CN114248774A - Vehicle curve control method and device, computer equipment and storage medium - Google Patents
Vehicle curve control method and device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN114248774A CN114248774A CN202111526914.8A CN202111526914A CN114248774A CN 114248774 A CN114248774 A CN 114248774A CN 202111526914 A CN202111526914 A CN 202111526914A CN 114248774 A CN114248774 A CN 114248774A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- target
- current vehicle
- current
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000011084 recovery Methods 0.000 claims description 51
- 238000004590 computer program Methods 0.000 claims description 49
- 230000001960 triggered effect Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000000977 initiatory effect Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000012937 correction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 2
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 2
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 2
- 238000012508 change request Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012717 electrostatic precipitator Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910021389 graphene Inorganic materials 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application relates to a vehicle curve control method, a vehicle curve control device, a computer device and a storage medium. The method comprises the following steps: acquiring vehicle state information and target road information of a current vehicle, and calculating a safe vehicle speed according to the vehicle state information and the target road information; when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque. By adopting the method, the intervention can be performed before, and the safety of the vehicle in the process of running on the curve is improved.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling a curve of a vehicle, a computer device, and a storage medium.
Background
The electric automobile has a smaller influence on the environment than the traditional automobile, so the electric automobile has a wide prospect. Most commercial vehicles adopt rear drive, and the gravity center position is higher, so that traffic accidents are easily caused by instability when the vehicles make sharp turns, particularly when the vehicles make sharp turns on a road surface with low adhesive force.
ESP (electronic stability program) is currently provided in some vehicles, which keeps the vehicle in a stable state by applying precise braking forces individually to the individual wheels. However, some vehicles, in particular some commercial vehicles, are not equipped with ESPs for reasons of cost, and even vehicles equipped with ESP cannot be intervened in advance.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle curve control method, apparatus, computer device, computer readable storage medium and computer program product, which can perform a preceding intervention and improve the safety of the vehicle during the driving of the curve.
In a first aspect, the present application provides a vehicle curve control method, comprising:
acquiring vehicle state information and target road information of a current vehicle, and calculating a safe vehicle speed according to the vehicle state information and the target road information;
when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration;
and when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, after calculating the safe vehicle speed according to the vehicle state information and the target road information, the method further includes:
and correcting the safe vehicle speed according to the target road information.
In one embodiment, the target road information is collected by a driving assistance system.
In one embodiment, after calculating the safe vehicle speed according to the vehicle state information and the target road information, the method further includes: and when the current vehicle speed in the vehicle state information is less than or equal to the safe vehicle speed and the vehicle enters a sliding energy recovery mode, selecting a target level energy recovery mode according to a preset rule so as to recover the energy of the torque in the target level energy recovery mode.
In one embodiment, when the distance from the vehicle to the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque comprises:
when the brake component is not triggered, acquiring a target speed, and calculating a safety distance according to the target speed, the current speed and the target deceleration;
and when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle is not in the curve auxiliary mode, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, when the distance from the current vehicle to the target curve is less than the safe distance, the adjusting of the current torque of the current vehicle according to the intervention torque is started, and the method further includes:
executing a requested torque of the cooperative braking system when the brake component is activated and the current vehicle includes the cooperative braking system;
when the braking components are activated and the current vehicle does not include a cooperative braking system, the motor braking is cancelled and no coasting and braking energy recovery occurs in the curve.
In one embodiment, when the distance from the target curve to the vehicle is less than the safe distance, the method starts to adjust the current torque of the current vehicle according to the intervention torque, and further comprises:
when the distance between the current vehicle and the target curve is smaller than the safe distance and the current vehicle does not enter the target curve, the intervention torque is obtained by adopting set deceleration calculation when the current vehicle is not in the curve auxiliary mode, and the current torque is adjusted through the intervention torque.
In one embodiment, when the distance from the target curve to the vehicle is less than the safe distance, beginning to adjust the current torque of the vehicle according to the intervention torque, comprises:
after the current vehicle enters a target curve, adjusting the current torque;
when the current vehicle accelerates in the process of driving at the target curve, correspondingly increasing the current vehicle speed and outputting a vehicle speed prompt when the current vehicle speed is higher than the safe vehicle speed;
when the current vehicle is not accelerated while the target curve is traveling, it is determined whether the current vehicle exits the target curve.
In one embodiment, after determining whether the current vehicle exits the target curve, the method further comprises:
and when the current vehicle does not exit the target curve, judging whether the current vehicle accelerates or not until the current vehicle leaves the target curve.
In a second aspect, the present application also provides a vehicle curve control apparatus, comprising:
the acquisition module is used for acquiring the vehicle state information and the target road information of the current vehicle and calculating the safe vehicle speed according to the vehicle state information and the target road information;
the torque intervention module is used for acquiring the target deceleration of the current vehicle when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, and calculating the intervention torque according to the target deceleration;
and the torque adjusting module is used for starting to adjust the current torque of the current vehicle according to the intervention torque when the distance between the current vehicle and the target curve is less than the safe distance.
In a third aspect, the present application further provides a computer device, where the computer device includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the anti-debugging method provided in the foregoing first aspect embodiment when executing the computer program.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the anti-debugging method provided in the above first aspect embodiment.
In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the anti-debugging method provided in the above first aspect embodiment.
