The invention provides a curve vehicle speed control method and device, electronic equipment and a storage medium, and relates to the field of adaptive cruise, and the method comprises the steps: when a current preview point is extracted from a lane curve, determining an initial curvature corresponding to the current preview point, and determining an initial curvature change rate according to a historical curvature corresponding to a previous preview point and the initial curvature; the change rate limiting range is used for correcting the initial curvature change rate to obtain a target curvature change rate, the target curvature change rate is used for correcting the initial curvature to obtain a target curvature, the change rate limiting range is generated according to the initial curvature and a preset change rate basic limiting range, and the size of the change rate limiting range is in negative correlation with the initial curvature; and determining a target acceleration corresponding to the current preview point by using the target curvature so as to control the vehicle, the curve curvature calculated from the current preview point can be adaptively limited and corrected, so that the vehicle can be ensured to smoothly accelerate and decelerate in the curve.

    本申请提供一种弯道车速控制方法、装置、电子设备及存储介质,涉及自适应巡航领域,方法包括:当在车道弯道中提取到当前预瞄点时,确定当前预瞄点对应的初始曲率,并根据上一预瞄点对应的历史曲率和初始曲率确定初始曲率变化率;利用变化率限制范围修正初始曲率变化率得到目标曲率变化率,并利用目标曲率变化率修正初始曲率得到目标曲率,其中变化率限制范围根据初始曲率和预设变化率基础限制范围生成,变化率限制范围的大小与初始曲率成负相关关系;利用目标曲率确定当前预瞄点对应的目标加速度,以对车辆进行控制;可对从当前预瞄点计算得到的弯道曲率进行自适应限制及修正,从而确保车辆可在弯道中平顺地进行加减速。


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    Titel :

    Curve vehicle speed control method and device, electronic equipment and storage medium


    Weitere Titelangaben:

    一种弯道车速控制方法、装置、电子设备及存储介质


    Beteiligte:
    WANG SHUAI (Autor:in)

    Erscheinungsdatum :

    2023-04-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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