A method, device, equipment and storage medium for controlling vehicle driving

Abstract

The embodiments of the present application disclose a method, device, equipment and storage medium for controlling vehicle driving, which belongs to the field of vehicle intelligent driving technology and can be applied in scenes such as curves in highways, ports, mines, urban traffic, or windy roads, or windy curves. The method comprises: during vehicle driving, determining target adjustment information based on a vehicle driving parameter set, and adjusting the vehicle's driving variables through the target adjustment information, that is, when the target adjustment information and the driving variables are different parameters, respectively applying a vehicle driving parameter set consisting of first deceleration information and second deceleration information, first damping information and second damping information and / or steering information to determine the driving speed, driving posture and / or driving direction, thereby realizing separate control of the vehicle under the influence of curves and / or side winds, and more accurately eliminating the influence of side winds on vehicle driving.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent driving technology, and provides a method, device, equipment and storage medium for controlling vehicle driving. Background Art

[0002] During the driving process of the vehicle, especially when the driving section is an open road section, the seaside, a bridge, etc., the vehicle is often affected by the crosswind. Due to the large cross-sectional area of ​​the vehicle body, the effect of the crosswind will generate a lateral force perpendicular to the driving direction of the vehicle, which will affect the driving direction of the vehicle. In this case, the driver needs to apply extra hand force on the steering wheel to correct the driving direction of the vehicle. Obviously, this will increase the driver's driving vigilance and fatigue, and the corresponding probability of traffic accidents will increase. If the crosswind encountered by the vehicle exceeds the driver's expectations, it may cause the vehicle to lose control, and in severe cases, even cause the vehicle to roll over.

[0003] In existing solutions, sensors commonly used on vehicles are usually used to detect the size of the crosswind, such as lateral acceleration sensors, yaw rate sensors, wheel speed sensors, steering angle sensors, etc., to detect the crosswind, and the vehicle is controlled based on the signals obtained by these sensors. However, the above solutions ignore the influence of curves, because the curves where the vehicle is traveling will affect the measurement of the crosswind, that is, the values ​​directly measured by the sensor often combine the combined influence of the curve and the crosswind. If the above measured values ​​are directly used to judge the crosswind, it will inevitably cause a certain degree of control deviation. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and storage medium for controlling vehicle driving, which are used to accurately control the driving of the vehicle under the influence of curves and crosswinds.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling vehicle driving, comprising:

[0006] During vehicle driving, determining target adjustment information based on a set of vehicle driving parameters;

[0007] Adjust the driving variables of the vehicle through the target adjustment information;

[0008] Wherein, in the case where the vehicle driving parameter set includes the first speed reduction information and the second speed reduction information, the target adjustment information is the target speed reduction information, the driving variable includes the driving speed, and the target speed reduction information is determined based on the first speed reduction information and the second speed reduction information;

[0009] In a case where the vehicle driving parameter set includes the first damping information and the second damping information, the target adjustment information is the target damping adjustment information, and the driving variable includes the driving posture, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;

[0010] When the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variables include driving direction, wherein the steering information is used to characterize the actual curvature generated by the steering system of the vehicle on the driving road; wherein the first deceleration information and the first damping information are determined based on the current curve information, and the current curve information is determined based on the road curvature of the driving road on which the vehicle is located and the current vehicle speed, and the second deceleration information, the second damping information and the steering information are determined based on the current side wind impact information, and the current side wind impact information is determined based on the current driving variable information and the current curve information of the vehicle, and the current driving variable information is measured by a sensor group on the vehicle.

[0011] By adjusting different driving variables under different vehicle driving parameter sets, the accuracy of side wind measurement during vehicle driving on curves is guaranteed, thereby enabling individual control of the vehicle under the influence of curves and / or side winds, which is beneficial to precise control of the vehicle under the influence of curves and / or side winds.

[0012] Optionally, the method further comprises:

[0013] In the case where the first deceleration information and the first damping information need to be determined, the first deceleration information and the first damping information are determined based on the current curve information after the target control condition is met; and / or

[0014] In the case where the second deceleration information, the second damping information and the steering information need to be determined, the determination is based on the current crosswind influence information after the target control condition is met;

[0015] The target control condition is that the curvature difference between the road curvature and the actual curvature corresponding to the steering information does not exceed the trajectory threshold range.

[0016] By setting the target control conditions, the driving variables can be kept unchanged when the impact of curves and / or side winds is small, that is, the safe and smooth driving of the vehicle can be guaranteed without changing the current vehicle driving conditions. Only when the target control conditions are met will measures be taken to address the impact of curves and / or side winds, thereby eliminating unnecessary adjustments to the vehicle's driving variables.

[0017] Optionally, the road curvature is determined by:

[0018] In the preset correspondence between the position information and the curvature, searching for the curvature corresponding to the position information of the vehicle;

[0019] The found curvature is used as the road curvature of the driving road.

