CN114435376A - Method for controlling running speed of vehicle on bumpy road surface, electronic equipment and storage medium - Google Patents
Method for controlling running speed of vehicle on bumpy road surface, electronic equipment and storage medium Download PDFInfo
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- CN114435376A CN114435376A CN202210177715.9A CN202210177715A CN114435376A CN 114435376 A CN114435376 A CN 114435376A CN 202210177715 A CN202210177715 A CN 202210177715A CN 114435376 A CN114435376 A CN 114435376A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000006399 behavior Effects 0.000 claims description 17
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000013480 data collection Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 abstract 2
- 230000006870 function Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a method for controlling the running speed of a vehicle on a bumpy road surface, electronic equipment and a storage medium, wherein the bumping grades are classified in advance according to the bumping degree of the road surface, and corresponding speed intervals are set at different bumping grades; when the vehicle is in an automatic driving mode, the combined navigation controller outputs a vehicle body attitude signal in real time and determines whether the vehicle is in a bumpy road surface and a bumpy level; the control system calculates the speed reduction according to the speed interval corresponding to the bumping level and the current actual speed, different speed reductions correspond to different decelerations, and the braking system decelerates according to the input deceleration so that the vehicle is reduced to the set speed interval from the current speed. Under the automatic driving mode, the invention ensures that the vehicle stably runs through the bumpy road section, thereby ensuring safer and more comfortable driving.
Description
Technical Field
The invention relates to automatic driving, in particular to a method for controlling the driving speed of a vehicle on a bumpy road, an electronic device and a storage medium.
Background
The automobile is electrically and intelligently driven by the traditional fuel power year by year. At present, all major automobile factories are dedicated to the research of intelligent automobiles, so that the automatic driving of the L2 level is realized, and the automatic driving of the L3 level and higher levels is dedicated. The current automatic driving technology mainly utilizes vehicle-mounted cameras, millimeter wave radars and laser radars to cover the perception of road environment scenes, but aiming at bumpy road scenes, the cameras and the radars cannot accurately distinguish, identify and output at present, and when a vehicle passes through bumpy road sections, if the vehicle runs at high speed, personnel in the vehicle experience is poor, and the driving safety is influenced even on severe road sections.
The combined navigation controller is a device which performs positioning fusion by fusing chassis information (vehicle speed, direction rotation angle and the like), satellite positioning information (GNSS) and RTK differential correction information, realizes centimeter-level positioning together with other controllers, maintains lane-level track precision within a certain distance or time by depending on the chassis information and IMU sensing information (acceleration and angular velocity) when satellite signals are lost, and can judge the posture of a vehicle body according to the change rule of Z-axis acceleration. How to smoothly drive through a bumpy road section by an autopilot system according to the degree of road bumping when the vehicle starts to enter the bumpy road section is one direction of research by those skilled in the art.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, it is an object of the present invention to provide a method, an electronic device, and a storage medium for controlling a driving speed of a vehicle on a bumpy road surface, in which a combined navigation controller is used to determine a driving posture of the vehicle and determine whether the vehicle is on a bumpy road surface, the driving speed of the vehicle at different bumping levels is determined according to a classification criterion, and the vehicle is driven smoothly over the road section in an automatic driving mode, so that a user has a better sense of safety and comfort, and the confidence of the user in an automatic driving system is enhanced.
The technical scheme of the invention is realized as follows:
a method for controlling the speed of vehicle on bumpy road includes such steps as providing a combined navigation controller, a camera on vehicle, a radar sensor, and a controller,
1) grading the bumping grades according to the bumping degrees of the road surface in advance, and setting corresponding safe and comfortable speed intervals according to different bumping grades;
2) when the vehicle is in an automatic driving mode, the combined navigation controller outputs a vehicle body attitude signal in real time, judges whether the vehicle body attitude signal is on a bumpy road surface or not based on the vehicle body attitude signal, if so, sets the vehicle body attitude signal to be in a bumpy behavior state, further judges the bumping level according to the specific bumping behavior state, and transmits the bumpy behavior state and the corresponding bumping level to the control system;
3) after receiving the bumping behavior state and the bumping level, the control system calculates the speed drop according to the speed interval corresponding to the bumping level and by combining the current actual speed, outputs corresponding deceleration to the brake system based on different speed drops, and the brake system decelerates according to the input deceleration so that the vehicle is reduced to the set speed interval from the current speed.
