The invention discloses a vehicle curve driving speed control method, an intelligent cabin and a vehicle thereof.The method comprises the steps that a coordinate system with the vehicle as the center is established, lane line information of the current road condition is obtained, the curvature radius of a preview position is calculated and obtained according to a cubic equation of the lane line information, and the curvature radius of the preview position is calculated; and determining the maximum passing speed of the transverse curve and the maximum passing speed of the longitudinal curve corresponding to the curvature radius of the preview position, obtaining a target deceleration and determining a time constant, and calculating the final target deceleration of the curve deceleration in combination with the maximum passable speed and the time constant of the current curve. According to the method, through accurate lane line preview position judgment and curve radius measurement, in combination with a maximum passing speed calibration table of vehicle transverse control, optimal control over the speed of the vehicle in the curve is achieved, the maximum transverse acceleration of the vehicle under different curve conditions is calculated according to the geometric characteristics of the curve and in combination with vehicle kinetic parameters, and the vehicle transverse acceleration is calculated according to the maximum transverse acceleration of the vehicle under different curve conditions. And the optimal driving efficiency is realized.
本发明公开了一种车辆弯道行驶速度控制方法、智能座舱及其车辆,包括步骤:建立以自车为中心的坐标系,获取当前路况的车道线信息,根据所述车道线信息的三次方程计算并得到预瞄位置的曲率半径,确定预瞄位置的曲率半径对应的横向弯道最大通过速度和纵向弯道最大通过速度,得到目标减速度并确定时间常数,结合当前弯道的最大可通行速度和时间常数,计算得到弯道降速最终的目标减速度。本发明通过精确的车道线预瞄位置判断和弯道半径的测量,结合车辆横向控制的最大通过速度标定表,实现对车辆在弯道中速度的优化控制,根据弯道的几何特性并结合车辆动力学参数,计算出车辆在不同弯道条件下的最大横向加速度,实现最佳的行驶效率。
Vehicle curve running speed control method, intelligent cabin and vehicle thereof
一种车辆弯道行驶速度控制方法、智能座舱及其车辆
2024-11-15
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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