[0020] The curvature is determined by the position of the vehicle and the road curvature is further calculated, thereby ensuring the accuracy of the road curvature calculation, thereby making the vehicle's cornering hardness and / or crosswind impact more accurate.

[0021] Optionally, the first deceleration information and the first damping information are determined in the following manner:

[0022] When the road curvature corresponding to the current curve information is within the first curve threshold range, first deceleration information is determined based on the current driving speed of the vehicle and the road curvature;

[0023] When the road curvature corresponding to the current curve information is within the second curve threshold range, determining first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature;

[0024] Among them, the curve influence values ​​corresponding to the second curve threshold range are all greater than the curve influence values ​​corresponding to the first curve threshold range, and the curve influence value represents the degree to which the vehicle's driving trajectory is offset by the current curve information.

[0025] The above-mentioned method of determining the first deceleration information or the first damping information of the vehicle according to the different distribution ranges of the road curvature can adjust the vehicle from different driving variable angles, so as to more accurately cope with the influence of different curves.

[0026] Optionally, the second deceleration information, the second damping information and the steering information are determined in the following manner:

[0027] When the current crosswind impact information is within the first crosswind threshold range, determining second speed reduction information based on the current driving speed of the vehicle and the current crosswind impact information;

[0028] When the current side wind impact information is within the second side wind threshold range, determining second damping information based on the current damping information of the vehicle and the current side wind impact information;

[0029] When the current crosswind impact information is within a third crosswind threshold range, determining steering information based on a steering system of the vehicle;

[0030] Among them, the wind speed value corresponding to the third side wind threshold range is greater than the wind speed value corresponding to the second side wind threshold range, and the wind speed value corresponding to the second side wind threshold range is greater than the wind speed value corresponding to the first side wind threshold range. The wind speed value represents the degree of deviation of the vehicle's driving trajectory due to the current side wind impact information.

[0031] The above-mentioned method of determining the second speed reduction information, second damping information and / or steering information of the vehicle according to the different distribution ranges of the current side wind impact information can adjust the vehicle from different driving variable angles, so as to more accurately cope with the impact of different side winds.

[0032] In a second aspect, an embodiment of the present application further provides a device for controlling vehicle travel, comprising:

[0033] A determination unit, configured to determine target adjustment information based on a set of vehicle driving parameters during vehicle driving;

[0034] An adjustment unit, used for adjusting a driving variable of the vehicle through target adjustment information;

[0035] Wherein, in the case where the vehicle driving parameter set includes the first speed reduction information and the second speed reduction information, the target adjustment information is the target speed reduction information, the driving variable includes the driving speed, and the target speed reduction information is determined based on the first speed reduction information and the second speed reduction information;

[0036] In a case where the vehicle driving parameter set includes the first damping information and the second damping information, the target adjustment information is the target damping adjustment information, and the driving variable includes the driving posture, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;

[0037] When the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variables include driving direction, wherein the steering information is used to characterize the actual curvature generated by the steering system of the vehicle on the driving road; wherein the first deceleration information and the first damping information are determined based on the current curve information, and the current curve information is determined based on the road curvature of the driving road on which the vehicle is located and the current vehicle speed, and the second deceleration information, the second damping information and the steering information are determined based on the current side wind impact information, and the current side wind impact information is determined based on the current driving variable information and the current curve information of the vehicle, and the current driving variable information is measured by a sensor group on the vehicle.

[0038] Optionally, it also includes:

[0039] In the case where the first deceleration information and the first damping information need to be determined, the first deceleration information and the first damping information are determined based on the current curve information after the target control condition is met; and / or

[0040] In the case where the second deceleration information, the second damping information and the steering information need to be determined, the determination is based on the current crosswind influence information after the target control condition is met;

[0041] The target control condition is that the curvature difference between the road curvature and the actual curvature corresponding to the steering information does not exceed the trajectory threshold range.

[0042] Optionally, the road curvature is determined by:

[0043] In the preset correspondence between the position information and the curvature, searching for the curvature corresponding to the position information of the vehicle;

[0044] The found curvature is used as the road curvature of the driving road.

[0045] Optionally, the first deceleration information and the first damping information are determined in the following manner:

[0046] When the road curvature corresponding to the current curve information is within the first curve threshold range, first deceleration information is determined based on the current driving speed of the vehicle and the road curvature;

[0047] When the road curvature corresponding to the current curve information is within the second curve threshold range, determining first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature;

[0048] Among them, the curve influence values ​​corresponding to the second curve threshold range are all greater than the curve influence values ​​corresponding to the first curve threshold range, and the curve influence value represents the degree to which the vehicle's driving trajectory is offset by the current curve information.