According to the vehicle curve control method, the vehicle curve control device, the computer equipment and the storage medium, the safe vehicle speed is calculated through the acquired vehicle state information and the target road information, the current vehicle speed of the current vehicle and the distance between the current vehicle speed and the target curve are judged, and when the current vehicle speed is larger than the safe vehicle speed and the distance between the current vehicle speed and the target curve is smaller than the safe distance, the intervention torque is used for adjusting the current torque of the current vehicle, so that the intervention can be carried out before the current vehicle enters the target curve, and the safety of the current vehicle in the driving process of the target curve is improved.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a vehicle curve control method;
FIG. 2 is a schematic flow chart diagram illustrating a vehicle curve control method according to one embodiment;
FIG. 3 is a schematic representation of a road correction factor in one embodiment;
FIG. 4 is a flowchart illustrating a vehicle curve control method according to another embodiment;
FIG. 5 is a block diagram showing the construction of a curve control apparatus for a vehicle according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle curve control method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. In which the vehicle terminal 102 communicates with the in-vehicle apparatus 104 through a network. The data storage system may store data that the vehicle terminal 102 needs to process. The data storage system may be integrated on the vehicle terminal 102, or may be located on the cloud or other network server. The vehicle terminal 102 firstly acquires vehicle state information and target road information of a current vehicle, and calculates a safe vehicle speed according to the vehicle state information and the target road information; and then judging the current vehicle speed in the vehicle state information, when the current vehicle speed is greater than the safe vehicle speed, obtaining the target deceleration of the current vehicle speed, calculating the intervention torque according to the target deceleration, and when the distance between the vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque to realize forward intervention and improve the safety of the vehicle in the curve running process. The in-vehicle apparatus 104 is a vehicle terminal 102 such as a forward-looking camera, a wiper, and a driving assistance system, and can obtain vehicle state information and target road information through the in-vehicle apparatus 104.
In one embodiment, as shown in fig. 2, a method for controlling a curve of a vehicle is provided, which is described by taking the method as an example applied to the vehicle terminal 102 in fig. 1, and comprises the following steps:
s202, vehicle state information and target road information of the current vehicle are obtained, and a safe vehicle speed is calculated according to the vehicle state information and the target road information.
The current vehicle is an electric vehicle, which can be a rear-drive electric commercial vehicle; the vehicle state is meant to include any parameters of the vehicle during driving, such as current vehicle speed, steering wheel angle, current torque, which is the torque requested by the driver during driving, in relation to the current vehicle.
The target road information refers to road information of a road in front of the current vehicle, and whether a curve exists in front of the current vehicle can be judged through the target road information. The road information includes information such as a road surface type, a front lane curvature, a curve distance, and the like. Alternatively, the road type may be determined by forward looking camera or wiper switch status and the front road curvature may be obtained by map in combination with positioning information.
In other embodiments, whether the current vehicle is higher than the safe vehicle speed is judged before entering the front curve, for example, if the current vehicle speed is higher than the safe vehicle speed, intervention is performed in advance, and if the current vehicle speed is less than or equal to the safe vehicle speed, intervention is not performed, that is, the current vehicle enters the target road at the current vehicle speed.
Specifically, vehicle state information and target road information of a current vehicle are obtained, a safe vehicle speed is calculated according to the vehicle state information and the target road information, the safe vehicle speed is used for judging whether the current vehicle enters a front curve at the current vehicle speed and is unstable or not, in other embodiments, when the current vehicle speed is greater than the safe vehicle speed, intervention is performed in advance, and otherwise, the current vehicle does not enter the target road at the current vehicle speed.
And S204, when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration.
The target deceleration refers to a preset deceleration for calculating the intervention torque, and the corresponding target deceleration can be selected according to whether the vehicle is in the curve auxiliary model or not. Wherein optionally the target deceleration may be a regular drive-in bend comfort deceleration. The intervention torque means the intervention of the current torque of the vehicle to ensure that the vehicle cannot be unstable when the vehicle enters a bend, specifically, if the speed of the driver entering the bend is too high, the vehicle is easy to lose control, and at the moment, the control system automatically adjusts the vehicle speed by the intervention of the torque of the driver to ensure that the instability condition does not occur.
Specifically, the vehicle terminal compares the current vehicle speed in the vehicle state with the safe vehicle speed, obtains a preset target deceleration of the vehicle if the current vehicle speed is greater than the safe vehicle speed, calculates the intervention torque according to the target deceleration, in other embodiments, before calculating the intervention torque, determines whether the vehicle is in the curve assist mode, and selects a corresponding target deceleration according to whether the vehicle is in the curve assist mode to calculate the intervention torque.
And S206, when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque.
The target curve refers to a curve to be entered in front of the current vehicle, namely a front curve; the safety distance is calculated according to a preset rule and is used for measuring the standard whether the current vehicle enters the target curve at the current speed and needs to be subjected to early intervention, if the safety distance is lower than the safety distance, the early intervention is needed, otherwise, the intervention is not needed, so that the driving stability of the current vehicle at the target curve is ensured; the current torque refers to a torque used by the current vehicle during the current running.
Specifically, the vehicle terminal judges whether the distance between the current vehicle and the target curve is smaller than a safe distance or not, and when the distance between the current vehicle and the target curve is smaller than the safe distance, the current torque is adjusted according to the intervention torque. In other embodiments, when the current vehicle is at a distance greater than or equal to the safe distance from the target curve, deceleration may be performed using a preset deceleration.
According to the vehicle curve control method, the safe vehicle speed is calculated through the acquired vehicle state information and the target road information, the current vehicle speed and the distance from the target curve of the current vehicle are judged, and when the current vehicle speed is larger than the safe vehicle speed and the distance from the target curve is smaller than the safe distance, the intervention torque is used for adjusting the current torque of the current vehicle, so that the intervention can be performed before the current vehicle enters the target curve, and the safety of the current vehicle in the driving process of the target curve is improved.
In one embodiment, after calculating the safe vehicle speed according to the vehicle state information and the target road information, the method further comprises the following steps: and correcting the safe vehicle speed according to the target road information.
Specifically, correcting the safe vehicle speed according to the target road information means correcting the safe vehicle speed according to the road type in the target road information because the safe vehicle speed traveling on different road types is different. Specifically, as shown in fig. 3, fig. 3 is a schematic diagram of a road correction coefficient in an embodiment, where a reference correction coefficient of an ice road is 0.1 because driving on the ice road is dangerous, and a coefficient multiplied by 0.1 after calculating a safe vehicle speed according to vehicle state information and target road information is the safe vehicle speed of the vehicle driving on the ice road. It should be noted that the road correction coefficient may be set according to an actual scene, and is not specifically limited herein.
