CN109263636A - Speed adjusting method, device and computer readable storage medium - Google Patents
Speed adjusting method, device and computer readable storage medium Download PDFInfo
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- CN109263636A CN109263636A CN201811008899.6A CN201811008899A CN109263636A CN 109263636 A CN109263636 A CN 109263636A CN 201811008899 A CN201811008899 A CN 201811008899A CN 109263636 A CN109263636 A CN 109263636A
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Automation & Control Theory (AREA)
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- Mathematical Physics (AREA)
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Abstract
The invention discloses a kind of speed adjusting methods, comprising: receives the state detecting information that motion state detection equipment is sent, wherein the state detecting information includes the acceleration detection information of acceleration sensing information, pitch angle detection information or vertical direction；Current driving status is determined according to the state detecting information, wherein the driving status includes at least bumpy road driving status or non-bumpy road driving status；When the driving status is bumpy road driving status, current travel speed is adjusted according to the state detecting information and pre-set velocity strength of adjustment corresponding with the state detecting information.The invention also discloses a kind of speed adjusting devices, computer readable storage medium.The present invention can carry out speed adjusting in bumpy road driving status, mitigate the loss to vehicle, improve the safety of driving.
Description
Technical field
The present invention relates to automobile technical field more particularly to a kind of speed adjusting methods, device and computer-readable storage
Medium.
Background technique
As the improvement of people's living standards, automobile increasingly becomes the essential vehicles of people, intelligent automobile
Also at the hot topic of studies in China, the research focus of personal vehicle system is identification to barrier and based on barrier system
Identification carries out the two aspects of path planning, and thermoacoustic prime engine of identification and bump course for bump course etc. technology has
It is short of.Vehicle when driving, relies primarily on the experience of driver itself to carry out the adjusting of speed, when to road on bump course
When situation has made the judgement of mistake or has failed to make speed regulation reaction in time after judging, the too fast traveling in bumpy road
Speed generates severe attrition to vehicle, it is also possible to jeopardize the safety of passengers inside the car.
Summary of the invention
The main purpose of the present invention is to provide a kind of speed adjusting method, device and computer readable storage medium, purports
Too fast travel speed generates severe attrition to vehicle on solving prior art bumpy road, it is also possible to jeopardize the peace of passengers inside the car
Full problem.
To achieve the above object, the present invention provides a kind of speed adjusting method, and the speed adjusting method includes:
Receive the state detecting information for the vehicle carrier that motion state detection equipment is sent；
Current driving status is determined according to the state detecting information, wherein the driving status is included at least and jolted
Road traveling state or non-bumpy road driving status；
When the driving status is bumpy road driving status, examined according to the state detecting information and with the state
The corresponding pre-set velocity strength of adjustment of measurement information adjusts current travel speed.
Preferably, the state detecting information includes adding for acceleration sensing information, pitch angle detection information or vertical direction
Acceleration sensing information.
Preferably, described to be adjusted according to the state detecting information and pre-set velocity corresponding with the state detecting information
Dynamics adjusts the step of current travel speed and includes:
The determining and matched pre-set velocity strength of adjustment of the state detecting information；
Current travel speed is adjusted according to the matched pre-set velocity strength of adjustment of the state detecting information.
Preferably, described the step of current driving status is determined according to the state detecting information, includes:
Judge that pitch angle whether there is positive and negative friendship in the period of predetermined time period according to the pitch angle detection information
For the case where；
If so, judging the maximum value of the positive pitch angle absolute value in the period and the maximum of negative pitch angle absolute value
Whether value is all larger than predetermined angle threshold value；
If so, determining that current driving status is bumpy road driving status.
Preferably, described the step of current driving status is determined according to the state detecting information further include:
The case where acceleration is with the presence or absence of positive and negative alternating in the period is judged according to the acceleration detection information；
If so, judging the maximum value of the maximum value of positive acceleration absolute value and negative acceleration absolute value in the period
Whether predetermined acceleration threshold value is all larger than；
If so, determining that current driving status is bumpy road driving status.
Preferably, described the step of current driving status is determined according to the state detecting information further include:
The state detecting information and the parameter group of each jounce condition prestored in speed regulation table are compared, judgement is
It is no to exist and the matched parameter group of the state detecting information；
If it exists with the matched parameter group of the state detecting information, it is determined that current driving status be bumpy road row
Sail state；
It is described when the driving status be bumpy road driving status when, according to the state detecting information and with the shape
The step of corresponding pre-set velocity strength of adjustment of state detection information adjusts current travel speed include:
Current traveling speed is adjusted according to default speed regulation dynamics corresponding with the matched parameter group of the state detecting information
Degree.
