A vehicle lateral control method, device, equipment and medium

Abstract

The application discloses a vehicle lateral control method, device, equipment and medium, and relates to the technical field of vehicle lateral control, and comprises the following steps: when the lane line and the front vehicle trajectory are both invalid, determining a target angle based on a target steering wheel angle value of a preset time length; the lane line being invalid comprises that the lane line does not exist or the lane line quality is lower than a preset threshold, and the front vehicle trajectory being invalid comprises that the lateral distance or the longitudinal distance between the front vehicle trajectory point and the trajectory center of the ego vehicle is not within a preset range; and a control torque is calculated according to the target angle and a current steering wheel angle value, and the lateral control of the vehicle is realized through the control torque. It can be seen that, when the lane line and the front vehicle trajectory are both invalid, the control torque is calculated based on the target angle and the current steering wheel angle value to realize the lateral control of the vehicle, the abnormal prompt of the lateral function caused by the failure to activate the lateral control function is avoided, and the problem that the vehicle deviates in the intersection and even collides with other vehicles is solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle lateral control technology, and in particular to a vehicle lateral control method, device, equipment and medium. Background Technology

[0002] LKS (Active Lane Keeping System) lateral assist functions are mostly based on high-quality lane lines and the trajectory of the vehicle in front. When there are no lane lines or the quality of the lane lines decreases and there is no trajectory of the vehicle in front, the driver is prompted to disengage the lateral assist function.

[0003] For example, when approaching a short intersection, the driver is prompted that the lateral movement control feature has disengaged. However, by the time this is announced, the vehicle has already passed the intersection, and the lateral movement control feature has already reactivated. In other words, there is a delay in the lateral movement control disengagement prompt when approaching short intersections, resulting in a poor driving experience. When approaching a curved intersection, the vehicle may enter the intersection in a straight line when the lane markings disappear, potentially causing it to veer off course or even collide with adjacent vehicles.

[0004] Therefore, when both lane markings and the trajectory of the preceding vehicle are invalid, how to avoid the problem of lateral control function failure prompts, deviation from intersections, or even collisions with other vehicles due to the inability to activate lateral control function requires further exploration by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a vehicle lateral control method, device, equipment, and medium that can avoid problems such as lateral function exit error messages, deviation from intersections, or even collisions with other vehicles due to the inability to activate the lateral control function when both lane lines and the trajectory of the preceding vehicle are invalid. The specific solution is as follows:

[0006] In a first aspect, this application discloses a vehicle lateral control method, comprising:

[0007] When both the lane lines and the trajectory of the preceding vehicle are invalid, the target angle is determined based on the target steering wheel angle value over a preset time. Invalid lane lines include the absence of lane lines or lane line quality being lower than a preset threshold. Invalid trajectory of the preceding vehicle includes the lateral or longitudinal distance between the trajectory point of the preceding vehicle and the center of the trajectory of the current vehicle being outside the preset range.

[0008] The control torque is calculated based on the target angle and the current steering wheel angle, and the lateral control of the vehicle is achieved through the control torque.

[0009] Optionally, determining the target angle based on the target steering wheel angle value over a preset time period includes:

[0010] If the steering wheel angle rate at any given moment is within a preset rate range, the applied hand torque is within a preset torque range, and the steering wheel angle direction is consistent with the lane curvature direction, then the steering wheel angle value at that given moment is determined to be the target steering wheel angle value.

[0011] Record the target steering wheel angle value for a preset time period, and determine the average value of the target steering wheel angle value within the preset time period as the target angle.

[0012] Optionally, the step of calculating the control torque based on the target angle and the current steering wheel angle, and using the control torque to achieve lateral control of the vehicle, includes:

[0013] If the target angle and the current steering wheel angle are equal, the control torque is calculated based on the target angle and the first parameter; wherein the first parameter is directly proportional to the vehicle speed.

[0014] The control torque is used to maintain the current steering wheel angle value at the target angle to achieve lateral control of the vehicle.

[0015] Optionally, the step of calculating the control torque based on the target angle and the current steering wheel angle, and using the control torque to achieve lateral control of the vehicle, includes:

[0016] If the target angle and the current steering wheel angle are not equal, then calculate the difference between the target angle and the current steering wheel angle.

