Vehicle Steering Control Method, Device, Electronic Device and Readable Storage Medium

Abstract

The present application discloses a vehicle steering control method, device, electronic device and readable storage medium, which are applied to the technical field of vehicle steering control. The vehicle steering control method includes: if a steering signal of a target vehicle in a real-time driving state is received, determining a signal trigger end of the steering signal; determining a target steering signal according to the signal trigger end and the steering signal; and performing steering control on the target vehicle according to the target steering signal so that the target vehicle travels in a driving state with a preset driving effect. The present application solves the technical problem of low driving safety of two-way driving vehicles during driving.

Description

Technical Field

[0001] This application relates to the technical field of vehicle steering control, and particularly to a vehicle steering control method, device, electronic device, and readable storage medium. Background Art

[0002] 0 With the continuous development of technology, people have put forward higher requirements in many aspects such as the traffic volume and efficiency of public transportation, which has promoted the rapid iteration of vehicles to be applicable to different actual application scenarios. For example, in application scenarios where it is inconvenient for a vehicle to turn around in a narrow space or the cost of vehicle turning around is high. Therefore, a two-way driving vehicle with a cab at both the front and rear of the vehicle and capable of performing operations such as driving, steering, and braking in any cab has emerged.

[0003] 5 When a two-way driving vehicle is driving in a certain direction, the other cab is in an unattended state of follow-up steering. To ensure driving safety, usually, isolation facilities are set in the cab or the cab is set as a partition area. However, since the vehicle occupants all have subjective consciousness and high mobility, there is a situation where physical isolation still cannot prevent danger from occurring. That is,

[0004] the two-way driving vehicle can be steered under the active steering operation of any person. Therefore, the current two-way driving vehicle has low driving safety during the 0 driving process. Summary of the Invention

[0005] The main purpose of this application is to provide a vehicle steering control method, device, electronic device, and

[0006] readable storage medium, aiming to solve the technical problem of low driving safety of two-way driving vehicles during the driving process in the prior art.

[0007] To achieve the above object, this application provides a vehicle steering control method, which is applied to a two-way driving vehicle. The vehicle steering control method includes:

[0008] If a steering signal of a target vehicle in a real-time driving state is received, determine the signal trigger end of the steering signal;

[0009] Determine a target steering signal according to the signal trigger end and the steering signal;

[0010] Perform steering control on the target vehicle according to the target steering signal, so that the target vehicle travels in a driving state with a preset driving effect.

[0011] To achieve the above object, this application also provides a vehicle steering control device, which is applied to a two-way driving vehicle. The vehicle steering control device includes:

[0012] A receiving module, configured to determine a signal trigger end of the steering signal if the steering signal of the target vehicle in the real-time driving state is received, where the signal trigger end includes a vehicle active end and a vehicle follower end;

[0013] A determining module, configured to determine a target steering signal according to the signal trigger end and the steering signal;

[0014] A control module, configured to perform steering control on the target vehicle according to the target steering signal, so that the target vehicle travels in a driving state with a preset driving effect.

[0015] This application also provides an electronic device, which includes: at least one processor and a memory communicatively connected to the at least one processor, where the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps of the vehicle steering control method as described above.

[0016] This application also provides a computer-readable storage medium, on which a program for implementing the vehicle steering control method is stored, and when the program for implementing the vehicle steering control method is executed by a processor, the steps of the vehicle steering control method as described above are implemented.

[0017] This application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the vehicle steering control method as described above are implemented.

[0018] The present application provides a vehicle steering control method, device, electronic device and readable storage medium, which are applied to two-way driving vehicles. That is, if a steering signal of a target vehicle in a real-time driving state is received, the signal trigger end of the steering signal is determined; according to the signal trigger end and the steering signal, a target steering signal is determined; and according to the target steering signal, steering control is performed on the target vehicle, so that the target vehicle travels in a driving state with a preset driving effect. That is, the purpose of steering control of the target vehicle through the target steering signal is achieved. Since the target steering control system can determine the corresponding target steering signal and perform steering control on the target vehicle after receiving the steering signal, it is then possible to identify the identity of the person performing the steering operation by means of the difference in the signal trigger end of the steering signal, and then perform flexible steering control on the target vehicle, so that the target vehicle travels in a driving state with a preset driving effect, rather than when the target vehicle is traveling in a certain direction, the personnel on the target vehicle can perform active steering operation control on the target vehicle in the active cab or the other cab. For example, a two-way driving vehicle can maintain its original driving state after a suspicious person enters the follow-up cab to perform an active steering operation. Therefore, it overcomes the technical defect that vehicle passengers all have subjective consciousness and high mobility, which may lead to the inability to prevent danger even with physical isolation. Therefore, the driving safety of two-way driving vehicles during driving is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic diagram of the working principle of the steer-by-wire system of the vehicle steering control method provided in Embodiment 2 of the present application;

[0022] Figure 2 It is a schematic diagram of a driver performing steering control of the vehicle steering control method provided in Embodiment 1 of the present application;

[0023] Figure 3 It is a schematic flowchart of the vehicle steering control method provided in Embodiment 1 of the present application

[0024] Figure 4 It is a schematic flowchart of the vehicle steering control method provided in Embodiment 2 of the present application;

[0025] Figure 5 It is a schematic structural diagram of the vehicle steering control device provided in the third embodiment of this application;

[0026] Figure 6 It is a schematic structural diagram of the electronic device provided in the fourth embodiment of this application.