[0049] Optionally, the second deceleration information, the second damping information and the steering information are determined in the following manner:

[0050] When the current crosswind impact information is within the first crosswind threshold range, determining second speed reduction information based on the current driving speed of the vehicle and the current crosswind impact information;

[0051] When the current side wind impact information is within the second side wind threshold range, determining second damping information based on the current damping information of the vehicle and the current side wind impact information;

[0052] When the current crosswind impact information is within a third crosswind threshold range, determining steering information based on a steering system of the vehicle;

[0053] Among them, the wind speed value corresponding to the third side wind threshold range is greater than the wind speed value corresponding to the second side wind threshold range, and the wind speed value corresponding to the second side wind threshold range is greater than the wind speed value corresponding to the first side wind threshold range. The wind speed value represents the degree of deviation of the vehicle's driving trajectory due to the current side wind impact information.

[0054] According to a third aspect, an electronic device includes:

[0055] A memory for storing executable instructions;

[0056] A processor is used to read and execute executable instructions stored in a memory to implement any method as described in the first aspect.

[0057] In a fourth aspect, a computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor, the processor is enabled to execute any method described in the first aspect.

[0058] In a fifth aspect, a computer program product comprises a computer program, and when the computer program is executed by a processor, the processor is enabled to execute any one of the methods of the first aspect.

[0059] In summary, in an embodiment of the present application, a method, device, equipment and storage medium for controlling vehicle driving are provided, the method comprising: during vehicle driving, determining target adjustment information based on a vehicle driving parameter set, adjusting the vehicle driving variables through the target adjustment information, that is, when the target adjustment information and the driving variables are different parameters, applying a vehicle driving parameter set consisting of first deceleration information and second deceleration information, first damping information and second damping information and / or steering information to determine the driving speed, driving posture and / or driving direction, the first deceleration information and the first damping information are determined based on current curve information, the current curve information is determined based on the road curvature of the driving road on which the vehicle is located and the current vehicle speed, the second deceleration information, the second damping information and the steering information are determined based on current side wind impact information, the current side wind impact information is determined based on the current driving variable information and the current curve information of the vehicle, and the current driving variable information is measured by a sensor group on the vehicle. Since accurate current curve information and current side wind impact information can be determined during implementation, separate control of the vehicle under the influence of curves and side winds is achieved, and the influence of side winds on vehicle driving can be more accurately eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of an application scenario of vehicle driving in an embodiment of the present application;

[0061] Figure 2 A schematic diagram of a process for controlling vehicle travel in an embodiment of the present application;

[0062] Figure 3 A schematic diagram of the logical architecture of a device for controlling vehicle travel in an embodiment of the present application;

[0063] Figure 4 Schematic diagram of the physical architecture of the smart terminal in the embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be arbitrarily combined with each other. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0065] The terms "first" and "second" in the embodiments of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, can be two, three or more, and the embodiments of the present application are not limited.

[0066] As mentioned above, the current solution of using sensors on vehicles to detect the size of crosswinds ignores the influence of curves. The reason is that the curves on which the vehicle is traveling will affect the measurement of the crosswinds, that is, the values ​​directly measured by the sensors often combine the combined influence of the curves and the crosswinds. If the values ​​measured above are used directly to judge the crosswinds, it is obviously impossible to obtain accurate crosswind values, resulting in the inability to accurately control the vehicle under the influence of curves and crosswinds.

[0067] To solve the above problems, an embodiment of the present application provides a method for controlling vehicle driving, determining current curve information through the road curvature of the road on which the vehicle is located, determining current side wind impact information through the current driving variable information of the vehicle and the current curve information, further determining first deceleration information and first damping information based on the current curve information, determining second deceleration information, second damping information and steering information based on the current side wind impact information, and on this basis, adjusting the vehicle's driving speed, driving posture and / or driving direction.

[0068] See also Figure 1 The figure shows a schematic diagram of an application scenario corresponding to an embodiment of the present application.

[0069] like Figure 1As shown, the application scenario may include a vehicle traveling on a cross-sea bridge. The factors affecting the vehicle's driving on the above road include curves, crosswinds, etc. The curves will affect the vehicle's driving variables. Similarly, the crosswinds will also affect the vehicle's driving variables. Since the influence of curves and crosswinds are mixed together in the existing processing solutions, it is difficult to accurately control the vehicle.

[0070] In addition, it should be noted that if the road on which the vehicle is traveling is a straight line, the above current curve information is zero; if there is no crosswind influence on the road on which the vehicle is traveling, the above current crosswind influence information is zero. To this end, in the embodiment of the present application, the curve and crosswind influence are extracted separately, and the vehicle is controlled based on the curve and crosswind influence respectively, which is described in detail below.

[0071] See also Figure 2 As shown, in the embodiment of the present application, the specific process of controlling the vehicle driving is as follows:

[0072] Since the vehicle is equipped with a lateral acceleration sensor, a yaw angular velocity sensor, a wheel speed sensor, a steering angle sensor, etc., in the embodiment of the present application, the above-mentioned lateral acceleration sensor, yaw angular velocity sensor, wheel speed sensor, steering angle sensor, etc. are collectively referred to as a sensor group. The current driving variable information is measured by the sensor group on the vehicle. On the premise that the above-mentioned sensor group obtains the current driving variable information of the vehicle, a detailed introduction is given to the method of controlling the vehicle's driving.

