Vehicle control method and device, automatic driving equipment and storage medium

Abstract

The application relates to a vehicle control method and device, an automatic driving equipment and a storage medium. The method comprises the following steps: acquiring vehicle positioning information of a target vehicle during driving, and querying road map information in front of the target vehicle according to the vehicle positioning information; identifying a damping mutation road surface in front of the target vehicle according to the road map information; acquiring steering torque compensation information corresponding to the damping mutation road surface; and performing steering control on the target vehicle on the damping mutation road surface according to the steering torque compensation information. The method can improve the steering control accuracy of the vehicle.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle control method, apparatus, autonomous driving device, and storage medium. Background Technology

[0002] In related technologies, vehicles often determine the torque amplification factor for electronic power steering based on real-time road feel and damping feedback.

[0003] However, when encountering certain road conditions, the coefficient of friction between the vehicle and the ground may change instantaneously due to bumps, resulting in the torque assist amplification coefficient not being adjusted in time and causing the vehicle to suddenly oversteer. This can easily cause the vehicle to run out of the other lane due to oversteer.

[0004] Therefore, the relevant technologies suffer from low accuracy in vehicle steering control. Summary of the Invention

[0005] Therefore, it is necessary to provide a vehicle control method, device, autonomous driving equipment, and storage medium that can improve the accuracy of vehicle steering control in response to the above-mentioned technical problems.

[0006] A vehicle control method, comprising:

[0007] Obtain the vehicle location information of the target vehicle while it is in motion, and query the road map information ahead of the target vehicle based on the vehicle location information;

[0008] Based on the road map information, identify the damping abrupt road surface in front of the target vehicle;

[0009] Obtain steering torque compensation information corresponding to the road surface with abrupt damping changes;

[0010] Based on the steering torque compensation information, steering control is performed on the target vehicle located on the road surface with abrupt damping changes.

[0011] In one embodiment, if the damping abrupt change in road surface is a speed bump, identifying the damping abrupt change in road surface in front of the target vehicle based on the road map information includes:

[0012] Obtain road image information in front of the target vehicle, identify the road image information, and obtain a first identification result; the first identification result includes whether there is a speed bump in front of the target vehicle in the road image information;

[0013] The road map information is identified to obtain a second identification result; the second identification result includes the result of whether speed bump coordinate information exists in the road map information.

[0014] By fusing the first recognition result and the second recognition result, the speed bump recognition result is obtained;

[0015] Based on the speed bump recognition result, it is determined that there is a speed bump road surface in front of the target vehicle.

[0016] In one embodiment, determining that there is a speed bump ahead of the target vehicle based on the speed bump recognition result includes:

[0017] Obtain the speed bump confidence score corresponding to the speed bump identification result; the speed bump confidence score is used to characterize the probability that there is a speed bump road surface in front of the target vehicle;

[0018] If the confidence level of the speed bump is greater than the preset confidence level threshold, it is determined that there is a speed bump road surface in front of the target vehicle.

[0019] In one embodiment, the first recognition result further includes lane line confidence, which is used to characterize the probability value of lane line images existing in the road image information; obtaining the speed bump confidence corresponding to the speed bump recognition result includes:

[0020] The confidence level of the lane line is adjusted based on the second recognition result to obtain the adjusted confidence level;

[0021] The adjusted confidence level is used as the speed bump confidence level corresponding to the speed bump identification result.

[0022] In one embodiment, obtaining the steering torque compensation information corresponding to the road surface with abrupt damping includes:

[0023] The current vehicle speed and actual steering wheel torque of the target vehicle when it is on the speed bump surface are obtained, and the steering torque compensation direction for the target vehicle is obtained.

[0024] Based on the adjusted confidence level, the current vehicle speed, the actual steering wheel torque, and the steering torque compensation direction, a corresponding steering torque compensation ratio is determined as the steering torque compensation information.

[0025] In one embodiment, if the damping abrupt change road surface is a sloping road surface, identifying the damping abrupt change road surface in front of the target vehicle based on the road map information includes:

[0026] Based on the road map information, determine the slope of the road surface in front of the target vehicle;

[0027] If the slope is greater than a preset slope threshold, it is determined that there is a sloping road surface in front of the target vehicle.

[0028] In one embodiment, obtaining the steering torque compensation information corresponding to the road surface with abrupt damping includes:

[0029] The system obtains the target vehicle's current speed, yaw angle, and actual steering wheel torque when the target vehicle is on the sloped road surface, and also obtains the steering torque compensation direction for the target vehicle.

[0030] Based on the slope, the current vehicle speed, the vehicle yaw angle, the actual steering wheel torque, and the steering torque compensation direction, a corresponding steering torque compensation ratio is determined as the steering torque compensation information.

[0031] In one embodiment, after the step of identifying abrupt changes in road surface damping ahead of the target vehicle based on the road map information, the method further includes:

[0032] Obtain the relative distance between the target vehicle and the road surface with abrupt damping;

[0033] Based on the target vehicle's current speed and the relative distance, determine the time it takes for the target vehicle to travel to the damped abrupt road surface.

[0034] If the time is less than a preset time threshold, then the step of obtaining steering torque compensation information corresponding to the road surface with abrupt damping changes is executed.