[0017] The first control torque is calculated based on the difference and the second parameter, and the second control torque is calculated based on the target angle and the first parameter; wherein the second parameter is directly proportional to the vehicle speed.

[0018] The current steering wheel angle value is adjusted to the target angle using the first control torque;

[0019] The adjusted current steering wheel angle value is maintained at the target angle by the second control torque to achieve lateral control of the vehicle.

[0020] Optionally, the vehicle lateral control method further includes:

[0021] Determine if a hand torque is currently applied;

[0022] If a hand torque is currently applied and it exceeds a preset torque threshold, then lateral control of the vehicle is discontinued.

[0023] If no applied hand torque is currently applied, a prompt to take over steering wheel will be triggered when the lateral control duration of the vehicle reaches the first duration; a prompt to take over vehicle will be triggered when the lateral control duration of the vehicle reaches the second duration.

[0024] Optionally, the vehicle lateral control method further includes:

[0025] When lane lines exist and the quality of the lane lines is not lower than a preset threshold, the lateral distances between the lane lines on both sides and the center of the vehicle's trajectory are determined respectively.

[0026] The control torque is calculated based on the difference in lateral distance between the lane lines on both sides and the center of the vehicle's trajectory, and the lateral control of the vehicle is achieved through the control torque.

[0027] Optionally, the vehicle lateral control method further includes:

[0028] When the lateral and longitudinal distances between the current vehicle trajectory point and the center of the voluntary vehicle trajectory are both within a preset range, several current vehicle trajectory points are recorded within a preset time period according to a preset sampling cycle.

[0029] Determine several lateral distances between the several preceding vehicle trajectory points and the center of the voluntary vehicle trajectory;

[0030] The control torque is calculated based on the average of the several lateral distances over the preset time period, and the lateral control of the vehicle is achieved through the control torque.

[0031] Secondly, this application discloses a vehicle lateral control device, comprising:

[0032] The target angle determination module is used to determine the target angle based on the target steering wheel angle value over a preset time when both the lane line and the trajectory of the preceding vehicle are invalid. Invalid lane line includes the absence of lane line or the quality of lane line is lower than a preset threshold. Invalid trajectory of the preceding vehicle includes the lateral or longitudinal distance between the trajectory point of the preceding vehicle and the center of the trajectory of the own vehicle being outside the preset range.

[0033] The lateral control module is used to calculate the control torque based on the target angle and the current steering wheel angle, and to achieve lateral control of the vehicle through the control torque.

[0034] Thirdly, this application discloses an electronic device, including:

[0035] Memory, used to store computer programs;

[0036] A processor is used to execute the computer program to implement the aforementioned vehicle lateral control method.

[0037] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned vehicle lateral control method.

[0038] As can be seen, this application proposes a vehicle lateral control method, including: when both the lane line and the trajectory of the preceding vehicle are invalid, determining a target angle based on a target steering wheel angle value over a preset time; wherein, invalid lane line includes the absence of a lane line or a lane line quality lower than a preset threshold, and invalid preceding vehicle trajectory includes the lateral or longitudinal distance between the trajectory point of the preceding vehicle and the center of the vehicle's trajectory not being within a preset range; calculating a control torque based on the target angle and the current steering wheel angle value, and using the control torque to achieve lateral control of the vehicle. In summary, this application, when both the lane line and the trajectory of the preceding vehicle are invalid, does not exit the lateral control function and prompt the driver that the lateral function is exiting, but instead determines a target angle based on a target steering wheel angle value over a preset time, then calculates a control torque based on the target angle and the current steering wheel angle value, and uses the control torque to achieve lateral control of the vehicle. In this way, this application avoids the problem of abnormal prompts due to the inability to activate the lateral control function, thus avoiding a poor driving experience for the driver. Furthermore, since this application can perform lateral control of the vehicle based on the control torque calculated based on the target angle and the current steering wheel angle value, this application will not enter the intersection in a straight line when the lane line disappears, thus solving the problem of the vehicle veering out of the intersection or even colliding with other vehicles. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0040] Figure 1 This is a flowchart of a vehicle lateral control method disclosed in this application;

[0041] Figure 2 This is a flowchart of a specific vehicle lateral control method disclosed in this application;

[0042] Figure 3 This is a flowchart of a specific vehicle lateral control method disclosed in this application;

