CN112477875B - Vehicle speed micro-control method and device, electronic equipment and storage medium - Google Patents
Vehicle speed micro-control method and device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The disclosure relates to the field of intelligent traffic, and discloses a vehicle speed micro-control method, a vehicle speed micro-control device, electronic equipment and a storage medium, wherein the vehicle speed micro-control method comprises the following steps: acquiring a real included angle of the vehicle in each effective unit time block in the effective period of the direction change instruction of the vehicle, wherein the effective unit time block comprises a current unit time block; estimating a target included angle of the vehicle in a unit time block next to the current unit time block based on the real included angle of the vehicle in each effective unit time block; acquiring a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block; and adjusting to obtain a second vehicle speed on the basis of the first vehicle speed based on the comparison result of the target included angle and the safety included angle, and controlling the vehicle speed of the vehicle at the next unit time block to be the second vehicle speed. The embodiment of the disclosure effectively improves the safety of vehicle driving on the premise of facing uncontrollable factors.
Description
Technical Field
The disclosure relates to the field of intelligent traffic, and in particular, to a vehicle speed micro-control method, a vehicle speed micro-control device, an electronic device and a storage medium.
Background
With the rapid development of information technology, it has become a trend to combine information technology with vehicle control technology to create safer and more efficient traffic. The most important requirement in intelligent traffic can be said to be that the safety of vehicle driving is improved in order to ensure the personal safety of vehicle drivers. During the running of the vehicle, various uncontrollable factors which may cause the vehicle to be out of control or to overturn often occur, such as: the road surface will be randomly exposed to depressions or obstacles. However, in the prior art, no improvement is provided on how to effectively improve the driving safety of the vehicle on the premise of facing uncontrollable factors.
Disclosure of Invention
The disclosure provides a vehicle speed micro-control method, a vehicle speed micro-control device, an electronic device and a storage medium, and mainly aims to effectively improve the driving safety of a vehicle on the premise of facing uncontrollable factors.
In order to achieve the above object, the present disclosure provides a vehicle speed micro-control method, including:
acquiring a real included angle of the vehicle in each effective unit time block in the effective period of the direction change instruction of the vehicle, wherein the effective unit time block comprises a current unit time block;
estimating a target included angle of the vehicle in a unit time block next to the current unit time block based on the real included angle of the vehicle in each effective unit time block;
acquiring a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block;
and adjusting to obtain a second vehicle speed on the basis of the first vehicle speed based on the comparison result of the target included angle and the safety included angle, and controlling the vehicle speed of the vehicle at the next unit time block to be the second vehicle speed.
Optionally, obtaining the real included angle of the vehicle in each validated unit time block includes:
aiming at each effective unit time block, acquiring an included angle monitoring curve in the effective unit time block;
and calculating an average included angle in the validated unit time block based on the included angle monitoring curve, and determining the average included angle as a real included angle of the validated unit time block.
Optionally, estimating a target included angle of the vehicle at a unit time block next to the current unit time block based on the real included angle of the vehicle at each validated unit time block, including:
acquiring the speed of the vehicle in each effective unit time block;
determining the weight corresponding to the real included angle of the vehicle in each effective unit time block based on the vehicle speed of the vehicle in each effective unit time block;
and calculating the weighted average value of the real included angles of the vehicles in each effective unit time block based on the weight, and determining the weighted average value as the target included angle.
Optionally, determining a weight corresponding to the true included angle of the vehicle in each validated unit time block based on the vehicle speed of the vehicle in each validated unit time block includes:
calculating the sum of the vehicle speed of the vehicle in each effective unit time block;
calculating the proportion of the vehicle speed of each effective unit time block in the sum;
and determining the weight corresponding to the real included angle of the vehicle in each effective unit time block as the corresponding proportion.
Optionally, determining a weight corresponding to the true included angle of the vehicle in each validated unit time block based on the vehicle speed of the vehicle in each validated unit time block includes:
and if the speed of the vehicle in each effective unit time block is the same, determining the weight corresponding to the real included angle of the vehicle in each effective unit time block as 1.
Optionally, estimating a target included angle of the vehicle at a unit time block next to the current unit time block based on the real included angle of the vehicle at each validated unit time block, including:
arranging and fitting the real included angle of the vehicle in each effective unit time block according to a time sequence to obtain a fitted curve, wherein the fitted curve is used for describing the change trend of the real included angle of the vehicle in each effective unit time block;
and according to the fitted curve, estimating a target included angle of the vehicle in a unit time block next to the current unit time block.
