Vehicle cornering control method and device, electronic equipment, storage medium and vehicle

Abstract

The application provides a corner control method and device of a vehicle, an electronic device, a storage medium and the vehicle. The control method comprises the following steps: determining a target angle in a target corner instruction, and acquiring a current angle of the vehicle; controlling the vehicle to turn from the current angle to the target angle according to a preset corner rule; wherein the preset corner rule comprises the following steps: acquiring a recommended corner speed of the vehicle, and calculating an angle difference between the target angle and the current angle; based on the angle difference and the recommended corner speed, a corner period is calculated, the corner period comprises a plurality of continuous scheduling periods; based on the angle difference, the vehicle is controlled to turn to the target angle according to a preset corner speed corresponding to each scheduling period. The method controls the stability of the vehicle during the turning process, and ensures the safety and intelligence of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned vehicles, and particularly relates to a vehicle corner control method and device, electronic equipment, storage medium and vehicle. BACKGROUND

[0002] Unmanned technology is an important development direction of future vehicle industry, and is one of important starting points of artificial intelligence industry landing. An unmanned vehicle refers to a vehicle with autonomous behavior ability and completely omitted human driving mechanism, and has the characteristics of intelligence, line control, robotization and multifunction. The purpose of using the unmanned vehicle is to replace human to perform work tasks, including but not limited to attack, combat, patrol, reconnaissance, logistics, transportation, ferry, distribution, cleaning and other civilian or military tasks, and has very broad application prospects in civilian or military fields. The unmanned vehicle is an important part of future intelligent transportation and smart city construction, and has important strategic significance for national economic development and national defense security construction. With the popularization and application of unmanned vehicles, it is very important to improve the safety and intelligence of vehicles. SUMMARY

[0003] Therefore, the present application aims to provide a vehicle corner control method and device, electronic equipment, storage medium and vehicle.

[0004] To achieve the above purpose, the present application provides a vehicle corner control method, which comprises the following steps:

[0005] determining a target angle in a target corner instruction, and obtaining a current angle of the vehicle;

[0006] controlling the vehicle to turn from the current angle to the target angle according to a preset corner rule;

[0007] The preset corner rule comprises:

[0008] obtaining a recommended corner speed of the vehicle, and calculating an angle difference between the target angle and the current angle;

[0009] calculating a corner period based on the angle difference and the recommended corner speed, the corner period comprising a plurality of continuous scheduling periods;

[0010] controlling the vehicle to turn to the target angle according to a preset corner speed corresponding to each scheduling period based on the angle difference.

[0011] Further, the step of controlling the vehicle to turn to the target angle according to a preset corner speed corresponding to each scheduling period based on the angle difference comprises:

[0012] when the angle difference is less than or equal to a preset threshold, matching the same preset turning angle speed for each of the scheduling periods, and controlling the vehicle to turn to the target angle according to the same preset turning angle speed;

[0013] when the angle difference is greater than the preset threshold, matching preset turning angle speeds in a normal distribution for each of the scheduling periods in chronological order, and controlling the vehicle to turn to the target angle according to the preset turning angle speeds in the normal distribution.

[0014] Further, the controlling the vehicle to turn from the current angle to the target angle according to the preset turning angle rule comprises:

[0015] in response to the target angle being within a preset safe turning angle range of the vehicle, controlling the vehicle to turn from the current angle to the target angle according to the preset turning angle rule;

[0016] in response to the target angle being outside the preset safe turning angle range of the vehicle, confirming a boundary value with which the preset safe turning angle range and the target angle difference is the smallest, and controlling the vehicle to turn from the current angle to the boundary value according to the preset turning angle rule.

[0017] Further, before the determining the target angle in the target turning angle instruction and the acquiring the current angle of the vehicle, the method further comprises:

[0018] acquiring a driving mode of the vehicle, wherein the driving mode comprises a preparation mode, an emergency stop mode, a remote control mode and an automatic driving mode;

[0019] in response to the driving mode being the preparation mode or the emergency stop mode, controlling the vehicle to keep the current angle;

[0020] in response to the driving mode being the remote control mode or the automatic driving mode, acquiring the target turning angle instruction.