[0043] Figure 4 This is a flowchart of a specific vehicle lateral control method disclosed in this application;

[0044] Figure 5This is a schematic diagram of a vehicle lateral control device disclosed in this application;

[0045] Figure 6 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] When both lane markings and the trajectory of the vehicle ahead are invalid, the lateral control function will disengage, and the driver will be notified that the lateral control function has disengaged. For example, when approaching a short intersection, the driver will be notified that the lateral control function has disengaged; however, by the time the notification is given, the vehicle has already passed the intersection, and the lateral control function has been reactivated. In other words, there is a delay in the lateral control function disengagement notification when approaching short intersections, resulting in a poor driving experience. When approaching a curved intersection, the vehicle may enter the intersection in a straight line when the lane markings disappear, potentially causing it to veer off course or even collide with adjacent vehicles.

[0048] Therefore, this application proposes a vehicle lateral control scheme that can avoid problems such as abnormal lateral function exit prompts, deviation from intersections, or even collisions with other vehicles when both lane lines and the trajectory of the vehicle in front are invalid.

[0049] This application discloses a vehicle lateral control method. See also... Figure 1 As shown, the method includes:

[0050] Step S11: When both the lane line and the trajectory of the preceding vehicle are invalid, the target angle is determined based on the target steering wheel angle value for a preset duration; wherein, invalid lane line includes the absence of lane line or the quality of lane line is lower than a preset threshold, and invalid trajectory of the preceding vehicle includes the lateral or longitudinal distance between the trajectory point of the preceding vehicle and the center of the trajectory of the own vehicle being outside the preset range.

[0051] In this embodiment, for the target steering wheel angle value, if the steering wheel angle rate at any given moment is within a preset rate range, the applied hand torque is within a preset torque range, and the steering wheel angle direction is consistent with the lane curvature direction, then the steering wheel angle value at any given moment is determined to be the target steering wheel angle value.

[0052] On the one hand, when driving over bumpy roads, the steering wheel will shake violently, causing a significant change in the steering wheel angle rate. In this case, the steering wheel angle value is inaccurate. Therefore, it is necessary to filter the steering wheel angle value in such scenarios by judging whether the steering wheel angle rate is within a preset range. On the other hand, if the driver actively intervenes and the hand torque is too large, it indicates that the driver's control is too strong. Therefore, the steering wheel angle value in this case is inaccurate and needs to be filtered. If the hand torque is not large, but it still changes the steering wheel angle, and the direction of the steering wheel angle is inconsistent with the direction of the lane curvature, it means that the direction of the steering wheel angle is opposite to the actual road direction. In this case, the steering wheel angle value is also inaccurate and needs to be filtered out.

[0053] In summary, for any given moment, if the steering wheel angle rate is within the preset rate range, the applied hand torque is within the preset torque range, and the steering wheel angle direction is consistent with the lane curvature direction, then the steering wheel angle value at that moment is determined to be the target steering wheel angle value.

[0054] Furthermore, the target steering wheel angle value is recorded for a preset time period, and the average value of the target steering wheel angle value within the preset time period is determined as the target angle. For example, the average steering wheel angle over 3 seconds is recorded as the target angle.

[0055] Step S12: Calculate the control torque based on the target angle and the current steering wheel angle, and use the control torque to achieve lateral control of the vehicle.

[0056] It should be noted that the target angle is the angle required for lateral control of the vehicle, and the current steering wheel angle value is the current actual steering wheel angle.

[0057] In this embodiment, the calculation of control torque based on the target angle and the current steering wheel angle specifically includes the following two aspects:

[0058] Firstly, if the target angle and the current steering wheel angle are equal, the control torque is calculated based on the target angle and a first parameter; wherein the first parameter is directly proportional to the vehicle speed; the control torque is used to maintain the current steering wheel angle at the target angle, thereby achieving lateral control of the vehicle. In a specific embodiment, the control torque can be calculated based on the product of the target angle and the first parameter. For example, if the target angle A is 10° and the current steering wheel angle A1 is also 10°, then the requested torque only needs to maintain the current angle. Therefore, according to T1 = A × m, the steering wheel angle holding torque, i.e., the control torque, is calculated, where m is the first parameter, which is directly proportional to the speed. This is because the higher the speed, the greater the torque required to maintain the current angle. Therefore, this embodiment sets an m that is directly proportional to the vehicle speed to adjust the control torque according to the vehicle speed.

