A vehicle driving control method, device, system and storage medium

Abstract

This application discloses a vehicle driving control method, device, system, and storage medium. The vehicle driving control method includes: obtaining vehicle driving information and environmental information; when the vehicle collides with an obstacle, analyzing and determining, at least based on the driving information and environmental information, whether to control the vehicle's steering system to activate the output and input separation function, so as to independently control the wheels to generate a target angle of deflection, detaching from the vehicle's steering wheel; wherein, the target angle is the angle at which rotating the wheel can cause the obstacle to squeeze the wheel, drive the wheel to deflect laterally, and thus move it away from the obstacle.

Description

Technical Field

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

[0002] The demand for vehicle crash performance assessment scenarios is increasing, with small offset crash performance assessment becoming widespread and serving as a primary factor in evaluating overall vehicle crash performance. To address this crash performance requirement—namely, reducing the impact of such collisions and the resulting damage—the current traditional approach focuses on strengthening and optimizing the vehicle structure to enhance its crash performance to a certain extent, thereby protecting the occupants; this is known as passive safety performance. Summary of the Invention

[0003] This application provides a vehicle driving control method, including:

[0004] Obtain vehicle driving information and environmental information;

[0005] When a vehicle collides with an obstacle, at least based on the driving information and environmental information analysis, it is determined whether to control the vehicle's steering system to activate the output and input separation function, so as to separate the steering wheel from the vehicle and control the wheels to produce a target angle of deflection.

[0006] The target angle is the angle at which rotating the wheel causes the obstacle to compress the wheel, driving the wheel to deflect laterally and move it away from the obstacle.

[0007] As an optional embodiment, obtaining the vehicle's driving information and environmental information includes:

[0008] Obtain information on the vehicle's speed and direction of travel;

[0009] At least the environmental information in front of the vehicle is obtained, including obstacle information and road condition information.

[0010] As an optional embodiment, it also includes:

[0011] Obtain collision information between the vehicle and the obstacle, wherein the collision information includes at least the collision location;

[0012] Determine the operating status of the vehicle's wheels and steering system after the collision;

[0013] The step of determining whether to control the vehicle's steering system to activate the output-input separation function based at least on the driving information and environmental information includes:

[0014] Based on the operational status, and assuming the wheels and steering system are operating normally, the system analyzes the driving information, environmental information, and collision information to determine whether to activate the output-input separation function of the vehicle's steering system.

[0015] As an optional embodiment, the step of determining whether to control the vehicle's steering system to activate the output-input separation function based on the analysis of the driving information, environmental information, and collision information includes:

[0016] Determine whether the collision location is within a preset collision location range, where the preset collision location range is the range within which the vehicle can be moved away from the obstacle and the collision damage reduced by controlling the wheel deflection;

[0017] If it is located, then based on the analysis of the driving information, environmental information, and collision information, it is determined whether to control the vehicle's steering system to activate the output and input separation function.

[0018] As an optional embodiment, the step of determining whether to control the vehicle's steering system to activate the output-input separation function based on the analysis of the driving information, environmental information, and collision information includes:

[0019] Based on the driving direction, collision location, obstacle location, and road condition information, it is determined whether the current environment has space that allows the vehicle to deflect.

[0020] If so, the time difference between the time it takes for the vehicle to leave the obstacle after the collision and the time required to control the wheels to generate the target angle deflection is determined based on the driving speed and the position of the obstacle.

[0021] Based on the time difference, determine whether to activate the output and input separation function of the vehicle's steering system.

[0022] As an optional embodiment, it also includes:

[0023] The deflection direction and the target angle are determined based on the driving information, environmental information, and collision information.

[0024] As an optional embodiment, the collision information includes the current wheel status information;

[0025] The process of determining the deflection direction and the target angle based on the driving information, environmental information, and collision information includes:

[0026] The vehicle's deflection range is determined based on the road condition information, collision location, and obstacle information.

[0027] Based on the state information and collision location, the available wheel and its direction angle are determined. The available wheel is the wheel that can contact and squeeze the obstacle after deflection.