[0073] Step 201: During vehicle driving, target adjustment information is determined based on a set of vehicle driving parameters.

[0074] Taking into account that the driving variables during vehicle driving include driving speed, driving posture and driving direction, it is necessary to make corresponding adjustments in driving speed, driving posture and driving direction during vehicle driving. That is, during the implementation process, different target adjustment information is determined according to different vehicle driving parameter sets.

[0075] In one of the scenarios, when the vehicle driving parameter set includes first deceleration information and second deceleration information, the target adjustment information is target deceleration information, and the driving variable includes driving speed, wherein the target deceleration information is determined based on the first deceleration information and the second deceleration information.

[0076] In this scenario, the driving variables of the vehicle that need to be adjusted include the driving speed. Correspondingly, the target adjustment information that needs to be determined is the target speed reduction information. During the implementation process, the determination of the target speed reduction information needs to rely on the first speed reduction information and the second speed reduction information, that is, the specific vehicle driving parameter set includes the first speed reduction information and the second speed reduction information.

[0077] For example, when a vehicle is traveling on a road with both a curve and a crosswind, the current driving speed of the vehicle is too fast and may easily cause rollover. Therefore, the current driving speed needs to be reduced to continue moving forward. In this case, the first deceleration information 1 needs to be determined based on the current curve information 1, and the second deceleration information 1 needs to be determined based on the current crosswind impact information 1. After determining the individual impacts of the curve and the crosswind respectively, the first deceleration information 1 and the second deceleration information 1 are used to determine the target deceleration information 1, and the vehicle continues to move forward at the driving speed indicated by the target deceleration information 1, so as to overcome the curve impact corresponding to the current curve information 1 and the crosswind impact corresponding to the current crosswind impact information 1.

[0078] As an additional introduction, the target speed reduction information can also be conveyed to the driver of the vehicle, that is, the driver manually reduces the speed according to the target speed reduction information. The specific communication methods include speed reduction reminders through the instrument panel, display lights, and voice prompts, etc. For example, after the target speed reduction information reaches the target speed reduction threshold 1, the speed reduction reminder is made through the light of the instrument panel or display light; after the target speed reduction information reaches the target speed reduction threshold 2, the speed reduction reminder is made through the light of the instrument panel or display light, and at the same time through the voice prompt, etc.; after the target speed reduction information reaches the target speed reduction threshold 3, the speed reduction reminder is made through the light of the instrument panel or display light, and at the same time through the voice prompt, etc., and the vehicle is allowed to perform flexible active braking and deceleration, etc.

[0079] In another scenario, when the vehicle driving parameter set includes first damping information and second damping information, the target adjustment information is target damping adjustment information, and the driving variables include driving posture, wherein the target damping adjustment information is determined based on the first damping information and the second damping information.

[0080] In this scenario, the driving variables of the vehicle that need to be adjusted include the driving posture. Correspondingly, the target adjustment information that needs to be determined is the target damping adjustment information. During the implementation process, the determination of the target damping adjustment information needs to rely on the first damping information and the second damping information, that is, the specific vehicle driving parameter set includes the first damping information and the second damping information.

[0081] For example, when a vehicle is traveling on a road with both a curve and the influence of a crosswind, the vehicle is prone to rollover. Therefore, it is necessary to increase the damping of the suspension that is prone to rollover to continue moving forward. In this case, it is necessary to determine the first damping information 1 according to the current curve information 2, and it is also necessary to determine the second damping information 1 according to the current crosswind influence information 2. After determining the individual influences of the curve and the crosswind respectively, the first damping information 1 and the second damping information 1 are used to determine the target damping adjustment information 1, and the vehicle continues to move forward according to the driving posture indicated by the target damping adjustment information 1, so as to overcome the curve influence corresponding to the current curve information 2 and the crosswind influence corresponding to the current crosswind influence information 2.

[0082] It should be noted that the above-mentioned damping adjustments are all achieved by adjusting the vehicle's suspension.

[0083] In the third scenario, when the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variables include driving direction, wherein the steering information is used to characterize the actual curvature generated by the vehicle's steering system on the driving road.

[0084] In this scenario, the driving variables of the vehicle that need to be adjusted include the driving direction. Correspondingly, the target adjustment information that needs to be determined is the target steering adjustment information. During the implementation process, the determination of the target steering adjustment information needs to rely on the steering information, that is, the specific vehicle driving parameter set includes the steering information.

[0085] For example, when a vehicle is traveling on a road with both curves and crosswinds, the vehicle's current driving direction may deviate too much and may easily cause rollover. Therefore, the vehicle needs to reverse the current driving direction and continue to move forward. In this case, it is necessary to determine the target steering adjustment information 1 based on the actual curvature of the driving road generated by the vehicle's steering system (for example, steering wheel, etc.) represented by the steering information and the road curvature of the driving road where the vehicle is located, and make the vehicle continue to move forward in the driving direction indicated by the target steering adjustment information 1 to overcome the curve influence corresponding to the current curve information 3 and the side wind influence corresponding to the current side wind influence information 3.