[0027] The realization of the purpose, functional features and advantages of this application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0028] To make the above objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Embodiment 1

[0030] First of all, it should be understood that the steer-by-wire system of the vehicle cancels the mechanical connection between the traditional steering wheels. The operation actions of the driver are converted into electrical signals through sensors, and the signals are transmitted through the data bus and feedback commands are obtained. Then, the steering angle command given by the controller is quickly and accurately executed by driving the steering motor to achieve the vehicle steering function. Refer to Figure 1 , Figure 1 As a schematic diagram showing the working principle of the steer-by-wire system, it is specifically composed of three main parts: the steering wheel assembly, the steering execution assembly and the main controller (ECU). Among them, the function of the steering wheel assembly is to receive the steering command of the main controller, and then control the steering wheels to rotate through the steering motor controller to achieve the steering intention. Specifically, it includes the front wheel angle sensor, the steering motor controller, the torque sensor and the front wheel steering assembly, etc. The function of the main controller is to analyze and process the collected signals to determine the driving state of the vehicle, and then send control commands to the steering wheel return motor and the steering motor. The function of the steering execution assembly is to achieve and execute the driver's steering intention. Specifically, it includes the steering execution motor, the wheel steering assembly and the wheel angle sensor, etc. Usually, a two-way driving vehicle realizes steering control through a steer-by-wire system. However, since there are cabs on both sides of a two-way driving vehicle, and the follow-up cab is usually only provided with physical isolation measures. Once an illegal person invades the driving area, he can manipulate the steering wheel of the cab, so that the steer-by-wire system of the vehicle controls the vehicle to turn, resulting in dangerous situations. Therefore, there is an urgent need for a method to improve the driving safety of two-way driving vehicles during driving.

[0031] An embodiment of the present application provides a vehicle steering control method, which is applied to a two-way driving vehicle. In the first embodiment of the vehicle steering control method of the present application, with reference to Figure 2 , the vehicle steering control method includes:

[0032] Step S10: If a steering signal of the target vehicle in the real-time driving state is received, determine the signal trigger end of the steering signal;

[0033] Step S20: Determine the target steering signal according to the signal trigger end and the steering signal;

[0034] Step S30: Perform steering control on the target vehicle according to the target steering signal, so that the target vehicle travels in a driving state with a preset driving effect.

[0035] In this embodiment, it should be noted that although Figure 2 the logical order is shown, in some cases, the steps shown or described can be executed in a different order from here. The vehicle steering control method is applied to a two-way driving vehicle. The target steering control system is used to perform steering control on the target vehicle. The target steering control system includes a receiving module, a determining module, and a control module. By sequentially processing the steering signals generated by the vehicle in the real-time driving state through each module, the steering control of the vehicle is realized. Among them, the receiving module is used to receive the steering signal and determine the signal trigger end that triggers the steering signal, which can specifically be the steering wheel assembly. The determining module is used to determine the target steering signal that conforms to the driver's driving intention, which can specifically be the main controller. The control module can specifically be the steering execution assembly.

[0036] Additionally, it should be noted that when the target vehicle is in a driving state, the driving state of the target vehicle can be collected through sensors to obtain the real-time driving state of the target vehicle. Among them, the real-time driving state can be a straight-line driving state, a steering driving state, etc. The sensor can be a position sensor. In an implementable manner, the change in the angle between the vehicle driving path and the lane line can be detected through the position sensor, and then the real-time driving state of the target vehicle can be determined according to the change in the angle. The target vehicle is a two-way driving vehicle, and the two-way driving vehicle includes a vehicle active end and a vehicle follower end. The vehicle active end is a driving area actively controlled by a driver, and the vehicle follower end is a driving area without active driver control. The two-way driving vehicle can specifically be a double-box articulated bus, a two-way driving subway, etc. The steering signal is used to indicate that the target vehicle wants to steer and drive, and can be specifically triggered by the driver operating the steering wheel at the vehicle active end or by other personnel operating the steering wheel at the vehicle follower end. The target steering signal is used to represent the steering signal that conforms to the driver's driving intention. The signal trigger end is used to represent the vehicle driving area that generates the steering signal, which can specifically be the vehicle active end or the vehicle follower end. The preset driving effect is the driving state that meets the requirements of safe driving.