[0028] The deflection direction and the target angle are determined based on the deflectable range, collision location, obstacle information, available wheels and their azimuth angles.

[0029] Another embodiment of this application also provides a vehicle driving control device, including:

[0030] The first acquisition module is used to acquire vehicle driving information and environmental information;

[0031] The analysis module is used to determine, based at least on the driving information and environmental information, whether to control the vehicle's steering system to activate the output-input separation function when the vehicle collides with an obstacle, so as to independently control the wheels to produce a target angle of deflection, detached from the vehicle's steering wheel.

[0032] The target angle is the angle at which rotating the wheel causes the obstacle to compress the wheel, driving the wheel to deflect laterally and move it away from the obstacle.

[0033] This application also provides a vehicle driving control system, including:

[0034] At least one processor; and,

[0035] A memory communicatively connected to the at least one processor; wherein,

[0036] The memory stores instructions that can be executed by the at least one processor to implement the vehicle driving control method described in any of the above embodiments.

[0037] This application also provides a computer-readable storage medium, which, when the instructions in the storage medium are executed by a processor corresponding to a vehicle driving control system, enables the vehicle driving control system to implement the vehicle driving control method described in any of the above embodiments.

[0038] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0039] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0040] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the embodiments of the present application to explain the application and do not constitute a limitation thereof. In the drawings:

[0041] Figure 1 This is a flowchart of a vehicle driving control method according to an embodiment of this application;

[0042] Figure 2 This is a flowchart of a vehicle driving control method according to another embodiment of this application;

[0043] Figure 3 This is an application diagram of a vehicle driving control method in another embodiment of this application;

[0044] Figure 4 This is an application diagram of a vehicle driving control method in another embodiment of this application;

[0045] Figure 5 This is a block diagram of a vehicle driving control device according to this application;

[0046] Figure 6 This is a schematic diagram of the hardware structure of a vehicle driving control system according to this application. Detailed Implementation

[0047] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0048] Figure 1 This is a flowchart of a vehicle driving control method according to an embodiment of this application, such as... Figure 1 As shown, the method can be implemented as follows: S101-S102:

[0049] In step S101, the vehicle's driving information and environmental information are obtained;

[0050] In step S102, when the vehicle collides with an obstacle, it is determined, based at least on driving information and environmental information analysis, whether to control the vehicle's steering system to activate the output and input separation function, so as to separate the steering wheel from the vehicle and control the wheels to generate a target angle of deflection.

[0051] The target angle is the angle at which rotating the wheel causes an obstacle to press against the wheel, driving the wheel to deflect laterally and move it away from the obstacle.

[0052] For example, the vehicle in this embodiment has a vehicle control system, also known as a control system, which includes a complete set of corresponding hardware and control logic. The hardware includes, but is not limited to, a braking control system, a radar system, a visual feedback system, and a steer-by-wire system. The radar system can be located at the front of the vehicle and above the windshield, or it can be located on the side and rear of the vehicle, etc., depending on the specific location. The steer-by-wire system is connected to the vehicle's steering knuckles and can also be connected to the vehicle's suspension system. The vehicle's wheels are connected to the steering knuckles to achieve directional adjustment based on the steering knuckles. The braking control system is connected to the above-mentioned systems and can send action requests to the steer-by-wire system, enabling the steer-by-wire system to generate corresponding instructions based on the action requests and execute those instructions to achieve steering control. In this embodiment, the braking control system can act as the execution entity to perform the method described in this embodiment.

