Vehicle and vehicle control method, system, storage medium

Abstract

The application provides a vehicle and a vehicle control method, system and storage medium. The vehicle control method comprises the following steps: acquiring a front wheel steering initial instruction and a rear wheel steering initial instruction of the vehicle; when the front wheel steering initial instruction meets a first preset condition and the rear wheel steering initial instruction meets a second preset condition, determining whether the front wheel steering initial instruction and the rear wheel steering initial instruction meet a third preset condition, so as to determine a front wheel steering execution instruction and a rear wheel steering execution instruction of the vehicle; and decoupling control is performed on the wheels of the vehicle according to the front wheel steering execution instruction and the rear wheel steering execution instruction, so that the vehicle rotates to a target steering angle, thereby improving the controllability and safety of the vehicle and providing more stable and accurate steering response.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of vehicle control, and in particular to a vehicle and a vehicle control method, system and storage medium. BACKGROUND

[0002] In a vehicle control system, the rear wheel steering system is an intelligent technical solution that controls the rear wheel steering system through an internal controller. The system can automatically adjust the rear wheel steering angle according to the vehicle driving state and driving conditions to improve the tire-ground contact performance and vehicle handling performance. The controller of the rear wheel steering system uses an internal algorithm to monitor and respond to the driver's instructions or perceived environmental changes, and then accurately calculates and controls the rear wheel steering angle. The system can achieve flexible vehicle turning radius and stable high-speed driving state. However, the current control logic largely depends on the control of the coupling state of the front wheel steering system and the rear wheel steering system. This means that the front wheel and rear wheel steering systems need to exchange information and cooperate to achieve the best steering effect. The control logic scheme in the decoupling state is still limited and needs further research and development. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the first object of the present application is to provide a vehicle control method capable of decoupling control of the wheels of a vehicle to improve vehicle handling and safety and to provide more stable and accurate steering response.

[0004] The second object of the present application is to provide a computer-readable storage medium.

[0005] The third object of the present application is to provide a vehicle control system.

[0006] The fourth object of the present application is to provide a vehicle.

[0007] To achieve the above objects, the first aspect of the present application provides a vehicle control method, comprising: obtaining a front wheel steering initial instruction and a rear wheel steering initial instruction of a vehicle; when the front wheel steering initial instruction meets a first preset condition and the rear wheel steering initial instruction meets a second preset condition, determining whether the front wheel steering initial instruction and the rear wheel steering initial instruction meet a third preset condition to determine a front wheel steering execution instruction and a rear wheel steering execution instruction of the vehicle; and controlling the vehicle to turn a target steering angle according to the front wheel steering execution instruction and the rear wheel steering execution instruction.

[0008] The vehicle control method according to the embodiments of the present application firstly acquires the steering initial instructions of the front and rear wheels, and determines the steering execution instructions of the front and rear wheels of the vehicle when the steering initial instructions of the front and rear wheels meet corresponding preset conditions, and performs decoupling control on the wheels of the vehicle according to the execution instructions, so as to realize the rotation of the vehicle at the target steering angle, and the vehicle can rotate at the predetermined target steering angle, which can improve the controllability and safety of the vehicle and provide more stable and accurate steering response.

[0009] In some embodiments of the present application, the method further comprises: acquiring an actual steering angle of the vehicle; and updating the front wheel steering execution instruction and the rear wheel steering execution instruction of the vehicle according to the actual steering angle until the actual steering angle is the same as the target steering angle.

[0010] In some embodiments of the present application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is determined according to the state information and the road information of the vehicle.

[0011] In some embodiments of the present application, in the cruising road condition, the state information comprises at least one of position information, heading angle information, driving speed and lateral acceleration of the vehicle, and the road information comprises at least one of current lane curvature and current lane width.

[0012] In some embodiments of the present application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is output by inputting the state information and the road information into a first target model.

[0013] In some embodiments of the present application, the first target model comprises a first target constraint condition, and the first target constraint condition comprises: limiting the lateral acceleration to be less than a preset lateral acceleration value determined based on the driving speed, limiting the lateral relative distance between the vehicle and the current road to be less than a first preset lateral relative distance determined based on the current lane curvature, and limiting the driving speed to be adapted to a first preset maximum driving speed determined based on the current lane curvature.

[0014] In some embodiments of the present application, in the steering road condition, the state information comprises at least one of position information, heading angle information, driving speed and lateral acceleration of the vehicle, and the road information comprises at least one of current lane curvature, target lane curvature, current lane width and target lane width.

[0015] In some embodiments of the present application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is output by inputting the state information and the road information into a second target model.

[0016] In some embodiments of the application, the second target model comprises a second target constraint condition, and the second target constraint condition comprises: limiting a current lane lateral relative distance between the vehicle and the current lane to be less than a second preset lateral relative distance determined based on a current lane curvature and a target lane curvature, and limiting a target lane lateral relative distance between the vehicle and the target lane to be less than a third preset lateral relative distance determined based on the target lane curvature.

[0017] In some embodiments of the application, in the U-turn road condition, the state information comprises at least one of position information, a target trajectory, a heading angle information, a driving speed and a lateral acceleration of the vehicle, and the road information comprises at least one of a current lane state, a target lane state and an intersection passing state.

[0018] In some embodiments of the application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle are output by inputting the state information and the road information into a third target model.

[0019] In some embodiments of the application, the third target model comprises a third target constraint condition, and the third target constraint condition comprises: limiting the lateral acceleration to be less than a preset acceleration determined based on the driving speed, limiting a relative distance between the vehicle and the target trajectory to be less than a preset distance determined based on a lane curvature of the target trajectory, limiting a distance between a current position of the vehicle and a passable area determined based on the intersection passing state to be within a preset distance range, and limiting the driving speed to be adapted to a second preset maximum driving speed determined based on the lane curvature.

[0020] In some embodiments of the application, the first preset condition comprises at least one of: a front wheel steering angle being less than a steering angle limit value; a front wheel steering torque being less than a steering torque limit value; a front wheel steering angular velocity being less than a steering angular velocity limit value; and the second preset condition comprises at least one of: a rear wheel steering angle being less than the steering angle limit value; a rear wheel steering torque being less than the steering torque limit value; a rear wheel steering angular velocity being less than the steering angular velocity limit value.

[0021] In some embodiments of the application, the steering angle limit value, the steering torque limit value or the steering angular velocity limit value is related to the vehicle speed, the front wheel steering angle, the front wheel steering torque or the front wheel steering angular velocity is related to the front wheel steering initial instruction, and the rear wheel steering angle, the rear wheel steering torque or the rear wheel steering angular velocity is related to the rear wheel steering initial instruction.

[0022] In some embodiments of the present application, the third preset condition comprises at least one of the following: the steering directions of the initial front wheel steering instruction and the initial rear wheel steering instruction are not contradictory; the execution sequences of the initial front wheel steering instruction and the initial rear wheel steering instruction are not contradictory; and the expected execution results of the initial front wheel steering instruction and the initial rear wheel steering instruction are not faulty.