Optionally, based on a comparison result between the target included angle and the safety included angle, adjusting the first vehicle speed to obtain a second vehicle speed includes:
if the target included angle is smaller than or equal to the safe included angle, controlling the second vehicle speed to be equal to the first vehicle speed;
and if the target included angle is larger than the safe included angle, controlling the second vehicle speed to be smaller than the first vehicle speed.
In order to solve the above problem, the present disclosure also provides a vehicle speed micro-control device, the device including:
the vehicle direction change control device comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is configured to obtain a real included angle of a vehicle in each effective unit time block during the effective period of a vehicle direction change instruction, and the effective unit time blocks comprise a current unit time block;
the estimation module is configured to estimate a target included angle of the vehicle in a unit time block next to the current unit time block based on the real included angle of the vehicle in each effective unit time block;
the second acquisition module is configured to acquire a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block;
and the adjusting module is configured to adjust the first vehicle speed to obtain a second vehicle speed based on the comparison result of the target included angle and the safety included angle, and control the vehicle speed of the next unit time block to be the second vehicle speed.
In order to solve the above problem, the present disclosure also provides an electronic device, including:
a memory storing at least one instruction; and
and the processor executes the instructions stored in the memory to realize the vehicle speed micro-control method.
In order to solve the above problem, the present disclosure also provides a computer-readable storage medium having at least one instruction stored therein, where the at least one instruction is executed by a processor in an electronic device to implement the vehicle speed micro control method.
In the embodiment of the disclosure, during the validation period of the direction change instruction of the vehicle, the target included angle of the time to be validated next is estimated continuously according to the real included angle in the validated time in the validation period, and then the vehicle speed of the time to be validated next is determined on the basis of the current vehicle speed according to the comparison between the target included angle and the safety included angle corresponding to the current vehicle speed. In the process, each estimation of the target included angle is obtained according to the actual real included angle, and the actual real included angle is influenced by uncontrollable factors, so that the estimation of the target included angle takes the irresistible factors into consideration to a certain extent. Therefore, the speed adjustment based on the target included angle also takes nonreactive factors into consideration to a certain extent. Therefore, the embodiment of the disclosure can be applied to the field of intelligent traffic, and effectively improves the safety of vehicle driving on the premise of facing uncontrollable factors, thereby promoting the construction of intelligent cities.
Drawings
Fig. 1 is a schematic flow chart of a vehicle speed micro-control method according to an embodiment of the disclosure.
Fig. 2 is a schematic block diagram of a vehicle speed micro-control device according to an embodiment of the disclosure.
Fig. 3 is a schematic diagram of an internal structure of an electronic device implementing a vehicle speed micro-control method according to an embodiment of the disclosure.
The objects, features, and advantages of the present disclosure will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the disclosure and are not intended to limit the disclosure.
The present disclosure provides a vehicle speed micro-control method. Referring to fig. 1, a schematic flow chart of a vehicle speed micro-control method according to an embodiment of the present disclosure is shown. The method may be performed by an apparatus, which may be implemented by software and/or hardware.
In the embodiment of the disclosure, during the running process of a vehicle, an included angle of the vehicle is monitored to obtain a vehicle speed, wherein the included angle is used for describing an angle between a wheel and a vehicle body, and the vehicle speed micro-control method comprises the following steps:
s1, acquiring a real included angle of the vehicle in each effective unit time block in the effective period of the direction change instruction of the vehicle, wherein the effective unit time block comprises a current unit time block;
s2, estimating a target included angle of the vehicle in a unit time block next to the current unit time block based on the real included angle of the vehicle in each effective unit time block;
s3, acquiring a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block;
and S4, adjusting to obtain a second vehicle speed on the basis of the first vehicle speed based on the comparison result of the target included angle and the safety included angle, and controlling the vehicle speed of the vehicle in the next unit time block to be the second vehicle speed.