[0053] Furthermore, in this embodiment, the steer-by-wire system enables the activation of an output-input separation function. This means it has a hardware system that allows the vehicle's steering gear and steering wheel to operate asynchronously. Based on this system, the steer-by-wire system can activate the output-input separation function, switching the normal mode where the steering wheel and wheels rotate synchronously to a mode where only the wheels rotate, and the steering wheel does not. Thus, when the vehicle collides with an obstacle, the braking control system can control the vehicle's wheels to deflect at a target angle, while the steering wheel does not deflect accordingly. This avoids sudden steering wheel steering due to excessively rapid wheel deflection, preventing accidental injury to the driver's hands or wrists, or causing the driver to be startled. In this embodiment, the output-input separation function is inactive in normal driving mode; that is, under normal driving conditions, the wheels and steering wheel rotate synchronously. This function is only activated when a collision occurs and the braking control system determines, through analysis of the vehicle's driving information and environmental information, that activation is necessary. Afterwards, once the vehicle has avoided or left the obstacle, the braking control system or other vehicle control systems can analyze the current driving situation and the vehicle's position relative to the obstacle. If the vehicle has successfully moved away from the obstacle, or if it has been determined that the vehicle has moved away from the obstacle and then stopped once, the system will automatically turn off the output and input separation function and restore the original mode to avoid affecting the user's normal driving of the vehicle.

[0054] In this embodiment, the target angle is the angle at which the obstacle can squeeze the wheel by rotating the wheel, generating a counterforce with the wheel, causing the wheel to deflect laterally and move away from the obstacle based on this counterforce. In other words, the deflection based on the target angle can make the vehicle move away from the obstacle through the interaction force with the obstacle, avoiding more collisions with the obstacle and reducing the damage range of the obstacle to the vehicle.

[0055] Further, step S101: Obtain vehicle driving information and environmental information, including:

[0056] Step S103: Obtain the vehicle's speed and direction of travel information;

[0057] Step S104: Obtain at least the environmental information in front of the vehicle, including obstacle information and road condition information.

[0058] For example, information such as the vehicle's speed and direction of travel before the collision can be obtained. This includes the driver's speed (e.g., vehicle deceleration, which can be obtained from collision sensors) and direction of travel when trying to avoid an obstacle. It can also include the driver's speed and direction of travel before attempting to avoid an obstacle. Furthermore, operational information from the vehicle's braking control system and steer-by-wire system can be obtained. Based on this information, at least the overall vehicle condition before and during the collision can be determined, such as whether the vehicle is operating normally and whether each system is functioning correctly. This lays the foundation for subsequent yaw control or determining whether yaw control should be implemented. Regarding environmental information, at least the information in front of the vehicle is required, such as obstacle information and road condition information. This includes the location of obstacles, their distance from the vehicle, and the characteristics of the obstacles, including their shape, size, and whether they are moving. Information such as road width, lane width, whether there are other obstacles ahead of the vehicle, and their distance from the vehicle can also be obtained. Additionally, information about the environment to the side of the vehicle can be obtained, such as whether there are obstacles to the side, their distance from the vehicle, and the distance between the vehicle and the side curb or lane lines. The information obtained above can be collected by sensing components such as radar systems, visual feedback systems, and camera modules installed on the vehicle. Alternatively, it can be collected by the aforementioned systems / sensing components and uploaded to the cloud, where it is processed to form directly usable data and then fed back to the vehicle's braking control system. Other methods of obtaining the information are also possible, and the specific methods are not unique.

[0059] Furthermore, the method in this embodiment also includes:

[0060] Step S105: Obtain collision information between the vehicle and the obstacle, including at least the collision location;

[0061] Step S106: Determine the operation of the vehicle's wheels and steering system after the collision.

[0062] For example, collision information is collected based on radar systems, visual feedback systems, etc., when a vehicle collides with an obstacle. This collision information may include the collision location, collision force, etc. At the same time, the operation status of the vehicle's wheels and the steering system connected to the wheels is determined after the collision, such as the operation status of the steering knuckle in this embodiment, the operation status of the steer-by-wire system, that is, whether its hardware is damaged, whether its software is damaged, and whether it can operate normally.

[0063] In step S102, at least based on driving information and environmental information analysis, it is determined whether to control the vehicle's steering system to activate the output-input separation function, including:

[0064] Step S107: Based on the operating conditions, if the wheels and steering system are operating normally, determine whether to control the vehicle's steering system to activate the output and input separation function based on driving information, environmental information, and collision information analysis.