[0023] To achieve the above object, the second aspect of the present application provides a computer readable storage medium, characterized in that a vehicle control program is stored on the computer readable storage medium, and the vehicle control program, when executed by a processor, implements the vehicle control method of any one of the above embodiments.

[0024] The computer readable storage medium in the embodiments of the present application implements the vehicle turning target steering angle by the vehicle control method in the above embodiments, so that the vehicle can turn according to the predetermined target steering angle, thereby improving the vehicle controllability and safety, and providing more stable and accurate steering response.

[0025] To achieve the above object, the third aspect of the present application provides a vehicle control system, characterized in that the vehicle control system comprises a memory and a processor, and the processor, when executing a vehicle control program stored on the memory, implements the vehicle control method of any one of the above embodiments.

[0026] The vehicle control system in the embodiments of the present application implements the vehicle turning target steering angle by the processor executing the vehicle control method stored on the memory, so that the vehicle can turn according to the predetermined target steering angle, thereby improving the vehicle controllability and safety, and providing more stable and accurate steering response.

[0027] To achieve the above object, the fourth aspect of the present application provides a vehicle, characterized in that the vehicle comprises the vehicle control system of the above embodiments.

[0028] The vehicle in the embodiments of the present application implements the vehicle turning target steering angle by the vehicle control system in the above embodiments, so that the vehicle can turn according to the predetermined target steering angle, thereby improving the vehicle controllability and safety, and providing more stable and accurate steering response.

[0029] Additional aspects and advantages of the present application will be made apparent by the following description and the specific description of embodiments thereof. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a flowchart of a vehicle control method according to an embodiment of the present application;

[0031] Figure 2 is a flowchart of a vehicle control method according to a specific embodiment of the present application;

[0032] Figure 3 is a connection diagram of a control device applying a vehicle control method according to an embodiment of the present application;

[0033] Figure 4 is a flowchart of a vehicle control method according to another embodiment of the present application;

[0034] Figure 5 is a schematic diagram of a vehicle in a cruising road according to a specific embodiment of the present application;

[0035] Figure 6 is a schematic diagram of a vehicle in a turning road according to a specific embodiment of the present application;

[0036] Figure 7 is a schematic diagram of a vehicle in a U-turn road according to a specific embodiment of the present application;

[0037] Figure 8 is a flowchart of a vehicle control method according to another embodiment of the present application;

[0038] Figure 9 is a structural block diagram of a vehicle control system according to an embodiment of the present application;

[0039] Figure 10 is a structural schematic diagram of a vehicle control device according to an embodiment of the present application;

[0040] Figure 11 is a structural block diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which like reference numerals indicate like elements or elements having the same or similar function throughout the several views. The embodiments described below are examples intended to explain the present application, and should not be understood as limiting the present application.

[0042] Figure 1 is a flowchart of a vehicle control method according to an embodiment of the present application.

[0043] As shown in Figure 1 , the present application proposes a vehicle control method, which comprises the following steps:

[0044] S11, obtaining a front wheel steering initial instruction and a rear wheel steering initial instruction of a vehicle.

[0045] Specifically, the front wheel steering initial instruction and the rear wheel steering initial instruction of the vehicle in the embodiment can be directly obtained through sensors, and of course, can also be determined through relevant information of the vehicle. In some embodiments, the relevant information can be state information of the vehicle and road information of the road where the vehicle is located, that is, the front wheel steering initial instruction and the rear wheel steering initial instruction of the vehicle are determined according to the state information of the vehicle and the road information of the road where the vehicle is located.

[0046] More specifically, the state information of the vehicle and the road information of the road where the vehicle is located are obtained in order to obtain accurate and comprehensive data to understand the current state of the vehicle and the characteristics of the road. The state information of the vehicle includes driving speed, acceleration, steering wheel angle, braking state, etc., which can reflect the dynamic behavior of the vehicle. The road information includes the geometric properties of the road (such as the degree of curvature, the slope), the identification signs (such as speed limit signs, traffic lights), etc., which can affect the steering control strategy of the vehicle. It can be understood that the state information of the vehicle and the road information of the road where the vehicle is located in the embodiment can be obtained according to actual application requirements, and are not limited to the above examples. After obtaining the state information of the vehicle and the road information of the road where the vehicle is located, an algorithm model can be used to calculate the front wheel steering initial instruction and the rear wheel steering initial instruction of the vehicle. The algorithm model can be determined according to the road information, and then after the algorithm model is determined, the state information and the road information are input into the algorithm model, and the corresponding front wheel steering initial instruction and rear wheel steering initial instruction are output. By considering the state of the vehicle and the characteristics of the road and generating the front and rear wheel steering initial instructions, these initial instructions can be provided to the steering system after subsequent processing for controlling the steering behavior of the vehicle. The algorithm model in the embodiment can generate steering instructions according to real-time road information to adapt to different driving scenarios and road conditions.

[0047] S12, when the front wheel steering initial instruction meets the first preset condition and the rear wheel steering initial instruction meets the second preset condition, determining whether the front wheel steering initial instruction and the rear wheel steering initial instruction meet a third preset condition to determine the front wheel steering execution instruction and the rear wheel steering execution instruction of the vehicle.

[0048] Specifically, after the front wheel steering initial instruction and the rear wheel steering initial instruction are calculated, in order to ensure that the vehicle can safely perform the steering operation, it is further needed to determine whether the front wheel steering initial instruction and the rear wheel steering initial instruction meet preset conditions, wherein the front wheel steering initial instruction is compared with a first preset condition, the rear wheel steering initial instruction is compared with a second preset condition, and then it is determined whether the front wheel steering initial instruction and the rear wheel steering initial instruction meet a third preset condition. That is, the front wheel steering initial instruction and the rear wheel steering initial instruction are subjected to limit value processing, so as to prevent the vehicle from appearing rollover and other phenomena during the steering operation, causing harm to the driver and passengers and damage to the vehicle. More specifically, this step can limit the value of the instruction from the steering angle, steering speed, acceleration and the like, so as to prevent exceeding the limit conditions of the vehicle and the road.

[0049] When the steering initial instructions of the front and rear wheels are calculated and limited, the front wheel steering initial instruction and the rear wheel steering initial instruction are in a decoupled state, and in the decoupled state, the front wheel steering initial instruction and the rear wheel steering initial instruction do not conflict with each other. For example, according to the front wheel steering initial instruction, the front wheel needs to be controlled to steer left or right by 90°, and at this time, the rear wheel steering initial instruction controls the rear wheel to continue driving straight ahead. Obviously, in the case of decoupling of the front and rear wheels, the front and rear wheels can be controlled separately, but after the front and rear wheels are coupled, such control is dangerous and is not allowed. As can be known from the above example, in the embodiment, whether the front wheel steering initial instruction and the rear wheel steering initial instruction meet the third preset condition is determined, and the front wheel steering initial instruction and the rear wheel steering initial instruction are cooperatively arbitrated, so as to verify the expected result of dynamics and kinematics after the steering angle of the corresponding front and rear wheels is executed, to determine whether there is a contradiction between the front and rear wheel steering initial instructions, and to prevent dangerous scenarios such as rollover. That is, the front wheel steering initial instruction and the rear wheel steering initial instruction after limit value processing need to be cooperatively arbitrated to ensure the coordination between the front and rear wheels, so as to determine the final front wheel steering execution instruction and the rear wheel steering execution instruction.

