Vehicle driving lane control method and device, equipment and storage medium

Abstract

The invention provides a vehicle driving lane control method and device, equipment and a storage medium. The method comprises the following steps: acquiring load information of a vehicle and acquiring lane information of the vehicle on a current lane; wherein the load information represents the current whole vehicle mass of the vehicle; according to the load information and the lane information, determining steering wheel turning angle information of the vehicle; wherein the steering wheel rotation angle information represents the rotation degree of a steering wheel; and controlling the vehicle to run on the current lane according to the steering wheel angle information. According to the method, the lane keeping precision is improved by increasing the load information.

Description

Technical Field

[0001] The present application relates to autonomous driving technology, and in particular to a method, device, equipment and storage medium for controlling a vehicle's driving lane. Background Art

[0002] Lane Keeping Assist System (Lane Keeping Assist System, LKAS) is an advanced driver assistance system in the field of autonomous driving, which can assist the driver to keep the vehicle within the lane.

[0003] LKAS can automatically control the steering wheel and adjust the vehicle's driving direction by issuing a turning command to the steering wheel. If the degree of steering wheel rotation cannot be accurately determined, the vehicle's driving accuracy in the lane will be affected and the vehicle may deviate from the lane. Summary of the invention

[0004] The present application provides a method, device, equipment and storage medium for controlling a vehicle driving lane, so as to improve the accuracy of the vehicle driving on the lane.

[0005] In a first aspect, the present application provides a method for controlling a vehicle driving lane, comprising:

[0006] Obtaining load information of the vehicle and obtaining lane information of the vehicle on the current lane; wherein the load information represents the current vehicle mass;

[0007] Determining steering wheel angle information of the vehicle according to the load information and the lane information; wherein the steering wheel angle information represents a degree of rotation of the steering wheel;

[0008] The vehicle is controlled to travel in the current lane according to the steering wheel angle information.

[0009] In a second aspect, the present application provides a vehicle driving lane control device, comprising:

[0010] An information acquisition module, used to acquire the load information of the vehicle and the lane information of the vehicle in the current lane; wherein the load information represents the current vehicle mass;

[0011] An information determination module, configured to determine the steering wheel angle information of the vehicle according to the load information and the lane information; wherein the steering wheel angle information represents the degree of rotation of the steering wheel;

[0012] The vehicle control module is used to control the vehicle to travel in the current lane according to the steering wheel angle information.

[0013] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0014] The memory stores computer-executable instructions;

[0015] The processor executes the computer-executable instructions stored in the memory to implement the method according to the first aspect.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect.

[0017] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the method described in the first aspect when executed by a processor.

[0018] The present application provides a method, device, equipment and storage medium for controlling a vehicle driving lane. By acquiring the vehicle's load information and the lane information of the vehicle in the current lane, the current vehicle mass and the driving condition of the vehicle in the lane can be obtained. The vehicle's steering wheel angle information is determined by combining the load information and the lane information, and the accuracy of determining the steering wheel angle information is improved. According to the steering wheel angle information, the steering wheel is controlled to rotate, so that the vehicle remains in the current lane, the driving accuracy of the vehicle is improved, and the user's driving experience is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] Figure 1 An architectural diagram of the LKAS system provided in an embodiment of the present application;

[0021] Figure 2 A schematic flow chart of a method for controlling a vehicle driving lane provided in an embodiment of the present application;

[0022] Figure 3 A schematic flow chart of a method for controlling a vehicle driving lane provided in an embodiment of the present application;

[0023] Figure 4 A schematic flow chart of a method for controlling a vehicle driving lane provided in an embodiment of the present application;

[0024] Figure 5 A structural block diagram of a vehicle driving lane control device provided in an embodiment of the present application;

[0025] Figure 6A structural block diagram of a vehicle driving lane control device provided in an embodiment of the present application;

[0026] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application;

[0027] Figure 8 A structural block diagram of an electronic device provided in an embodiment of the present application.

[0028] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0030] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0031] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0032] In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0033] It should be noted that due to space limitations, this application specification does not list all optional implementation methods. After reading this application specification, those skilled in the art should be able to think that as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method. Each embodiment is described in detail below.

[0034] The LKAS system is an advanced driver assistance system that can assist the driver to keep the vehicle within the lane it is traveling in by automatically controlling the steering wheel. Generally speaking, the core algorithm of LKAS is integrated on an electronic control unit, which can be an independent controller or share a controller with other functions. LKAS can read the lane information provided by the camera, issue instructions to the steering wheel, and adjust the direction of the vehicle. In addition, LKAS can also obtain the required vehicle information from other devices through the vehicle communication network, for example, it can obtain information such as vehicle speed. LKAS is an assisted driving function rather than an automatic driving function. LKAS's control of the steering wheel will not override the driver. If the driver intends to control the steering wheel by himself without the assistance of LKAS, LKAS can actively withdraw from the control of the steering wheel.

[0035] Figure 1 This is the architecture diagram of the LKAS system. Figure 1 In the ECU, the LKAS algorithm is integrated. The camera is installed on the vehicle and can collect images of the vehicle's surroundings. Based on the collected images, relevant information such as lane width, curvature, and the vehicle's position on the lane can be obtained. Other inputs refer to information collected by various sensor devices installed on the vehicle, for example, it can be information such as vehicle speed. Based on the received information, the ECU can calculate the steering angle or torque that the steering wheel needs to turn, and send a turning command to the steering wheel through the calculated information to control the steering wheel rotation.

[0036] The current control of lane keeping function is mostly based on PID (Proportion, Integral, Differential) controller design, and the integral control part in PID is usually omitted. When calculating the steering wheel angle, the camera is required to provide the distance from the left lane line, the distance from the right lane line, the heading angle and the road curvature, etc., and the speed sensor is required to provide vehicle speed information. After obtaining this information, the gain of PD control is calculated, and the steering wheel angle command is determined based on the above results, and the output acts on the steering wheel.