[0059] Secondly, if the target angle and the current steering wheel angle are not equal, the difference between the target angle and the current steering wheel angle is calculated; a first control torque is calculated based on the difference and a second parameter, and a second control torque is calculated based on the target angle and the first parameter; wherein the second parameter is directly proportional to the vehicle speed; the current steering wheel angle is adjusted to the target angle using the first control torque; and the adjusted current steering wheel angle is maintained at the target angle using the second control torque to achieve lateral control of the vehicle. In a specific embodiment, the first control torque is calculated based on the product of the difference and the second parameter, and the second control torque is calculated based on the product of the target angle and the first parameter. Example 1: If the target angle is greater than the current steering wheel angle, the target angle A is 10°, and the current steering wheel angle A1 is 3°, then a 7° steering angle is required. Correspondingly, a first control torque is needed to control the angle to turn 7°, and a second control torque is needed to maintain the angle at 10° after turning 10°. Therefore, the first control torque is calculated according to T2 = (A - A1) * n, where n is the second parameter, which is proportional to the speed. The second control torque is calculated according to T1 = A * m. Example 2: If the target angle is less than the current steering wheel angle, and the target angle is 10°, while the current steering wheel angle A1 is 13°, then a 3° steering angle is required. In this case, the calculated T2 is negative, meaning that a force in the opposite direction is used to adjust the current steering wheel angle to the target angle, and the second control torque is used to maintain the adjusted current steering wheel angle at the target angle, thereby achieving lateral control of the vehicle.

[0060] Furthermore, since the vehicle lateral control function is an auxiliary function and the driver still retains control, in this embodiment, after entering vehicle lateral control based on the target angle, it is determined whether a hand torque is currently applied. If a hand torque is currently applied and it is greater than a preset torque threshold, it indicates that the driver's intention to take control is relatively strong, and the lateral control of the vehicle is exited. If no hand torque is currently applied, a prompt to take over the steering wheel is triggered when the duration of lateral control of the vehicle reaches the first duration; a prompt to take over the vehicle is triggered when the duration of lateral control of the vehicle reaches the second duration. For example, a prompt to take over the steering wheel is set after 3 seconds; if the driver has not taken control of the steering wheel after 10 seconds, the function exits, and the driver is prompted to take control of the vehicle.

[0061] As can be seen, this application proposes a vehicle lateral control method, including: when both the lane line and the trajectory of the preceding vehicle are invalid, determining a target angle based on a target steering wheel angle value over a preset time; wherein, invalid lane line includes the absence of a lane line or a lane line quality lower than a preset threshold, and invalid preceding vehicle trajectory includes the lateral or longitudinal distance between the trajectory point of the preceding vehicle and the center of the vehicle's trajectory not being within a preset range; calculating a control torque based on the target angle and the current steering wheel angle value, and using the control torque to achieve lateral control of the vehicle. In summary, this application, when both the lane line and the trajectory of the preceding vehicle are invalid, does not exit the lateral control function and prompt the driver that the lateral function is exiting, but instead determines a target angle based on a target steering wheel angle value over a preset time, then calculates a control torque based on the target angle and the current steering wheel angle value, and uses the control torque to achieve lateral control of the vehicle. In this way, this application avoids the problem of abnormal prompts due to the inability to activate the lateral control function, thus avoiding a poor driving experience for the driver. Furthermore, since this application can perform lateral control of the vehicle based on the control torque calculated based on the target angle and the current steering wheel angle value, this application will not enter the intersection in a straight line when the lane line disappears, thus solving the problem of the vehicle veering out of the intersection or even colliding with other vehicles.

[0062] See Figure 2 As shown, the vehicle lateral control method described in this application also includes the following:

[0063] Step S21: When lane lines exist and the quality of lane lines is not lower than a preset threshold, determine the lateral distance between the lane lines on both sides and the center of the vehicle's trajectory.

[0064] Step S22: Calculate the control torque based on the difference between the lateral distances between the lane lines on both sides and the center of the vehicle trajectory, and use the control torque to achieve lateral control of the vehicle.