[0050] S13, steering control is performed on the vehicle according to the front wheel steering execution instruction and the rear wheel steering execution instruction, so that the vehicle turns the target steering angle.

[0051] Specifically, after the steering initial instructions of the front and rear wheels are limited and cooperatively arbitrated, the steering execution instructions of the front and rear wheels can be obtained, and the vehicle can be controlled through the steering execution instructions, so that the vehicle can turn the target steering angle, so as to more accurately control the lateral movement of the vehicle during driving, and also to provide technical support for efficiency, safety and comfort of intelligent driving.

[0052] In another embodiment of the application, asFigure 2 As shown in the figure, the vehicle control method further comprises the following steps:

[0053] S201, acquiring an actual steering angle of the vehicle.

[0054] S202, updating the front wheel steering execution instruction and the rear wheel steering execution instruction according to the actual steering angle until the actual steering angle is the same as the target steering angle.

[0055] Specifically, the steering execution instructions of the front and rear wheels are obtained after the calculation, limit processing and collaborative arbitration in the above embodiment, and the front wheel is controlled to steer according to the front wheel steering execution instruction and the rear wheel is controlled to steer according to the rear wheel steering execution instruction, the purpose is to control the front and rear wheels to steer to make the vehicle turn the target steering angle. In the above embodiment, the embodiment adds a judgment whether the vehicle actually turns the target steering angle, specifically, after the vehicle is controlled to steer according to the front and rear wheel steering execution instructions, the actual steering angle of the vehicle is acquired, the difference between the actual steering angle and the target steering angle can be judged, and then the steering execution instructions of the front and rear wheels are updated according to the difference. Of course, the steering execution instructions of the front and rear wheels can also be updated directly according to the actual steering angle, and then the updated steering execution instructions are limited, collaboratively arbitrated to obtain another steering execution instruction, and the vehicle is controlled to steer according to the another steering execution instruction, until the actual steering angle of the vehicle acquired is the same as the target steering angle, then the current steering control can be ended.

[0056] In an embodiment of the present application, as shown in the figure, the method comprises: Figure 8

[0057] S801, acquiring a driving speed of the vehicle.

[0058] S802, determining a steering angle limit value, a steering torque limit value and a steering angular velocity limit value according to the driving speed of the vehicle.

[0059] S803, determining a front wheel steering angle, a front wheel steering torque and a front wheel steering angular velocity according to the front wheel steering initial instruction, and determining a rear wheel steering angle, a rear wheel steering torque and a rear wheel steering angular velocity according to the rear wheel steering initial instruction.

[0060] S804, determining that the front wheel steering initial instruction and the rear wheel steering initial instruction meet a preset condition when the front wheel steering angle and the rear wheel steering angle are both less than the steering angle limit value, the front wheel steering torque and the rear wheel steering torque are both less than the steering torque limit value, and the front wheel steering angular velocity and the rear wheel steering angular velocity are both less than the steering angular velocity limit value.

[0061] ​Specifically, in the present embodiment, the steering angle limit value, the steering torque limit value or the steering angular velocity limit value is related to the vehicle speed, the front wheel steering angle, the front wheel steering torque or the front wheel steering angular velocity is related to the front wheel steering initial command, and the rear wheel steering angle, the rear wheel steering torque or the rear wheel steering angular velocity is related to the rear wheel steering initial command. The first preset condition can include at least one of the front wheel steering angle being less than the steering angle limit value, the front wheel steering torque being less than the steering torque limit value, and the front wheel steering angular velocity being less than the steering angular velocity limit value. The second preset condition can include at least one of the rear wheel steering angle being less than the steering angle limit value, the rear wheel steering torque being less than the steering torque limit value, and the rear wheel steering angular velocity being less than the steering angular velocity limit value. More specifically, referring to Figure 3 and Figure 8 In one specific embodiment, the automatic driving system 305 can be connected with the vision module 301, the positioning module 302, the navigation module 303 and the vehicle bus 304, the vision module 301, the positioning module 302, the navigation module 303 and the vehicle bus 304 can collect the state information of the vehicle and the road information of the road where the vehicle is located, after receiving the state information and the road information, the automatic driving system 305 can calculate the front wheel steering initial command and the rear wheel steering initial command, and perform limit value processing, if the limit value processing is passed, the front wheel steering execution command and the rear wheel steering execution command are obtained by using the front and rear wheel angle arbitration module 306, and are sent to the front wheel steering system 307 and the rear wheel steering system 308 respectively, the front wheel steering system 307 can control the front wheel steering according to the front wheel steering execution command, and the rear wheel steering system 308 can control the rear wheel steering according to the rear wheel steering execution command. The vehicle bus 304 can obtain the actual steering angle of the front wheel after the front wheel steering system 307 executes the front wheel steering execution command, and the actual steering angle of the rear wheel after the rear wheel steering system 308 executes the rear wheel steering execution command, and then the automatic driving system 305 judges whether to perform steering control again after obtaining the actual steering angle through the vehicle bus 304.

[0062] More specifically, the visual module 301 in this embodiment is used to obtain visual information perceived by the vehicle during user driving, mainly including: ground visual information, discrete objects including guide arrows, guide flow area, text, ground speed limit, deceleration mark, stop line, zebra crossing, etc., continuous objects including lane line, road boundary, static obstacle (island, safety island, water horse, sentry), etc.; ground visual information, such as street lamp pole, traffic signboard, traffic signal lamp, etc. The positioning module 302 is used to obtain the relevant position information of the vehicle during user driving, and the information is obtained from the whole vehicle positioning system. The navigation module 303 is used to obtain the working information and working state of the navigation module during user driving, so as to determine the road conditions that will appear subsequently. The navigation module 303 will also access the general navigation map information for global planning. The vehicle bus 304 can obtain vehicle information including but not limited to driving speed, lateral acceleration, longitudinal acceleration, deceleration, steering wheel angle, gear, front and rear wheel actual angle, etc.