[0035] In one embodiment, the steering torque compensation information includes a steering torque compensation ratio, and the step of performing steering control on the target vehicle on the road surface with abrupt damping changes based on the steering torque compensation information includes:

[0036] The actual steering wheel torque of the target vehicle when it is on the road surface with a sudden change in damping is obtained, and the steering compensation torque corresponding to the steering torque compensation ratio is obtained.

[0037] The actual steering wheel torque and the steering compensation torque are superimposed to obtain the superimposed torque.

[0038] The target vehicle is steering according to the superimposed torque.

[0039] A vehicle control device, the device comprising:

[0040] The acquisition module is used to acquire the vehicle location information of the target vehicle while it is driving, and to query the road map information ahead of the target vehicle based on the vehicle location information.

[0041] The identification module is used to identify the damping abrupt change in road surface in front of the target vehicle based on the road map information;

[0042] The compensation module is used to acquire steering torque compensation information corresponding to the road surface with abrupt damping changes;

[0043] The control module is used to perform steering control on the target vehicle located on the road surface with abrupt damping changes, based on the steering torque compensation information.

[0044] An autonomous driving device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described above.

[0045] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0046] The aforementioned vehicle control method, device, autonomous driving equipment, and storage medium acquire vehicle positioning information of the target vehicle while it is in motion, and based on the vehicle positioning information, query road map information ahead of the target vehicle, and based on the road map information, identify damping abrupt changes in road surface ahead of the target vehicle; then, acquire steering torque compensation information corresponding to the damping abrupt changes in road surface; and based on the steering torque compensation information, perform steering control on the target vehicle on the damping abrupt changes in road surface. In this way, it is possible to identify damping abrupt changes in road surface ahead of the target vehicle in advance, determine the steering torque compensation information for the damping abrupt changes in road surface in a timely manner, and thus achieve steering control on the target vehicle on the damping abrupt changes in road surface, avoiding the phenomenon of sudden excessive steering of the vehicle due to untimely adjustment of steering torque, and improving the accuracy of vehicle steering control. Attached Figure Description

[0047] Figure 1 This is a diagram illustrating the application environment of a vehicle control method in one embodiment.

[0048] Figure 2 This is a flowchart illustrating a vehicle control method in one embodiment;

[0049] Figure 3 This is a schematic diagram of the functional modules of a high-precision map positioning system in one embodiment;

[0050] Figure 4 This is a schematic diagram of the signal input received by a high-precision map positioning system in one embodiment.

[0051] Figure 5 This is a schematic diagram of the functional modules of a camera system in one embodiment;

[0052] Figure 6 This is a schematic diagram of a vehicle coordinate system in one embodiment;

[0053] Figure 7This is a schematic diagram of the functional modules of an autonomous driving control system in one embodiment;

[0054] Figure 8 This is a schematic diagram of the hardware architecture of an autonomous driving system in one embodiment;

[0055] Figure 9 This is a flowchart illustrating a vehicle control method in another embodiment;

[0056] Figure 10 This is a flowchart illustrating the operation of an automatic steering correction device based on visual recognition and high-precision positioning in one embodiment.

[0057] Figure 11 This is a flowchart illustrating the operation of an automatic steering control device based on high-precision positioning in one embodiment.

[0058] Figure 12 This is a structural block diagram of a vehicle control device in one embodiment;

[0059] Figure 13 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The vehicle control method provided in this application can be applied to, for example... Figure 1 In the application environment shown, the vehicle-mounted device 110 acquires the vehicle positioning information of the target vehicle while it is in motion, and queries the road map information ahead of the target vehicle based on the vehicle positioning information; then, the vehicle-mounted device 110 identifies the damping abrupt change road surface ahead of the target vehicle based on the road map information; next, the vehicle-mounted device 110 acquires the steering torque compensation information corresponding to the damping abrupt change road surface; finally, the vehicle-mounted device 110 performs steering control on the target vehicle on the damping abrupt change road surface based on the steering torque compensation information. In practical applications, the vehicle-mounted device 110 can refer to an onboard computer device.

[0062] In one embodiment, such as Figure 2 As shown, a vehicle control method is provided, which is applied to... Figure 1 Taking the vehicle-mounted device 110 as an example, the explanation includes the following steps:

[0063] Step S210: Obtain the vehicle location information of the target vehicle while it is driving, and query the road map information in front of the target vehicle based on the vehicle location information.

[0064] The target vehicle can refer to the vehicle that needs to be controlled. In practical applications, the target vehicle can be an autonomous vehicle or a vehicle in autonomous driving mode.

[0065] The road map information may include high-precision map static information. This high-precision map static information includes, but is not limited to, lane geometry, lane line geometry, lane type, traffic direction, lane curvature, cross and longitudinal slopes, speed bump information, and ground markings.

[0066] Among them, vehicle positioning information can be the vehicle's absolute coordinates.

[0067] In practice, the vehicle-mounted equipment first acquires the target vehicle's location information while it is in motion. Specifically, the equipment can simultaneously collect road image information ahead of the target vehicle, GNSS (Global Navigation Satellite System) signals, RTK (Real-Time Kinematics) signals, IMU (Inertial Measurement Unit) signals, and vehicle motion parameters to calculate the target vehicle's absolute coordinates. Once the equipment obtains the vehicle's location information, it then queries the road map information ahead of the target vehicle based on that information.

