The invention provides a vehicle turning control method, control device and equipment based on driving assistance, and relates to the technical field of automatic control. The method comprises the following steps: acquiring a to-be-driven path from a driving assistance map, wherein the to-be-driven path takes the current position of a vehicle as a starting point, has the length meeting a distance threshold value and is matched with the driving direction of the vehicle; the maximum rollover acceleration of the vehicle is obtained, the expected curve speed of each curve is calculated according to curve path information of the curves on the to-be-driven path, and the minimum curve speed is selected as the expected path speed; and if the current vehicle speed of the vehicle is greater than the path expected vehicle speed, performing corresponding vehicle speed regulation and control on the vehicle according to the position relationship between the vehicle and the nearest curve and the affiliation relationship between the path expected vehicle speed and the nearest curve. According to the position relation between the vehicle and the nearest curve and the affiliation relation between the maximum expected vehicle speed of the path and the nearest curve, more vehicle speed regulation and control reference items are added, a control strategy better conforming to complex road conditions is obtained, and higher stability and safety are provided for the vehicle.

    本申请提供一种基于驾驶辅助的车辆过弯控制方法、控制装置及设备,涉及自动控制技术领域。该方法包括:从驾驶辅助地图上,获取以车辆当前位置为起点、长度满足距离阈值且与车辆行驶方向匹配的待行驶路径;获取车辆的侧翻最大加速度,根据待行驶路径上弯道的弯道路径信息,计算每个弯道的弯道期望车速,并选最小的作为路径期望车速;若车辆的当前车速大于路径期望车速,则根据车辆与最近弯道的位置关系和路径期望车速与最近弯道的从属关系,对车辆进行相应的车速调控。本发明根据车辆与最近弯道位置关系和路径最大期望车速与最近弯道的从属关系,增加更多的车速调控参考项,得到更加符合复杂道路状况的控制策略,为车辆提供更高的稳定性和安全性。


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    Title :

    Vehicle turning control method, control device and equipment based on driving assistance


    Additional title:

    一种基于驾驶辅助的车辆过弯控制方法、控制装置及设备


    Contributors:
    ZHAO YUCHAO (author) / YU SHAOYUAN (author) / ZHAO XIAOLONG (author) / TIAN LEI (author)

    Publication date :

    2023-12-15


    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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