[0037] Additionally, it should be noted that the vehicle active end is manually driven actively and is used to connect the driver to the main controller of the target steering control system. That is, it is for the main controller to collect the driving intention. The vehicle follower end moves following the vehicle active end according to the rear-axle tracking and following steering algorithm supported by the main controller. That is, the main controller controls the vehicle follower end to execute the target steering wheel angle and the target steering wheel angular velocity, where both the target steering wheel angle and the target steering wheel angular velocity are calculated by the following steering algorithm.

[0038] As an example, steps S10 to S30 include: when the target vehicle is in a straight driving state, if a steering signal generated by a driver's steering operation performed on the steering wheel at the active end of the vehicle is received, then according to the signal identification information carried by the steering signal, detect the signal trigger end of the steering signal, where the signal identification information may specifically be a steering wheel identification or a driving direction identification; if it is detected that the signal trigger end is the active end of the vehicle, then use the steering signal as the target steering signal, and according to the target steering signal and a preset steering following algorithm, calculate a follow-up steering signal, where the target steering signal is used to generate a control command for controlling the active end of the vehicle to steer, and the follow-up steering signal is used to generate a control command for controlling the follow-up end of the vehicle to steer; according to the target steering signal, perform steering control on the active end of the vehicle of the target vehicle, and according to the follow-up steering signal, perform steering control on the follow-up end of the vehicle of the target vehicle, so that the target vehicle travels in a driving state with a preset driving effect.

[0039] In an implementable manner, with reference to Figure 3 , Figure 3 FIG. is a schematic diagram showing a driver's steering control. 11 is the active end of the vehicle, 12 is the follow-up end of the vehicle, 13 is the steering direction, 14 is an obstacle, 15 is the driving direction. Assume that the target vehicle is traveling straight ahead. After the driver visually perceives an obstacle ahead and turns the steering wheel to the left, a steering signal is generated at this time. After the target steering system receives this steering signal, it identifies the signal trigger end of the steering signal. If it is identified that the signal trigger end is the active end of the vehicle, then directly according to this control signal and the follow-up steering algorithm, control the active end of the vehicle and the follow-up end of the vehicle to steer respectively, so as to achieve the purpose of avoiding obstacles.

[0040] Among them, the signal trigger end includes the active end of the vehicle and the follow-up end of the vehicle. The step of determining the target steering signal according to the signal trigger end and the steering signal includes:

[0041] Step A10, if the signal trigger end is the active end of the vehicle, then use the steering signal as the target steering signal;

[0042] Step A20, if the signal trigger end is the follow-up end of the vehicle, then generate the target steering signal according to the driving steering information carried by the steering signal.

[0043] In this embodiment, it should be noted that during the driving process of the target vehicle, since only some physical isolation measures are usually set at the vehicle follower end, in some extreme cases, when the driver operates the vehicle active end, other people can generate a steering signal through the steering wheel at the vehicle follower end, thus interfering with the driver's actual driving intention and resulting in potential driving safety hazards. For example, in an implementable manner, assume that the driver wants to turn right during a straight driving process, and other people operate the steering wheel at the vehicle follower end to generate a steering signal opposite to the right turn. At this time, if the target steering control does not intervene, the target vehicle cannot turn to the steering amplitude that conforms to the driver's steering intention.

[0044] In addition, it should be noted that the driving steering information is used to characterize the steering amplitude of the target vehicle during driving, and specifically can be the vehicle steering angle, vehicle steering direction, vehicle steering angular velocity, vehicle steering torque, etc. When the signal trigger end is the vehicle follower end, it indicates that the steering signal does not come from the driver's driving intention. Therefore, it is necessary to generate a target steering signal according to the driving steering information carried by the steering signal to correct the steering amplitude of the steering signal.

[0045] As an example, steps A10 to A20 include: if the vehicle generating end is the vehicle active end, then use the steering signal as the target steering signal; if the vehicle generating end is the vehicle follower end, then generate a steering correction signal according to the steering direction and steering angle carried by the steering signal, and use the steering correction signal as the target steering signal. Since the target steering control system can generate a corresponding steering correction signal through the main controller after the vehicle follower end generates a steering signal, it can eliminate the situation where the vehicle follower end is affected by human interference in the follow-up mode and thus affects driving safety. That is, the purpose of interlocking the steering wheels of the vehicle active end and the vehicle driven end based on the steering correction signal is achieved. Furthermore, even if the vehicle passengers operate the steering wheel at the vehicle follower end, they still cannot interfere with the driver's driving intention. Therefore, the driving safety of the two-way driving vehicle during driving is improved.

[0046] Among them, the step of generating the target steering signal according to the driving steering information carried by the steering signal includes:

[0047] Step B10, determine the steering correction information of the vehicle follower end in the real-time driving state according to the driving steering information;

[0048] Step B20, generate the target steering signal according to the steering correction information.