[0068] For the convenience of those skilled in the art, Figure 3 A functional module diagram of a high-precision map positioning system is provided as an example. The high-precision map positioning system includes a positioning module and a storage module, the latter used to store high-precision map data.

[0069] Figure 4 An example diagram illustrating the signal inputs required for a high-precision map positioning system is provided.

[0070] Step S220: Identify the abrupt change in road surface damping in front of the target vehicle based on the road map information.

[0071] Among them, a damping-abrupt pavement can refer to a pavement whose damping coefficient differs from that of the surrounding pavement. In practical applications, a damping-abrupt pavement can include at least one of the following: speed bump pavement, transverse slope pavement, and longitudinal slope pavement.

[0072] In practice, after acquiring road map information, the vehicle-mounted device identifies abrupt changes in road surface damping ahead of the target vehicle based on this information. Specifically, the device can determine whether the road map contains information about abrupt changes in road surface damping, such as the coordinates of speed bumps or road slope information, and then identify such changes in road surface damping ahead of the target vehicle.

[0073] Step S230: Obtain steering torque compensation information corresponding to road surface with abrupt damping changes.

[0074] The steering torque compensation information includes the steering torque compensation ratio.

[0075] In practice, after identifying a sudden change in road surface damping in front of the target vehicle, the vehicle's infotainment system can obtain the corresponding steering torque compensation information. Specifically, the system can acquire the attribute information of the sudden change in road surface damping and determine the corresponding steering torque compensation information based on this information. For example, when the sudden change in road surface damping is a transverse slope, the system can determine the slope and, based on that slope, determine the steering torque compensation ratio for that slope. As another example, when the sudden change in road surface damping is a speed bump, the system can determine information such as the type of speed bump and, based on that information, determine the steering torque compensation ratio for that speed bump.

[0076] Step S240: Based on the steering torque compensation information, perform steering control on the target vehicle located on a road surface with abrupt changes in damping. The steering torque compensation information includes the steering torque compensation ratio. Specifically, obtain the actual steering wheel torque of the target vehicle on the road surface with abrupt changes in damping, and obtain the steering compensation torque corresponding to the steering torque compensation ratio; superimpose the actual steering wheel torque and the steering compensation torque to obtain the superimposed torque; perform steering control on the target vehicle according to the superimposed torque.

[0077] In practice, after acquiring the steering torque compensation information corresponding to the road surface with abrupt changes in damping, the vehicle's infotainment system controls the steering of the target vehicle on this road surface based on this information. Specifically, the system obtains the actual steering wheel torque of the target vehicle on this road surface and the corresponding steering compensation torque based on the compensation ratio. Then, the system superimposes the actual steering wheel torque and the compensation torque to obtain the superimposed torque. The vehicle then controls the steering of the target vehicle according to this superimposed torque. In particular, the system sends a torque request value to the ESP (Electronic Stability Program) based on the superimposed torque. Upon receiving this torque request value, the ESP controls the power steering motor of the target vehicle to complete the actual steering of the vehicle.

[0078] In the aforementioned vehicle control method, the vehicle positioning information of the target vehicle while it is in motion is obtained, and based on the vehicle positioning information, the road map information ahead of the target vehicle is queried. Based on the road map information, the damping abrupt change road surface ahead of the target vehicle is identified. Then, the steering torque compensation information corresponding to the damping abrupt change road surface is obtained. Based on the steering torque compensation information, the steering control of the target vehicle on the damping abrupt change road surface is performed. In this way, the damping abrupt change road surface ahead of the target vehicle can be identified in advance, and the steering torque compensation information for the damping abrupt change road surface can be determined in a timely manner. This enables the steering control of the target vehicle on the damping abrupt change road surface, avoiding the phenomenon of sudden excessive steering due to untimely adjustment of steering torque, and improving the accuracy of vehicle steering control.

[0079] In another embodiment, if the damping abrupt change road surface is a speed bump road surface, identifying the damping abrupt change road surface in front of the target vehicle based on road map information includes: acquiring road image information in front of the target vehicle; identifying the road image information to obtain a first identification result; the first identification result includes the result of whether a speed bump exists in front of the target vehicle in the road image information; identifying the road map information to obtain a second identification result; the second identification result includes the result of whether speed bump coordinate information exists in the road map information; fusing the first identification result and the second identification result to obtain a speed bump identification result; and determining that a speed bump road surface exists in front of the target vehicle based on the speed bump identification result.

[0080] In specific implementation, if the damping abrupt change road surface is a speed bump road surface, the process of the vehicle-mounted equipment identifying the damping abrupt change road surface in front of the target vehicle based on the road map information specifically includes: the vehicle-mounted equipment can obtain road image information in front of the target vehicle through the camera system, identify the road image information, and obtain a first identification result; the first identification result includes the result of whether there is a speed bump in front of the target vehicle in the road image information.

[0081] For the convenience of those skilled in the art, Figure 5 A schematic diagram of the functional modules of a camera system is provided as an example.

[0082] Specifically, the vehicle-mounted equipment uses image recognition algorithms to identify the collected road image information. The output of the image recognition algorithm must include at least the continuous coordinates of the lane lines, the lane line type, the lane width, and the coordinates of the speed bumps. Then, the vehicle-mounted equipment also needs to collect information such as the vehicle's wheel speed, yaw rate, and steering wheel angle to calculate and predict the vehicle's trajectory.

