An assisted driving method, system, device and computer readable storage medium

Abstract

The application discloses an assisted driving method, system, device and computer readable storage medium, relates to the technical field of intelligent driving, and obtains a first wheel angle generated according to a steering wheel angle of a target vehicle; a second wheel angle generated according to a characteristic vehicle speed and a yaw rate of the target vehicle; when the target vehicle is in a stable state, low-pass filtering is performed on the second wheel angle to obtain a low-pass filtering value; when a stable duration of the target vehicle is greater than a set duration, the second wheel angle is iteratively optimized based on the low-pass filtering value to obtain a third wheel angle; and the target vehicle is controlled for assisted driving based on a target wheel angle generated according to the first wheel angle and the third wheel angle. The application performs low-pass filtering and / or iterative optimization on the second wheel angle to obtain the third wheel angle to generate the target wheel angle, and the accuracy of the assisted driving control of the target vehicle based on the target wheel angle can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically, to an assisted driving method, system, device, and computer-readable storage medium. Background Technology

[0002] Currently, during vehicle movement, intelligent assisted driving can be performed based on factors such as the vehicle's direction of travel, for example, controlling the vehicle based on its direction of travel in scenarios such as lane changing and centering.

[0003] Since the direction of the steering wheels is the determining factor for the vehicle's direction of travel, accurate wheel angles are necessary. For example, the steering wheel angle can be calculated as the wheel angle using EPS (Electric Power Steering). However, this method has a large margin of error and low tolerance, resulting in poor accuracy in assisting vehicle driving.

[0004] In conclusion, improving the accuracy of assisted driving for vehicles is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a driving assistance method that can, to a certain extent, solve the technical problem of how to improve the accuracy of vehicle driving assistance. This application also provides a driving assistance system, electronic equipment, and a computer-readable storage medium.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] An assisted driving method includes:

[0008] Obtain the first wheel angle generated based on the steering wheel angle of the target vehicle;

[0009] Obtain the second wheel angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle;

[0010] When the target vehicle is in a stable state, the second wheel rotation angle is low-pass filtered to obtain a low-pass filtered value.

[0011] When the stable duration of the target vehicle is greater than the set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle;

[0012] A target wheel angle is generated based on the first wheel angle and the third wheel angle, so as to perform assisted driving control on the target vehicle based on the target wheel angle.

[0013] Preferably, when the stable duration of the target vehicle is greater than a set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle, including:

[0014] Determine the maximum wheel speed deviation between the wheel speeds of the target vehicle;

[0015] When the maximum wheel speed deviation is less than the critical threshold, the steady state is timed to obtain the steady duration. If the steady duration is greater than the set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle.

[0016] Preferably, the step of iteratively optimizing the second wheel angle based on the low-pass filter value to obtain the third wheel angle includes:

[0017] Set the attenuation coefficient;

[0018] An iterative intermediate quantity is generated based on the attenuation coefficient and the low-pass filter value;

[0019] The second wheel rotation angle is iterated based on the intermediate iterative value to obtain the iterative value;

[0020] The iterative value is low-pass filtered to obtain the third wheel angle.

[0021] Preferably, generating the iterative intermediate quantity based on the attenuation coefficient and the low-pass filter value includes:

[0022] The iterative intermediate quantity is generated by generating a formula based on the attenuation coefficient and the low-pass filter value.

[0023] The generation formula includes:

[0024] y1 = 1, y2 = 1 - a, y3 = b;

[0025] Wherein, y1, y2, and y3 represent the intermediate quantities of the iteration; a represents the attenuation coefficient; and b represents the low-pass filter value.

[0026] The step of iterating the second wheel rotation angle based on the intermediate iterative value to obtain the iterative value includes:

[0027] The second wheel rotation angle is iterated using an iterative formula based on the intermediate iterative values ​​to obtain the iterative value;

[0028] The iterative formula includes:

[0029] y1=y1+y2; y2=y2*(1-a); y3=(c–y3)*(1 / y1)+y3; d=y3;

[0030] Where c represents the second wheel rotation angle; d represents the iteration value.

[0031] Preferably, generating the target wheel angle based on the first wheel angle and the third wheel angle includes:

[0032] The target wheel angle is obtained by weighted filtering of the first wheel angle and the third wheel angle.