[0037] However, different vehicles have different loads, especially for commercial vehicles, the load has a greater impact on the steering characteristics. In the current method, it is impossible to obtain relevant information about the vehicle load, which affects the calculation accuracy of the steering wheel angle and further affects the control accuracy of the vehicle's lane keeping.

[0038] The present application provides a method, device, equipment and storage medium for controlling a vehicle driving lane, aiming to solve the above technical problems in the prior art.

[0039] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0040] Figure 2 1 is a flow chart of a method for controlling a vehicle driving lane according to an embodiment of the present application, and the method can be executed by a vehicle driving lane control device. Figure 2 As shown, the method comprises the following steps:

[0041] S201, obtaining load information of the vehicle and obtaining lane information of the vehicle in the current lane; wherein the load information represents the current vehicle mass.

[0042] For example, different vehicles may correspond to different load information, and the load information may represent the current vehicle mass of the vehicle, for example, it may include the sum of the empty vehicle weight and the loaded weight. The current load information of the vehicle may be determined at any time during the driving of the vehicle, for example, the empty vehicle weight and the loaded weight of the vehicle may be pre-entered before driving, so as to be obtained during driving.

[0043] When a vehicle is driving on a road, relevant information about the vehicle in the current lane can be obtained in real time as lane information. For example, lane information can represent the driving conditions of the vehicle in the current lane and the attribute information of the current lane. The driving conditions can be information such as the speed and position of the vehicle, and the attribute information can include information such as the curvature and width of the lane. Lane information can be obtained using sensors and other devices installed on the vehicle. For example, a camera installed on the vehicle can collect images related to the lane, and determine information such as the curvature and width of the lane by recognizing the image.

[0044] In this embodiment, obtaining the load information of the vehicle includes: reading the load information of the vehicle through a CAN bus of the vehicle.

[0045] Specifically, a CAN network can be deployed on the vehicle, and the mass-related information of the vehicle can be read at any time through the CAN bus, that is, the load information of the vehicle can be obtained. For example, the load information can be in the form of CAN data, and the CAN data of the CAN bus can be obtained from the vehicle's brake system controller, and the CAN data can be transmitted to the electronic control unit of the LKAS system.

[0046] The beneficial effect of such a setting is that load information is obtained through the CAN network, so that the lane keeping function can be assisted by the load information, thereby improving the accuracy and efficiency of lane keeping.

[0047] In this embodiment, the lane information includes at least one of the following: vehicle speed information, left distance information, right distance information, heading angle information, and lane curvature information; wherein the left distance information represents the distance between the vehicle and the left lane line, and the right distance information represents the distance between the vehicle and the right lane line.

[0048] Specifically, lane information may include vehicle speed information, left distance information, right distance information, heading angle information, lane curvature information, etc. Left distance information refers to the distance between the vehicle and the left lane line of the current lane, and right distance information refers to the distance between the vehicle and the right lane line of the current lane. Heading angle information refers to the heading angle of the vehicle relative to the lane line.

[0049] Speed ​​information can be obtained at any time through the speed sensor on the vehicle, and left distance information, right distance information, heading angle information, and lane curvature information can be obtained by taking photos with the camera and then identifying the photos. The acquired lane information can be transmitted to the electronic control unit of the LKAS system in real time.

[0050] In this embodiment, the lane information of the vehicle in the current lane is obtained, including: obtaining the speed information of the vehicle through a speed sensor on the vehicle, and obtaining the environment image of the vehicle in the current lane through an image collector on the vehicle; performing image recognition processing on the environment image to obtain the left distance information, right distance information, heading angle information, and lane curvature information of the vehicle.

[0051] Specifically, for the speed information in the lane information, a speed sensor is installed on the vehicle, and the speed sensor can be used to collect the current speed of the vehicle in real time. The current speed information of the vehicle can be obtained through the speed sensor installed on the vehicle.

[0052] For the left distance information, right distance information, heading angle information, and lane curvature information in the lane information, an image collector such as a camera is installed on the vehicle, and the image collector can be used to collect the environmental image around the vehicle in real time. Through the image collector installed on the vehicle, the environmental image of the vehicle in the current lane can be obtained, that is, the image containing the current lane can be obtained. Based on the preset image recognition algorithm, the environmental image is recognized and processed, for example, the lane line in the environmental image can be identified. In this embodiment, the preset image recognition algorithm is not specifically limited. After obtaining the lane line in the environmental image, the curvature of the lane where the vehicle is currently located can be determined. As the lane curvature information, the lane curvature information can characterize the curvature of the current lane. The position of the vehicle in the current lane can also be identified. For example, it can be identified that the vehicle is located in the middle of the current lane. According to the identified lane line and other information, the left distance information, right distance information, and heading angle information of the vehicle can be obtained.

[0053] The beneficial effect of this arrangement is that the camera provides the left distance, right distance, heading angle and road curvature, and the vehicle speed sensor provides speed information, thereby providing a data basis for the calculation of the angle information and improving the efficiency and accuracy of determining the steering wheel angle information.

[0054] S202. Determine steering wheel angle information of the vehicle according to the load information and the lane information; wherein the steering wheel angle information represents a degree of rotation of the steering wheel.

[0055] For example, after obtaining the current load information and lane information, the load information and lane information are combined to calculate the steering wheel angle information, which can represent the degree of rotation of the steering wheel. For example, the steering wheel angle information can be the angle or torque of the steering wheel rotation.

[0056] A calculation formula for the steering wheel angle information may be preset, and the load information and the lane information may be substituted into the preset calculation formula, and the calculation result obtained is the steering wheel angle information. For example, the load information may be weightedly calculated with each lane information to obtain the steering wheel angle information. In this embodiment, the preset calculation formula is not specifically limited.

[0057] S203: Control the vehicle to travel in the current lane according to the steering wheel angle information.