In the embodiment of the disclosure, during the validation period of the direction change instruction of the vehicle, the target included angle of the time to be validated next is estimated continuously according to the real included angle in the validated time in the validation period, and then the vehicle speed of the time to be validated next is determined on the basis of the current vehicle speed according to the comparison between the target included angle and the safety included angle corresponding to the current vehicle speed. In the process, each estimation of the target included angle is obtained according to the actual real included angle, and the actual real included angle is influenced by uncontrollable factors, so that the estimation of the target included angle takes the irresistible factors into consideration to a certain extent. Therefore, the vehicle speed adjustment based on the target included angle also takes nonresistance factors into consideration to a certain extent. Therefore, the embodiment of the disclosure can be applied to the field of intelligent traffic, and effectively improves the safety of vehicle driving on the premise of facing uncontrollable factors, thereby promoting the construction of intelligent cities.
The vehicle speed micro-control method provided by the embodiment of the disclosure is used for controlling the vehicle speed of a vehicle in a trip, and can be executed by an intelligent control system installed on the vehicle.
In the embodiment of the disclosure, in the running process of the vehicle, the intelligent control system monitors the included angle and the speed of the vehicle. The included angle refers to an angle between a wheel of the vehicle and a vehicle body of the vehicle, and the angle is generally greater than or equal to 0 degree and less than or equal to 90 degrees. It can be understood that under the condition that other various objective factors are the same, the vehicle is more likely to overturn if the included angle is larger, namely, the safety of the vehicle is lower if the included angle is larger; similarly, the smaller the included angle, the higher the safety of the vehicle. Under the condition that other various objective factors are the same, the included angle is fixed, the vehicle is more likely to overturn when the vehicle speed is higher, namely, the vehicle safety is lower when the vehicle speed is higher; similarly, the smaller the vehicle speed, the higher the safety of the vehicle.
In the embodiment of the disclosure, the intelligent control system mainly performs micro-control on the vehicle speed during the effective period of the direction change instruction of the vehicle. The direction change command of the vehicle generally refers to a steering wheel-turning command of the vehicle. It will be appreciated that the angle of the vehicle changes during the duration of the steering wheel manoeuvre, thereby altering the direction of the vehicle. Therefore, the effective period of the direction change command of the vehicle is generally the effective period of the steering wheel operation command of the vehicle.
In the embodiment of the present disclosure, the effective period of the direction change instruction of the vehicle is divided into unit time blocks of substantially equal duration. For example: the direction change command of the vehicle is effective from 00. If the length of the unit time block is 2 seconds, three unit time blocks of [ 00.
It should be noted that, since the length of the unit time block is generally preset, and the duration of the direction change command cannot be determined in advance, the last unit time block may not be as long as other unit time blocks. For example: the direction change command of the vehicle is effective from 00. If the length of the unit time block is 2 seconds, three unit time blocks of [ 00. The length of the last unit time block is 1 second, and the lengths of the other unit time blocks are 2 seconds.
In the embodiment of the disclosure, the real included angle of the vehicle in each effective unit time block is obtained in each unit time block in the effective period of the direction change instruction of the vehicle; estimating a target included angle of the vehicle in the next unit time block based on the real included angle of the vehicle in each effective unit time block; and then adjusting the first vehicle speed of the current unit time block on the basis of the target included angle to obtain a second vehicle speed, and controlling the vehicle to run at the second vehicle speed in the next unit time block. Wherein, the real included angle refers to an actually measured included angle; the target included angle refers to an estimated included angle. The target angle of the next unit time block may be different from the real angle of the next unit time block.
For example: the effective period of the direction change command of the vehicle is divided into 4 unit time blocks, and the unit time blocks are sequentially denoted as a block 1, a block 2, a block 3, and a block 4 in chronological order.
The vehicle speed at block 1 is V1. At this time, the validated unit time block is block 1. Estimating a target included angle of the block 2 based on the real included angle of the block 1; and further adjusting V1 on the basis of the target included angle of the block 2 to obtain V2, and controlling the vehicle speed of the vehicle at the time of the block 2 to be V2.
The vehicle speed at block 2 is V2. At this time, the validated unit time blocks are block 1 and block 2. Estimating a target included angle of the block 3 based on the real included angle of the block 1 and the real included angle of the block 2; and adjusting V2 on the basis of the target included angle of the block 3 to obtain V3, and controlling the speed of the vehicle at the time of the block 3 to be V3.
Similarly, the processing procedures at block 3 and block 4 are not described in detail herein.