[0083] Then, the vehicle-mounted equipment calculates the road curvature and the vehicle's trajectory, and combines this with the coordinates of the speed bumps to determine whether the planned trajectory overlaps with the target coordinate range. If the planned trajectory overlaps with the target coordinate range, it is determined that a speed bump exists in front of the target vehicle in the road image information.

[0084] Then, the vehicle-mounted device can identify the road map information to obtain a second identification result; the second identification result includes whether there is a speed bump coordinate information in the road map information. Then, the vehicle-mounted device merges the first identification result and the second identification result to obtain the speed bump identification result; based on the speed bump identification result, it is determined that there is a speed bump road surface in front of the target vehicle.

[0085] The technical solution of this embodiment obtains road image information in front of the target vehicle, identifies the road image information to obtain a first identification result; the first identification result includes the result of whether there is a speed bump in front of the target vehicle in the road image information; identifies road map information to obtain a second identification result; the second identification result includes the result of whether there is speed bump coordinate information in the road map information; fuses the first identification result and the second identification result to obtain a speed bump identification result; based on the speed bump identification result, it is determined that there is a speed bump road surface in front of the target vehicle; thus, it achieves accurate identification of the presence of a speed bump road surface in front of the target vehicle based on the fusion of vision and high-precision map.

[0086] In another embodiment, determining that there is a speed bump road surface in front of the target vehicle based on the speed bump recognition result includes: obtaining the speed bump confidence score corresponding to the speed bump recognition result; if the speed bump confidence score is greater than a preset confidence score threshold, then determining that there is a speed bump road surface in front of the target vehicle.

[0087] Among them, the speed bump confidence score is used to characterize the probability that there is a speed bump road surface in front of the target vehicle.

[0088] In practice, when the vehicle-mounted device determines whether a speed bump exists ahead of the target vehicle based on the speed bump recognition results, it can obtain the speed bump confidence score corresponding to the recognition result. The device can then determine whether the speed bump confidence score is greater than a preset confidence threshold. If the score is greater than the threshold, the device determines that a speed bump exists ahead of the target vehicle. If the confidence score is less than or equal to the threshold, the device determines that no speed bump exists ahead of the target vehicle. The confidence threshold can be 0.

[0089] The technical solution of this embodiment obtains the speed bump confidence level corresponding to the speed bump recognition result, and accurately determines that there is a speed bump road surface in front of the target vehicle when the speed bump confidence level is greater than a preset confidence level threshold.

[0090] In another embodiment, obtaining the speed bump confidence level corresponding to the speed bump recognition result includes: adjusting the lane line confidence level according to the second recognition result to obtain the adjusted confidence level; and using the adjusted confidence level as the speed bump confidence level corresponding to the speed bump recognition result.

[0091] The first identification result also includes lane line confidence. Lane line confidence is used to characterize the probability of lane lines appearing in road image information;

[0092] In practical applications, the confidence level of speed bumps can also be called the comprehensive confidence level.

[0093] In practice, the vehicle-mounted equipment can adjust the lane line confidence level based on the second recognition result to obtain the adjusted confidence level. Finally, the vehicle-mounted equipment can use the adjusted confidence level as the speed bump confidence level corresponding to the speed bump recognition result.

[0094] In practical applications, the vehicle-mounted equipment can look up the corresponding speed bump confidence level, i.e., the comprehensive confidence level, in a preset confidence level lookup table based on the second recognition result and the lane line confidence level.

[0095] To facilitate understanding by those skilled in the art, Table 1 provides an example of a confidence level lookup table.

[0096] Table 1

[0097]

[0098]

[0099] The technical solution of this embodiment adjusts the confidence level of the lane line based on the second recognition result to obtain the adjusted confidence level; the adjusted confidence level is used as the speed bump confidence level corresponding to the speed bump recognition result, thereby achieving accurate acquisition of the speed bump confidence level corresponding to the speed bump recognition result.

[0100] In another embodiment, obtaining steering torque compensation information corresponding to a road surface with abrupt damping includes: obtaining the current vehicle speed and actual steering wheel torque of the target vehicle when it is on a speed bump road surface, and obtaining the steering torque compensation direction for the target vehicle; and determining the corresponding steering torque compensation ratio based on the adjusted confidence level, current vehicle speed, actual steering wheel torque, and steering torque compensation direction, as the steering torque compensation information.

[0101] In specific implementation, the process of acquiring steering torque compensation information corresponding to road surfaces with abrupt changes in damping involves the following steps: The vehicle-mounted equipment can acquire the current vehicle speed, actual steering wheel torque, and steering torque compensation direction for the target vehicle using sensors when the vehicle is on a speed bump. Specifically, the equipment can collect real-time steering wheel torque and vehicle yaw angle, which are output by the electronic steering system and airbag controller via CAN or CANFD. Then, based on the adjusted confidence level, current vehicle speed, actual steering wheel torque, and steering torque compensation direction, the equipment determines the corresponding steering torque compensation ratio as the steering torque compensation information. Specifically, the equipment can acquire a relevant function and input the gradient, current vehicle speed, vehicle yaw angle, and actual steering wheel torque into this function to obtain the corresponding steering torque compensation ratio. Finally, the direction of the steering torque compensation ratio is determined based on the steering torque compensation direction.