[0058] For example, the steering wheel angle information is sent as a rotation command to the steering wheel of the vehicle, and the steering wheel automatically rotates after receiving the command to adjust the driving direction of the vehicle so that the vehicle can continue to drive within the current lane. For example, if the steering wheel angle information is 10 degrees clockwise, the steering wheel can be rotated 10 degrees clockwise.

[0059] In the embodiment of the present application, by obtaining the load information of the vehicle and the lane information of the vehicle in the current lane, the current vehicle mass and the driving condition of the vehicle in the lane can be obtained. The steering wheel angle information of the vehicle is determined by combining the load information and the lane information, and the accuracy of determining the steering wheel angle information is improved. According to the steering wheel angle information, the steering wheel is controlled to rotate, so that the vehicle remains in the current lane, the driving accuracy of the vehicle is improved, and the driving experience of the user is enhanced.

[0060] Figure 3 A flow chart of a method for controlling a vehicle driving lane provided in an embodiment of the present application is provided. This embodiment is an optional embodiment based on the above embodiment.

[0061] In this embodiment, according to the traffic block sequence, based on the preset terminal device type identification model, the device type of the device to be identified is obtained, which can be refined as follows: determining the traffic characteristics of each traffic block in the traffic block sequence; wherein the traffic characteristics characterize at least one of the traffic size, message length, number of message packets, network transmission protocol, and message transmission direction of the traffic block, the traffic size is the number of bytes of the message packet, and the message transmission direction is the direction of receiving the message or the direction of sending the message; the traffic characteristics of all traffic blocks in the traffic block sequence are input into the preset terminal device type identification model to obtain the device type of the device to be identified.

[0062] like Figure 3 As shown, the method comprises the following steps:

[0063] S301. Acquire driving characteristic information of the vehicle through a sensor device installed in the vehicle; wherein the driving characteristic information represents a speed change of the vehicle during driving.

[0064] For example, a vehicle may be equipped with a variety of sensor devices, which may be used to collect driving characteristic information of the vehicle, and the driving characteristic information may characterize the speed change of the vehicle during driving, that is, determine the fluctuation of the vehicle speed. For example, an acceleration sensor may be installed on the vehicle to obtain information such as acceleration and deceleration of the vehicle.

[0065] In this embodiment, the sensor device includes an accelerator pedal sensor and an acceleration sensor; the vehicle's driving characteristic information is obtained through the sensor device installed in the vehicle, including: obtaining throttle opening information through the accelerator pedal sensor in the vehicle; wherein the throttle opening information represents the degree of opening and closing of the accelerator pedal; obtaining acceleration information through the acceleration sensor in the vehicle; and determining the throttle opening information and acceleration information as the vehicle's driving characteristic information.

[0066] Specifically, the sensor device in the vehicle may include an accelerator pedal sensor and an acceleration sensor, etc. The accelerator pedal sensor may be used to read the accelerator opening information, and the acceleration sensor may be used to read the acceleration information. The accelerator opening information may characterize the degree of opening and closing of the accelerator pedal. The accelerator opening information and the acceleration information may be determined as the driving characteristic information of the vehicle. That is, the driving characteristic information includes the accelerator opening information and the acceleration information.

[0067] The beneficial effect of this arrangement is that stepping on the accelerator pedal will affect the speed fluctuation of the vehicle, and the acceleration is also related to the speed fluctuation of the vehicle. The speed fluctuation of vehicles of different weights will be different. Therefore, the equivalent mass can be obtained through the accelerator opening information and acceleration information as the vehicle's load information to improve the subsequent vehicle control accuracy.

[0068] S302: Determine vehicle load information according to the driving characteristic information.

[0069] Exemplarily, different driving characteristic information may correspond to different load information. For example, the correlation between driving characteristic information and load information may be preset. According to the determined driving characteristic information, the corresponding load information is determined. For example, the faster the speed fluctuation of the vehicle represented by the driving characteristic information, the smaller the mass represented by the load information. The driving characteristic information may also be calculated to obtain the load information of the vehicle. By determining the load information, the steering wheel angle information may be assisted in determining, the steering wheel angle determination accuracy may be improved, and the driving control accuracy may be further improved.

[0070] In this embodiment, the driving characteristic information is subjected to high-pass filtering through a preset high-pass filter to obtain filtered information; wherein the filtered information represents the driving characteristic information within a preset frequency range; and the vehicle load information is determined based on the filtered information.

[0071] Specifically, the high-pass filter can filter and screen out the data according to the frequency size, and use the preset high-pass filter to perform high-pass filtering on the driving characteristic information. For example, the driving characteristic information within the preset frequency range can be retained, and the driving characteristic information not within the preset frequency range can be screened out. The information retained after screening is determined as the filtered information, that is, the filtered information represents the driving characteristic information within the preset frequency range. The high-frequency driving characteristic information can be retained, and the low-frequency driving characteristic information can be screened out. For example, the high-frequency range can be above 5Hz.

[0072] According to the filtered information, the corresponding mass is determined as the load information of the vehicle. For example, the filtered information can be calculated or the associated relationship can be searched to obtain the load information.

[0073] The beneficial effect of such an arrangement is that, by filtering the driving characteristic information, the influence of redundant data can be reduced, the determination accuracy of the load information can be improved, and the determination accuracy of the steering wheel angle information can be improved.

[0074] In this embodiment, the driving characteristic information is high-pass filtered by a preset high-pass filter to obtain filtered information, including: high-pass filtering the acquired vehicle throttle opening information by a preset high-pass filter to obtain a target throttle opening, and high-pass filtering the acquired vehicle acceleration information by a preset high-pass filter to obtain a target acceleration; the target throttle opening and the target acceleration are determined as the filtered information.

[0075] Specifically, the driving characteristic information may include throttle opening information and acceleration information, and the throttle opening information and the acceleration information may be subjected to high-pass filtering by a high-pass filter, that is, the throttle opening information may be subjected to high-pass filtering, and the acceleration information may be subjected to high-pass filtering.