In the above embodiment, by correcting the safe vehicle speed according to the target road information, the safe vehicle speed can be corrected from the road type on which the vehicle actually runs, so that the safe vehicle speed is obtained more accurately.
In one embodiment, the target road information is collected by a driving assistance system.
Among them, the driving assist system is a system for assisting driving that is loaded in a vehicle. Specifically, the target road information is collected by a driving assistance system, by which information including a road surface type, a front lane curvature, a curve distance, and the like can be obtained.
In the above-described embodiment, the target road information is obtained by the driving assist system so that the current vehicle can make adjustments according to the target road information.
In one embodiment, after calculating the safe vehicle speed according to the vehicle state information and the target road information, the method further comprises the following steps: and when the current vehicle speed in the vehicle state information is less than or equal to the safe vehicle speed and the vehicle enters a sliding energy recovery mode, selecting a target level energy recovery mode according to a preset rule so as to recover the energy of the torque in the target level energy recovery mode.
The energy recovery mode of the current vehicle is an energy recovery mode in the coasting energy recovery mode, and the energy recovery can be carried out on the torque in the energy recovery mode; the target level energy recovery mode refers to an energy recovery mode selected according to the current vehicle state, and the preset rule is a preset standard for selecting the target level energy recovery mode, for example, when the current vehicle speed is less than or equal to a safe vehicle speed, the low level energy recovery mode can be selected.
Specifically, when the current vehicle speed of the current vehicle is less than the safe vehicle speed and the coasting energy recovery mode is entered, the target level energy recovery mode is selected according to the preset rule, and energy recovery is performed on the torque in the target level energy recovery mode. And optionally, selecting the low energy recovery mode according to the current vehicle speed of the current vehicle being lower than the safe vehicle speed.
In the embodiment, the characteristic that the current vehicle has energy recovery is processed in a targeted manner, so that the running stability of the current vehicle in the target curve is improved.
In one embodiment, initiating adjustment of the current torque of the vehicle in accordance with the intervention torque when the vehicle is less than the safe distance from the target curve comprises: when the brake component is not triggered, acquiring a target speed, and calculating a safety distance according to the target speed, the current speed and the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle is not in the curve auxiliary mode, starting to adjust the current torque of the current vehicle according to the intervention torque.
The target vehicle speed refers to a safety value calculated in advance according to the curvature of the road, and can be set according to an actual scene.
Specifically, before the current vehicle enters the target curve, whether the current vehicle triggers a brake component is judged, when the driver does not press the brake, namely the brake component is not triggered, the target vehicle speed is obtained, and the safety distance is calculated according to the target vehicle speed, the current vehicle speed and the ideal deceleration, wherein in one embodiment, the calculation formula of the safety distance is as follows:
wherein, V1Is the target vehicle speed, V0Is the current vehicle speed, a1Is the target deceleration.
Specifically, when the current vehicle is less than the safe distance from the target curve and the vehicle is in the curve assist mode, the current torque of the current vehicle is initially adjusted with the intervention torque. For example, in one embodiment, the intervention torque is 100Nm, the driver throttle corresponds to 200Nm, and the final torque executed is 200Nm to 100Nm, which is 100 the intervention torque. In other embodiments, when the current vehicle is less than the safe distance from the target curve and the current vehicle is not in the curve assist mode, the intervention torque is calculated as:
T＝δ*m*a*r/i/η
where T is the intervention torque, δ is the rotating mass scaling factor, m is the current vehicle mass, and a is the target deceleration, i.e., a1R is the wheel rolling radius, i is the transmission ratio, and η is the transmission efficiency.
In the above embodiment, when the brake component is not triggered, the distance from the current vehicle to the target curve is less than the safe distance, and the current vehicle is not in the curve assist mode, the intervention torque is used to adjust the current torque of the current vehicle, so that the current vehicle can intervene before entering the target curve, and the safety of the current vehicle in the driving process of the target curve is improved.
In one embodiment, initiating adjustment of the current torque of the current vehicle based on the intervention torque when the vehicle is less than the safe distance from the target curve comprises: executing a requested torque of the cooperative braking system when the brake component is activated and the current vehicle includes the cooperative braking system; when the braking components are activated and the current vehicle does not include a cooperative braking system, the motor braking is cancelled and no coasting and braking energy recovery occurs in the curve.
Specifically, it is determined whether a brake part is triggered by a current vehicle before the target vehicle enters a target curve, it is determined whether the current vehicle includes a cooperative braking system when a driver steps on a brake, that is, when the brake part is triggered, and a requested torque of the braking system is executed when the current vehicle includes a cooperative braking system (CRBS); when the current vehicle does not include the CRBS, the motor braking (which affects the mechanical braking force distribution of the front and rear axles and affects the stability) is cancelled, and the sliding and braking energy recovery are not performed in the curve.
In the above embodiment, the determination as to whether the current vehicle includes the CRBS after the braking component is triggered and the different operations as to whether the current vehicle includes the CRBS are performed, and the prohibition of the energy recovery may reduce the risk of the current vehicle running away.
In one embodiment, when the distance from the vehicle to the target curve is less than the safe distance, beginning to adjust the current torque of the current vehicle according to the intervention torque, further comprising: when the distance between the current vehicle and the target curve is smaller than the safe distance and the current vehicle does not enter the target curve, the intervention torque is obtained by adopting set deceleration calculation when the current vehicle is not in the curve auxiliary mode, and the current torque is adjusted through the intervention torque.
