Vehicle control method and device, vehicle-mounted equipment and storage medium

Abstract

The invention relates to the field of vehicle control, and provides a vehicle control method and device, vehicle-mounted equipment and a storage medium. The method comprises the following steps: determining to carry out first deviation correction operation on the vehicle according to first driving information of the vehicle; in the process of carrying out the first deviation correction operation on the vehicle, if it is determined that second deviation correction operation is carried out on the vehicle according to the first driving information, a first hand torque threshold value corresponding to a first hand torque of a steering wheel of the vehicle is determined according to second driving information of the vehicle; and when the first hand torque is larger than the first hand torque threshold value, second deviation rectifying operation on the vehicle is ended. According to the method, the accuracy of vehicle deviation correction can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, vehicle-mounted equipment and storage medium. Background Art

[0002] As one of the key indicators for evaluating vehicle performance, vehicle driving stability is related to the safety of drivers and vehicles, and maintaining vehicle straight driving is a key performance requirement for driving stability. Currently, the lane departure prevention (LDP) auxiliary function is used to correct vehicle deviation. The LDP auxiliary function mainly uses a camera to identify lane lines. When the vehicle begins to deviate from the current lane, the LDP control device will automatically adjust the steering wheel force to return the vehicle to the correct trajectory.

[0003] However, in the process of automatically adjusting the steering wheel through the LDP control device to return the vehicle to the correct trajectory, the LDP control device and the driver may control the steering wheel synchronously, causing the driver to feel uncomfortable and unable to accurately control the steering wheel, resulting in poor vehicle correction accuracy. Summary of the invention

[0004] In view of the above, it is necessary to provide a vehicle control method, device, vehicle-mounted equipment and storage medium that can solve the technical problem that the LDP control device and the driver synchronously control the steering wheel, causing the driver to be unable to accurately control the steering wheel, resulting in poor vehicle correction accuracy.

[0005] On the one hand, the present application proposes a vehicle control method, which is applied to a vehicle, and the method includes: determining a first correcting operation for the vehicle based on first driving information of the vehicle; during the first correcting operation for the vehicle, if it is determined based on the first driving information to perform a second correcting operation on the vehicle, determining a first hand torque threshold corresponding to a first hand torque of a steering wheel of the vehicle based on the second driving information of the vehicle; when the first hand torque is greater than the first hand torque threshold, ending the second correcting operation for the vehicle.

[0006] In some embodiments of the present application, the second driving information includes the first vehicle speed, the lane width of the vehicle and the cross slope of the lane of the vehicle, and determining the first hand torque threshold corresponding to the first hand torque of the steering wheel of the vehicle according to the second driving information of the vehicle includes: determining a first coefficient of the first hand torque threshold according to the first vehicle speed; determining a second coefficient of the first hand torque threshold according to the lane width; determining a third coefficient of the first hand torque threshold according to the cross slope of the lane; determining the first hand torque threshold corresponding to the first hand torque according to the first hand torque, the first coefficient, the second coefficient and the third coefficient.

[0007] In some embodiments of the present application, before determining to perform a first corrective operation on the vehicle based on the first driving information of the vehicle, the method also includes: determining whether the first driving information satisfies a preset first operating condition; when the first driving information satisfies the preset first operating condition, performing the first corrective operation on the vehicle; when the first driving information does not satisfy the preset first operating condition, not performing the first corrective operation on the vehicle.

[0008] In some embodiments of the present application, the first driving information includes the distance of the vehicle from the center line of the lane and the yaw angular velocity of the vehicle, and the judgment of whether the first driving information satisfies a preset first operating condition includes: when the distance is within a first preset distance range and the yaw angular velocity is within a first preset angular velocity range, determining that the first driving information satisfies the preset first operating condition; when the distance is not within the first preset distance range and / or the yaw angular velocity is not within the first preset angular velocity range, determining that the first driving information does not satisfy the preset first operating condition.

[0009] In some embodiments of the present application, before determining to perform a second corrective operation on the vehicle based on the first driving information, the method further includes: determining whether the first driving information satisfies a preset second operating condition; when the first driving information satisfies the preset second operating condition, performing a second corrective operation on the vehicle; when the first driving information does not satisfy the preset second operating condition, not performing the second corrective operation on the vehicle.

[0010] In some embodiments of the present application, the determination of whether the first driving information satisfies a preset second operating condition includes: when the distance is within a second preset distance range and the yaw angular velocity is within a second preset angular velocity range, determining that the first driving information satisfies the preset second operating condition; when the distance is not within the second preset distance range and / or the yaw angular velocity is not within the second preset angular velocity range, determining that the first driving information does not satisfy the preset second operating condition.

[0011] In some embodiments of the present application, the first driving information includes a second speed of the vehicle. After determining to perform a first corrective operation on the vehicle based on the first driving information of the vehicle, the method further includes: determining a second hand torque threshold corresponding to a second hand torque of a steering wheel of the vehicle based on the second speed; when the second hand torque is greater than the second hand torque threshold, ending the first corrective operation on the vehicle.

[0012] On the other hand, the present application also proposes a vehicle control device, which runs on a vehicle, and the vehicle control device includes: a first determination module, used to determine a first correcting operation for the vehicle based on first driving information of the vehicle; a second determination module, used to determine a first hand torque threshold corresponding to a first hand torque of a steering wheel of the vehicle based on the second driving information of the vehicle if, during the first correcting operation for the vehicle, it is determined based on the first driving information to perform a second correcting operation on the vehicle; and an ending module, used to end the second correcting operation for the vehicle when the first hand torque is greater than the first hand torque threshold.