[0063] As shown in Figure 4 , the relationship between each module or system in Figure 3 is described. First, the automatic driving system 305 can collect the information collected by the visual module 301, the positioning module 302, the navigation module 303 and the vehicle bus 304, then calculate the front wheel steering initial instruction and the rear wheel steering initial instruction, and limit the front wheel steering initial instruction and the rear wheel steering initial instruction in the automatic driving system 305. The specific limit value of the angle value, torque value and angular velocity value of the steering system in the steering initial instruction control process. It should be noted that only one limit value judgment order is shown in the figure, but in the specific example, the specific limit value order of the angle value, torque value and angular velocity value can not be limited, and of course it can also be performed simultaneously. After the limit value judgment is passed, the front wheel steering initial instruction and the rear wheel steering initial instruction are cooperatively arbitrated to obtain the front wheel steering execution instruction and the rear wheel steering execution instruction, and then the front wheel steering system 307 is controlled according to the front wheel steering execution instruction, and the rear wheel steering system 308 is controlled according to the rear wheel steering execution instruction, and the actual angle value of the front wheel steering system and the actual angle value of the rear wheel steering system are obtained. The actual angle value is compared with the corresponding target angle value. If the actual angle value obtained by the automatic driving system 305 from the vehicle bus 304 is different from the target angle value, the steering initial instruction can be calculated according to the information collected by the visual module 301, the positioning module 302, the navigation module 303 and the vehicle bus 304, and the above limit value, cooperative arbitration processing is repeated until the actual angle value of the steering system is equal to the target angle value.

[0064] More specifically, in the limit value processing of the front wheel steering system angle value, the automatic driving system 305 will judge whether the input front wheel steering system angle value exceeds the limit value of the system under the current working condition, which is a dynamic calibration quantity mainly dependent on the driving speed, specifically, in combination with the functional safety requirements, the front wheel steering system angle value response limit value changes from large to small in the process of changing from low speed to high speed; if it exceeds the limit value, it returns to recalculate, if it does not exceed the limit value, it further judges the front wheel steering system torque value. Similarly, in the limit value processing of the rear wheel steering system angle value, the automatic driving system 305 will also judge whether the input rear wheel steering system angle value exceeds the limit value of the system under the current working condition, which is a dynamic calibration quantity mainly dependent on the driving speed; if it exceeds the limit value, it returns to recalculate, if it does not exceed the limit value, it further judges the rear wheel steering system torque value.

[0065] In the limit value processing of the front wheel steering system torque value, the automatic driving system 305 will judge whether the input front wheel steering system torque value exceeds the limit value of the system under the current working condition, which is a dynamic calibration quantity mainly dependent on the driving speed and the front wheel steering system motor torque safety limit. Specifically, in combination with the functional safety requirements, in the process of changing from low speed to high speed, the front wheel steering system torque value response limit value changes from large to small, which is overall smaller than the initial limit value. If it exceeds the limit value, it returns to recalculate, if it does not exceed the limit value, it further judges the front wheel steering system angular velocity value. Similarly, in the limit value processing of the rear wheel steering system torque value, the automatic driving system 305 will also judge whether the input rear wheel steering system torque value exceeds the limit value of the system under the current working condition, which is a dynamic calibration quantity mainly dependent on the driving speed and the rear wheel steering system motor torque safety limit, if it exceeds the limit value, the system returns to the angle control module in the automatic driving system 305 to recalculate; if it does not exceed the limit value, it further judges the rear wheel steering system angular velocity value.

[0066] In the limit value processing of the front wheel steering system angular velocity value, the automatic driving system 305 will judge whether the input front wheel steering system angular velocity value exceeds the limit value of the system under the current working condition, which is a dynamic calibration quantity mainly dependent on the running speed and the safety limit of the front wheel steering system motor torque. If the limit value is exceeded, the calculation is returned. If the limit value is not exceeded, further coordination arbitration processing is performed through the front and rear wheel angle arbitration module 306. Similarly, in the limit value processing of the rear wheel steering system angular velocity value, the automatic driving system 305 will judge whether the input rear wheel steering system angular velocity value exceeds the limit value of the system under the current working condition, which is a dynamic calibration quantity mainly dependent on the running speed and the safety limit of the rear wheel steering system motor torque. If the limit value is exceeded, the calculation is returned. If the limit value is not exceeded, further coordination arbitration processing is performed through the front and rear wheel angle arbitration module 306. In some embodiments, the front wheel steering initial instruction and the rear wheel steering initial instruction after limit value processing can be coordinated and arbitrated, which can be that the steering directions of the front wheel steering initial instruction and the rear wheel steering initial instruction are not contradictory, the execution order of the front wheel steering initial instruction and the rear wheel steering initial instruction is not contradictory, and the expected execution result of the front wheel steering initial instruction and the rear wheel steering initial instruction is not faulty.

[0067] Specifically, the front and rear wheel angle arbitration module 306 is a module in the vehicle control system, and its main function is to judge and coordinate the angle control of the front and rear wheels according to the input front and rear wheel control instructions through a specific logical verification method, to ensure the stability and safety of the vehicle in various scenes. The functions of this module mainly include scene verification, limit value verification and other verifications. Scene verification is to verify whether the front and rear wheel steering instructions are contradictory for specific scene requirements, such as in the emergency steering scene, the front and rear wheel steering angle instructions are required to be in the same direction. The limit value verification checks the dynamics and kinematics expected results of the front and rear wheel steering angle execution through the built-in empirical algorithm, to avoid dangerous scenes such as rollover. Other verifications are related to specific requirements, which are not limited here. If the built-in logical verification is met, the adjusted front and rear wheel steering execution instructions will be transmitted to the front wheel steering system 307 and the rear wheel steering system 308 respectively. Compared with other modules, the existence of the front and rear wheel angle arbitration module 306 can avoid extreme over-limit or related contradictory instructions, and can accurately fine-tune the front and rear wheel steering execution instructions, which are transmitted to the steering system for execution, to further optimize the steering control of the vehicle. In addition, the arbitration module 306 can also give the specific execution coordination sequence of the front and rear wheels for the steering system to refer and execute. In summary, the front and rear wheel angle arbitration module 306 plays an important role in the vehicle control system, which verifies and coordinates the front and rear wheel steering instructions to ensure the stability and safety of the vehicle in various driving scenes.

[0068] The front-wheel steering system 307 and the rear-wheel steering system 308 receive the front-wheel steering execution commands and rear-wheel steering execution commands, respectively, after being collaboratively processed by the front and rear wheel angle arbitration modules 306. They communicate with the ECU (Electronic Control Unit) in the front-wheel steering system 307 through corresponding angle interfaces to complete the corresponding angle execution. During the execution of the front-wheel steering command, the actual angle value of the front-wheel steering system is dynamically output; similarly, during the execution of the rear-wheel steering command, the actual angle value of the rear-wheel steering system is dynamically output. The autonomous driving system 305 can dynamically determine the vehicle's attitude based on the actual angle values ​​of the front and rear wheel steering systems.

[0069] In some embodiments of the present invention, the road condition information in the above embodiments may include cruising road conditions, turning road conditions, and U-turn road conditions. The vehicle control method described above will be described in detail below using the above three road conditions.