[0102] The technical solution of this embodiment obtains the current vehicle speed and actual steering wheel torque of the target vehicle when it is on a speed bump road surface, and obtains the steering torque compensation direction for the target vehicle. Based on the adjusted confidence level, current vehicle speed, actual steering wheel torque, and steering torque compensation direction, the corresponding steering torque compensation ratio is determined. This achieves the goal of accurately determining a steering torque compensation ratio that can be adapted to the target vehicle by combining information such as the adjusted confidence level, current vehicle speed, and actual steering wheel torque of the target vehicle when it is on a speed bump road surface.

[0103] In another embodiment, if the damping abrupt change road surface is a sloping road surface, the damping abrupt change road surface in front of the target vehicle is identified according to the road map information, including: determining the slope of the road surface in front of the target vehicle according to the road map information; if the slope is greater than a preset slope threshold, it is determined that there is a sloping road surface in front of the target vehicle.

[0104] Among them, sloping pavement can include transverse sloping pavement and longitudinal sloping pavement.

[0105] In specific implementation, if the road surface with a sudden change in damping is a sloping road surface, the vehicle-mounted equipment, while identifying the road surface with a sudden change in damping ahead of the target vehicle based on road map information, can determine the slope of the road surface ahead of the target vehicle based on the road map information. If the slope is greater than a preset slope threshold, it is determined that there is a sloping road surface ahead of the target vehicle. Specifically, the vehicle-mounted equipment can acquire the lateral slope in the X direction of the target vehicle during driving; if the lateral slope in the X direction is not zero, it is determined that there is a sloping road surface ahead of the target vehicle. For ease of understanding by those skilled in the art, Figure 6 An example is provided: a schematic diagram of a vehicle coordinate system.

[0106] The technical solution of this embodiment determines the slope of the road surface in front of the target vehicle based on road map information, and determines that there is a sloping road surface in front of the target vehicle when the slope is greater than a preset slope threshold, thereby achieving accurate and early identification of the sloping road surface in front of the target vehicle.

[0107] In another embodiment, obtaining steering torque compensation information corresponding to a road surface with abrupt damping includes: obtaining the current vehicle speed, vehicle yaw angle, and actual steering wheel torque of the target vehicle when it is on a slope, and obtaining the steering torque compensation direction for the target vehicle; determining the corresponding steering torque compensation ratio based on the slope, current vehicle speed, vehicle yaw angle, actual steering wheel torque, and steering torque compensation direction, as steering torque compensation information.

[0108] In specific implementation, the process of acquiring steering torque compensation information corresponding to road surfaces with abrupt changes in damping involves the following steps: The electronic equipment acquires the target vehicle's current speed, yaw angle, and actual steering wheel torque when the vehicle is on a slope, as well as the steering torque compensation direction for the target vehicle. Based on the slope, current speed, yaw angle, actual steering wheel torque, and steering torque compensation direction, the corresponding steering torque compensation ratio is determined as the steering torque compensation information. Specifically, the vehicle equipment can acquire relevant functions and input the slope, current speed, yaw angle, and actual steering wheel torque into these functions to obtain the corresponding steering torque compensation ratio.

[0109] The vehicle's infotainment system can also determine the direction of the steering torque compensation ratio based on the direction of the steering torque compensation. Specifically, the system acquires the direction of the actual steering wheel torque. When the direction of the actual steering wheel torque is in the same direction as the lateral slope value in the Z direction, the torque compensation ratio is negative; otherwise, the compensation ratio is positive.

[0110] The relevant function can be expressed as M = T(x) * (Z * N * Y / v) * 100%; where M is the final compensation ratio, T(x) is the vehicle slope model function, x is the lateral slope vector value, Z is the confidence level, N is the actual steering wheel torque, Y is the vehicle yaw angle, and v is the current vehicle speed.

[0111] The technical solution of this embodiment obtains the current vehicle speed, vehicle yaw angle, and actual steering wheel torque of the target vehicle when it is on a slope, and obtains the steering torque compensation direction for the target vehicle; based on the slope, current vehicle speed, vehicle yaw angle, actual steering wheel torque, and steering torque compensation direction, it determines the corresponding steering torque compensation ratio as steering torque compensation information; thus, by combining the current vehicle speed, vehicle yaw angle, and actual steering wheel torque of the target vehicle when it is on a slope, it accurately determines the steering torque compensation ratio that can be adapted to the target vehicle.

[0112] In another embodiment, after identifying the damping abrupt change in road surface in front of the target vehicle based on road map information, the method further includes: obtaining the relative distance between the target vehicle and the damping abrupt change in road surface; determining the time it takes for the target vehicle to travel to the damping abrupt change in road surface based on the current speed of the target vehicle and the relative distance; and if the time is less than a preset time threshold, then performing the step of obtaining steering torque compensation information corresponding to the damping abrupt change in road surface.

[0113] In practice, after identifying the abrupt change in road surface damping ahead of the target vehicle based on road map information, the vehicle-mounted system can also obtain the relative distance between the target vehicle and the abrupt change in road surface damping. Then, based on the target vehicle's current speed and the relative distance, the system determines the time it takes for the target vehicle to reach the abrupt change in road surface damping. If the time is less than a preset time threshold, the system proceeds to obtain the steering torque compensation information corresponding to the abrupt change in road surface damping. This time can also be termed the time to cross the abrupt change in road surface damping (TTC). The preset time threshold can be set to 0.2 seconds.