To achieve the above object, the present invention also provides a kind of speed adjusting devices, wherein the speed adjusting device is at least
Including memory, processor and the speed adjusting program being stored on the memory, the speed adjusting program is described
Processor performs the steps of when executing
Receive the state detecting information for the vehicle carrier that motion state detection equipment is sent；
Current driving status is determined according to the state detecting information, wherein the driving status is included at least and jolted
Road traveling state or non-bumpy road driving status；
When the driving status is bumpy road driving status, examined according to the state detecting information and with the state
The corresponding pre-set velocity strength of adjustment of measurement information adjusts current travel speed.
Preferably, the determining and matched pre-set velocity strength of adjustment of the state detecting information；
The determining and matched pre-set velocity strength of adjustment of the state detecting information；
Current travel speed is adjusted according to the matched pre-set velocity strength of adjustment of the state detecting information.
Preferably, also following steps are realized when the speed adjusting program is executed by the processor:
Judge that pitch angle whether there is positive and negative friendship in the period of predetermined time period according to the pitch angle detection information
For the case where；
If so, judging the maximum value of the positive pitch angle absolute value in the period and the maximum of negative pitch angle absolute value
Whether value is all larger than predetermined angle threshold value；
If so, determining that current driving status is bumpy road driving status.
Preferably, also following steps are realized when the speed adjusting program is executed by the processor:
The case where acceleration is with the presence or absence of positive and negative alternating in the period is judged according to the acceleration detection information；
If so, judging the maximum value of the maximum value of positive acceleration absolute value and negative acceleration absolute value in the period
Whether predetermined acceleration threshold value is all larger than；
If so, determining that current driving status is bumpy road driving status.
In addition, to achieve the above object, the present invention also provides a kind of speed regulating calculation machine readable storage medium storing program for executing, wherein
Speed adjusting program, the realization when speed adjusting program is executed by processor are stored on the computer readable storage medium
The step of speed adjusting method as described above.
The present invention provides a kind of speed adjusting method, comprising: receives the state-detection letter that motion state detection equipment is sent
Breath, wherein the state detecting information includes the acceleration detection of acceleration sensing information, pitch angle detection information or vertical direction
Information；Current driving status is determined according to the state detecting information, wherein the driving status includes at least bumpy road
Driving status or non-bumpy road driving status；When the driving status is bumpy road driving status, according to the state
Detection information and pre-set velocity strength of adjustment corresponding with the state detecting information adjust current travel speed.By above-mentioned
Mode, the state detecting informations such as acceleration detection information based on acceleration sensing information, pitch angle detection information or vertical direction
Whether be bumpy road driving status, if vehicle itself is currently bumpy road traveling shape if can accurately determine vehicle itself currently
When state, then current travel speed is adjusted according to state detecting information and pre-set velocity strength of adjustment, to make up by driver
Experience carries out the deficiency of speed adjusting, done the judgement of mistake to condition of road surface in driver or fails to make tune in time
Ground is carried out when speed reaction and carries out speed adjusting, is mitigated the loss to vehicle, is improved the safety of driving.
Detailed description of the invention
Fig. 1 is the affiliated terminal structure schematic diagram of device for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of speed adjusting method first embodiment of the present invention；
Fig. 3 is the flow diagram of speed adjusting method second embodiment of the present invention；
Fig. 4 is the flow diagram of speed adjusting method 3rd embodiment of the present invention；
Fig. 5 is the flow diagram of speed adjusting method fourth embodiment of the present invention；
Fig. 6 is the flow diagram of the 5th embodiment of speed adjusting method of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In the prior art, vehicle on bump course when driving, rely primarily on the experience of driver itself to carry out speed
Adjusting running when the judgement for having made mistake to condition of road surface or when failing after judging to make speed regulation reaction in time
The too fast travel speed in road of winnowing with a dustpan generates severe attrition to vehicle, it is also possible to jeopardize the safety of passengers inside the car.
In order to solve the above technical problem, the present invention provides a kind of speed adjusting methods, in the method, receive movement shape
The state detecting information that state detection device is sent, wherein the state detecting information includes acceleration sensing information, pitch angle detection
The acceleration detection information of information or vertical direction；Current driving status is determined according to the state detecting information, wherein institute
Driving status is stated including at least bumpy road driving status or non-bumpy road driving status；When the driving status is bumpy road
When the driving status of face, according to the state detecting information and pre-set velocity strength of adjustment tune corresponding with the state detecting information
Current travel speed is saved, the deficiency of speed adjusting is carried out to make up by driver's experience, in driver to road like
Condition has done the judgement of mistake or has failed to carry out speed adjusting with carrying out when making speed regulation reaction in time, mitigates the damage to vehicle
Consumption, improves the safety of driving.
As shown in Figure 1, Fig. 1 is the system structure diagram for the hardware running environment that the embodiment of the present invention is related to.
The terminal of that embodiment of the invention can be PC, be also possible to smart phone, tablet computer, E-book reader, MP3
(Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard audio level 3)
Player, MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert's compression standard sound
Frequency level 4) the packaged type terminal device having a display function such as player, portable computer.