[0049] In this embodiment, it should be noted that the steering return information is used to characterize the steering return amplitude of the target vehicle during driving, specifically, it can be the vehicle steering return angle, the vehicle steering return direction, the vehicle steering return torque, etc. That is, when the signal trigger end is the vehicle follow-up end, the steering return information corresponding to the driving steering information can be queried according to the preset mapping table stored in the storage module of the target steering control system. For example, assuming that the driving steering information is "turn left 5 degrees", then the steering return information is "turn right 5 degrees". Furthermore, the target steering signal is generated through the steering return information, rather than generating the target steering signal by performing complex analysis and processing on the driving steering information after obtaining the driving steering information carried by the steering signal. Therefore, the efficiency of generating the target steering signal is improved. Among them, the preset mapping table stores the one-to-one correspondence between the driving steering information and the steering return information.

[0050] As an example, steps B10 to B20 include: querying the corresponding steering return direction and steering return angle according to the steering direction and steering angle carried by the steering signal, generating a steering return signal according to the steering return direction and the steering return angle, and using the steering return signal as the target steering signal.

[0051] Among them, the step of determining the signal trigger end of the steering signal includes:

[0052] Step C10, obtaining the driving information of the vehicle active end of the target vehicle in the real-time driving state, where the driving information includes the driving environment information and the driving direction information;

[0053] Step C20, determining the steering deflection angle corresponding to the steering signal according to the driving direction information and the driving steering information carried by the steering signal;

[0054] Step C30, detecting the signal trigger end of the steering signal according to the driving environment information and the steering deflection angle.

[0055] In this embodiment, it should be noted that due to the subjective will of the driver and the uncertainty of the driving environment, in order to ensure the safety of the vehicle during steering, the driving environment and the steering angle can be comprehensively processed to evaluate the danger of the driver's current steering operation, and then different control methods are used to control the steering of the target vehicle. For example, when the steering amplitude is too large and the road surface friction is small, such as when the target vehicle makes a 90-degree U-turn on an icy road surface, at this time, the target vehicle is at risk of rollover. Even if the steering signal is actually generated by the vehicle active end, the vehicle follow-up end can be used as the signal trigger end of the steering signal, and then the target steering signal is generated in the same way as the target steering signal of the vehicle follow-up end to prevent the target vehicle from rolling over.

[0056] As an example, steps C10 to C30 include: obtaining the driving information of the vehicle active end of the target vehicle in the real-time driving state, where the driving information includes driving environment information and driving direction information. The driving environment information may specifically be temperature, vehicle flow, etc., and the driving direction information may specifically be east, south, northwest, etc.; taking the direction angle between the driving direction information and the driving steering information as the steering deflection angle corresponding to the steering signal; constructing a steering evaluation vector according to the driving environment information and the steering deflection angle. If the steering evaluation vector is greater than a preset evaluation vector threshold, then taking the vehicle follower end of the target vehicle as the signal trigger end. If the steering evaluation vector is less than or equal to the preset evaluation vector threshold, then taking the vehicle active end of the target vehicle as the signal trigger end, where the steering evaluation vector is used to evaluate the danger level of the steering.

[0057] Wherein, before the step of, if a steering signal of the target vehicle in the real-time driving state is received, determining the signal trigger end of the steering signal, the vehicle steering control method further includes:

[0058] Step D10, after the driver enters the first vehicle driving end of the target vehicle, detecting whether there is a vehicle start signal at the first vehicle driving end, where the vehicle start signal is generated by the driver performing a vehicle start operation at the vehicle driving end;

[0059] Step D20, if so, taking the first vehicle driving end as the vehicle active end and taking the second vehicle driving end of the target vehicle as the vehicle follower end;

[0060] Step D30, generating a steering signal according to the driver's steering operation corresponding to the vehicle active end.

[0061] In this embodiment, it should be noted that when the target vehicle is in an unignited and started state, both vehicle driving ends on both sides of the target vehicle can be used as the vehicle active end or the vehicle follower end until a vehicle start signal is detected at a certain vehicle driving end, then taking this vehicle driving end as the vehicle active end and the other end as the vehicle follower end, where the first vehicle driving end and the second vehicle driving end are vehicle driving ends on different sides of the target vehicle.

[0062] As an example, steps D10 to D30 include: after the driver enters the first vehicle driving end of the target vehicle, setting the second vehicle driving end of the target vehicle to the follow-up driving mode, and detecting whether there is a vehicle start signal at the first vehicle driving end, where the vehicle start signal is generated by the driver performing a vehicle start operation at the vehicle driving end; if it is detected that there is the vehicle start signal at the first vehicle driving end, taking the first vehicle driving end as the vehicle active end, and taking the second vehicle driving end of the target vehicle as the vehicle follow-up end; generating a steering signal according to the driver's steering operation corresponding to the vehicle active end.

[0063] In an implementable manner, if the vehicle start signal is not detected at the second vehicle driving end, the first vehicle driving end is monitored in real time until the vehicle start signal is detected.

[0064] The embodiment of the present application provides a vehicle steering control method, which is applied to a two-way driving vehicle. That is, if a steering signal of the target vehicle in the real-time driving state is received, the signal triggering end of the steering signal is determined; according to the signal triggering end and the steering signal, a target steering signal is determined; according to the target steering signal, steering control is performed on the target vehicle, so that the target vehicle travels in a driving state with a preset driving effect. That is, the purpose of steering control of the target vehicle through the target steering signal is achieved. Since the target steering control system can determine the corresponding target steering signal and perform steering control on the target vehicle after receiving the steering signal, it can then identify the identity of the person performing the steering operation by the difference in the signal triggering end of the steering signal, and then perform flexible steering control on the target vehicle, so that the target vehicle travels in a driving state with a preset driving effect, rather than when the target vehicle is traveling in a certain direction, the personnel on the target vehicle can perform an active steering operation in the active cab or the other cab to control the steering of the target vehicle. For example, a two-way driving vehicle can still maintain its original driving state after a suspicious person enters the follow-up cab and performs an active steering operation. Therefore, it overcomes the technical defect that vehicle passengers all have subjective consciousness and large mobility, which may lead to the occurrence of danger even with physical isolation. Therefore, the driving safety of the two-way driving vehicle during driving is improved.

[0065] Embodiment 2

[0066] Further, referring to Figure 4 , in another embodiment of the present application, the same or similar content as that in the above Embodiment 1 can be referred to the above introduction and will not be repeated hereinafter. On this basis, before the step of generating a steering signal according to the driver's steering operation corresponding to the vehicle active end, the vehicle steering control method further includes:

[0067] Step E10: After the target to be recognized enters the in-vehicle warning space of the target vehicle, obtain the travel route map of the target to be recognized.

[0068] Step E20: Convert the travel route map into a travel route map embedding in a preset data dimension, and determine whether the target to be recognized is a suspicious person according to the travel route map embedding and the suspicious target discrimination model.

[0069] Step E30: If it is determined that the target to be recognized is a suspicious person, display an alarm message on the vehicle active end of the target vehicle.

[0070] In this embodiment, it should be noted that the in-vehicle warning space can be the in-vehicle warning space within a preset distance range from the vehicle driving end. Among them, the preset distance range can be specifically 20 meters or 30 meters, etc. When there is a target to be recognized in the in-vehicle warning space, it is considered to pose a certain threat to the vehicle active end. The target to be recognized can specifically be a vehicle passenger. It can be understood that the target vehicle is usually divided into a preset number of carriages according to the transport volume. Among them, the first carriage and the last carriage are the vehicle driving ends of the target vehicle. Different carriages are connected through carriage doors. Therefore, identity recognition devices can be deployed at the carriage doors of each carriage. Among them, the identity recognition device can be a face recognition device or an iris recognition device. When the target to be recognized passes through a certain carriage door, relevant information is collected to generate a travel route map, and then whether the target to be recognized poses a certain threat to the vehicle driving end is determined through the travel route map.

[0071] As an example, steps E10 to E30 include: After the target to be recognized successfully performs identity recognition at the carriage door of the target vehicle, record the time point of identity recognition as the passing time point and the door number of the carriage door where the identity recognition is successful. Then, according to each of the passing time points, sort each of the door numbers to obtain a door number sequence. Then, use the door number sequence as the passing order. According to the passing order and the travel route nodes corresponding to each carriage door passed by the target to be recognized, generate an initial travel route map. According to the initial travel route map and the passing time point, generate the travel route map; perform a low-dimensional vector space conversion on the travel route map to map the travel route map to a preset low-dimensional vector space to obtain the travel route map embedding. Input the travel route map embedding into the suspicious target discrimination model to determine whether the target to be recognized is a suspicious person. Among them, the suspicious target discrimination model can be a graph embedding classification model; if it is determined that the target to be recognized is a suspicious person, display an alarm message on the vehicle active end of the target vehicle. Among them, the alarm message can specifically be words such as "Suspicious person detected" or a warning sound, etc., for the driver at the vehicle active end to be aware of the driving risk.

[0072] Among them, the step of generating the travel route map according to the initial travel route map and the passing time points may specifically be:

[0073] Calculate at least one time interval value for the target to be recognized to pass through adjacent carriage doors of the target vehicle, and in the initial travel route map, assign each of the time interval values as a weight value to the corresponding travel route node connection edge to obtain the travel route map, where the travel route node connection edge is used to represent the carriage space between the carriage doors corresponding to the two connected travel path nodes.