[0114] For example, taking a speed bump as an example of a road surface with a sudden change in damping, the vehicle-mounted equipment can track the speed bump target in the road image information and combine it with speed limit signs and lane markings to comprehensively determine the current environmental range. Based on image recognition algorithms, it can calculate the relative distance between the target vehicle and the speed bump. Simultaneously, the vehicle-mounted equipment can also calculate the relative distance between the target vehicle and the speed bump based on the speed bump coordinates in high-precision map information and the absolute positioning coordinates of the target vehicle.

[0115] The technical solution of this embodiment obtains the relative distance between the target vehicle and the damped abrupt road surface; determines the time it takes for the target vehicle to travel to the damped abrupt road surface based on the target vehicle's current speed and relative distance; if the time is less than a preset time threshold, then the steering torque compensation information corresponding to the damped abrupt road surface is obtained, thus realizing that the subsequent data processing process is only performed when the target vehicle is close to the damped abrupt road surface, reducing the data processing volume of the vehicle equipment.

[0116] Figure 7 An example is provided: a functional module diagram of an autonomous driving control system; wherein the autonomous driving control system includes: a communication module configured to interact with a camera system and a high-precision map system for data exchange, and a module to interact with the chassis steering system EPS for control signal exchange; and a processing module configured to execute the above-described vehicle control method.

[0117] Figure 8A schematic diagram of the hardware architecture of an autonomous driving system is provided as an example. The autonomous driving controller is connected to a forward-looking vision sensor and a high-precision map positioning system. The high-precision map positioning system includes a positioning module and a storage module, the storage module being a database for storing high-precision map data. Simultaneously, the autonomous driving controller is also connected to an airbag controller and an EPS (Electric Power Suspension Device) via a CAN / CANFD bus. The airbag controller is connected to a yaw rate sensor. The EPS is connected to a torque sensor and actuators.

[0118] In another embodiment, such as Figure 9 As shown, a vehicle control method is provided, which is applied to... Figure 1 Taking the terminal in the example, the explanation includes the following steps:

[0119] Step S910: Obtain the vehicle location information of the target vehicle while it is in motion, and query the road map information in front of the target vehicle based on the vehicle location information.

[0120] Step S920: Based on the road map information, identify the damping abrupt change in road surface in front of the target vehicle.

[0121] Step S930: Obtain the relative distance between the target vehicle and the road surface with abrupt damping.

[0122] Step S940: Determine the time it takes for the target vehicle to travel to the road surface with a sudden change in damping, based on the current speed of the target vehicle and the relative distance.

[0123] Step S950: If the time is less than a preset time threshold, then obtain the steering torque compensation information corresponding to the road surface with abrupt damping change; the steering torque compensation information includes the steering torque compensation ratio.

[0124] Step S960: Obtain the actual steering wheel torque of the target vehicle when it is on the road surface with a sudden change in damping.

[0125] Step S970: The actual torque of the steering wheel and the steering compensation torque are superimposed to obtain the superimposed torque.

[0126] Step S980: Perform steering control on the target vehicle according to the superimposed torque.

[0127] It should be noted that the specific limitations of the above steps can be found in the specific limitations of a vehicle control method described above.

[0128] It should be understood that, although Figure 2 and Figure 9The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 and Figure 9 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0129] For the convenience of those skilled in the art, Figure 10 A flowchart of an automatic steering correction device based on visual recognition and high-precision positioning is provided, including the following steps: Step 1: The forward-looking camera and high-definition map operate independently, simultaneously outputting key information and position parameters such as lane lines and speed bumps. The forward-looking camera acquires image data and extracts key pixel feature values ​​such as lane lines and speed bumps; the high-precision positioning system provides the current vehicle positioning information based on GNSS, RTK data, and IMU; furthermore, the image information output by the camera is combined as fusion positioning; Step 2: The forward-looking camera continuously tracks these features and combines them with speed limit signs and lane line types to comprehensively determine the current environmental range; the relative distance to the speed bump is calculated based on the image recognition algorithm; the high-definition map positioning system provides static target information based on the fusion positioning calculation, filters whether there is a speed bump target, and outputs necessary parameters such as relative position; Step 3: The information from the visual output and map output is fused for tracking and judgment, and the true confidence level of the speed bump target is set to set different torque compensation ratios; Step 4: The independently calculated relative distances are fused and combined with the real-time vehicle speed to calculate the Time to... Cross-line crossing time; Step 5: When the vehicle approaches the cross-line area, torque compensation is performed according to a specific algorithm to maintain vehicle stability.

[0130] For the convenience of those skilled in the art, Figure 11A flowchart of an automatic steering control device based on high-precision positioning is provided. The vehicle-mounted system acquires road image information via a forward-facing camera. Then, it identifies lane line positions within the road image and calculates road curvature based on these positions. Simultaneously, the system fuses GNSS, RTK, IMU, and camera information using high-precision positioning to output the target vehicle's current absolute coordinates. Finally, based on this absolute coordinates, the system outputs static parameters such as road curvature and cross slope from high-precision map data. Then, the vehicle's infotainment system sets the steering torque compensation ratio based on the lateral slope value, actual steering wheel torque, yaw angle, and current vehicle speed. Next, the system determines whether the actual steering wheel torque and the lateral slope are in the same direction. If they are, the torque compensation ratio is set to negative; if they are not, the ratio is set to positive. Finally, the system combines the actual steering wheel torque and the compensation torque to achieve a combined torque value, which is then sent to the EPS to complete the actual steering of the target vehicle.

