Method and device for controlling vehicle and vehicle

Abstract

The present application provides a method, device and vehicle for controlling a vehicle, the method comprising: activating the intelligent assisted driving system of the vehicle when detecting that the vehicle is in drift mode; obtaining environmental data around the vehicle collected by the intelligent assisted driving system during the drifting of the vehicle; determining whether the vehicle is at risk of collision based on the environmental data; and performing assisted driving control on the vehicle when the vehicle is at risk of collision. The method can automatically detect whether the vehicle is at risk of collision when the vehicle is in the process of drifting, and when the vehicle is detected to be at risk of collision, perform safe driving assistance on the vehicle, thereby improving the safety of vehicle drifting and avoiding safety risks to the vehicle or personnel.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method, a device and a vehicle for controlling a vehicle in the field of vehicles. Background Art

[0002] With the development of the domestic automobile industry, vehicles are no longer limited to the function of transportation. More and more drivers are beginning to pursue driving pleasure, and more and more vehicles are beginning to be equipped with drift functions. The drift function refers to the technology of controlling the steering and power output of the vehicle when the vehicle is driving at high speed to keep the vehicle in a side-slip state in the curve, thereby achieving fast cornering.

[0003] In the prior art, the drift function usually requires the driver to have high driving skills and experience to ensure that the vehicle can be safely controlled during the drift process. However, when the vehicle is in the drift process, the vehicle is actually in a critical state of instability. If there are obstacles around the vehicle, the driver may improperly drive the vehicle due to lack of experience or fail to notice the obstacle, which may easily lead to the risk of collision during the drift process, resulting in poor safety of vehicle drifting. Summary of the invention

[0004] The present application provides a method, device and vehicle for controlling a vehicle. The method can automatically detect whether the vehicle is at risk of collision when the vehicle is drifting, and when the risk of collision is detected, provide safe driving assistance to the vehicle, thereby improving the safety of vehicle drifting and avoiding safety risks to the vehicle or personnel.

[0005] In a first aspect, a method for controlling a vehicle is provided, the method comprising: activating an intelligent assisted driving system of the vehicle when it is detected that the vehicle has turned on a drift mode; obtaining environmental data about the vehicle collected by the intelligent assisted driving system during the drifting of the vehicle; determining whether the vehicle has a collision risk based on the environmental data; and performing assisted driving control on the vehicle when the vehicle has a collision risk.

[0006] In the above technical solution, when the vehicle turns on the drift mode, the intelligent assisted driving system of the vehicle is activated, so that the vehicle can collect environmental data around the vehicle in real time through the intelligent assisted driving system during the drifting process, so as to timely discover potential collision risks based on the environmental data. After discovering that the vehicle is at risk of collision, the vehicle is actively assisted in driving control to avoid collision during the drifting process, which can improve the safety of vehicle drifting and avoid users not noticing the risk of collision of the vehicle during the drifting process, or failing to control the vehicle in time or improper operation after discovering the risk of collision of the vehicle, which ultimately leads to safety accidents caused by vehicle collision, thus avoiding safety risks for vehicles and personnel.

[0007] In combination with the first aspect, in some possible implementations, determining whether the vehicle is at risk of collision is performed based on environmental data, including: judging whether there is an obstacle within a first preset range around the vehicle based on the environmental data; when it is determined that there is an obstacle within the first preset range, determining the original drift trajectory of the vehicle; when the original drift trajectory intersects with the obstacle, determining that the vehicle is at risk of collision.

[0008] In the above technical solution, when it is determined that there is an obstacle within the first preset range around the vehicle, it is preliminarily determined that the vehicle may be at risk of collision, and then the original drift trajectory of the vehicle is determined. By judging whether the obstacle intersects with the original drift trajectory, it is determined whether the vehicle is at risk of collision. The potential collision risk during the vehicle drifting process can be discovered in a timely and accurate manner, which facilitates the subsequent assisted driving control of the vehicle in advance for the existing collision risk, helping the vehicle to avoid the collision risk in advance and improving the safety of vehicle drifting.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the collision risk is the collision risk between the vehicle and an obstacle. When the vehicle is at risk of collision, assisted driving control is performed on the vehicle, including: obtaining the vehicle's current speed, yaw angle and distance between the vehicle and the obstacle; determining the risk level based on the current speed, yaw angle and distance; and performing assisted driving control on the vehicle based on an assisted driving strategy corresponding to the risk level.

[0010] In the above technical solution, by determining the risk level and performing assisted driving control on the vehicle based on the assisted driving strategy corresponding to the risk level, it is possible to accurately control the vehicle to avoid the current collision risk.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the risk levels include: low risk, medium risk and high risk, and the vehicle is assisted in driving control based on the assisted driving strategy corresponding to the risk level, including: when the risk level is determined to be low risk, steering control of the vehicle is performed based on the assisted steering control strategy; or, power regulation of the vehicle is performed based on the auxiliary power control strategy; when the risk level is determined to be medium risk, steering control and power regulation of the vehicle are performed based on the hybrid control strategy; wherein the hybrid control strategy is obtained by combining the assisted steering control strategy and the auxiliary power control strategy; when the risk level is determined to be high risk, braking control of the vehicle is performed based on the auxiliary braking control strategy.

[0012] In the above technical scheme, different assisted driving strategies are used to control the vehicle at different risk levels. Specifically, under low risk, the vehicle drift trajectory is changed based on the assisted steering control strategy or the assisted power control strategy, so that the vehicle can drift while bypassing obstacles; under medium risk, the vehicle drift trajectory is changed based on the hybrid control strategy, so that the vehicle can drift while bypassing obstacles; under high risk, for safety, the vehicle is directly braked based on the assisted braking control strategy to stop the vehicle before hitting the obstacle, thereby avoiding the risk of collision during the vehicle drifting and ensuring that the vehicle completes the drift as much as possible, ensuring user safety while improving user experience.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle is steered based on the auxiliary steering control strategy, including: determining whether there is a target turning angle within a preset turning angle range, so that after the vehicle is steered based on the target turning angle, the new drift trajectory of the vehicle does not intersect with the obstacle; when it is determined that there is a target turning angle, the vehicle is steered based on the target turning angle.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, assisted driving control is performed on the vehicle based on the auxiliary power control strategy, including: for the total power torque currently output by the vehicle, determining whether there is a target distribution ratio, so that after the vehicle distributes the total power torque to the front and rear axles of the vehicle based on the target distribution ratio, the new drift trajectory of the vehicle does not intersect with obstacles; when it is determined that there is a target distribution ratio, the total power torque is distributed to the front and rear axles of the vehicle based on the target distribution ratio.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the risk level is determined based on the current vehicle speed, yaw angle and distance, including: when it is determined that the current vehicle speed is greater than the preset vehicle speed and the distance is greater than or equal to the preset distance, the risk level is determined to be low risk; when it is determined that the current vehicle speed is greater than the preset vehicle speed, the distance is less than the preset distance and the yaw angle is less than or equal to the preset yaw angle, the risk level is determined to be medium risk; when it is determined that the current vehicle speed is greater than the preset vehicle speed, the distance is less than the preset distance and the yaw angle is greater than the preset yaw angle, the risk level is determined to be high risk.

[0016] In the above technical scheme, the current vehicle speed, yaw angle, and distance between the vehicle and the obstacle can reflect the risk level of a collision event from three different angles. The greater the current vehicle speed, the higher the risk level of the collision risk; the greater the yaw angle of the vehicle, the higher the risk level of the collision risk; and the smaller the distance between the vehicle and the obstacle, the higher the risk level of the collision risk. Through the vehicle's current speed, yaw angle, and distance between the vehicle and the obstacle, multiple aspects can be considered to accurately, efficiently, and actually determine the risk level of the vehicle's current collision risk.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when it is detected that the vehicle has turned on the drift mode, before activating the vehicle's intelligent assisted driving system, the method also includes: when a command to turn on the drift mode is received from the user, detecting the whole vehicle state of the vehicle; when the whole vehicle state is normal, detecting the surrounding environment of the vehicle; when the surrounding environment of the vehicle meets the preset conditions for turning on the drift mode, turning on the drift mode.

[0018] In the above technical scheme, preset conditions that need to be met by the vehicle's surroundings to turn on the drift mode are preset. After receiving the user's start command, the vehicle's drift mode is turned on after it is determined that the vehicle is in normal condition and the vehicle's surroundings meet the preset conditions, thereby realizing the use scenario of the limited drift mode. The vehicle's drift mode is only turned on in the scenario where the preset conditions are met, that is, the vehicle can drift only when the preset conditions are met, thereby ensuring the safety of the user's drifting driving the vehicle and avoiding safety accidents caused by drifting the vehicle in scenarios where the preset conditions are not met.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the whole vehicle is in normal condition, the surrounding environment of the vehicle is detected, including: when the whole vehicle is in normal condition, a first pop-up window is displayed; wherein the first pop-up window includes an OK button and a Cancel button; the OK button is grayed out so that the user cannot click the OK button; while the OK button is grayed out, the surrounding environment of the vehicle is detected.

[0020] In the above technical solution, the confirmation button in the first pop-up window displayed is grayed out so that the user cannot click the confirmation button. The vehicle's surrounding environment is detected during the period when the button is grayed out. This can prohibit the vehicle from turning on the drift mode if the vehicle's surrounding environment is not detected to meet the preset conditions. This avoids safety accidents caused by the user driving the vehicle to drift after the vehicle turns on the drift mode when the preset conditions are not met, thereby improving the safety of vehicle drifting.

[0021] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the surrounding environment of the vehicle meets the preset conditions for starting the drift mode, the drift mode is turned on, including: when the surrounding environment of the vehicle meets the preset conditions for starting the drift mode, the OK button is lit; while the OK button is lit, if it is detected that the user clicks the OK button, the drift mode is turned on.

[0022] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, detecting the surrounding environment of the vehicle includes: determining whether there are obstacles within a second preset range around the vehicle; if there are no obstacles within the second preset range, determining whether the vehicle is currently on a public road; if it is determined that the vehicle is not currently on a public road, determining that the surrounding environment of the vehicle meets preset conditions.