[0070] Taking cruising conditions as an example, a schematic diagram of the vehicle under cruising conditions in a specific embodiment of the present invention is shown below. Figure 5 As shown, in this embodiment, the radius of curvature of the road where the vehicle is cruising can be greater than 100m. While driving normally in the current lane of the highway, the vehicle's position is normal before entering the curve, and the front wheel steering system and the rear wheel steering system are centered and performing normal straight driving. The automatic driving system 305 can rely on the information collected by the vision module 301, the positioning module 302, the navigation module 303, and the vehicle bus 304 to make preparations in advance for large curvature steering into the curve.

[0071] In this embodiment, the state information includes at least one of the vehicle's position information, heading angle information, driving speed, and lateral acceleration; the road information includes at least one of the current lane curvature and current lane width; and the lateral relative distance between the vehicle and the road can be calculated based on the lane width and the vehicle's position information.

[0072] Specifically, the autonomous driving system 305 calculates the steering execution angle requirements of the front wheels and the rear wheels according to the state information and the road information collected by the modules connected thereto. Specifically, the vision module 301 dynamically calculates the lane curvature a and the lane width b of the current lane, the positioning module 302 obtains the positioning data of the vehicle, and the lane center line trajectory point can be determined according to the lane width b, and then the lateral relative distance d can be determined according to the positioning data of the vehicle and the lane center line trajectory point of the lane in which the vehicle is currently located, and the heading angle information c of the current position of the vehicle can be calculated through the IMU (Inertial Measurement Unit) attitude calculation. In addition, the vehicle bus 304 can obtain key information such as the driving speed e and the lateral acceleration f of the vehicle. It should be noted that the above-mentioned data does not need to be obtained through the navigation module 303, but the navigation module 303 can determine the road conditions that the vehicle needs to face in the future through the global information of the road in advance, so that the vehicle can prepare in advance to control the vision module 301, the positioning module 302 and the vehicle bus 304 to be in a ready state.

[0073] In this embodiment, the front wheel steering initial instruction and / or the rear wheel steering initial instruction is input into the first target model by inputting the state information and the road information into the first target model, and the first target model outputs the front wheel steering initial instruction and the rear wheel steering initial instruction. Specifically, the lane curvature a, the lane width b, the heading angle information c, the lateral relative distance d, the driving speed e and the lateral acceleration f can be input into the first target model, and the first target constraint condition is set to make the first target model output the front wheel steering initial instruction and the rear wheel steering initial instruction.

[0074] Specifically, based on the above-mentioned information, the autonomous driving system 305 can select the first target model corresponding to the cruise road condition to calculate the front wheel steering initial instruction and the rear wheel steering initial instruction, that is, the lane curvature a, the lane width b, the heading angle information c, the lateral relative distance d, the driving speed e and the lateral acceleration f are input into the first target model, and the first target model is processed to output the front wheel steering initial instruction and the rear wheel steering initial instruction. It should be noted that the first target model in this embodiment can be determined according to the historical driving data of the vehicle combined with the corresponding road condition, and in this embodiment, the specific formula model thereof is not limited, as long as it can accurately output the front wheel steering initial instruction and the rear wheel steering initial instruction. Further, as long as the instruction value corresponding to the front wheel steering initial instruction and the rear wheel steering initial instruction output by the target model is in a proper range, the target model can be determined as the first target model.

[0075] To meet the first target model can accurately generate steering initial instruction, need to constrain the first target model, the first target constraint condition defined in the embodiment is: limit lateral acceleration f is less than the preset lateral acceleration value determined based on the travel speed e, limit the lateral relative distance d of the vehicle and the current road is less than the first preset lateral relative distance determined based on the current lane curvature a, and limit the travel speed e and the first preset travel speed maximum value determined based on the current lane curvature a are adapted.

[0076] Specifically, in general, the travel speed e and the lateral acceleration value f are inversely related, that is, the greater the travel speed e, the smaller the lateral acceleration value f should be, and in order to guarantee the driving safety, each travel speed e corresponds to a preset lateral acceleration value, therefore, the first target constraint condition in the embodiment needs to limit the lateral acceleration f to be less than the preset lateral acceleration value determined based on the travel speed e; similarly, the lateral relative distance d is also limited to be less than the first preset lateral relative distance determined based on the lane curvature a. In addition, in order to improve the turning efficiency during vehicle cruising, the first target constraint condition in the embodiment also limits that the travel speed e can be adapted to the first preset travel speed maximum value determined based on the lane curvature a, thereby improving the driving efficiency.

[0077] Taking the steering road condition as an example, the vehicle schematic diagram in the steering road condition in one specific embodiment of the application is shown in Figure 6 The vehicle in the embodiment drives on the high-speed lane, and the whole vehicle is located on the left lane and keeps driving in the middle. If there is a vehicle emergency action or a prominent obstacle in front, and the whole vehicle cannot avoid collision by normal deceleration, the automatic driving system 305 will actively choose to make an emergency steering to the right to avoid collision. In order to perform the action, the automatic driving system 305 needs to rely on the information acquisition results of the vision module 301, the positioning module 302, the navigation module 303 and the vehicle bus 304 to calculate the steering angle requirements of the front wheel and the rear wheel, so as to make a steering action quickly.

[0078] In the steering road condition, the state information includes at least one of the position information, the heading angle information, the travel speed and the lateral acceleration of the vehicle, the road information includes at least one of the current lane curvature, the target lane curvature, the current lane width and the target lane width, and the current lane lateral relative distance of the vehicle and the road can be calculated according to the current lane width and the position information, and the target lane lateral relative distance of the vehicle and the road can be calculated according to the target lane width and the position information.

[0079] Specifically, the vision module 301 in this embodiment can calculate the current lane curvature a1 and the current lane width b1 based on the lane lines of the current lane where the vehicle is located, and calculate the target lane curvature a2 and the target lane width b2 based on the lane lines of the lane where the target trajectory point is located. The positioning module 302 can obtain the heading angle information c of the current position of the vehicle by obtaining the positioning data of the whole vehicle and combining the IMU for pose calculation. In addition, the current vehicle lateral relative distance d1 (vector difference value calculated based on the midpoint of the front axle of the vehicle and the center line of the current lane), the target lane lateral relative distance d2 and the target lane width b2 are calculated based on the current lane width b1 output by the vision module 301. The vehicle bus 304 obtains key information such as the driving speed e and the lateral acceleration f.

[0080] In this embodiment, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is input into the second target model by inputting the state information and the road information into the second target model, and is output by the second target model. Specifically, the current lane curvature a1, the target lane curvature a2, the current lane width b1, the target lane width b2, the heading angle information c, the current lane lateral relative distance d1, the target lane lateral relative distance d2, the driving speed e and the lateral acceleration f can be input into the second target model, and the second target constraint condition is set to make the second target model output the front wheel steering initial instruction and the rear wheel steering initial instruction.