[0021] Further, the acquiring the target turning angle instruction in response to the driving mode being the remote control mode or the automatic driving mode comprises:

[0022] in response to the driving mode being the remote control mode, acquiring a target turning angle instruction corresponding to a remote control signal sent by a remote controller;

[0023] in response to the driving mode being the automatic driving mode, acquiring a target turning angle instruction corresponding to a control signal sent by an automatic driving domain controller.

[0024] Further, the preset turning angle speed is 80% to 120% of the recommended turning angle speed.

[0025] The application also provides a turning angle control device of a vehicle, comprising:

[0026] an acquisition module configured to determine a target angle in a target turning angle instruction and acquire a current angle of the vehicle;

[0027] a control module configured to control the vehicle to turn from the current angle to the target angle according to a preset turning angle rule;

[0028] The preset turning angle rule comprises:

[0029] acquiring a recommended turning angle speed of the vehicle and calculating an angle difference between the target angle and the current angle;

[0030] calculating a turning angle period based on the angle difference and the recommended turning angle speed, the turning angle period comprising a plurality of continuous scheduling periods;

[0031] controlling the vehicle to turn to the target angle according to a preset turning angle speed corresponding to each scheduling period based on the angle difference.

[0032] Based on the same inventive concept, the present application also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described above when executing the computer program.

[0033] Based on the same inventive concept, the present application also provides a computer readable storage medium storing computer instructions for causing a computer to execute the method described above.

[0034] Based on the same inventive concept, the present application also provides a vehicle comprising the vehicle turning angle control device, the electronic device, or the computer readable storage medium described above.

[0035] As can be seen from the above, the present application provides a vehicle turning angle control method, device, electronic device, storage medium, and vehicle. The control method sets a preset turning angle rule for a target turning angle instruction, i.e., divides a turning angle period into a plurality of continuous scheduling periods, sets a corresponding preset turning angle speed in each scheduling period, controls the vehicle to turn according to the preset turning angle speed corresponding to each scheduling period, and turns to the target angle. By controlling the preset turning angle speed in each scheduling period, and the preset turning angle speed being a speed that can ensure safe turning in the scheduling period, the stability of the entire turning process of the vehicle from the current angle to the target angle is controlled, the situation of vehicle rollover during the turning process in the remote control mode is avoided, and the safety and intelligence of the vehicle are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the application or the related art, the accompanying drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute the embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0037] Figure 1 A flowchart of a turning angle control method for a vehicle according to an embodiment of the application;

[0038] Figure 2 A flowchart of a turning angle control method for a vehicle according to an embodiment of the application;

[0039] Figure 3 A schematic diagram of a structure of a turning angle control device for a vehicle according to an embodiment of the application;

[0040] Figure 4 A schematic diagram of an electronic device hardware structure according to an embodiment of the application. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the application clearer, the application will be further described in detail below with reference to the embodiments and the accompanying drawings.

[0042] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the application should be understood as the common meanings understood by those skilled in the art. The terms "first", "second" and similar terms used in the embodiments of the application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like only represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships may also change accordingly.

[0043] As described in the background section, unmanned technology is an important development direction of the future vehicle industry and one of the important landing points of the artificial intelligence industry. An unmanned vehicle refers to a vehicle that has autonomous behavior and completely omits human driving mechanisms, and has the characteristics of intelligence, line control, robotization, and multifunction. The purpose of using an unmanned vehicle is to replace humans to perform work tasks, including but not limited to combat, combat, patrol, reconnaissance, logistics, transportation, ferry, delivery, cleaning, and other civilian or military tasks, and has a very broad application prospect in the civilian or military fields, is an important part of future intelligent transportation and smart city construction, and has important strategic significance for China's national economic development and national defense security construction. With the popularization and application of unmanned vehicles, it is crucial to improve the safety and intelligence of vehicles.

[0044] In the related art, the main problem of the turning angle of the vehicle in the unmanned state is that the vehicle directly turns from the current angle to the target angle after receiving the target turning angle instruction, and generally directly turns at the highest steering speed allowed by the vehicle. Due to the too fast steering speed, the vehicle is prone to instability, and even causes a rollover accident.

[0045] To solve the above technical problems, the present application adds a preset turning angle rule when controlling the turning angle of the vehicle, that is, the turning angle control needs to be performed according to the angle difference between the target angle and the current angle, so as to ensure the stable turning angle of the vehicle and further ensure the safety and intelligence of the vehicle.