[0023] In the above technical solution, by judging that there are no obstacles within the second preset range around the vehicle and the vehicle is not currently on a public road, it is determined that the vehicle meets the preset conditions for starting the drift mode, and the use scenario of the drift mode is limited to professional scenarios where there are no obstacles within the second preset range around the vehicle and the vehicle is not currently on a public road, so that the vehicle can drift only in professional scenarios, thereby improving the safety of vehicle drifting. If the vehicle starts the drift mode in a scenario where there are obstacles on a public road or in the second preset range, it may cause danger to other road users or a risk of collision.

[0024] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when it is determined that there is an obstacle within the second preset range, it is determined that the surrounding environment of the vehicle does not meet the preset conditions, and a second pop-up window is displayed to prompt the user to move the vehicle to an obstacle-free environment to activate the drift mode; when it is determined that the vehicle is currently on a public road, it is determined that the surrounding environment of the vehicle does not meet the preset conditions, and a third pop-up window is displayed to prompt the user to move the vehicle to a professional venue to activate the drift mode.

[0025] In the above technical solution, when it is determined that the vehicle does not meet the preset conditions for starting the drift mode due to the presence of obstacles within the second preset range around the vehicle, a second pop-up window is displayed to prompt the user to move the vehicle to an obstacle-free environment to start the drift mode. When it is determined that the vehicle does not meet the preset conditions for starting the drift mode due to the vehicle being currently on a public road, a third pop-up window is displayed to prompt the user to move the vehicle to a professional venue to start the drift mode. This allows the user to promptly understand the reason why the vehicle cannot start the drift mode, and provides suggestions to the user so that the user can move the vehicle based on the suggestions and start the drift mode, thereby improving the user's car experience.

[0026] In summary, the present application activates the intelligent assisted driving system of the vehicle while the vehicle turns on the drift mode. The intelligent assisted driving system collects the environmental data around the vehicle in real time. When it is determined that there are obstacles within the first preset range around the vehicle, it is preliminarily determined that the vehicle may have a collision risk. Then, the original drift trajectory of the vehicle is determined. By judging whether the obstacle intersects with the original drift trajectory, it is determined whether the vehicle has a collision risk. The potential collision risk during the vehicle drift process can be discovered in a timely and accurate manner. By determining the risk level and performing assisted driving control on the vehicle based on the assisted driving strategy corresponding to the risk level, it is possible to accurately control the vehicle to avoid the current collision risk and improve the safety of vehicle drifting. In addition, the preset conditions that need to be met by the vehicle surrounding environment to turn on the drift mode are preset. After the vehicle is in normal condition and the vehicle surrounding environment meets the preset conditions, the drift mode of the vehicle is turned on, realizing the use scenario of the limited drift mode, further ensuring the safety of the user driving the vehicle to drift, and avoiding safety accidents caused by driving the vehicle drifting in scenarios that do not meet the preset conditions.

[0027] In a second aspect, a device for controlling a vehicle is provided, which includes: an activation module, used to activate the vehicle's intelligent assisted driving system when it is detected that the vehicle has turned on a drift mode; an acquisition module, used to acquire environmental data around the vehicle collected by the intelligent assisted driving system during the vehicle drifting process; a determination module, used to determine whether the vehicle has a collision risk based on the environmental data; and a control module, used to perform assisted driving control on the vehicle when the vehicle has a collision risk.

[0028] In combination with the second aspect, in some possible implementations, the determination module is specifically used to determine whether there is an obstacle within a first preset range around the vehicle based on environmental data; when it is determined that there is an obstacle within the first preset range, determine the original drift trajectory of the vehicle; when the original drift trajectory intersects with the obstacle, determine that the vehicle is at risk of collision.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the collision risk is the collision risk between the vehicle and an obstacle, and the control module is specifically used to obtain the vehicle's current speed, yaw angle and distance between the vehicle and the obstacle; determine the risk level based on the current speed, yaw angle and distance; and perform assisted driving control on the vehicle based on the assisted driving strategy corresponding to the risk level.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the risk levels include: low risk, medium risk and high risk, and the control module is specifically used to, when the risk level is determined to be low risk, perform steering control on the vehicle based on an auxiliary steering control strategy; or, based on an auxiliary power control strategy, perform power regulation on the vehicle; when the risk level is determined to be medium risk, perform steering control and power regulation on the vehicle based on a hybrid control strategy; wherein the hybrid control strategy is obtained by combining the auxiliary steering control strategy and the auxiliary power control strategy; when the risk level is determined to be high risk, perform braking control on the vehicle based on an auxiliary braking control strategy.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is specifically used to determine whether there is a target angle within a preset angle range, so that after the vehicle is steered based on the target angle, the new drift trajectory of the vehicle does not intersect with the obstacle; when it is determined that there is a target angle, the vehicle is steered based on the target angle.

[0032] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is specifically used to determine whether there is a target distribution ratio for the total power torque currently output by the vehicle, so that after the vehicle distributes the total power torque to the front and rear axles of the vehicle based on the target distribution ratio, the new drift trajectory of the vehicle does not intersect with the obstacle; when it is determined that there is a target distribution ratio, the total power torque is distributed to the front and rear axles of the vehicle based on the target distribution ratio.

[0033] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is specifically used to, when it is determined that the current vehicle speed is greater than the preset vehicle speed and the distance is greater than or equal to the preset distance, determine that the risk level is low risk; when it is determined that the current vehicle speed is greater than the preset vehicle speed, the distance is less than the preset distance, and the yaw angle is less than or equal to the preset yaw angle, determine that the risk level is medium risk; when it is determined that the current vehicle speed is greater than the preset vehicle speed, the distance is less than the preset distance, and the yaw angle is greater than the preset yaw angle, determine that the risk level is high risk.

[0034] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a detection module, which is used to detect the whole vehicle state of the vehicle when receiving an activation instruction for activating the drift mode sent by the user; when the whole vehicle state is normal, detecting the surrounding environment of the vehicle; and an activation module, which is used to activate the drift mode when the surrounding environment of the vehicle meets the preset conditions for activating the drift mode.

[0035] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the detection module is specifically used to display a first pop-up window when the entire vehicle is in normal condition; wherein the first pop-up window includes a confirmation button and a cancel button; the confirmation button is grayed out so that the user cannot click the confirmation button; while the confirmation button is grayed out, the surrounding environment of the vehicle is detected.

[0036] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the activation module is specifically used to light up the OK button when the surrounding environment of the vehicle meets the preset conditions for turning on the drift mode; while the OK button is lit, if it is detected that the user clicks the OK button, the drift mode is turned on.

[0037] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the detection module is specifically used to determine whether there are obstacles within a second preset range around the vehicle; if there are no obstacles within the second preset range, determine whether the vehicle is currently on a public road; if it is determined that the vehicle is not currently on a public road, determine whether the surrounding environment of the vehicle meets the preset conditions.

[0038] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes a prompt module, which is used to, when it is determined that there is an obstacle within the second preset range, determine that the surrounding environment of the vehicle does not meet the preset conditions, and display a second pop-up window to prompt the user to move the vehicle to an obstacle-free environment to activate the drift mode; when it is determined that the vehicle is currently on a public road, it is determined that the surrounding environment of the vehicle does not meet the preset conditions, and display a third pop-up window to prompt the user to move the vehicle to a professional venue to activate the drift mode.

[0039] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0040] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0041] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1It is a schematic diagram of a drift function control system provided in an embodiment of the present application.

[0043] Figure 2 It is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0044] Figure 3 It is a schematic flowchart of a method for starting the drift mode provided in an embodiment of the present application.

[0045] Figure 4 It is a schematic flowchart of another method for controlling a vehicle provided in an embodiment of the present application.

[0046] Figure 5 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0047] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0049] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0050] Figure 1 It is a schematic diagram of a drift function control system provided in an embodiment of the present application.

[0051] For example, Figure 1 As shown, the system 100 includes: a driver 10, a human machine interaction system (Human Machine Interaction, HMI) 20, an advanced driver assistance system (Advanced Driver Assistance Systems, ADAS) 30, an electronic control unit (Electronic Control Unit, ECU) 40, a power control system 50, a braking control system 60, a steering control system 70, and a suspension control system 80.

[0052] The driver 10 interacts with the vehicle by operating the HMI 20 and inputs driving instructions and operations to the vehicle.

[0053] The HMI 20 is a human-machine interaction system that receives input from the driver 10, sends the driver's operation request to the main control ECU 40, and converts it into instructions that the vehicle can understand. The HMI 20 can also provide feedback information to the driver 10 to help the driver 10 better control the vehicle.

[0054] ADAS 30 is an intelligent driver assistance system that monitors the environment around the vehicle and provides environmental information to the main control ECU 40 to provide information support for drift control entry and maintenance. ADAS 30 can also provide warnings and suggestions to the driver 10 based on environmental information to help the driver 10 better control the vehicle.

[0055] The main control ECU 40 is the central processor of the vehicle, which communicates with the HMI 20 and the ADAS 30 to collect and process data, and then makes decisions based on the data to control the operating status of the vehicle.

[0056] In some embodiments, the main control ECU 40 is also responsible for integrating and processing data from various subsystems, and making decisions based on the data to control the operating state of the vehicle.

[0057] The main functions of the power control system 50 are: during the drift control process, to maintain a stable power output and to distribute power torque to the front and rear axles of the vehicle so that the vehicle can continue to operate in a drift state.

[0058] The main functions of the brake control system 60 are: actively intervene in vehicle control when the vehicle yaws, so that the vehicle yaws and maintains the vehicle in a stable drift state; when the vehicle state is not sufficient to support drifting, the vehicle is restored to a normal state or stopped through brake control.

[0059] The main functions of the steering control system 70 are: to provide stable assistance to the driver during drift control, and to support the main control ECU 40 in fine-tuning the drift control process.

[0060] The main function of the suspension control system 80 is to adjust the front and rear suspension height and / or damping during drift control to provide the driver with a stable driving experience.

[0061] Figure 2 is a schematic flow chart of a method for controlling a vehicle provided in an embodiment of the present application. The method is applied to a vehicle, and specifically can be applied to include Figure 1 A vehicle of system 100 is shown.