Further, in step 3), when the deceleration action is executed, the TTC of rear-end collision with the front vehicle is calculated according to the following vehicle state, and the deceleration value is ensured to be confirmed under the condition of no collision risk.
Preferably, in step 3), when the speed drop is less than 20km/h, the control system issues the deceleration control braking system deceleration of-1.5 m/s; when the speed drop is greater than or equal to 20km/h and less than 40km/h, the control system sends out the deceleration of the deceleration control braking system of-3 m/s; when the speed drop is greater than or equal to 40km/h and less than 50km/h, the control system sends out the deceleration control braking system deceleration of-3.5 m/s; when the speed drop is greater than or equal to 50km/h, the control system sends out the deceleration control braking system deceleration of-4.5 m/s.
Preferably, in step 1), when determining the bumping level and the corresponding speed interval, the vehicle is driven on different bumpy roads and data collection and statistics are performed, a driving behavior algorithm is analyzed and judged, and a safe and comfortable speed interval is determined according to the bumping degree and the driving feeling.
In the step 2), one of the factors to be considered when judging whether the road surface is a bumpy road surface is the acceleration change rule in the Z-axis direction.
The invention also provides an electronic device for controlling the driving speed of the vehicle on the bumpy road, which comprises a memory, a control unit and a control unit, wherein the memory is configured to store executable instructions;
and a processor configured to execute the executable instructions stored in the memory to implement the aforementioned method of controlling the speed of the vehicle over a bumpy road surface.
The invention also provides a computer readable storage medium, which stores computer program instructions for executing the method for controlling the driving speed of the vehicle on the bumpy road.
When the vehicle passes through roads with different scenes, the state of the vehicle can be comprehensively judged according to the combined navigation controller and the output course angles of the configured vehicle-mounted camera, the millimeter wave radar, the laser radar and the like, and whether the vehicle is in dangerous behaviors such as sharp turning, rapid deceleration, bumping, rollover and the like can be judged to control the vehicle to be in a safe driving state under different scenes. Under current L2 level automatic driving auxiliary system, the control vehicle that the system can be fine is driven under highway, city expressway scene, and the user can break away from both hands both feet for a short time, nevertheless can't be out of eye because current controller camera, millimeter wave radar can't accurate judgement scene danger, is relatively poor when meetting road environment, for example through one section highway section of jolting, needs the user to manually control the speed of a motor vehicle in advance and reduces, cancels the automatic driving auxiliary function even, leads to user experience not good.
The invention is applied to a vehicle model matched with a combined navigation controller, the conventional configuration comprises a camera, a radar and other sensors and controllers, the higher-level function can be realized, the original driving auxiliary function is optimized, the states are matched through an algorithm in the controller according to different vehicle states output by the combined navigation controller, the control logic is optimized, a calibratable vehicle speed interval is formulated according to grading of non-bumping degree, and the vehicle is controlled to be in a set speed interval by controlling a brake system to send out comfortable deceleration so as to be in a safe driving mode.
Compared with the prior art, the invention has the following beneficial effects:
the invention judges the driving posture of the vehicle and judges whether the vehicle passes through a bumpy road surface or not by utilizing the combined navigation controller, the driving speed of the vehicle under different bumping levels is set according to the grading standard, the vehicle is automatically switched to drive at the speed under the automatic driving mode, and the vehicle stably drives through the bumpy road section, so that the driving process is more safe and comfortable, and the confidence of a user on an automatic driving system is enhanced.
Drawings
Fig. 1-a flow chart of the travel speed control of the present invention.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
Referring to fig. 1, the method for controlling the driving speed of a vehicle on a bumpy road according to the invention is characterized in that the vehicle is provided with a combined navigation controller, a vehicle-mounted camera, a radar sensor and a controller, and comprises the following steps,
1) grading the bumping grades according to the bumping degrees of the road surface in advance, and setting corresponding safe and comfortable speed intervals according to different bumping grades; in the actual treatment, the bumping level is divided into four levels from weak to strong according to the bumping degree, and the corresponding speed intervals are 40-50km/h, 30-40km/h, 20-30km/h and 10-20km/h respectively.
2) When the vehicle is in an automatic driving mode, the combined navigation controller outputs a vehicle body attitude signal in real time, judges whether the vehicle body attitude signal is on a bumpy road surface or not based on the vehicle body attitude signal, if so, sets the vehicle body attitude signal to be in a bumpy behavior state, further judges the bumping level according to the specific bumping behavior state, and transmits the bumpy behavior state and the corresponding bumping level to the control system;
3) after receiving the bumping behavior state and the bumping level, the control system calculates the speed drop according to the speed interval corresponding to the bumping level and by combining the current actual speed, outputs corresponding deceleration to the brake system based on different speed drops, and the brake system decelerates according to the input deceleration so that the vehicle is reduced to the set speed interval from the current speed.
In step 3), when the deceleration action is executed, the TTC of rear-end collision with the front vehicle is calculated according to the following vehicle state, and the deceleration value is ensured to be confirmed under the condition of no collision risk.
In step 3), the deceleration rates corresponding to different speed drops are as follows: when the speed drop is less than 20km/h, the control system sends out a deceleration control braking system deceleration of-1.5 m/s; when the speed drop is greater than or equal to 20km/h and less than 40km/h, the control system sends out the deceleration of the deceleration control braking system of-3 m/s; when the speed drop is greater than or equal to 40km/h and less than 50km/h, the control system sends out the deceleration control braking system deceleration of-3.5 m/s; when the speed drop is greater than or equal to 50km/h, the control system sends out the deceleration control braking system deceleration of-4.5 m/s. Of course, the speed drop and the corresponding deceleration may be set in a different manner. The above correspondence is only one embodiment.
In the step 1), in order to determine the bumping level and the corresponding speed interval, the vehicle is driven on different bumpy roads at different speeds, data collection and statistics are carried out, a driving behavior algorithm is analyzed and judged, and a safe and comfortable speed interval under the same bumping degree is found, so that the bumping degree and the corresponding speed interval are determined. Since the comfort of different vehicles is different when the vehicles run at the same speed on the road with the same degree of bump, the comfort is usually required to be tested and determined respectively according to the vehicle types.
In the step 2), one of the factors to be considered when judging whether the road surface is a bumpy road surface is the acceleration change rule in the Z-axis direction (namely, the vertical direction).
The invention also provides an electronic device for controlling the driving speed of a vehicle on a bumpy road, which comprises a memory and a control module, wherein the memory is configured to store executable instructions;
and a processor configured to execute the executable instructions stored in the memory to implement the aforementioned method of controlling the speed of the vehicle over a bumpy road surface.
The invention also provides a computer readable storage medium, which stores computer program instructions for executing the method for controlling the driving speed of the vehicle on the bumpy road.
The vehicle is in the automatic driving mode function, the automatic driving function with high HWP and HWA grades is included, under the intelligent auxiliary driving function of an adaptive cruise system and the like, a combined navigation controller outputs a vehicle body posture signal in real time, under the condition of passing through a bumpy road surface, the signal is set to be in a bumpy behavior state, meanwhile, the bumping grade generates grading information according to grading standards, the bumping grade signal sets a corresponding state and is transmitted to a braking system, and the braking system switches the vehicle speed to a set speed interval according to different deceleration speeds according to different speed drops, so that the safe and comfortable passing through the bumpy road surface is realized.
Finally, it should be noted that the above-mentioned examples of the present invention are only examples for illustrating the present invention, and are not intended to limit the embodiments of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, it will be apparent to those skilled in the art that other variations and modifications can be made based on the above description. Not all embodiments are exhaustive. All obvious changes and modifications of the present invention are within the scope of the present invention.
Claims (7)
1. A method of controlling the speed of a vehicle traveling over a bumpy surface, the vehicle being provided with a combination navigation control, characterized by: the steps are as follows,
1) grading the bumping grades according to the bumping degrees of the road surface in advance, and setting corresponding speed intervals according to different bumping grades;
2) when the vehicle is in an automatic driving mode, the combined navigation controller outputs a vehicle body attitude signal in real time, judges whether the vehicle body attitude signal is on a bumpy road surface or not based on the vehicle body attitude signal, if so, sets the vehicle body attitude signal to be in a bumpy behavior state, further judges the bumping level according to the specific bumping behavior state, and transmits the bumpy behavior state and the corresponding bumping level to the control system;
3) after receiving the bumping behavior state and the bumping level, the control system calculates the speed drop according to the speed interval corresponding to the bumping level and by combining the current actual speed, outputs corresponding deceleration to the brake system based on different speed drops, and the brake system decelerates according to the input deceleration so that the vehicle is reduced to the set speed interval from the current speed.
2. A method of controlling the speed of a vehicle traveling over a bumpy surface according to claim 1 wherein: and 3) in the step 3), calculating the TTC of rear-end collision with the front vehicle according to the following vehicle state when the deceleration action is executed, and ensuring that the deceleration value is confirmed under the condition of no collision risk.
3. A method of controlling the speed of a vehicle traveling over a bumpy surface according to claim 1 wherein: in step 3), when the speed drop is less than 20km/h, the control system sends out a deceleration of-1.5 m/s to control the deceleration of the brake system; when the speed drop is greater than or equal to 20km/h and less than 40km/h, the control system sends out the deceleration of-3 m/s to control the deceleration of the brake system; when the speed drop is greater than or equal to 40km/h and less than 50km/h, the control system sends out the deceleration control brake system deceleration of-3.5 m/s; when the speed drop is greater than or equal to 50km/h, the control system sends out the deceleration control braking system deceleration of-4.5 m/s.
4. A method of controlling the speed of a vehicle traveling over a bumpy road according to claim 1, further including the steps of: in the step 1), when the bumping level and the corresponding speed interval are determined, the vehicle is driven on different bumpy roads and data collection and statistics are carried out, a driving behavior algorithm is analyzed and judged, and the safe and comfortable speed interval is determined according to the bumping degree and the driving feeling.
5. A method of controlling the speed of a vehicle traveling over a bumpy surface according to claim 1 wherein: in the step 2), one of the factors to be considered when judging whether the road surface is a bumpy road surface is the acceleration change rule in the Z-axis direction.
6. An electronic device for controlling the speed of a vehicle traveling over a bumpy road surface, comprising: comprising a memory configured to store executable instructions;
a processor configured to execute executable instructions stored in the memory to implement the method of controlling the speed of a vehicle travelling over a bumpy road surface of any one of claims 1 to 5.
7. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: the computer program instructions perform a method of controlling the speed of a vehicle travelling over a bumpy road surface as claimed in any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210177715.9A CN114435376A (en) | 2022-02-25 | 2022-02-25 | Method for controlling running speed of vehicle on bumpy road surface, electronic equipment and storage medium |
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| CN202210177715.9A CN114435376A (en) | 2022-02-25 | 2022-02-25 | Method for controlling running speed of vehicle on bumpy road surface, electronic equipment and storage medium |
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| CN116588078A (en) * | 2023-07-17 | 2023-08-15 | 上海鉴智其迹科技有限公司 | Vehicle control method, device, electronic equipment and computer readable storage medium |
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