[0086] As an additional introduction, during the implementation process, the actual curvature mentioned above is usually directly subtracted from the road curvature, and the difference obtained is used as the angle correction value of the steering gear.

[0087] It should be noted that the road curvature is determined by:

[0088] (1) In the preset correspondence between position information and curvature, search for the curvature corresponding to the position information of the vehicle.

[0089] Before determining the target adjustment information based on the vehicle driving parameter set, the location information of all roads that the vehicle may be involved in and the curvature corresponding to each road will be collected in advance, and a one-to-one correspondence will be established between the collected road location information and the corresponding curvature. The above correspondence will be stored in the vehicle.

[0090] During implementation, after the location information of the vehicle is determined during the driving process of the vehicle, the corresponding curvature can be searched in the above correspondence relationship based on the location information.

[0091] For example, assuming that the corresponding relationship is position information A-curvature a, information B-curvature b, ..., information N-curvature n, after the position information B of the vehicle is determined, the curvature b is determined according to the above corresponding relationship.

[0092] (2) The found curvature is used as the road curvature of the driving road.

[0093] During the implementation process, the curvature b found above is used as the road curvature of the current road on which the vehicle is traveling.

[0094] It should be noted that the current curve information is determined based on the road curvature of the vehicle's driving road and the current vehicle speed, and the current crosswind impact information is determined based on the vehicle's current driving variable information and the current curve information.

[0095] In order to obtain accurate current curve information and current crosswind influence information, in the embodiment of the present application, on the one hand, the current curve information will be directly determined according to the road curvature of the road where the vehicle is traveling and the current speed of the vehicle to ensure the accuracy of the current curve information acquisition; on the other hand, after obtaining the current driving variable information of the vehicle through the sensor group, the current driving variable information is used to subtract the current curve information to obtain the current crosswind influence information. Since, in the embodiment of the present application, the factors that affect the vehicle's driving are only the curve and the crosswind, when there are other factors that affect the vehicle's driving in addition to the curve and the crosswind, the current driving variable information is used to subtract the current curve information and other factors influencing information in turn to obtain the current crosswind influence information, which will not be repeated here.

[0096] In addition, considering that the influence of some smaller curves and crosswinds on vehicle driving can be ignored, the embodiments of the present application also include:

[0097] The first case: when the first deceleration information and the first damping information need to be determined, they are determined based on the current curve information after the target control condition is met.

[0098] The target control condition here is that the curvature difference between the road curvature and the actual curvature corresponding to the steering information does not exceed the trajectory threshold range, that is, the vehicle's driving trajectory does not deviate from the preset allowable trajectory range, and the influence of curves and side winds on vehicle driving is small. The vehicle's driving variables can be adjusted through compensation, that is, the vehicle's driving needs to be controlled separately for curves.

[0099] During implementation, the first deceleration information or the first damping information is determined according to the size of the curve. The specific first deceleration information and the first damping information are determined in the following manner:

[0100] Case (1): When the road curvature corresponding to the current curve information is within the first curve threshold range, the first deceleration information is determined based on the current driving speed of the vehicle and the road curvature.

[0101] Since the curve impact value represents the degree to which the vehicle's driving trajectory is offset by the current curve information, the greater the curve impact value, the greater the degree to which the vehicle's driving trajectory is offset by the current curve information. During implementation, the curve impact value corresponding to the first curve threshold range is relatively small, and at this time, the driving speed is adjusted first, and the first deceleration information needs to be determined based on the vehicle's current driving speed and road curvature.

[0102] For example, the current driving speed of the vehicle is m, and the road curvature is s. The required driving speed corresponding to the road curvature s is determined to be n, and on this basis, the first deceleration information is determined to be mn.

[0103] Case (2): When the road curvature corresponding to the current curve information is within the second curve threshold range, the first damping information is determined based on the current damping information of the vehicle, the current vehicle speed and the road curvature.

[0104] Similarly, the curve influence value represents the degree to which the vehicle's driving trajectory is offset by the current curve information, and the curve influence values ​​corresponding to the second curve threshold range are all greater than the curve influence values ​​corresponding to the first curve threshold range, that is, the vehicle's driving trajectory is more offset by the current curve information when it is within the second curve threshold range. In this case, it is preferred to adjust the driving posture, and the first damping information needs to be determined based on the vehicle's current damping information, current vehicle speed and road curvature. It should be noted that in this case, the vehicle can also be combined compensated, that is, the vehicle's driving speed and driving posture are adjusted at the same time to achieve the purpose of rapid adjustment.

[0105] For example, the current damping information of the vehicle is p, the road curvature is s, and the damping information corresponding to the road curvature s is determined to be k. On this basis, the first damping information is determined to be pk.