[0046] Based on this, one or more embodiments of the present application provide a turning angle control method, device, electronic equipment, storage medium and vehicle of a vehicle, which can intelligently adjust the speed and frequency of the turning angle of the vehicle based on the turning angle value of the vehicle, and realize the safety and intelligence of the turning angle of the vehicle.

[0047] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0048] Reference Figure 1 The present application provides a turning angle control method of a vehicle, comprising:

[0049] Step S101, determining a target angle in a target turning angle instruction, and obtaining a current angle of the vehicle;

[0050] In this step, the target angle and the current angle of the vehicle can be the target angle and the current angle of the wheel, or the target angle and the current angle of the vehicle body, wherein the current angle information of the wheel can be provided by an angle sensor at the wheel, and the current angle information of the vehicle body can be provided by an angle sensor at the vehicle body.

[0051] In a specific implementation, taking a vehicle in a remote control mode as an example, a central control unit (VCU, Vehicle Control Unit) receives a target steering angle instruction issued by a remote controller, first acquires a current angle of the vehicle, and the target steering angle instruction carries information of a target angle, for example, the target angle is +15°, indicating that the vehicle wheel is steered to the right by 15°; for example, the target angle is -5°, indicating that the vehicle wheel is steered to the left by 5°.

[0052] In step S102, the vehicle is controlled to steer from the current angle to the target angle according to a preset steering angle rule.

[0053] The preset steering angle rule includes:

[0054] The recommended steering angle speed of the vehicle is acquired, and an angle difference between the target angle and the current angle is calculated.

[0055] Based on the angle difference and the recommended steering angle speed, a steering angle period is calculated, and the steering angle period includes a plurality of continuous scheduling periods.

[0056] Based on the angle difference, the vehicle is controlled to steer to the target angle according to a preset steering angle speed corresponding to each scheduling period.

[0057] The recommended steering angle speed is a historical average safety value of a steering motor control vehicle steering speed, the maximum steering angle speed in the related art is generally 1.5-2 times of the historical average safety value, and the maximum value of the preset steering angle speed in the present application is 1.2 times of the recommended steering angle speed, which does not cause the vehicle to overturn, and ensures the safety and stability of the vehicle during steering.

[0058] In this step, the absolute difference between the target angle and the current angle is calculated to obtain an angle difference therebetween, the angle difference is divided by the recommended steering angle speed to obtain a steering angle period corresponding to the angle difference; the steering angle period is divided into a plurality of continuous scheduling periods, the VCU controls the corresponding steering motor to rotate to the target angle according to a preset steering angle speed in each scheduling period, and the preset steering angle speed in each scheduling period is up and down within a suitable range of the recommended steering angle speed.

[0059] For example, if the recommended rotation angle speed of the steering motor is 30° / s, the current angle of the wheel is 10°, the target angle is 16°, and the angle difference is 6°, then the steering motor needs 0.2 s to complete a rotation of 6° at the recommended rotation angle speed of 30° / s; if the duration of one scheduling period is 10 ms, 10 ms = 0.01 s, then 0.2 s includes 20 scheduling periods, that is, the VCU controls the steering motor to rotate at the preset rotation angle speed in 20 scheduling periods, so as to reach the target angle of 16°. For further example, if the preset rotation angle speed of each scheduling period is 30° / s (which is the same as the recommended rotation angle speed), then the angle after one scheduling period is executed from the current angle is the next angle, and the next angle = current angle + preset rotation angle speed * one scheduling period, that is, the next angle after the first scheduling period is executed = 10° + 30° / s * 0.01 s = 10.3°, and in the second scheduling period, the current angle value of 10.3° obtained in the first scheduling period is input into the above formula, so as to obtain the angle of the wheel after the second scheduling period = 10.3° + 30° / s * 0.01 s = 10.6°. After repeating the above process for 20 scheduling periods, the angle of the wheel is the same as the target angle, that is, the angle of the wheel is turned to the target angle of 16°, and the wheel completes the rotation.

[0060] In this embodiment, the preset rotation angle rule for the target rotation angle instruction is set, that is, the duration of one rotation is divided into a plurality of continuous scheduling periods, a preset rotation angle speed is set in each scheduling period, and the steering is performed at the preset rotation angle speed until the target angle is reached. That is, by controlling the preset rotation angle speed in each scheduling period, and the preset rotation angle speed is a speed that can ensure the safety of steering in the scheduling period (fluctuating up and down within a suitable range of the recommended rotation angle speed), the stability of the entire steering process is controlled, the situation of the vehicle overturning during the rotation is avoided, and the safety and intelligence of the vehicle are ensured.