[0013] On the other hand, the present application also proposes a vehicle-mounted device, which includes: a storage device storing computer-readable instructions; and a processor executing the computer-readable instructions stored in the storage device to implement a vehicle control method.

[0014] On the other hand, the present application also proposes a storage medium, in which computer-readable instructions are stored. The computer-readable instructions are executed by a processor in a vehicle-mounted device to implement a vehicle control method.

[0015] It can be seen from the above technical scheme that in the embodiment of the present application, by comparing the first hand torque applied by the driver to the steering wheel of the vehicle with the first hand torque threshold corresponding to the first hand torque, if the first hand torque is greater than the first hand torque threshold, it is determined that the driver is performing a correction operation on the vehicle, and the automatic correction operation of the LDP control device is terminated, eliminating the discomfort felt by the driver, so that the driver can accurately control the steering wheel to perform the second correction operation of the vehicle, thereby improving the correction accuracy of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the LDP control device provided in an embodiment of the present application performing correction operations on a vehicle.

[0017] Figure 2 It is a schematic diagram of the vehicle-mounted equipment provided in an embodiment of the present application.

[0018] Figure 3 It is a flow chart of the vehicle control method provided in an embodiment of the present application.

[0019] Figure 4 It is a schematic diagram of the structure for correcting the deviation of a vehicle provided in an embodiment of the present application.

[0020] Figure 5 It is a flow chart of performing a first deviation correction operation on the vehicle provided in an embodiment of the present application.

[0021] Figure 6 It is a flow chart of performing a second deviation correction operation on the vehicle provided in an embodiment of the present application.

[0022] Figure 7 It is a schematic diagram of a vehicle provided in an embodiment of the present application.

[0023] Figure 8 It is a structural block diagram of the driving environment perception sensor provided in an embodiment of the present application.

[0024] Fig. 9 It is a functional module diagram of the vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0027] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. The following embodiments and features in the embodiments may be combined with each other without conflict.

[0028] At present, vehicle driving stability is one of the key indicators for evaluating vehicle performance, which is related to the safety of drivers and vehicles, and vehicle straight-line driving is a key performance requirement for driving stability. Figure 1 As shown, the vehicle deviation correction is achieved through the function of the Lane Departure Prevention (LDP) system. Specifically, the LDP control device recognizes the lane line through a camera. When the vehicle begins to deviate from the current lane, the LDP control device automatically adjusts the steering wheel to return the vehicle to the correct trajectory. However, in the process of automatically adjusting the steering wheel by the LDP control device to return the vehicle to the correct trajectory, if the driver also performs a correction operation, the LDP control device and the driver may synchronously control the steering wheel. For example, the LDP control device controls the steering wheel to rotate counterclockwise, and the driver synchronously controls the steering wheel to rotate clockwise. The steering of the steering wheel controlled by the LDP control device and the steering of the steering wheel controlled by the driver may interfere with each other. Alternatively, the LDP control device controls the steering wheel to rotate counterclockwise, and the driver synchronously controls the steering wheel to rotate counterclockwise, but the speed of the counterclockwise rotation of the steering wheel controlled by the LDP control device is different from the speed of the counterclockwise rotation of the steering wheel synchronously controlled by the driver. In this way, the steering of the steering wheel controlled by the LDP control device and the steering of the steering wheel controlled by the driver may interfere with each other, causing the driver to feel uncomfortable and unable to accurately control the steering wheel, resulting in poor correction accuracy of the vehicle.

[0029] Therefore, in order to improve the vehicle's error correction accuracy, in some embodiments of the present application, the hand torque applied by the driver to the steering wheel of the vehicle is compared with the hand torque threshold of the LDP control device for controlling the steering wheel. If the hand torque applied by the driver on the steering wheel is greater than the hand torque threshold of the LDP control device for controlling the steering wheel, it is determined that the driver is performing a error correction operation on the vehicle, and the error correction operation of the LDP control device is terminated. This avoids the technical problem that the LDP control device and the driver synchronously control the steering wheel, resulting in mutual interference forces on the steering wheel, which makes the driver unable to accurately control the steering wheel to correct the vehicle, thereby improving the vehicle's error correction accuracy.

[0030] like Figure 2, is a schematic diagram of the structure of a vehicle-mounted device for implementing a vehicle control method provided in an embodiment of the present application.

[0031] In an embodiment of the present application, the vehicle control method is applied to one or more vehicle-mounted devices 1. The vehicle-mounted device 1 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored computer-readable instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital signal processors (Digital Signal Processor, DSP), embedded devices, etc.

[0032] The vehicle-mounted device 1 can be any electronic product that can perform human-computer interaction with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc.

[0033] The vehicle-mounted device 1 may include a network device and / or a user device. The network device includes, but is not limited to, a single network vehicle-mounted device, a vehicle-mounted device group consisting of multiple network vehicle-mounted devices, or a cloud consisting of a large number of hosts or network vehicle-mounted devices based on cloud computing.

[0034] The network where the vehicle-mounted device 1 is located includes, but is not limited to: the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0035] In the embodiment of the present application, the vehicle-mounted device 1 includes, but is not limited to, a storage device 12 , a processor 13 , and computer-readable instructions stored in the storage device 12 and executable on the processor 13 , such as a vehicle-mounted device control program.

[0036] Those skilled in the art will understand that the schematic diagram is merely an example of the vehicle-mounted device 1 and does not constitute a limitation on the vehicle-mounted device 1. The vehicle-mounted device 1 may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the vehicle-mounted device 1 may also include input and output devices, network access devices, buses, etc.