Here, the set deceleration is a preset deceleration for decelerating the current vehicle. Specifically, when the current vehicle is less than the safe distance from the target curve and does not enter the target curve, and when the current vehicle is not handling the curve assist mode, the intervention torque is calculated using the set deceleration. Specifically, in one embodiment, when the current vehicle is less than the safe distance from the target curve and does not enter the target curve, and when the current vehicle is not in the curve assist mode, the intervention torque is calculated by the formula:
T＝δ*m*a*r/i/η
where T is the intervention torque, δ is the rotating mass scaling factor, m is the current vehicle mass, and a is the preset deceleration, i.e., a2R is the wheel rolling radius, i is the transmission ratio, and η is the transmission efficiency.
In the embodiment, the condition that the driver does not select the curve assist mode can be specifically solved by calculating the intervention torque when the distance between the current vehicle and the target curve is less than the safe distance, the current vehicle does not enter the target curve and the current vehicle is not in the curve assist mode, so that the calculation of the intervention torque is more accurate.
In one embodiment, initiating adjustment of the current torque of the vehicle in accordance with the intervention torque when the vehicle is less than the safe distance from the target curve comprises: after the current vehicle enters a target curve, adjusting the current torque; when the current vehicle accelerates in the process of driving at the target curve, correspondingly increasing the current vehicle speed and outputting a vehicle speed prompt when the current vehicle speed is higher than the safe vehicle speed; when the current vehicle is not accelerated while the target curve is traveling, it is determined whether the current vehicle exits the target curve.
Specifically, the current torque is adjusted after the current vehicle enters the target curve. In one embodiment, after the current vehicle enters the target curve, the current torque of the current vehicle is firstly judged, when the torque when the current vehicle enters the target curve is greater than or equal to 0, the torque when the current vehicle enters the curve is maintained, and if the torque is less than 0, the torque is smoothly restored to 0.
Specifically, after the current torque is adjusted, whether the current vehicle is accelerated in a target curve is judged, when the current vehicle is accelerated, a current vehicle torque increment part is responded, and when the current vehicle speed is higher than a safe vehicle speed, a vehicle speed prompt is output, for example, a voice system is used for prompting that a driver is in the curve at present, the vehicle speed is too high, and the vehicle is easy to lose control; and when the current vehicle is not accelerated, judging whether the current vehicle exits the target curve or not, and taking different measures for judging whether the current vehicle exits the target curve or not.
In the above embodiment, when the current vehicle is running at the target curve, the driving intention of the driver is ensured by adopting a strategy of responding to the torque change request of the driver according to the characteristics of the current vehicle.
In one embodiment, after determining whether the current vehicle exits the target curve, the method further comprises: and when the current vehicle does not exit the target curve, judging whether the current vehicle accelerates or not until the current vehicle leaves the target curve.
Specifically, when the current vehicle does not exit the target curve, whether the current vehicle accelerates or not is judged, if the current vehicle accelerates, the current vehicle torque increment part is corresponding to the current vehicle torque increment part, and a vehicle speed prompt is output when the current vehicle speed is higher than a safe vehicle speed, and if the current vehicle does not accelerate, whether the current vehicle exits the target curve or not is continuously judged until the current vehicle leaves the target curve. In other embodiments, whether to exit the target curve may be determined based on the current vehicle state, such as the current position, a map, and a steering wheel angle.
Specifically, when the current vehicle exits the target curve, the current vehicle requested torque is restored at a set torque change rate that coincides with the target deceleration.
In the above embodiment, safe driving of the current vehicle in the target curve is ensured by determining whether the current vehicle leaves the target curve when the current vehicle is not accelerated, and continuing to determine the current vehicle when the current vehicle does not leave the target curve until the current vehicle leaves the target curve, and cancelling the intervention torque only when the current vehicle leaves the target curve.
In one embodiment, a curve assist torque control method for a rear-drive electric commercial vehicle is provided, and is particularly shown in combination with fig. 4.
1. And acquiring target road information and vehicle state information. The target road information is obtained through an ADAS system and mainly comprises a road type (a forward-looking camera or a windscreen wiper state), a front lane curvature (a distance between a current position of a vehicle and a curve according to a map, and vehicle state information mainly comprises a vehicle speed, a steering wheel corner and a driver request torque.
2. If the rear-drive electric commercial vehicle has a target curve, calculating the safe vehicle speed according to the target road information and the vehicle state information, optionally calculating the safe vehicle speed according to the curve curvature and the road design specification by combining the vehicle state and correcting the safe vehicle speed according to the road surface type. Alternatively, as shown in fig. 3, the safe vehicle speed may be corrected by multiplying different road surface types by different coefficients.
3. And judging whether the current vehicle is greater than the safe vehicle speed or not, and if the current vehicle speed is less than or equal to the unstable vehicle speed, not interfering the torque requested by the driver. Recovering the torque using low level energy if the vehicle enters coasting energy recovery
4. When the current speed of a motor vehicle is higher than safe speed of a motor vehicle, judge that the electronic commercial car of rear-guard triggers the brake part, when the brake part is triggered, when judging that the electronic commercial car of rear-guard loads the CRBS system, if the electronic commercial car of rear-guard loads the CRBS system, CRBS's request torque is carried out to corresponding motor, if do not have the CRBS system, cancel motor braking (motor braking influences front and back axle mechanical brake force distribution, influences stability), and do not slide and braking energy recovery in the bend.
5. When the current vehicle speed is greater than the safe vehicle speed and the rear-drive electric commercial vehicle triggers the brake component, calculating a safe distance S, wherein S ═ V1 2-V0 2)/2a1Wherein a is1Is the target deceleration (normal drive-in-curve comfort deceleration), V1Is the target vehicle speed, V0Is the current vehicle speed.
6. And (3) judging whether the distance between the rear-drive electric commercial vehicle and the curve of the target is less than a safe distance S (the distance is calculated according to the set braking deceleration, and the deceleration refers to the normal curve-entering deceleration), if the distance is greater than the safe distance, not intervening, if the distance is less than the safe distance, judging whether the rear-drive electric commercial vehicle is in a road auxiliary mode, if the distance between the rear-drive electric commercial vehicle and the curve of the target is less than the safe distance S and the rear-drive electric commercial vehicle is in the curve auxiliary mode, entering a step 8, and if the distance is not less than the safe distance S, entering a step 7.