As shown in Figure 1, the terminal may include: processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, WiFi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor can close display screen and/or backlight when mobile terminal is moved in one's ear.As
One kind of motion sensor, gravity accelerometer can detect the size of (generally three axis) acceleration in all directions, quiet
Size and the direction that can detect that gravity when only, the application that can be used to identify mobile terminal posture are (such as horizontal/vertical screen switching, related
Game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, mobile terminal can also match
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor are set, details are not described herein.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe module, Subscriber Interface Module SIM and speed adjusting program.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, carries out with background server
Data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data communication with client；And processor
1001 can be used for calling the speed adjusting program stored in memory 1005, and execute following operation:
Receive the state detecting information for the vehicle carrier that motion state detection equipment is sent；
Current driving status is determined according to the state detecting information, wherein the driving status is included at least and jolted
Road traveling state or non-bumpy road driving status；
When the driving status is bumpy road driving status, examined according to the state detecting information and with the state
The corresponding pre-set velocity strength of adjustment of measurement information adjusts current travel speed.
Further, processor 1001 can call the speed adjusting program stored in memory 1005, also execute following
Operation:
The determining and matched pre-set velocity strength of adjustment of the state detecting information；
Current travel speed is adjusted according to the matched pre-set velocity strength of adjustment of the state detecting information.
Further, processor 1001 can call the speed adjusting program stored in memory 1005, also execute following
Operation:
Judge that pitch angle whether there is positive and negative friendship in the period of predetermined time period according to the pitch angle detection information
For the case where；
If so, judging the maximum value of the positive pitch angle absolute value in the period and the maximum of negative pitch angle absolute value
Whether value is all larger than predetermined angle threshold value；
If so, determining that current driving status is bumpy road driving status.
Further, processor 1001 can call the speed adjusting program stored in memory 1005, also execute following
Operation:
The case where acceleration is with the presence or absence of positive and negative alternating in the period is judged according to the acceleration detection information；
If so, judging the maximum value of the maximum value of positive acceleration absolute value and negative acceleration absolute value in the period
Whether predetermined acceleration threshold value is all larger than；
If so, determining that current driving status is bumpy road driving status.
Further, processor 1001 can call the speed adjusting program stored in memory 1005, also execute following
Operation:
The state detecting information and the parameter group of each jounce condition prestored in speed regulation table are compared, judgement is
It is no to exist and the matched parameter group of the state detecting information；
If it exists with the matched parameter group of the state detecting information, it is determined that current driving status be bumpy road row
Sail state；
Current traveling speed is adjusted according to default speed regulation dynamics corresponding with the matched parameter group of the state detecting information
Degree.
It is speed adjusting method first embodiment flow diagram of the present invention referring to Fig. 2, Fig. 2.
As the improvement of people's living standards, automobile increasingly becomes the essential vehicles of people, intelligent automobile
Also at the hot topic of studies in China, the research focus of personal vehicle system is identification to barrier and based on barrier system
Identification carries out the two aspects of path planning, and thermoacoustic prime engine of identification and bump course for bump course etc. technology has
It is short of.Vehicle when driving, relies primarily on the experience of driver itself to carry out the adjusting of speed, when to road on bump course
When situation has made the judgement of mistake or has failed to make speed regulation reaction in time after judging, the too fast traveling in bumpy road
Speed generates severe attrition to vehicle, it is also possible to jeopardize the safety of passengers inside the car.The present invention provides a kind of movement based on vehicle
State detecting information determines the current driving status of vehicle, when driving status is bumpy road driving status according to pre-set velocity
The method that current travel speed is adjusted in strength of adjustment, to avoid in bumpy road when driving due to artificially judging
Mistake or the loss of vehicle caused by reacting not in time or traffic accident.The realization process of the present embodiment the following steps are included:
Step S10 receives the state detecting information for the vehicle carrier that motion state detection equipment is sent；Wherein, the shape
State detection information includes the acceleration detection information of acceleration sensing information, pitch angle detection information or vertical direction；
In the present embodiment, motion detection device refers to configuring the inspection being used in onboard system to state of motion of vehicle
It surveys, the equipment for obtaining state detecting information, wherein state detecting information may include acceleration sensing information, pitch angle detection letter
The acceleration detection information of breath or vertical direction.Acceleration sensing information refers to the driving speed information of vehicle, vehicle driving speed
Degree can use existing detection device and detection mode to detect to obtain, and acceleration sensing information is the numerical value of travel speed, can
Not include the directional information of speed.Pitch angle refers to vehicle towards the angle with horizontal direction, and pitch angle information can wrap
Include the size and Orientation of the angle, direction can use sign symbol to identify, vehicle towards it is upward when, pitch angle is positive angle
Degree, vehicle towards it is downward when, pitch angle is negative angle；Acceleration detection information refers to vehicle in the number perpendicular to horizontal direction
It is worth acceleration information on direction, the size of the directional information of numerical information and acceleration including acceleration, acceleration can benefit
Identified with sign symbol, when acceleration direction is straight up, acceleration is positive acceleration, acceleration direction be vertically to
When lower, acceleration direction is negativeacceleration.In the present embodiment, IMU inertia measuring module can be configured in onboard system,
Configure three-axis gyroscope and three axis accelerometer in IMU inertia measuring module, for measure acceleration in the vertical direction with
Pitch angle.In the present embodiment, speed detection equipment and IMU module obtain acceleration sensing information, pitch angle detection information and
After the state detecting informations such as the acceleration detection information of vertical direction, above-mentioned state detecting information is sent to by CAN bus
Processor, processor receive the state detecting information of motion state detection equipment transmission.