[0081] Specifically, based on the above obtained information, the automatic driving system 305 can select the second target model corresponding to the steering road condition to calculate the front wheel steering initial instruction and the rear wheel steering initial instruction, that is, the current lane curvature a1, the target lane curvature a2, the current lane width b1, the target lane width b2, the heading angle information c, the current lane lateral relative distance d1, the target lane lateral relative distance d2, the driving speed e and the lateral acceleration f are all input into the second target model, and after the second target model processing, the front wheel steering initial instruction and the rear wheel steering initial instruction are output. It should be noted that the second target model in this embodiment can also be determined by simulating the corresponding road condition according to the historical driving data of the vehicle. In this embodiment, the specific formula model of the second target model is not limited, as long as it can accurately output the front wheel steering initial instruction and the rear wheel steering initial instruction. Further, as long as the instruction value corresponding to the front wheel steering initial instruction and the rear wheel steering initial instruction output by the target model is in a proper range, the target model can be determined as the second target model.

[0082] To meet the second target model can accurately generate steering initial instruction, need to restrict the second target model, the second target constraint condition defined in the embodiment is: limit the current lane lateral relative distance of the vehicle and the current lane is less than the second preset lateral relative distance determined based on the current lane curvature and the target lane curvature, and limit the target lane lateral relative distance of the vehicle and the target lane is less than the third preset lateral relative distance determined based on the target lane curvature.

[0083] Specifically, to ensure that the vehicle can normally steer, the current lane lateral relative distance d1 needs to be limited, and specifically how to limit, which can be determined according to the current lane curvature a1 and the target lane curvature a2, more specifically, there is a relationship between the current lane curvature a1, the target lane curvature a2 and the lateral relative distance. For example, after obtaining the current lane curvature a1 and the target lane curvature a2, the second preset lateral relative distance can be obtained by looking up the table, and the second target constraint condition in the embodiment can limit the current lane lateral relative distance to be less than the second preset lateral relative distance, so that the vehicle can be controlled based on the condition to ensure that the condition is met. Similarly, the second target constraint condition also limits the target lane lateral relative distance d2 to be less than the third preset lateral relative distance determined based on the target lane curvature a2. According to the second target constraint condition, the second target model is constrained, which can ensure safe steering of the vehicle and avoid rollover of the vehicle.

[0084] In addition, it should be noted that after the vehicle turns to the target lane, the road information and state information can be continuously obtained to control the vehicle to drive in the middle of the lane. For example, when the vehicle turns right from the current lane to the lane, after turning to the target lane, if it is in the right position of the target lane, the vehicle can be controlled to return to the middle position of the target lane according to the current road information and the state information of the vehicle.

[0085] Taking a U-turn road condition as an example, a vehicle schematic diagram in a U-turn road condition in an embodiment of the application is shown in Figure 7 On the urban road, the whole vehicle normally drives on the leftmost left-turn lane of the forward direction road, and needs to make a U-turn to change direction in front. The automatic driving system 305 can rely on the information acquisition results of the vision module 301, the positioning module 302, the navigation module 303 and the vehicle bus 304 to make preparations for the U-turn in advance.

[0086] In the U-turn road condition, the state information includes at least one of the position information, the target trajectory, the heading angle information, the driving speed and the lateral acceleration of the vehicle, the road information includes at least one of the current lane state, the target lane state and the intersection passing state, and the relative distance between the vehicle and the target trajectory can be calculated according to the target trajectory and the position information.

[0087] Specifically, the automatic driving system 305 obtains relevant information according to the vision module 302, the positioning module 302 and the vehicle bus 304 connected thereto, etc. First, the vision module 301 dynamically calculates the current lane state a3, the target lane state b3 and the intersection passing state c3, then the positioning data of the vehicle can be obtained through the positioning module 302, and the heading angle information c of the current position of the vehicle can be obtained through the IMU pose calculation, and the relative distance e3 between the vehicle and the target trajectory is calculated according to the positioning data of the vehicle and the target trajectory center line determined based on the target lane state b3, which is a vector value. At the same time, the vehicle bus 304 can obtain key information such as driving speed e and lateral acceleration f.

[0088] In this embodiment, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is input into the third target model by inputting the state information and the road information into the third target model, and the front wheel steering initial instruction and the rear wheel steering initial instruction are output by the third target model. Specifically, the current lane state a3, the target lane state b3, the intersection passing state c3, the relative distance e3, the heading angle information c, the driving speed e and the lateral acceleration f are input into the third target model, and the third target constraint condition is set to make the third target model output the front wheel steering initial instruction and the rear wheel steering initial instruction.

[0089] Specifically, based on the above obtained information, the automatic driving system 305 can select the third target model corresponding to the turning road condition to calculate the front wheel steering initial instruction and the rear wheel steering initial instruction, that is, the current lane state a3, the target lane state b3, the intersection passing state c3, the relative distance e3, the heading angle information c, the driving speed e and the lateral acceleration f are input into the third target model, and the front wheel steering initial instruction and the rear wheel steering initial instruction are output after the third target model processing. It should be noted that the third target model in this embodiment can also be determined by simulating the corresponding road condition according to the historical driving data of the vehicle. In this embodiment, the specific formula model thereof is not limited, as long as it can accurately output the front wheel steering initial instruction and the rear wheel steering initial instruction. Further, as long as the instruction value corresponding to the front wheel steering initial instruction and the rear wheel steering initial instruction output by the target model is in a proper range, the target model can be determined as the third target model.

[0090] To meet the third target model can accurately generate steering initial instruction, need to constrain the third target model, the third target constraint condition defined in the embodiment is: limit lateral acceleration f is less than the preset acceleration determined based on the travel speed e, limit the relative distance e3 between the vehicle and the target trajectory is less than the preset distance determined based on the lane curvature of the target trajectory, limit the distance between the current position of the vehicle and the passable area determined based on the intersection passing state c3 is within the preset distance range, and limit the travel speed e and the second preset travel speed maximum value determined based on the lane curvature are adapted.

[0091] Specifically, in general, the travel speed e and the lateral acceleration value f are inversely related, that is, the greater the travel speed e, the smaller the lateral acceleration value f should be, and in order to guarantee driving safety, each travel speed e corresponds to a preset lateral acceleration value, therefore the first target constraint condition in the embodiment needs to limit the lateral acceleration f to be less than the preset lateral acceleration value determined based on the travel speed e; similarly, limit the relative distance e3 to be less than the preset distance determined based on the lane curvature of the target trajectory, limit the distance between the current position of the vehicle and the passable area determined based on the intersection passing state to be within the preset distance range. In addition, in order to improve the turning efficiency during vehicle cruising, the third target constraint condition in the embodiment also limits the travel speed e to be adapted to the second preset travel speed maximum value determined based on the lane curvature, thereby improving the efficiency of driving.

[0092] In summary, the vehicle control method in the embodiment of the application calculates the steering initial instructions of the front and rear wheels according to the vehicle state information and the road information of the lane, limits and arbitrates the steering initial instructions of the front and rear wheels to ensure that the front and rear wheels can safely and smoothly perform steering operation, and controls the vehicle according to the steering execution instructions of the front and rear wheels after limiting and arbitration, so as to realize the target steering angle of the vehicle and make the vehicle turn according to the predetermined target steering angle, thereby improving the controllability and safety of the vehicle and providing more stable and accurate steering response.