[0037] The processor 13 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or a processor or any conventional processor, etc. The processor 13 is the computing core and control center of the vehicle-mounted device 1, and uses various interfaces and lines to connect various parts of the entire vehicle-mounted device 1, and executes the operating system of the vehicle-mounted device 1 and various installed applications, program codes, etc.

[0038] The storage device 12 may be an external storage device and / or an internal storage device of the vehicle-mounted device 1. Furthermore, the storage device 12 may be a storage device in a physical form, such as a memory stick, a TF card (Trans-flash Card), and the like.

[0039] The storage device 12 can be used to store computer-readable instructions and / or modules. The processor 13 implements various functions of the vehicle-mounted device 1 by running or executing the computer-readable instructions and / or modules stored in the storage device 12 and calling the data stored in the storage device 12. The storage device 12 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the vehicle-mounted device, etc. The storage device 12 can include non-volatile and volatile storage devices, such as: a hard disk, a memory, a plug-in hard disk, a smart storage card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other storage devices.

[0040] Combination Figure 3 The storage device 12 in the vehicle-mounted device 1 stores computer-readable instructions, and the processor 13 can execute the computer-readable instructions stored in the storage device 12 to implement the following Figure 3 The vehicle-mounted device control method shown.

[0041] like Figure 3 FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application. The vehicle control method is applied to a vehicle, and the vehicle includes an on-board device (e.g. Figure 2 In the vehicle-mounted device 1), according to different requirements, the order of the steps in the flowchart can be changed and some steps can be omitted.

[0042] 301. Determine, according to first driving information of the vehicle, to perform a first deviation correction operation on the vehicle.

[0043] In some embodiments of the present application, in the automotive field, when the driver is driving the vehicle, the first driving information of the vehicle can be obtained through the auxiliary driving system installed on the vehicle, wherein the auxiliary driving system may include but is not limited to an LDP control device, a camera, and multiple sensors (e.g., a yaw rate sensor, a wheel speed sensor, etc.), and the first driving information may include but is not limited to: the distance of the vehicle from the center line of the lane, the yaw rate of the vehicle, the speed of the vehicle, the width of the lane in which the vehicle is traveling, and the slope of the lane in which the vehicle is traveling. For example, the vehicle's surrounding environment can be photographed by a camera in the vehicle to obtain the distance of the vehicle from the center line of the lane, the yaw rate sensor can be used to detect the yaw angle of the vehicle to obtain the yaw rate of the vehicle, and the wheel speed sensor can be used to detect the speed of the wheel to obtain the speed of the vehicle.

[0044] In some embodiments of the present application, the first deviation correction operation is used to indicate that a deviation correction operation is performed on the vehicle when it is detected that the vehicle deviates from the current lane. For example, if the camera installed on the vehicle detects that the distance between the current vehicle and the center line of the current lane is M, a deviation correction operation is performed on the current vehicle. If the yaw rate sensor detects that the yaw rate of the vehicle is N, a deviation correction operation is performed on the current vehicle. Wherein, M and N are both used to indicate that the vehicle deviates from the center line of the current lane.

[0045] In some embodiments of the present application, after obtaining the first driving information, it is quickly determined whether to perform a first deviation correction operation on the vehicle based on the first driving information, so that the vehicle can be corrected in time when it deviates from the current lane, thereby improving the deviation correction efficiency.

[0046] 302. During a first deviation-correcting operation on a vehicle, if it is determined based on first driving information to perform a second deviation-correcting operation on the vehicle, a first hand torque threshold corresponding to a first hand torque of a steering wheel of the vehicle is determined based on the second driving information of the vehicle.

[0047] In some embodiments of the present application, the second deviation correction operation is used to indicate that after detecting that the vehicle's driving trajectory is not parallel to the lane line of the current lane after the first deviation correction operation is performed on the vehicle, the deviation correction operation is continued on the vehicle. Figure 4As shown, the vehicle deviates from the current lane and a first deviation correction operation is performed on the vehicle. However, since the vehicle's driving trajectory is not parallel to the lane line of the current lane after the first deviation correction operation, a second deviation correction operation is required to make the vehicle's driving trajectory parallel to the lane line of the current lane, thereby improving the accuracy of the deviation correction for the vehicle.

[0048] In some embodiments of the present application, since the vehicle is still traveling during the first deviation correction operation, the corresponding first driving information of the vehicle is also changing, so it is necessary to determine whether a second deviation correction operation is required for the vehicle during the first deviation correction operation. Specifically, before determining whether to perform the second deviation correction on the vehicle, the first hand torque threshold corresponding to the first hand torque of the steering wheel of the vehicle is determined according to the second driving information.

[0049] In some embodiments of the present application, the first hand torque is used to indicate the torque applied by the driver to the steering wheel when the vehicle is traveling at a first speed. The first hand torque threshold is used to indicate the torque applied by the LDP control device in the driving assistance system to control the steering wheel when the vehicle is traveling at the first speed.

[0050] In some embodiments of the present application, by determining the torque of the steering wheel controlled by the LDP control device according to the first vehicle speed of the vehicle, the perspective of the vehicle speed change is taken into consideration, rather than pre-setting a fixed value for the torque of the steering wheel controlled by the LDP control device, thereby improving the accuracy of the determined first torque threshold of the steering wheel controlled by the LDP control device.

[0051] In some embodiments of the present application, the vehicle speed may include a first vehicle speed, the second driving information includes the first vehicle speed of the vehicle, the width of the lane in which the vehicle is traveling, and the cross slope of the lane in which the vehicle is traveling, and determining the first hand torque threshold corresponding to the first hand torque of the steering wheel of the vehicle according to the second driving information of the vehicle includes: determining a first coefficient of the first hand torque threshold according to the first vehicle speed; determining a second coefficient of the first hand torque threshold according to the lane width; determining a third coefficient of the first hand torque threshold according to the cross slope of the lane; determining the first hand torque threshold corresponding to the first hand torque according to the first hand torque, the first coefficient, the second coefficient and the third coefficient.