[0061] In some embodiments, with reference to Figure 2 , the control of the vehicle to steer to the target angle according to the preset rotation angle speed corresponding to each scheduling period based on the angle difference includes:

[0062] In step S201, when the angle difference is less than or equal to a preset threshold, the same preset rotation angle speed is matched for each scheduling period, and the vehicle is controlled to steer to the target angle at the same preset rotation angle speed.

[0063] In step S202, when the angle difference is greater than the preset threshold, the preset rotation angle speeds in a normal distribution are matched for each scheduling period in time sequence, and the vehicle is controlled to steer to the target angle at the preset rotation angle speeds in the normal distribution.

[0064] In this embodiment, the vehicle turning angle is divided into two cases, i.e., small-angle turning with an angle difference less than or equal to a preset threshold and large-angle turning with an angle difference greater than the preset threshold, and different turning angle strategies are implemented for the two cases. In the small-angle turning, the preset turning angle speed in each scheduling period is the same, and the recommended turning angle speed can be directly selected as the preset turning angle speed, which meets the user's demand for simple and fast small-angle turning of the vehicle, and the turning angle in each scheduling period is controlled to be the safe preset turning angle speed, so as to ensure the safety and stability of the entire turning process. In the large-angle turning, the user has a higher demand for safety, and therefore, in the time sequence, the preset turning angle speed in each scheduling period presents a normal distribution trend of first increasing and then decreasing, wherein the maximum preset turning angle speed and the minimum preset turning angle speed of the normal distribution are within the safe turning angle range, and the preset turning angle speed corresponding to adjacent scheduling periods changes smoothly with time, i.e., the change of the preset turning angle speed is relatively gentle, so as to ensure the safety of the vehicle turning.

[0065] For example, taking wheel turning as an example, the preset threshold is 10°, the current angle of the wheel is 10°, the target angle is 16°, the angle difference is 6°, and the recommended turning angle speed of the steering motor for controlling the wheel is 30° / s. The turning angle period corresponding to the angle difference of 6° is 0.2s. If a preset scheduling period is 10ms, 0.2s includes 20 scheduling periods. Since the angle difference of 6° is less than the preset threshold of 10°, the small-angle turning strategy is executed, and the VCU controls the steering motor to control the wheel to rotate at the same preset turning angle speed (such as 30° / s) in each scheduling period, until the target angle of 16° is reached. That is, the speed in each scheduling period is controlled to be stable, so as to realize the stability of the entire turning process of the wheel.

[0066] For example, taking wheel turning as an example, the preset threshold is 10°, the current angle of the wheel is -5°, the target angle is 25°, the angle difference is 30°, and the recommended turning angle speed of the steering motor for controlling the wheel is 30° / s. The turning angle period corresponding to the angle difference of 30° is 1s. If a preset period is 10ms, 1s includes 100 scheduling periods. That is, since the angle difference of 30° is greater than the preset threshold of 10°, the large-angle turning strategy is executed, the preset turning angle speed in the 100 scheduling periods presents a normal distribution in the time sequence, and the maximum preset turning angle speed and the minimum preset turning angle speed of the normal distribution in the 100 scheduling periods are within the safe turning angle range. That is, for the large-angle turning process, the VCU controls the steering motor to control the wheel to rotate at the preset turning angle speed which increases first and then decreases in the time sequence of the scheduling periods, until the target angle of 25° is reached.

[0067] In some embodiments, when the angle difference is greater than the preset threshold, the step S202 comprises:

[0068] When the angle difference is greater than the preset threshold, each of the scheduling periods is divided into different time periods in time sequence, and a preset steering angle speed in normal distribution is matched for each of the time periods, and the vehicle is controlled to steer to the target angle according to the preset steering angle speed in normal distribution, wherein the preset steering angle speed corresponding to each of the scheduling periods in each time period is the same.