[0093] The application further provides a computer readable storage medium, characterized in that a vehicle control program is stored on the computer readable storage medium, and the vehicle control program is executed by a processor to implement the vehicle control method in the above embodiment.

[0094] The computer readable storage medium in the embodiment implements the target steering angle of the vehicle, so that the vehicle can turn according to the predetermined target steering angle, thereby improving the controllability and safety of the vehicle and providing more stable and accurate steering response.

[0095] Figure 9 is a structural block diagram of the vehicle control system in the embodiment of the application.

[0096] With reference to Figure 9 The vehicle control system 900 includes a memory 901 and a processor 902. When the processor 902 executes a vehicle control program stored in the memory 901, the vehicle control method in the above embodiments is implemented.

[0097] The vehicle control system in this embodiment implements the vehicle turning target steering angle by the processor executing the vehicle control method stored in the memory, so that the vehicle can turn according to the predetermined target steering angle, thereby improving the vehicle handling and safety and providing more stable and accurate steering response.

[0098] Figure 10 FIG. 1 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application.

[0099] With reference to Figure 10 The present application also provides a vehicle control device 1000, which includes an acquisition module 1001, a determination module 1002 and a control module 1003.

[0100] The acquisition module 1001 is configured to acquire a front wheel steering initial instruction and a rear wheel steering initial instruction of the vehicle. The determination module 1002 is configured to determine whether the front wheel steering initial instruction and the rear wheel steering initial instruction satisfy a third preset condition when the front wheel steering initial instruction satisfies a first preset condition and the rear wheel steering initial instruction satisfies a second preset condition, so as to determine a front wheel steering execution instruction and a rear wheel steering execution instruction of the vehicle. The control module 1003 is configured to control the vehicle to turn a target steering angle according to the front wheel steering execution instruction and the rear wheel steering execution instruction.

[0101] In some embodiments of the present application, the acquisition module 1001 is further configured to acquire an actual steering angle of the vehicle. The control module 1003 is further configured to update the front wheel steering execution instruction and the rear wheel steering execution instruction of the vehicle according to the actual steering angle until the actual steering angle is the same as the target steering angle.

[0102] In some embodiments of the present application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is determined according to state information and road information of the vehicle.

[0103] In some embodiments of the present application, in a cruising road condition, the state information includes at least one of position information, heading angle information, driving speed and lateral acceleration of the vehicle, and the road information includes at least one of current lane curvature and current lane width.

[0104] In some embodiments of the present application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is inputted into a first target model by inputting the state information and the road information, and outputted by the first target model.

[0105] In some embodiments of the present application, the first target model comprises a first target constraint condition, and the first target constraint condition comprises: limiting the lateral acceleration to be less than a preset lateral acceleration value determined based on the driving speed, limiting the lateral relative distance between the vehicle and the current lane to be less than a first preset lateral relative distance determined based on the current lane curvature, and limiting the driving speed to be adapted to a first preset maximum driving speed determined based on the current lane curvature.

[0106] In some embodiments of the present application, in the steering road condition, the state information comprises at least one of the position information, the heading angle information, the driving speed and the lateral acceleration of the vehicle, and the road information comprises at least one of the current lane curvature, the target lane curvature, the current lane width and the target lane width.

[0107] In some embodiments of the present application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is inputted into a second target model by inputting the state information and the road information, and outputted by the second target model.

[0108] In some embodiments of the present application, the second target model comprises a second target constraint condition, and the second target constraint condition comprises: limiting the current lane lateral relative distance between the vehicle and the current lane to be less than a second preset lateral relative distance determined based on the current lane curvature and the target lane curvature, and limiting the target lane lateral relative distance between the vehicle and the target lane to be less than a third preset lateral relative distance determined based on the target lane curvature.

[0109] In some embodiments of the present application, in the U-turn road condition, the state information comprises at least one of the position information, the target trajectory, the heading angle information, the driving speed and the lateral acceleration of the vehicle, and the road information comprises at least one of the current lane state, the target lane state and the intersection passing state.

[0110] In some embodiments of the present application, the front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is inputted into a third target model by inputting the state information and the road information, and outputted by the third target model.

[0111] In some embodiments of the present application, the third target model comprises a third target constraint condition, and the third target constraint condition comprises: limiting the lateral acceleration to be less than a preset acceleration determined based on the driving speed, limiting the relative distance between the vehicle and the target trajectory to be less than a preset distance determined based on the lane curvature of the target trajectory, limiting the distance between the current position of the vehicle and the passable area determined based on the intersection passing state to be within a preset distance range, and limiting the driving speed to be adapted to a second preset maximum driving speed determined based on the lane curvature.

[0112] In some embodiments of the present application, the first preset condition comprises at least one of: the front wheel steering angle being less than a steering angle limit value; the front wheel steering torque being less than a steering torque limit value; and the front wheel steering angular velocity being less than a steering angular velocity limit value; and the second preset condition comprises at least one of: the rear wheel steering angle being less than a steering angle limit value; the rear wheel steering torque being less than a steering torque limit value; and the rear wheel steering angular velocity being less than a steering angular velocity limit value.

[0113] In some embodiments of the present application, the steering angle limit value, the steering torque limit value, or the steering angular velocity limit value is related to the vehicle speed, the front wheel steering angle, the front wheel steering torque, or the front wheel steering angular velocity is related to the front wheel steering initial instruction, and the rear wheel steering angle, the rear wheel steering torque, or the rear wheel steering angular velocity is related to the rear wheel steering initial instruction.

[0114] In some embodiments of the present application, the third preset condition comprises at least one of: the steering directions of the front wheel steering initial instruction and the rear wheel steering initial instruction being consistent; the execution sequences of the front wheel steering initial instruction and the rear wheel steering initial instruction being consistent; and the expected execution results of the front wheel steering initial instruction and the rear wheel steering initial instruction being fault-free.

[0115] It should be noted that the specific implementation of the vehicle control device in the embodiments of the present application can refer to the specific implementation of the vehicle control method in the above embodiments, and to avoid redundancy, it will not be described here.

[0116] In summary, the vehicle control device in the embodiments of the present application calculates the steering initial instructions of the front and rear wheels according to the vehicle state information and the road information of the lane obtained by the acquisition module, and then limits and arbitrates the steering initial instructions of the front and rear wheels by the limiting module and the arbitration module to ensure that the front and rear wheels can safely and smoothly perform the steering operation, and then controls the vehicle to steer according to the steering execution instructions of the front and rear wheels after the limiting and arbitration, so as to realize the target steering angle of the vehicle and make the vehicle rotate according to the predetermined target steering angle, thereby improving the controllability and safety of the vehicle and providing more stable and accurate steering response.