7. When the rear-drive electric commercial vehicle is not in the curve auxiliary mode, the driver is prompted that the curve in front is large, and the set deceleration a is used2Pre-decelerating.
8. Adopting the intervention torque for intervention, wherein the calculation formula of the intervention torque is as follows:
T＝δ*m*a*r/i/η
where T is the intervention torque, δ rotating mass scaling factor, m vehicle mass, r is the wheel rolling radius, i is the gear ratio, η is the gear efficiency, a is the intervention deceleration, where a is a when the vehicle is in curve assist mode1I.e., the target deceleration, a is a when the vehicle is not in the curve assist mode2I.e. sets the deceleration.
9. And judging whether the rear-drive electric commercial vehicle enters a target curve, wherein optionally, the rear-drive electric commercial vehicle comprehensively judges whether the rear-drive electric commercial vehicle enters the target curve according to the current position of the vehicle in combination with a map road and a steering wheel corner.
10. After the rear-drive electric commercial vehicle enters a target curve, judging the current torque, if the torque when the rear-drive electric commercial vehicle enters the target curve is greater than or equal to 0, maintaining the torque when the rear-drive electric commercial vehicle enters the target curve, and if the torque when the rear-drive electric commercial vehicle enters the target curve is less than 0, smoothly recovering to 0.
11. After the rear-drive electric commercial vehicle enters a target curve, judging whether the rear-drive electric commercial vehicle accelerates or not, namely judging whether a driver fills a throttle or not, and responding to a torque increment part of the driver if the driver fills the throttle; if the driver reduces the torque, the driver responds to the request (the reason is that the gravity center moves backwards after the rear-drive vehicle accelerates and the influence of the rear wheels on improving the driving torque can counteract a part of the functions of assistance and the main responsibility is the driver).
12. If the current vehicle speed is higher than the safe vehicle speed, a voice system prompts that the driver is at a curve currently, the vehicle speed is too high, and the vehicle is easy to be out of control.
13. And judging whether to exit the curve according to the current position of the vehicle, a map and a steering wheel angle, and if so, recovering the torque requested by the driver according to the set torque change rate.
In the above embodiment, the target road information obtained by the driving assistance system (ADAS) includes a road type (which can be judged by a forward looking camera or a wiper switch state), a road curvature (map combined with positioning information), a distance from a curve ahead, and a vehicle current state information, including a vehicle speed, a vehicle weight, a steering wheel angle, a driver requested torque, and the like, to perform judgment, if it is judged that the rear-drive electric commercial vehicle enters the curve in a current state and is unstable, the driver requested torque is actively intervened before the vehicle enters the curve to improve the vehicle driving stability, and the driver requested torque is restored after the vehicle enters the curve to improve the driving stability of the rear-drive electric commercial vehicle at the target curve; meanwhile, the rear-drive electric vehicle is subjected to targeted processing aiming at the characteristic that the commercial vehicle has energy recovery and the electric vehicle has energy recovery, so that the driving stability of the rear-drive electric vehicle at a target curve is improved; when the vehicle runs on a curve, aiming at the characteristics of a rear drive vehicle, a strategy of responding to a torque change request of a driver is adopted, and the driving intention of the driver is ensured.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a vehicle curve control device for realizing the vehicle curve control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the vehicle curve control device provided below can be referred to the limitations of the vehicle curve control method in the above, and are not described again here.
In one embodiment, as shown in fig. 5, there is provided a curve control apparatus for a vehicle, including: an acquisition module 100, a torque intervention module 200, and a torque adjustment module 300, wherein:
the obtaining module 100 is configured to obtain vehicle state information and target road information of a current vehicle, and calculate a safe vehicle speed according to the vehicle state information and the target road information.
And the torque intervention module 200 is used for acquiring a target deceleration of the current vehicle and calculating the intervention torque according to the target deceleration when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed.
And the torque adjusting module 300 is used for starting to adjust the current torque of the current vehicle according to the intervention torque when the distance between the current vehicle and the target curve is less than the safe distance.
In one embodiment, the vehicle curve control apparatus further includes:
and the safe vehicle speed correction module is used for correcting the safe vehicle speed according to the target road information.
In one embodiment, the target road information is collected by a driving assistance system.
In one embodiment, the vehicle curve control apparatus further includes:
and the energy recovery module is used for selecting a target level energy recovery mode according to a preset rule when the current vehicle speed in the vehicle state information is less than or equal to the safe vehicle speed and enters a sliding energy recovery mode so as to recover the energy of the torque in the target level energy recovery mode.
In one embodiment, the torque adjustment module 300 includes:
and the safe distance calculation unit is used for acquiring the target vehicle speed when the brake component is not triggered, and calculating the safe distance according to the target vehicle speed, the current vehicle speed and the target deceleration.
And the first adjusting torque unit is used for starting to adjust the current torque of the current vehicle according to the intervention torque when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle is not in the curve auxiliary mode.
In one embodiment, the torque adjustment module 300 includes:
and the execution request torque unit is used for executing the request torque of the cooperative braking system when the braking component is triggered and the current vehicle comprises the cooperative braking system.
And the energy recovery prohibiting unit is used for canceling motor braking and not performing sliding and braking energy recovery in a curve when the braking component is triggered and the current vehicle does not comprise a cooperative braking system.
In one embodiment, the torque adjustment module 300 includes:
and the second torque adjusting unit is used for calculating to obtain an intervention torque by adopting a set deceleration when the current vehicle is not in a curve auxiliary mode when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle does not enter the target curve, and adjusting the current torque by the intervention torque.