[0069] In the present embodiment, the more scheduling periods involved in large-angle steering, the more scheduling periods are divided into different time periods, the preset steering angle speed corresponding to each of the scheduling periods in each time period is the same, and the preset steering angle speed in each time period is in a normal distribution trend of first increasing and then decreasing in time sequence. In the present embodiment, the multiple scheduling periods are divided into different time periods, and the preset steering angle speed is matched for each time period, without the need to match the steering angle speed for each scheduling period, thereby reducing the number of matching and further improving the matching efficiency. The maximum preset steering angle speed and the minimum preset steering angle speed in normal distribution are both within the safe steering angle range, and the corresponding preset steering angle speeds between adjacent time periods change smoothly over time, i.e., the preset steering angle speed changes relatively gently, so as to ensure the safety of the steering of the vehicle.

[0070] For example, taking wheel steering as an example, the preset threshold is 10°, the current angle of the wheel is -5°, the target angle is 25°, the angle difference is 30°, the recommended steering angle speed of the steering motor controlling the wheel is 30° / s, and the steering angle period corresponding to the angle difference of 30° is 1s. If the scheduling period is 10ms, the 100 scheduling periods in 1s are allocated to 10 time periods, i.e., each time period includes 10 scheduling periods, the speed of the 10 scheduling periods in each time period is the same, the preset steering angle speed in the 10 time periods is in normal distribution, and the maximum preset steering angle speed and the minimum preset steering angle speed in the 10 time periods are both within the safe steering angle range. The angle difference of 30° is greater than the preset threshold of 10°, so the large-angle steering strategy is executed, the VCU controls the steering motor to control the wheel to rotate according to the preset steering angle speed in normal distribution in the time sequence of the 10 time periods, to reach the target angle of 25°, and controls the steering motor to control the wheel to rotate according to the same preset steering angle speed in the time sequence of the 10 scheduling periods in each time period.

[0071] In some embodiments, the step S102: controlling the vehicle to turn from the current angle to the target angle according to the preset turning angle rule, comprises:

[0072] in response to the target angle being within the preset safe turning angle range of the vehicle, controlling the vehicle to turn from the current angle to the target angle according to the preset turning angle rule;

[0073] in response to the target angle being outside the preset safe turning angle range of the vehicle, confirming a boundary value with the minimum difference value between the preset safe turning angle range and the target angle, and controlling the vehicle to turn from the current angle to the boundary value according to the preset turning angle rule.

[0074] In specific implementation, the turning angle of the vehicle also has range limitation, and is not arbitrary rotation of 360°. For example, the preset safe turning angle range of a vehicle is -33° to 33°, i.e. 0° is the boundary, and the maximum angle value of left and right turning is 33°. In other words, the maximum turning angle of the vehicle can only be 66°. Correspondingly, if the target angle of the vehicle is within the preset safe turning angle range -33° to 33°, the VCU will control the vehicle to execute the preset turning angle rule. If the target angle of the vehicle is not within the preset safe turning angle range, the VCU will set the target angle to the boundary value with the minimum difference value in the preset safe turning angle range to execute the preset turning angle rule, and report a turning out-of-range fault. For example, if the target angle of the vehicle is -40°, which is outside the preset safe turning angle range -33° to 33°, the VCU will report a turning out-of-range fault, and set the target angle to -33° to execute the preset turning angle rule. For another example, if the target angle of the vehicle is 40°, which is outside the preset safe turning angle range -33° to 33°, the VCU will report a turning out-of-range fault, and set the target angle to 33° to execute the preset turning angle rule.

[0075] In some embodiments, before the step S101: determining the target angle in the target turning angle instruction and obtaining the current angle of the vehicle, comprises:

[0076] obtaining the driving mode of the vehicle, wherein the driving mode comprises a preparation mode, an emergency stop mode, a remote control mode and an automatic driving mode;

[0077] in response to the driving mode being the preparation mode or the emergency stop mode, controlling the vehicle to keep the current angle;

[0078] in response to the driving mode being the remote control mode or the automatic driving mode, obtaining the target turning angle instruction.