Step S20 determines current driving status according to the state detecting information, wherein the driving status is at least
Including bumpy road driving status or non-bumpy road driving status；
Based on above-mentioned steps, after obtaining above-mentioned state detecting information, current row is determined according to state detecting information
Sail state.The driving status of the present embodiment includes at least bumpy road driving status or non-bumpy road driving status.Bumpy road
Face driving status refers to the driving status in rough bumpy road, in the state of travelling on this road surface, adds
Speed or pitch angle may ground rapidly switch in two opposite directions.Non- bumpy road refers on the road of relatively flat
Driving status on face, for example, in the driving status on flat level road or the driving status on flat slope pavement,
In the state of travelling on this road surface, acceleration or the possible variation of pitch angle are than more gentle, in regular hour length
Not very apparent variation may only occur for acceleration or pitch angle.In the present embodiment, driving status is determined based on status information
Mode include: mode 1), preset specific predetermined time period, such as 2 seconds, received during vehicle driving
To IMU module send pitch angle detection information when, persistently judge whether the pitch angle in the period of predetermined time period goes out
The case where existing opposite direction replacement occurs.In the present embodiment, IMU module can use sign to identify bowing for different directions
The elevation angle, for example, then the elevation angle is positive-angle with the elevation angle in positive sign mark horizontal direction；The angle of depression under horizontal direction is identified with negative sign, then
The angle of depression is negative angle.Based on foregoing description, if within the period of predetermined time period pitch angle there are it is positive and negative alternately the case where,
Then judge whether the maximum value of positive-angle absolute value during this period of time and the maximum value of negative angle absolute value are all larger than preset angle
Threshold value is spent, if the maximum value of positive-angle absolute value and negative angle absolute value is all larger than predetermined angle threshold value during this period of time,
Determine current driving status for bumpy road driving status.The predetermined angle threshold value of the present embodiment is pre-set angle threshold
Value, the peak value for the detection angles with vehicle compares, as the judgment basis of bumpy road driving status, for example, can
To set 45 ° for predetermined angle threshold value.In the present embodiment, if phase does not occur in pitch angle in the period of predetermined time period
The case where opposite direction replacement occurs or the during this period of time maximum value of positive-angle absolute value or the maximum value of negative angle absolute value
When less than or equal to predetermined angle threshold value, determine that current driving status is non-bumpy road driving status.Mode 2), in vehicle
Received in driving process IMU module transmission vertical direction on acceleration detection information when, be based on mode 1) it is default when
Between length, constantly judge the pitch angle in the period of predetermined time period whether occur opposite direction replacement occur feelings
Condition.In the present embodiment, IMU module can use sign to identify the acceleration of opposite direction, for example, perpendicular with positive sign mark
Straight upward acceleration, the acceleration of vertically downward direction is identified with symbol.Based on foregoing description, if long in preset time
Acceleration in the period of degree then judges the maximum of positive acceleration absolute value in the miscellaneous period there are positive and negative the case where replacing
Whether value and the maximum value of negative acceleration absolute value are all larger than predetermined acceleration threshold value, if positive acceleration is absolute during this period of time
The maximum value of value and the maximum value of negative acceleration absolute value are all larger than predetermined acceleration threshold value, then determine that current driving status is
Bumpy road driving status.This implementation dynamics predetermined acceleration threshold value is pre-set acceleration rate threshold, is used to examine with vehicle
The peak value of measuring acceleration compares, the judgment basis as bumpy road driving status.If in the present embodiment, preset time
Acceleration does not occur the case where opposite direction replacement occurs in the period of length or positive acceleration is absolute during this period of time
When the maximum value of value or the maximum value of negative acceleration absolute value are less than or equal to default predetermined acceleration threshold value, current row is determined
Sailing state is non-bumpy road driving status.In the present embodiment, can also in a jointed manner 1) and mode 2) set bumpy road
The decision condition of face driving status determines whether to jolt in conjunction with two variables of pitch angle detection information and acceleration detection information
Road traveling state.Mode 3), vehicle the slope ground of level ground or relatively flat when driving, driver can be in time
The driving status of vehicle is adjusted, when the pointing direction of pitch angle and acceleration in the vertical direction is opposite, pitch angle and
The absolute value of acceleration generally will not be the larger value simultaneously.For bumpy road, since driver not can be carried out timely and effectively
Control, when the pointing direction of pitch angle and acceleration in the vertical direction is opposite, the absolute value of pitch angle and acceleration may be same
When be the larger value.Meanwhile in order to enable travel speed reduces to specific low velocity in bumpy road, before different decelerations
Actual travel speed, different size of speed strength of adjustment is set, and the actual travel speed before deceleration is bigger, then corresponding speed
Strength of adjustment is bigger.When actual travel speed itself is smaller, even if being travelled on relatively uneven road surface, without being subtracted
This state can be determined as non-rough ride state by velocity modulation section.In the present embodiment, travel speed, pitching can be based on
One or more in the acceleration of angle or vertical direction sets the parameter group of the particular range of each variable, and by parameter group
Onboard system is written in the form of reference table, if acceleration sensing information, pitch angle detection information or acceleration detection information and ginseng
The parameter group matching in table is examined, then determines current state for bumpy road driving status.
