The invention relates to the technical field of automobile control, in particular to a driving control method and system for an intelligent electric automobile in a curve scene, and the method comprises the steps: collecting a road image through a visual sensor, carrying out the binarization, obtaining a binary image, and obtaining a lane fitting curve curvature radius; whether the automobile enters the curve is judged according to the curvature radius change, and when the automobile is about to enter the curve, the road adhesion coefficient is obtained through vehicle passing and cloud data; the relative distance and relative angle information of the front vehicle and the vehicle are detected through the vehicle-mounted radar, whether the vehicle and the front vehicle are located on the same lane or not is judged by combining the curve curvature radius obtained by the visual sensor, and stable vehicle following and curve road changing of the vehicle are selected and completed according to the judgment result. According to the method, the vehicle following requirement is met as much as possible while the vehicle is ensured to stably run on the curve, and the vehicle can reliably, stably and comfortably run on the curve in a lane changing manner.
本发明涉及汽车控制技术领域,具体涉及一种弯道场景下智能电动汽车的行车控制方法及系统,包括:用视觉传感器采集道路图像二值化获取二值图像并获取车道拟合弯道曲率半径;根据曲率半径变化判断汽车是否进入弯道,当汽车将要进入弯道时通过车辆通行与云端数据获取路面附着系数,通过车载雷达检测前方车辆与自车的相对距离和相对角度信息结合视觉传感器获得的弯道曲率半径判断本车是否与前方车辆处于同一车道,根据判断结果选择并完成车辆弯道稳定跟车和弯道换路。本发明确保车辆在弯道上稳定行驶的同时尽可能满足跟车需求,可以使车辆在弯道上进行可靠、稳定和舒适的换道行驶。
Driving control method and system for intelligent electric vehicle in curve scene
一种弯道场景下智能电动汽车的行车控制方法及系统
2024-07-12
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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