In one embodiment, the torque adjustment module 300 includes:
and the current torque adjusting unit is used for adjusting the current torque after the current vehicle enters the target curve.
And the vehicle speed prompting unit is used for correspondingly increasing the current vehicle speed when the current vehicle accelerates and outputting a vehicle speed prompt when the current vehicle speed is higher than the safe vehicle speed during the running of the target curve.
And the curve exit unit is used for judging whether the current vehicle exits the target curve or not when the current vehicle is not accelerated in the process of driving the target curve.
In one embodiment, the torque adjustment module 300 includes:
and the exit judging unit is used for judging whether the current vehicle accelerates or not when the current vehicle does not exit the target curve until the current vehicle leaves the target curve.
The various modules in the vehicle curve control device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing vehicle state information and target road information data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle curve control method.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring vehicle state information and target road information of a current vehicle, and calculating a safe vehicle speed according to the vehicle state information and the target road information; when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, the processor, after calculating the safe vehicle speed according to the vehicle state information and the target road information when executing the computer program, further comprises: and correcting the safe vehicle speed according to the target road information.
In one embodiment, the target road information achieved when the processor executes the computer program is collected by a driving assistance system.
In one embodiment, the processor, after calculating the safe vehicle speed according to the vehicle state information and the target road information when executing the computer program, further comprises:
and when the current vehicle speed in the vehicle state information is less than or equal to the safe vehicle speed and the vehicle enters a sliding energy recovery mode, selecting a target level energy recovery mode according to a preset rule so as to recover the energy of the torque in the target level energy recovery mode.
In one embodiment, the processor, when executing the computer program, initiates adjustment of a current torque of a current vehicle based on an intervention torque when a distance of the vehicle from a target curve is less than a safe distance, comprising: when the brake component is not triggered, acquiring a target speed, and calculating a safety distance according to the target speed, the current speed and the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle is not in the curve auxiliary mode, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, the processor, when executing the computer program, is configured to initiate adjustment of a current torque of the current vehicle based on the intervention torque when the current vehicle is less than the safe distance from the target curve, further comprising: executing a requested torque of the cooperative braking system when the brake component is activated and the current vehicle includes the cooperative braking system; when the braking components are activated and the current vehicle does not include a cooperative braking system, the motor braking is cancelled and no coasting and braking energy recovery occurs in the curve.
In one embodiment, the processor when executing the computer program is operable to initiate adjustment of a current torque of a current vehicle based on the intervention torque when the vehicle is less than a safe distance from a target curve, further comprising: when the distance between the current vehicle and the target curve is smaller than the safe distance and the current vehicle does not enter the target curve, the intervention torque is obtained by adopting set deceleration calculation when the current vehicle is not in the curve auxiliary mode, and the current torque is adjusted through the intervention torque.
In one embodiment, the processor when executing the computer program is operative to initiate adjustment of a current torque of the vehicle in accordance with the intervention torque when the vehicle is less than a safe distance from the target curve, comprising: after the current vehicle enters a target curve, adjusting the current torque; when the current vehicle accelerates in the process of driving at the target curve, correspondingly increasing the current vehicle speed and outputting a vehicle speed prompt when the current vehicle speed is higher than the safe vehicle speed; when the current vehicle is not accelerated while the target curve is traveling, it is determined whether the current vehicle exits the target curve.
In one embodiment, the processor, when executing the computer program, further comprises, after determining whether the current vehicle exits the target curve: and when the current vehicle does not exit the target curve, judging whether the current vehicle accelerates or not until the current vehicle leaves the target curve.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring vehicle state information and target road information of a current vehicle, and calculating a safe vehicle speed according to the vehicle state information and the target road information; when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, the computer program, when executed by the processor, is operable to obtain vehicle state information of a current vehicle and target road information, and calculate a safe vehicle speed based on the vehicle state information and the target road information; when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, the computer program, when executed by the processor, further comprises, after calculating the safe vehicle speed based on the vehicle state information and the target road information: and correcting the safe vehicle speed according to the target road information.
In one embodiment, the target road information achieved when the computer program is executed by the processor is collected by a driving assistance system.
In one embodiment, the computer program, when executed by the processor, further comprises, after calculating the safe vehicle speed based on the vehicle state information and the target road information: and when the current vehicle speed in the vehicle state information is less than or equal to the safe vehicle speed and the vehicle enters a sliding energy recovery mode, selecting a target level energy recovery mode according to a preset rule so as to recover the energy of the torque in the target level energy recovery mode.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of a current torque of a current vehicle based on an intervention torque when a distance of the vehicle from a target curve is less than a safe distance, comprising: when the brake component is not triggered, acquiring a target speed, and calculating a safety distance according to the target speed, the current speed and the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle is not in the curve auxiliary mode, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of the current torque of the current vehicle in accordance with the intervention torque when the current vehicle is less than the safe distance from the target curve, further comprising: executing a requested torque of the cooperative braking system when the brake component is activated and the current vehicle includes the cooperative braking system; when the braking components are activated and the current vehicle does not include a cooperative braking system, the motor braking is cancelled and no coasting and braking energy recovery occurs in the curve.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of a current torque of a current vehicle based on an intervention torque when a distance of the vehicle from a target curve is less than a safe distance, further comprising: when the distance between the current vehicle and the target curve is smaller than the safe distance and the current vehicle does not enter the target curve, the intervention torque is obtained by adopting set deceleration calculation when the current vehicle is not in the curve auxiliary mode, and the current torque is adjusted through the intervention torque.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of the current torque of the vehicle in accordance with the intervention torque when the vehicle is less than the safe distance from the target curve, comprising: after the current vehicle enters a target curve, adjusting the current torque; when the current vehicle accelerates in the process of driving at the target curve, correspondingly increasing the current vehicle speed and outputting a vehicle speed prompt when the current vehicle speed is higher than the safe vehicle speed; when the current vehicle is not accelerated while the target curve is traveling, it is determined whether the current vehicle exits the target curve.