Step S30, when the driving status be bumpy road driving status when, according to the state detecting information and with institute
It states the corresponding pre-set velocity strength of adjustment of state detecting information and adjusts current travel speed.
Based on above-mentioned steps, when determining driving status for bumpy road driving status, can according to acceleration sensing information,
One or more state detecting information and pre-set velocity strength of adjustment in acceleration detection information or pitch angle detection information
Current travel speed is adjusted, to mitigate the degree of jolting of vehicle driving, improves ride comfort level and safety.The present embodiment
Speed strength of adjustment can be speed decrement or deceleration tractive force.In the present embodiment, a specific speed can only be set
Strength of adjustment, when determination is currently at bumpy road driving status, processor is sent according to pre-set velocity strength of adjustment to slow down
Instruction is to running control system, so that running control system carries out speed adjusting according to the speed strength of adjustment in instruction.When
So, in the present embodiment, multiple speed strength of adjustment can also be set, one in speed, acceleration or pitch angle is respectively corresponded
The special value range of a or multiple variables.When obtaining above-mentioned state detecting information, upper state detecting information is first determined
The location of numerical value, and corresponding speed strength of adjustment is determined according to location, speed is carried out according to the speed strength of adjustment
Degree is adjusted.The pre-set velocity strength of adjustment of the present embodiment can travel simulated scenario by bumpy road and obtain.
In the present embodiment, the state detecting information that motion state detection equipment is sent is received, wherein the state-detection
Information includes the acceleration detection information of acceleration sensing information, pitch angle detection information or vertical direction；It is examined according to the state
Measurement information determines current driving status, wherein the driving status includes at least bumpy road driving status or non-bumpy road
Face driving status；When the driving status be bumpy road driving status when, according to the state detecting information and with the shape
The corresponding pre-set velocity strength of adjustment of state detection information adjusts current travel speed.By the above-mentioned means, being based on velocity measuring
The state detecting informations such as the acceleration detection information of information, pitch angle detection information or vertical direction can accurately determine vehicle certainly
Whether body is currently bumpy road driving status, if vehicle itself is currently bumpy road driving status, is examined according to state
Measurement information and pre-set velocity strength of adjustment adjust current travel speed, carry out speed to make up by driver's experience
The deficiency of adjusting carries out with carrying out when driver has done the judgement of mistake or failed and make speed regulation reaction in time to condition of road surface
Speed is adjusted, and is mitigated the loss to vehicle, is improved the safety of driving.
It further, is speed adjusting method second embodiment flow diagram of the present invention referring to Fig. 3, Fig. 3, based on above-mentioned
Speed adjusting method embodiment of the present invention proposes the second embodiment of the present invention.
In the present embodiment, in the present embodiment, described to believe according to the state detecting information and with the state-detection
Ceasing the step of corresponding pre-set velocity strength of adjustment adjusts current travel speed includes:
Step S40, the determining and matched pre-set velocity strength of adjustment of the state detecting information；
Step S50 adjusts current traveling speed according to the matched pre-set velocity strength of adjustment of the state detecting information
Degree.
