Steering Wheel Angle Control Method, System, Vehicle and Medium during Control Right Switching

Abstract

The present invention relates to the field of autonomous driving technology, and discloses a method, a system, a vehicle and a medium for controlling the steering wheel angle during the handover of control rights. The method responds to the activation of the lateral control function, determines the steering wheel angle increment corresponding to each control time point within the expected control period according to the control time point, the angle difference between the initial angle value and the initial expected angle value, and the expected control period respectively. When the current moment is at any control time point, the angle control threshold corresponding to the current moment is determined according to the steering wheel angle increment corresponding to the current moment, the current expected angle value and the initial expected angle value, and the angle value of the steering wheel at the current moment is controlled within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the obtained current expected angle value, realizing the smooth change of the steering wheel angle, thereby ensuring the driving experience and driving safety of the driver.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and particularly to a method, a system, a vehicle and a medium for controlling the steering wheel angle during the handover of control rights. Background Art

[0002] The intelligentization of vehicles is an inevitable trend in the future development of the automotive industry, and the autonomous driving algorithm is the "brain" system for realizing its high intelligence. As the most cutting-edge technology in the current automotive industry, major domestic and foreign OEMs and suppliers have continuously increased their layouts in the field of automotive autonomous driving. The Shanghai Auto Show in 2021, regarded as the first year of Chinese automotive intelligentization, has seen technology giants, new energy vehicle manufacturers and traditional automakers all presenting industry-leading autonomous driving solutions.

[0003] As one of the key steps in autonomous driving, lateral control mainly controls the driving direction of the vehicle to ensure that the vehicle follows the desired trajectory. However, when the lateral control function is turned on or off, due to the sudden handover of the control right of the autonomous driving vehicle, the steering wheel will directly jump to the lateral control, making the angle control of the steering wheel uneven and unstable. The driver will feel as if the steering wheel has been snatched away, which affects the driving experience and driving safety. Summary of the Invention

[0004] To provide a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary is not a comprehensive review, nor is it intended to identify key / important elements or delineate the scope of protection of these embodiments. Instead, it serves as a preface to the subsequent detailed description.

[0005] In view of the above-mentioned disadvantages of the prior art, the present invention discloses a method, a system, a vehicle and a medium for controlling the steering wheel angle during the handover of control rights, so as to smoothly transition the steering wheel angle during the handover of the vehicle control right.

[0006] The present invention discloses a method for controlling the steering wheel angle during the handover of control rights, including: in response to the activation of the lateral control function, obtaining the initial angle value, the initial desired angle value and the desired control period of the steering wheel, wherein the desired control period includes a plurality of control time points; determining the steering wheel angle increment corresponding to each control time point according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period; in response to the current moment being at any control time point, obtaining the current desired angle value of the steering wheel at the current moment, determining the angle control threshold corresponding to the current moment according to the steering wheel angle increment corresponding to the current moment, the current desired angle value and the initial desired angle value, and controlling the angle value of the steering wheel at the current moment within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the obtained current desired angle value.

[0007] Optionally, determining the steering wheel angle increment corresponding to each of the control time points according to the control time point, the angular difference between the initial angle value and the initial desired angle value, and the desired control period respectively includes: taking the control time point as an interpolation in the desired control period, determining the corresponding relationship between the interpolation and the desired control period; calculating the angular difference between the initial angle value and the initial desired angle value according to the corresponding relationship between the interpolation and the desired control period, to obtain the steering wheel angle increment corresponding to the control time point.

[0008] Optionally, determining the steering wheel angle increment corresponding to the control time point through the following formula: In the formula, t i is the i-th control time point, q(t i ) is the steering wheel angle increment at the i-th control time point, T is the desired control period, H is the angular difference between the initial angle value and the initial desired angle value, α 1 , α 2 , α 3 are preset increment parameters.

[0009] Optionally, determining the angle control threshold corresponding to the current moment through the following formula: SW = q(t i ) + SW i - SW 0 , in the formula, t i is the i-th control time point where the current moment is located, SW is the angle control threshold corresponding to the current moment, SW i is the current desired angle value of the steering wheel at the current moment, and SW 0 is the initial desired angle value.