[0033] Preferably, obtaining the first wheel angle generated based on the steering wheel angle of the target vehicle includes:

[0034] Acquire the real-time steering wheel angle signal of the target vehicle;

[0035] Obtain the historical steering wheel angle signal of the target vehicle within the target period, and generate the average value of the historical steering wheel angle signal;

[0036] The real-time steering wheel angle signal is subjected to mean filtering based on the average value to obtain a first filtered signal;

[0037] The real-time steering wheel angle signal is subjected to a first-order low-pass filter to obtain a second filtered signal.

[0038] The slope of the second filtered signal is limited by the slope limiting formula to obtain the slope-limited signal.

[0039] Based on the slope limiting signal and the target transmission ratio, the first wheel angle is obtained, and the target transmission ratio includes the transmission ratio between the steering wheel angle and the wheel angle of the target vehicle.

[0040] The slope limit calculation formula includes:

[0041] e = max(min(f, g+h), gh);

[0042] Where e represents the slope limiting signal; max represents taking the maximum value; min represents taking the minimum value; f represents the second filtered signal; g represents the slope limiting signal calculated in the last time; and h represents the increase value of the slope limiting signal in each cycle, and h is greater than 0.

[0043] Preferably, obtaining the second wheel rotation angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle includes:

[0044] Obtain the real-time speed, characteristic speed, and yaw rate of the target vehicle;

[0045] The second wheel angle is generated by calculating the real-time speed value, the characteristic vehicle speed, and the yaw rate using the second wheel angle calculation formula.

[0046] The second wheel angle calculation formula includes:

[0047] c = j*(k / L) / (1+k2 / n2);

[0048] Wherein, c represents the second wheel turning angle; j represents the yaw rate; k represents the real-time speed value; L represents the wheelbase of the target vehicle; and n represents the characteristic vehicle speed.

[0049] An assisted driving system, comprising:

[0050] The first acquisition module is used to acquire the first wheel angle generated based on the steering wheel angle of the target vehicle;

[0051] The second acquisition module is used to acquire the second wheel rotation angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle.

[0052] The first filtering module is used to perform low-pass filtering on the second wheel rotation angle when the target vehicle is in a stable state, and obtain a low-pass filtered value.

[0053] The first iterative optimization module is used to iteratively optimize the second wheel angle based on the low-pass filter value to obtain the third wheel angle when the stable duration of the target vehicle is greater than the set duration.

[0054] The first generation module is used to generate a target wheel angle based on the first wheel angle and the third wheel angle, so as to perform assisted driving control on the target vehicle based on the target wheel angle.

[0055] An electronic device, comprising:

[0056] Memory, used to store computer programs;

[0057] A processor for executing the computer program to implement the steps of any of the above-described driver assistance methods.

[0058] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above-described assisted driving methods.

[0059] This application provides an assisted driving method that obtains a first wheel angle generated based on the steering wheel angle of a target vehicle; obtains a second wheel angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle; when the target vehicle is in a stable state, performs low-pass filtering on the second wheel angle to obtain a low-pass filter value; when the stable duration of the target vehicle is longer than a set duration, iteratively optimizes the second wheel angle based on the low-pass filter value to obtain a third wheel angle; and generates a target wheel angle based on the first wheel angle and the third wheel angle to perform assisted driving control on the target vehicle based on the target wheel angle. In this application, when the target vehicle is in a stable state, the second wheel angle, generated based on the target vehicle's characteristic speed and yaw rate, is low-pass filtered to obtain a low-pass filtered value. When the target vehicle's stabilization period exceeds a set duration, the second wheel angle is iteratively optimized based on the low-pass filtered value to obtain a third wheel angle, ensuring the accuracy of the third wheel angle. Finally, the target wheel angle is generated based on the first and third wheel angles. Compared to a scheme that only uses the first wheel angle as the target vehicle's angle, this method improves the accuracy of the target wheel angle, thereby improving the accuracy of assisted driving control of the target vehicle based on the target wheel angle. The assisted driving system, electronic device, and computer-readable storage medium provided in this application also solve the corresponding technical problems. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0061] Figure 1 A first flowchart of an assisted driving method provided in an embodiment of this application;

[0062] Figure 2 A second flowchart of an assisted driving method provided in an embodiment of this application;

[0063] Figure 3 This is a schematic diagram of the structure of an assisted driving system provided in an embodiment of this application;

[0064] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0065] Figure 5 This is another structural schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] Please see Figure 1 , Figure 1 This is a first flowchart of an assisted driving method provided in an embodiment of this application.