[0131] In one embodiment, such as Figure 12 As shown, a vehicle control device is provided, comprising:

[0132] The acquisition module 1210 is used to acquire the vehicle positioning information of the target vehicle when it is driving, and to query the road map information in front of the target vehicle based on the vehicle positioning information.

[0133] The identification module 1220 is used to identify the damping abrupt change in road surface in front of the target vehicle based on the road map information;

[0134] Compensation module 1230 is used to acquire steering torque compensation information corresponding to the road surface with abrupt damping changes;

[0135] The control module 1240 is used to perform steering control on the target vehicle located on the road surface with abrupt damping changes, based on the steering torque compensation information.

[0136] In one embodiment, if the damping abrupt change in road surface is a speed bump road surface, the recognition module 1220 is specifically used to acquire road image information in front of the target vehicle, recognize the road image information to obtain a first recognition result; the first recognition result includes the result of whether there is a speed bump in front of the target vehicle in the road image information; recognize the road map information to obtain a second recognition result; the second recognition result includes the result of whether there is speed bump coordinate information in the road map information; fuse the first recognition result and the second recognition result to obtain a speed bump recognition result; and determine that there is a speed bump road surface in front of the target vehicle based on the speed bump recognition result.

[0137] In one embodiment, the identification module 1220 is specifically used to obtain the speed bump confidence level corresponding to the speed bump identification result; the speed bump confidence level is used to characterize the probability that there is a speed bump road surface in front of the target vehicle; if the speed bump confidence level is greater than a preset confidence level threshold, it is determined that there is a speed bump road surface in front of the target vehicle.

[0138] In one embodiment, the first recognition result further includes lane line confidence, which is used to characterize the probability value of lane line images existing in the road image information; the recognition module 1220 is specifically used to adjust the lane line confidence according to the second recognition result to obtain an adjusted confidence; and to use the adjusted confidence as the speed bump confidence corresponding to the speed bump recognition result.

[0139] In one embodiment, the compensation module 1230 is specifically used to obtain the current vehicle speed and actual steering wheel torque of the target vehicle when it is on the speed bump road surface, and to obtain the steering torque compensation direction for the target vehicle; and to determine the corresponding steering torque compensation ratio as the steering torque compensation information based on the adjusted confidence level, the current vehicle speed, the actual steering wheel torque, and the steering torque compensation direction.

[0140] In one embodiment, if the damping abrupt road surface is a sloping road surface, the identification module 1220 is specifically used to determine the slope of the road surface in front of the target vehicle based on the road map information; if the slope is greater than a preset slope threshold, it is determined that there is a sloping road surface in front of the target vehicle.

[0141] In one embodiment, the compensation module 1230 is specifically used to obtain the current vehicle speed, vehicle yaw angle, and actual steering wheel torque of the target vehicle when it is on the slope, and to obtain the steering torque compensation direction for the target vehicle; and to determine the corresponding steering torque compensation ratio based on the slope, the current vehicle speed, the vehicle yaw angle, the actual steering wheel torque, and the steering torque compensation direction, as the steering torque compensation information.

[0142] In one embodiment, after the step of identifying the damping abrupt change in road surface in front of the target vehicle based on the road map information, the method further includes: a distance acquisition module for acquiring the relative distance between the target vehicle and the damping abrupt change in road surface; a time calculation module for determining the time it takes for the target vehicle to travel to the damping abrupt change in road surface based on the current speed of the target vehicle and the relative distance; and an execution module for executing the step of acquiring steering torque compensation information corresponding to the damping abrupt change in road surface if the time is less than a preset time threshold.

[0143] In one embodiment, the steering torque compensation information includes a steering torque compensation ratio. The control module 1240 is specifically used to obtain the actual steering wheel torque of the target vehicle when it is on the road surface with a sudden change in damping, and to obtain the steering compensation torque corresponding to the steering torque compensation ratio; to superimpose the actual steering wheel torque and the steering compensation torque to obtain the superimposed torque; and to perform steering control on the target vehicle according to the superimposed torque.

[0144] For specific limitations regarding a vehicle control device, please refer to the limitations regarding a vehicle control method described above, which will not be repeated here. Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0145] In one embodiment, a computer device is provided, which may be an in-vehicle infotainment system, and its internal structure diagram may be as follows: Figure 13As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores vehicle control data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle control method.

[0146] Those skilled in the art will understand that Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0147] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the vehicle control method described above. The steps of the vehicle control method described here can be steps from one of the vehicle control methods in the various embodiments described above.

[0148] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the steps of the vehicle control method described above. The steps of the vehicle control method described here may be steps from one of the vehicle control methods in the various embodiments described above.