In one embodiment, obtaining the real included angle of the vehicle in each effective unit time block comprises:
aiming at each effective unit time block, acquiring an included angle monitoring curve in the effective unit time block;
and calculating an average included angle in the validated unit time block based on the included angle monitoring curve, and determining the average included angle as a real included angle of the validated unit time block.
In this embodiment, the real included angle of the validated unit time block is determined by means of a mathematical curve.
Specifically, in each validated unit time block, an included angle monitoring curve of the validated unit time block is established according to the monitored included angle record. Wherein the angle monitoring curve is used for describing the angle of the vehicle changing with time in the effective unit time block. And further calculating an average included angle in the validated unit time block based on the included angle monitoring curve, and determining the average included angle as a real included angle of the validated unit time block.
Calculating the average included angle in the effective unit time block based on the included angle monitoring curve, and calculating the average included angle by calculating the area enclosed by the included angle monitoring curve and a coordinate system and further averaging the area; or selecting a plurality of discrete points at equal intervals on the included angle monitoring curve, and then calculating the average included angle by averaging the included angles respectively corresponding to the plurality of discrete points.
The embodiment has the advantages that the average included angle calculated according to the included angle monitoring curve is determined as the real included angle by monitoring the included angle, and the reliability of the obtained real included angle is ensured.
It should be noted that the embodiment is only an example and should not limit the function and the application scope of the disclosure. It can be understood that, because the time length of the unit time block is generally short, the change range of the included angle in the unit time block is also short, so that the included angle at a moment can be randomly selected in the unit time block which has taken effect as the real included angle of the unit time block which has taken effect, thereby reducing the requirement on calculation resources.
In one embodiment, estimating a target angle of the vehicle at a unit time block next to the current unit time block based on the real angle of the vehicle at each validated unit time block comprises:
acquiring the speed of the vehicle in each effective unit time block;
determining the weight corresponding to the real included angle of the vehicle in each effective unit time block based on the vehicle speed of the vehicle in each effective unit time block;
based on the weight, calculating a weighted average value of the real included angles of the vehicles in each effective unit time block, and determining the weighted average value as the target included angle.
In the embodiment, the target included angle of the next unit time block is estimated by a mathematical mean value method under the condition of considering the influence of the vehicle speed on the included angle.
Specifically, the speed of the vehicle in each effective unit time block is obtained; further determining the weight corresponding to the real included angle of the vehicle in each effective unit time block based on the vehicle speed; and further calculating a weighted average value of the real included angles based on the weight, and determining the weighted average value as the target included angle.
For example: the effective period of the direction change command of the vehicle is divided into 4 unit time blocks, and is represented as block 1, block 2, block 3, and block 4 in chronological order.
The speed of the vehicle is V1 at the block 1, and the real included angle of the block 1 is R1; at block 2, the vehicle speed is V2, and the true angle of block 2 is R2.
Then, at block 2, based on V1 and V2, weight W1 corresponding to R1 and weight W2 corresponding to R2 are determined, and target included angle R3= (R1 × W1+ R2 × W2) of block 3 is estimated.
In one embodiment, determining the weight corresponding to the true angle of the vehicle in each validated unit time block based on the vehicle speed of the vehicle in each validated unit time block includes:
calculating the sum of the vehicle speed of the vehicle in each effective unit time block;
calculating the proportion of the vehicle speed of each effective unit time block in the sum;
and determining the weight corresponding to the real included angle of the vehicle in each effective unit time block as the corresponding proportion.
In the embodiment, the weight corresponding to the real included angle of each effective unit time block is determined according to the vehicle speed ratio.
Specifically, the sum of the vehicle speed of each effective unit time block is calculated; further calculating the proportion of the vehicle speed of each effective unit time in the sum; and determining the weight corresponding to the real included angle of each effective unit time block as a corresponding proportion.
For example: when the block 1 is used, the vehicle speed is V1, and the real included angle of the block 1 is R1; at block 2, the vehicle speed is V2, and the true angle of block 2 is R2.
Then, at block 2, the weight W1= V1/(V1 + V2) corresponding to R1 and the weight W2= V2/(V1 + V2) corresponding to R2 are calculated, and then the target angle R3= (R1 × W1+ R2 = W2) of block 3 is estimated.
In one embodiment, determining the weight corresponding to the real included angle of the vehicle in each validated unit time block based on the vehicle speed of the vehicle in each validated unit time block comprises:
and if the speed of the vehicle in each effective unit time block is the same, determining the weight corresponding to the real included angle of the vehicle in each effective unit time block as 1.