Based on the above embodiment, in the present embodiment, multiple speed strength of adjustment can be set, respectively correspond speed, add
The special value range of one or more variable in speed or pitch angle.When obtaining above-mentioned state detecting information, first really
Surely the location of the numerical value of upper state detecting information, and corresponding speed strength of adjustment is determined according to location, according to this
Speed strength of adjustment carries out speed adjusting.For example, travel speed can be divided into several speed intervals, each speed interval is closed
Join a corresponding pre-set velocity strength of adjustment, the corresponding speed strength of adjustment in the bigger section of speed is bigger.Based on above-mentioned reality
When the method for applying example determines that driving status is bumpy road driving status, where determining current vehicle speed according to acceleration sensing information
Speed interval, according to the associated pre-set velocity strength of adjustment transmission speed regulating command of speed interval where current vehicle speed to vehicle
Speed control system, so that vehicle speed control system adjusts running speed according to the pre-set velocity strength of adjustment in instruction.
It further, is speed adjusting method 3rd embodiment flow diagram of the present invention referring to Fig. 4, Fig. 4, based on above-mentioned
Speed adjusting method embodiment of the present invention proposes the third embodiment of the present invention.
Based on the above embodiment, in the present embodiment, step S20 includes:
Step S60 judges whether pitch angle is deposited in the period of predetermined time period according to the pitch angle detection information
In positive and negative the case where replacing；
Step S70, if so, judging that the maximum value of the positive pitch angle absolute value in the period and negative pitch angle are absolute
Whether the maximum value of value is all larger than predetermined angle threshold value；
Step S80, if so, determining that current driving status is bumpy road driving status.
Based on the above embodiment, in the present embodiment, specific predetermined time period, such as 2 seconds can be preset,
When receiving the pitch angle detection information of IMU module transmission during vehicle driving, predetermined time period is persistently judged
Whether the pitch angle in the period there is the case where opposite direction replacement occurs.In the present embodiment, IMU module can use just
Negative sign identifies the pitch angles of different directions, for example, then the elevation angle is positive-angle with the elevation angle in positive sign mark horizontal direction；With negative
Number mark horizontal direction under the angle of depression, then the angle of depression be negative angle.Based on foregoing description, if bowing within the period of predetermined time period
The elevation angle there are it is positive and negative alternately the case where, then judge the maximum value of positive-angle absolute value during this period of time and negative angle absolute value
Whether maximum value is all larger than predetermined angle threshold value, if the maximum value of positive-angle absolute value and negative angle absolute value during this period of time
It is all larger than predetermined angle threshold value, then determines current driving status for bumpy road driving status.The predetermined angle of the present embodiment
Threshold value is pre-set angle threshold, and the peak value for the detection angles with vehicle compares, and is travelled as bumpy road
The judgment basis of state, for example, predetermined angle threshold value can be set to 45 °.In the present embodiment, if predetermined time period
Pitch angle does not occur the case where opposite direction replacement occurs or the during this period of time maximum value of positive-angle absolute value in period
Or the maximum value of negative angle absolute value be less than or equal to predetermined angle threshold value when, determine current driving status be non-bumpy road
Driving status.
In the present embodiment, judge that pitch angle is in the period of predetermined time period according to the pitch angle detection information
No the case where there are positive and negative alternatings；If so, judging the maximum value and negative pitching of the positive pitch angle absolute value in the period
Whether the maximum value of angle absolute value is all larger than predetermined angle threshold value；If so, determining that current driving status is bumpy road row
Sail state.By the above-mentioned means, can accurately identify bumpy road driving status based on pitch angle detection information.
It further, is speed adjusting method fourth embodiment flow diagram of the present invention referring to Fig. 5, Fig. 5.Based on above-mentioned
Embodiment proposes the fourth embodiment of the present invention.
Based on the above embodiment, in the present embodiment, step S20 further include:
Step S90 judges that acceleration whether there is positive and negative alternating in the period according to the acceleration detection information
The case where；
Step S100, if so, judging that the maximum value of positive acceleration absolute value and negative acceleration are absolute in the period
Whether the maximum value of value is all larger than predetermined acceleration threshold value；
Step S110, if so, determining that current driving status is bumpy road driving status.
Based on the above embodiment, in the present embodiment, the vertical side of IMU module transmission is received in vehicle travel process
When upward acceleration detection information, be based on mode 1) predetermined time period, constantly judge the time of predetermined time period
Whether the pitch angle in section there is the case where opposite direction replacement occurs.In the present embodiment, IMU module can use sign
It identifies the acceleration of opposite direction, for example, the acceleration with positive sign mark straight up, side straight down is identified with symbol
To acceleration.Based on foregoing description, if there are positive and negative alternate feelings for the acceleration within the period of predetermined time period
Condition then judges whether the maximum value of positive acceleration absolute value and the maximum value of negative acceleration absolute value are all larger than in the miscellaneous period
Predetermined acceleration threshold value, if the maximum value of positive acceleration absolute value and the maximum value of negative acceleration absolute value are equal during this period of time
Greater than predetermined acceleration threshold value, then determine current driving status for bumpy road driving status.This implementation dynamics is default to be accelerated
Degree threshold value is pre-set acceleration rate threshold, for comparing with the peak value of vehicle detection acceleration, as bumpy road
The judgment basis of driving status.If in the present embodiment, there is not opposite direction in acceleration in the period of predetermined time period
The case where replacement occurs or the during this period of time maximum value of positive acceleration absolute value or the maximum value of negative acceleration absolute value
When less than or equal to default predetermined acceleration threshold value, determine that current driving status is non-bumpy road driving status.