[0052] In some embodiments of the present application, the relationship between the vehicle speed, the lane width, the cross slope of the lane, and the coefficient of the first hand torque threshold can be pre-set. Different vehicle speeds correspond to different first hand torques. For example, the first vehicle speed corresponds to the first hand torque as shown in Table 1.

[0053] Table 1 Vehicle speed corresponding to the first hand torque

[0054] Vehicle speed (kph) 0 20 40 60 80 100 120 140 160 180 First hand torque (Nm) 2.2 2.1 2 1.8 1.6 1.4 1.2 1.1 1.1 1.1

[0055] In some embodiments of the present application, different vehicle speeds correspond to different first coefficients of the first hand torque threshold, and the first coefficients of the corresponding first hand torque threshold can be set in advance according to different vehicle speeds as shown in Table 2.

[0056] Table 2 The first coefficient of the first hand torque threshold corresponding to the vehicle speed

[0057] Vehicle speed (kph) 0 20 40 60 80 100 120 140 160 180 The first coefficient 1.8 1.8 1.6 1.4 1.2 1 0.9 0.8 0.8 0.8

[0058] In some embodiments of the present application, different lane widths correspond to different second coefficients of the first hand torque threshold. The corresponding second coefficients of the first hand torque threshold can be set in advance according to different lane widths as shown in Table 3.

[0059] Table 3 Lane width corresponding to the second coefficient of the first hand torque threshold

[0060] Lane width [m] 2.4 2.8 3.2 3.6 4 The second coefficient 0.8 0.8 0.9 1 1.1

[0061] In some embodiments of the present application, different lane cross slope gradients correspond to different third coefficients of the first hand torque threshold, and the corresponding third coefficients of the first hand torque threshold can be set in advance according to different lane cross slope gradients as shown in Table 4.

[0062] Table 4 The third coefficient of the first hand torque threshold corresponding to the lane cross slope

[0063] Lane cross slope [%] 0 1 2 3 4 5 6 7 8 The third coefficient 1 1 1 1.1 1.1 1.2 1.2 1.3 1.3

[0064] In some embodiments of the present application, the first hand torque threshold corresponding to the first hand torque can be obtained by calculating the product of the first hand torque, the first coefficient, the second coefficient and the third coefficient. This embodiment does not specifically limit how to determine the first hand torque threshold corresponding to the first hand torque.

[0065] In some embodiments of the present application, referring to Table 1 and Table 3, if the gradient of the lane cross slope is 6% and the first vehicle speed is 20 (kph), then the first hand torque threshold is determined to be equal to 2.1×1.2=2.52 (Nm) according to the first vehicle speed of the vehicle and the width of the lane in which the vehicle is traveling. Referring to Tables 1 to 4, if the first vehicle speed of the vehicle is 20 (kph), the width of the lane in which the vehicle is traveling is 2.4m and the gradient of the lane cross slope of the vehicle is 2%, then the first hand torque threshold is determined to be equal to 2.1×1.8×0.8×1=3.024 (Nm) according to the first vehicle speed of the vehicle, the width of the lane in which the vehicle is traveling and the gradient of the lane cross slope of the vehicle. It can be determined that when the gradient of the lane cross slope is larger, the torque of the LDP control device controlling the steering wheel is less than the torque of the LDP control device controlling the steering wheel when the gradient of the lane cross slope is smaller. In actual applications, the greater the slope of the lane, the greater the torque of the LDP control device to control the steering wheel. However, the first hand torque threshold of 2.52 determined according to the first speed of the vehicle and the width of the lane in which the vehicle is traveling is less than the first hand torque threshold of 3.024 determined according to the first speed of the vehicle, the width of the lane in which the vehicle is traveling, and the slope of the cross slope of the lane in which the vehicle is traveling. If the first hand torque threshold is determined according to the first speed of the vehicle and the width of the lane in which the vehicle is traveling, it may result in a low accuracy of the determined first hand torque threshold. In order to improve the accuracy of the determined first hand torque threshold, the present application comprehensively considers three dimensions from the first speed of the vehicle, the width of the lane in which the vehicle is traveling, and the slope of the cross slope of the lane in which the vehicle is traveling in the process of determining the first hand torque threshold of the LDP control device corresponding to the first hand torque.

[0066] 303 , determining whether the first hand torque is greater than a first hand torque threshold.

[0067] In some embodiments of the present application, in actual applications, when the vehicle is traveling on a lane with a large cross slope, the torque of the LDP control device controlling the steering wheel will be greater than that of a flat lane. At this time, if the driver strokes the steering wheel, it may also lead to the termination of the second deviation correction operation on the vehicle, that is, when the hand torque applied by the driver to the steering wheel is less than or equal to the hand torque of the LDP control device controlling the steering wheel, the second deviation correction operation on the vehicle may be directly terminated, resulting in the vehicle's driving trajectory not being parallel to the lane line of the current lane, causing misoperation. Therefore, after obtaining the first hand torque and the first hand torque threshold, the present application compares the first hand torque with the first hand torque threshold, and quickly determines the relationship between the hand torque applied by the driver to the steering wheel and the hand torque of the LDP control device controlling the steering wheel according to the comparison result, and then determines whether to terminate the second deviation correction operation on the vehicle, thereby improving the deviation correction accuracy of the vehicle.