[0074] Among them, the suspicious target discrimination model includes a graph embedding classification model, and the step of discriminating whether the target to be recognized is a suspicious person according to the travel route map embedding and the suspicious target discrimination model includes:

[0075] Step F10: Input the travel route map embedding into the graph embedding classification model to obtain a first graph embedding classification probability;

[0076] Step F20: If the first graph embedding classification probability is greater than a preset classification probability threshold, track the target to be recognized to obtain a tracking result;

[0077] Step F30: According to the tracking result and the travel route map, predict each estimated travel route map embedding of the target to be recognized within a preset time period;

[0078] Step F40: According to the graph embedding classification model, classify each of the estimated travel route map embeddings respectively to obtain each second graph embedding classification probability;

[0079] Step F50: According to the first graph embedding classification probability and each of the second graph embedding classification probabilities, discriminate whether the target to be recognized is a suspicious person.

[0080] In this embodiment, it should be noted that usually, the spatial position of vehicle passengers entering the target vehicle in the vehicle is relatively fixed. In order to improve the discrimination accuracy of suspicious persons, the suspicious probability of the target to be recognized can be estimated based on the spatial position distribution of the target to be recognized in the target vehicle. For example, when the target to be recognized stays at a sensitive position for a long time, it is considered that the probability that the target to be recognized is a suspicious person increases.

[0081] As an example, steps F10 to F50 include: classifying the travel route map embedding through the graph embedding classification model, predicting the probability that the travel route map embedding belongs to a preset graph embedding type, and obtaining a first graph embedding classification probability; if the first graph embedding classification probability is greater than a preset classification probability threshold, then based on the camera in the carriage where the target to be recognized is located, obtain at least one spatial position coordinate, and according to each of the spatial position coordinates, determine the position distribution of the target to be recognized in the carriage where it is located, and use the position distribution as the tracking result; according to the tracking result and the travel route map, predict each estimated travel route map embedding of the target to be recognized within a preset time period; according to the graph embedding classification model, classify each of the estimated travel route map embeddings to obtain each second graph embedding classification probability; respectively obtain the mean probability jointly corresponding to the first graph embedding classification probability and each of the second graph embedding classification probabilities, if the mean probability is greater than the first graph embedding probability, then regard the target to be recognized as a suspicious person, if the mean probability is not greater than the first graph embedding probability, then determine that the target to be recognized is not a suspicious person. Since the mean probability can objectively estimate the suspicious probability of the target to be recognized, and then when the mean probability is greater than the first graph embedding probability, it means that the suspicious probability of the target to be recognized is continuously increasing, and when the mean probability is not greater than the first graph embedding probability, it means that the suspicious probability of the target to be recognized is continuously decreasing, and thus the suspiciousness of the target to be recognized can be accurately predicted, laying a foundation for improving the accuracy of judging suspicious persons.

[0082] The embodiment of the present application provides a vehicle active end warning method, that is, when the target to be recognized enters the vehicle warning space of the target vehicle, then obtain the travel route map of the target to be recognized; convert the travel route map into a travel route map embedding of a preset data dimension, and according to the travel route map embedding and the suspicious target discrimination model, determine whether the target to be recognized is a suspicious person; if it is determined that the target to be recognized is a suspicious person, then display a warning message on the vehicle active end of the target vehicle. Compared with the method of performing corresponding return processing after the steering signal is generated to control the steering of the target vehicle, in the embodiment of the present application, by determining the identity of the vehicle occupants of the target vehicle, when the vehicle occupants are determined to be suspicious persons, a warning message is displayed on the vehicle active end to inform the driver of the external force steering risk, and thus the driving risk caused by a suspicious person breaking into the vehicle active end or the vehicle follow-up end performing a steering operation can be prevented. Therefore, the technical defect that when the target steering control system cannot return the steering operation performed by a non-driver, thus affecting the driving safety of the target vehicle is overcome. Therefore, a foundation is laid for improving the driving safety of the target moving vehicle.

[0083] Embodiment Three

[0084] An embodiment of the present application further provides a vehicle steering control device, which is applied to a two-way vehicle. Referring to Figure 5 , the vehicle steering control device includes:

[0085] A receiving module 101, configured to determine a signal trigger end of the steering signal if a steering signal of a target vehicle in a real-time driving state is received;

[0086] A determining module 102, configured to determine a target steering signal according to the signal trigger end and the steering signal;

[0087] A control module 103, configured to perform steering control on the target vehicle according to the target steering signal, so that the target vehicle travels in a driving state with a preset driving effect.

[0088] Optionally, the signal trigger end includes a vehicle active end and a vehicle follower end, and the determining module is further configured to:

[0089] If the signal trigger end is the vehicle active end, use the steering signal as the target steering signal;

[0090] If the signal trigger end is the vehicle follower end, generate the target steering signal according to the driving steering information carried by the steering signal.

[0091] Optionally, the determining module is further configured to:

[0092] Determine the steering return information of the vehicle follower end in the real-time driving state according to the driving steering information;

[0093] Generate the target steering signal according to the steering return information.

[0094] Optionally, the receiving module is further configured to:

[0095] Obtain the driving information of the vehicle active end of the target vehicle in the real-time driving state, where the driving information includes driving environment information and driving direction information;

[0096] Determine the steering deflection angle corresponding to the steering signal according to the driving direction information and the driving steering information carried by the steering signal;

[0097] Detect the signal trigger end of the steering signal according to the driving environment information and the steering deflection angle.

