The embodiment of the invention discloses a curve vehicle speed control method and device, equipment and a medium. The method comprises the steps of when it is detected that the driving condition of a vehicle is the condition that the vehicle is about to drive into a curve, obtaining track point information of a driving track within the preset distance in front of the current position of the vehicle; determining a target speed limit value corresponding to each track point according to the road speed limit value and curvature corresponding to each track point and a preset lateral acceleration threshold value, and performing speed limit filtering on the target speed limit value corresponding to each track point; and in the running process of the vehicle, determining the current target vehicle speed of the vehicle according to the preset preview time and the target speed limit values corresponding to the filtered track points, and controlling the vehicle to run according to the current target vehicle speed of the vehicle until the running working condition of the vehicle is the working condition of driving out of the curve. According to the method of the invention, the vehicle can stably decelerate in advance when the vehicle is about to run to a curve with a relatively large curvature, and can safely pass through a curve section with a relatively large curvature at a low speed, so that the safety and comfort of the vehicle are improved.

    本发明实施例公开了一种弯道车速控制方法、装置、设备及介质。其中,方法包括:在检测到车辆的行驶工况为即将驶入弯道工况时,获取车辆当前位置前方的预设距离内的行驶轨迹的轨迹点信息;根据各轨迹点对应的道路限速值和曲率以及预设的侧向加速度阈值,确定各轨迹点对应的目标限速值,并对各轨迹点对应的目标限速值进行限速滤波;在车辆的行驶过程中,根据预设的预瞄时间、滤波后的各轨迹点对应的目标限速值,确定车辆的当前目标车速,根据车辆的当前目标车速控制车辆行驶,直至车辆的行驶工况为驶出弯道工况。本发明实施例可以使得车辆能够在即将行驶到曲率较大的弯道时提前平稳减速,安全低速通过大曲率弯道路段,提高车辆的安全性及舒适性。


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    Title :

    Curve vehicle speed control method and device, equipment and medium


    Additional title:

    一种弯道车速控制方法、装置、设备及介质


    Contributors:
    ZHANG YONG (author) / CHEN ZHIXIN (author) / SHANG BINGXU (author) / LIU YANG (author) / WANG HONGFENG (author) / LI YUJI (author) / HUANG HAIYANG (author) / XU CHAOWEN (author)

    Publication date :

    2021-09-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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