[0068] 304. When the first hand torque is greater than the first hand torque threshold, the second deviation correction operation on the vehicle is terminated.

[0069] In some embodiments of the present application, if the first hand torque is greater than the first hand torque threshold, it is determined that the hand torque applied by the driver on the steering wheel is greater than the hand torque of the LDP control device controlling the steering wheel, then it is determined to terminate the automatic correction operation of the LDP control device, and the vehicle is corrected by the driver's precise control of the steering wheel, thereby improving the correction accuracy of the vehicle.

[0070] 305 , when the first hand torque is less than or equal to the first hand torque threshold, continue the second deviation correction operation on the vehicle.

[0071] In some embodiments of the present application, when the vehicle deviates from the current lane, if the first hand torque is less than or equal to the first hand torque threshold, it is determined that the hand torque applied by the driver on the steering wheel is less than or equal to the hand torque of the LDP control device controlling the steering wheel. The driver may be looking away, sleepy or distracted and has not performed a corrective operation on the vehicle. In this case, the LDP control device is required to continue to perform a second corrective operation, thereby further improving the vehicle's corrective accuracy.

[0072] In some embodiments of the present application, by comparing the first hand torque applied by the driver to the steering wheel of the vehicle with the first hand torque threshold corresponding to the first hand torque, if the first hand torque is greater than the first hand torque threshold, it is determined that the driver is performing a correction operation on the vehicle, and the automatic correction operation of the LDP control device is terminated, eliminating the discomfort felt by the driver, allowing the driver to accurately control the steering wheel to perform the second correction operation of the vehicle, thereby improving the correction accuracy of the vehicle.

[0073] like Figure 5 The figure shows a flow chart of a first deviation correction operation for a vehicle provided in an embodiment of the present application.

[0074] 501, determining whether first driving information satisfies a preset first operating condition.

[0075] In some embodiments of the present application, a first operating condition may be pre-set, and the first operating condition may be pre-set according to historical deviation correction data of historical vehicles. Specifically, this embodiment does not limit the first operating condition. For example, the first operating condition may be pre-set according to the distance of the historical vehicle from the center line of the lane and the yaw rate of the historical vehicle to determine the preset range.

[0076] In some embodiments of the present application, the first driving information includes the distance of the vehicle from the center line of the lane and the yaw angular velocity of the vehicle, and determining whether the first driving information satisfies a preset first operating condition includes: when the distance is within a first preset distance range and the yaw angular velocity is within a first preset angular velocity range, determining that the first driving information satisfies the preset first operating condition; when the distance is not within the first preset distance range and / or the yaw angular velocity is not within the first preset angular velocity range, determining that the first driving information does not satisfy the preset first operating condition.

[0077] In some embodiments of the present application, a first preset distance range and a first preset acceleration range can be set in advance. In the process of determining whether the first driving information meets the preset first operating condition, by judging whether the current distance of the vehicle from the center line of the lane is within the first preset distance range and whether the current yaw angular velocity of the vehicle is within the first preset angular velocity range, and further determining whether the first driving information of the vehicle meets the preset first operating condition based on the judgment result, it is possible to quickly determine whether the vehicle deviates from the current lane, thereby facilitating the determination of whether to perform the first correction operation on the vehicle, thereby improving the correction accuracy of the vehicle.

[0078] 502. When the first driving information satisfies a preset first operation condition, determine to perform a first deviation correction operation on the vehicle according to the first driving information of the vehicle.

[0079] In some embodiments of the present application, if the first driving information satisfies a preset first operating condition, it is determined that the vehicle has deviated from the current lane, and a first deviation correction operation needs to be performed on the vehicle.

[0080] In some embodiments of the present application, when the first driving information does not meet the preset first operating condition, it is determined based on the first driving information of the vehicle not to perform the first deviation correction operation on the vehicle, and step 501 is executed.

[0081] 503. During a first deviation correction operation on a vehicle, the first driving information includes a second vehicle speed, and a second hand torque threshold corresponding to a second hand torque of a steering wheel of the vehicle is determined according to the second vehicle speed, wherein the first hand torque threshold is less than the second hand torque threshold.

[0082] In some embodiments of the present application, the vehicle speed may include a second vehicle speed, the first driving information includes the second vehicle speed of the vehicle, and the second hand torque is used to indicate the torque applied by the driver to the steering wheel when the vehicle speed is the second vehicle speed. The second hand torque threshold is used to indicate the torque applied by the LDP control device in the driving assistance system to control the steering wheel when the vehicle speed is the second vehicle speed. For details, see Figure 4 shown.

[0083] In some embodiments of the present application, determining the second hand torque threshold corresponding to the second hand torque of the steering wheel of the vehicle according to the second vehicle speed includes: calculating the product of the hand torque corresponding to the second vehicle speed and the first coefficient corresponding to the second vehicle speed to determine the second hand torque threshold corresponding to the second hand torque of the steering wheel of the vehicle. For example, referring to Tables 1 and 2, the second vehicle speed is 20 (kph), the second hand torque corresponding to the second vehicle speed is 2.1, and the first coefficient corresponding to the second vehicle speed is 1.8, then the second hand torque threshold corresponding to the second hand torque of the steering wheel of the vehicle is determined to be 2.1×1.8=3.78 (Nm); the second vehicle speed is 180 (kph), the second hand torque corresponding to the second vehicle speed is 1.1, and the first coefficient corresponding to the second vehicle speed is 0.8, then the second hand torque threshold corresponding to the second hand torque of the steering wheel of the vehicle is determined to be 1.1×0.8=0.88 (Nm).