[0106] The second situation: when it is necessary to determine the second deceleration information, the second damping information and the steering information, they are determined based on the current crosswind influence information after the target control conditions are met.

[0107] Similarly, the target control condition is that the curvature difference between the road curvature and the actual curvature corresponding to the steering information does not exceed the trajectory threshold range, that is, the vehicle's driving trajectory does not deviate from the preset allowable trajectory range, and the influence of curves and side winds on vehicle driving is small, and the vehicle's driving variables can be adjusted through compensation, that is, the vehicle's driving variables need to be controlled separately for the side wind.

[0108] During implementation, the second deceleration information, the second damping information and the steering information are determined according to the size of the crosswind. The specific second deceleration information, the second damping information and the steering information are determined in the following manner:

[0109] Since the wind speed value represents the degree to which the vehicle's driving trajectory is offset by the current crosswind impact information, that is, the greater the wind speed value, the greater the degree to which the vehicle's driving trajectory is offset by the current crosswind impact information. In the embodiment of the present application, when the impact of the crosswind during vehicle driving cannot be ignored, the wind speed values ​​that the vehicle may be affected by during driving are specifically divided into three ranges: a first crosswind threshold range, a second crosswind threshold range, and a third crosswind threshold range, wherein the wind speed value corresponding to the third crosswind threshold range is greater than the wind speed value corresponding to the second crosswind threshold range, and the wind speed value corresponding to the second crosswind threshold range is greater than the wind speed value corresponding to the first crosswind threshold range.

[0110] Case 1: When the current side wind influence information is within the first side wind threshold range, the second speed reduction information is determined based on the current driving speed of the vehicle and the current side wind influence information.

[0111] During the implementation process, when the impact of the side wind is small, that is, when the current side wind impact information is within the first side wind threshold range, it is preferred to adjust the vehicle's driving speed. At this time, it is necessary to determine the second deceleration information based on the vehicle's current driving speed and the current side wind impact information.

[0112] For example, the current driving speed of the vehicle is w, and the current crosswind impact information is v. It is determined that the required driving speed corresponding to the current crosswind impact information v is x, and on this basis, the second deceleration information is determined to be wx.

[0113] Case 2: When the current side wind influence information is within the second side wind threshold range, the second damping information is determined based on the current damping information of the vehicle and the current side wind influence information.

[0114] During the implementation, when the crosswind has a greater impact, that is, when the current crosswind impact information is within the second crosswind threshold range, the vehicle's driving posture, that is, the damping of the easy rollover, etc., is adjusted first. At this time, the second damping information needs to be determined based on the vehicle's current damping information and the current crosswind impact information. It should be noted that in this case, the vehicle can also be compensated in combination, that is, the vehicle's driving speed and driving posture are adjusted at the same time to achieve the purpose of rapid adjustment.

[0115] For example, the current damping information of the vehicle is u, and the current crosswind influence information is o. It is determined that the damping information corresponding to the current crosswind influence information o is z, and on this basis, the second damping information is determined to be uz.

[0116] Case 3: When the current crosswind impact information is within the third crosswind threshold range, the steering information is determined based on the steering system of the vehicle.

[0117] During the implementation, when the impact of the crosswind is greater, that is, when the current crosswind impact information is within the third crosswind threshold range, the vehicle's driving direction is adjusted first. At this time, the steering information needs to be determined according to the vehicle's steering system, that is, the impact of the crosswind on driving is overcome by controlling the vehicle's driving direction. It should be noted that in this case, the vehicle can also be compensated in combination, that is, the vehicle's driving speed, driving posture and driving direction are adjusted at the same time to achieve the purpose of rapid adjustment.

[0118] For example, the actual curvature generated by the vehicle's steering system on the driving road is f, and the road curvature is s. The difference corresponding to the road curvature s is determined to be fs, and the corresponding steering information is determined to be the rotation value of the road curvature fs acting on the steering system.

[0119] Step 202: Adjust the driving variables of the vehicle through the target adjustment information.

[0120] During the implementation process, after determining the adjustment aspects such as driving speed, driving posture and driving direction, the target adjustment information is determined through the vehicle driving parameter set, that is, the target deceleration information is determined based on the first deceleration information and the second deceleration information, the target damping adjustment information is determined based on the first damping information and the second damping information, and / or the target steering adjustment information is determined based on the steering information, and on this basis, adjustments are made to the vehicle's driving variables such as driving speed, driving posture and driving direction to control the vehicle to continue driving on the driving road while overcoming the influence of curves and / or side winds.