[0065] The above characteristics indicate that the braking control system does not activate the output-input separation function every time a vehicle collision occurs. Instead, it performs a comprehensive analysis based on the information obtained. The system only activates the output-input separation function when it deems active steering necessary, the actual situation allows for active steering, and active steering will bring beneficial effects. In addition, it determines the deflection direction and target angle, and then controls the vehicle to deflect. In application, the braking control system in this embodiment can determine whether to activate the output-input separation function based on the determined operation of the wheels and steering system after a collision, assuming the wheels and steering system are operating normally. This is combined with driving information, environmental information, and collision information analysis.

[0066] Specifically, Figure 2 Here is a flowchart of a vehicle driving control method according to another embodiment of this application, such as... Figure 2 As shown, in step S107, based on the analysis of driving information, environmental information, and collision information, it is determined whether to control the vehicle's steering system to activate the output-input separation function, including:

[0067] Step S108: Determine whether the collision location is within the preset collision location range. The preset collision location range is the range within which the vehicle can be moved away from the obstacle by controlling the wheel deflection to reduce collision damage.

[0068] Step S109: If it is located, then based on the analysis of driving information, environmental information, and collision information, determine whether to control the vehicle's steering system to activate the output and input separation function.

[0069] In other words, a preset collision location range can be determined in advance by combining historical collision information or simulated collision accident information. This ensures that if the collision occurs within this range, the vehicle can, or has a very high probability, be moved away from the obstacle by controlling wheel deflection, thus reducing collision damage. When a collision has already occurred, the braking control system can determine the collision location based on the collision information. Then, it compares the collision location with the preset collision location range. If the location is within the range, it can analyze driving information, environmental information, and collision information to determine whether to activate the output-input separation function of the vehicle's steering system. In this embodiment, the preset collision location range includes, but is not limited to, the front of the vehicle, i.e., the front of the vehicle and the surrounding area.

[0070] Furthermore, based on the analysis of driving information, environmental information, and collision information, it is determined whether to control the vehicle's steering system to activate the output and input separation function, including:

[0071] Step S110: Based on the driving direction, collision location, obstacle location, and road condition information, determine whether there is space in the current environment that allows the vehicle to deflect;

[0072] Step S111: If so, determine the time difference between the time it takes for the vehicle to leave the obstacle after the collision and the time required to control the wheels to generate the target angle deflection, based on the driving speed and the position of the obstacle.

[0073] Step S112: Determine whether to control the vehicle's steering system to activate the output and input separation function based on the time difference.

[0074] For example, the driving information in this embodiment is the driving information before a collision occurs, that is, when a collision is about to occur, which includes driving speed and driving direction information. Based on the driving direction, the location of the collision, the location of the obstacle / the obstacle's position relative to the vehicle, and road condition information such as the width of the road segment / lane and the distance between the road segment / lane boundary and the vehicle, a comprehensive determination is made as to whether the current environment allows the vehicle to dodge, move away from, and travel away from the obstacle. That is, the first layer of judgment is performed to determine whether the current environment allows the vehicle to dodge at the target angle. If so, the second layer of judgment is performed. The second layer of judgment is based on the driving speed and the location of the obstacle to determine the time it would take for the vehicle to pass over the obstacle and leave the obstacle if the vehicle is not intervened. At the same time, the braking system determines the time required to control the vehicle to dodge at the target angle. This time includes the time to activate the input and output separation function, determine the target angle, and control the vehicle to successfully dodge at the target angle. The difference between these two times is calculated. If the time difference indicates that the former time is not faster than the latter time, the output and input separation function can be activated to control the vehicle to dodge. If the time difference indicates that the former time is faster than the latter time, it means that when the control of the deflection is completed, the vehicle has already passed the obstacle. In this case, it is not necessary to activate the output and input separation function or control the vehicle to dodge. If a vehicle slows down after a collision, it's necessary to steer the vehicle to avoid obstacles and prevent a larger impact. However, if the vehicle is still traveling at high speed after the collision, steer not only fails to prevent a larger impact but also risks colliding with other obstacles in the steerable direction, such as oncoming vehicles, posing a significant safety hazard. In such situations, the braking control system can initiate emergency braking instead of steer, thus protecting the vehicle and driver from further injury.

