The invention discloses a curve control method and device of an adaptive cruise control system, equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a current curvature value and a current curvature change rate of a vehicle at a current lane position; determining a current curvature gain based on the current curvature change rate, and optimizing the current curvature gain based on a relationship between the current curvature change rate and the current curvature value to obtain an optimized curvature gain; determining a current lane curvature based on the current curvature value, the current curvature change rate, the optimized curvature gain and a longitudinal distance between a preset aiming point position and the vehicle; and determining a target vehicle speed by using the current lane curvature and the current transverse acceleration of the vehicle so as to control the vehicle to run in a curve by using the target vehicle speed. The comfort, the stability and the timeliness of the adaptive cruise control system in curve control are improved.
本申请公开了一种自适应巡航控制系统的弯道控制方法、装置、设备及介质,涉及自动驾驶技术领域,包括:获取自车在当前车道位置的当前曲率值和当前曲率变化率;基于所述当前曲率变化率确定当前曲率增益,并基于所述当前曲率变化率与所述当前曲率值之间的关系对所述当前曲率增益进行优化,得到优化后曲率增益;基于所述当前曲率值、所述当前曲率变化率、所述优化后曲率增益以及预设瞄点位置与所述自车之间的纵向距离确定出当前车道曲率;利用所述当前车道曲率和所述自车的当前横向加速度确定出目标车速,以利用所述目标车速控制所述自车在弯道中行驶。本申请提升了自适应巡航控制系统在弯道控制中的舒适性,稳定性和及时性。
Curve control method, device and equipment of self-adaptive cruise control system and medium
自适应巡航控制系统的弯道控制方法、装置、设备及介质
2024-01-09
Patent
Electronic Resource
Chinese
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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