[0098] Optionally, the vehicle steering control device is further configured to:

[0099] After the driver enters the first vehicle driving end of the target vehicle, detect whether there is a vehicle start signal at the first vehicle driving end, where the vehicle start signal is generated by the driver performing a vehicle start operation at the vehicle driving end;

[0100] If so, use the first vehicle driving end as the vehicle active end and the second vehicle driving end of the target vehicle as the vehicle follower end;

[0101] Generate a steering signal according to the driver's steering operation corresponding to the vehicle active end.

[0102] Optionally, the vehicle steering control device is further configured to:

[0103] When the target to be recognized enters the in-vehicle warning space of the target vehicle, obtain the travel route map of the target to be recognized;

[0104] Convert the travel route map into a travel route map embedding in a preset data dimension, and determine whether the target to be recognized is a suspicious person according to the travel route map embedding and the suspicious target discrimination model;

[0105] If it is determined that the target to be recognized is a suspicious person, display an alarm message at the vehicle active end of the target vehicle.

[0106] Optionally, the suspicious target discrimination model includes a graph embedding classification model, and the vehicle steering control device is further configured to:

[0107] Input the travel route map embedding into the graph embedding classification model to obtain a first graph embedding classification probability;

[0108] If the first graph embedding classification probability is greater than a preset classification probability threshold, track the target to be recognized to obtain a tracking result;

[0109] Predict the respective estimated travel route map embeddings of the target to be recognized within a preset time period according to the tracking result and the travel route map;

[0110] Classify each of the estimated travel route map embeddings according to the graph embedding classification model to obtain respective second graph embedding classification probabilities;

[0111] Determine whether the target to be recognized is a suspicious person according to the first graph embedding classification probability and the respective second graph embedding classification probabilities.

[0112] The vehicle steering control device provided by the present invention adopts the vehicle steering control method in the above embodiment, and solves the technical problem of low driving safety of two-way driving vehicles during driving. Compared with the prior art, the beneficial effects of the vehicle steering control device provided by the embodiment of the present invention are the same as those of the vehicle steering control method provided by the above embodiment, and other technical features in the vehicle steering control device are the same as the features disclosed in the above embodiment method, which will not be elaborated here.

[0113] Embodiment 4

[0114] The embodiment of the present invention provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle steering control method in Embodiment 1 above.

[0115] Next, refer to Figure 6 , which shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0116] As Figure 6 shown, the electronic device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM) 1004. In the RAM 1004, various programs and data required for the operation of the electronic device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus.

[0117] Typically, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device can allow the electronic device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an electronic device having various systems, it should be understood that it is not required to implement or have all the shown systems. Instead, more or fewer systems can be implemented or had.

[0118] Specifically, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 1009, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0119] The electronic device provided by the present invention adopts the vehicle steering control method in the above embodiment, and solves the technical problem of low driving safety of a two-way driving vehicle during driving. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the present invention are the same as those of the vehicle steering control method provided by the above embodiment, and other technical features in the electronic device are the same as those disclosed in the method of the above embodiment, and will not be elaborated here.

[0120] It should be understood that each part of the present disclosure can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0121] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

[0122] Embodiment Five

[0123] This embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the vehicle steering control method in the above embodiment.

[0124] The computer-readable storage medium provided by the embodiment of the present invention can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0125] The above computer-readable storage medium can be included in an electronic device; or it can exist alone without being assembled into the electronic device.

[0126] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device: if a steering signal of a target vehicle in a real-time driving state is received, determine the signal trigger end of the steering signal; determine a target steering signal according to the signal trigger end and the steering signal; perform steering control on the target vehicle according to the target steering signal so that the target vehicle travels in a driving state with a preset driving effect.

[0127] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0128] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0129] The modules described in the embodiments of the present disclosure may be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0130] The computer-readable storage medium provided by the present invention stores computer-readable program instructions for performing the above-mentioned vehicle steering control method, which solves the technical problem of low driving safety of two-way driving vehicles during driving. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiments of the present invention are the same as those of the vehicle steering control method provided by the above embodiments, and will not be elaborated herein.

[0131] Embodiment Six

[0132] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the vehicle steering control method as described above.

[0133] The computer program product provided by the present application solves the technical problem of low driving safety of two-way vehicles during driving. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiments of the present invention are the same as those of the vehicle steering control method provided by the above embodiments, and will not be elaborated here.

[0134] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent scope of the present application.