[0149] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0150] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, include: Obtain the vehicle location information of the target vehicle while it is in motion, and query the road map information ahead of the target vehicle based on the vehicle location information; Based on the road map information, identify the damping abrupt road surface in front of the target vehicle; Obtain the relative distance between the target vehicle and the road surface with abrupt damping; Based on the target vehicle's current speed and relative distance, determine the time it takes for the target vehicle to travel to the damped abrupt road surface. If the time is less than a preset time threshold, then the steering torque compensation information corresponding to the road surface with abrupt damping is obtained; Based on the steering torque compensation information, steering control is performed on the target vehicle located on the road surface with abrupt damping changes; Wherein, if the damping abrupt change road surface is a slope road surface, the step of performing steering control on the target vehicle on the damping abrupt change road surface based on the steering torque compensation information includes: The system obtains the target vehicle's current speed, yaw angle, and actual steering wheel torque when the target vehicle is on the sloped road surface, and also obtains the steering torque compensation direction for the target vehicle. The slope, current vehicle speed, vehicle yaw angle, actual steering wheel torque, and steering torque compensation direction are input into a relevant function to determine the corresponding steering torque compensation ratio. Based on the steering torque compensation direction, the direction of the steering torque compensation ratio is determined to obtain the steering torque compensation information. The relevant function is expressed as follows: M = T(x) *( Z * N* Y / v) *100%; Where M is the final compensation ratio, T(x) is the vehicle slope model function, where x is the lateral slope vector value, Z is the confidence level, N is the actual steering wheel torque, Y is the vehicle yaw angle, and v is the current vehicle speed.

2. The method according to claim 1, characterized in that, If the damping abrupt change in road surface is a speed bump, the step of identifying the damping abrupt change in road surface in front of the target vehicle based on the road map information includes: Obtain road image information in front of the target vehicle, identify the road image information, and obtain a first identification result; the first identification result includes whether there is a speed bump in front of the target vehicle in the road image information; The road map information is identified to obtain a second identification result; the second identification result includes the result of whether speed bump coordinate information exists in the road map information. By fusing the first recognition result and the second recognition result, the speed bump recognition result is obtained; Based on the speed bump recognition result, it is determined that there is a speed bump road surface in front of the target vehicle.

3. The method according to claim 2, characterized in that, The step of determining, based on the speed bump recognition result, that there is a speed bump ahead of the target vehicle includes: Obtain the speed bump confidence score corresponding to the speed bump identification result; the speed bump confidence score is used to characterize the probability that there is a speed bump road surface in front of the target vehicle; If the confidence level of the speed bump is greater than the preset confidence level threshold, it is determined that there is a speed bump road surface in front of the target vehicle.

4. The method according to claim 3, characterized in that, The first recognition result also includes lane line confidence, which is used to characterize the probability value of lane line images existing in the road image information; The step of obtaining the speed bump confidence level corresponding to the speed bump identification result includes: The confidence level of the lane line is adjusted based on the second recognition result to obtain the adjusted confidence level; The adjusted confidence level is used as the speed bump confidence level corresponding to the speed bump identification result.

5. The method according to claim 4, characterized in that, The step of obtaining steering torque compensation information corresponding to the road surface with abrupt damping includes: The current vehicle speed and actual steering wheel torque of the target vehicle when it is on the speed bump surface are obtained, and the steering torque compensation direction for the target vehicle is obtained. Based on the adjusted confidence level, the current vehicle speed, the actual steering wheel torque, and the steering torque compensation direction, a corresponding steering torque compensation ratio is determined as the steering torque compensation information.

6. The method according to claim 1, characterized in that, If the road surface with a sudden change in damping is a slope, the step of identifying the road surface with a sudden change in damping in front of the target vehicle based on the road map information includes: Based on the road map information, determine the slope of the road surface in front of the target vehicle; If the slope is greater than a preset slope threshold, it is determined that there is a sloping road surface in front of the target vehicle.

7. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle location information of the target vehicle while it is driving, and to query the road map information ahead of the target vehicle based on the vehicle location information. The identification module is used to identify the damping abrupt change in road surface in front of the target vehicle based on the road map information; The compensation module is used to obtain the relative distance between the target vehicle and the damped abrupt road surface; determine the time it takes for the target vehicle to travel to the damped abrupt road surface based on the current speed of the target vehicle and the relative distance; if the time is less than a preset time threshold, obtain the steering torque compensation information corresponding to the damped abrupt road surface. A control module is used to perform steering control on a target vehicle located on a road surface with abrupt damping changes, based on the steering torque compensation information. If the road surface with abrupt damping changes is a slope, the steering control of the target vehicle on the road surface with the steering torque compensation information includes: acquiring the current vehicle speed, vehicle yaw angle, and actual steering wheel torque of the target vehicle on the slope; acquiring the steering torque compensation direction for the target vehicle; inputting the slope, current vehicle speed, vehicle yaw angle, actual steering wheel torque, and steering torque compensation direction into a relevant function to determine the corresponding steering torque compensation ratio; and determining the direction of the steering torque compensation ratio based on the steering torque compensation direction to obtain the steering torque compensation information. The relevant function is expressed as follows: M = T(x) *( Z * N* Y / v) *100%; Where M is the final compensation ratio, T(x) is the vehicle slope model function, where x is the lateral slope vector value, Z is the confidence level, N is the actual steering wheel torque, Y is the vehicle yaw angle, and v is the current vehicle speed.

8. An autonomous driving device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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