In this embodiment, if the vehicle speed of the vehicle in each effective unit time block is the same, that is, if the vehicle is traveling at a constant speed within the effective time, the weight corresponding to the real included angle of the vehicle in each effective unit time block is determined to be 1.
In one embodiment, estimating a target angle of the vehicle at a unit time block next to the current unit time block based on the real angle of the vehicle at each validated unit time block comprises:
arranging and fitting the real included angles of the vehicles in each effective unit time block according to a time sequence to obtain a fitting curve, wherein the fitting curve is used for describing the change trend of the real included angles of the vehicles in each effective unit time block;
and estimating the target included angle of the vehicle in the next unit time block of the current unit time block according to the fitting curve.
In this embodiment, the target angle of the next unit time block is estimated by a statistical fitting method.
Specifically, the real included angles of the vehicles in each effective unit time block are arranged according to the sequence of the unit time blocks, and fitting is performed to obtain a fitting curve. Wherein the fitted curve describes the variation trend of the real included angle of each effective unit time block. And then estimating the target included angle of the next unit time block according to the variation trend described by the fitting curve.
For example: the effective period of the direction change command of the vehicle is divided into 4 unit time blocks, and the unit time blocks are sequentially denoted as a block 1, a block 2, a block 3, and a block 4 in chronological order.
At the time of block 3, the validated unit time blocks are block 1, block 2, and block 3. A coordinate system with the abscissa as the moment and the ordinate as the angle is established, and the real included angle R1 of the block 1, the real included angle R2 of the block 2, and the real included angle R3 of the block 3 are placed in the coordinate system to obtain three discrete points. And fitting the three discrete points in the coordinate system to obtain a fitted curve which describes the variation trend of the real included angle in the time from the block 1 to the block 3. And then estimating a target included angle R4 of the block 4 according to the variation trend described by the fitting curve.
The embodiment has the advantages that fitting is carried out in a statistical mode, then the target included angle is estimated, the deviation of artificial cognition can be reduced, and accurate estimation is carried out from the overall actual performance of the vehicle.
In one embodiment, adjusting the second vehicle speed based on the first vehicle speed based on the comparison result between the target angle and the safety angle includes:
if the target included angle is smaller than or equal to the safe included angle, controlling the second vehicle speed to be equal to the first vehicle speed;
and if the target included angle is larger than the safe included angle, controlling the second vehicle speed to be smaller than the first vehicle speed.
In this embodiment, if the target included angle is less than or equal to the safety included angle, it indicates that if the vehicle continues to run at the first vehicle speed and there is no risk of vehicle rollover, the vehicle can run at the first vehicle speed, and therefore the second vehicle speed is controlled to be equal to the first vehicle speed.
If the target included angle is larger than the safety included angle, the situation that the vehicle has the risk of overturning and needs to be decelerated if the vehicle continues to run at the first vehicle speed is indicated, and therefore the second vehicle speed is controlled to be smaller than the first vehicle speed. Specifically, the second vehicle speed may be obtained by reducing the first vehicle speed by a preset reduction ratio, for example: controlling the second vehicle speed to be equal to 80% of the first vehicle speed if the preset reduction ratio is 20%; the second vehicle speed can also be obtained by down-regulating the safe vehicle speed corresponding to the target included angle on the basis of the first vehicle speed, for example: the vehicle turning over is possible when the included angle of the vehicle is larger than 30 degrees under the condition that the vehicle speed is 50km/h, the vehicle turning over is possible only when the included angle of the vehicle is larger than 50 degrees under the condition that the vehicle speed is 40km/h, the first vehicle speed of the current unit time block is 50km/h, the estimated target included angle of the next unit time block is 40 degrees, and then the vehicle turning over method can be adjusted downwards on the basis of the first vehicle speed to obtain a second vehicle speed of 40 km/h.
As shown in fig. 2, is a functional block diagram of the vehicle speed micro-control device of the present disclosure.
The vehicle speed micro-control device 100 of the present disclosure may be installed in an electronic device. According to the realized functions, the vehicle speed micro-control device can comprise a first acquisition module 101, an estimation module 102, a second acquisition module 103 and an adjustment module 104. The modules of the present disclosure, which may also be referred to as units, refer to a series of computer program segments that can be executed by a processor of an electronic device and that can perform a fixed function, and are stored in a memory of the electronic device.