Claims

1. A vehicle steering control method, characterized in that, Applied to two-way driving vehicles, the vehicle steering control method includes: If a steering signal of a target vehicle in a real-time driving state is received, determine the signal trigger end of the steering signal; Determine a target steering signal according to the signal trigger end and the steering signal; Perform steering control on the target vehicle according to the target steering signal, so that the target vehicle travels in a driving state with a preset driving effect; The signal trigger end includes a vehicle active end and a vehicle follow-up end. The vehicle active end is a driving area actively operated by a driver, and the vehicle follow-up end is a driving area without active operation by a driver. The target steering signal represents a steering signal that conforms to the driver's driving intention; The step of determining the target steering signal according to the signal trigger end and the steering signal includes: If the signal trigger end is the vehicle active end, use the steering signal as the target steering signal; If the signal trigger end is the vehicle follow-up end, generate the target steering signal according to the driving steering information carried by the steering signal, where the driving steering information is used to represent the steering amplitude of the target vehicle during driving, and the target steering signal is used to indicate that the target vehicle corrects the steering amplitude of the steering signal.

2. The vehicle steering control method according to claim 1, wherein, The step of generating the target steering signal according to the driving steering information carried by the steering signal includes: Determine the steering correction information of the vehicle follow-up end in the real-time driving state according to the driving steering information; Generate the target steering signal according to the steering correction information.

3. The vehicle steering control method according to claim 1, wherein The step of determining the signal trigger end of the steering signal includes: Obtain the driving information of the vehicle active end of the target vehicle in the real-time driving state, where the driving information includes driving environment information and driving direction information; Determine the steering deflection angle corresponding to the steering signal according to the driving direction information and the driving steering information carried by the steering signal; Detect the signal trigger end of the steering signal according to the driving environment information and the steering deflection angle.

4. The vehicle steering control method according to claim 1, wherein, Before the step of if a steering signal of a target vehicle in a real-time driving state is received, then determine the signal trigger end of the steering signal, the vehicle steering control method further includes: After the driver enters the first vehicle driving end of the target vehicle, detect whether there is a vehicle start signal at the first vehicle driving end, where the vehicle start signal is generated by the driver performing a vehicle start operation at the vehicle driving end; If so, use the first vehicle driving end as the vehicle active end, and use the second vehicle driving end of the target vehicle as the vehicle follow-up end; Generate a steering signal according to the driver's steering operation corresponding to the vehicle active end.

5. The vehicle steering control method according to claim 4, characterized in that, Before the step of generating a steering signal according to the driver's steering operation corresponding to the vehicle active end, the vehicle steering control method further includes: When a target to be recognized enters the in-vehicle warning space of the target vehicle, obtain the travel route map of the target to be recognized; Convert the travel route map into a travel route map embedding in a preset data dimension, and determine whether the target to be recognized is a suspicious person according to the travel route map embedding and the suspicious target discrimination model; If it is determined that the target to be recognized is a suspicious person, an alarm message is displayed at the active end of the target vehicle.

6. The vehicle steering control method according to claim 5, characterized in that The suspicious target discrimination model includes a graph embedding classification model. The step of determining whether the target to be recognized is a suspicious person according to the travel route map embedding and the suspicious target discrimination model includes: Input the travel route map embedding into the graph embedding classification model to obtain a first graph embedding classification probability; If the first graph embedding classification probability is greater than a preset classification probability threshold, track the target to be recognized to obtain a tracking result; Predict the estimated travel route map embeddings of the target to be recognized within a preset time period according to the tracking result and the travel route map; Classify each of the estimated travel route map embeddings according to the graph embedding classification model to obtain respective second graph embedding classification probabilities; Determine whether the target to be recognized is a suspicious person according to the first graph embedding classification probability and each of the second graph embedding classification probabilities.

7. A vehicle steering control device, characterized in that, Applied to a two-way driving vehicle, the vehicle steering control device includes: A receiving module, configured to determine the signal trigger end of the steering signal if a steering signal of the target vehicle in a real-time driving state is received, where the signal trigger end includes an active end of the vehicle and a follower end of the vehicle; A determining module, configured to determine a target steering signal according to the signal trigger end and the steering signal; A control module, configured to perform steering control on the target vehicle according to the target steering signal, so that the target vehicle travels in a driving state with a preset driving effect; The signal trigger end includes an active end of the vehicle and a follower end of the vehicle. The active end of the vehicle is a driving area actively operated by a driver, and the follower end of the vehicle is a driving area without active operation by a driver. The target steering signal represents a steering signal that conforms to the driving intention of the driver. The determining module is further configured to: If the signal trigger end is the active end of the vehicle, use the steering signal as the target steering signal; If the signal trigger end is the follower end of the vehicle, generate the target steering signal according to the driving steering information carried by the steering signal, where the driving steering information is used to represent the steering amplitude of the target vehicle during driving, and the target steering signal is used to instruct the target vehicle to correct the steering amplitude of the steering signal.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; A memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor, so that the at least one processor can execute the steps of the vehicle steering control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A program for implementing a vehicle steering control method is stored on the computer-readable storage medium, and the program for implementing the vehicle steering control method is executed by a processor to implement the steps of the vehicle steering control method according to any one of claims 1 to 6.

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