[0062] For example, Figure 2 As shown, the method includes:

[0063] Step 201, activating the intelligent assisted driving system of the vehicle when detecting that the vehicle is in drift mode;

[0064] Step 202, during the vehicle drifting process, obtaining environmental data around the vehicle collected by the intelligent assisted driving system;

[0065] Step 203, determining whether the vehicle has a collision risk based on the environmental data;

[0066] Step 204: When there is a risk of collision between the vehicle and the vehicle, assisted driving control is performed on the vehicle.

[0067] exist Figure 2 In the embodiment shown, when the vehicle turns on the drift mode and activates the intelligent assisted driving system of the vehicle, the vehicle can collect environmental data around the vehicle in real time through the intelligent assisted driving system during the drifting process, so as to timely discover potential collision risks based on the environmental data. After discovering that the vehicle is at risk of collision, the vehicle is actively assisted in driving control to avoid collision during the drifting process, which can improve the safety of vehicle drifting and avoid users not noticing the risk of collision during the drifting process, or failing to control the vehicle in time or improperly operating after discovering the risk of collision, which ultimately leads to safety accidents caused by vehicle collision, thus avoiding safety risks for vehicles and personnel.

[0068] Below Figure 2 The specific implementation of each step in the embodiment shown is described as follows:

[0069] In step 201, the drift mode is a functional mode integrated in the vehicle. The user can actively turn on the drift mode of the vehicle before driving the vehicle to drift. After the drift mode is turned on, the vehicle's power control system and suspension control system are usually adjusted to enable the vehicle to provide higher performance and better handling, thereby helping the driver to achieve drift.

[0070] Specifically, in drift mode, the vehicle's power control system may provide higher power output to help the vehicle maintain a sideways slide in a curve. At the same time, the suspension control system may adjust the front and rear suspension height and / or damping to provide better suspension performance and ensure that the vehicle can remain stable during drifting.

[0071] Intelligent assisted driving system Figure 1The ADAS 30 shown in the figure can use various sensors (such as radar, lidar, camera, ultrasonic wave, etc.) to monitor the environment around the vehicle in real time, and provide real-time driving assistance information or directly intervene in the control of the vehicle based on the collected data. When it is detected that the vehicle is in drift mode, the intelligent assisted driving system of the vehicle can be activated to enable the intelligent assisted driving system to monitor the environment around the vehicle in real time.

[0072] The process of a user turning on the drift mode is specifically shown in the following embodiments:

[0073] In one possible implementation, when it is detected that the vehicle has activated the drift mode, before activating the vehicle's intelligent assisted driving system, the method also includes: upon receiving an instruction from a user to activate the drift mode, detecting the entire vehicle state; when the entire vehicle state is normal, detecting the surrounding environment of the vehicle; and when the surrounding environment of the vehicle meets the preset conditions for activating the drift mode, activating the drift mode.

[0074] Among them, users can be Figure 1 The driver 10 shown, a user, can send a start instruction to the vehicle to start the drift mode through the HMI 20 of the vehicle.

[0075] Specifically, the HMI 20 may include a large display screen located in front of the vehicle, which may also be referred to as a vehicle screen in some embodiments. A button for turning on and off the vehicle drift mode is integrated on the vehicle screen of the HMI 20. When a user clicks the drift mode on button integrated on the vehicle screen, the vehicle receives the drift mode on instruction sent by the user.

[0076] In some embodiments, the HMI 20 also includes a voice recognition system, and the user can send a voice command including keywords such as "turn on drift mode" to the voice recognition system. When the voice recognition system recognizes that the collected user voice includes keywords such as "turn on drift mode", the vehicle receives the command sent by the user to turn on the drift mode.

[0077] In some embodiments, a mechanical button for starting the drift mode may also be integrated in the front of the vehicle. When the user presses the mechanical button for starting the drift mode, the vehicle receives the instruction sent by the user to start the drift mode.

[0078] After the vehicle receives the start command sent by the user, it starts to detect the vehicle status. Figure 1The main control ECU 40 shown detects the status of each subsystem, which may include: ADAS 30, power control system 50, brake control system 60, steering control system 70, suspension control system 80, etc. When the main control ECU 40 detects that the status of each subsystem is normal, it determines that the vehicle status is normal.

[0079] The vehicle stores preset conditions that the vehicle's surroundings need to meet when the drift mode is turned on. When it is detected that the entire vehicle is in a normal state, the vehicle can detect the vehicle's surroundings and determine whether the vehicle's surroundings meet the preset conditions. If it is determined that the vehicle's surroundings meet the preset conditions, the vehicle's drift mode is turned on.

[0080] In the above method, preset conditions that need to be met by the vehicle's surroundings to turn on the drift mode are preset. After receiving the user's start-up command, the vehicle's drift mode is turned on after it is determined that the entire vehicle is in normal condition and the vehicle's surroundings meet the preset conditions, thereby realizing the use scenario of the limited drift mode. The vehicle's drift mode is only turned on in the scenario where the preset conditions are met, that is, the vehicle can drift only when the preset conditions are met, thereby ensuring the safety of the user's drifting driving the vehicle and avoiding safety accidents caused by drifting the vehicle in scenarios where the preset conditions are not met.

[0081] In one possible implementation, when the whole vehicle is in normal condition, the surrounding environment of the vehicle is detected, including: when the whole vehicle is in normal condition, displaying a first pop-up window; wherein the first pop-up window includes an OK button and a Cancel button; graying out the OK button so that the user cannot click the OK button; while the OK button is grayed out, detecting the surrounding environment of the vehicle.

[0082] When it is determined that the vehicle is in normal condition, the vehicle may pop up a first pop-up window on the large screen of the HMI 20. The HMI 20 may set two option buttons for the first pop-up window, including an OK button and a Cancel button.

[0083] The confirm button is used to confirm that the user has understood the prompt information and is ready to start the drift mode, and formally start the drift mode of the vehicle. The cancel button is used to confirm that the user is not ready to start the drift mode, and cancel the start of the drift mode of the vehicle.

[0084] After the first pop-up window pops up, the HMI 20 can first gray out the confirmation button so that the user cannot operate the confirmation button, that is, the vehicle cannot start the drift mode at this time. During the graying of the pop-up window, the main control ECU 40 calls the ADAS 30 to detect the surrounding environment of the vehicle.

[0085] In some embodiments, a prompt message may be displayed in the first pop-up window to remind the user of the precautions of the drift mode. The displayed prompt message may specifically include: suggestions for using various functions, and suggestions to warn the driver not to turn on the function on public roads.

[0086] In the above method, the confirmation button in the first pop-up window displayed is grayed out so that the user cannot click the confirmation button. The vehicle's surrounding environment is detected during the period when the button is grayed out. This can prohibit the vehicle from turning on the drift mode if the vehicle's surrounding environment is not detected to meet the preset conditions. This avoids safety accidents caused by the user driving the vehicle to drift after the vehicle turns on the drift mode when the preset conditions are not met, thereby improving the safety of vehicle drifting.

[0087] In one possible implementation, detecting the surrounding environment of the vehicle includes: determining whether there are obstacles within a second preset range around the vehicle; if there are no obstacles within the second preset range, determining whether the vehicle is currently on a public road; if it is determined that the vehicle is not currently on a public road, determining that the surrounding environment of the vehicle meets preset conditions.

[0088] The second preset range is set in advance, and the second range can generally be a circular area with the vehicle as the center and the preset distance as the radius. Obstacles can be any object that may affect the safe driving of the vehicle, including other vehicles other than the vehicle, pedestrians, roadblocks, buildings, trees, electric poles, etc.

[0089] Specifically, during the period when the pop-up window is grayed out, the main control ECU 40 in the vehicle can call the ADAS 30, and use the visual system and / or radar system included in the ADAS 30 to scan the vehicle's surrounding environment to detect whether there are obstacles within a second preset range around the vehicle.

[0090] Exemplarily, the second preset range is within 100 meters around the vehicle, and the visual system and / or radar system can scan the surrounding environment of the vehicle to detect whether there are other vehicles, pedestrians, roadblocks, buildings, trees, and electric poles within 100 meters around the vehicle. When it is determined that any one or more of other vehicles, pedestrians, roadblocks, buildings, trees, and electric poles exist within 100 meters around the vehicle, it is determined that there are obstacles within the second preset range around the vehicle. When it is determined that no other vehicles, pedestrians, roadblocks, buildings, trees, and electric poles exist within 100 meters around the vehicle, it is determined that no obstacles exist within the second preset range around the vehicle.

[0091] After determining that there are no obstacles within the second preset range around the vehicle, the current position of the vehicle can be obtained, and the high-precision map in the vehicle can be called to confirm the current position of the vehicle to determine whether the vehicle is currently on a public road. Among them, a public road refers to a road used by the public, and other vehicles or pedestrians usually pass by on the public road.

[0092] It is understandable that if it is determined that there are no obstacles within the second preset range around the vehicle, it indicates that the current site of the vehicle is relatively open and can meet the requirements of vehicle drifting. If it is determined that the vehicle is not currently on a public road, it indicates that the current site of the vehicle is a professional site, and there will be no other vehicles or pedestrians in the site, which can meet the requirements of vehicle drifting. Therefore, when it is determined that there are no obstacles within the second preset range around the vehicle and the vehicle is not currently on a public road, it can be determined that the vehicle meets the preset conditions for starting the drift mode.

[0093] In the above method, by judging that there are no obstacles within the second preset range around the vehicle and the vehicle is not currently on a public road, it is determined that the vehicle meets the preset conditions for starting the drift mode, so that the use scenario of the drift mode is limited to professional scenarios where there are no obstacles within the second preset range around the vehicle and the vehicle is not currently on a public road, so that the vehicle can drift only in professional scenarios, thereby improving the safety of vehicle drifting. If the vehicle starts the drift mode in a scenario where there are obstacles on a public road or in the second preset range, it may cause danger to other road users or a risk of collision.

[0094] In one possible implementation, when the surrounding environment of the vehicle meets the preset conditions for starting the drift mode, the drift mode is turned on, including: when the surrounding environment of the vehicle meets the preset conditions for starting the drift mode, the confirmation button is lit; while the confirmation button is lit, if it is detected that the user clicks the confirmation button, the drift mode of the vehicle is turned on.

