The invention discloses a curve speed limit calculation module which is used for an intelligent driving assistance system. Comprising a transverse acceleration speed-limiting unit, a vehicle motion state curvature radius estimation speed-limiting unit, a steering wheel angle speed-limiting unit and a sensing data curvature estimation speed-limiting unit, wherein the expected acceleration, the first acceleration change rate limiting quantity and the second acceleration change rate limiting quantity are obtained according to different parameters; the acceleration amplitude limiting output unit takes the minimum value from the expected accelerations obtained by the units to obtain the expected acceleration of the curve to be subjected to amplitude limiting, takes the minimum value from the first acceleration change rate limiting quantity and the second acceleration change rate limiting quantity to obtain the minimum acceleration change rate limiting quantity, and performs amplitude limiting processing on the expected acceleration of the curve to be subjected to amplitude limiting to obtain the expected acceleration of the curve to be subjected to amplitude limiting. And calculating to obtain the final vehicle curve expected acceleration. According to the method, the smoothness of pre-deceleration and speed limiting of the curve can be improved, the speed limiting performance of the curve is enhanced, and the driving safety of vehicle turning can be improved.

    本发明公开了一种弯道限速计算模块,其用于智能驾驶辅助系统,包括:横向加速度限速单元、车辆运动状态估计曲率半径限速单元、方向盘转角限速单元和感知数据估计曲率限速单元根据不同参数分别获得期望加速度、第一加速度变化率限制量和第二加速度变化率限制量;加速度限幅输出单元在上述各单元获得期望加速度中取最小值,得出待限幅的弯道期望加速度,其在第一加速度变化率限制量和第二加速度变化率限制量取小值获得最小加速度变化率限制量,对待限幅的弯道期望加速度进行限幅处理,计算得到最终的车辆弯道期望加速度。本发明能提升弯道预减速和限速的平顺性,增强弯道限速性能,并且能提升车辆过弯的行驶安全性。


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    Title :

    Curve speed limit calculation system and method


    Additional title:

    弯道限速计算系统及方法


    Contributors:
    HE YICHAO (author) / HOU SHICHANG (author) / LI HAO (author) / TONG YUWEI (author) / TIAN HE (author) / LU CHANG (author)

    Publication date :

    2023-06-23


    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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