[0075] Furthermore, the method in this embodiment also includes:

[0076] Step S113: Determine the deflection direction and target angle based on driving information, environmental information, and collision information analysis.

[0077] In this embodiment, the target angle needs to be calculated and measured in real time. It requires analysis of driving information, environmental information, and collision information to determine the appropriate deflection direction and target angle for the current situation. Alternatively, an angle list can be pre-set, which records suitable deflection angles, i.e., target angles, under different collision conditions. The braking control system can directly match the collected information with the information in the list to determine the target angle.

[0078] Specifically, the collision information in this embodiment includes the current wheel status information;

[0079] The deflection direction and target angle are determined based on analysis of driving information, environmental information, and collision information, including:

[0080] Step S114: Determine the vehicle's deflection range based on road condition information, collision location, and obstacle information;

[0081] Step S115: Determine the available wheel and its direction angle based on the state information and collision location. The available wheel is the wheel that can contact the obstacle and cause compression after deflection.

[0082] Step S116: Determine the deflection direction and target angle based on the deflectable range, collision location, obstacle information, available wheels and their azimuth angles.

[0083] For example, when determining the deflection direction and target angle, the vehicle's deflectable range can be determined first based on road condition information, such as the width of the road segment / lane, the distance between the road segment / lane boundary and the vehicle, and the vehicle's collision location, obstacle position / volume / outer contour boundary information. This includes determining the deflectable range to the left and to the right. Next, based on the current wheel status information and the vehicle's collision location, wheels with normal hardware structure, usable operation, deflection capability, and the ability to contact and compress obstacles can be identified. These wheels are typically the left or right front wheel and / or the left or right rear wheel. Simultaneously, the current azimuth angle of the usable wheel is determined, such as whether the wheel is currently deflected longitudinally or laterally, and by how much relative to the vehicle's longitudinal or lateral deflection. Once the deflection range, collision location, obstacle information, available wheels, and their azimuth angles are determined, the braking control system can combine this information to determine the deflection direction and target angle. This allows the available wheels to deflect in the determined direction and target angle, enabling them to make lateral contact with the obstacle, generating an interaction force. As the wheels push against the obstacle, the obstacle also pushes the wheels away from the obstacle, moving them further away and reducing vehicle damage. Simultaneously, because the wheels are deflected from the longitudinal direction to the lateral direction due to the deflection control and the obstacle's push, the space between the wheels and the passenger compartment (cabin) is increased, preventing the obstacle or wheels from prematurely contacting the passenger compartment. Even if the obstacle or wheels do contact the passenger compartment due to excessive longitudinal beam collapse, the deformation of the passenger compartment structure is reduced, thus better protecting the occupants and driver.

[0084] Furthermore, to better illustrate the methods of the above embodiments, the following description is in conjunction with the appendix. Figure 3 and Figure 4 Here is a specific application example to illustrate:

[0085] Figure 3 This is an application diagram of a vehicle driving control method in another embodiment of this application, such as... Figure 3As shown, radar systems 3 and 7 detect the shape and position of obstacle 8 in front of the vehicle, as well as its relative position to the vehicle. Collision sensor 6 detects the vehicle's deceleration during a collision. Braking control system 4 processes the information fed back by radar systems 3 and 7 and sensor 6, and determines whether active steering is needed based on the built-in logic algorithm. If the function needs to be activated and active steering is controlled, braking control system 4 calculates and determines the deflection direction and target angle based on the obtained relevant information, and sends a corresponding active steering command to steer-by-wire system 1 in combination with the deflection direction and target angle. Steer-by-wire system 1 responds to the received command and controls the vehicle's steering gear to perform the corresponding steering action. Through the transmission of steering knuckle 2, wheel 5 (available wheel) deflects to the determined deflection direction and target angle. When obstacle 8 collides with wheel 5, wheel 5 will have a certain tilt angle. Based on this angle, it will generate a lateral thrust on obstacle 8. According to the principle of action and reaction, obstacle 8 will also generate a lateral thrust on wheel 5, causing the vehicle to move away from obstacle 8, thereby reducing vehicle damage.