[0095] As in the above embodiment, when it is determined that there are no obstacles within the second preset range around the vehicle and the vehicle is not currently on a public road, it is determined that the vehicle meets the preset conditions for starting the drift mode. At this time, the grayed-out confirmation button in the first pop-up window is lit.

[0096] Specifically, after determining that the vehicle meets the preset conditions for starting the drift mode, the main control ECU 40 sends an affirmative instruction to the HMI 20. After receiving the affirmative instruction, the HMI 20 lights up the confirmation button on the large screen of the vehicle, and the user can operate the confirmation button at this time.

[0097] It can be understood that determining that the vehicle meets the preset conditions for turning on the drift mode indicates that the vehicle can currently turn on the drift mode. At this time, the grayed-out OK button in the first pop-up window is illuminated so that the user can turn on the vehicle's drift mode by clicking the OK button.

[0098] While the OK button is lit, the HMI 20 can detect in real time whether the user clicks the OK button. If the user clicks the OK button while the OK button is lit, it is determined that the user confirms to start the drift mode of the vehicle, and the drift mode of the vehicle is started.

[0099] In some embodiments, if the HMI 20 detects that the user clicks the cancel button in the first pop-up window while the confirmation button is lit, the drift mode is not enabled and the first pop-up window displayed on the large screen of the vehicle is closed.

[0100] In one possible implementation, the method further includes: when it is determined that there is an obstacle within the second preset range, determining that the surrounding environment of the vehicle does not meet the preset conditions, displaying a second pop-up window to prompt the user to move the vehicle to an obstacle-free environment to activate drift mode.

[0101] It is understandable that when it is determined that there are obstacles within the second preset range around the vehicle, it indicates that the current location of the vehicle is not spacious enough. The vehicle is prone to collide with obstacles during drifting, causing safety accidents. At this time, it is determined that the vehicle does not meet the preset conditions for starting the drift mode.

[0102] When it is determined that the vehicle does not meet the preset conditions for starting the drift mode due to the presence of obstacles within the second preset range around the vehicle, the main control ECU 40 can send a first instruction to the HMI 20 indicating that the vehicle does not meet the preset conditions for starting the drift mode. After receiving the first instruction, the HMI 20 can close the first pop-up window displayed on the large screen of the vehicle and display the second pop-up window. The second pop-up window includes prompt information, and the prompt information is used to remind the user that the vehicle needs to be moved to an obstacle-free environment before the drift mode can be started.

[0103] In some embodiments, the second pop-up window is further provided with an exit button and a re-detect surrounding environment button, and the HMI 20 can detect in real time whether the user clicks the exit button or the re-detect surrounding environment button in the second pop-up window. If it is detected that the user clicks the exit button, the drift mode is exited and the second pop-up window displayed on the large screen of the vehicle is closed. If it is detected that the user clicks the re-detect surrounding environment button, the second pop-up window is closed, the first pop-up window is redisplayed, and the vehicle is tested again while the confirmation button of the first pop-up window is grayed out.

[0104] In one possible implementation, the method further includes: when it is determined that the vehicle is currently on a public road, determining that the surrounding environment of the vehicle does not meet preset conditions, displaying a third pop-up window to prompt the user to move the vehicle to a professional venue to activate drift mode.

[0105] It is understandable that when it is determined that the vehicle is currently on a public road, it indicates that the location where the vehicle is currently located is not a professional location, and other vehicles or pedestrians may suddenly appear in the location. The drifting of the vehicle in the location may easily cause the vehicle to collide with other vehicles or pedestrians, causing a safety accident. At this time, it is determined that the vehicle does not meet the preset conditions for starting the drift mode.

[0106] When it is determined that the vehicle does not meet the preset conditions for starting the drift mode because the vehicle is currently on a public road, the main control ECU 40 can send a second instruction to the HMI 20 indicating that the vehicle does not meet the preset conditions for starting the drift mode. After receiving the second instruction, the HMI 20 closes the first pop-up window displayed on the large screen of the vehicle and displays a third pop-up window. The third pop-up window includes prompt information, and the prompt information is used to remind the user that the vehicle needs to be moved to a professional venue before the drift mode can be started.

[0107] In some embodiments, the third pop-up window may also be provided with an exit button and a re-detect surrounding environment button, and the HMI 20 may detect in real time whether the user clicks the exit button or the re-detect surrounding environment button in the third pop-up window. If it is detected that the user clicks the exit button, the drift mode is exited and the third pop-up window displayed on the large screen of the vehicle is closed. If it is detected that the user clicks the re-detect surrounding environment button, the third pop-up window is closed, the first pop-up window is redisplayed, and the vehicle is tested again while the confirmation button of the first pop-up window is grayed out.

[0108] In the above method, when it is determined that the vehicle does not meet the preset conditions for starting the drift mode due to the presence of obstacles within the second preset range around the vehicle, a second pop-up window is displayed to prompt the user to move the vehicle to an obstacle-free environment to start the drift mode. When it is determined that the vehicle does not meet the preset conditions for starting the drift mode due to the vehicle being currently on a public road, a third pop-up window is displayed to prompt the user to move the vehicle to a professional venue to start the drift mode. This allows the user to promptly understand the reason why the vehicle cannot start the drift mode, and provides suggestions to the user so that the user can move the vehicle based on the suggestions and start the drift mode, thereby improving the user's car experience.

[0109] In step 202, the environmental data collected in real time by the intelligent assisted driving system may include: image data around the vehicle, lidar data around the vehicle, ultrasonic data around the vehicle, etc.

[0110] like Figure 1As shown, during the vehicle drifting process, the main control ECU 40 of the vehicle can obtain environmental data such as vehicle surrounding image data, vehicle surrounding laser radar data, vehicle surrounding ultrasonic data, etc. collected by various sensors included in the ADAS 30 from the ADAS 30 in real time.

[0111] In step 203, after the main control ECU 40 of the vehicle obtains the environmental data around the vehicle during the drifting process, it can determine whether the vehicle has a collision risk based on the environmental data.

[0112] In one possible implementation, determining whether the vehicle is at risk of collision based on environmental data includes: judging whether there is an obstacle within a first preset range around the vehicle based on the environmental data; determining the original drift trajectory of the vehicle when it is determined that there is an obstacle within the first preset range; and determining that the vehicle is at risk of collision when the original drift trajectory intersects with the obstacle.

[0113] The first preset range is set in advance, and the first preset range is less than or equal to the second preset range. The first preset range is similar to the second preset range and can also be a circular area. The obstacles detected during drifting can be some large obstacles, such as other vehicles, pedestrians, buildings, etc.

[0114] It is understandable that when there are obstacles around the vehicle, the vehicle may collide with the obstacles during drifting, resulting in a collision risk for the vehicle. Therefore, based on the environmental data, it can be determined whether there are obstacles within the first preset range around the vehicle, and a preliminary determination can be made whether the vehicle has a collision risk.

[0115] Exemplarily, the first preset range is within 50 meters around the vehicle. After the main control ECU 40 obtains the environmental data around the vehicle during the drifting process from the ADAS 30, it determines whether there are other vehicles, pedestrians, buildings and other large obstacles within 50 meters around the vehicle based on the environmental data. When it is determined that there are any other vehicles, pedestrians, and buildings within 50 meters around the vehicle, it is determined that there are obstacles within the first preset range around the vehicle.

[0116] In some embodiments, ADAS 30 may also determine whether there are other large obstacles such as other vehicles, pedestrians, and buildings within a 50m range around the vehicle based on the environmental data acquired by each sensor. When ADAS 30 determines that there are any other vehicles, pedestrians, and buildings within a 50m range around the vehicle, it determines that there is an obstacle within the first preset range around the vehicle. At this time, ADAS 30 sends a command indicating the existence of an obstacle to the main control ECU 40, and the main control ECU 40 determines that there is an obstacle within the first preset range around the vehicle based on the received command.

[0117] When it is determined that there are obstacles within the first preset range around the vehicle, it is preliminarily determined that the vehicle may be at risk of collision, and the original drift trajectory of the vehicle is determined. Specifically, the acceleration information and speed information of the vehicle can be obtained, and the acceleration information and speed information can be input into the kinematic model to determine the original drift trajectory of the vehicle. The kinematic model can describe the motion state of the vehicle under different accelerations and speeds, including the position, speed, acceleration and direction of the vehicle.

[0118] After obtaining the original drift trajectory of the vehicle, it is determined whether the original drift trajectory intersects with the position of the obstacle. When it is determined that the original drift trajectory intersects with the position of the obstacle, it is determined that the vehicle has a collision risk. When it is determined that the original drift trajectory does not intersect with the position of the obstacle, it is determined that the vehicle does not have a collision risk.

[0119] In the above method, when it is determined that there is an obstacle within the first preset range around the vehicle, it is preliminarily determined that the vehicle may be at risk of collision, and then the original drift trajectory of the vehicle is determined. By judging whether the obstacle intersects with the original drift trajectory, it is determined whether the vehicle is at risk of collision. The potential collision risk during the vehicle drifting process can be discovered in a timely and accurate manner, which facilitates the subsequent assisted driving control of the vehicle in advance for the existing collision risk, helping the vehicle to avoid the collision risk in advance and improving the safety of vehicle drifting.

[0120] In step 204, when it is determined that the vehicle is at risk of collision, it is proved that the drift trajectory at this time is not safe enough. At this time, it is necessary to perform assisted driving control on the vehicle to change the drift trajectory of the vehicle to avoid obstacles or control the vehicle to stop, so as to avoid the collision risk and ensure the safety of vehicle drifting.

[0121] In a possible implementation, the collision risk is a collision risk between the vehicle and an obstacle. In step 204, when the vehicle has a collision risk, auxiliary driving control is performed on the vehicle, which specifically includes the following S21 to S23:

[0122] S21, obtaining the current vehicle speed, yaw angle, and distance between the vehicle and the obstacle.

[0123] The vehicle can obtain the current speed of the vehicle through the speed sensor installed on the vehicle, and obtain the yaw angle of the vehicle through the yaw angle sensor installed on the vehicle. The yaw angle is the lateral deviation angle of the vehicle. The vehicle can obtain the distance between the vehicle and the obstacle through the distance sensor installed on the vehicle.