[0084] In some embodiments of the present application, different vehicle speeds correspond to different hand torques, and the faster the vehicle speed, the smaller the torque required to control the steering wheel. Therefore, during the first correction operation of the vehicle, the accuracy of the determined second hand torque threshold can be ensured by detecting the second vehicle speed of the vehicle in real time and determining the torque of the LDP control device to control the steering wheel according to the second vehicle speed, rather than pre-setting a fixed second hand torque threshold.

[0085] 504 , determining whether the second hand torque is greater than a second hand torque threshold.

[0086] In some embodiments of the present application, after obtaining the second hand torque and the second hand torque threshold, it is determined whether the second hand torque is greater than the second hand torque threshold. This can quickly determine the relationship between the second hand torque applied by the driver to the steering wheel and the second hand torque threshold of the LDP control device controlling the steering wheel, and then quickly determine whether to terminate the automatic correction operation of the LDP control device, thereby improving the correction accuracy of the vehicle.

[0087] 505. When the second hand torque is greater than the second hand torque threshold, the first deviation correction operation on the vehicle is terminated.

[0088] In some embodiments of the present application, if the second hand torque is greater than the second hand torque threshold, it is determined that the driver is performing a correction operation, and the first correction operation of the vehicle by the LDP control device is terminated. This can avoid the mutual interference between the LDP control device and the driver in synchronously controlling the steering wheel, which may cause discomfort to the driver, resulting in the driver being unable to accurately control the steering wheel, leading to the technical problem of poor correction accuracy of the vehicle, thereby improving the accuracy of correction of the vehicle.

[0089] 506 , when the second hand torque is less than or equal to the second hand torque threshold, continue to perform the first deviation correction operation on the vehicle.

[0090] In some embodiments of the present application, if the second hand torque is less than or equal to the second hand torque threshold, it is determined that the driver has not performed a corrective operation, and the LDP control device is controlled to continue to perform the first corrective operation on the vehicle.

[0091] In some embodiments of the present application, by comparing the second hand torque applied by the driver to the steering wheel of the vehicle with the second hand torque threshold corresponding to the second hand torque, if the second hand torque is less than or equal to the second hand torque threshold and the driver does not perform a corrective operation, the LDP control device is controlled to continue to perform the first corrective operation on the vehicle, thereby improving the vehicle's correction accuracy.

[0092] like Figure 6 The figure shows a flow chart of a second deviation correction operation for a vehicle provided in an embodiment of the present application.

[0093] 601, determine whether the first driving information meets a preset second operating condition.

[0094] In some embodiments of the present application, after determining to continue the first deviation correction operation on the vehicle, it is determined whether the first driving information meets a preset second operating condition, so as to quickly determine whether to perform the second deviation correction operation on the vehicle.

[0095] In some embodiments of the present application, a second operating condition may be pre-set, and the second operating condition may be pre-set according to the historical deviation correction data of historical vehicles. Specifically, the second operating condition is not limited in this embodiment. For example, the setting process of the second operating condition is similar to the setting process of the first operating condition, and this embodiment will not be elaborated in detail.

[0096] In some embodiments of the present application, determining whether the first driving information satisfies a preset second operating condition includes: when the distance is within a second preset distance range and the yaw angular velocity is within a second preset angular velocity range, determining that the first driving information satisfies the preset second operating condition; when the distance is not within the second preset distance range and / or the yaw angular velocity is not within the second preset angular velocity range, determining that the first driving information does not satisfy the preset second operating condition.

[0097] In some embodiments of the present application, a second preset distance range and a second preset acceleration range can be set in advance. In the process of determining whether the first driving information meets the preset second operating condition, by judging whether the current distance of the vehicle from the center line of the lane is within the second preset distance range and whether the current yaw angular velocity of the vehicle is within the second preset angular velocity range, further determining whether the first driving information of the vehicle meets the preset second operating condition based on the judgment result, it is possible to quickly determine whether the vehicle deviates from the current lane, thereby facilitating the determination of whether to perform the second correction operation on the vehicle, thereby improving the correction accuracy of the vehicle.

[0098] 602. When the first driving information satisfies a preset second operation condition, determine to perform a second deviation correction operation on the vehicle.

[0099] In some embodiments of the present application, if the first driving information does not meet the preset second operating condition, it is determined not to perform the second deviation correction operation on the vehicle, and the first deviation correction operation continues to be performed on the vehicle.

[0100] In some embodiments of the present application, when the vehicle begins to deviate from the current lane, it is necessary to use a larger torque to control the steering wheel to implement a first correction operation for the vehicle. However, in actual applications, since the first correction operation on the vehicle may not make the vehicle's driving trajectory parallel to the current vehicle's lane line, it is necessary to perform a second correction operation on the vehicle. However, since the vehicle has already performed a correction operation, it is only necessary to use a smaller torque to control the steering wheel to make the vehicle's driving trajectory parallel to the current vehicle's lane line. Therefore, the second hand torque threshold of the LDP control device corresponding to the first correction operation can be set greater than the first hand torque threshold of the LDP control device corresponding to the second correction operation.

[0101] In some embodiments of the present application, further in the process of determining whether to continue the first correction operation on the vehicle, it is determined whether the first driving information satisfies the preset second operating condition; if the first driving information satisfies the preset second operating condition, the first hand torque applied by the driver to the steering wheel of the vehicle is compared with the first hand torque threshold corresponding to the first hand torque; if the first hand torque is greater than the first hand torque threshold, it is determined that the driver is performing a correction operation on the vehicle, and the automatic correction operation of the LDP control device is terminated, eliminating the discomfort felt by the driver, so that the driver can accurately control the steering wheel to perform the second correction operation of the vehicle, thereby further improving the correction accuracy of the vehicle.

[0102] Figure 7 It is a schematic diagram of a vehicle provided in an embodiment of the present application. The vehicle includes a driving assistance ECU 200, that is, a driving assistance control device. The driving assistance ECU 200 may include an LDP control device 201 of any one of the embodiments of the present application, and thus has all the above-mentioned beneficial effects, which will not be repeated here.

[0103] In some embodiments of the present application, the vehicle further includes a signal input system, a signal output system and an execution system. The signal input system is configured to input a signal to the LDP control device 201 of the auxiliary driving system. The signal output system is configured to receive an output signal of the LDP control device 201 and control the execution system to perform a corresponding operation according to the output signal.

[0104] In some embodiments of the present application, the signal input system may include but is not limited to: a turn signal switch 101 for detecting the vehicle's turn signal operation information, an accelerator pedal sensor 102 for detecting the vehicle's throttle operation information, a brake pedal sensor 103 for detecting the vehicle's brake operation information, a steering angle sensor 104 for detecting the vehicle's steering operation information, a hand torque sensor 105 for detecting the torque applied to the steering wheel when the driver operates the steering wheel, a vehicle speed sensor 106 for detecting the speed of the vehicle, a radar sensor 107 and a camera sensor 108 for detecting environmental information around the vehicle, a yaw rate sensor 109 for detecting the vehicle's motion state information, a longitudinal acceleration sensor 110 and a lateral acceleration sensor 111, a right front wheel speed sensor 112, a left front wheel speed sensor 113, a right rear wheel speed sensor 114, a left rear wheel speed sensor 115, a GPS signal receiving module 116, an online map 117, and a vehicle time distance switching button 118 for detecting the vehicle's driving distance and time.

[0105] In some embodiments of the present application, the GPS signal receiving module 116 receives a global positioning system (i.e., GPS) signal, and obtains the vehicle's driving position, distance from the target ramp, ramp speed limit information, lane information, etc. based on the positioning information and map data of the online map 117.

[0106] In some embodiments of the present application, the signal output system may include but is not limited to: an engine ECU 701 , a brake ECU 702 , a steering ECU 703 , and an information display ECU 704 .

[0107] In some embodiments of the present application, the execution system may include, but is not limited to: an engine 711, a brake system 712, a steering system 713, and an information display device 714. The engine ECU 701 controls the engine 711 according to the output signal, and mainly performs acceleration control. The brake ECU 702 controls the brake system 712, and mainly performs deceleration control. The steering ECU 703 controls the steering system 713, and mainly performs lateral steering control. The information display ECU 704 controls the information display device 714, and mainly provides the driver with a display of vehicle status and function control status information.

[0108] In some embodiments of the present application, the driving environment of the vehicle may also be identified through a driving environment perception sensor. Figure 8 is a structural block diagram of the driving environment perception sensor provided in the embodiment of the present application, such as Figure 8As shown, the driving environment perception sensors installed on the current vehicle may include but are not limited to: a left rear corner radar device 801 and a right rear corner radar device 802 installed near the left and right taillights behind the current vehicle, a front radar device 803 installed directly in front of the current vehicle, and a rear radar device 804 installed directly behind the current vehicle, a front radar device 805 installed in the left front of the current vehicle, and a rear radar device 806 installed in the right front of the current vehicle, which are used to detect blind spots around the current vehicle within a medium and short range, and can detect information such as the distance, speed, acceleration and azimuth angle of other vehicles in the driving environment of the current vehicle; a camera 807 installed in front of the current vehicle, a camera 808 on the left side of the vehicle, and a camera 809 on the right side of the vehicle, which are used to provide the driver with a clear image of the driving environment.

[0109] In some embodiments of the present application, the radar device may include but is not limited to other types of sensors such as ultrasonic radar, millimeter wave radar, laser radar, etc. In order to ensure the integrity of the driving environment of the detected vehicle, this embodiment does not limit the number of sensors, and sensors can also be installed at other locations of the current vehicle.

[0110] In some embodiments of the present application, the driving environment perception sensor is used to detect the driving environment of the vehicle, and the present application does not limit the type of sensor (radar, laser radar, ultrasonic wave, camera, etc.). For example, the sensor for detecting the driving environment can detect and identify the speed, relative speed, position, angle, size, etc. of the surrounding objects of the current vehicle.

[0111] like Fig. 9 , which is a functional module diagram of a vehicle control device provided in an embodiment of the present application. The vehicle control device 90 is operated on a vehicle, and the vehicle is provided with a storage device, and the storage device includes a plurality of storage units. The vehicle control device 90 includes a first determination module 900, a second determination module 901, and an end module 902. The module / unit referred to in the present application refers to a series of computer-readable instruction segments that can be acquired by the processor 13 and can complete a fixed function, which are stored in the storage device 12.

[0112] The first determination module 900 is used to determine the first deviation correction operation for the vehicle according to the first driving information of the vehicle. The second determination module 901 is used to determine the first hand torque threshold corresponding to the first hand torque of the steering wheel of the vehicle according to the second driving information of the vehicle during the first deviation correction operation for the vehicle, if the second deviation correction operation is determined to be performed on the vehicle according to the first driving information. The ending module 902 is used to end the second deviation correction operation for the vehicle when the first hand torque is greater than the first hand torque threshold.

[0113] If the module / unit integrated in the vehicle-mounted device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also instruct the relevant hardware to complete it through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by the processor, the steps of the above-mentioned method embodiments can be implemented.

[0114] The computer-readable instructions include computer-readable instruction codes, which may be in source code form, object code form, executable files or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer-readable instruction codes, recording storage medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM).

[0115] Exemplarily, the computer-readable instructions may be divided into one or more modules / units, one or more modules / units are stored in the storage device 12, and are executed by the processor 13 to complete the present application. One or more modules / units may be a series of computer-readable instruction segments capable of completing specific functions, and the computer-readable instruction segments are used to describe the execution process of the computer-readable instructions in the vehicle-mounted device 1. For example, the computer-readable instructions may be divided into a first determination module 900, a second determination module 901, and an end module 902.

[0116] For details on the functions of each module / unit, please refer to the above Figure 3-6 The detailed description is not repeated here.

[0117] In an embodiment of the present application, by comparing the first hand torque applied by the driver to the steering wheel of the vehicle with the first hand torque threshold corresponding to the first hand torque, if the first hand torque is greater than the first hand torque threshold, it is determined to terminate the automatic correction operation of the LDP control device, and the second correction operation of the vehicle is performed by the driver precisely controlling the steering wheel, thereby improving the correction accuracy of the vehicle.

[0118] In the several embodiments provided in this application, it should be understood that the disclosed systems, 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 is only a logical function division, and there may be other division methods in actual implementation.

[0119] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0121] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present application is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0122] In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

Claims

1. A vehicle control method, applied to a vehicle, characterized in that: The method comprises: Determining, according to first driving information of the vehicle, to perform a first deviation correction operation on the vehicle; During the first deviation-correcting operation on the vehicle, if it is determined according to the first driving information to perform a second deviation-correcting operation on the vehicle, a first hand torque threshold corresponding to the first hand torque of the steering wheel of the vehicle is determined according to the second driving information of the vehicle; When the first hand torque is greater than the first hand torque threshold, the second deviation correction operation on the vehicle is terminated.

2. The vehicle control method according to claim 1, characterized in that: The second driving information includes a first vehicle speed of the vehicle, a lane width of the vehicle, and a cross slope of the lane in which the vehicle is traveling. The first hand torque threshold corresponding to the first hand torque of the steering wheel of the vehicle is determined according to the second driving information of the vehicle, and includes: determining a first coefficient of a first hand torque threshold according to the first vehicle speed; determining a second coefficient of the first hand torque threshold according to the lane width; Determine a third coefficient of the first hand torque threshold according to the lane cross slope; A first hand torque threshold corresponding to the first hand torque is determined according to the first hand torque, the first coefficient, the second coefficient, and the third coefficient.

3. The vehicle control method according to claim 1, characterized in that: Before determining to perform a first deviation correction operation on the vehicle according to the first driving information of the vehicle, the method further includes: Determining whether the first driving information meets a preset first operating condition; When the first driving information meets the preset first operation condition, performing a first deviation correction operation on the vehicle; When the first driving information does not satisfy the preset first operating condition, the first deviation correction operation is not performed on the vehicle.

4. The vehicle control method according to claim 3, characterized in that: The first driving information includes the distance between the vehicle and the center line of the lane and the yaw angular velocity of the vehicle, and the determining whether the first driving information satisfies a preset first operating condition includes: When the distance is within a first preset distance range and the yaw angular velocity is within a first preset angular velocity range, determining that the first driving information satisfies the preset first operating condition; When the distance is not within a first preset distance range and / or the yaw angular velocity is not within a first preset angular velocity range, it is determined that the first driving information does not satisfy the preset first operating condition.

5. The vehicle control method according to claim 4, characterized in that: Before determining to perform a second deviation correction operation on the vehicle according to the first driving information, the method further includes: Determining whether the first driving information meets a preset second operating condition; When the first driving information meets the preset second operation condition, performing a second deviation correction operation on the vehicle; When the first driving information does not satisfy the preset second operating condition, the second deviation correction operation is not performed on the vehicle.

6. The vehicle control method according to claim 5, characterized in that: The determining whether the first driving information satisfies a preset second operating condition includes: When the distance is within a second preset distance range and the yaw angular velocity is within a second preset angular velocity range, determining that the first driving information satisfies the preset second operating condition; When the distance is not within the second preset distance range and / or the yaw angular velocity is not within the second preset angular velocity range, it is determined that the first driving information does not satisfy the preset second operating condition.

7. The vehicle control method according to claim 1, characterized in that: The first driving information includes a second speed of the vehicle. After determining to perform a first deviation correction operation on the vehicle according to the first driving information of the vehicle, the method further includes: determining a second hand torque threshold corresponding to a second hand torque of a steering wheel of the vehicle according to the second vehicle speed; When the second hand torque is greater than the second hand torque threshold, the first deviation correction operation on the vehicle is terminated.

8. A vehicle control device, running on a vehicle, characterized in that: The vehicle control device comprises: A first determining module, configured to determine, according to first driving information of the vehicle, to perform a first deviation correction operation on the vehicle; a second determining module, configured to determine, during the process of performing the first deviation-correcting operation on the vehicle, a first hand torque threshold value corresponding to the first hand torque of the steering wheel of the vehicle according to the second driving information of the vehicle if it is determined according to the first driving information that the second deviation-correcting operation is to be performed on the vehicle; An ending module is used to end the second deviation correction operation on the vehicle when the first hand torque is greater than the first hand torque threshold.

9. A vehicle-mounted device, characterized in that: The vehicle-mounted equipment includes: a storage device storing computer-readable instructions; and A processor executes the computer-readable instructions stored in the storage device to implement the vehicle control method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores computer-readable instructions, and the computer-readable instructions are executed by a processor in the vehicle-mounted device to implement the vehicle control method as described in any one of claims 1 to 7.

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