The invention relates to the field of vehicle control, and discloses a vehicle deceleration strip crossing method and device, an intelligent vehicle and a readable storage medium. The method comprises the steps that when a vehicle is parked, whether the vehicle encounters a deceleration strip or not is judged; when the vehicle encounters the deceleration strip, the vehicle is controlled to start and move through the first preset torque, and if the vehicle is still in a static state after exceeding the first preset time, fixed increment torque is increased every second preset time until the vehicle is changed into a moving state from the static state; determining the movement distance of the vehicle in real time, obtaining the current speed and movement distance of the vehicle in real time when the vehicle enters a movement state and advances by a first distance, determining the suggested acceleration at the current moment from the calibration table according to the speed and the movement distance, and outputting corresponding control operation according to the suggested acceleration; and after the vehicle travels for a second distance, determining that the vehicle crosses the deceleration strip, and switching to longitudinal constant-speed control. Therefore, the deceleration strip can be automatically and stably crossed.

    本发明涉及车辆控制领域,公开了一种车辆减速带越过方法、装置、智能汽车及可读存储介质。所述方法包括:车辆进行泊车运动时,判断车辆是否遇到减速带;当车辆遇到减速带时,通过第一预设扭矩控制车辆起步运动,若车辆在超过第一预设时间后还处于静止状态,则每间隔第二预设时间增加固定的增量扭矩,直至车辆从静止状态变为运动状态;实时确定车辆的运动距离,当车辆进入运动状态并行进了第一距离后,实时获取当前车辆的速度和移动距离,根据速度和所述移动距离,从标定表确定当前时刻的建议加速度,根据所述建议加速度输出相应的控制操作;当车辆行进了第二距离后,确定所述车辆越过了减速带,则切换成纵向恒速控制。以确保能自动平稳的越过减速带。


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    Title :

    Vehicle deceleration strip crossing method and device, intelligent automobile and readable storage medium


    Additional title:

    车辆减速带越过方法、装置、智能汽车及可读存储介质


    Contributors:
    HE TIANYI (author) / PENG BINGSHUN (author) / GUO ZIYI (author)

    Publication date :

    2024-01-09


    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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