[0124] S22, determining the risk level based on the current vehicle speed, yaw angle and distance.

[0125] Among them, the risk level is the risk level of the collision risk detected for the vehicle. The risk level can be divided in advance. In the embodiment of the present application, the divided risk levels include: low risk, medium risk and high risk as an example for explanation.

[0126] Low risk indicates that the vehicle is currently at risk of collision, but the urgency and danger of the collision are low; medium risk is used to indicate that the urgency and danger of the collision are high, both higher than low risk; high risk is used to indicate that the urgency and danger of the collision are the highest, both higher than medium risk.

[0127] It can be understood that the greater the current speed of the vehicle, the higher the risk level of the collision risk; the greater the yaw angle of the vehicle, the higher the risk level of the collision risk; and the smaller the distance between the vehicle and the obstacle, the higher the risk level of the collision risk. Therefore, the risk level can be determined based on the current speed, yaw angle and distance.

[0128] In one possible implementation, S22, based on the current vehicle speed, yaw angle and distance, determines the risk level, including: when it is determined that the current vehicle speed is greater than the preset speed and the distance is greater than or equal to the preset distance, determines the risk level to be low risk; when it is determined that the current vehicle speed is greater than the preset speed, the distance is less than the preset distance and the yaw angle is less than or equal to the preset yaw angle, determines the risk level to be medium risk; when it is determined that the current vehicle speed is greater than the preset speed, the distance is less than the preset distance and the yaw angle is greater than the preset yaw angle, determines the risk level to be high risk.

[0129] Among them, the preset vehicle speed, preset distance, and preset yaw angle refer to the preset speed, preset distance, and preset yaw angle according to the safety and comfort requirements of the vehicle during the vehicle drifting process. The embodiment of the present application does not limit the size of the preset vehicle speed, preset distance, and preset yaw angle.

[0130] After obtaining the current vehicle speed, yaw angle and distance, first determine whether the current vehicle speed is greater than the preset vehicle speed. If the current vehicle speed is greater than the preset vehicle speed, it can be determined that the risk level of the collision risk is the lowest, which is low risk. At this time, determine whether the distance between the vehicle and the obstacle is less than the preset distance. If it is determined that the distance between the vehicle and the obstacle is greater than or equal to the preset distance, the risk level of the collision risk is determined to be low risk.

[0131] It can be understood that if the current speed of the vehicle is greater than the preset speed, it indicates that the vehicle is at risk of collision; in this case, if it is determined that the distance between the vehicle and the obstacle is greater than or equal to the preset distance, it means that the vehicle is far away from the obstacle at this time, and there is a higher probability that the vehicle can be controlled to avoid the obstacle. Therefore, the risk level of the collision risk is determined to be low risk.

[0132] Exemplarily, the preset vehicle speed is 60km / h, the preset distance is 30m, and the preset yaw angle is 15 degrees. Assuming that the current vehicle speed is 80km / h, and the distance between the vehicle and the obstacle is 50m, the current vehicle speed of 80km / h is greater than the preset speed of 60km / h, and the distance of 50m is greater than the preset distance of 30m, the level of collision risk is determined to be low risk.

[0133] When it is determined that the current vehicle speed is greater than the preset vehicle speed and the distance between the vehicle and the obstacle is less than the preset distance, it can be determined that the risk level of the collision risk is the lowest, which is medium risk. At this time, it is determined whether the yaw angle is greater than the preset yaw angle. When the yaw angle is less than or equal to the preset yaw angle, the risk level of the collision risk is determined to be medium risk.

[0134] It can be understood that if the current speed of the vehicle is greater than the preset speed, it indicates that the vehicle is at risk of collision; in this case, if it is determined that the distance between the vehicle and the obstacle is less than the preset distance, it indicates that the vehicle is close to the obstacle at this time; and the yaw angle is less than the preset yaw angle, it indicates that the vehicle is relatively stable at present. At this time, there is a medium probability that the vehicle can be controlled to avoid the obstacle, so the risk level of the collision risk is determined to be medium risk.

[0135] Exemplarily, the preset vehicle speed is 60 km / h, the preset distance is 30 m, and the preset yaw angle is 15 degrees. Assume that the current vehicle speed is 80 km / h, the distance between the vehicle and the obstacle is 20 m, and the yaw angle is 6 degrees. The current vehicle speed of 80 km / h is greater than the preset speed of 60 km / h, the distance of 20 m is less than the preset distance of 30 m, and the yaw angle of 6 degrees is less than the preset yaw angle of 15 degrees. At this time, the level of collision risk is determined to be medium risk.

[0136] When it is determined that the current vehicle speed is greater than the preset vehicle speed and the distance between the vehicle and the obstacle is less than the preset distance, if it is determined whether the yaw angle is greater than the preset yaw angle, the risk level of the collision risk is determined to be high risk.

[0137] It can be understood that when the current speed of the vehicle is greater than the preset speed, the distance between the vehicle and the obstacle is less than the preset distance, and the yaw angle is greater than the preset yaw angle, it indicates that the vehicle is traveling at a fast speed and close to the obstacle, and the vehicle is not stable enough. At this time, there is only a small probability that the vehicle can be controlled to avoid the obstacle. Therefore, the risk level of the collision risk is determined to be high.

[0138] Exemplarily, the preset vehicle speed is 60 km / h, the preset distance is 30 m, and the preset yaw angle is 15 degrees. Assuming that the current vehicle speed is 80 km / h, the distance between the vehicle and the obstacle is 20 m, and the yaw angle is 20 degrees, the current vehicle speed of 80 km / h is greater than the preset speed of 60 km / h, the distance of 20 m is less than the preset distance of 30 m, and the yaw angle of 20 degrees is greater than the preset yaw angle of 15 degrees, the level of collision risk is determined to be high risk.

[0139] In the above method, the current vehicle speed, yaw angle, and distance between the vehicle and the obstacle can reflect the risk level of a collision event from three different angles. The greater the current vehicle speed, the higher the risk level of the collision risk. The greater the yaw angle of the vehicle, the higher the risk level of the collision risk. The smaller the distance between the vehicle and the obstacle, the higher the risk level of the collision risk. Through the current vehicle speed, yaw angle, and distance between the vehicle and the obstacle, multiple aspects can be considered to accurately, efficiently, and actually determine the risk level of the current collision risk of the vehicle.

[0140] S23: Perform assisted driving control on the vehicle based on an assisted driving strategy corresponding to the risk level.

[0141] It can be understood that each risk level corresponds to a corresponding assisted driving strategy. After the risk level is determined, the vehicle can be assisted in driving control based on the assisted driving strategy corresponding to the determined risk level to avoid collision between the vehicle and obstacles during drifting.

[0142] In the above method, by determining the risk level and performing assisted driving control on the vehicle based on the assisted driving strategy corresponding to the risk level, it is possible to accurately control the vehicle to avoid the current collision risk.

[0143] In one possible implementation, the risk levels include: low risk, medium risk and high risk. S23, based on the assisted driving strategy corresponding to the risk level, assisted driving control is performed on the vehicle, including: when the risk level is determined to be low risk, steering control is performed on the vehicle based on the assisted steering control strategy; or, power regulation is performed on the vehicle based on the assisted power control strategy; when the risk level is determined to be medium risk, steering control and power regulation are performed on the vehicle based on the assisted steering control strategy and the auxiliary power control strategy; when the risk level is determined to be high risk, braking control is performed on the vehicle based on the assisted braking control strategy.

[0144] The assisted driving strategy may include: an assisted steering control strategy, an assisted power control strategy, a hybrid control strategy obtained by combining the assisted steering control strategy and the assisted power control strategy, and an assisted braking control strategy.

[0145] Among them, the auxiliary steering control strategy is used to adjust the steering angle of the vehicle when it is determined that the original drift trajectory of the vehicle intersects with an obstacle, so as to adjust the drift trajectory of the vehicle so that the adjusted new drift trajectory does not intersect with the obstacle.

[0146] The auxiliary power control strategy is used to adjust the distribution ratio of the power torque between the front and rear axles of the vehicle when it is determined that the original drift trajectory of the vehicle intersects with an obstacle, so as to adjust the drift trajectory of the vehicle so that the adjusted new drift trajectory does not intersect with the obstacle.

[0147] The hybrid control strategy is used to adjust the steering angle of the vehicle when it is determined that the original drift trajectory of the vehicle intersects with an obstacle, and at the same time adjust the distribution ratio of the power torque between the front and rear axles of the vehicle to adjust the drift trajectory of the vehicle so that the adjusted new drift trajectory does not intersect with the obstacle.

[0148] The braking control strategy is used to call the braking control system to start braking control on the vehicle when it is determined that the original drift trajectory of the vehicle intersects with an obstacle, so that the vehicle stops smoothly to avoid collision between the vehicle and the obstacle.

[0149] Under low risk, the vehicle can usually be controlled to change the drift trajectory based on the auxiliary steering control strategy or the auxiliary power control strategy, so that the vehicle can drift around obstacles; under medium risk, the vehicle can usually be controlled to change the drift trajectory based on the hybrid control strategy, so that the vehicle can drift around obstacles; under high risk, for safety, the vehicle is usually directly braked to stop before hitting the obstacle. Therefore, the mapping relationship between the risk level and the auxiliary driving strategy can be set in advance: low risk corresponds to the auxiliary steering control strategy or the auxiliary power control strategy; medium risk corresponds to the hybrid control strategy obtained by combining the auxiliary steering control strategy and the auxiliary power control strategy; high risk corresponds to the auxiliary braking control strategy.

[0150] Based on the above mapping relationship, when the risk level is determined to be low risk, the vehicle can be steered based on the auxiliary steering control strategy corresponding to low risk; or the vehicle can be powered based on the auxiliary power control strategy corresponding to low risk. When the risk level is determined to be medium risk, the vehicle can be steered and powered based on the hybrid strategy corresponding to medium risk; when the risk level is determined to be high risk, the vehicle can be braked based on the auxiliary braking control strategy.

[0151] In some embodiments, the risk level may also be used to exclude assisted driving strategies with poor effects at the risk level from multiple assisted driving strategies, and to determine the priority levels of the remaining assisted driving strategies.