In one embodiment, the computer program when executed by the processor further comprises, after determining whether the current vehicle exits the target curve: and when the current vehicle does not exit the target curve, judging whether the current vehicle accelerates or not until the current vehicle leaves the target curve.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: acquiring vehicle state information and target road information of a current vehicle, and calculating a safe vehicle speed according to the vehicle state information and the target road information; when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, the computer program, when executed by the processor, further comprises, after calculating the safe vehicle speed based on the vehicle state information and the target road information: and correcting the safe vehicle speed according to the target road information.
In one embodiment, the target road information achieved when the computer program is executed by the processor is collected by a driving assistance system.
In one embodiment, the computer program, when executed by the processor, further comprises, after calculating the safe vehicle speed based on the vehicle state information and the target road information: and when the current vehicle speed in the vehicle state information is less than or equal to the safe vehicle speed and the vehicle enters a sliding energy recovery mode, selecting a target level energy recovery mode according to a preset rule so as to recover the energy of the torque in the target level energy recovery mode.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of a current torque of a current vehicle based on an intervention torque when a distance of the vehicle from a target curve is less than a safe distance, comprising: when the brake component is not triggered, acquiring a target speed, and calculating a safety distance according to the target speed, the current speed and the target deceleration; and when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle is not in the curve auxiliary mode, starting to adjust the current torque of the current vehicle according to the intervention torque.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of the current torque of the current vehicle in accordance with the intervention torque when the current vehicle is less than the safe distance from the target curve, further comprising: executing a requested torque of the cooperative braking system when the brake component is activated and the current vehicle includes the cooperative braking system; when the braking components are activated and the current vehicle does not include a cooperative braking system, the motor braking is cancelled and no coasting and braking energy recovery occurs in the curve.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of a current torque of a current vehicle based on an intervention torque when a distance of the vehicle from a target curve is less than a safe distance, further comprising: when the distance between the current vehicle and the target curve is smaller than the safe distance and the current vehicle does not enter the target curve, the intervention torque is obtained by adopting set deceleration calculation when the current vehicle is not in the curve auxiliary mode, and the current torque is adjusted through the intervention torque.
In one embodiment, the computer program when executed by the processor causes the processor to initiate adjustment of the current torque of the vehicle in accordance with the intervention torque when the vehicle is less than the safe distance from the target curve, comprising: after the current vehicle enters a target curve, adjusting the current torque; when the current vehicle accelerates in the process of driving at the target curve, correspondingly increasing the current vehicle speed and outputting a vehicle speed prompt when the current vehicle speed is higher than the safe vehicle speed; when the current vehicle is not accelerated while the target curve is traveling, it is determined whether the current vehicle exits the target curve.
In one embodiment, the computer program when executed by the processor further comprises, after determining whether the current vehicle exits the target curve: and when the current vehicle does not exit the target curve, judging whether the current vehicle accelerates or not until the current vehicle leaves the target curve.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (13)
1. A vehicle curve control method, characterized by comprising:
acquiring vehicle state information and target road information of a current vehicle, and calculating a safe vehicle speed according to the vehicle state information and the target road information;
when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, acquiring the target deceleration of the current vehicle, and calculating the intervention torque according to the target deceleration;
and when the distance between the current vehicle and the target curve is less than the safe distance, starting to adjust the current torque of the current vehicle according to the intervention torque.
2. The method of claim 1, and after calculating a safe vehicle speed based on the vehicle state information and the target road information, further comprising:
and correcting the safe vehicle speed according to the target road information.
3. The method according to claim 1 or 2, characterized in that the target road information is collected by a driving assistance system.
4. The method of claim 1, wherein after calculating a safe vehicle speed based on the vehicle state information and the target road information, further comprising:
and when the current vehicle speed in the vehicle state information is less than or equal to the safe vehicle speed and enters a coasting energy recovery mode, selecting a target level energy recovery mode according to a preset rule so as to recover the energy of the torque in the target level energy recovery mode.
5. The method of claim 1, wherein initiating the adjustment of the current torque of the current vehicle in accordance with the intervention torque when the current vehicle is less than a safe distance from a target curve comprises:
when the brake component is not triggered, acquiring a target speed, and calculating a safety distance according to the target speed, the current speed and a target deceleration;
and when the distance between the current vehicle and the target curve is less than the safe distance and the current vehicle is not in the curve auxiliary mode, starting to adjust the current torque of the current vehicle according to the intervention torque.
6. The method of claim 1, wherein said initiating the adjustment of the current torque of the current vehicle in accordance with the intervention torque when the current vehicle is less than a safe distance from a target curve, further comprises:
executing a requested torque of a cooperative braking system when a brake component is triggered and the current vehicle includes the cooperative braking system;
when the braking component is triggered and the current vehicle does not include the cooperative braking system, electric machine braking is cancelled and coasting and braking energy recovery are not performed in the curve.
7. The method of claim 1, wherein said initiating the adjustment of the current torque of the current vehicle in accordance with the intervention torque when the current vehicle is less than a safe distance from a target curve, further comprises:
when the distance between the current vehicle and a target curve is smaller than a safe distance and the current vehicle does not enter the target curve, when the current vehicle is not in a curve auxiliary mode, an intervention torque is obtained by adopting set deceleration calculation, and the current torque is adjusted through the intervention torque.
8. The method of claim 1, wherein said initiating the adjustment of the current torque of the vehicle in accordance with the intervention torque when the current vehicle is less than a safe distance from a target curve, further comprises:
adjusting the current torque after the current vehicle enters the target curve;
when the current vehicle accelerates in the target curve running process, correspondingly increasing the current vehicle speed and outputting a vehicle speed prompt when the current vehicle speed is higher than the safe vehicle speed;
and judging whether the current vehicle exits the target curve or not when the current vehicle is not accelerated in the driving process of the target curve.