[0065] In this embodiment, when lane lines exist and their quality is not lower than a preset threshold, it indicates that the lane lines are valid, and lateral control of the vehicle can be achieved based on the lane-following control mode. Specifically, the lateral distances between the lane lines on both sides and the center of the vehicle's trajectory are determined, and the control torque is calculated based on the difference between the lateral distances between the lane lines on both sides and the center of the vehicle's trajectory. Then, lateral control of the vehicle is achieved through the control torque.

[0066] For example, if the lateral distance between the left lane line and the center of the vehicle's trajectory is D1, and the lateral distance between the right lane line and the center of the vehicle's trajectory is D2, then the difference in lateral distances between the two lane lines and the center of the vehicle's trajectory is Ddiff = (D1 + D2) / 2. Assuming the right side is the positive direction, in one specific implementation, the lateral distance D2 between the right lane line and the center of the vehicle's trajectory is 1.8m, and the lateral distance D1 between the left lane line and the center of the vehicle's trajectory is -1.6m. Therefore, the difference in lateral distances between the two lane lines and the center of the vehicle's trajectory, Ddiff, is 0.1m, specifically 0.1m on the right side. Further, the formula for calculating the control torque is: T = Ddiff / p, where p is a parameter inversely proportional to speed. The larger Ddiff is, the greater the requested torque; when Ddiff is 0, the torque is also 0.

[0067] See Figure 3 As shown, the vehicle lateral control method described in this application also includes the following:

[0068] Step S31: When the lateral distance and longitudinal distance between the current vehicle trajectory point and the center of the voluntary vehicle trajectory are both within the preset range, then within the preset time, several previous vehicle trajectory points are recorded according to the preset sampling period.

[0069] Step S32: Determine several lateral distances between the several preceding vehicle trajectory points and the center of the voluntary vehicle trajectory.

[0070] Step S33: Calculate the control torque based on the average of the several lateral distances over the preset time period, and use the control torque to achieve lateral control of the vehicle.

[0071] In this embodiment, when both the lateral and longitudinal distances between the current vehicle's trajectory point and the center of the vehicle's trajectory are within a preset range, it indicates that the current vehicle's trajectory is valid, and lateral control of the vehicle can be achieved based on the following control mode. Specifically, within a preset time period, several current vehicle trajectory points are recorded according to a preset sampling period, and several lateral distances between these several current vehicle trajectory points and the center of the vehicle's trajectory are determined. Then, the control torque is calculated based on the average of these several lateral distances within the preset time period, and lateral control of the vehicle is achieved through the control torque. For example, the several lateral distances of the several current vehicle trajectory points can be represented as: X1, X2, X3...Xn, where the preset time is n, and the sampling period can be 20ms. Then, the average of the several lateral distances of the several current vehicle trajectory points within the preset time period is Ddiff = (X1 + X2 + X3 + ... + Xn) / n, and the control torque T = Ddiff / p, where p is a parameter that is inversely proportional to the speed.

[0072] In a specific implementation scenario, those skilled in the art, through experimental data and experience, obtained the correspondence between the first parameter m, the second parameter n, and p and the vehicle speed, as shown in Table 1:

[0073] Table 1

[0074] Speed 10 20 30 40 50 60 70 80 90 100 110 120 m 0.1 0.15 0.2 0.25 0.3 035 0.4 0.45 0.5 0.6 07. 0.8 n 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.7 0.8 0.9 p 1 0.95 0.9 0.85 0.8 0.75 0.7 0.6 0.5 0.4 0.3 0.2

[0075] As shown in the table above, when the vehicle speed is 10, m is 0.1, n is 0.2, and p is 1.

[0076] Therefore, when the vehicle speed is 10, if the lane lines and the trajectory of the vehicle in front are both invalid, and the target angle and the current steering wheel angle are equal, for example, both are 10°, then the control torque is T1 = A × m = 1.

[0077] If the lane lines and the trajectory of the vehicle in front are both invalid, and the target angle and the current steering wheel angle are not equal, for example, the target angle is 10° and the current steering wheel angle A1 is 3°, then the first control torque is T2 = (A-A1)*n = 1.4, and the second control torque is T1 = A*m = 1.

[0078] If lane markings exist and the quality of the lane markings is not lower than the preset threshold, and Ddiff is 0.1m, then the control torque T = Ddiff / p = 0.1.