[0121] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0122] See also Figure 3 As shown, in an embodiment of the present application, a device for controlling vehicle driving is provided, comprising:

[0123] The determination unit 301 is used to determine the target adjustment information based on the vehicle driving parameter set during the vehicle driving process;

[0124] An adjustment unit 302, configured to adjust the driving variables of the vehicle through target adjustment information;

[0125] Wherein, in the case where the vehicle driving parameter set includes the first speed reduction information and the second speed reduction information, the target adjustment information is the target speed reduction information, the driving variable includes the driving speed, and the target speed reduction information is determined based on the first speed reduction information and the second speed reduction information;

[0126] In a case where the vehicle driving parameter set includes the first damping information and the second damping information, the target adjustment information is the target damping adjustment information, and the driving variable includes the driving posture, wherein the target damping adjustment information is determined based on the first damping information and the second damping information;

[0127] When the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variables include driving direction, wherein the steering information is used to characterize the actual curvature generated by the steering system of the vehicle on the driving road; wherein the first deceleration information and the first damping information are determined based on the current curve information, and the current curve information is determined based on the road curvature of the driving road on which the vehicle is located and the current vehicle speed, and the second deceleration information, the second damping information and the steering information are determined based on the current side wind impact information, and the current side wind impact information is determined based on the current driving variable information and the current curve information of the vehicle, and the current driving variable information is measured by a sensor group on the vehicle.

[0128] Optionally, it also includes:

[0129] In the case where the first deceleration information and the first damping information need to be determined, the first deceleration information and the first damping information are determined based on the current curve information after the target control condition is met;

[0130] In the case where the second deceleration information, the second damping information and the steering information need to be determined, the determination is based on the current crosswind influence information after the target control condition is met;

[0131] The target control condition is that the curvature difference between the road curvature and the actual curvature corresponding to the steering information does not exceed the trajectory threshold range.

[0132] Optionally, the road curvature is determined by:

[0133] In the preset correspondence between the position information and the curvature, searching for the curvature corresponding to the position information of the vehicle;

[0134] The found curvature is used as the road curvature of the driving road.

[0135] Optionally, the first deceleration information and the first damping information are determined in the following manner:

[0136] When the road curvature corresponding to the current curve information is within the first curve threshold range, first deceleration information is determined based on the current driving speed of the vehicle and the road curvature;

[0137] When the road curvature corresponding to the current curve information is within the second curve threshold range, determining first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature;

[0138] Among them, the curve influence values ​​corresponding to the second curve threshold range are all greater than the curve influence values ​​corresponding to the first curve threshold range, and the curve influence value represents the degree to which the vehicle's driving trajectory is offset by the current curve information.

[0139] Optionally, the second deceleration information, the second damping information and the steering information are determined in the following manner:

[0140] When the current crosswind impact information is within the first crosswind threshold range, determining second speed reduction information based on the current driving speed of the vehicle and the current crosswind impact information;

[0141] When the current side wind impact information is within the second side wind threshold range, determining second damping information based on the current damping information of the vehicle and the current side wind impact information;

[0142] When the current crosswind impact information is within a third crosswind threshold range, determining steering information based on a steering system of the vehicle;

[0143] Among them, the wind speed value corresponding to the third side wind threshold range is greater than the wind speed value corresponding to the second side wind threshold range, and the wind speed value corresponding to the second side wind threshold range is greater than the wind speed value corresponding to the first side wind threshold range. The wind speed value represents the degree of deviation of the vehicle's driving trajectory due to the current side wind impact information.

[0144] In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0145] See also Figure 4As shown, an embodiment of the present application provides an electronic device, including: a memory 401, used to store executable instructions; a processor 402, used to read and execute the executable instructions stored in the memory, and execute any one of the methods in any one of the above embodiments.

[0146] An embodiment of the present application provides a computer-readable storage medium. When instructions in the storage medium are executed by a processor, the processor is enabled to execute any method described in any one of the above embodiments.

[0147] An embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the processor is enabled to execute any one of the methods in any one of the above embodiments.

[0148] In summary, in an embodiment of the present application, a method, device, equipment and storage medium for controlling vehicle driving are provided, the method comprising: during vehicle driving, determining target adjustment information based on a vehicle driving parameter set, adjusting the vehicle driving variables through the target adjustment information, that is, when the target adjustment information and the driving variables are different parameters, applying a vehicle driving parameter set consisting of first deceleration information and second deceleration information, first damping information and second damping information and / or steering information to determine the driving speed, driving posture and / or driving direction, the first deceleration information and the first damping information are determined based on current curve information, the current curve information is determined based on the road curvature of the driving road on which the vehicle is located and the current vehicle speed, the second deceleration information, the second damping information and the steering information are determined based on current side wind impact information, the current side wind impact information is determined based on the current driving variable information and the current curve information of the vehicle, and the current driving variable information is measured by a sensor group on the vehicle. Since accurate current curve information and current side wind impact information can be determined during implementation, separate control of the vehicle under the influence of curves and side winds is achieved, and the influence of side winds on vehicle driving can be more accurately eliminated.