[0076] The information obtained after high-pass filtering the throttle opening information is determined as the target throttle opening. The information obtained after high-pass filtering the acceleration information is determined as the target acceleration. The target throttle opening and the target acceleration are both high-frequency feature quantities, thereby eliminating the influence of low-frequency characteristics such as road slope and ground friction. The target throttle opening and the target acceleration are determined as filtered information, that is, the filtered information can include the target throttle opening and the target acceleration.

[0077] The beneficial effect of such a setting is that the throttle opening information and the acceleration information are respectively subjected to high-pass filtering, thereby reducing the influence of environmental factors, improving the accuracy of the data, and further improving the control accuracy of the vehicle driving.

[0078] In this embodiment, the acceleration information includes longitudinal acceleration and lateral acceleration; the acceleration information is high-pass filtered through a preset high-pass filter to obtain a target acceleration, including: extracting the longitudinal acceleration from the acceleration information; and high-pass filtering the longitudinal acceleration through a preset high-pass filter to obtain a target acceleration.

[0079] Specifically, the acceleration output by the acceleration sensor includes lateral and longitudinal accelerations. The longitudinal direction refers to the direction of the vehicle's travel, and the lateral direction refers to the direction perpendicular to the vehicle's travel. The vehicle load has little effect on the lateral acceleration, so the lateral acceleration can be discarded and the longitudinal acceleration can be extracted from the acceleration information. The longitudinal acceleration is high-pass filtered through a preset high-pass filter, and the filtered longitudinal acceleration is determined as the target acceleration.

[0080] The beneficial effect of such an arrangement is that the longitudinal acceleration of the entire vehicle is obtained, the influence of the lateral acceleration on the subsequent determination of load information is reduced, and the determination accuracy of the load information is improved.

[0081] In this embodiment, the filtered information includes a target throttle opening and a target acceleration; determining the vehicle load information based on the filtered information includes: dividing the target throttle opening by the target acceleration to obtain the vehicle load information.

[0082] Specifically, the filtered information may include a target throttle opening and a target acceleration, and the load information of the vehicle may be determined based on the target throttle opening and the target acceleration. A calculation formula for the load information may be preset, for example, the calculation formula may be load information = target throttle opening / target acceleration. By dividing the target throttle opening by the target acceleration, the equivalent mass, that is, the current load information of the vehicle, may be obtained.

[0083] The beneficial effect of such a setting is that, when the current weight of the vehicle is not known in advance, the current overall equivalent weight can be quickly obtained, which facilitates the subsequent consideration of the impact of the load on the steering wheel rotation and improves the vehicle control accuracy.

[0084] S303: Acquire lane information of the vehicle in the current lane.

[0085] Exemplarily, the execution order of this step may be before S301 and S302, or after S301 and S302, as long as it is before S304.

[0086] S304. Determine steering wheel angle information of the vehicle according to the load information and the lane information; wherein the steering wheel angle information represents a degree of rotation of the steering wheel.

[0087] Exemplarily, this step may refer to the above-mentioned step S202 and will not be described in detail.

[0088] S305: Control the vehicle to travel in the current lane according to the steering wheel angle information.

[0089] Exemplarily, this step may refer to the above-mentioned step S203 and will not be described in detail.

[0090] In the embodiment of the present application, by obtaining the load information of the vehicle and the lane information of the vehicle in the current lane, the current vehicle mass and the driving condition of the vehicle in the lane can be obtained. The steering wheel angle information of the vehicle is determined by combining the load information and the lane information, and the accuracy of determining the steering wheel angle information is improved. According to the steering wheel angle information, the steering wheel is controlled to rotate, so that the vehicle remains in the current lane, the driving accuracy of the vehicle is improved, and the driving experience of the user is enhanced.

[0091] Figure 4A flow chart of a method for controlling a vehicle driving lane provided in an embodiment of the present application is provided. This embodiment is an optional embodiment based on the above embodiment.

[0092] In this embodiment, the steering wheel angle information of the vehicle is determined based on the load information and the lane information, including: determining a correction coefficient corresponding to the load information based on a preset association relationship; wherein the correction coefficient represents the degree of correction to the steering wheel angle information; the preset association relationship represents the association between the load information and the correction coefficient; and determining the steering wheel angle information of the vehicle based on the lane information and the correction coefficient corresponding to the load information.

[0093] like Figure 4 As shown, the method comprises the following steps:

[0094] S401, obtaining load information of the vehicle and lane information of the vehicle in the current lane; wherein the load information represents the current vehicle mass.

[0095] Exemplarily, this step may refer to the above-mentioned step S201 and will not be described in detail.

[0096] S402. Determine a correction coefficient corresponding to the load information according to a preset association relationship; wherein the correction coefficient represents a degree of correction to the steering wheel angle information; and the preset association relationship represents an association relationship between the load information and the correction coefficient.

[0097] Exemplarily, an association relationship between load information and a correction coefficient is preset. After determining the current load information of the vehicle, the correction coefficient corresponding to the load information is determined according to the preset association relationship. The correction coefficient can characterize the degree of correction of the steering wheel angle information, that is, the steering wheel angle information needs to be adjusted according to the correction coefficient.

[0098] The correction coefficient may be a natural number greater than 0, for example, the correction coefficient may be between 0 and 5, and the load information of the vehicle is mostly between 5 tons and 50 tons. An example of the preset association relationship is that the load information of 10 tons corresponds to the correction coefficient of 2.2.

[0099] S403: Determine the steering wheel angle information of the vehicle according to the lane information and the correction coefficient corresponding to the load information.

[0100] Exemplarily, the correction coefficient corresponding to the load information is determined as the target correction coefficient. According to each lane information and the target correction coefficient, the steering wheel angle information of the vehicle can be calculated. By considering the target correction coefficient, the determination accuracy of the steering wheel angle information is improved.