[0010] Optionally, controlling the angle value of the steering wheel at the current moment within the angle control threshold includes: dividing the desired control period into multiple period intervals; setting the filtering coefficients corresponding to each of the period intervals, where the magnitude of the filtering coefficient is inversely proportional to the time sequence of the corresponding period interval; matching the target coefficient corresponding to the current moment from the filtering coefficients according to the control time point corresponding to the current moment, and updating the angle control threshold corresponding to the current moment according to the target coefficient; controlling the angle value of the steering wheel at the current moment within the updated angle control threshold.

[0011] Optionally, the lateral control function is activated by the following method: in response to receiving a lateral control function activation flag input by the user, obtain the lane recognition state and the steering wheel angle value; if the first preset condition and the second preset condition are satisfied, activate the lateral control function, where the first preset condition includes that the lane recognition state is successful in recognizing the lane, and the second preset condition includes that the steering wheel angle value is greater than or equal to a preset activation angle threshold.

[0012] Optionally, the desired control period is obtained by the following method: obtain the current vehicle speed; determine the desired control period according to the current vehicle speed, where there is a positive correlation between the current vehicle speed and the desired control period.

[0013] Optionally, the method further includes: if the current moment is outside the desired control period and the angle value of the steering wheel at the current moment is not equal to the currently obtained desired angle value, then control the angle value of the steering wheel at the current moment to be equal to the currently desired angle value.

[0014] The present invention discloses a steering wheel angle control system during control right switching, including: an acquisition module, configured to obtain an initial angle value, an initial desired angle value, and a desired control period of the steering wheel in response to the activation of the lateral control function, where the desired control period includes a plurality of control time points; a determination module, configured to determine a steering wheel angle increment corresponding to each of the control time points according to the control time points, the angle difference between the initial angle value and the initial desired angle value, and the desired control period; a control module, configured to obtain a currently desired angle value of the steering wheel at the current moment in response to the current moment being at any one of the control time points, determine an angle control threshold corresponding to the current moment according to the steering wheel angle increment corresponding to the current moment, the currently desired angle value, and the initial desired angle value, and control the angle value of the steering wheel at the current moment within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the currently obtained desired angle value.

[0015] The present invention discloses an electronic device, including: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory so that the electronic device executes the above method.

[0016] The present invention discloses a computer-readable storage medium, on which a computer program is stored: when the computer program is executed by a processor, the above method is implemented.

[0017] The beneficial effects of the present invention:

[0018] In response to the activation of the lateral control function, the steering wheel angle increments corresponding to each control time point within the expected control period are determined respectively according to the control time point, the angular difference between the initial angle value and the initial expected angle value, and the expected control period. When the current moment is at any control time point, the angular control threshold corresponding to the current moment is determined according to the steering wheel angle increment corresponding to the current moment, the current expected angle value, and the initial expected angle value, and the angle value of the steering wheel at the current moment is controlled within the angular control threshold until the angle value of the steering wheel at the current moment is equal to the obtained current expected angle value. In this way, by calculating the corresponding angular control thresholds respectively through the steering wheel angle increments at different control time points, it is ensured that the steering wheel angle will not exceed the angular control threshold, avoiding sudden changes in the steering wheel angle caused by sudden switching of the control right, realizing smooth changes in the steering wheel angle, and thus ensuring the driving experience and driving safety of the driver.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. Brief Description of the Drawings

[0020] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0021] Figure 1 is a schematic flowchart of a method for controlling the steering wheel angle during a control right switch in an embodiment of the present invention;

[0022] Figure 2 is a schematic flowchart of a method for controlling the steering wheel angle during a control right switch in an embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of a steering wheel angle control system during a control right switch in an embodiment of the present invention;

[0024] Figure 4 is a schematic structural diagram of an electronic device in an embodiment of the present invention. Detailed Embodiments

[0025] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and sub-samples in the embodiments can be combined with each other.

[0026] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0027] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0028] In the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings, the terms "first", "second", etc. are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0029] Unless otherwise specified, the term "plurality" means two or more.

[0030] In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0031] The term "and / or" is a description of the associated relationship of objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B these three relationships.