[0079] If the trajectory of the preceding vehicle is valid and Ddiff is 0.1m, then the control torque T = Ddiff / p = 0.1.

[0080] To better illustrate the vehicle lateral control method described in this application, a specific embodiment is provided below. (See attached example.) Figure 4 As shown, it includes:

[0081] The vehicle lateral control method described in this application is implemented through four modules:

[0082] 1. Control Mode Switching Module: This module is responsible for switching control modes, including: a. Lane Following Control Mode: Switches to Lane Following Control Mode when lane lines exist and are of good quality; b. Vehicle Following Control Mode: Switches to Vehicle Following Control Mode when lane lines do not exist or exist but are of poor quality, and there is a valid preceding vehicle trajectory. A valid preceding vehicle trajectory refers to the lateral and longitudinal distances of the preceding vehicle trajectory points being within the valid range. If the lateral or longitudinal distances of the preceding vehicle trajectory points are too far, the preceding vehicle trajectory is considered invalid; c. Target Angle Control Mode (i.e., Wireless Control Mode): Switches to Wireless Control Mode when lane lines do not exist or exist but are of poor quality, and there is no preceding vehicle or the preceding vehicle trajectory is invalid.

[0083] 2. Target Angle Recording Module: This module is responsible for providing the target angle required for wireless control mode. The target angle is derived from the average value of the target steering wheel angle over a certain period of time.

[0084] 3. Torque Control Module: This module is responsible for outputting the lateral control torque value. In different control modes, the control torque will be calculated in different ways. In lane following mode, the control torque will be calculated based on the difference in lateral distance between the center of the vehicle's trajectory and the center of the lane line. In vehicle following mode, the control torque will be calculated based on the difference in lateral distance between the center of the vehicle's trajectory and the trajectory line formed by connecting the center of the vehicle's trajectory and the trajectory point of the preceding vehicle. In wireless control mode, the control torque will be calculated based on the difference between the current steering wheel angle and the target angle.

[0085] 4. Information prompting module: This module is responsible for prompting the driver with relevant information for safe driving during wireless control.

[0086] The specific working steps of the above module are as follows:

[0087] The control mode switching module includes the following steps: (1) Determine whether the lane lines on both sides exist and are clear. If they exist, determine to enter the following control mode; (2) If the lane lines do not exist or exist but are not clear, determine whether there is a valid range of the preceding vehicle trajectory. If they exist, enter the following control mode; (3) If the lane lines do not exist or exist but are not clear, and there is no valid preceding vehicle trajectory, enter the wireless control mode.

[0088] The target angle recording module includes the following steps: (1) Real-time recording of steering wheel angle and lane curvature, and determining whether the steering wheel angle rate and driver's hand torque are within the effective range and whether the steering wheel angle direction is consistent with the lane curvature direction; (2) If the conditions in (1) are met, the steering wheel angle value at this moment is recorded as the target steering wheel angle value, and if not, it is not recorded; (3) The average steering wheel angle value over 3 seconds is recorded as the target angle A.

[0089] The torque control module includes the following steps: (1) If the control mode is lane following control, calculate the deviation between the vehicle and the lane centerline Ddiff = (D1 + D2) / 2; (2) If the control mode is vehicle following control, calculate the average lateral distance of the preceding vehicle's trajectory point over a certain period of time Ddiff = (X1 + X2 + X3 + ... + Xn) / n; (3) Use Ddiff to calculate the control torque T = Ddiff / p; (4) If the control mode is target angle control, calculate the torque according to the following scenarios: If the current steering wheel angle is equal to the target angle, calculate the holding torque T1 = A * m, where m and vehicle speed are directly proportional. If the current steering wheel angle is not equal to the target angle, calculate the torque required to turn towards the target angle as T2 = (A - A1) * n, where n and speed are directly proportional, and the holding torque after turning is T1.

[0090] The information prompt module includes the following steps: (1) Determine whether the driver has hand torque. If so, determine whether the hand torque is too large. If it is too large, it indicates that the driver is subjectively controlling the vehicle, and the function will exit. (2) If there is no hand torque from the driver, trigger the prompt to take over the steering wheel after 3 seconds of angle control. If the angle control time reaches 10 seconds, trigger the prompt to take over the vehicle, and the function will exit.