[0101] In this embodiment, the lane information includes: vehicle speed information, left distance information, right distance information, heading angle information, and lane curvature information; the vehicle's steering wheel angle information is determined based on the lane information and a correction coefficient corresponding to the load information, including: determining the vehicle's position information on the current lane based on the left distance information and the right distance information; performing differentiation processing on the position information to obtain a position differentiation result; performing differentiation processing on the heading angle information to obtain a heading angle differentiation result; and determining the vehicle's steering wheel angle information based on the position information, the position differentiation result, the heading angle information, the heading angle differentiation result, the speed information, the lane curvature information, and the correction coefficient corresponding to the load information.

[0102] Specifically, when calculating the steering wheel angle information, the lane information used may include vehicle speed information, left distance information, right distance information, heading angle information, lane curvature information, etc. That is, the speed information, left distance information, right distance information, heading angle information, lane curvature information, and target correction coefficient are calculated to obtain the steering wheel angle information.

[0103] The position information of the vehicle in the current lane can be determined based on the left distance information and the right distance information. The position information can represent the position error between the vehicle and the center position of the current lane, and is used to adjust the driving direction of the vehicle. The calculation formula of the position information can be, position information = (left distance information - right distance information) / 2. After obtaining the position information, the position information is differentiated, and the result of the processing is determined as the position differential result. The heading angle information can also be differentiated, and the result of the processing is determined as the heading angle differential result. In this embodiment, the calculation method of the differential is not specifically limited.

[0104] The vehicle's steering wheel angle information can be calculated by combining the position information, the position differential result, the heading angle information, the heading angle differential result, the speed information, the lane curvature information, and the target correction coefficient. For example, the above data can be substituted into a preset formula to obtain the steering wheel angle information.

[0105] The beneficial effect of such a setting is that it takes into account the vehicle's position, heading angle, speed, and road curvature, and adjusts the calculation process according to the correction coefficient, thereby improving the calculation accuracy of the steering wheel angle information, avoiding the influence of load information on the driving direction, and improving the vehicle's driving accuracy.

[0106] In this embodiment, the steering wheel angle information of the vehicle is determined according to the position information, the position differential result, the heading angle information, the heading angle differential result, the speed information, the lane curvature information and the correction coefficient corresponding to the load information, including: determining the first control coefficient, the second control coefficient, the third control coefficient, and the fourth control coefficient according to the speed information and the correction coefficient corresponding to the load information; wherein the first control coefficient represents the influence of the position information on the steering wheel angle information, the second control coefficient represents the influence of the position differential result on the steering wheel angle information, the third control coefficient represents the influence of the heading angle information on the steering wheel angle information, and the fourth control coefficient represents the influence of the heading angle differential result on the steering wheel angle information; determining the fifth control coefficient according to the correction coefficient corresponding to the load information; wherein the fifth control coefficient represents the influence of the lane curvature information on the steering wheel angle information; determining the steering wheel angle information of the vehicle according to the position information, the position differential result, the heading angle information, the heading angle differential result, the lane curvature information, the first control coefficient, the second control coefficient, the third control coefficient, the fourth control coefficient, and the fifth control coefficient.

[0107] Specifically, for the current speed of the vehicle, the PD control coefficient at the speed is determined. The PD control coefficient is the gain of the PD control, and the PD control coefficient may include a first control coefficient, a second control coefficient, a third control coefficient, a fourth control coefficient, and a fifth control coefficient. The first control coefficient, the second control coefficient, the third control coefficient, and the fourth control coefficient may be determined according to the speed information and the target correction coefficient; the fifth control coefficient may be determined according to the target correction coefficient.

[0108] The first control coefficient can characterize the influence of the position information on the steering wheel angle information, that is, the first control coefficient can be regarded as the weight of the position information. The second control coefficient can characterize the influence of the position differential result on the steering wheel angle information, that is, the second control coefficient can be regarded as the weight of the position differential result. The third control coefficient can characterize the influence of the heading angle information on the steering wheel angle information, that is, the third control coefficient can be regarded as the weight of the heading angle information. The fourth control coefficient can characterize the influence of the heading angle differential result on the steering wheel angle information, that is, the fourth control coefficient can be regarded as the weight of the heading angle differential result. The fifth control coefficient can characterize the influence of the lane curvature information on the steering wheel angle information, that is, the fifth control coefficient can be regarded as the weight of the lane curvature information. The calculation formulas for different PD control coefficients can be preset, and each PD control coefficient can be calculated separately.

[0109] The vehicle's steering wheel angle information is obtained by combining the position information, the position differential result, the heading angle information, the heading angle differential result, the lane curvature information, the first control coefficient, the second control coefficient, the third control coefficient, the fourth control coefficient, and the fifth control coefficient. For example, the lane information can be weighted and summed according to the PD control coefficient. The calculation formula for the steering wheel angle information can be:

[0110] Z=m1×α1+m2×α2+m3×α3+m4×α4+m5×α5;

[0111] Among them, Z represents the steering wheel angle information, m1 represents the position information, m2 represents the position differential result, m3 represents the heading angle information, m4 represents the heading angle differential result, m5 represents the lane curvature information, α1 represents the first control coefficient, α2 represents the second control coefficient, α3 represents the third control coefficient, α4 represents the fourth control coefficient, and α5 represents the fifth control coefficient.

[0112] The beneficial effect of this arrangement is that the PD control coefficient at different vehicle speeds is calculated, and the steering wheel angle information is quickly obtained in combination with the corresponding lane information, thereby improving the accuracy and efficiency of determining the steering wheel angle information, thereby improving the accuracy and efficiency of vehicle driving.

[0113] In this embodiment, the first control coefficient is represented by α1=(K1 / v 2 )×β; the second control coefficient is represented by α2=(K2 / v 2 )×β; the third control coefficient is represented by α3=(K3 / v)×β; the fourth control coefficient is represented by α4=(K4 / v)×β; the fifth control coefficient is represented by α5=K5×β;

[0114] Among them, α1 is the first control coefficient, α2 is the second control coefficient, α3 is the third control coefficient, α4 is the fourth control coefficient, α5 is the fifth control coefficient, v represents the speed information, β represents the correction coefficient corresponding to the load information, K1, K2, K3, K4, K5 are all preset calibration parameters.

[0115] Specifically, calculation formulas for different PD control coefficients are pre-set. For each PD control coefficient, load information is taken into consideration, that is, a correction coefficient corresponding to the load information exists in each formula. Five calibration parameters are pre-set, and each lane information corresponds to a preset calibration parameter to achieve targeted determination of different PD control coefficients. The gain of PD control is calculated based on the calibration amount and vehicle speed, and finally the steering wheel angle information is calculated based on the results of each gain and output to act on the steering wheel.

[0116] The beneficial effect of such a setting is that different PD control gains can be quickly calculated, and the influence of vehicle load can be taken into account, thereby improving the calculation accuracy and efficiency of the steering wheel angle information.

[0117] S404: Control the vehicle to travel in the current lane according to the steering wheel angle information.

[0118] Exemplarily, this step may refer to the above-mentioned step S203 and will not be described in detail.

[0119] In the embodiment of the present application, by obtaining the load information of the vehicle and the lane information of the vehicle in the current lane, the current vehicle mass and the driving condition of the vehicle in the lane can be obtained. The steering wheel angle information of the vehicle is determined by combining the load information and the lane information, and the accuracy of determining the steering wheel angle information is improved. According to the steering wheel angle information, the steering wheel is controlled to rotate, so that the vehicle remains in the current lane, the driving accuracy of the vehicle is improved, and the driving experience of the user is enhanced.

[0120] Figure 5 This is a structural block diagram of a vehicle driving lane control device provided by an embodiment of the present invention. For ease of description, only the parts related to the embodiment of the present disclosure are shown. Figure 5 The vehicle driving lane control device 500 includes: an information acquisition module 501, an information determination module 502 and a vehicle control module 503.

[0121] The information acquisition module 501 is used to acquire the load information of the vehicle and the lane information of the vehicle in the current lane; wherein the load information represents the current vehicle mass;

[0122] An information determination module 502 is used to determine the steering wheel angle information of the vehicle according to the load information and the lane information; wherein the steering wheel angle information represents the degree of rotation of the steering wheel;

[0123] The vehicle control module 503 is used to control the vehicle to travel in the current lane according to the steering wheel angle information.

[0124] Figure 6 A structural block diagram of a vehicle driving lane control device provided by an embodiment of the present disclosure, such as Figure 6 As shown, the control device 600 for the vehicle driving lane includes an information acquisition module 601, an information determination module 602 and a vehicle control module 603, wherein the information acquisition module 601 includes a characteristic acquisition unit 6011, a load determination unit 6012 and a lane determination unit 6013.

[0125] The characteristic acquisition unit 6011 is used to acquire the driving characteristic information of the vehicle through the sensor device installed in the vehicle; wherein the driving characteristic information represents the speed change of the vehicle during driving;

[0126] A load determination unit 6012, configured to determine the load information of the vehicle according to the driving characteristic information;

[0127] The lane determination unit 6013 is used to obtain lane information of the vehicle in the current lane.

[0128] In one example, the sensor device includes an accelerator pedal sensor and an acceleration sensor; the characteristic acquisition unit 6011 includes:

[0129] An opening determination subunit, used to obtain throttle opening information through an throttle pedal sensor in the vehicle; wherein the throttle opening information represents the opening and closing degree of the throttle pedal;

[0130] An acceleration acquisition subunit, used to acquire acceleration information through an acceleration sensor in the vehicle;

[0131] The characteristic determination subunit is used to determine the throttle opening information and the acceleration information as the driving characteristic information of the vehicle.

[0132] In one example, the load determination unit 6012 includes:

[0133] A high-pass filter subunit, configured to perform high-pass filtering on the driving characteristic information through a preset high-pass filter to obtain filtered information; wherein the filtered information represents the driving characteristic information within a preset frequency range;

[0134] The load determination subunit is used to determine the load information of the vehicle according to the filtered information.

[0135] In one example, the high-pass filter subunit is specifically used for:

[0136] The acquired throttle opening information of the vehicle is subjected to high-pass filtering through a preset high-pass filter to obtain a target throttle opening, and the acquired acceleration information of the vehicle is subjected to high-pass filtering through a preset high-pass filter to obtain a target acceleration;

[0137] The target throttle opening and the target acceleration are determined as the filtered information.

[0138] In one example, the acceleration information includes longitudinal acceleration and lateral acceleration; the high-pass filter subunit is specifically used for:

[0139] extracting the longitudinal acceleration from the acceleration information;

[0140] The longitudinal acceleration is subjected to high-pass filtering by a preset high-pass filter to obtain the target acceleration.

[0141] In one example, the filtered information includes a target throttle opening and a target acceleration; the load determination subunit is specifically used for:

[0142] The target throttle opening is divided by the target acceleration to obtain the load information of the vehicle.

[0143] In one example, the information acquisition module 601 includes:

[0144] The data reading unit is used to read the load information of the vehicle through the CAN bus of the vehicle.

[0145] In one example, the lane information includes at least one of the following: vehicle speed information, left distance information, right distance information, heading angle information, and lane curvature information; wherein the left distance information represents the distance between the vehicle and the left lane line, and the right distance information represents the distance between the vehicle and the right lane line.

[0146] In one example, the lane determination unit 6013 is specifically configured to:

[0147] Acquiring speed information of the vehicle through a speed sensor on the vehicle, and acquiring an environmental image of the vehicle on a current lane through an image collector on the vehicle;

[0148] The environment image is subjected to image recognition processing to obtain left distance information, right distance information, heading angle information, and lane curvature information of the vehicle.

[0149] In one example, the information determination module 602 includes:

[0150] A coefficient determination unit, used to determine a correction coefficient corresponding to the load information according to a preset association relationship; wherein the correction coefficient represents a degree of correction of the steering wheel angle information; and the preset association relationship represents an association relationship between the load information and the correction coefficient;

[0151] The steering angle determination unit is used to determine the steering wheel angle information of the vehicle according to the lane information and a correction coefficient corresponding to the load information.

[0152] In one example, the lane information includes: vehicle speed information, left distance information, right distance information, heading angle information, and lane curvature information; the turning angle determination unit includes:

[0153] a position determination subunit, configured to determine position information of the vehicle on a current lane according to the left distance information and the right distance information;

[0154] A first micromolecular unit is used to perform differential processing on the position information to obtain a position differential result;

[0155] The second differential unit is used to perform differential processing on the heading angle information to obtain a heading angle differential result;

[0156] The steering angle determination subunit is used to determine the steering wheel angle information of the vehicle according to the position information, the position differential result, the heading angle information, the heading angle differential result, the speed information, the lane curvature information, and the correction coefficient corresponding to the load information.

[0157] In one example, the corner determination subunit is specifically used for:

[0158] Determine a first control coefficient, a second control coefficient, a third control coefficient, and a fourth control coefficient according to the speed information and a correction coefficient corresponding to the load information; wherein the first control coefficient represents the influence of the position information on the steering wheel angle information, the second control coefficient represents the influence of the position differential result on the steering wheel angle information, the third control coefficient represents the influence of the heading angle information on the steering wheel angle information, and the fourth control coefficient represents the influence of the heading angle differential result on the steering wheel angle information;

[0159] Determining a fifth control coefficient according to a correction coefficient corresponding to the load information; wherein the fifth control coefficient represents the degree of influence of the lane curvature information on the steering wheel angle information;

[0160] The steering wheel angle information of the vehicle is determined based on the position information, the position differential result, the heading angle information, the heading angle differential result, the lane curvature information, the first control coefficient, the second control coefficient, the third control coefficient, the fourth control coefficient, and the fifth control coefficient.

[0161] In one example, the first control coefficient is represented by α1=(K1 / v 2 )×β; the second control coefficient is characterized by α2=(K2 / v 2 )×β; the third control coefficient is represented by α3=(K3 / v)×β; the fourth control coefficient is represented by α4=(K4 / v)×β; the fifth control coefficient is represented by α5=K5×β;

[0162] Among them, α1 is the first control coefficient, α2 is the second control coefficient, α3 is the third control coefficient, α4 is the fourth control coefficient, α5 is the fifth control coefficient, v represents the speed information, β represents the correction coefficient corresponding to the load information, and K1, K2, K3, K4, and K5 are all preset calibration parameters.

[0163] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application, such as Figure 7 As shown, the electronic device includes: a memory 71 and a processor 72; the memory 71 is a memory for storing instructions executable by the processor 72.

[0164] The processor 72 is configured to execute the method provided in the above embodiment.

[0165] The electronic device further includes a receiver 73 and a transmitter 74. The receiver 73 is used to receive instructions and data sent by other devices, and the transmitter 74 is used to send instructions and data to external devices.

[0166] Figure 8 It is a block diagram of a terminal device according to an exemplary embodiment. The device may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0167] The device 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input / output (I / O) interface 812 , a sensor component 814 , and a communication component 816 .

[0168] The processing component 802 generally controls the overall operation of the device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0169] The memory 804 is configured to store various types of data to support operations on the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0170] The power supply component 806 provides power to the various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.

[0171] The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0172] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the device 800 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0173] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0174] The sensor assembly 814 includes one or more sensors for providing various aspects of the status assessment of the device 800. For example, the sensor assembly 814 can detect the open / closed state of the device 800, the relative positioning of components, such as the display and keypad of the device 800, and the sensor assembly 814 can also detect the position change of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration / deceleration of the device 800, and the temperature change of the device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0175] The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0176] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0177] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the instructions can be executed by the processor 820 of the device 800 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0178] A non-temporary computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a terminal device, enables the terminal device to execute the vehicle driving lane control method of the terminal device.

[0179] The present application also discloses a computer program product, including a computer program, which implements the method described in this embodiment when executed by a processor.

[0180] Various embodiments of the systems and techniques described above in the present application can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor, which can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0181] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or electronic device.

[0182] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0183] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0184] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data electronic device), or a computing system that includes middleware components (e.g., an application electronic device), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0185] The computer system may include a client and an electronic device. The client and the electronic device are generally far away from each other and usually interact through a communication network. The relationship between the client and the electronic device is generated by computer programs running on corresponding computers and having a client-electronic device relationship with each other. The electronic device may be a cloud electronic device, also known as a cloud computing electronic device or a cloud host, which is a host product in a cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The electronic device may also be an electronic device of a distributed system, or an electronic device combined with a blockchain. It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0186] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0187] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for controlling a vehicle driving lane, characterized in that: include: Obtaining load information of the vehicle and obtaining lane information of the vehicle on the current lane; wherein the load information represents the current vehicle mass; Determining steering wheel angle information of the vehicle according to the load information and the lane information; wherein the steering wheel angle information represents a degree of rotation of the steering wheel; The vehicle is controlled to travel in the current lane according to the steering wheel angle information.

2. The method according to claim 1, characterized in that: Get the vehicle's load information, including: Acquiring driving characteristic information of the vehicle through a sensor device installed in the vehicle; wherein the driving characteristic information represents a speed change during the vehicle's driving process; The load information of the vehicle is determined based on the driving characteristic information.

3. The method according to claim 2, characterized in that The sensor device includes an accelerator pedal sensor and an acceleration sensor; obtaining the driving characteristic information of the vehicle through the sensor device installed in the vehicle includes: Acquiring throttle opening information through an accelerator pedal sensor in the vehicle; wherein the throttle opening information represents the degree of opening and closing of the accelerator pedal; Acquiring acceleration information through an acceleration sensor in the vehicle; The throttle opening information and the acceleration information are determined as the driving characteristic information of the vehicle.

4. The method according to claim 2, characterized in that: Determining the load information of the vehicle according to the driving characteristic information includes: The driving characteristic information is subjected to high-pass filtering by a preset high-pass filter to obtain filtered information; wherein the filtered information represents the driving characteristic information within a preset frequency range; The load information of the vehicle is determined according to the filtered information.

5. The method according to claim 4, characterized in that The driving characteristic information is subjected to high-pass filtering through a preset high-pass filter to obtain filtered information, including: The acquired throttle opening information of the vehicle is subjected to high-pass filtering through a preset high-pass filter to obtain a target throttle opening, and the acquired acceleration information of the vehicle is subjected to high-pass filtering through a preset high-pass filter to obtain a target acceleration; The target throttle opening and the target acceleration are determined as the filtered information.

6. The method according to claim 5, characterized in that The acceleration information includes longitudinal acceleration and lateral acceleration; The acquired acceleration information of the vehicle is subjected to high-pass filtering through a preset high-pass filter to obtain a target acceleration, including: extracting the longitudinal acceleration from the acceleration information; The longitudinal acceleration is subjected to high-pass filtering by a preset high-pass filter to obtain the target acceleration.

7. The method according to claim 4, characterized in that The filtered information includes a target throttle opening and a target acceleration; Determining the load information of the vehicle according to the filtered information includes: The target throttle opening is divided by the target acceleration to obtain the load information of the vehicle.

8. The method according to claim 1, characterized in that Get the vehicle's load information, including: The load information of the vehicle is read through the CAN bus of the vehicle.

9. The method according to claim 1, characterized in that: The lane information includes at least one of the following: vehicle speed information, left distance information, right distance information, heading angle information, and lane curvature information; wherein the left distance information represents the distance between the vehicle and the left lane line, and the right distance information represents the distance between the vehicle and the right lane line.

10. The method according to any one of claims 1 to 9, characterized in that Obtaining lane information of the vehicle in the current lane, including: Acquiring speed information of the vehicle through a speed sensor on the vehicle, and acquiring an environmental image of the vehicle on a current lane through an image collector on the vehicle; The environment image is subjected to image recognition processing to obtain left distance information, right distance information, heading angle information, and lane curvature information of the vehicle.

11. The method according to any one of claims 1 to 9, characterized in that Determining steering wheel angle information of the vehicle according to the load information and the lane information includes: According to a preset correlation relationship, a correction coefficient corresponding to the load information is determined; wherein the correction coefficient represents the degree of correction of the steering wheel angle information; and the preset correlation relationship represents the correlation relationship between the load information and the correction coefficient; Steering wheel angle information of the vehicle is determined according to the lane information and a correction coefficient corresponding to the load information.

12. The method according to claim 11, characterized in that The lane information includes: vehicle speed information, left distance information, right distance information, heading angle information, and lane curvature information; determining the steering wheel angle information of the vehicle according to the lane information and a correction coefficient corresponding to the load information includes: Determining the position information of the vehicle on the current lane according to the left distance information and the right distance information; Performing differentiation processing on the position information to obtain a position differentiation result; Performing differentiation processing on the heading angle information to obtain a heading angle differentiation result; The steering wheel angle information of the vehicle is determined according to the position information, the position differential result, the heading angle information, the heading angle differential result, the speed information, the lane curvature information, and the correction coefficient corresponding to the load information.

13. The method according to claim 12, characterized in that Determining the steering wheel angle information of the vehicle according to the position information, the position differential result, the heading angle information, the heading angle differential result, the speed information, the lane curvature information and the correction coefficient corresponding to the load information, including: Determine a first control coefficient, a second control coefficient, a third control coefficient, and a fourth control coefficient according to the speed information and a correction coefficient corresponding to the load information; wherein the first control coefficient represents the influence of the position information on the steering wheel angle information, the second control coefficient represents the influence of the position differential result on the steering wheel angle information, the third control coefficient represents the influence of the heading angle information on the steering wheel angle information, and the fourth control coefficient represents the influence of the heading angle differential result on the steering wheel angle information; Determining a fifth control coefficient according to a correction coefficient corresponding to the load information; wherein the fifth control coefficient represents the degree of influence of the lane curvature information on the steering wheel angle information; The steering wheel angle information of the vehicle is determined based on the position information, the position differential result, the heading angle information, the heading angle differential result, the lane curvature information, the first control coefficient, the second control coefficient, the third control coefficient, the fourth control coefficient, and the fifth control coefficient.

14. The method according to claim 13, characterized in that The first control coefficient is represented by α1=(K1 / v 2 )×β; the second control coefficient is characterized by α2=(K2 / v 2 )×β; the third control coefficient is represented by α3=(K3 / v)×β; the fourth control coefficient is represented by α4=(K4 / v)×β; the fifth control coefficient is represented by α5=K5×β; Among them, α1 is the first control coefficient, α2 is the second control coefficient, α3 is the third control coefficient, α4 is the fourth control coefficient, α5 is the fifth control coefficient, v represents the speed information, β represents the correction coefficient corresponding to the load information, and K1, K2, K3, K4, and K5 are all preset calibration parameters.

15. A vehicle driving lane control device, characterized in that: include: An information acquisition module, used to acquire the load information of the vehicle and the lane information of the vehicle in the current lane; wherein the load information represents the current vehicle mass; An information determination module, configured to determine the steering wheel angle information of the vehicle according to the load information and the lane information; wherein the steering wheel angle information represents the degree of rotation of the steering wheel; The vehicle control module is used to control the vehicle to travel in the current lane according to the steering wheel angle information.

16. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 14 when executed by a processor.

18. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 14 when being executed by a processor.

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