[0032] Combined Figure 1 As shown, the embodiments of the present disclosure provide a method for controlling the steering wheel angle during control right switching, including:

[0033] Step S101, in response to the activation of the lateral control function, obtain the initial angle value, initial desired angle value, and desired control period of the steering wheel;

[0034] Among them, the expected control period includes multiple control time points;

[0035] Step S102: respectively determine the steering wheel angle increment corresponding to each control time point according to the control time point, the angle difference between the initial angle value and the initial expected angle value, and the expected control period;

[0036] Step S103: in response to the current moment being at any control time point, obtain the current expected angle value of the steering wheel at the current moment, determine the angle control threshold corresponding to the current moment according to the steering wheel angle increment corresponding to the current moment, the current expected angle value and the initial expected angle value, and control the angle value of the steering wheel at the current moment within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the obtained current expected angle value.

[0037] Adopting the steering wheel angle control method during control right switching provided by the embodiments of the present disclosure, in response to the activation of the lateral control function, respectively determine the steering wheel angle increments corresponding to each control time point within the expected control period according to the control time point, the angle difference between the initial angle value and the initial expected angle value, and the expected control period, and when the current moment is at any control time point, determine the angle control threshold corresponding to the current moment according to the steering wheel angle increment corresponding to the current moment, the current expected angle value and the initial expected angle value, and control the angle value of the steering wheel at the current moment within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the obtained current expected angle value. In this way, by calculating the corresponding angle control thresholds respectively through the steering wheel angle increments at different control time points, it is ensured that the steering wheel angle will not exceed the angle control threshold, avoiding sudden changes in the steering wheel angle due to sudden switching of the control right, realizing smooth changes in the steering wheel angle, and thus ensuring the driving experience and driving safety of the driver.

[0038] Optionally, the lateral control function is activated by the following method: in response to receiving the activation flag bit of the lateral control function input by the user, obtain the lane recognition state and the steering wheel angle value; if the first preset condition and the second preset condition are met, activate the lateral control function, where the first preset condition includes that the lane recognition state is successful in recognizing the lane, and the second preset condition includes that the steering wheel angle value is greater than or equal to the preset activation angle threshold.

[0039] In some embodiments, when receiving the activation flag bit of the lateral control function, simultaneously determine whether the current road state and the steering wheel state meet the activation conditions. After all three are met, activate the lateral control function of autonomous driving, output the lateral control activation flag bit, and record the initial angle value and the initial expected angle value of the steering wheel at the activation moment.

[0040] In some embodiments, if the lateral control activation flag is not detected, the initial angle value is determined as the initial desired angle value; if the lateral control activation flag is detected, the desired angle value output by the automatic driving algorithm is determined as the dehumidification desired angle value.

[0041] In some embodiments, if the vehicle terminal cannot recognize the lane, the vehicle cannot be laterally controlled through the recognized lane. Therefore, the lateral control function of the automatic driving is released.

[0042] In some embodiments, if the steering wheel angle manipulated by the driver is too large, the vehicle terminal is making a large turn. At this time, to avoid traffic hazards, the lateral control function of the automatic driving is released.

[0043] In this way, when the vehicle terminal cannot recognize the lane or the steering wheel angle manipulated by the driver is too large, the lateral control function of the automatic driving is activated to avoid potential traffic safety hazards caused by sudden changes in the steering wheel.

[0044] Optionally, the desired control period is obtained by the following method: obtaining the current vehicle speed; determining the desired control period according to the current vehicle speed, where there is a positive correlation between the current vehicle speed and the desired control period.

[0045] In some embodiments, the desired control period starts from 0 until the last time threshold of the desired control period; wherein, if the lateral control function of the automatic driving is released during the desired control period, the current desired control period is exited and re-determined when the lateral control function is activated next time.

[0046] In this way, when the lateral control function of the automatic driving is activated, the faster the vehicle speed, the corresponding desired control period is increased to avoid excessive angle changes and achieve smooth changes in the steering wheel angle.

[0047] Optionally, the steering wheel angle increment corresponding to each control time point is determined according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period, including: taking the control time point as the interpolation in the desired control period to determine the corresponding relationship between the interpolation and the desired control period; calculating the angle difference between the initial angle value and the initial desired angle value according to the corresponding relationship between the interpolation and the desired control period to obtain the steering wheel angle increment corresponding to the control time point.

[0048] Optionally, the steering wheel angle increment corresponding to the control time point is determined by the following formula:

[0049]

[0050] where t i is the i-th control time point, q(t i) is the steering wheel angle increment at the i-th control time point, T is the desired control period, H is the angle difference between the initial angle value and the initial desired angle value, α 1 , α 2 , α 3 are preset increment parameters.

[0051] Optionally, the steering wheel angle increment is calculated by the quintic polynomial interpolation method, including:

[0052] Determine the start point of the period of the desired control period as t 0 , and determine the end point of the period of the desired control period as t 1 ;

[0053] Obtain the quintic polynomial curve equation as follows,

[0054] q(t) = a 0 + a 1 × (t 1 - t 0 ) + a 2 × (t 1 - t 0 ) 2 + a 3 × (t 1 - t 0 ) 3 + a 4 × (t 1 - t 0 ) 4 + a 5 × (t 1 - t 0 ) 5 (1),

[0055] where a 0 , a 1 , a 2 , a 3 , a 4 , a 5 are all undetermined parameters in the quintic polynomial curve equation;

[0056] Set the constraint conditions as follows,

[0057]

[0058] where Q 0 is the steering wheel angle at the start point of the period, that is, the initial angle value, Q 1 is the steering wheel angle at the end point of the period, that is, the initial desired angle value, V 0 is the steering wheel angular velocity at the start point of the period, V 1 is the steering wheel angular velocity at the end point of the period, A 0The acceleration of the angular velocity of the steering wheel with the starting point of the period, A 1 is the acceleration of the angular velocity of the steering wheel at the end point of the period;

[0059] Substitute formula (3) into the quintic polynomial curve equation (2) to obtain the parameters to be determined as follows,

[0060]

[0061] where the expected control period T = t 1 -t 0 , and the angular difference H between the initial angle value and the initial expected angle value = Q 1 -Q 0 ;

[0062] Set the parameter values of Q 0 , V 0 , V 1 , A 0 , A 1 to 0 respectively. Combining formula (1), formula (2), and formula (3), the calculation formula for the steering wheel angle increment is obtained as follows,

[0063]

[0064] where t i is the i-th control time point, and q(t i ) is the steering wheel angle increment at the i-th control time point, T is the expected control period, and H is the angular difference between the initial angle value and the initial expected angle value.

[0065] In some embodiments, the quintic polynomial has a total of six undetermined coefficients. To determine the six coefficients, at least six conditions are required. Among them, the quintic polynomial can be regarded as a time function of the joint angle. Therefore, its first derivative and second derivative can be regarded as time functions of the joint angular velocity and joint angular acceleration respectively.

[0066] Optionally, the angle control threshold corresponding to the current moment is determined by the following formula:

[0067] SW = q(t i ) + SW i -SW 0 (5),

[0068] where t i is the i-th control time point at which the current moment is located, SW is the angle control threshold corresponding to the current moment, SW i is the current expected angle value of the steering wheel at the current moment, and SW 0 is the initial expected angle value.

[0069] In some embodiments, since the expected angle value output by the autonomous driving is updated in real time, the interpolation result calculated by formula (4) cannot guarantee continuity. Therefore, in order to ensure the continuity and smoothness of the output result, the corner error value at the starting moment is always used during the interpolation process, that is, H is maintained unchanged. Only in this way, the angle increment during the interpolation process increases smoothly according to the fifth-degree polynomial. In order to compensate for the expected steering wheel angle error between the current moment and the starting moment, the expected steering wheel angle at the current moment is introduced to solve the angle mutation problem after the interpolation ends, and formula (5) is obtained.

[0070] Optionally, controlling the angle value of the steering wheel at the current moment within the angle control threshold includes: dividing the expected control period into multiple period intervals; setting the filtering coefficients corresponding to each period interval, where the magnitude of the filtering coefficient is inversely proportional to the time sequence of the corresponding period interval; matching the target coefficient corresponding to the current moment from the filtering coefficients according to the control time point corresponding to the current moment, and updating the angle control threshold corresponding to the current moment according to the target coefficient; controlling the angle value of the steering wheel at the current moment within the updated angle control threshold.

[0071] In some embodiments, if the lateral control function of the autonomous driving is not activated, the filtering coefficient is set to 1; if the lateral control function of the autonomous driving is activated, the filtering coefficient in the first period interval (for example, 0 - 0.5 s) of the expected control period is the smallest, the filtering coefficient in the second period interval (for example, 0.5 - 1 s) becomes larger, and reaches the maximum in the third period interval (for example, 1 - 1.5 s) and subsequent period intervals until the angle value of the steering wheel at the current moment is equal to the currently obtained expected angle value.

[0072] Optionally, the method further includes: if the current moment is outside the expected control period and the angle value of the steering wheel at the current moment is not equal to the currently obtained expected angle value, controlling the angle value of the steering wheel at the current moment to be equal to the current expected angle value.

[0073] In some embodiments, if the expected control period is exceeded, the vehicle terminal is controlled to drive centered by using the expected angle control signal output by the autonomous driving.

[0074] Combined with Figure 2 As shown, the embodiments of the present disclosure provide a steering wheel angle control during the control right handover, including:

[0075] Step S201, obtaining real-time vehicle information;

[0076] Wherein, the real-time vehicle information includes the steering wheel angle value, vehicle speed information, lane recognition status, activation status of the lateral control function, etc.;

[0077] Among them, in response to receiving the lateral control function activation flag input by the user, obtain the lane recognition status and the steering wheel angle value; if the first preset condition and the second preset condition are satisfied, activate the lateral control function, where the first preset condition includes that the lane recognition status is successful in recognizing the lane, and the second preset condition includes that the steering wheel angle value is greater than or equal to the preset activation angle threshold;

[0078] Step S202, determine whether the lateral control function is activated. If not, jump to step S203; if so, jump to step S204;

[0079] Step S203, determine the current steering wheel angle value as the initial desired angle value, and jump to step S205;

[0080] Step S204, determine the desired angle value output by the automatic driving at the current moment as the initial desired angle value, and jump to step S205;

[0081] Step S205, determine the desired control period according to the current vehicle speed;

[0082] Among them, the desired control period includes multiple control time points;

[0083] Step S206, calculate the steering wheel angle increment of each control time point according to the quintic polynomial interpolation method;

[0084] Step S207, determine the current angle control threshold in real time according to the steering wheel angle increment;

[0085] Step S208, update the angle control threshold corresponding to the current moment according to the target coefficient;

[0086] Among them, divide the desired control period into multiple period intervals; set the filtering coefficients corresponding to each period interval, where the magnitude of the filtering coefficient is inversely proportional to the time sequence of the corresponding period interval; match the target coefficient corresponding to the current moment from the filtering coefficients according to the control time point corresponding to the current moment;

[0087] Step S209, control the angle value of the steering wheel at the current moment within the angle control threshold;

[0088] Step S210, the angle value of the steering wheel at the current moment is equal to the obtained current desired angle value.

[0089] Using the steering wheel angle control method during control right handover provided by the embodiments of the present disclosure, in response to the activation of the lateral control function, the steering wheel angle increments corresponding to each control time point within the expected control period are respectively determined according to the control time point, the angular difference between the initial angle value and the initial expected angle value, and the expected control period. When the current moment is at any control time point, the angle control threshold corresponding to the current moment is determined according to the steering wheel angle increment corresponding to the current moment, the current expected angle value, and the initial expected angle value, and the angle value of the steering wheel at the current moment is controlled within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the obtained current expected angle value, having the following advantages:

[0090] First, the angle control thresholds corresponding to different control time points are respectively calculated through the steering wheel angle increments, ensuring that the steering wheel angle does not exceed the angle control threshold, avoiding sudden changes in the steering wheel angle due to sudden control right handover, realizing smooth changes in the steering wheel angle, and thus ensuring the driving experience and driving safety of the driver;

[0091] Second, when the vehicle terminal fails to recognize the lane or the steering wheel angle manipulated by the driver is too large, the lateral control function of the automatic driving is activated to avoid potential safety hazards in driving caused by sudden changes in the steering wheel;

[0092] Third, when the lateral control function of the automatic driving is activated, the faster the vehicle speed, the corresponding expected control period is increased to avoid excessive angle changes and realize smooth changes in the steering wheel angle;

[0093] Fourth, introducing the expected steering wheel rotation angle at the current moment to solve the angle mutation problem after the interpolation ends, compensating for the expected steering wheel angle error between the current moment and the starting moment, and making the steering wheel angle change smoother;

[0094] Fifth, introducing a filtering coefficient to make the angle control threshold gradually increase with time, providing the driver with a buffer time to adapt to the change in the steering wheel direction and improving driving safety.