[0152] For example, it is not excluded when the risk is low, and the auxiliary steering control strategy or the auxiliary power control strategy is determined to be prioritized, followed by the hybrid control strategy, and the auxiliary braking control strategy has the lowest priority. When it is determined that the current risk is low, first determine whether the new drift trajectory of the vehicle can be made non-intersecting with obstacles after the vehicle is controlled based on the auxiliary steering control strategy or the auxiliary power control strategy. If the new drift trajectory of the vehicle can be made non-intersecting with obstacles, the vehicle is controlled based on the auxiliary steering control strategy or the auxiliary power control strategy. If not, determine whether the new drift trajectory of the vehicle can be made non-intersecting with obstacles after the vehicle is controlled based on the hybrid control strategy. If so, the vehicle is controlled based on the hybrid control strategy, and if not, the vehicle is controlled based on the braking control strategy.

[0153] When the risk is medium, the auxiliary steering control strategy and the auxiliary power control strategy are excluded, and the hybrid control strategy is determined to be the priority, followed by the auxiliary braking control strategy. When it is determined that the current risk is medium, first determine whether the new drift trajectory of the vehicle will not intersect with the obstacle after the vehicle is controlled based on the hybrid control strategy. If it can, the vehicle is controlled based on the hybrid control strategy, and if not, the vehicle is controlled based on the braking control strategy.

[0154] When the risk is high, the auxiliary steering control strategy, auxiliary power control strategy and hybrid control strategy are excluded, and the auxiliary braking control strategy is given priority. When it is determined that the current risk is high, the vehicle is directly controlled based on the braking control strategy.

[0155] In some embodiments, the risk level may also be determined. When it is determined that there is a collision risk, it is first determined whether the new drift trajectory of the vehicle can be made non-intersecting with the obstacle after the vehicle is controlled based on the auxiliary steering control strategy or the auxiliary power control strategy. If the new drift trajectory of the vehicle can be made non-intersecting with the obstacle, the vehicle is controlled based on the auxiliary steering control strategy or the auxiliary power control strategy. If not, it is determined whether the new drift trajectory of the vehicle can be made non-intersecting with the obstacle after the vehicle is controlled based on the hybrid control strategy. If so, the vehicle is controlled based on the hybrid control strategy, and if not, the vehicle is controlled based on the braking control strategy.

[0156] In the above method, different assisted driving strategies are used to control the vehicle at different risk levels. Specifically, under low risk, the vehicle drift trajectory is changed based on the assisted steering control strategy or the assisted power control strategy, so that the vehicle can drift while bypassing obstacles; under medium risk, the vehicle drift trajectory is changed based on the hybrid control strategy, so that the vehicle can drift while bypassing obstacles; under high risk, for safety, the vehicle is directly braked based on the assisted braking control strategy to stop the vehicle before hitting the obstacle, thereby avoiding the risk of collision during the vehicle drifting and ensuring that the vehicle completes the drift as much as possible, ensuring user safety while improving user experience.

[0157] In one possible implementation, the vehicle is steered based on an auxiliary steering control strategy, including: determining whether there is a target turning angle within a preset turning angle range, so that after the vehicle is steered based on the target turning angle, the new drift trajectory of the vehicle does not intersect with the obstacle; and when it is determined that there is a target turning angle, the vehicle is steered based on the target turning angle.

[0158] Among them, the preset turning angle range is the turning angle range within which the intelligent assisted driving system can correct the vehicle steering in the drift mode set in advance, which is usually in the range of ±5°, including ±5°.

[0159] If the vehicle is to be steered based on the auxiliary steering control strategy, it is necessary to first determine whether there is a target angle within the preset angle range, so that after the vehicle is steered based on the target angle, the drift trajectory of the vehicle is changed, and the changed new drift trajectory no longer intersects with the obstacle. The new drift trajectory of the vehicle no longer intersects with the obstacle, that is, after the steering control, the vehicle does not collide with the obstacle, and the vehicle bypasses the obstacle during the drift process.

[0160] It is usually possible to determine whether the maximum turning angle within the preset turning angle range is the target turning angle. Specifically, the new drift trajectory of the vehicle after turning the vehicle at the maximum turning angle (for example, +5°) can be predicted. It is determined whether the new drift trajectory intersects with the obstacle. If it is determined that the new drift trajectory no longer intersects with the obstacle, the maximum turning angle is determined to be the target turning angle, that is, it is determined that the target turning angle exists within the preset turning angle range. At this time, the vehicle steering is controlled based on the target turning angle (i.e., the maximum turning angle +5°).

[0161] In some embodiments, it is also possible to determine whether the minimum angle within the preset angle range is the target angle. The determination process is the same as in the above embodiment and will not be repeated here.

[0162] In some embodiments, a preset angle may be set within a preset angle range, for example, 2°, to obtain multiple angles of +5°, +3°, +1°, -1°, -3°, and -5°. For each obtained angle, a new drift trajectory of the vehicle after the vehicle is turned based on the angle is predicted to determine whether the new drift trajectory intersects with an obstacle. In this way, it is determined whether the angle is a target angle, and when it is determined that the new drift trajectory does not intersect with the obstacle, the angle is determined to be the target angle.

[0163] In some embodiments, when it is determined that there are multiple target angles, any one of the multiple target angles can be selected to control the steering of the vehicle, or the average of the multiple target angles or the minimum angle among the target angles can be taken as the target angle to control the steering of the vehicle.

[0164] In one possible implementation, assisted driving control is performed on the vehicle based on an auxiliary power control strategy, including: for the total power torque currently output by the vehicle, determining whether there is a target distribution ratio, so that the vehicle distributes the total power torque to the front and rear axles of the vehicle based on the target distribution ratio, and the new drift trajectory of the vehicle does not intersect with obstacles; and when it is determined that there is a target distribution ratio, distributing the total power torque to the front and rear axles of the vehicle based on the target distribution ratio.

[0165] It can be understood that during vehicle drifting, the total power torque output by the vehicle power control system is distributed to the front and rear axles of the vehicle in a certain proportion, allowing the vehicle to complete drifting.

[0166] If the vehicle is to be powered based on the auxiliary power control strategy, it is necessary to first determine whether there is a target distribution ratio for the total power torque currently output by the vehicle power control system, so that after the vehicle distributes the total power torque to the front and rear axles based on the target distribution ratio, the drift trajectory of the vehicle is changed, and the changed new drift trajectory no longer intersects with the obstacle. The new drift trajectory of the vehicle no longer intersects with the obstacle, that is, after the power adjustment, the vehicle does not collide with the obstacle, and the vehicle bypasses the obstacle during the drift process.

[0167] Usually, the target allocation ratio can be determined by increasing the allocation ratio to the front axle of the vehicle based on the existing allocation ratio. For example, the allocation ratio to the front axle of the vehicle can be increased at a preset ratio interval based on the existing allocation ratio to obtain multiple allocation ratios, and it is predicted whether the new drift trajectory of the vehicle intersects with the obstacle after adjusting the power torque of the front axle and the rear axle of the vehicle based on each of the multiple allocation ratios, so as to determine whether the allocation ratio is the target allocation ratio.

[0168] After determining that the power torque of the front axle and the rear axle of the vehicle is adjusted based on a certain distribution ratio, when the new drift trajectory of the vehicle does not intersect with the obstacle, the distribution ratio is determined to be the target distribution ratio, that is, it is determined that the target distribution ratio exists. At this time, the total power torque is distributed to the front axle and the rear axle of the vehicle based on the target distribution ratio to achieve the power torque adjustment of the front axle and the rear axle of the vehicle.

[0169] Exemplarily, the current distribution ratio of the total power torque output to the front and rear axles of the vehicle is: front axle: rear axle = 4:6, and the preset ratio interval is 2. Then, multiple distribution ratios of 6:4, 8:2, and 10:0 can be determined, and the new drift trajectory of the vehicle after the total power torque is distributed to the front and rear axles of the vehicle based on the distribution ratios of 6:4, 8:2, and 10:0, respectively, is predicted to determine whether the new drift trajectory intersects with obstacles.

[0170] For example, the new drift trajectory predicted based on the allocation ratio of 6:4 is trajectory 1, the new drift trajectory predicted based on the allocation ratio of 8:2 is trajectory 2, and the new drift trajectory predicted based on the allocation ratio of 10:0 is trajectory 3. Assuming that trajectory 2 does not intersect with the obstacle, the target allocation ratio is determined to be 8:2. Assuming the total power torque is A, based on the target allocation ratio of 8:2, the power torque of the front axle is adjusted from 0.4A to 0.8A, and the power torque of the rear axle is adjusted from 0.6A to 0.2A.

[0171] Figure 3 It is a schematic flowchart of a method for starting the drift mode provided in an embodiment of the present application.

[0172] For example, Figure 3 As shown, the method includes:

[0173] Step 301, detecting that a user clicks a drift mode switch;

[0174] Step 302, check whether the vehicle is in a normal state; if so, execute step 304, otherwise execute step 303;

[0175] Step 303, displaying a pop-up window to prompt that the function is abnormal;

[0176] It is understandable that when the vehicle is not in normal condition, the vehicle cannot complete the drift, and the drift mode is not turned on. A target pop-up window is displayed to prompt the user of the abnormal function, so that the user can repair the vehicle in time.

[0177] Step 304, displaying a first pop-up window to remind you of drift precautions, and graying out the confirmation button;

[0178] Among them, the user can be prompted with drift precautions based on the prompt information, and the content of the displayed prompt information may specifically include: suggestions for the use of various functions, and suggestions to warn the driver not to turn on the function on public roads.

[0179] Step 305, determine whether there is an obstacle within 100m around the vehicle; if yes, execute step 306, if not, execute step 307;

[0180] Among them, 100m is the above-mentioned second preset range.

[0181] Step 306, displaying a second pop-up window prompting to go to an open environment to turn on the drift mode;

[0182] The open environment refers to the above-mentioned obstacle-free environment.

[0183] Step 307, determine whether the vehicle is currently on a public road; if yes, execute step 308, if no, execute step 309;

[0184] Specifically, the current position of the vehicle can be obtained, and based on the high-precision map in the vehicle, it can be determined whether the current position of the vehicle is a public road.