[0068] An assisted driving method provided in this application embodiment may include the following steps:

[0069] Step S101: Obtain the first wheel angle generated based on the steering wheel angle of the target vehicle.

[0070] In practical applications, the first wheel angle can be obtained first, based on the steering wheel angle of the target vehicle.

[0071] In specific application scenarios, during the process of obtaining the first wheel angle generated based on the steering wheel angle of the target vehicle, the first wheel angle can be generated in real time, i.e., the real-time steering wheel angle signal of the target vehicle can be obtained; the historical steering wheel angle signal of the target vehicle within the target period can be obtained, and the average value of the historical steering wheel angle signal can be generated; the real-time steering wheel angle signal can be mean filtered based on the average value to obtain the first filtered signal; the real-time steering wheel angle signal can be subjected to first-order low-pass filtering to obtain the second filtered signal, and the cutoff frequency in this process can be 10Hz, etc.; the slope of the second filtered signal can be limited by the slope limiting calculation formula to obtain the slope limiting signal; the first wheel angle can be obtained based on the slope limiting signal and the target transmission ratio value, for example, by dividing the slope limiting signal by the target transmission ratio value, where the target transmission ratio value includes the transmission ratio value between the steering wheel angle and the wheel angle of the target vehicle; wherein, the slope limiting calculation formula includes:

[0072] e = max(min(f, g+h), gh);

[0073] Where e represents the slope limiting signal; max represents the maximum value; min represents the minimum value; f represents the second filtered signal; g represents the slope limiting signal calculated in the previous cycle; and h represents the increase value of the slope limiting signal in each cycle, with h being greater than 0. It should be noted that the slope limiting signal before the first round can be the steering wheel angle signal acquired in real time during the first round, etc.

[0074] Step S102: Obtain the second wheel angle generated based on the target vehicle's characteristic speed and yaw rate.

[0075] In practical applications, after obtaining the first wheel angle, the second wheel angle generated based on the target vehicle's characteristic speed and yaw rate can be obtained, so as to determine the target wheel angle of the target vehicle based on the second wheel angle and the first wheel angle.

[0076] In specific application scenarios, during the process of obtaining the second wheel angle generated based on the target vehicle's characteristic speed and yaw rate, the real-time speed, characteristic speed, and yaw rate of the target vehicle can be obtained. The second wheel angle is then calculated using the second wheel angle calculation formula, which includes:

[0077] c = j*(k / L) / (1+k) 2 / n 2 );

[0078] Where c represents the second wheel turning angle; j represents the yaw rate; k represents the real-time speed value; L represents the wheelbase of the target vehicle; and n represents the characteristic vehicle speed.

[0079] Step S103: When the target vehicle is in a stable state, perform low-pass filtering on the second wheel rotation angle to obtain the low-pass filter value.

[0080] Step S104: When the stable duration of the target vehicle is greater than the set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle.

[0081] Step S105: Generate a target wheel angle based on the first wheel angle and the third wheel angle, so as to perform assisted driving control on the target vehicle based on the target wheel angle.

[0082] In practical applications, after obtaining the second wheel angle, considering that the second wheel angle is more stable when the target vehicle is in a stable state, it can be used to determine a more stable target wheel angle. Therefore, it is first determined whether the target vehicle is in a stable state. If the target vehicle is in a stable state, the second wheel angle can be low-pass filtered to obtain a low-pass filtered value. Then, if the stability duration of the target vehicle is longer than a set duration, the second wheel angle is iteratively optimized based on the low-pass filtered value to obtain the third wheel angle. Finally, the target wheel angle is generated based on the first and third wheel angles to perform assisted driving control on the target vehicle.