[0091] In summary, when navigating short intersections, this application achieves lateral control using torque calculated based on the target angle, without prompting the driver to deactivate the lateral control function. Therefore, this application avoids the problem of abnormal lateral control function deactivation warnings due to the inability to activate the lateral control function, thus preventing a poor driving experience for the driver. Similarly, when navigating curved intersections, this application also achieves lateral control using torque calculated based on the target angle, preventing straight-line entry into the intersection when lane lines disappear. Therefore, this application avoids the risk of veering out of the intersection or colliding with adjacent vehicles.

[0092] Accordingly, this application also discloses a vehicle lateral control device, see [link to relevant documentation]. Figure 5 As shown, the device includes:

[0093] The target angle determination module 11 is used to determine the target angle based on the target steering wheel angle value over a preset time when both the lane line and the trajectory of the preceding vehicle are invalid. Invalid lane line includes the absence of lane line or the quality of lane line is lower than a preset threshold. Invalid trajectory of the preceding vehicle includes the lateral or longitudinal distance between the trajectory point of the preceding vehicle and the center of the trajectory of the own vehicle being outside the preset range.

[0094] The lateral control module 12 is used to calculate the control torque based on the target angle and the current steering wheel angle value, and to achieve lateral control of the vehicle through the control torque.

[0095] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0096] As can be seen, this application proposes a vehicle lateral control device, including: a target angle determination module, used to determine a target angle based on a target steering wheel angle value over a preset time when both the lane line and the trajectory of the preceding vehicle are invalid; wherein, invalid lane line includes the absence of a lane line or the quality of the lane line being lower than a preset threshold, and invalid trajectory of the preceding vehicle includes the lateral or longitudinal distance between the trajectory point of the preceding vehicle and the center of the trajectory of the current vehicle being outside a preset range; and a lateral control module, used to calculate a control torque based on the target angle and the current steering wheel angle value, and to achieve lateral control of the vehicle through the control torque. In summary, this application, when both the lane line and the trajectory of the preceding vehicle are invalid, does not exit the lateral control function and prompt the driver that the lateral function has exited, but instead determines the target angle based on a target steering wheel angle value over a preset time, then calculates the control torque based on the target angle and the current steering wheel angle value, and achieves lateral control of the vehicle through the control torque. In this way, this application avoids the problem of abnormal prompts due to the inability to activate the lateral control function, thus avoiding a poor driving experience for the driver. Furthermore, since this application can perform lateral control of the vehicle based on the control torque calculated based on the target angle and the current steering wheel angle value, this application will not enter the intersection in a straight line when the lane line disappears, thus solving the problem of the vehicle veering out of the intersection or even colliding with other vehicles.

[0097] Furthermore, embodiments of this application also provide an electronic device. Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0098] Figure 6This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the vehicle lateral control method disclosed in any of the foregoing embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0099] In this embodiment, the power supply 26 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 24 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0100] Furthermore, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk, or optical disk, etc. The resources stored thereon may include computer programs 221, and the storage method may be temporary storage or permanent storage. In addition to including computer programs capable of performing the vehicle lateral control method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 221 may further include computer programs capable of performing other specific tasks.

[0101] Furthermore, embodiments of this application also disclose a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned disclosed vehicle lateral control method.

[0102] For the specific steps of this method, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0103] The various embodiments in this application are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. For the same or similar parts between the various embodiments, refer to each other. As for the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and relevant parts can be referred to in the method section.

[0104] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0105] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0106] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0107] The foregoing has provided a detailed description of a vehicle lateral control method, apparatus, device, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle lateral control method characterized by, The method comprises the following steps: When the lane line and the front vehicle trajectory are both invalid, a target angle is determined based on a target steering wheel angle value of a preset time length; wherein the invalid lane line comprises that the lane line does not exist or the quality of the lane line is lower than a preset threshold, and the invalid front vehicle trajectory comprises that the lateral distance or longitudinal distance between the front vehicle trajectory point and the trajectory center of the ego vehicle is not within a preset range; A control torque is calculated according to the target angle and a current steering wheel angle value, and the lateral control of the vehicle is realized through the control torque; The target angle is determined based on the target steering wheel angle value of the preset time length, which comprises the following steps: If the steering wheel angle rate at any time is within a preset rate range, the applied hand torque is within a preset torque range, and the steering wheel angle direction is consistent with the lane bending direction, then the steering wheel angle value at the any time is determined as the target steering wheel angle value; The target steering wheel angle values of the preset time length are recorded, and the average value of the target steering wheel angle values within the preset time length is determined as the target angle.