[0095] Combined with Figure 3As shown in the figure, an embodiment of the present disclosure provides a steering wheel angle control system during control right handover, including an acquisition module 301, a determination module 302, and a control module 303. The acquisition module 301 is configured to, in response to activation of the lateral control function, acquire an initial angle value, an initial desired angle value, and a desired control period of the steering wheel, where the desired control period includes a plurality of control time points; the determination module 302 is configured to determine a steering wheel angle increment corresponding to each control time point according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period; the control module 303 is configured to, in response to the current moment being at any control time point, acquire a current desired angle value of the steering wheel at the current moment, determine an angle control threshold corresponding to the current moment according to the steering wheel angle increment corresponding to the current moment, the current desired angle value, and the initial desired angle value, and control the angle value of the steering wheel at the current moment within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the acquired current desired angle value.

[0096] By using the steering wheel angle control system during control right handover provided by the embodiment of the present disclosure, in response to activation of the lateral control function, a steering wheel angle increment corresponding to each control time point within the desired control period is determined according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period, and when the current moment is at any control time point, an angle control threshold corresponding to the current moment is determined according to the steering wheel angle increment corresponding to the current moment, the current desired angle value, and the initial desired angle value, and the angle value of the steering wheel at the current moment is controlled within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the acquired current desired angle value. In this way, by calculating the corresponding angle control thresholds through the steering wheel angle increments at different control time points, it is ensured that the steering wheel angle will not exceed the angle control threshold, avoiding sudden changes in the steering wheel angle caused by sudden control right handover, realizing smooth changes in the steering wheel angle, and thus ensuring the driving experience and driving safety of the driver.

[0097] Figure 4 The figure shows a schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application. It should be noted that Figure 4 The shown computer system 400 of the electronic device is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

[0098] As Figure 4As shown, computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403, such as executing the method in the above embodiments. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An Input / Output (I / O) interface 405 is also connected to the bus 404.

[0099] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read from it can be installed into the storage section 408 as needed.

[0100] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from the removable medium 411. When the computer program is executed by a Central Processing Unit (CPU) 401, various functions defined in the system of the present application are executed.

[0101] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, 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 with 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), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The computer program included on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0102] The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements any one of the methods in this embodiment.

[0103] For the computer-readable storage medium in the embodiments of the present disclosure, those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to the computer program. The foregoing computer program may be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disc, etc., which can store program codes.

[0104] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication therebetween. The memory is used to store a computer program, the communication interface is used for communication, and the processor and the transceiver are used to run the computer program so that the electronic device executes each step of the above method.

[0105] In this embodiment, the memory may include a Random Access Memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0106] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0107] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure, enabling those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, process, and other changes. The embodiments only represent possible variations. Unless explicitly required, the individual components and functions are optional, and the order of operations may vary. Parts and sub-samples of some embodiments may be included in or replace parts and sub-samples of other embodiments. Moreover, the terms used in this application are only for describing the embodiments and do not limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to also include the plural forms. Similarly, as used in this application, the term "and / or" refers to any and all possible combinations of one or more of the associated listed items. Additionally, when used in this application, the term "comprise" and its variants "comprises" and / or "comprising" etc. mean the presence of the stated sub-samples, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other sub-samples, wholes, steps, operations, elements, components, and / or groupings of these. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, or device comprising the element. Herein, each embodiment may focus on the differences from other embodiments, and the same or similar parts between the embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, the relevant parts may refer to the description of the method part.

[0108] Those skilled in the art will realize that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software can depend on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of the present disclosure. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0109] In the embodiments disclosed in this article, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units can be merely a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some sub-samples can be ignored or not executed. Additionally, the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. Additionally, in the embodiments of the present disclosure, the various functional units can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.