In the present embodiment, the functions of the respective modules/units are as follows:
the first obtaining module 101 is configured to obtain, at each unit time block during an effective period of a direction change instruction of a vehicle, a real included angle of the vehicle at each effective unit time block, where the effective unit time block includes a current unit time block;
the estimation module 102 is configured to estimate a target included angle of the vehicle in a unit time block next to the current unit time block based on a real included angle of the vehicle in each effective unit time block;
the second obtaining module 103 is configured to obtain a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block;
the adjusting module 104 is configured to adjust the first vehicle speed to obtain a second vehicle speed based on a comparison result between the target included angle and the safety included angle, and control the vehicle speed of the vehicle at the next unit time block to be the second vehicle speed.
Specifically, the functions specifically realized by the function template of the vehicle speed micro-control device 100 may refer to the description of the relevant steps in the embodiment corresponding to fig. 1, and are not repeated herein.
Fig. 3 is a schematic structural diagram of an electronic device implementing the vehicle speed micro-control method according to the present disclosure.
The electronic device 1 may include a processor 10, a memory 11, and a bus, and may further include a computer program, such as a vehicle speed micro-control program 12, stored in the memory 11 and operable on the processor 10.
The memory 11 includes at least one type of readable storage medium, which includes flash memory, removable hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a removable hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 1. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only to store application software installed in the electronic device 1 and various types of data, such as codes of a vehicle speed micro-control program, but also to temporarily store data that has been output or is to be output.
The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same or different functions, including one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The processor 10 is a Control Unit (Control Unit) of the electronic device, connects various components of the electronic device by using various interfaces and lines, and executes various functions and processes data of the electronic device 1 by operating or executing programs or modules (e.g., a vehicle speed micro Control program, etc.) stored in the memory 11 and calling data stored in the memory 11.
The bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is arranged to enable connection communication between the memory 11 and at least one processor 10 or the like.
Fig. 3 only shows an electronic device with components, and it will be understood by a person skilled in the art that the structure shown in fig. 2 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or a combination of certain components, or a different arrangement of components.
For example, although not shown, the electronic device 1 may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor 10 through a power management device, so as to implement functions of charge management, discharge management, power consumption management, and the like through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The electronic device 1 may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
Further, the electronic device 1 may further include a network interface, and optionally, the network interface may include a wired interface and/or a wireless interface (such as a WI-FI interface, a bluetooth interface, etc.), which are generally used for establishing a communication connection between the electronic device 1 and other electronic devices.
Optionally, the electronic device 1 may further comprise a user interface, which may be a Display (Display), an input unit (such as a Keyboard), and optionally a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the electronic device 1 and for displaying a visualized user interface, among other things.
It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.
The vehicle speed micro-control program 12 stored in the memory 11 of the electronic device 1 is a combination of instructions that, when executed in the processor 10, may implement:
acquiring a real included angle of the vehicle in each effective unit time block in the effective period of the direction change instruction of the vehicle, wherein the effective unit time block comprises a current unit time block;
estimating a target included angle of the vehicle in a unit time block next to the current unit time block based on the real included angle of the vehicle in each effective unit time block;
acquiring a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block;
and adjusting to obtain a second vehicle speed on the basis of the first vehicle speed based on the comparison result of the target included angle and the safety included angle, and controlling the vehicle speed of the vehicle at the next unit time block to be the second vehicle speed.
Specifically, the specific implementation method of the processor 10 for the instruction may refer to the description of the relevant steps in the embodiment corresponding to fig. 1, which is not described herein again.
Further, the integrated modules/units of the electronic device 1 may be stored in a computer readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. The computer-readable medium may include: any entity or device capable of carrying said computer program code, a recording medium, a usb-disk, a removable hard disk, a magnetic diskette, an optical disk, a computer Memory, a Read-Only Memory (ROM).
In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, functional modules in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the disclosure is not limited to the details of the foregoing illustrative embodiments, and that the present disclosure may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the disclosure being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present disclosure and not to limit the same, and although the present disclosure is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present disclosure without departing from the spirit and scope of the technical solutions of the present disclosure.