It further, is the 5th embodiment flow diagram of speed adjusting method of the present invention referring to Fig. 6, Fig. 6.Based on above-mentioned
Embodiment proposes the fifth embodiment of the present invention.
Based on the above embodiment, in the present embodiment, step S20 further include:
Step S120, the state detecting information is carried out with the parameter group for prestoring each jounce condition in speed regulation table pair
Than judging whether there is and the matched parameter group of the state detecting information；
Step S130, if it exists with the matched parameter group of the state detecting information, it is determined that current driving status is
Bumpy road driving status；
Step S30 includes:
Step S140 is adjusted current according to default speed regulation dynamics corresponding with the matched parameter group of the state detecting information
Travel speed.
Vehicle the slope ground of level ground or relatively flat when driving, driver can be in time to the traveling of vehicle
State is adjusted, when the pointing direction of pitch angle and acceleration in the vertical direction is opposite, pitch angle and acceleration it is absolute
Value generally will not be the larger value simultaneously.For bumpy road, timely and effectively controlled since driver not can be carried out, pitch angle and
When the pointing direction of acceleration in the vertical direction is opposite, the absolute value of pitch angle and acceleration may be the larger value simultaneously.Together
When, in order to enable travel speed reduces to specific low velocity in bumpy road, for the actual travel speed before different decelerations
Degree, is arranged different size of speed strength of adjustment, the actual travel speed before deceleration is bigger, then corresponding speed strength of adjustment is got over
Greatly.It,, can without deceleration adjusting is carried out even if being travelled on relatively uneven road surface when actual travel speed itself is smaller
This state is determined as non-rough ride state.It in the present embodiment, can be based on travel speed, pitch angle or vertical side
To acceleration in one or more set the parameter group of the particular range of each variable, and parameter group is associated with correspondence
Default speed regulation dynamics onboard system is written in the form of adjusting the speed table, if acceleration sensing information, pitch angle detection information or acceleration
Degree detection information matched with a parameter group in reference table, then determine current state for bumpy road driving status, and according to
The associated default speed regulation dynamics of the matched parameter group of pre-state detection information carries out speed adjusting.Different parameter groups respectively correspond
Difference jolt degree bumpy road driving status and the actual travel speed before different adjustings, therefore, different parameter groups
It is corresponding to be associated with different default speed regulation dynamics, the parameter group of the speed regulation table of the present embodiment can corresponding speed regulation dynamics can be based on
Lot of experimental data obtains.
In the present embodiment, by the state detecting information with prestore the parameter group of each jounce condition in speed regulation table into
Row comparison, judges whether there is and the matched parameter group of the state detecting information；If it exists with the state detecting information
The parameter group matched, it is determined that current driving status is bumpy road driving status；It is matched according to the state detecting information
The corresponding default speed regulation dynamics of parameter group adjust current travel speed.By the above-mentioned means, can be according to prestoring speed regulation table
The accurately driving status of identification bumpy road, and accurate reasonable adjusting is made to speed.
In addition, the embodiment of the present invention also proposes a kind of speed adjusting device.
Speed adjusting device of the present invention includes at least memory, processor and the speed tune being stored on the memory
The step of section program, the speed adjusting program realizes speed adjusting method as described above when being executed by processor.
Wherein, the speed adjusting program run on the processor, which is performed realized method, can refer to the present invention
The each embodiment of speed adjusting method, details are not described herein again.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium.
Speed adjusting program is stored on computer readable storage medium of the present invention, the speed adjusting program is by processor
The step of speed adjusting method as described above is realized when execution.
Wherein, the speed adjusting program run on the processor, which is performed realized method, can refer to the present invention
The each embodiment of speed adjusting method, details are not described herein again.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of speed adjusting method, which is characterized in that the speed adjusting method includes:
Receive the state detecting information for the vehicle carrier that motion state detection equipment is sent；
Current driving status is determined according to the state detecting information, wherein the driving status includes at least bumpy road
Driving status or non-bumpy road driving status；
When the driving status is bumpy road driving status, believe according to the state detecting information and with the state-detection
It ceases corresponding pre-set velocity strength of adjustment and adjusts current travel speed.
2. speed adjusting method as described in claim 1, which is characterized in that the state detecting information includes velocity measuring letter
The acceleration detection information of breath, pitch angle detection information or vertical direction.
