity, the preset lower limit of the angular velocity change threshold and the preset upper limit of the angular velocity change threshold.

[0040] Furthermore, in one embodiment, the curve recognition and control device of the vehicle further includes a new module for: Collecting the yaw angular velocity of the vehicle; Obtaining the yaw angular velocity state according to the yaw angular velocity, the preset lower limit of the yaw angular velocity threshold and the preset upper limit of the yaw angular velocity threshold.

[0041] Furthermore, in one embodiment, the curve recognition and control device of the vehicle further includes a new module for: Obtaining the change amount of the yaw angular acceleration of the vehicle; Obtaining the yaw angular acceleration state according to the change amount of the yaw angular acceleration, the preset lower limit of the yaw angular acceleration change threshold and the preset upper limit of the yaw angular acceleration change threshold.

[0042] Wherein, the function realization of each module in the above curve recognition and control device of the vehicle corresponds to each step in the above embodiment of the curve recognition and control method of the vehicle, and its function and realization process will not be elaborated here one by one.

[0043] In a third aspect, an embodiment of the present application provides a curve recognition and control device for a vehicle. The curve recognition and control device for a vehicle can be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0044] Referring to Figure 4 , Figure 4This is a schematic diagram of the hardware structure of the vehicle's curve recognition and control device involved in the solution of the embodiment of the present application. In the embodiment of the present application, the vehicle's curve recognition and control device may include a processor, a memory, a communication interface, and a communication bus.

[0045] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0046] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting components inside the vehicle's curve recognition and control device, as well as interfaces for interconnecting the vehicle's curve recognition and control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0047] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0048] The processor can be a general-purpose processor, and the general-purpose processor can call the vehicle's curve recognition and control program stored in the memory and execute the vehicle's curve recognition and control method provided by the embodiment of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the vehicle's curve recognition and control program is called can refer to each embodiment of the vehicle's curve recognition and control method of the present application, which will not be elaborated here.

[0049] Those skilled in the art can understand that Figure 4 the hardware structure shown in does not constitute a limitation to the present application, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0050] Fourthly, the embodiment of the present application also provides a computer-readable storage medium.

[0051] A vehicle curve recognition and control program is stored on a computer-readable storage medium of the present application. When the vehicle curve recognition and control program is executed by a processor, the steps of the vehicle curve recognition and control method as described above are implemented.

[0052] Among them, the method implemented when the vehicle curve recognition and control program is executed can refer to the various embodiments of the vehicle curve recognition and control method of the present application, which will not be elaborated here.

[0053] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments.

[0054] The terms "including" and "having" and any variations thereof in the specification, claims and drawings of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions of "first", "second", "third", etc. are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0055] In the description of the embodiments of the present application, "exemplary", "for example" or "for instance" etc. are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0056] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0057] In some processes described in the embodiments of the present application, there are multiple operations or steps that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0058] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0059] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for identifying and controlling a vehicle's turning, characterized in that, The curve recognition and control method of the vehicle includes: Determine the curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state and duration, wherein the curve state includes a straight state, a curve entry state, a steady state and a curve exit state; Control the driving torque or braking torque of the vehicle according to the curve state.

2. The method for identifying and controlling a curve of a vehicle according to claim 1, characterized in that, The determining the curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state and duration includes: Obtain the steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state and duration; If the obtained steering wheel angle state is 0, and the steering wheel angular velocity state is 0, and the yaw angular velocity state is 0, and the yaw angular acceleration state is 0, and the duration is greater than or equal to a preset duration, then determine the curve state to be the straight state; If the obtained steering wheel angle state is -1 or 1, and the steering wheel angular velocity state is 1, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is 1, and the duration is greater than or equal to a preset duration, then determine the curve state to be the curve entry state; If the obtained steering wheel angle state is -1 or 1, and the steering wheel angular velocity state is 0, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is 0, and the duration is greater than or equal to a preset duration, then determine the curve state to be the steady state; If the obtained steering wheel angle state is -1 or 1, and the steering wheel angular velocity state is -1, and the yaw angular velocity state is -1 or 1, and the yaw angular acceleration state is -1, and the duration is greater than or equal to a preset duration, then determine the curve state to be the curve exit state.

3. The method for identifying and controlling a curve of a vehicle according to claim 1, characterized in that, The controlling the driving torque or braking torque of the vehicle according to the curve state includes: If it is the curve entry state and the vehicle is in the driving state, then reduce the front axle driving torque and transfer the reduced torque of the front axle to the rear axle; If it is the curve entry state and the vehicle is in the braking state, then reduce the rear axle braking torque and transfer the reduced braking torque of the rear axle to the front axle; If it is the steady state and the vehicle is in the driving or braking state, maintain the torque transfer amount of the driving or braking before the steady state; If it is the curve exit state and the vehicle is in the driving state, then reduce the rear axle driving torque and transfer the reduced driving torque of the rear axle to the front axle; If it is the curve exit state and the vehicle is in the braking state, then reduce the front axle braking torque and transfer the reduced braking torque of the front axle to the rear axle.

4. The method for identifying and controlling a curve of a vehicle according to claim 2, wherein, The obtaining the steering wheel angle state includes: Obtain the steering wheel angle value and the steering wheel angle threshold value; Obtain the steering wheel angle state according to the steering wheel angle value, the steering wheel angle threshold value, the preset upper limit of the steering wheel threshold and the preset lower limit of the steering wheel threshold.

5. The method for identifying and controlling a vehicle's curve according to claim 2, characterized in that, The obtaining the steering wheel angular velocity state includes: Collect the change amount of the steering wheel angular velocity; Obtain the steering wheel angular velocity state according to the change amount of the steering wheel angular velocity, the preset lower limit of the angular velocity change threshold, and the preset upper limit of the angular velocity change threshold.

6. The method for identifying and controlling a curve of a vehicle according to claim 2, wherein The obtaining of the yaw angular velocity state includes: Collect the yaw angular velocity of the vehicle; Obtain the yaw angular velocity state according to the yaw angular velocity, the preset lower limit of the yaw angular velocity threshold, and the preset upper limit of the yaw angular velocity threshold.

7. The method for identifying and controlling a vehicle curve according to claim 2, wherein The obtaining of the yaw angular acceleration state includes: Obtain the change amount of the yaw angular acceleration of the vehicle; Obtain the yaw angular acceleration state according to the change amount of the yaw angular acceleration, the preset lower limit of the yaw angular acceleration change amount threshold, and the preset upper limit of the yaw angular acceleration change amount threshold.

8. A curve recognition and control device for a vehicle, characterized in that, The curve recognition and control device of the vehicle includes: A determination module, configured to determine the curve state according to the obtained steering wheel angle state, steering wheel angular velocity state, yaw angular velocity state, yaw angular acceleration state, and duration, where the curve state includes a straight state, a turning-in state, a steady state, and a turning-out state; A control module, configured to control the driving torque or braking torque of the vehicle according to the curve state.

9. A curve recognition and control device for a vehicle, characterized in that, The curve recognition and control device of the vehicle includes a processor, a memory, and a curve recognition and control program of the vehicle stored on the memory and executable by the processor, where when the curve recognition and control program of the vehicle is executed by the processor, the steps of the curve recognition and control method of the vehicle according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that, A vehicle curve recognition and control program is stored on the computer-readable storage medium, where when the vehicle curve recognition and control program is executed by a processor, the steps of the curve recognition and control method of the vehicle according to any one of claims 1 to 7 are implemented.

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