[0185] Step 308, displaying a third pop-up window prompting to go to a professional venue to start the drift mode;

[0186] Step 309, light up the confirmation button in the first pop-up window;

[0187] Step 310: Detect that the user clicks the OK button and enter the drift mode.

[0188] In some embodiments, the first pop-up window also includes a cancel button. When it is detected that the user clicks the cancel button, the vehicle exits the step of turning on the drift mode and closes the first pop-up window.

[0189] Figure 4 It is a schematic flowchart of another method for controlling a vehicle provided in an embodiment of the present application.

[0190] For example, Figure 4 As shown, the method 400 includes:

[0191] Step 401, continuously calling the ADAS system to obtain vehicle surrounding environment information;

[0192] Step 402, determine whether there is an obstacle within 50m around the vehicle; if so, execute step 403, if not, execute step 401;

[0193] Among them, 50m is the above-mentioned first preset range. During the vehicle drifting process, the surrounding environment information is obtained in real time to continuously determine whether there are obstacles within 50m around the vehicle.

[0194] Step 403, determining the original drift trajectory of the vehicle;

[0195] Step 404, determine whether the original drift trajectory intersects with the obstacle; if so, execute step 405, if not, execute step 401;

[0196] Specifically, when it is determined that there is an obstacle within 50 meters around the vehicle, the acceleration information and speed information of the vehicle can be obtained, and the acceleration information and speed information can be input into the kinematic model to determine the original drift trajectory of the vehicle.

[0197] In some embodiments, before determining whether the original drift trajectory intersects with an obstacle, it may be determined whether the original drift trajectory and the obstacle have the same direction. If the directions are the same, it is determined whether the original drift trajectory and the obstacle intersect.

[0198] When it is determined that the original drift trajectory intersects with an obstacle, it is determined that the vehicle may be at risk of collision, and when it is determined that the original drift trajectory does not intersect with a large obstacle, it is determined that the vehicle does not have a collision risk.

[0199] Step 405, determine whether the current speed of the vehicle is greater than V; if so, execute step 406, if not, execute step 404;

[0200] Wherein, V is the above-mentioned preset speed. Suppose V is 30km / h, and the current speed of the vehicle is 40km / h. 40km / h is greater than 30km / h. At this time, it is determined that the current speed of the vehicle is greater than V. Suppose the current speed of the vehicle is 20km / h. 20km / h is less than 30km / h. At this time, it is determined that the current speed of the vehicle is less than V.

[0201] When it is determined that the current vehicle speed is greater than V, it is determined that the vehicle is at risk of collision. When the vehicle speed is less than or equal to V, it is determined that there is no risk at present.

[0202] Step 406, determine whether the distance between the vehicle and the obstacle is less than D; if so, execute step 408, if not, execute step 407;

[0203] Wherein, D is the preset distance, which is set to 20m, and the distance between the vehicle and the obstacle is the straight-line distance between the vehicle and the obstacle. If the straight-line distance between the vehicle and the obstacle is 30m, it is determined that the distance between the vehicle and the obstacle is greater than D. If the straight-line distance between the vehicle and the obstacle is 10m, it is determined that the distance between the vehicle and the obstacle is less than D.

[0204] When it is determined that the current vehicle speed is greater than V and the distance between the vehicle and the obstacle is greater than or equal to D, the risk level of the collision risk is determined to be low risk, and step 407 is executed. When it is determined that the current vehicle speed is greater than V and the distance between the vehicle and the obstacle is less than D, the risk level of the collision risk is determined to be higher, and step 408 needs to be executed for further judgment.

[0205] Step 407, performing steering control or power regulation on the vehicle;

[0206] Step 408 , determining whether the yaw angle is greater than R; if so, executing step 410 , if not, executing step 409 .

[0207] Wherein, R is the above-mentioned preset yaw angle, which is set to 15°. Assuming the current yaw angle of the vehicle is 20°, 20°>15°, at this time, it is determined that the yaw angle is greater than R. Assuming the current yaw angle of the vehicle is 10°, 10°<15°, at this time, it is determined that the yaw angle is less than R.

[0208] When it is determined that the current vehicle speed is greater than V, the distance between the vehicle and the obstacle is less than D, and the yaw angle is less than or equal to R, the risk level of the collision risk is determined to be medium risk, and step 409 is executed. When it is determined that the current vehicle speed is greater than V, and the yaw angle is greater than R, the risk level of the collision risk is determined to be high risk, and step 410 is executed.

[0209] Step 409, performing hybrid control on the vehicle;

[0210] Among them, hybrid control is to control the steering of the vehicle while also adjusting the power of the vehicle.

[0211] The specific steps of steering control and power regulation of the vehicle may be, for example: determining a new drift trajectory for bypassing the obstacle based on the original drift trajectory of the vehicle and the position of the obstacle, and calculating the target turning angle and the target distribution ratio of the total power torque required for the vehicle to turn within a preset turning angle range based on the new drift trajectory. The vehicle steering is controlled based on the target turning angle, and the total power torque is distributed to the front and rear axles of the vehicle based on the target distribution ratio to perform power regulation, thereby realizing hybrid control of the vehicle.

[0212] Step 410, braking control is performed on the vehicle.

[0213] In some embodiments, after executing step 407 , the method further includes: step 411 , determining whether the current control is valid; if so, executing step 404 , if not, executing step 409 .

[0214] It is understandable that there is a situation where the new drift track of the vehicle still intersects with the obstacle after the vehicle is steered or powered (for example, the obstacle is a large obstacle). In this case, it is determined that the current control is invalid, and step 409 is executed to perform hybrid control on the vehicle. When the new drift track of the vehicle does not intersect with the obstacle, it is determined that the current control is valid, and step 404 is executed.

[0215] In some embodiments, after executing step 409 , the method further includes: step 412 , determining whether the current control is valid; if so, executing step 404 , if not, executing step 410 .

[0216] It is understandable that there is a situation where the new drift track of the vehicle still intersects with the obstacle (for example, the obstacle is a large obstacle) after the vehicle is subjected to the mixed control of the steering control and the power regulation. In this case, it is determined that the current control is invalid, and step 410 is executed to brake the vehicle. When the new drift track of the vehicle does not intersect with the obstacle, it is determined that the current control is valid, and step 404 is executed.

[0217] In summary, the present application activates the intelligent assisted driving system of the vehicle while the vehicle turns on the drift mode. The intelligent assisted driving system collects the environmental data around the vehicle in real time. When it is determined that there are obstacles within the first preset range around the vehicle, it is preliminarily determined that the vehicle may have a collision risk. Then, the original drift trajectory of the vehicle is determined. By judging whether the obstacle intersects with the original drift trajectory, it is determined whether the vehicle has a collision risk. The potential collision risk during the vehicle drift process can be discovered in a timely and accurate manner. By determining the risk level and performing assisted driving control on the vehicle based on the assisted driving strategy corresponding to the risk level, it is possible to accurately control the vehicle to avoid the current collision risk and improve the safety of vehicle drifting. In addition, the preset conditions that need to be met by the vehicle surrounding environment to turn on the drift mode are preset. After the vehicle is in normal condition and the vehicle surrounding environment meets the preset conditions, the drift mode of the vehicle is turned on, realizing the use scenario of the limited drift mode, further ensuring the safety of the user driving the vehicle to drift, and avoiding safety accidents caused by driving the vehicle drifting in scenarios that do not meet the preset conditions.

[0218] Figure 5 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0219] For example, Figure 5 As shown, the device 500 includes:

[0220] The activation module 501 is used to activate the intelligent assisted driving system of the vehicle when it is detected that the vehicle is in drift mode;

[0221] The acquisition module 502 is used to acquire the environmental data around the vehicle collected by the intelligent assisted driving system during the vehicle drifting process;

[0222] A determination module 503 is used to determine whether the vehicle has a collision risk based on the environmental data;

[0223] The control module 504 is used to perform auxiliary driving control on the vehicle when there is a risk of collision.

[0224] In one possible implementation, the determination module 503 is specifically used to determine whether there is an obstacle within a first preset range around the vehicle based on environmental data; when it is determined that there is an obstacle within the first preset range, determine the original drift trajectory of the vehicle; when the original drift trajectory intersects with the obstacle, determine that the vehicle is at risk of collision.

[0225] In one possible implementation, the collision risk is the collision risk between the vehicle and an obstacle, and the control module 504 is specifically used to obtain the current vehicle speed, yaw angle and distance between the vehicle and the obstacle; determine the risk level based on the current vehicle speed, yaw angle and distance; and perform assisted driving control on the vehicle based on the assisted driving strategy corresponding to the risk level.

[0226] In one possible implementation, the risk levels include: low risk, medium risk and high risk. The control module 504 is specifically used to, when the risk level is determined to be low risk, perform steering control on the vehicle based on an auxiliary steering control strategy; or, perform power regulation on the vehicle based on an auxiliary power control strategy; when the risk level is determined to be medium risk, perform steering control and power regulation on the vehicle based on a hybrid control strategy; wherein the hybrid control strategy is obtained by combining the auxiliary steering control strategy and the auxiliary power control strategy; when the risk level is determined to be high risk, perform braking control on the vehicle based on an auxiliary braking control strategy.

[0227] In one possible implementation, the control module 504 is specifically used to determine whether there is a target angle within a preset angle range, so that after the vehicle is steered based on the target angle, the new drift trajectory of the vehicle does not intersect with the obstacle; when it is determined that there is a target angle, the vehicle is steered based on the target angle.

[0228] In one possible implementation, the control module 504 is specifically used to determine whether there is a target distribution ratio for the total power torque currently output by the vehicle, so that after the vehicle distributes the total power torque to the front and rear axles of the vehicle based on the target distribution ratio, the new drift trajectory of the vehicle does not intersect with the obstacle; when it is determined that there is a target distribution ratio, the total power torque is distributed to the front and rear axles of the vehicle based on the target distribution ratio.

[0229] In one possible implementation, the control module 504 is specifically used to, when it is determined that the current vehicle speed is greater than the preset speed and the distance is greater than or equal to the preset distance, determine that the risk level is low risk; when it is determined that the current vehicle speed is greater than the preset speed, the distance is less than the preset distance, and the yaw angle is less than or equal to the preset yaw angle, determine that the risk level is medium risk; when it is determined that the current vehicle speed is greater than the preset speed, the distance is less than the preset distance, and the yaw angle is greater than the preset yaw angle, determine that the risk level is high risk.