[0149] In the various embodiments of the present application, unless otherwise specified or provided for in any logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0150] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program product systems. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product system implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0151] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program product systems according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0154] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling vehicle travel, characterized in that: The method comprises: During vehicle driving, determining target adjustment information based on a set of vehicle driving parameters; Adjusting the driving variables of the vehicle according to the target adjustment information; Wherein, in the case where the vehicle driving parameter set includes first deceleration information and second deceleration information, the target adjustment information is target deceleration information, the driving variable includes driving speed, and the target deceleration information is determined based on the first deceleration information and the second deceleration information; In a case where the vehicle driving parameter set includes first damping information and second damping information, the target adjustment information is target damping adjustment information, the driving variable includes a driving posture, and the target damping adjustment information is determined based on the first damping information and the second damping information; In the case where the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variable includes a driving direction, wherein the steering information is used to characterize an actual curvature generated by a steering system of the vehicle on a driving road; wherein the first deceleration information and the first damping information are determined based on current curve information, and the current curve information is determined based on a road curvature of a driving road on which the vehicle is located and a current vehicle speed, The second deceleration information, the second damping information and the steering information are determined based on current side wind impact information, and the current side wind impact information is determined based on current driving variable information and current curve information of the vehicle, and the current driving variable information is measured by a sensor group on the vehicle.

2. The method according to claim 1, characterized in that The method further comprises: In the case where the first deceleration information and the first damping information need to be determined, after a target control condition is met, the information is determined based on the current curve information; and / or In the case where the second deceleration information, the second damping information and the steering information need to be determined, after the target control condition is met, the determination is based on the current crosswind influence information; The target control condition is that a curvature difference between the road curvature and an actual curvature corresponding to the steering information does not exceed a trajectory threshold range.

3. The method according to claim 1, characterized in that The road curvature is determined by: In the preset correspondence between the position information and the curvature, searching for the curvature corresponding to the position information of the vehicle; The found curvature is used as the road curvature of the driving road.

4. The method according to any one of claims 1 to 3, characterized in that: The first deceleration information and the first damping information are determined in the following manner: When the road curvature corresponding to the current curve information is within a first curve threshold range, determining the first deceleration information based on the current driving speed of the vehicle and the road curvature; When the road curvature corresponding to the current curve information is within a second curve threshold range, determining the first damping information based on the current damping information of the vehicle, the current vehicle speed and the road curvature; Among them, the curve influence values ​​corresponding to the second curve threshold range are all greater than the curve influence values ​​corresponding to the first curve threshold range, and the curve influence values ​​represent the degree to which the vehicle's driving trajectory is offset by the current curve information.

5. The method according to any one of claims 1 to 3, characterized in that: The second deceleration information, the second damping information and the steering information are determined in the following manner: When the current side wind impact information is within a first side wind threshold range, determining the second speed reduction information based on the current driving speed of the vehicle and the current side wind impact information; In a case where the current side wind impact information is within a second side wind threshold range, determining the second damping information based on current damping information of the vehicle and the current side wind impact information; When the current side wind impact information is within a third side wind threshold range, determining the steering information based on a steering system of the vehicle; Among them, the wind speed value corresponding to the third side wind threshold range is greater than the wind speed value corresponding to the second side wind threshold range, and the wind speed value corresponding to the second side wind threshold range is greater than the wind speed value corresponding to the first side wind threshold range, and the wind speed value represents the degree of deviation of the vehicle's driving trajectory due to the current side wind impact information.

6. A device for controlling vehicle travel, characterized in that: include: A determination unit, configured to determine target adjustment information based on a set of vehicle driving parameters during vehicle driving; an adjustment unit, configured to adjust a driving variable of the vehicle according to the target adjustment information; Wherein, in the case where the vehicle driving parameter set includes first deceleration information and second deceleration information, the target adjustment information is target deceleration information, the driving variable includes driving speed, and the target deceleration information is determined based on the first deceleration information and the second deceleration information; In a case where the vehicle driving parameter set includes first damping information and second damping information, the target adjustment information is target damping adjustment information, the driving variable includes a driving posture, and the target damping adjustment information is determined based on the first damping information and the second damping information; In the case where the vehicle driving parameter set includes steering information, the target adjustment information is target steering adjustment information, and the driving variable includes driving direction, wherein the steering information is used to characterize the actual curvature generated by the steering system of the vehicle on the driving road; wherein the first deceleration information and the first damping information are determined based on current curve information, and the current curve information is determined based on the road curvature of the driving road on which the vehicle is located and the current vehicle speed, and the second deceleration information, the second damping information and the steering information are determined based on current side wind impact information, and the current side wind impact information is determined based on the current driving variable information and current curve information of the vehicle, and the current driving variable information is measured by a sensor group on the vehicle.

7. The device according to claim 6, characterized in that The road curvature is determined by: In the preset correspondence between the position information and the curvature, searching for the curvature corresponding to the position information of the vehicle; The found curvature is used as the road curvature of the driving road.

8. An electronic device, characterized in that: include: A memory for storing executable instructions; A processor, configured to read and execute the executable instructions stored in the memory to implement the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor, the processor is enabled to perform the method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The method comprises a computer program, which, when executed by a processor, enables the processor to perform the method according to any one of claims 1 to 5.

Images