Claims (9)
1. A vehicle speed micro-control method is characterized in that an included angle of a vehicle and a vehicle speed are monitored during the running of the vehicle, wherein the included angle is used for describing an angle between a wheel and a vehicle body, and the method comprises the following steps:
acquiring a real included angle of the vehicle in each effective unit time block in the effective period of the direction change instruction of the vehicle, wherein the effective unit time block comprises a current unit time block;
estimating a target included angle of the vehicle in a unit time block next to the current unit time block based on the real included angle of the vehicle in each effective unit time block;
acquiring a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block;
adjusting to obtain a second vehicle speed on the basis of the first vehicle speed based on the comparison result of the target included angle and the safety included angle, and controlling the vehicle speed of the vehicle in the next unit time block to be the second vehicle speed;
the method comprises the following steps of estimating a target included angle of a vehicle in a unit time block next to a current unit time block based on a real included angle of the vehicle in each effective unit time block, wherein the method comprises the following steps:
acquiring the speed of the vehicle in each effective unit time block;
determining the weight corresponding to the real included angle of the vehicle in each effective unit time block based on the vehicle speed of the vehicle in each effective unit time block;
and calculating the weighted average value of the real included angles of the vehicles in each effective unit time block based on the weight, and determining the weighted average value as the target included angle.
2. The method of claim 1, wherein obtaining the true included angle of the vehicle at each validated block of unit time comprises:
aiming at each effective unit time block, acquiring an included angle monitoring curve in the effective unit time block;
and calculating an average included angle in the validated unit time block based on the included angle monitoring curve, and determining the average included angle as a real included angle of the validated unit time block.
3. The method of claim 1, wherein determining a weight corresponding to a true included angle for the vehicle at each validated unit time block based on the vehicle speed at each validated unit time block comprises:
calculating the sum of the vehicle speed of the vehicle in each effective unit time block;
calculating the proportion of the vehicle speed of each effective unit time block in the sum;
and determining the weight corresponding to the real included angle of the vehicle in each effective unit time block as the corresponding proportion.
4. The method of claim 1, wherein determining a weight corresponding to a true included angle for the vehicle at each validated unit time block based on the vehicle speed at each validated unit time block comprises:
and if the speed of the vehicle in each effective unit time block is the same, determining the weight corresponding to the real included angle of the vehicle in each effective unit time block as 1.
5. The method of claim 1, wherein estimating a target angle for a vehicle at a next unit time block of the current unit time block based on a true angle for the vehicle at each validated unit time block comprises:
arranging and fitting the real included angles of the vehicles in each effective unit time block according to a time sequence to obtain a fitting curve, wherein the fitting curve is used for describing the change trend of the real included angles of the vehicles in each effective unit time block;
and according to the fitted curve, estimating a target included angle of the vehicle in a unit time block next to the current unit time block.
6. The method of claim 1, wherein adjusting based on the comparison of the target angle and the safe angle to obtain a second vehicle speed comprises:
if the target included angle is smaller than or equal to the safe included angle, controlling the second vehicle speed to be equal to the first vehicle speed;
and if the target included angle is larger than the safe included angle, controlling the second vehicle speed to be smaller than the first vehicle speed.
7. A vehicle speed micro-control device, the device comprising:
the vehicle direction changing control device comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is configured to obtain a real included angle of a vehicle in each effective unit time block in each unit time block in an effective period of a vehicle direction changing instruction, and the effective unit time blocks comprise a current unit time block;
the estimation module is configured to estimate a target included angle of the vehicle in a unit time block next to the current unit time block based on the real included angle of the vehicle in each effective unit time block;
the second acquisition module is configured to acquire a safety included angle corresponding to a first vehicle speed of the vehicle in the current unit time block;
the adjusting module is configured to adjust on the basis of the comparison result of the target included angle and the safety included angle to obtain a second vehicle speed and control the vehicle speed of the vehicle in the next unit time block to be the second vehicle speed;
wherein the estimation module is configured to:
acquiring the speed of the vehicle in each effective unit time block;
determining the weight corresponding to the real included angle of the vehicle in each effective unit time block based on the vehicle speed of the vehicle in each effective unit time block;
and calculating the weighted average value of the real included angles of the vehicles in each effective unit time block based on the weight, and determining the weighted average value as the target included angle.
8. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a vehicle speed micro-control method as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements a vehicle speed micro-control method according to any one of claims 1 to 6.
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