[0110] 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 the embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks can also occur in a different order than that disclosed in the description. Sometimes, there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. Each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A method for controlling the steering wheel angle during control right handover, characterized in that, it includes: In response to the activation of the lateral control function, obtaining the initial angle value, the initial desired angle value and the desired control period of the steering wheel, wherein the desired control period includes a plurality of control time points; Determining the steering wheel angle increment corresponding to each of the control time points according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period respectively; In response to the current moment being at any control time point, obtaining the current desired angle value of the steering wheel at the current moment, determining the angle control threshold corresponding to the current moment according to the steering wheel angle increment corresponding to the current moment, the current desired angle value and the initial desired angle value, and controlling the angle value of the steering wheel at the current moment within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the obtained current desired angle value; Determining the steering wheel angle increment corresponding to each of the control time points according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period respectively, includes taking the control time point as an interpolation in the desired control period, determining the corresponding relationship between the interpolation and the desired control period; calculating the angle difference between the initial angle value and the initial desired angle value according to the corresponding relationship between the interpolation and the desired control period to obtain the steering wheel angle increment corresponding to the control time point; Determine the steering wheel angle increment corresponding to the control time point through the following formula, , where, is the th control time point, is the steering wheel angle increment at the th control time point, is the expected control period, is the angle difference between the initial angle value and the initial expected angle value, , , are preset increment parameters.

2. The method according to claim 1, characterized in that, determining the angle control threshold corresponding to the current moment through the following formula: ， In the formula, is the th control time point at the current moment, is the angle control threshold corresponding to the current moment, is the current desired angle value of the steering wheel at the current moment, is the initial desired angle value.

3. The method according to claim 1, characterized in that, controlling the angle value of the steering wheel at the current moment within the angle control threshold includes: Dividing the desired control period into a plurality of period intervals; Setting the filtering coefficient corresponding to each of the period intervals, wherein the magnitude of the filtering coefficient is inversely proportional to the time sequence of the corresponding period interval; Matching the target coefficient corresponding to the current moment from the filtering coefficients according to the control time point corresponding to the current moment, and updating the angle control threshold corresponding to the current moment according to the target coefficient; Controlling the angle value of the steering wheel at the current moment within the updated angle control threshold.

4. The method according to any one of claims 1 to 3, characterized in that, activating the lateral control function through the following method: In response to receiving the lateral control function activation flag bit input by the user, obtaining the lane recognition state and the steering wheel angle value; If the first preset condition and the second preset condition are satisfied, activating the lateral control function, wherein the first preset condition includes that the lane recognition state is successful in recognizing the lane, and the second preset condition includes that the steering wheel angle value is greater than or equal to the preset activation angle threshold.

5. The method according to any one of claims 1 to 3, characterized in that, obtaining the desired control period through the following method: Obtaining the current vehicle speed; Determine the desired control period according to the current vehicle speed, wherein there is a positive correlation between the current vehicle speed and the desired control period.

6. The method according to any one of claims 1 to 3, characterized in that the method further includes: If the current moment is outside the desired control period and the angle value of the steering wheel at the current moment is not equal to the currently obtained desired angle value, then control the angle value of the steering wheel at the current moment to be equal to the currently desired angle value.

7. A steering wheel angle control system during control right handover, characterized in that it includes: An acquisition module, configured to, in response to the activation of the lateral control function, acquire the initial angle value, the initial desired angle value, and the desired control period of the steering wheel, wherein the desired control period includes a plurality of control time points; A determination module, configured to determine the steering wheel angle increment corresponding to each of the control time points according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period; A control module, configured to, in response to the current moment being at any one of the control time points, acquire the currently desired angle value of the steering wheel at the current moment, determine the angle control threshold corresponding to the current moment according to the steering wheel angle increment corresponding to the current moment, the currently desired angle value, and the initial desired angle value, and control the angle value of the steering wheel at the current moment within the angle control threshold until the angle value of the steering wheel at the current moment is equal to the currently obtained desired angle value; The determination module determines the steering wheel angle increment corresponding to each of the control time points according to the control time point, the angle difference between the initial angle value and the initial desired angle value, and the desired control period in the following manner: use the control time point as an interpolation in the desired control period, determine the corresponding relationship between the interpolation and the desired control period; calculate the angle difference between the initial angle value and the initial desired angle value according to the corresponding relationship between the interpolation and the desired control period to obtain the steering wheel angle increment corresponding to the control time point; Determine the steering wheel angle increment corresponding to the control time point through the following formula , where is the th control time point is the steering wheel angle increment at the th control time point is the expected control period is the angular difference between the initial angle value and the initial expected angle value , , are preset increment parameters 8. A vehicle, characterized in that it includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the vehicle to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that computer-readable instructions are stored thereon, which, when executed by a processor of a computer, cause the computer to execute the method according to any one of claims 1 to 6.

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