[0079] It should be noted that the unmanned vehicle mainly includes four driving modes, i.e., a preparation mode, an emergency stop mode, a remote control mode and an automatic driving mode, and each driving mode can be switched, for example, when a vehicle appears a three-level fault or an emergency brake switch is triggered, the VCU controls the vehicle to jump to the emergency stop mode; when the vehicle is woken up, the vehicle enters the preparation mode by default; when the vehicle is in any one of the driving modes, the mode of the vehicle can be switched to the automatic driving mode or the remote control mode or the preparation mode through the controller of the vehicle, when the driving mode of the vehicle is switched to the remote control mode, the vehicle receives the target steering angle instruction issued by the remote controller and performs a steering operation, and people control the controller of the vehicle through the remote controller to achieve the purpose of remotely controlling the vehicle. When the vehicle is switched to the automatic driving mode, the automatic driving domain controller (ACU, Automated-driving Control Unit) in the vehicle relies on artificial intelligence, radar, visual monitoring devices and a global positioning system to realize remote automatic and safe operation of the vehicle. The priority of the driving mode is emergency stop mode > remote control mode > automatic mode > preparation mode, that is, under the same conditions, the starting order of the corresponding driving mode is emergency stop mode > remote control mode > automatic mode > preparation mode.

[0080] In specific implementation, the driving mode of the vehicle is acquired first, and the current state of the vehicle is determined based on the driving mode. If the driving mode is one of the preparation mode or the emergency stop mode, the controller of the vehicle controls the wheels of the vehicle to keep the current angle and the speed of zero, so as to brake the vehicle and ensure the safety of the vehicle.

[0081] If the driving mode is one of the remote control mode or the automatic driving mode, once the VCU receives the target angle instruction in the mode, the steering motor controls the steering wheel and / or the wheels to steer. Further specifically, if the vehicle is in the automatic driving mode or the remote control mode, the target angle in the target steering angle instruction is determined, and the current angle of the vehicle is acquired. The vehicle is controlled to steer from the current angle to the target angle according to the preset steering angle rule mentioned in the foregoing embodiment.

[0082] In some embodiments, the target steering angle instruction is acquired in response to that the driving mode is the remote control mode or the automatic driving mode, including:

[0083] In response to that the driving mode is the remote control mode, a target steering angle instruction corresponding to a remote control signal issued by a remote controller is acquired.

[0084] In response to that the driving mode is the automatic driving mode, a target steering angle instruction corresponding to a control signal issued by an automatic driving domain controller is acquired.

[0085] In a specific implementation, the source of the target angle instruction obtained by the VCU in different modes is different. If the driving mode of the vehicle is the remote control mode, the VCU receives the remote control signal sent by the remote controller and obtains the target angle instruction corresponding to the remote control signal. If the driving mode of the vehicle is the automatic driving mode, the VCU receives the target angle instruction corresponding to the control signal sent by the automatic driving domain controller ACU, so as to achieve the purpose of controlling the vehicle.

[0086] For example, the target angle instruction corresponding to the remote control signal sent by the remote controller can be obtained by querying a pre-constructed corresponding table. An exemplary correspondence between the remote control signal of the remote controller and the target angle of the wheel is shown in Table 1. As can be seen from the table, when the VCU receives the remote control signal of the remote controller as 100, the target angle of the wheel is -30°, that is, the wheel is controlled to turn to the left by 30°.

[0087] Table 1 Correspondence between remote controller signal and wheel target angle

[0088] Serial number Remote control signal Wheel target angle (°) 1 100 -30 2 110 -22.5 3 120 -15 4 130 -7.5 5 145 0 6 150 0 7 155 0 8 170 7.5 9 180 15 10 190 22.5 11 200 30

[0089] In addition, the general steering motor is controlled by controlling the steering wheel to rotate and then controlling the wheel to rotate. The target angle of the wheel can be obtained by querying the target angle of the steering wheel by querying a pre-constructed comparison table. An exemplary wheel angle and steering wheel angle comparison table is shown in Table 2. As can be seen from Table 2, based on the current angle of the wheel being 0°, the current angle of the steering wheel is 0°, the target angle of the wheel is 30.3°, and the target angle of the steering wheel is 339.314°. That is, the VCU controls the steering motor to rotate the steering wheel by 339.314° according to the preset rotation angle rule, so that the wheel reaches the target angle of 30.3°. Specifically, when the wheel angle or the steering wheel angle is negative, it represents that the wheel or the steering wheel turns to the left. When the wheel angle or the steering wheel angle is positive, it represents that the wheel or the steering wheel turns to the right.

[0090] Table 2 Wheel angle and steering wheel angle comparison table

[0091]

[0092]

[0093] In some embodiments, the preset rotation angle speed is 80% to 120% of the recommended rotation angle speed.