9. The method of claim 8, said determining whether the current vehicle exits the target curve further comprising:
and when the current vehicle does not exit the target curve, judging whether the current vehicle accelerates or not until the current vehicle leaves the target curve.
10. A curve control apparatus for a vehicle, characterized by comprising:
the acquisition module is used for acquiring vehicle state information and target road information of a current vehicle and calculating a safe vehicle speed according to the vehicle state information and the target road information;
the torque intervention module is used for acquiring the target deceleration of the current vehicle when the current vehicle speed in the vehicle state information is greater than the safe vehicle speed, and calculating the intervention torque according to the target deceleration;
and the torque adjusting module is used for starting to adjust the current torque of the current vehicle according to the intervention torque when the distance between the current vehicle and the target curve is less than a safe distance.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 9 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 9.
13. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 9 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111526914.8A CN114248774B (en) | 2021-12-14 | 2021-12-14 | Vehicle curve control method, device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111526914.8A CN114248774B (en) | 2021-12-14 | 2021-12-14 | Vehicle curve control method, device, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114248774A true CN114248774A (en) | 2022-03-29 |
| CN114248774B CN114248774B (en) | 2024-04-23 |
Family
ID=80795017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111526914.8A Active CN114248774B (en) | 2021-12-14 | 2021-12-14 | Vehicle curve control method, device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114248774B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115352432A (en) * | 2022-10-21 | 2022-11-18 | 北京京深深向科技有限公司 | Anti-roll method and device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180141528A1 (en) * | 2016-11-24 | 2018-05-24 | Hyundai Motor Company | System and method of controlling braking of electric vehicle |
| US20180304884A1 (en) * | 2015-10-13 | 2018-10-25 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Method for predctive rollover prevention of a vehicle |
| CN109572439A (en) * | 2018-12-24 | 2019-04-05 | 广州小鹏汽车科技有限公司 | A kind of method for recovering brake energy, device and automobile |
| CN109835254A (en) * | 2019-03-20 | 2019-06-04 | 王传兴 | A kind of automobile turning alarm system |
| CN111196270A (en) * | 2020-01-22 | 2020-05-26 | 辽宁工业大学 | Turning control method for electric-hydraulic composite braking system of electric automobile |
| CN113044030A (en) * | 2021-03-23 | 2021-06-29 | 江铃汽车股份有限公司 | Intelligent self-adaptive cruise control system for automobile and control method thereof |
| CN113525359A (en) * | 2020-04-20 | 2021-10-22 | 罗伯特·博世有限公司 | Curve speed control module and method and engine control unit comprising same |
-
2021
- 2021-12-14 CN CN202111526914.8A patent/CN114248774B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180304884A1 (en) * | 2015-10-13 | 2018-10-25 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Method for predctive rollover prevention of a vehicle |
| US20180141528A1 (en) * | 2016-11-24 | 2018-05-24 | Hyundai Motor Company | System and method of controlling braking of electric vehicle |
| CN109572439A (en) * | 2018-12-24 | 2019-04-05 | 广州小鹏汽车科技有限公司 | A kind of method for recovering brake energy, device and automobile |
| CN109835254A (en) * | 2019-03-20 | 2019-06-04 | 王传兴 | A kind of automobile turning alarm system |
| CN111196270A (en) * | 2020-01-22 | 2020-05-26 | 辽宁工业大学 | Turning control method for electric-hydraulic composite braking system of electric automobile |
| CN113525359A (en) * | 2020-04-20 | 2021-10-22 | 罗伯特·博世有限公司 | Curve speed control module and method and engine control unit comprising same |
| CN113044030A (en) * | 2021-03-23 | 2021-06-29 | 江铃汽车股份有限公司 | Intelligent self-adaptive cruise control system for automobile and control method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115352432A (en) * | 2022-10-21 | 2022-11-18 | 北京京深深向科技有限公司 | Anti-roll method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114248774B (en) | 2024-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022048267A1 (en) | Acceleration slip regulation method for electric vehicle, and dual-motor four-wheel drive electric vehicle | |
| CN109955727B (en) | System and method for applying coasting regenerative torque of a vehicle | |
| JP5141778B2 (en) | Vehicle state estimation device | |
| US9834110B2 (en) | Movement control device for vehicle | |
| CN109747632B (en) | Torque distribution method for double-power-source driven vehicle | |
| US8744713B2 (en) | Method for controlling braking of vehicle | |
| US8504273B2 (en) | Coefficient of friction based limitation of the torque of a vehicle control loop | |
| JP6222472B2 (en) | Vehicle behavior control device | |
| US10532768B2 (en) | Method for controlling position of vehicle | |
| CN108025651A (en) | Electric vehicle with the braking system and method for braking system, controller and computer program | |
| US20130184906A1 (en) | Control System For A Vehicle On An Incline | |
| CN108136935A (en) | Speed controller | |
| EP2858870B1 (en) | Vehicle and method of control thereof | |
| CA2524240A1 (en) | Regeneration control system | |
| CN108944911B (en) | Vehicle control method and device | |
| CN113561980B (en) | Vehicle creep control method and device, computer equipment and storage medium | |
| CN111016900B (en) | Vehicle four-wheel drive control method and electronic equipment | |
| CN114248774A (en) | Vehicle curve control method and device, computer equipment and storage medium | |
| KR102676738B1 (en) | System and method for controlling torque of eco-friendly car for improving fuction of controling steering | |
| US10981562B2 (en) | Vehicle stability control device | |
| CN116494987A (en) | Gradient calculation method and device based on vehicle condition and vehicle | |
| CN115817485A (en) | Vehicle control method and device, vehicle, electronic equipment and readable storage medium | |
| CN115071445A (en) | New energy vehicle crawling control method and system | |
| CN115339452A (en) | Crawling control method and device, electronic equipment and storage medium | |
| EP3160812B1 (en) | Method for automatically regulating the speed of a vehicle travelling at low speed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |