CN114735075B - Vehicle turning state determining method and device, electronic equipment and storage medium - Google Patents
Vehicle turning state determining method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN114735075B CN114735075B CN202210386307.4A CN202210386307A CN114735075B CN 114735075 B CN114735075 B CN 114735075B CN 202210386307 A CN202210386307 A CN 202210386307A CN 114735075 B CN114735075 B CN 114735075B
- Authority
- CN
- China
- Prior art keywords
- corner
- turning state
- type
- current
- speed
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000001133 acceleration Effects 0.000 claims abstract description 179
- 230000008859 change Effects 0.000 claims description 56
- 238000004590 computer program Methods 0.000 claims description 16
- 238000012546 transfer Methods 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 abstract description 5
- 238000005070 sampling Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a vehicle turning state determining method, a vehicle turning state determining device, electronic equipment and a storage medium. According to the method, the initial turning state is determined according to the current speed, the current lateral acceleration and the current steering wheel rotation angle of the target vehicle, the initial judgment of the turning state of the vehicle is achieved, further, the target turning state is determined according to the current speed, the current steering wheel rotation angle and the initial turning state, and the confirmation of the turning state of the vehicle is achieved. In addition, the speed, the lateral acceleration and the steering wheel angle required by the method can be obtained from the existing device of the vehicle, an additional sensor is not required to be added, and the recognition cost is low.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and apparatus for determining a turning state of a vehicle, an electronic device, and a storage medium.
Background
The current new energy intelligent automobile has become a research hotspot in the automobile industry, and the research on the automatic driving and auxiliary driving technologies related to the intelligent automobile is increased both by the traditional automobile manufacturing enterprises and the internet science and technology companies. The vehicle control strategy can be formulated more specifically by automatically identifying the turning states of the vehicle such as the in-turn state, the out-turn state and the like of the vehicle, and plays an important role in automatic driving or driving auxiliary technology.
The existing vehicle turning state identification method mainly acquires GPS positioning data through a vehicle networking or vehicle-mounted GPS device to judge the turning state, the GPS positioning accuracy acquired by the method is low, the turning state is difficult to judge when the vehicle speed is low and the turning radius is small, in addition, additional equipment such as the GPS positioning device and the vehicle networking data transmission device is required to be added, the cost is high, the network information security risk exists, and the method is difficult to realize on mass production vehicle types at present.
The other turning state identification method is to identify the current turning state of the vehicle by judging the historical course angle data and the current course angle, and the turning state identification method is only used for judging by the course angle information, so that the turning state is difficult to identify when the vehicle speed is low or the turning radius is large, is easily influenced by the noise interference of the course angle signal, has the misjudgment condition and has poor robustness.
Therefore, the prior art has the technical problems of lower accuracy in identifying the turning state and higher identification cost.
Disclosure of Invention
The invention provides a vehicle turning state determining method, a vehicle turning state determining device, electronic equipment and a storage medium, and aims to solve the technical problem that the accuracy of identifying the turning state of a vehicle is low in the prior art.
According to an aspect of the present invention, there is provided a vehicle turning state determination method including:
acquiring the current speed, the current lateral acceleration and the current steering wheel rotation angle of a target vehicle;
determining an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
a target turning state of the target vehicle is determined based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
Optionally, the determining the target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle and the initial turning state includes:
determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and a steering wheel steering angle speed corresponding to the current steering wheel steering angle;
A target turning state of the target vehicle is determined based on the corner type, the corner speed type, and the initial turning state.
Optionally, the determining the type of the steering angle corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining the type of the steering angle speed corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle, includes:
determining a first corner threshold value, a second corner threshold value, a first corner speed threshold value and a second corner speed threshold value corresponding to the target vehicle based on the current vehicle speed;
determining a corner type corresponding to the target vehicle based on the current steering wheel corner, the first corner threshold value and the second corner threshold value;
and determining a steering wheel steering angle speed corresponding to the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold value and the second steering angle speed threshold value.
Optionally, the corner type includes a small corner type, a medium corner type, and a large corner type, the corner speed type includes a small corner speed type, a medium corner speed type, and a large corner speed type, and determining the target turning state of the target vehicle based on the corner type, the corner speed type, and the initial turning state includes:
If the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; or,
and if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining a target turning state of the target vehicle based on the initial turning state.
Optionally, the determining the target turning state of the target vehicle based on the corner type, the corner speed type and the initial turning state further includes:
if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; or,
and if the corner type is a transfer corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
Optionally, the determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration includes:
Determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value corresponding to the lateral acceleration change information;
and determining an initial turning state of the target vehicle based on each piece of direction information and the current value.
Optionally, the determining the initial turning state of the target vehicle based on each of the direction information and the current value includes:
if the current value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle bending-out state;
if the current value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state;
and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
According to another aspect of the present invention, there is provided a vehicle turning state determination apparatus including:
the acquisition module is used for acquiring the current speed, the current lateral acceleration and the current steering wheel rotation angle of the target vehicle;
A first determining module, configured to determine an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
and a second determining module configured to determine a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle turning state determination method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute the vehicle turning state determination method according to any one of the embodiments of the present invention.
According to the technical scheme, the initial turning state of the target vehicle is determined according to the current speed, the current lateral acceleration and the current steering wheel rotation angle of the target vehicle and the lateral acceleration change information corresponding to the current lateral acceleration and the current lateral acceleration, so that the initial judgment of the turning state of the vehicle is realized, and further, the target turning state of the target vehicle is determined according to the current speed, the current steering wheel rotation angle and the initial turning state, so that the confirmation of the turning state of the vehicle is realized. In addition, the current speed, the current lateral acceleration and the current steering wheel angle required by the method can be obtained from the existing device of the vehicle, no additional sensor is needed, and the recognition cost is low.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1A is a schematic flow chart of a method for determining a turning state of a vehicle according to a first embodiment of the present invention;
FIG. 1B is a flow chart illustrating an initial turning condition determination according to an embodiment of the present invention;
fig. 2A is a schematic flow chart of a vehicle turning state determining method according to a second embodiment of the present invention;
fig. 2B is a flowchart for determining a rotation angle type according to a second embodiment of the present invention;
FIG. 2C is a flow chart illustrating a determination of the type of angular velocity according to a second embodiment of the present invention;
fig. 3A is a schematic flow chart of a method for determining a turning state of a vehicle according to a third embodiment of the present invention;
fig. 3B is a schematic flow chart of a method for determining a turning state of a vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of a vehicle turning state determination device according to a fourth embodiment of the present invention;
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1A is a schematic flow chart of a vehicle turning state determining method according to an embodiment of the present invention, which is applicable to a case of identifying a turning state of a vehicle according to a vehicle speed, a lateral acceleration, and a steering wheel angle of the vehicle, and may be performed by a vehicle turning state determining device, which may be implemented in the form of hardware and/or software, and which may be configured in an auxiliary driving system of the vehicle. As shown in fig. 1A, the method includes:
s110, acquiring the current speed, the current lateral acceleration and the current steering wheel angle of the target vehicle.
The current vehicle speed may be an instantaneous speed at which the target vehicle is currently traveling. For example, the current vehicle speed of the target vehicle may be obtained from a wheel speed sensor of the target vehicle. The current lateral acceleration may be an instantaneous lateral acceleration at which the target vehicle is currently traveling. For example, the current lateral acceleration of the target vehicle may be obtained from an onboard accelerometer. The current steering wheel angle may be the current steering wheel angle of the target vehicle. For example, a current steering wheel angle of the target vehicle may be obtained from a vehicle power steering system of the target vehicle.
It should be noted that, compared with the scheme that the prior art needs additional vehicle-mounted GPS equipment and communication data transmission equipment, the scheme can obtain the current speed, the current lateral acceleration and the current steering wheel rotation angle without adding additional equipment on the vehicle, and further realizes accurate identification of the turning state of the vehicle.
S120, determining an initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration.
The turning state can be a bending-in state, a steady-state steering state or a bending-out state. Specifically, the in-turn state may be when the vehicle starts to turn from straight running, including but not limited to, when the vehicle avoids an obstacle and when the vehicle turns into a curve; in this state, the absolute value of the lateral acceleration of the vehicle gradually increases from 0. The steady state steering condition may be a condition in which the vehicle makes a steady turn, in which the lateral acceleration of the vehicle is not 0, and the absolute value of the lateral acceleration remains unchanged. The out-of-curve state may be a process in which the vehicle gradually proceeds straight from a turning state, including but not limited to, a restoration route after the vehicle has avoided an obstacle, and the vehicle has left a curve, in which state the absolute value of the lateral acceleration of the vehicle starts to gradually decrease until it decreases to 0.
Therefore, the present embodiment can preliminarily determine the turning state of the target vehicle based on the current lateral acceleration of the target vehicle, that is, obtain the initial turning state. Specifically, the initial turning state of the target vehicle may be determined according to the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration. The lateral acceleration change information corresponding to the current lateral acceleration may be change information of the lateral acceleration of the target vehicle in a unit time. Alternatively, the calculation result of the lateral acceleration derivative may be used as the lateral acceleration change information, and for example, the lateral acceleration change information may be calculated based on the current lateral acceleration at the current sampling time and the lateral acceleration at the previous sampling time, that is: lateral acceleration change information= (current lateral acceleration at current sampling time-lateral acceleration at previous sampling time)/sampling time interval.
In general, a vehicle turn can be divided into three phases, namely: an in-bending stage, a steady-state steering stage and an out-bending stage. In the curve entering stage, a driver starts to operate the steering wheel and the steering angle of the steering wheel is gradually increased, the vehicle starts to enter a curve or avoid an obstacle in the stage, at the moment, the derivative of the lateral acceleration of the vehicle is positive, and the lateral acceleration starts to gradually increase from 0; then, the vehicle starts to perform a steady-state steering stage, at the moment, the steering wheel angle is kept unchanged, the absolute value of the lateral acceleration is kept constant, and the derivative of the lateral acceleration is 0; the vehicle then proceeds to a cornering phase, in which the steering wheel angle is gradually reduced, the lateral acceleration is gradually reduced, and the lateral acceleration derivative is less than 0.
Therefore, the present embodiment can directly determine the initial turning state of the target vehicle according to the value of the current lateral acceleration and the positive and negative of the lateral acceleration change information. As an optional aspect, the determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration includes: determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value of the lateral acceleration change information; and determining an initial turning state of the target vehicle based on each piece of direction information and the current value.
The direction information of the current lateral acceleration may be information describing the positive and negative value of the current lateral acceleration, and the direction information of the lateral acceleration change information may be information describing the positive and negative value of the lateral acceleration derivative.
For example, the determining the initial turning state of the target vehicle based on each of the direction information and the current value may be: if the current value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle bending-out state; if the current value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state; and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
If the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, the value of the lateral acceleration change information is not 0, and the lateral acceleration is greater than 0, and the lateral acceleration change information is less than 0, that is, the lateral acceleration of the target vehicle is gradually reduced, and the target vehicle is in a vehicle bending state. If the two direction information are the same, the value of the lateral acceleration change information is not 0, and may be greater than 0, and the lateral acceleration change information is also greater than 0, that is, the lateral acceleration of the target vehicle gradually increases, and the target vehicle is in a vehicle bending state. If the value of the lateral acceleration change information is 0, the lateral acceleration can be kept constant, and the target vehicle is in a vehicle steady-state steering state.
In this example, the preliminary determination of the turning state of the vehicle is realized by the direction information of the lateral acceleration change information, the direction information of the current lateral acceleration, and the current value of the lateral acceleration change information.
In another embodiment, the determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration may further be: a turning state identification is determined based on the current lateral acceleration and the lateral acceleration change information, and an initial turning state is determined based on the turning state identification.
The turning state identification is determined based on the current lateral acceleration and the lateral acceleration change information, and the following formula can be satisfied:
sign_joint= -Sign (current lateral acceleration x lateral acceleration change information);
in the formula, sign is a sign function, sign (variable) =1 if the variable is a positive value, sign (variable) = -1 if the variable is a negative value, and sign (variable) =0 if the variable is 0.sign (current lateral acceleration×lateral acceleration change information) represents a sign of a product result of the current lateral acceleration and the lateral acceleration change information. Sign_jodge represents a turning state flag, sign_jodge= -1 represents that the initial turning state is the vehicle in-turn state, sign_jodge=0 represents that the initial turning state is the vehicle steady-state steering state, and sign_jodge=1 represents that the initial turning state is the vehicle out-of-turn state.
According to the embodiment, the turning state identification can be directly calculated according to the formula, and the initial turning state of the target vehicle is determined according to the turning state identification, so that the initial judgment of the turning state of the vehicle is realized. Note that, in the straight traveling state of the vehicle, the value of the current lateral acceleration may be 0, and sign_joint=0 may indicate that the vehicle is in the straight traveling state, so that when sign_joint=0, it may be further determined whether the value of the current lateral acceleration is 0, and if not, it may be determined that the initial turning state is the steady turning state of the vehicle.
For example, referring to fig. 1B, fig. 1B shows a flowchart for determining an initial turning state, firstly, calculating a first derivative of a lateral acceleration, that is, lateral acceleration change information, according to an obtained current lateral acceleration, and further determining whether a current lateral acceleration x lateral acceleration derivative is greater than 0, if yes, primarily determining that the initial turning state is a vehicle in-turn state, wherein sign_jodge= -1; if not, further judging whether the current lateral acceleration multiplied by the lateral acceleration derivative is smaller than 0, if so, primarily judging that the initial turning state is the vehicle bending-out state, wherein sign_joint=1; if not, continuing to judge whether the current lateral acceleration multiplied by the lateral acceleration derivative is equal to 0, and if so, preliminarily judging that the initial turning state is the steady-state turning state of the vehicle, wherein sign_joint=0.
S130, determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle and the initial turning state.
In this embodiment, after the vehicle turning state of the target vehicle is preliminarily determined, further confirmation of the vehicle turning state is required. Specifically, since the lateral acceleration information is easily disturbed and the signal noise is large, erroneous judgment is easily generated only by means of the lateral acceleration. Therefore, the embodiment can introduce the current vehicle speed and the current steering wheel angle to carry out auxiliary judgment so as to verify the initial turning state through the current vehicle speed and the current steering wheel angle and improve the accuracy of the recognized turning state.
For example, if the current steering wheel angle is smaller and the steering wheel angle speed corresponding to the current steering wheel angle is also smaller, the target vehicle may be indicated as the vehicle steady-state steering state, and the target turning state of the target vehicle may be determined as the vehicle steady-state steering state. If the current steering wheel steering angle is larger, or the steering wheel steering angle speed corresponding to the current steering wheel steering angle is larger, the target vehicle can be indicated to be in a vehicle bending state or in a vehicle bending state, and at the moment, the target turning state can be determined according to the initial turning state, namely, the initial turning state is determined to be the target turning state.
For another example, if the current vehicle speed is small, the current steering wheel angle is small, and the steering wheel angle speed corresponding to the current steering wheel angle is also small, it is possible to determine that the target turning state of the target vehicle is the vehicle steady-state turning state, without considering the initial turning state. If the current vehicle speed is large, even if the current steering wheel angle and the steering wheel angle speed are small, the vehicle can still enter a turning state due to the emergency avoidance of the obstacle, and the target turning state can be determined according to the initial turning state.
According to the technical scheme, the initial turning state of the target vehicle is determined according to the current speed, the current lateral acceleration and the current steering wheel rotation angle of the target vehicle and the lateral acceleration change information corresponding to the current lateral acceleration and the current lateral acceleration, so that the initial judgment of the turning state of the vehicle is realized, and further, the target turning state of the target vehicle is determined according to the current speed, the current steering wheel rotation angle and the initial turning state, so that the confirmation of the turning state of the vehicle is realized.
In addition, the current vehicle speed, the current lateral acceleration and the current steering wheel rotation angle required by the method can be obtained from the existing device of the vehicle, such as the current vehicle speed obtained from a wheel speed sensor, the current steering wheel rotation angle obtained from a vehicle power-assisted steering system and the current lateral acceleration obtained from a vehicle-mounted accelerometer, no additional sensor is required to be added, and the recognition cost is low.
In addition, after the initial turning state of the vehicle is initially judged, the target turning state can be further judged by combining the current vehicle speed and the current steering wheel turning angle, the current vehicle speed can be understood as vehicle response information, and the current steering wheel turning angle can be understood as driver input information, so that the method considers the driver input information and the vehicle response information at the same time, judges the in-and-out-of-the-turn state more accurately, and has stronger anti-interference capability. Compared with the method for judging the steering state of the vehicle by only adopting the course angle in the prior art, the method in the prior art only depends on the course angle information without introducing other signals to carry out auxiliary judgment, and when the course angle signal is interfered, the misjudgment easily occurs.
Example two
Fig. 2A is a flowchart of a method for determining a turning state of a vehicle according to a second embodiment of the present invention, and the process of determining a target turning state according to a current vehicle speed, a current steering wheel angle, and an initial turning state is additionally described based on the present embodiment and the above embodiments. As shown in fig. 2A, the method includes:
s210, acquiring the current speed, the current lateral acceleration and the current steering wheel angle of a target vehicle, and determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration.
S220, determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle.
In this embodiment, considering that the sensitivity of the vehicle to the steering wheel angle is different at different vehicle speeds, for example, when the vehicle speed is high, the steering wheel angle is small, the vehicle can be brought into a turning state, and when the vehicle speed is low, the steering wheel angle is large, the vehicle can be brought into a turning state.
Therefore, the present embodiment can determine the steering angle type in combination with the current vehicle speed and the current steering wheel steering angle of the target vehicle, and determine the steering angle speed type in combination with the current vehicle speed and the steering wheel steering angle speed.
Wherein the steering wheel rotation angle speed may be a change speed of the steering wheel rotation angle per unit time. The steering wheel steering angle speed can be calculated by the current steering wheel steering angle at the current sampling time and the steering wheel steering angle at the last sampling time. For example, steering wheel turning speed= (current steering wheel turning at current sampling time-steering wheel turning at last sampling time)/sampling time interval.
Specifically, the corner types may include a small corner type, a medium corner type, and a large corner type, and the corner speed types include a small corner speed type, a medium corner speed type, and a large corner speed type. Of course, the division of the corner type and the corner speed type is not limited to the above manner, and more specific ranges may be divided.
In this embodiment, the type of the steering angle is determined according to the current vehicle speed and the current steering wheel steering angle, and the type of the steering angle speed is determined according to the current vehicle speed and the steering wheel steering angle speed, so that the determined type of the steering angle and the type of the steering angle speed are not only dependent on the current steering wheel steering angle and the steering wheel steering angle speed, but also combine the vehicle speed information.
For example, if the current vehicle speed is low, the target vehicle is insensitive to the input of the steering wheel angle, and a relatively large steering wheel angle input is required to perform the turning action, and if the current steering wheel angle is lower than a set threshold, the angle type may be determined to be a small angle type or a medium angle type. If the current speed is higher, the vehicle is more sensitive to the steering wheel input, and the vehicle can generate turning action by the smaller steering wheel angle input, so that if the current steering wheel angle is higher than another set threshold value, the angle type can be determined to be a medium angle type or a large angle type.
Correspondingly, if the current vehicle speed is lower, the target vehicle is insensitive to the steering wheel angular velocity, and if the steering wheel angular velocity is lower than a set threshold, the angular velocity type can be determined to be a small angular velocity type or a medium angular velocity type. If the current vehicle speed is higher and the steering wheel turning speed is higher than a set threshold, the turning speed type can be determined to be a medium turning speed type or a large turning speed type.
In one embodiment, the determining the type of steering angle corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, determining the type of steering angle speed corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle, includes: determining a first corner threshold value, a second corner threshold value, a first corner speed threshold value and a second corner speed threshold value corresponding to the target vehicle based on the current vehicle speed; determining a corner type corresponding to the target vehicle based on the current steering wheel corner, the first corner threshold value and the second corner threshold value; and determining a steering wheel steering angle speed corresponding to the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold value and the second steering angle speed threshold value.
The first rotation angle threshold value, the second rotation angle threshold value, the first rotation angle speed threshold value and the second rotation angle speed threshold value corresponding to the current vehicle speed can be determined according to the current vehicle speed. Specifically, each rotation angle threshold value, each rotation angle speed threshold value and each vehicle speed may be stored in advance in association with each other to be stored locally, and the larger the vehicle speed is, the smaller the corresponding threshold value is.
The first angular rotation threshold may be greater than the second angular rotation threshold, and the first angular rotation threshold may be greater than the second angular rotation threshold. In this alternative embodiment, the first and second rotational angle thresholds may be thresholds of the divided rotational angle type, and the first and second rotational angle speed thresholds may be thresholds of the divided rotational angle speed type.
Further, according to the comparison result between the current steering wheel angle and the first and second steering angle thresholds, the steering angle type corresponding to the target vehicle can be determined; according to the comparison result of the steering wheel angular velocity and the first angular velocity threshold value and the second angular velocity threshold value, the type of the angular velocity corresponding to the target vehicle can be determined.
For example, if the current steering wheel angle is greater than the first angle threshold, the angle type may be determined to be a large angle type, if the current steering wheel angle is less than the second angle threshold, the angle type may be determined to be a small angle type, and if the current steering wheel angle is less than the first angle threshold and greater than the second angle threshold, the angle type may be determined to be a medium angle type. If the steering wheel rotational speed is greater than the first rotational speed threshold, the rotational speed type may be determined to be a large rotational speed type, if the steering wheel rotational speed is less than the second rotational speed threshold, the rotational speed type may be determined to be a small rotational speed type, and if the steering wheel rotational speed is less than the first rotational speed threshold and greater than the second rotational speed threshold, the rotational speed type may be determined to be a medium rotational speed type.
Of course, the division of the rotation angle type and the rotation angle speed type may be more specific, for example, a third rotation angle threshold value, a third rotation angle speed threshold value, and the like may also be set, which is not limited in this application.
Fig. 2B illustrates a flow chart for determining a type of steering angle, wherein first, it is determined whether the obtained current steering wheel steering angle is greater than a first steering angle threshold, and if so, it is determined that the type of steering angle is a large steering angle type; if not, further judging whether the current steering wheel angle is larger than a second angle threshold and does not exceed the first angle threshold, if so, judging that the angle type is a medium angle type, if not, continuously judging whether the current steering wheel angle is smaller than or equal to the second angle threshold, and if so, judging that the angle type is a small angle type. The corner type may be described by using a corner type identifier, for example, steer_mode=1 indicates a large corner type, steer_mode=0 indicates a medium corner type, and steer_mode= -1 indicates a small corner type.
For example, fig. 2C shows a flow chart for determining a steering angle speed type, first, calculating a steering angle speed according to an obtained current steering angle, determining whether the steering angle speed is greater than a first steering angle speed threshold, if yes, determining that the steering angle speed type is a large steering angle speed type, if no, continuing to determine whether the steering angle speed does not exceed the first steering angle speed threshold and is greater than a second steering angle speed threshold, if yes, determining that the steering angle speed type is a medium steering angle speed type, if not, determining that the steering angle speed is less than or equal to the second steering angle speed threshold, and if yes, determining that the break steering angle speed type is a small steering angle speed type. The corner speed type may be described by using a corner speed type identifier, for example, steer_jerk_mode=1 indicates a large corner speed type, steer_jerk_mode=0 indicates a medium corner speed type, and steer_jerk_mode= -1 indicates a small corner speed type.
S230, determining a target turning state of the target vehicle based on the turning angle type, the turning angle speed type, and the initial turning state.
In this embodiment, after the corner type and the corner speed type are determined, whether the target vehicle is in the vehicle steady-state steering state may be determined according to the corner type and the corner speed type, if so, the target turning state is the vehicle steady-state steering state, and if not, the target turning state is the initial turning state.
According to the technical scheme, the type of the turning angle is determined through the current speed of the target vehicle and the current steering wheel turning angle, the type of the turning angle speed is determined according to the current speed of the target vehicle and the steering wheel turning angle speed, and then the target turning state is determined according to the type of the turning angle, the type of the turning angle speed and the initial turning state, so that accurate identification of the turning state of the vehicle is realized.
Example III
Fig. 3A is a flowchart of a vehicle turning state determining method according to a third embodiment of the present invention, and the process of determining a target turning state of a target vehicle according to a corner type, a corner speed type, and an initial turning state is additionally described based on the present embodiment and the above embodiments. As shown in fig. 3A, the method includes:
S310, acquiring the current speed, the current lateral acceleration and the current steering wheel angle of a target vehicle, and determining the initial turning state of the target vehicle based on the current lateral acceleration and the lateral acceleration change information corresponding to the current lateral acceleration.
S320, determining a steering angle type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the current vehicle speed and the steering wheel steering angle speed corresponding to the current steering wheel steering angle.
The corner type comprises a small corner type, a medium corner type and a large corner type, and the corner speed type comprises a small corner speed type, a medium corner speed type and a large corner speed type.
S330, if the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; or if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining a target turning state of the target vehicle based on the initial turning state.
Specifically, when the corner type is a large corner type, or when the corner speed type is a large corner speed type, or when the corner type is a medium corner type, and the corner speed type is a medium corner speed type, the target turning state may be an initial turning state determined based on the current lateral acceleration.
Optionally, the determining the target turning state of the target vehicle based on the corner type, the corner speed type and the initial turning state further includes: if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; or if the corner type is a transfer corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
That is, when the corner type is the small corner type, the corner speed type is the small corner speed type or the medium corner speed type, or when the corner type is the medium corner type, the corner speed type is the small corner speed type, the target turning state of the target vehicle may be the vehicle steady-state turning state.
For example, referring to table 1, table 1 shows a determination rule of the target steering state.
TABLE 1 judgment rules for target steering states
Wherein Steer_Mode is a corner type identifier, -1 represents a small corner type, 0 represents a medium corner type, and 1 represents a large corner type. Steer_jerk_Mode is the corner speed type identifier, -1 represents the small corner speed type, 0 represents the medium corner speed type, and 1 represents the large corner speed type. sign_jodge represents a turning state identification of an initial turning state determined by the current lateral acceleration. As can be seen from table 1, steer_mode= -1, steer_jerk_mode= -1; alternatively, steer_mode= -1, steer_jerk_mode=0; alternatively, when steer_mode=0 and steer_jerk_mode=0, the target turning state=0, that is, the target turning state is the steady-state turning state of the vehicle. In addition to the above, the target turning state may be an initial turning state.
Of course, the judgment rules in table 1 are just one example. In another embodiment, the target turning state of the target vehicle may be a vehicle steady-state turning state when the turning angle type is a small turning angle type, or the turning angle speed type is a small turning angle speed type. Or, only when the corner type is a small corner type and the corner speed type is a small corner speed type, the target turning state of the target vehicle is a vehicle steady-state turning state, and the target turning state is determined according to the initial turning state under the rest conditions.
Referring to fig. 3B, a flow chart of a vehicle turning state determination method is illustrated. The method comprises the steps of obtaining a first turning angle threshold value and a second turning angle threshold value corresponding to a current vehicle speed according to the current vehicle speed in a table lookup mode, and further determining a turning angle type mark according to the turning angle of the current steering wheel and the first turning angle threshold value and the second turning angle threshold value; and obtaining a first angular velocity threshold value and a second angular velocity threshold value corresponding to the current vehicle speed according to the table lookup of the current vehicle speed, and further determining the angular velocity type mark according to the steering wheel angular velocity, the first angular velocity threshold value and the second angular velocity threshold value. And judging an initial turning state according to the current lateral acceleration, and finally comprehensively judging a target turning state according to the initial turning state, the corner type identifier and the corner speed type identifier. The method realizes the preliminary recognition of the turning state based on the lateral acceleration, realizes the auxiliary judgment of the turning state based on the current vehicle speed and the current steering wheel angle pair, and improves the accuracy of the recognized turning state of the vehicle.
It should be noted that, the present embodiment may further provide another vehicle turning state determining method, which may include: s1, determining a first corner threshold value, a second corner threshold value, a first corner speed threshold value and a second corner speed threshold value corresponding to a target vehicle based on the current speed of the target vehicle; s2, determining a corner type corresponding to the target vehicle based on the current steering wheel corner, the first corner threshold and the second corner threshold; s3, determining a steering wheel turning speed corresponding to the current steering wheel turning angle, and determining a turning speed type corresponding to the target vehicle based on the steering wheel turning speed, the first turning angular speed threshold and the second turning angular speed threshold; s4, if the corner type is a large corner type, or the corner speed type is a large corner speed type, or the corner type is a medium corner type, or the corner speed type is a medium corner speed type, determining a target turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration.
That is, in this embodiment, whether the target vehicle is in the vehicle steady state turning state may be first identified by the current vehicle speed and the current steering wheel angle, if so, no identification is required according to the current lateral acceleration, and if not, identification of the vehicle turning state is performed according to the current lateral acceleration. Based on the mode, the recognition of the vehicle steering state integrating the vehicle speed, the lateral acceleration and the steering wheel angle can be realized, and the technical problem of the reduction of recognition accuracy caused by the interference of a certain single piece of information is solved.
According to the technical scheme, when the corner type is a large corner type, or when the corner speed type is a large corner speed type, or when the corner type is a medium corner type, or when the corner speed type is a medium corner speed type, the target turning state of the target vehicle can be an initial turning state, further judgment on the turning state identified based on the lateral acceleration is achieved through the method, the situation that the turning state identification is wrong due to the fact that the lateral acceleration signal is interfered is avoided, and the identification accuracy of the turning state of the vehicle is further improved.
Example IV
Fig. 4 is a schematic structural view of a vehicle turning state determination device according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus includes an acquisition module 410, a first determination module 420, and a second determination module 430.
An acquisition module 410 for acquiring a current vehicle speed, a current lateral acceleration, and a current steering wheel angle of a target vehicle;
a first determining module 420, configured to determine an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
a second determining module 430 for determining a target turning state of the target vehicle based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
Optionally, the second determining module 430 includes a type identifying unit and a state judging unit, where;
the type identification unit is used for determining a corner type corresponding to the target vehicle based on the current vehicle speed and the current steering wheel corner, and determining a corner speed type corresponding to the target vehicle based on the current vehicle speed and a steering wheel corner speed corresponding to the current steering wheel corner;
the state judgment unit is used for determining a target turning state of the target vehicle based on the corner type, the corner speed type and the initial turning state.
Optionally, the type identifying unit is specifically configured to:
Determining a first corner threshold value, a second corner threshold value, a first corner speed threshold value and a second corner speed threshold value corresponding to the target vehicle based on the current vehicle speed; determining a corner type corresponding to the target vehicle based on the current steering wheel corner, the first corner threshold value and the second corner threshold value; and determining a steering wheel steering angle speed corresponding to the current steering wheel steering angle, and determining a steering angle speed type corresponding to the target vehicle based on the steering wheel steering angle speed, the first steering angle speed threshold value and the second steering angle speed threshold value.
Optionally, the corner type includes a small corner type, a medium corner type and a large corner type, the corner speed type includes a small corner speed type, a medium corner speed type and a large corner speed type, and the state judging unit is specifically configured to:
if the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; or if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining a target turning state of the target vehicle based on the initial turning state.
Optionally, the state judging unit is further configured to:
if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; or if the corner type is a transfer corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
Optionally, the first determining module 420 includes a direction determining unit and a judging unit, where;
the direction determining unit is used for determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value corresponding to the lateral acceleration change information;
the judging unit is used for determining the initial turning state of the target vehicle based on the direction information and the current value.
Optionally, the judging unit is specifically configured to:
if the current value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle bending-out state; if the current value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state; and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
According to the technical scheme, the initial turning state of the target vehicle is determined according to the current speed, the current lateral acceleration and the current steering wheel rotation angle of the target vehicle and the lateral acceleration change information corresponding to the current lateral acceleration and the current lateral acceleration, so that the initial judgment of the turning state of the vehicle is realized, and further, the target turning state of the target vehicle is determined according to the current speed, the current steering wheel rotation angle and the initial turning state, so that the confirmation of the turning state of the vehicle is realized. In addition, the current speed, the current lateral acceleration and the current steering wheel angle required by the method can be obtained from the existing device of the vehicle, no additional sensor is needed, and the recognition cost is low.
The vehicle turning state determining device provided by the embodiment of the invention can execute the vehicle turning state determining method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example five
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the respective methods and processes described above, such as the vehicle turning state determination method.
In some embodiments, the vehicle turning state determination method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle turning state determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle turning state determination method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
The computer program for implementing the vehicle turning condition determination method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
Example six
The sixth embodiment of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle turning state determination method, the method comprising:
acquiring the current speed, the current lateral acceleration and the current steering wheel rotation angle of a target vehicle;
determining an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
a target turning state of the target vehicle is determined based on the current vehicle speed, the current steering wheel angle, and the initial turning state.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. A vehicle turning state determination method, characterized by comprising:
acquiring the current speed, the current lateral acceleration and the current steering wheel rotation angle of a target vehicle;
determining an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
determining a first corner threshold value, a second corner threshold value, a first corner speed threshold value and a second corner speed threshold value corresponding to the target vehicle based on the current vehicle speed;
determining a corner type corresponding to the target vehicle based on the current steering wheel corner, the first corner threshold value and the second corner threshold value;
determining a steering wheel rotational speed corresponding to the current steering wheel rotational angle, and determining a rotational speed type corresponding to the target vehicle based on the steering wheel rotational speed, the first rotational speed threshold, and the second rotational speed threshold;
a target turning state of the target vehicle is determined based on the corner type, the corner speed type, and the initial turning state.
2. The method of claim 1, wherein the corner types include a small corner type, a medium corner type, and a large corner type, the corner speed types include a small corner speed type, a medium corner speed type, and a large corner speed type, the determining the target turning state of the target vehicle based on the corner type, the corner speed type, and the initial turning state includes:
If the corner type is a large corner type or the corner speed type is a large corner speed type, determining a target turning state of the target vehicle based on an initial turning state; or,
and if the corner type is a medium corner type and the corner speed type is a medium corner speed type, determining a target turning state of the target vehicle based on the initial turning state.
3. The method of claim 2, wherein the determining the target turning state of the target vehicle based on the corner type, the corner speed type, and the initial turning state further comprises:
if the corner type is a small corner type and the corner speed type is a small corner speed type or a medium corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state; or,
and if the corner type is a transfer corner type and the corner speed type is a small corner speed type, determining that the target turning state of the target vehicle is a vehicle steady-state turning state.
4. The method according to claim 1, wherein the determining an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration includes:
Determining the direction information of the current lateral acceleration, the direction information of the lateral acceleration change information and the current value corresponding to the lateral acceleration change information;
and determining an initial turning state of the target vehicle based on each piece of direction information and the current value.
5. The method of claim 4, wherein the determining an initial turning state of the target vehicle based on each of the direction information and the current value comprises:
if the current value is not zero and the direction information of the current lateral acceleration is opposite to the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle bending-out state;
if the current value is not zero and the direction information of the current lateral acceleration is the same as the direction information of the lateral acceleration change information, determining that the initial turning state of the target vehicle is a vehicle turning state;
and if the current value is zero, determining that the initial turning state of the target vehicle is a vehicle steady-state turning state.
6. A vehicle turning state determination device characterized by comprising:
The acquisition module is used for acquiring the current speed, the current lateral acceleration and the current steering wheel rotation angle of the target vehicle;
a first determining module, configured to determine an initial turning state of the target vehicle based on the current lateral acceleration and lateral acceleration change information corresponding to the current lateral acceleration;
the second determining module is used for determining a first corner threshold value, a second corner threshold value, a first corner speed threshold value and a second corner speed threshold value corresponding to the target vehicle based on the current vehicle speed;
determining a corner type corresponding to the target vehicle based on the current steering wheel corner, the first corner threshold value and the second corner threshold value;
determining a steering wheel rotational speed corresponding to the current steering wheel rotational angle, and determining a rotational speed type corresponding to the target vehicle based on the steering wheel rotational speed, the first rotational speed threshold, and the second rotational speed threshold;
a target turning state of the target vehicle is determined based on the corner type, the corner speed type, and the initial turning state.
7. An electronic device, the electronic device comprising:
At least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle turning state determination method of any one of claims 1-5.
8. A computer readable storage medium storing computer instructions for causing a processor to implement the vehicle turning condition determination method of any one of claims 1-5 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210386307.4A CN114735075B (en) | 2022-04-13 | 2022-04-13 | Vehicle turning state determining method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210386307.4A CN114735075B (en) | 2022-04-13 | 2022-04-13 | Vehicle turning state determining method and device, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114735075A CN114735075A (en) | 2022-07-12 |
| CN114735075B true CN114735075B (en) | 2023-06-13 |
Family
ID=82281250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210386307.4A Active CN114735075B (en) | 2022-04-13 | 2022-04-13 | Vehicle turning state determining method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114735075B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117656743A (en) * | 2023-04-10 | 2024-03-08 | 比亚迪股份有限公司 | Vehicle attitude control method, controller and vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07110899A (en) * | 1993-10-12 | 1995-04-25 | Mazda Motor Corp | Obstacle detecting device for vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8775006B2 (en) * | 2011-07-14 | 2014-07-08 | GM Global Technology Operations LLC | System and method for enhanced vehicle control |
| DE102012023361A1 (en) * | 2012-11-28 | 2014-05-28 | Audi Ag | Method and device for securing a lane change and vehicle |
| CN107512217A (en) * | 2017-07-12 | 2017-12-26 | 北京雄信息科技有限公司 | The method and apparatus of switch steering indicating light based on OBD |
| CN111267853B (en) * | 2018-12-03 | 2021-06-18 | 广州汽车集团股份有限公司 | Adaptive vehicle curve auxiliary control method and device, computer equipment and storage medium |
| CN110606092B (en) * | 2019-09-09 | 2021-05-18 | 中国第一汽车股份有限公司 | Method and device for determining driving state, vehicle and storage medium |
| CN114261252B (en) * | 2022-01-10 | 2023-10-03 | 中国第一汽车股份有限公司 | Active stabilizer bar control method, device, equipment and medium |
-
2022
- 2022-04-13 CN CN202210386307.4A patent/CN114735075B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07110899A (en) * | 1993-10-12 | 1995-04-25 | Mazda Motor Corp | Obstacle detecting device for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114735075A (en) | 2022-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114735075B (en) | Vehicle turning state determining method and device, electronic equipment and storage medium | |
| CN113085842B (en) | Vehicle control method and device and vehicle | |
| CN114919661B (en) | Parking control method, device, equipment and storage medium | |
| CN117261880A (en) | Vehicle control method, device, equipment and storage medium | |
| CN115871683A (en) | Vehicle yaw angular velocity determination method and device, vehicle and medium | |
| CN114120252B (en) | Automatic driving vehicle state identification method and device, electronic equipment and vehicle | |
| CN113296100B (en) | Single millimeter wave radar target output method, device, equipment and storage medium | |
| CN114719875B (en) | Automatic driving path planning method and device, electronic equipment, medium and vehicle | |
| CN117589188B (en) | Driving path planning method, driving path planning device, electronic equipment and storage medium | |
| CN117864172B (en) | Automatic driving control method, device and equipment | |
| CN117885806A (en) | Torque compensation method and device based on steering information of steering wheel | |
| CN118033643A (en) | Ultrasonic radar ranging data processing method, device, equipment and medium | |
| CN116238516A (en) | Dangerous target screening method and device, electronic equipment and storage medium | |
| CN115063998B (en) | Auxiliary driving data transmission method, device and equipment | |
| CN116620400A (en) | Rear wheel steering control method and device, target controller and storage medium | |
| CN117207967A (en) | Adaptive cruise following target selection method, device, equipment and medium | |
| CN115743175A (en) | Control method, device and equipment for automatic driving vehicle, storage medium and vehicle | |
| CN116788276A (en) | Vehicle control method, vehicle and storage medium | |
| CN116534037A (en) | Fault detection method, device, equipment and storage medium | |
| CN115752426A (en) | Navigation position prediction method, device, equipment and medium | |
| CN116483085A (en) | Planning track determining method, device, equipment and storage medium | |
| CN116620326A (en) | Vehicle avoiding method, device, equipment and medium | |
| CN116386327A (en) | Road condition early warning method and system based on driving mode switching | |
| CN116653945A (en) | Vehicle transverse control method and device, electronic equipment and storage medium | |
| CN116495003A (en) | Collision early warning method, device, equipment and storage medium |
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 |