[0083] It should be noted that when the target vehicle is determined to be in an unstable state, the first wheel angle can be directly used as the target wheel angle, etc. This application does not make specific limitations here.

[0084] In specific application scenarios, when determining whether a target vehicle is in a stable state, the real-time speed, longitudinal acceleration, and lateral acceleration values ​​of the target vehicle can be obtained; the curvature value of the target vehicle's trajectory can also be obtained; it can then be determined whether the real-time speed, longitudinal acceleration, lateral acceleration, and curvature values ​​all meet the corresponding stability conditions. If all three values ​​meet the stability conditions, the target vehicle is determined to be in a stable state; if at least one of these conditions is not met, the target vehicle is determined to be in an unstable state. For example, if the real-time speed is greater than 5 m / s, the longitudinal acceleration is less than 2 m / s, and the lateral acceleration is less than 2.5 m / s... 2 When the curvature value is greater than 100m, the target vehicle is determined to be in a stable state.

[0085] This application provides an assisted driving method that obtains a first wheel angle generated based on the steering wheel angle of a target vehicle; obtains a second wheel angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle; when the target vehicle is in a stable state, performs low-pass filtering on the second wheel angle to obtain a low-pass filter value; when the stable duration of the target vehicle is longer than a set duration, iteratively optimizes the second wheel angle based on the low-pass filter value to obtain a third wheel angle; and generates a target wheel angle based on the first wheel angle and the third wheel angle to perform assisted driving control on the target vehicle based on the target wheel angle. In this application, when the target vehicle is in a stable state, the second wheel angle generated based on the target vehicle's characteristic speed and yaw rate is low-pass filtered to obtain a low-pass filtered value. When the target vehicle's stabilization time is longer than a set time, the second wheel angle is iteratively optimized based on the low-pass filtered value to obtain a third wheel angle, ensuring the accuracy of the third wheel angle. Finally, the target wheel angle is generated based on the first wheel angle and the third wheel angle. Compared with the scheme that only uses the first wheel angle as the target vehicle angle, the accuracy of the target wheel angle can be improved, thereby improving the accuracy of assisted driving control of the target vehicle based on the target wheel angle.

[0086] Please see Figure 2 , Figure 2 This is a second flowchart of an assisted driving method provided in an embodiment of this application.

[0087] An assisted driving method provided in this application embodiment may include the following steps:

[0088] Step S201: Obtain the first wheel angle generated based on the steering wheel angle of the target vehicle.

[0089] Step S202: Obtain the second wheel angle generated based on the target vehicle's characteristic speed and yaw rate.

[0090] Step S203: Determine whether the target vehicle is in a stable state; if the target vehicle is in a stable state, proceed to step S204.

[0091] Step S204: Perform low-pass filtering on the second wheel rotation angle to obtain the low-pass filtered value.

[0092] Step S205: Determine the maximum wheel speed deviation between the wheel speeds of the target vehicle.

[0093] Step S206: When the maximum wheel speed deviation is less than the critical threshold, the steady state is timed to obtain the steady duration. If the steady duration is greater than the set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle.

[0094] In practical applications, when processing the second wheel angle according to the target processing method to obtain the third wheel angle, the second wheel angle can first be low-pass filtered to obtain a low-pass filter value; then, the maximum wheel speed deviation between the wheel speeds of the target vehicle can be determined; when the maximum wheel speed deviation is less than a critical threshold, the steady state is timed to obtain the steady-state duration; if the steady-state duration is greater than a set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle. During this process, the operation can be terminated when the maximum wheel speed deviation is greater than or equal to the critical threshold.

[0095] In specific application scenarios, in the process of iteratively optimizing the second wheel angle based on the low-pass filter value to obtain the third wheel angle, an attenuation coefficient can be set; an intermediate iteration value can be generated based on the attenuation coefficient and the low-pass filter value; the second wheel angle can be iterated based on the intermediate iteration value to obtain the iterative value; and the iterative value can be low-pass filtered to obtain the third wheel angle.

[0096] In specific application scenarios, during the process of generating iterative intermediate quantities based on the attenuation coefficient and the low-pass filter value, iterative intermediate quantities can be generated using a generation formula based on the attenuation coefficient and the low-pass filter value.

[0097] The formulas generated include:

[0098] y1 = 1, y2 = 1 - a, y3 = b;

[0099] Where y1, y2, and y3 represent intermediate values ​​during iteration; a represents the attenuation coefficient; and b represents the low-pass filter value.

[0100] Correspondingly, in the process of iterating the second wheel angle based on the intermediate iteration value to obtain the iterative value, the iterative formula can be used to iterate the second wheel angle based on the intermediate iteration value to obtain the iterative value.

[0101] The iterative formulas include:

[0102] y1=y1+y2; y2=y2*(1-a); y3=(c–y3)*(1 / y1)+y3; d=y3;

[0103] Where c represents the second wheel's turning angle; d represents the iteration value.

[0104] Step S207: Generate a target wheel angle based on the first wheel angle and the third wheel angle, so as to perform assisted driving control on the target vehicle based on the target wheel angle.

[0105] In practical applications, during the process of generating the target wheel angle based on the first and third wheel angles, a weighted filter can be applied to the first and third wheel angles to obtain the target wheel angle. Specifically, the sum of the first and third wheel angles can be calculated first, the ratio of the first wheel angle to this sum can be calculated, the difference between 1 and this ratio can be calculated, and the sum of the product of this ratio and the third wheel angle, and the product of this difference and the first wheel angle can be used as the target wheel angle.

[0106] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an assisted driving system provided in an embodiment of this application.

[0107] This application provides an embodiment of a driver assistance system, which may include:

[0108] The first acquisition module 101 is used to acquire the first wheel angle generated based on the steering wheel angle of the target vehicle;

[0109] The second acquisition module 102 is used to acquire the second wheel rotation angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle.

[0110] The first filtering module 103 is used to perform low-pass filtering on the second wheel rotation angle when the target vehicle is in a stable state, and obtain a low-pass filtered value.

[0111] The first iterative optimization module 104 is used to iteratively optimize the second wheel angle based on the low-pass filter value to obtain the third wheel angle when the stable duration of the target vehicle is greater than the set duration.

[0112] The first generation module 105 is used to generate a target wheel angle based on the first wheel angle and the third wheel angle, so as to perform assisted driving control on the target vehicle based on the target wheel angle.

[0113] This application provides an embodiment of a driver assistance system, wherein the first iterative optimization module may include:

[0114] The first determining unit is used to determine the maximum wheel speed deviation between the wheel speeds of the target vehicle;

[0115] The first optimization unit is used to time the steady state when the maximum wheel speed deviation value is less than the critical threshold to obtain the steady state duration. If the steady state duration is greater than the set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle.

[0116] The present application provides an assisted driving system in which the first optimization unit can be specifically used to: set an attenuation coefficient; generate an iterative intermediate value based on the attenuation coefficient and a low-pass filter value; iterate the second wheel angle based on the iterative intermediate value to obtain an iterative value; and perform low-pass filtering on the iterative value to obtain a third wheel angle.

[0117] This application provides an assisted driving system in which the first optimization unit can be specifically used to: generate an iterative intermediate quantity based on the attenuation coefficient and the low-pass filter value using a generation formula;

[0118] The formulas generated include:

[0119] y1 = 1, y2 = 1 - a, y3 = b;

[0120] Where y1, y2, and y3 represent intermediate values ​​during iteration; a represents the attenuation coefficient; and b represents the low-pass filter value.

[0121] The rotation angle of the second wheel is iterated using an iterative formula based on intermediate values ​​to obtain the iterative value;

[0122] The iterative formulas include:

[0123] y1=y1+y2; y2=y2*(1-a); y3=(c–y3)*(1 / y1)+y3; d=y3;

[0124] Where c represents the second wheel's turning angle; d represents the iteration value.

[0125] This application provides an embodiment of an assisted driving system, wherein the first generation module may include:

[0126] The first generation unit is used to perform weighted filtering on the first wheel angle and the third wheel angle to obtain the target wheel angle.

[0127] This application provides an embodiment of an assisted driving system, wherein the first acquisition module may include:

[0128] The first acquisition unit is used to acquire the real-time steering wheel angle signal of the target vehicle;

[0129] The second acquisition unit is used to acquire the historical steering wheel angle signal of the target vehicle within the target period and generate the average value of the historical steering wheel angle signal.

[0130] The first filtering unit is used to perform mean filtering on the real-time steering wheel angle signal based on the average value to obtain the first filtered signal.

[0131] The second filtering unit is used to perform first-order low-pass filtering on the real-time steering wheel angle signal to obtain the second filtered signal.

[0132] The first limiting unit is used to limit the slope of the second filtered signal using a slope limiting calculation formula to obtain a slope-limited signal.

[0133] The second generation unit is used to divide the slope limiting signal by the target transmission ratio value to obtain the first wheel angle. The target transmission ratio value includes the transmission ratio between the steering wheel angle and the wheel angle of the target vehicle.

[0134] The slope constraint calculation formula includes:

[0135] e = max(min(f, g+h), gh);

[0136] Where e represents the slope limiting signal; max represents taking the maximum value; min represents taking the minimum value; f represents the second filter signal; g represents the slope limiting signal obtained in the previous calculation; and h represents the increase value of the slope limiting signal in each cycle, and h is greater than 0.

[0137] This application provides an embodiment of a driver assistance system, wherein the second acquisition module may include:

[0138] The third acquisition unit is used to acquire the real-time speed value, characteristic speed and yaw rate of the target vehicle;

[0139] The first calculation unit is used to calculate the real-time speed value, characteristic vehicle speed and yaw rate using the second wheel angle calculation formula to generate the second wheel angle.

[0140] The formula for calculating the steering angle of the second wheel includes:

[0141] c = j*(k / L) / (1+k) 2 / n 2 );

[0142] Where c represents the second wheel turning angle; j represents the yaw rate; k represents the real-time speed value; L represents the wheelbase of the target vehicle; and n represents the characteristic vehicle speed.

[0143] This application also provides an electronic device and a computer-readable storage medium, both of which have the corresponding effects of the assisted driving method provided in the embodiments of this application. Please refer to... Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0144] An electronic device provided in this application includes a memory 201 and a processor 202. The memory 201 stores a computer program, and the processor 202 executes the computer program to implement the steps of the assisted driving method described in any of the above embodiments.

[0145] Please see Figure 5 Another electronic device provided in this application embodiment may further include: an input port 203 connected to the processor 202 for transmitting commands input from the outside to the processor 202; a display unit 204 connected to the processor 202 for displaying the processing results of the processor 202 to the outside; and a communication module 205 connected to the processor 202 for realizing communication between the electronic device and the outside. The display unit 204 may be a display panel, a laser scanner, or the like; the communication method adopted by the communication module 205 includes, but is not limited to, Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connectivity: Wireless Fidelity (WiFi), Bluetooth communication technology, Bluetooth Low Energy communication technology, and communication technology based on IEEE 802.11s.

[0146] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the assisted driving method described in any of the above embodiments.

[0147] The computer-readable storage media involved in this application include random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs (Compact Disc Read-Only Memory), or any other form of storage media known in the art.

[0148] For descriptions of relevant parts of the assisted driving system, electronic device, and computer-readable storage medium provided in the embodiments of this application, please refer to the detailed descriptions of the corresponding parts in the assisted driving method provided in the embodiments of this application, and they will not be repeated here. Furthermore, parts of the technical solutions provided in the embodiments of this application that are consistent with the implementation principles of corresponding technical solutions in the prior art have not been described in detail to avoid excessive elaboration.

[0149] It should also 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.

[0150] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A driving assistance method, characterized in that, include: Obtain the first wheel angle generated based on the steering wheel angle of the target vehicle; Obtain the second wheel angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle; When the target vehicle is in a stable state, the second wheel rotation angle is low-pass filtered to obtain a low-pass filtered value. When the stable duration of the target vehicle is greater than the set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle; A target wheel angle is generated based on the first wheel angle and the third wheel angle, so as to perform assisted driving control on the target vehicle based on the target wheel angle.

2. The method according to claim 1, characterized in that, When the stable duration of the target vehicle exceeds a set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle, including: Determine the maximum wheel speed deviation between the wheel speeds of the target vehicle; When the maximum wheel speed deviation is less than the critical threshold, the steady state is timed to obtain the steady duration. If the steady duration is greater than the set duration, the second wheel angle is iteratively optimized based on the low-pass filter value to obtain the third wheel angle.

3. The method according to claim 2, characterized in that, The iterative optimization of the second wheel angle based on the low-pass filter value to obtain the third wheel angle includes: Set the attenuation coefficient; An iterative intermediate quantity is generated based on the attenuation coefficient and the low-pass filter value; The second wheel rotation angle is iterated based on the intermediate iterative value to obtain the iterative value; The iterative value is low-pass filtered to obtain the third wheel angle.

4. The method according to claim 3, characterized in that, The step of generating iterative intermediate quantities based on the attenuation coefficient and the low-pass filter value includes: The iterative intermediate quantity is generated by generating a formula based on the attenuation coefficient and the low-pass filter value. The generation formula includes: y1 = 1, y2 = 1 - a, y3 = b; Wherein, y1, y2, and y3 represent the intermediate quantities of the iteration; a represents the attenuation coefficient; and b represents the low-pass filter value. The step of iterating the second wheel rotation angle based on the intermediate iterative value to obtain the iterative value includes: The second wheel rotation angle is iterated using an iterative formula based on the intermediate iterative values ​​to obtain the iterative value; The iterative formula includes: y1=y1+y2; y2=y2*(1-a); y3=(c–y3)*(1 / y1)+y3; d=y3; Where c represents the second wheel rotation angle; d represents the iteration value.

5. The method according to claim 1, characterized in that, The step of generating the target wheel angle based on the first wheel angle and the third wheel angle includes: The target wheel angle is obtained by weighted filtering of the first wheel angle and the third wheel angle.

6. The method according to claim 1, characterized in that, The process of obtaining the first wheel angle generated based on the steering wheel angle of the target vehicle includes: Acquire the real-time steering wheel angle signal of the target vehicle; Obtain the historical steering wheel angle signal of the target vehicle within the target period, and generate the average value of the historical steering wheel angle signal; The real-time steering wheel angle signal is subjected to mean filtering based on the average value to obtain a first filtered signal; The real-time steering wheel angle signal is subjected to a first-order low-pass filter to obtain a second filtered signal. The slope of the second filtered signal is limited by the slope limiting formula to obtain the slope-limited signal. Based on the slope limiting signal and the target transmission ratio, the first wheel angle is obtained, and the target transmission ratio includes the transmission ratio between the steering wheel angle and the wheel angle of the target vehicle. The slope limit calculation formula includes: e = max(min(f, g+h), gh); Where e represents the slope limiting signal; max represents taking the maximum value; min represents taking the minimum value; f represents the second filtered signal; g represents the slope limiting signal calculated in the last time; and h represents the increase value of the slope limiting signal in each cycle, and h is greater than 0.

7. The method according to claim 1, characterized in that, The step of obtaining the second wheel rotation angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle includes: Obtain the real-time speed, characteristic speed, and yaw rate of the target vehicle; The second wheel angle is generated by calculating the real-time speed value, the characteristic vehicle speed, and the yaw rate using the second wheel angle calculation formula. The second wheel angle calculation formula includes: c=j*(k / L) / (1+k 2 / n 2 ); Wherein, c represents the second wheel turning angle; j represents the yaw rate; k represents the real-time speed value; L represents the wheelbase of the target vehicle; and n represents the characteristic vehicle speed.

8. A driver assistance system, characterized in that, include: The first acquisition module is used to acquire the first wheel angle generated based on the steering wheel angle of the target vehicle; The second acquisition module is used to acquire the second wheel rotation angle generated based on the characteristic vehicle speed and yaw rate of the target vehicle. The first filtering module is used to perform low-pass filtering on the second wheel rotation angle when the target vehicle is in a stable state, and obtain a low-pass filtered value. The first iterative optimization module is used to iteratively optimize the second wheel angle based on the low-pass filter value to obtain the third wheel angle when the stable duration of the target vehicle is greater than the set duration. The first generation module is used to generate a target wheel angle based on the first wheel angle and the third wheel angle, so as to perform assisted driving control on the target vehicle based on the target wheel angle.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the assisted driving method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the assisted driving method as described in any one of claims 1 to 7.

Images