[0086] Figure 4 This is an application diagram of a vehicle driving control method in another embodiment of this application, such as... Figure 4 As shown, the vehicle is actively steered by wheel 5, and during the collision with obstacle 8, the vehicle will gradually move away from obstacle 8, thereby reducing the damage and intrusion of obstacle 8 to the vehicle and further protecting the occupants.

[0087] Figure 5 This is a block diagram of a vehicle driving control device according to this application, such as... Figure 5 As shown, another embodiment of this application also provides a vehicle driving control device, including:

[0088] The first acquisition module is used to acquire vehicle driving information and environmental information;

[0089] The analysis module is used to determine, based at least on the driving information and environmental information, whether to control the vehicle's steering system to activate the output-input separation function when the vehicle collides with an obstacle, so as to independently control the wheels to produce a target angle of deflection, detached from the vehicle's steering wheel.

[0090] The target angle is the angle at which rotating the wheel causes the obstacle to compress the wheel, driving the wheel to deflect laterally and move it away from the obstacle.

[0091] As an optional embodiment, obtaining vehicle driving information and environmental information includes:

[0092] At least the vehicle's speed and direction of travel must be obtained;

[0093] At least the environmental information in front of the vehicle is obtained, including obstacle information and road condition information.

[0094] As an optional embodiment, the vehicle driving control device in this embodiment further includes:

[0095] The second acquisition module is used to acquire collision information between the vehicle and the obstacle, the collision information including at least the collision location;

[0096] The first determining module is used to determine the operating status of the vehicle's wheels and steering system after a collision.

[0097] The step of determining whether to control the vehicle's steering system to activate the output-input separation function based at least on the driving information and environmental information includes:

[0098] Based on the operational status, and assuming the wheels and steering system are operating normally, the system analyzes the driving information, environmental information, and collision information to determine whether to activate the output-input separation function of the vehicle's steering system.

[0099] As an optional embodiment, determining whether to activate the output-input separation function of the vehicle's steering system based on the analysis of the driving information, environmental information, and collision information includes:

[0100] Determine whether the collision location is within a preset collision location range, where the preset collision location range is the range within which the vehicle can be moved away from the obstacle and the collision damage reduced by controlling the wheel deflection;

[0101] If it is located, then based on the analysis of the driving information, environmental information, and collision information, it is determined whether to control the vehicle's steering system to activate the output and input separation function.

[0102] As an optional embodiment, determining whether to activate the output-input separation function of the vehicle's steering system based on the analysis of the driving information, environmental information, and collision information includes:

[0103] Based on the driving direction, collision location, obstacle location, and road condition information, it is determined whether the current environment has space that allows the vehicle to deflect.

[0104] If so, the time difference between the time it takes for the vehicle to leave the obstacle after the collision and the time required to control the wheels to generate the target angle deflection is determined based on the driving speed and the position of the obstacle.

[0105] Based on the time difference, determine whether to activate the output and input separation function of the vehicle's steering system.

[0106] As an optional embodiment, the vehicle driving control device in this embodiment further includes:

[0107] The second determining module is used to analyze and determine the deflection direction and the target angle based on the driving information, environmental information, and collision information.

[0108] As an optional embodiment, the collision information includes the current wheel status information;

[0109] The process of determining the deflection direction and the target angle based on the driving information, environmental information, and collision information includes:

[0110] The vehicle's deflection range is determined based on the road condition information, collision location, and obstacle information.

[0111] Based on the state information and collision location, the available wheel and its direction angle are determined. The available wheel is the wheel that can contact and squeeze the obstacle after deflection.

[0112] The deflection direction and the target angle are determined based on the deflectable range, collision location, obstacle information, available wheels and their azimuth angles.

[0113] Figure 6 This is a schematic diagram of the hardware structure of a vehicle driving control system according to this application, as shown below. Figure 6 As shown, it includes:

[0114] At least one processor 620; and,

[0115] Memory 604 is communicatively connected to at least one processor; wherein,

[0116] The memory 804 stores instructions that can be executed by at least one processor 620 to implement the vehicle driving control method described in any of the above embodiments.

[0117] Reference Figure 6 The vehicle driving control system 600 may include one or more of the following components: processing component 602, memory 604, power supply component 606, multimedia component 608, audio component 610, input / output (I / O) interface 612, sensor component 614, and communication component 616.

[0118] Processing component 602 typically controls the overall operation of the vehicle driving control system 600. Processing component 602 may include one or more processors 620 to execute instructions to complete all or part of the steps of the method described above. Furthermore, processing component 602 may include one or more modules to facilitate interaction between processing component 602 and other components. For example, processing component 602 may include a multimedia module to facilitate interaction between multimedia component 608 and processing component 602.

[0119] Memory 604 is configured to store various types of data to support the operation of the vehicle driving control system 600. Examples of this data include instructions for any application or method operating on the vehicle driving control system 600, such as text, images, videos, etc. Memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0120] The power supply assembly 606 provides power to various components of the vehicle driving control system 600. The power supply assembly 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the vehicle control system 800.

[0121] The multimedia component 608 includes a screen that provides an output interface between the vehicle driving control system 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 608 may also include a front-facing camera and / or a rear-facing camera. When the vehicle driving control system 600 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0122] Audio component 610 is configured to output and / or input audio signals. For example, audio component 610 includes a microphone (MIC) configured to receive external audio signals when the vehicle driving control system 600 is in an operating mode, such as alarm mode, recording mode, voice recognition mode, and voice output mode. The received audio signals may be further stored in memory 604 or transmitted via communication component 616. In some embodiments, audio component 610 also includes a speaker for outputting audio signals.

[0123] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0124] Sensor assembly 614 includes one or more sensors for providing status assessments of various aspects of the vehicle driving control system 600. For example, sensor assembly 614 may include a sound sensor. Additionally, sensor assembly 614 can detect the on / off state of the vehicle driving control system 600, the relative positioning of components (e.g., the display and keypad of the vehicle driving control system 600), the operating state of the vehicle driving control system 600 or its components, the orientation or acceleration / deceleration of the vehicle driving control system 600, and temperature changes of the vehicle driving control system 600. Sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 614 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, and a temperature sensor.

[0125] Communication component 616 is configured to enable vehicle driving control system 600 to provide wired or wireless communication capabilities with other devices and cloud platforms. Vehicle driving control system 600 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0126] In an exemplary embodiment, the vehicle driving control system 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle driving control method described in any of the above embodiments.

[0127] This application also provides a computer-readable storage medium, which, when the instructions in the storage medium are executed by a processor corresponding to a vehicle driving control system, enables the vehicle driving control system to implement the vehicle driving control method described in any of the above embodiments.

[0128] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0129] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle driving control method, characterized in that, include: Obtain vehicle driving information and environmental information; When a vehicle collides with an obstacle, at least based on the driving information and environmental information analysis, it is determined whether to control the vehicle's steering system to activate the output and input separation function, so as to separate the steering wheel from the vehicle and control the wheels to produce a target angle of deflection. The target angle is the angle at which rotating the wheel causes the obstacle to squeeze the wheel, driving the wheel to deflect laterally and move it away from the obstacle. The acquisition of vehicle driving information and environmental information includes: Obtain information on the vehicle's speed and direction of travel; At least the environmental information in front of the vehicle must be obtained, including obstacle information and road condition information; Also includes: Obtain collision information between the vehicle and the obstacle, wherein the collision information includes at least the collision location; Determine the operating status of the vehicle's wheels and steering system after the collision; The step of determining whether to control the vehicle's steering system to activate the output-input separation function based at least on the driving information and environmental information includes: Based on the aforementioned operating conditions, and assuming the wheels and steering system are operating normally, the system analyzes the driving information, environmental information, and collision information to determine whether to activate the output and input separation function of the vehicle's steering system. The step of determining whether to activate the output-input separation function of the vehicle's steering system based on the analysis of the driving information, environmental information, and collision information includes: Determine whether the collision location is within a preset collision location range, where the preset collision location range is the range within which the vehicle can be moved away from the obstacle and the collision damage reduced by controlling the wheel deflection; If it is located, then based on the analysis of the driving information, environmental information, and collision information, it is determined whether to control the vehicle's steering system to activate the output and input separation function.

2. The vehicle driving control method according to claim 1, characterized in that, The step of determining whether to activate the output-input separation function of the vehicle's steering system based on the analysis of the driving information, environmental information, and collision information includes: Based on the driving direction, collision location, obstacle location, and road condition information, it is determined whether the current environment has space that allows the vehicle to deflect. If so, the time difference between the time it takes for the vehicle to leave the obstacle after the collision and the time required to control the wheels to generate the target angle deflection is determined based on the driving speed and the position of the obstacle. Based on the time difference, determine whether to activate the output and input separation function of the vehicle's steering system.

3. The vehicle driving control method according to claim 1, characterized in that, Also includes: The deflection direction and the target angle are determined based on the driving information, environmental information, and collision information.

4. The vehicle driving control method according to claim 3, characterized in that, The collision information includes the current wheel status information; The process of determining the deflection direction and the target angle based on the driving information, environmental information, and collision information includes: The vehicle's deflection range is determined based on the road condition information, collision location, and obstacle information. Based on the state information and collision location, the available wheel and its direction angle are determined. The available wheel is the wheel that can contact and squeeze the obstacle after deflection. The deflection direction and the target angle are determined based on the deflectable range, collision location, obstacle information, available wheels and their azimuth angles.

5. A vehicle driving control device, characterized in that, include: The first acquisition module is used to acquire vehicle driving information and environmental information; The analysis module is used to determine, based at least on the driving information and environmental information, whether to control the vehicle's steering system to activate the output-input separation function when the vehicle collides with an obstacle, so as to independently control the wheels to produce a target angle of deflection, detached from the vehicle's steering wheel. The target angle is the angle at which rotating the wheel causes the obstacle to squeeze the wheel, driving the wheel to deflect laterally and move it away from the obstacle. Obtain vehicle driving information and environmental information, including: At least the vehicle's speed and direction of travel must be obtained; At least the environmental information in front of the vehicle must be obtained, including obstacle information and road condition information; The vehicle driving control device also includes: The second acquisition module is used to acquire collision information between the vehicle and the obstacle, the collision information including at least the collision location; The first determining module is used to determine the operating status of the vehicle's wheels and steering system after a collision. The step of determining whether to control the vehicle's steering system to activate the output-input separation function based at least on the driving information and environmental information includes: Based on the aforementioned operating conditions, and assuming the wheels and steering system are operating normally, the system analyzes the driving information, environmental information, and collision information to determine whether to activate the output and input separation function of the vehicle's steering system. Based on the analysis of the driving information, environmental information, and collision information, it is determined whether to control the vehicle's steering system to activate the output-input separation function, including: Determine whether the collision location is within a preset collision location range, where the preset collision location range is the range within which the vehicle can be moved away from the obstacle and the collision damage reduced by controlling the wheel deflection; If it is located, then based on the analysis of the driving information, environmental information, and collision information, it is determined whether to control the vehicle's steering system to activate the output and input separation function.

6. A vehicle driving control system, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to implement the vehicle driving control method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor corresponding to the vehicle driving control system, the vehicle driving control system is able to implement the vehicle driving control method as described in any one of claims 1-4.

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