[0230] In one possible implementation, the device also includes: a detection module, which is used to detect the whole vehicle state of the vehicle when receiving an activation instruction for activating the drift mode sent by the user; when the whole vehicle state is normal, detecting the surrounding environment of the vehicle; and an activation module, which is used to activate the drift mode when the surrounding environment of the vehicle meets the preset conditions for activating the drift mode.

[0231] In one possible implementation, the detection module is specifically used to display a first pop-up window when the entire vehicle is in normal condition; wherein the first pop-up window includes a confirmation button and a cancel button; the confirmation button is grayed out so that the user cannot click the confirmation button; while the confirmation button is grayed out, the surrounding environment of the vehicle is detected.

[0232] In one possible implementation, the activation module is specifically used to light up a confirmation button when the surrounding environment of the vehicle meets the preset conditions for turning on the drift mode; while the confirmation button is lit, if it is detected that the user clicks the confirmation button, the drift mode is turned on.

[0233] In one possible implementation, the detection module is specifically used to determine whether there are obstacles within a second preset range around the vehicle; if there are no obstacles within the second preset range, determine whether the vehicle is currently on a public road; if it is determined that the vehicle is not currently on a public road, determine whether the surrounding environment of the vehicle meets preset conditions.

[0234] In one possible implementation, the device also includes a prompt module, which is used to, when it is determined that there is an obstacle within the second preset range, determine that the surrounding environment of the vehicle does not meet the preset conditions, and display a second pop-up window to prompt the user to move the vehicle to an obstacle-free environment to activate the drift mode; when it is determined that the vehicle is currently on a public road, determine that the surrounding environment of the vehicle does not meet the preset conditions, and display a third pop-up window to prompt the user to move the vehicle to a professional venue to activate the drift mode.

[0235] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0236] For example, Figure 6 As shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 6011, and the processor 602 is used to call and execute the executable program code 6011 to perform a method for controlling a vehicle.

[0237] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a method for controlling a vehicle provided in an embodiment of the present application.

[0238] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0239] In the case of dividing each functional module according to each function, the device may also include an activation module, an acquisition module, a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0240] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0241] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0242] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0243] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0244] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0245] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling a vehicle provided in the above embodiment.

[0246] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0247] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0248] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0249] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that: The method comprises: When detecting that the vehicle is in drift mode, activating the intelligent assisted driving system of the vehicle; During the drifting of the vehicle, obtaining environmental data around the vehicle collected by the intelligent assisted driving system; Based on the environmental data, determining whether the vehicle is at risk of collision; In the case where the vehicle has a collision risk, determining a risk level; and performing assisted driving control on the vehicle based on an assisted driving strategy corresponding to the risk level; The risk levels include: low risk, medium risk and high risk, and the assisted driving control of the vehicle based on the assisted driving strategy corresponding to the risk level includes: When it is determined that the risk level is low risk, firstly determining whether the new drift trajectory of the vehicle does not intersect with the obstacle after the vehicle is controlled based on the auxiliary steering control strategy or the auxiliary power control strategy; If yes, then based on the auxiliary steering control strategy, the vehicle is steered; or, based on the auxiliary power control strategy, the vehicle is powered; If not, then determining whether the new drift trajectory of the vehicle can be made not to intersect with the obstacle after the vehicle is controlled based on the hybrid control strategy; if so, then steering control and power regulation are performed on the vehicle based on the hybrid control strategy; if not, then braking control is performed on the vehicle based on the auxiliary braking control strategy; wherein the hybrid control strategy is obtained by combining the auxiliary steering control strategy and the auxiliary power control strategy; When it is determined that the risk level is medium risk, first determine whether the new drift trajectory of the vehicle can be made not to intersect with the obstacle after the vehicle is controlled based on the hybrid control strategy; if so, perform steering control and power regulation on the vehicle based on the hybrid control strategy; if not, perform braking control on the vehicle based on the auxiliary braking control strategy; When it is determined that the risk level is high risk, braking control is performed on the vehicle based on the auxiliary braking control strategy.

2. The method according to claim 1, characterized in that The determining, based on the environmental data, whether the vehicle has a collision risk comprises: Based on the environmental data, determining whether there is an obstacle within a first preset range around the vehicle; In the case where it is determined that the obstacle exists within the first preset range, determining an original drift trajectory of the vehicle; In a case where the original drift trajectory intersects the obstacle, it is determined that the vehicle is at risk of collision.

3. The method according to claim 1 or 2, characterized in that: The collision risk is a collision risk between the vehicle and an obstacle. When the vehicle has a collision risk, determining a risk level includes: Acquiring the current speed and yaw angle of the vehicle and the distance between the vehicle and the obstacle; A risk level is determined based on the current vehicle speed, the yaw angle, and the distance.

4. The method according to claim 1, characterized in that The method of controlling the vehicle's steering based on the auxiliary steering control strategy includes: Determining whether there is a target turning angle within a preset turning angle range, so that after the vehicle performs steering control on the vehicle based on the target turning angle, a new drift trajectory of the vehicle does not intersect with the obstacle; In a case where it is determined that the target turning angle exists, steering control of the vehicle is performed based on the target turning angle.

5. The method according to claim 1, characterized in that: The auxiliary driving control of the vehicle based on the auxiliary power control strategy includes: for the total power torque currently output by the vehicle, determining whether there is a target distribution ratio, so that after the vehicle distributes the total power torque to the front axle and the rear axle of the vehicle based on the target distribution ratio, a new drift trajectory of the vehicle does not intersect with the obstacle; In a case where it is determined that the target distribution ratio exists, the total power torque is distributed to the front and rear axles of the vehicle based on the target distribution ratio.

6. The method according to claim 3, characterized in that The determining the risk level based on the current vehicle speed, the yaw angle and the distance includes: When it is determined that the current vehicle speed is greater than a preset vehicle speed and the distance is greater than or equal to a preset distance, determining that the risk level is low risk; In the case where it is determined that the current vehicle speed is greater than the preset vehicle speed, the distance is less than the preset distance, and the yaw angle is less than or equal to the preset yaw angle, determining that the risk level is medium risk; When it is determined that the current vehicle speed is greater than the preset vehicle speed, the distance is less than the preset distance, and the yaw angle is greater than the preset yaw angle, the risk level is determined to be high risk.

7. The method according to claim 1 or 2, characterized in that: When the vehicle is detected to be in drift mode, before activating the intelligent assisted driving system of the vehicle, the method further includes: Upon receiving a start instruction from a user to start the drift mode, detecting a whole vehicle state of the vehicle; When the vehicle is in a normal state, detecting the surrounding environment of the vehicle; When the surrounding environment of the vehicle meets the preset condition for starting the drift mode, the drift mode is started.

8. The method according to claim 7, characterized in that When the whole vehicle is in a normal state, detecting the surrounding environment of the vehicle includes: When the vehicle is in a normal state, a first pop-up window is displayed; wherein the first pop-up window includes a confirmation button and a cancel button; Graying out the confirmation button so that the user cannot click the confirmation button; While the confirmation button is grayed out, the surrounding environment of the vehicle is detected.

9. The method according to claim 8, characterized in that When the surrounding environment of the vehicle satisfies a preset condition for starting the drift mode, starting the drift mode includes: When the surrounding environment of the vehicle satisfies the preset condition for starting the drift mode, lighting the confirmation button; While the confirmation button is lit, if it is detected that the user clicks the confirmation button, the drift mode is turned on.

10. The method according to claim 7, characterized in that The detecting the surrounding environment of the vehicle comprises: Determining whether there is an obstacle within a second preset range around the vehicle; If there is no obstacle within the second preset range, determining whether the vehicle is currently on a public road; In a case where it is determined that the vehicle is not currently on a public road, it is determined that the surrounding environment of the vehicle meets the preset condition.

11. The method according to claim 10, characterized in that The method further comprises: When it is determined that there is an obstacle within the second preset range, it is determined that the surrounding environment of the vehicle does not meet the preset condition, and a second pop-up window is displayed to prompt the user to move the vehicle to an obstacle-free environment to start the drift mode; When it is determined that the vehicle is currently on a public road and that the surrounding environment of the vehicle does not satisfy the preset condition, a third pop-up window is displayed to prompt the user to move the vehicle to a professional venue to activate the drift mode.

12. A device for controlling a vehicle, characterized in that: The device comprises: An activation module, configured to activate the intelligent assisted driving system of the vehicle when detecting that the vehicle is in drift mode; An acquisition module, used for acquiring environmental data around the vehicle collected by the intelligent assisted driving system during the drifting of the vehicle; A determination module, configured to determine whether the vehicle has a collision risk based on the environmental data; A control module, configured to determine a risk level when the vehicle has a collision risk; and perform assisted driving control on the vehicle based on an assisted driving strategy corresponding to the risk level; The risk levels include: low risk, medium risk and high risk. The control module is specifically used for: When it is determined that the risk level is low risk, firstly determining whether the new drift trajectory of the vehicle does not intersect with the obstacle after the vehicle is controlled based on the auxiliary steering control strategy or the auxiliary power control strategy; If yes, then based on the auxiliary steering control strategy, the vehicle is steered; or, based on the auxiliary power control strategy, the vehicle is powered; If not, then determining whether the new drift trajectory of the vehicle can be made not to intersect with the obstacle after the vehicle is controlled based on the hybrid control strategy; if so, then steering control and power regulation are performed on the vehicle based on the hybrid control strategy; if not, then braking control is performed on the vehicle based on the auxiliary braking control strategy; wherein the hybrid control strategy is obtained by combining the auxiliary steering control strategy and the auxiliary power control strategy; When it is determined that the risk level is medium risk, first determine whether the new drift trajectory of the vehicle can be made not to intersect with the obstacle after the vehicle is controlled based on the hybrid control strategy; if so, perform steering control and power regulation on the vehicle based on the hybrid control strategy; if not, perform braking control on the vehicle based on the auxiliary braking control strategy; When it is determined that the risk level is high risk, braking control is performed on the vehicle based on the auxiliary braking control strategy.

13. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 11.

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