[0094] Specifically, the maximum value of the preset rotation angle speed is 1.2 times of the recommended rotation angle speed, the minimum value of the preset rotation angle speed is 0.8 times of the recommended rotation angle speed, the preset rotation angle speed is in the range of 0.8-1.2 times of the recommended rotation angle speed, and the preset rotation angle speed is too small to affect the efficiency of the vehicle rotation angle and too fast to affect the stability of the vehicle rotation angle, so the preset rotation angle speed is controlled in the range of 0.8-1.2 times of the recommended rotation angle speed and is in the safe rotation angle range.

[0095] It should be noted that the method of the embodiments of the present application can be executed by a single device, such as a computer or a server. The method of the embodiments can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In this distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present application, and the multiple devices interact with each other to complete the method.

[0096] It should be noted that some embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the order described above and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0097] Based on the same inventive concept, the present application also provides a vehicle rotation angle control device corresponding to any of the above-mentioned embodiment methods.

[0098] Reference Figure 3 , the vehicle rotation angle control device comprises:

[0099] The acquisition module 101 is configured to determine a target angle in a target rotation angle instruction and acquire a current angle of the vehicle.

[0100] The control module 102 is configured to control the vehicle to rotate from the current angle to the target angle according to a preset rotation angle rule.

[0101] The preset rotation angle rule comprises:

[0102] The recommended rotation angle speed of the vehicle is acquired, and an angle difference between the target angle and the current angle is calculated.

[0103] Based on the angle difference and the recommended rotation angle speed, a rotation angle period is calculated, and the rotation angle period comprises a plurality of continuous scheduling periods.

[0104] Based on the angle difference, the vehicle is controlled to turn to the target angle at a preset angle speed corresponding to each dispatching period.

[0105] For the convenience of description, the above apparatus is described in various modules in terms of functions. Of course, in the implementation of the present application, the functions of each module can be implemented in one or more software and / or hardware.

[0106] The apparatus of the above embodiments is used to implement the corresponding vehicle angle control method of any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0107] Based on the same inventive concept, the present application also provides an electronic device corresponding to the method of any of the above embodiments, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle angle control method of any of the above embodiments.

[0108] Figure 4 A more specific hardware structure of an electronic device provided by the present embodiment is shown, which can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for communication within the device.

[0109] The processor 1010 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the present embodiment.

[0110] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided by the present embodiment are implemented by software or firmware, the related program codes are stored in the memory 1020 and executed by the processor 1010.

[0111] The input / output interface 1030 is configured to connect an input / output module to realize information input and output. The input / output module can be configured in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0112] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0113] The bus 1050 includes a channel to transmit information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0114] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only include components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0115] The electronic device of the above embodiment is used to implement the corner control method of the vehicle in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0116] Based on the same inventive concept, the present application also provides a computer readable storage medium, which stores computer instructions for causing the computer to execute the corner control method of the vehicle according to any of the above embodiments.

[0117] The computer readable medium of the embodiments can include permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0118] The storage medium of the above embodiments stores computer instructions for causing the computer to perform the corner control method of the vehicle as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0119] Based on the same inventive concept, the present application also provides a vehicle corresponding to the method of any of the above embodiments, which comprises the vehicle corner control device or electronic device or computer readable storage medium as described above, and the vehicle can implement the vehicle corner control method described above.

[0120] Those skilled in the art should understand that the above discussion of any of the embodiments is only exemplary and is not intended to imply that the scope of the present application (including claims) is limited to these examples; the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the embodiments of the present application as described above. In order to be brief, they are not provided in detail.

[0121] Additionally, to simplify the description and discussion, and so as not to obscure the embodiments of the application being presented, the well-known functions or constructions of integrated circuit (IC) chips and other components can or can not be shown in the figures and will be omitted as not to unnecessarily obscure the embodiments of the application being presented. Moreover, the devices can be shown in block diagram form in order to avoid obscuring the embodiments of the application, and this also acknowledges the fact that the details in regard to the implementation of the block diagram devices are highly dependent on the platform within which the embodiments of the application are to be implemented (i.e., these details should be well within the purview of one of ordinary skill in the art). Where specific details are set forth in order to describe an illustrative embodiment of the application, it will be apparent to one of ordinary skill in the art that the embodiments of the application can be practiced without, or with variation of, these specific details. Thus, the description is to be considered as illustrative only and not restrictive in nature.

[0122] While the application has been described in connection with specific embodiments thereof, it will be understood that many modifications, substitutions and changes will be apparent to those of ordinary skill in the art. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0123] It is intended to cover all alternatives, modifications and variations of this application falling within the scope of the appended claims. Accordingly, all such changes are intended to be included within the scope of the application as set forth in the claims.

Claims

1. A turning angle control method of a vehicle, characterized by, The method comprises the following steps: determining a target angle in a target steering angle instruction, and obtaining a current angle of the vehicle; controlling the vehicle to steer from the current angle to the target angle according to a preset steering angle rule; wherein the preset steering angle rule comprises: obtaining a recommended steering angle speed of the vehicle, and calculating an angle difference between the target angle and the current angle; based on the angle difference and the recommended steering angle speed, calculating a steering angle period, the steering angle period comprising a plurality of continuous scheduling periods, and the recommended steering angle speed being a historical average safety value of a steering motor controlling a steering speed of the vehicle; when the angle difference is less than or equal to a preset threshold, matching the same preset steering angle speed for each of the scheduling periods, and controlling the vehicle to steer to the target angle according to the same preset steering angle speed; when the angle difference is greater than the preset threshold, matching preset steering angle speeds in a normal distribution for each of the scheduling periods in time sequence, and controlling the vehicle to steer to the target angle according to the preset steering angle speeds in the normal distribution.

2. The turning control method of a vehicle according to claim 1, characterized by The controlling the vehicle to steer from the current angle to the target angle according to the preset steering angle rule comprises: in response to the target angle being within a preset safe steering angle range of the vehicle, controlling the vehicle to steer from the current angle to the target angle according to the preset steering angle rule; in response to the target angle being outside the preset safe steering angle range of the vehicle, confirming a boundary value with which the preset safe steering angle range and the target angle difference is the smallest, and controlling the vehicle to steer from the current angle to the boundary value according to the preset steering angle rule.

3. The turning control method of a vehicle according to claim 1, characterized by Before the determining the target angle in the target steering angle instruction and obtaining the current angle of the vehicle, the method comprises the following steps: obtaining a driving mode of the vehicle, wherein the driving mode comprises a preparation mode, an emergency stop mode, a remote control mode and an automatic driving mode; in response to the driving mode being the preparation mode or the emergency stop mode, controlling the vehicle to maintain the current angle; in response to the driving mode being the remote control mode or the automatic driving mode, obtaining the target steering angle instruction.

4. The turning control method of a vehicle according to claim 3, characterized by The obtaining the target steering angle instruction in response to the driving mode being the remote control mode or the automatic driving mode comprises: in response to the driving mode being the remote control mode, obtaining a target steering angle instruction corresponding to a remote control signal sent by a remote controller; in response to the driving mode being the automatic driving mode, obtaining a target steering angle instruction corresponding to a control signal sent by an automatic driving domain controller.

5. The turning control method of a vehicle according to claim 1, characterized by The preset steering angle speed is 80% to 120% of the recommended steering angle speed.

6. A turning angle control device of a vehicle characterized by comprising: The method comprises the following steps: an obtaining module, configured to determine a target angle in a target steering angle instruction, and obtain a current angle of the vehicle; a control module, configured to control the vehicle to steer from the current angle to the target angle according to a preset steering angle rule; wherein the preset steering angle rule comprises: obtaining a recommended steering angle speed of the vehicle, and calculating an angle difference between the target angle and the current angle; based on the angle difference and the recommended steering angle speed, calculating a steering angle period, the steering angle period comprising a plurality of continuous scheduling periods, and the recommended steering angle speed being a historical average safety value of a steering motor controlling a steering speed of the vehicle; When the angle difference is less than or equal to a preset threshold, the same preset corner speed is matched for each of the scheduling periods, and the vehicle is controlled to turn to the target angle at the same preset corner speed. When the angle difference is greater than the preset threshold, preset corner speeds in normal distribution are matched for each of the scheduling periods in time sequence, and the vehicle is controlled to turn to the target angle at the preset corner speeds in normal distribution.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method of any one of claims 1 to 5 when executing the program.

8. A computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to make the computer execute the method of any one of claims 1 to 5.

9. A vehicle characterized by comprising: The corner control device of the vehicle of claim 6 or the electronic device of claim 7 or the computer readable storage medium of claim 8.

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