2. The vehicle lateral control method according to claim 1, characterized by, The control torque is calculated according to the target angle and the current steering wheel angle value, and the lateral control of the vehicle is realized through the control torque, which comprises the following steps: If the target angle and the current steering wheel angle value are equal, the control torque is calculated according to the target angle and a first parameter; wherein the first parameter is in a positive proportional relationship with the vehicle speed; The current steering wheel angle value is kept at the target angle through the control torque, so as to realize the lateral control of the vehicle.

3. The vehicle lateral control method according to claim 2, characterized by, The control torque is calculated according to the target angle and the current steering wheel angle value, and the lateral control of the vehicle is realized through the control torque, which comprises the following steps: If the target angle and the current steering wheel angle value are not equal, the difference value between the target angle and the current steering wheel angle value is calculated; A first control torque is calculated according to the difference value and a second parameter, and a second control torque is calculated according to the target angle and the first parameter; wherein the second parameter is in a positive proportional relationship with the vehicle speed; The current steering wheel angle value is adjusted to the target angle through the first control torque; The adjusted current steering wheel angle value is kept at the target angle through the second control torque, so as to realize the lateral control of the vehicle.

4. The vehicle lateral control method according to any one of claims 1 to 3, characterized by, Further comprising: It is judged whether there is an applied hand torque at present; If there is an applied hand torque at present, and the applied hand torque is greater than a preset torque threshold, the lateral control of the vehicle is exited; If there is no applied hand torque at present, a prompt for taking over the steering wheel is triggered when the time length of the lateral control of the vehicle reaches a first time length, and a prompt for taking over the vehicle is triggered when the time length of the lateral control of the vehicle reaches a second time length.

5. The vehicle lateral control method according to any one of claims 1 to 3, characterized by, Further comprising: When the lane line exists and the quality of the lane line is not lower than a preset threshold, the lateral distances between the lane lines on both sides and the trajectory center of the ego vehicle are respectively determined; The control torque is calculated based on the difference value between the lateral distances between the lane lines on both sides and the trajectory center of the ego vehicle, and the lateral control of the vehicle is realized through the control torque.

6. The vehicle lateral control method according to any one of claims 1 to 3, characterized by, Further comprising: When the lateral distance and the longitudinal distance between the current vehicle trajectory point and the center of the ego vehicle trajectory are both within the preset range, a plurality of front vehicle trajectory points are recorded according to a preset sampling period within a preset time; A plurality of lateral distances between the plurality of front vehicle trajectory points and the center of the ego vehicle trajectory are determined respectively; The control torque is calculated based on the average of the plurality of lateral distances within the preset time, and the lateral control of the vehicle is realized through the control torque.

7. A vehicle lateral control device characterized by comprising: Comprise: The target angle determination module is configured to determine a target angle based on a target steering wheel angle value of a preset time length when the lane line and the front vehicle trajectory are both invalid, wherein the invalid lane line includes that the lane line does not exist or the quality of the lane line is lower than a preset threshold, and the invalid front vehicle trajectory includes that the lateral distance or the longitudinal distance between the front vehicle trajectory point and the center of the ego vehicle trajectory is not within the preset range; The lateral control module is configured to calculate a control torque according to the target angle and a current steering wheel angle value, and realize the lateral control of the vehicle through the control torque; The target angle is determined based on the target steering wheel angle value of the preset time length, comprising: If the steering wheel angle rate at any time is within a preset rate range, the applied hand torque is within a preset torque range, and the steering wheel angle direction is consistent with the lane bending direction, then the steering wheel angle value at the any time is determined as the target steering wheel angle value; The target steering wheel angle value of the preset time length is recorded, and the average of the target steering wheel angle value within the preset time length is determined as the target angle.

8. An electronic device, comprising: Comprise: The memory is configured to save a computer program; The processor is configured to execute the computer program to realize the vehicle lateral control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The memory is configured to save a computer program; wherein the computer program is executed by the processor to realize the vehicle lateral control method according to any one of claims 1 to 6.

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