[0117] Figure 11This is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0118] The present invention also proposes a vehicle 1100, which includes the vehicle control system 900 of the above embodiments.

[0119] The vehicle in this embodiment of the invention achieves a target steering angle through the vehicle control system described in the above embodiment, enabling the vehicle to rotate according to the predetermined target steering angle, thereby improving vehicle handling and safety, and providing a more stable and accurate steering response.

[0120] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0121] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0122] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0123] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0124] In addition, the terms "first", "second", etc. used in the embodiments of the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance, or implicitly indicating the number of technical features referred to in the embodiments. Therefore, the features defined with the terms "first", "second" and the like in the embodiments of the present application can be explicitly or implicitly indicated to include at least one of the features in the embodiments. In the description of the present application, the meaning of the word "plurality" is at least two or two or more, such as two, three, four, etc., unless otherwise specifically limited in the embodiments.

[0125] In the present application, unless otherwise specifically defined or limited in the embodiments, the terms "mounting", "connecting", "connecting" and "fixing" and the like appearing in the embodiments should be understood in a broad sense, for example, the connection can be a fixed connection, or a detachable connection, or integrated, which can be understood, or can be a mechanical connection, an electrical connection, etc. Of course, it can also be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements, or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific implementation situation.

[0126] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature is "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature is "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0127] Although the embodiments of the present application have been shown and described above, it is to be understood that the above-described embodiments are exemplary only, and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made thereto by those skilled in the art without departing from the scope of the present application.

Claims

1. A vehicle control method characterized by, The method comprises: obtaining a front wheel steering initial instruction and a rear wheel steering initial instruction of the vehicle; when the front wheel steering initial instruction meets a first preset condition and the rear wheel steering initial instruction meets a second preset condition, determining whether the front wheel steering initial instruction and the rear wheel steering initial instruction meet a third preset condition to determine a front wheel steering execution instruction and a rear wheel steering execution instruction of the vehicle; controlling steering of the vehicle according to the front wheel steering execution instruction and the rear wheel steering execution instruction to make the vehicle turn a target steering angle; wherein the first preset condition comprises at least one of the following: a front wheel steering angle is less than a steering angle limit value; a front wheel steering torque is less than a steering torque limit value; a front wheel steering angular velocity is less than a steering angular velocity limit value; the second preset condition comprises at least one of the following: a rear wheel steering angle is less than the steering angle limit value; a rear wheel steering torque is less than the steering torque limit value; a rear wheel steering angular velocity is less than the steering angular velocity limit value; the third preset condition comprises at least one of the following: steering directions of the front wheel steering initial instruction and the rear wheel steering initial instruction are not contradictory; execution sequences of the front wheel steering initial instruction and the rear wheel steering initial instruction are not contradictory; expected execution results of the front wheel steering initial instruction and the rear wheel steering initial instruction are not faulty; the steering angle limit value, the steering torque limit value or the steering angular velocity limit value is related to a vehicle speed, the front wheel steering angle, the front wheel steering torque or the front wheel steering angular velocity is related to the front wheel steering initial instruction, and the rear wheel steering angle, the rear wheel steering torque or the rear wheel steering angular velocity is related to the rear wheel steering initial instruction.

2. The vehicle control method according to claim 1, characterized by, The method further comprises: obtaining an actual steering angle of the vehicle; updating the front wheel steering execution instruction and the rear wheel steering execution instruction of the vehicle according to the actual steering angle until the actual steering angle is the same as the target steering angle.

3. The vehicle control method according to claim 1, characterized by, The front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is determined according to state information and road information of the vehicle.

4. The vehicle control method according to claim 3, characterized by, In a cruising road condition, the state information comprises at least one of position information, a heading angle, a driving speed and a lateral acceleration of the vehicle, and the road information comprises at least one of a current lane curvature and a current lane width.

5. The vehicle control method according to claim 4, characterized by The front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is input into a first target model by inputting the state information and the road information into the first target model.

6. The vehicle control method according to claim 5, characterized by The first target model comprises a first target constraint condition, and the first target constraint condition comprises: limiting the lateral acceleration to be less than a preset lateral acceleration value determined based on the driving speed, limiting a lateral relative distance of the vehicle to the current road to be less than a first preset lateral relative distance determined based on the current lane curvature, and limiting the driving speed to be adapted to a first preset driving speed maximum value determined based on the current lane curvature.

7. The vehicle control method according to claim 3, characterized by In the turning road scenario, the state information comprises at least one of position information, heading angle information, driving speed and lateral acceleration of the vehicle, and the road information comprises at least one of current lane curvature, target lane curvature, current lane width and target lane width.

8. The vehicle control method according to claim 7, characterized by, The front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is output by inputting the state information and the road information into a second target model.

9. The vehicle control method according to claim 8, characterized by, The second target model comprises a second target constraint condition, which comprises: limiting a current lane lateral relative distance between the vehicle and the current lane to be less than a second preset lateral relative distance determined based on the current lane curvature and the target lane curvature, and limiting a target lane lateral relative distance between the vehicle and the target lane to be less than a third preset lateral relative distance determined based on the target lane curvature.

10. The vehicle control method according to claim 3, characterized by In the turning road scenario, the state information comprises at least one of position information, heading angle information, driving speed and lateral acceleration of the vehicle, and the road information comprises at least one of current lane curvature, target lane curvature, current lane width and target lane width.

11. The vehicle control method according to claim 10, characterized by, The front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is output by inputting the state information and the road information into a second target model.

12. The vehicle control method according to claim 11, characterized by, The second target model comprises a second target constraint condition, which comprises: limiting a current lane lateral relative distance between the vehicle and the current lane to be less than a second preset lateral relative distance determined based on the current lane curvature and the target lane curvature, and limiting a target lane lateral relative distance between the vehicle and the target lane to be less than a third preset lateral relative distance determined based on the target lane curvature.

13. A computer-readable storage medium, characterized in that, In the turning road scenario, the state information comprises at least one of position information, heading angle information, driving speed and lateral acceleration of the vehicle, and the road information comprises at least one of current lane curvature, target lane curvature, current lane width and target lane width.

14. A vehicle control system characterized by comprising: The front wheel steering initial instruction and / or the rear wheel steering initial instruction of the vehicle is output by inputting the state information and the road information into a second target model.

15. A vehicle characterized by comprising: The second target model comprises a second target constraint condition, which comprises: limiting a current lane lateral relative distance between the vehicle and the current lane to be less than a second preset lateral relative distance determined based on the current lane curvature and the target lane curvature, and limiting a target lane lateral relative distance between the vehicle and the target lane to be less than a third preset lateral relative distance determined based on the target lane curvature. A vehicle control program is stored thereon, and the vehicle control program is executed by a processor to implement the vehicle control method according to any one of claims 1-12. The vehicle control system comprises a memory and a processor, and the processor executes a vehicle control program stored in the memory to implement the vehicle control method according to any one of claims 1-12. The vehicle control system of claim 14 is included.

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