3. speed adjusting method as described in claim 1, which is characterized in that it is described according to the state detecting information and with institute
Stating the step of corresponding pre-set velocity strength of adjustment of state detecting information adjusts current travel speed includes:
The determining and matched pre-set velocity strength of adjustment of the state detecting information；
Current travel speed is adjusted according to the matched pre-set velocity strength of adjustment of the state detecting information.
4. speed adjusting method as claimed in claim 2, which is characterized in that described to be worked as according to state detecting information determination
The step of preceding driving status includes:
Judge that pitch angle is with the presence or absence of positive and negative alternate in the period of predetermined time period according to the pitch angle detection information
Situation；
If so, judging the maximum value of the positive pitch angle absolute value in the period and the maximum value of negative pitch angle absolute value is
It is no to be all larger than predetermined angle threshold value；
If so, determining that current driving status is bumpy road driving status.
5. speed adjusting method as claimed in claim 2, which is characterized in that described to be worked as according to state detecting information determination
The step of preceding driving status further include:
The case where acceleration is with the presence or absence of positive and negative alternating in the period is judged according to the acceleration detection information；
If so, judging in the period whether are the maximum value of positive acceleration absolute value and the maximum value of negative acceleration absolute value
It is all larger than predetermined acceleration threshold value；
If so, determining that current driving status is bumpy road driving status.
6. speed adjusting method as claimed in claim 2, which is characterized in that described to be worked as according to state detecting information determination
The step of preceding driving status further include:
The state detecting information and the parameter group of each jounce condition prestored in speed regulation table are compared, judge whether to deposit
With the matched parameter group of the state detecting information；
If it exists with the matched parameter group of the state detecting information, it is determined that current driving status be bumpy road travel shape
State；
It is described when the driving status be bumpy road driving status when, according to the state detecting information and with the state examine
The step of corresponding pre-set velocity strength of adjustment of measurement information adjusts current travel speed include:
Current travel speed is adjusted according to default speed regulation dynamics corresponding with the matched parameter group of the state detecting information.
7. a kind of speed adjusting device, which is characterized in that the speed adjusting device includes at least memory, processor and deposits
The speed adjusting program on the memory is stored up, following step is realized when the speed adjusting program is executed by the processor
It is rapid:
Receive the state detecting information for the vehicle carrier that motion state detection equipment is sent；
Current driving status is determined according to the state detecting information, wherein the driving status includes at least bumpy road
Driving status or non-bumpy road driving status；
When the driving status is bumpy road driving status, believe according to the state detecting information and with the state-detection
It ceases corresponding pre-set velocity strength of adjustment and adjusts current travel speed.
8. speed adjusting device as claimed in claim 7, which is characterized in that the speed adjusting program is held by the processor
It is also performed the steps of when row
The determining and matched pre-set velocity strength of adjustment of the state detecting information；
Current travel speed is adjusted according to the matched pre-set velocity strength of adjustment of the state detecting information.
9. speed adjusting device as claimed in claim 7, which is characterized in that the state detecting information includes velocity measuring letter
The acceleration detection information of breath, pitch angle detection information or vertical direction, the speed adjusting program are executed by the processor
When also perform the steps of
Judge that pitch angle is with the presence or absence of positive and negative alternate in the period of predetermined time period according to the pitch angle detection information
Situation；
If so, judging the maximum value of the positive pitch angle absolute value in the period and the maximum value of negative pitch angle absolute value is
It is no to be all larger than predetermined angle threshold value；
If so, determining that current driving status is bumpy road driving status.
10. a kind of computer readable storage medium, which is characterized in that be stored with speed tune on the computer readable storage medium
Program is saved, realizes that speed described in any one of claims 1 to 6 such as is adjusted when the speed adjusting program is executed by processor
The step of method.
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| CN201811008899.6A CN109263636A (en) | 2018-08-31 | 2018-08-31 | Speed adjusting method, device and computer readable storage medium |
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|---|---|---|---|
| CN201811008899.6A CN109263636A (en) | 2018-08-31 | 2018-08-31 | Speed adjusting method, device and computer readable storage medium |
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| CN110766982A (en) * | 2019-09-26 | 2020-02-07 | 浙江从泰网络科技有限公司 | Vehicle collision detection system based on vehicle-mounted sensor |
| CN110986938A (en) * | 2019-12-26 | 2020-04-10 | 斑马网络技术有限公司 | Bumpy road identification method and device and electronic equipment |
| CN111290397A (en) * | 2020-03-12 | 2020-06-16 | 三一机器人科技有限公司 | Speed adjusting method and device, automatic navigation vehicle and storage medium |
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| CN115848386A (en) * | 2022-11-28 | 2023-03-28 | 重庆长安汽车股份有限公司 | Bump information determination method, vehicle control method, system, device, and medium |
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| CN116215397A (en) * | 2023-02-02 | 2023-06-06 | 岚图汽车科技有限公司 | Vehicle-mounted ceiling screen system and vehicle |
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