Vehicle control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a vehicle and a storage medium, and the vehicle control method comprises the steps: obtaining sensor data of the vehicle, the sensor data comprising one or combination of radar data and image data; determining a collision time of the vehicle based on the sensor data, the collision time being a predicted collision time between the vehicle and the forward target; if the collision time is lower than a preset time threshold value, an automatic braking strategy of the vehicle is determined, and the automatic braking strategy comprises a full-force braking strategy or a partial braking strategy; determining a steering system locking strategy of the vehicle based on the automatic braking strategy; and controlling a braking system of the vehicle to execute braking based on the automatic braking strategy, and controlling a steering system to lock or unlock based on the locking strategy. According to the technical scheme, after the vehicle triggers the automatic brake, a driver is prevented from operating the steering wheel by mistake, and then the risk of accidents is reduced.

Description

Technical Field

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

[0002] With the development of the automobile industry, automobile safety has received more and more attention. As an important technology, the automatic emergency braking (AEB) system has been widely used in modern cars. Its purpose is to automatically trigger the brakes to avoid or mitigate collisions when the driver fails to react in time. However, although the AEB system has become mature, there are still some safety issues in actual use. Summary of the invention

[0003] In view of the above problems, the present application provides a vehicle control method, device, vehicle and storage medium, which can prevent the driver from misoperating the steering wheel after the vehicle triggers automatic braking, thereby reducing the risk of accidents.

[0004] According to one aspect of an embodiment of the present application, a vehicle control method is provided, the method comprising: acquiring sensor data of the vehicle, the sensor data comprising one or a combination of radar data and image data; determining a collision time of the vehicle based on the sensor data, the collision time being a predicted collision time between the vehicle and a target ahead; if the collision time is lower than a preset time threshold, determining an automatic braking strategy for the vehicle, the automatic braking strategy comprising a full braking strategy or a partial braking strategy; determining a steering system locking strategy for the vehicle based on the automatic braking strategy; controlling the braking system of the vehicle to perform braking based on the automatic braking strategy, and controlling the steering system to lock or unlock based on the locking strategy.

[0005] In an optional manner, the method for determining the locking strategy of the steering system based on the automatic braking strategy includes: if the automatic braking strategy is determined to be the partial braking strategy, determining the lane changing strategy of the vehicle based on the sensor data; if the lane changing strategy is characterized by the vehicle not meeting the lane changing conditions, determining the locking strategy of the steering system to completely lock the steering system.

[0006] In an optional manner, the method for determining the locking strategy of the steering system based on the automatic braking strategy also includes: if the lane change strategy is characterized by the vehicle satisfying the lane change condition, determining the lane change direction of the vehicle according to the lane change strategy; determining the target lane for the vehicle to change lanes based on the lane change direction; if there are multiple target lanes and they are located on both sides of the vehicle along the wheelbase direction of the vehicle, determining the locking strategy of the steering system to completely unlock the steering system so that the steering system can turn toward any one of the multiple target lanes.

[0007] In an optional embodiment, the method also includes: if there is only one target lane, determining the locking direction of the steering system by the vehicle based on the lane change direction; and determining the locking strategy of the steering system based on the locking direction to unlock part of the steering system so that the steering system can only turn toward the target lane.

[0008] In an optional manner, the method further includes: if the lane change strategy is characterized by the vehicle satisfying the lane change condition, obtaining a target steering angle value of the steering system; and determining a locking strategy of the steering system based on the target steering angle value so that the maximum turning angle value of the steering system is the target steering angle value.

[0009] In an optional manner, the method for determining the locking strategy of the steering system based on the automatic braking strategy includes: if it is determined that the automatic braking strategy is the full braking strategy, then determining the locking strategy of the steering system to completely lock the steering system.

[0010] In an optional manner, the method also includes: obtaining real-time operating condition information of the vehicle, the real-time operating condition information including brake pedal information, accelerator pedal information, steering wheel information and curvature information of the vehicle's driving path; if the braking opening of the brake pedal is greater than a preset braking opening threshold, if the acceleration opening of the accelerator pedal is greater than a preset acceleration opening threshold, if the steering wheel angle is greater than a preset angle threshold, the steering wheel angular velocity is greater than a preset angular velocity threshold or if the curvature of the driving path is less than a preset driving path curvature threshold, then controlling the vehicle's brake system to perform exit braking, and controlling the vehicle to completely unlock the steering system.

[0011] According to another aspect of an embodiment of the present application, a vehicle control device is provided, the device comprising: an acquisition module for acquiring sensor data of the vehicle, the sensor data comprising one of radar data and image data or a combination of both; a first determination module for determining a collision time of the vehicle based on the sensor data, the collision time being a predicted collision time between the vehicle and a target ahead; a second determination module for determining an automatic braking strategy of the vehicle if the collision time is lower than a preset time threshold, the automatic braking strategy comprising a full braking strategy or a partial braking strategy; a third determination module for determining a steering system locking strategy of the vehicle based on the automatic braking strategy; a control module for controlling the braking system of the vehicle to perform braking based on the automatic braking strategy, and controlling the steering system to lock or unlock based on the locking strategy.

[0012] According to another aspect of an embodiment of the present application, a vehicle is provided, comprising: a controller; and a memory for storing one or more programs, wherein when the one or more programs are executed by the controller, the controller implements the above-mentioned vehicle control method.

[0013] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes at least one executable instruction. When the executable instruction is executed on a vehicle control device / vehicle, the vehicle control device / vehicle executes the vehicle control method as described above.

[0014] In the vehicle control method of the present application, since the collision time of the vehicle can be determined by acquiring the sensor data of the vehicle, when the collision time is lower than the preset time threshold, the automatic braking strategy of the vehicle is determined, and the locking strategy of the vehicle for the steering system is determined based on the automatic braking strategy, and finally the braking system of the vehicle is controlled to perform braking based on the automatic braking strategy, and the steering system is controlled to be locked or unlocked based on the locking strategy. Therefore, after combining the automatic braking strategy with the locking strategy of the steering system, the vehicle control method can control the braking system of the vehicle to perform braking based on the automatic braking strategy, and control the steering system to be locked or unlocked based on the locking strategy, thereby preventing the driver from misoperating the steering wheel after the vehicle triggers the automatic braking, thereby reducing the risk of accidents.

[0015] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0017] Figure 1 A schematic diagram of scenarios at various braking stages in an automatic braking strategy in a vehicle control method provided in an embodiment of the present application is shown.

[0018] Figure 2 A schematic structural diagram of a vehicle in a vehicle control method provided in an embodiment of the present application is shown.

[0019] Figure 3 A schematic diagram of a scenario in a vehicle control method provided in an embodiment of the present application is shown.

[0020] Figure 4 A schematic block diagram of the process of steps S210-S250 of a vehicle control method provided in an embodiment of the present application is shown.

[0021] Figure 5 A schematic block diagram of the process of steps S241 - S242 of a vehicle control method provided in an embodiment of the present application is shown.

[0022] Figure 6 A schematic block diagram of the process of steps S243-S245 of a vehicle control method provided in an embodiment of the present application is shown.

[0023] Figure 7 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application is shown.

[0024] Figure 8 A schematic structural diagram of an embodiment of a computing device of a vehicle provided by the present application is shown. DETAILED DESCRIPTION

[0025] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations 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.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0028] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0029] First of all, it should be noted that the vehicle's automatic braking function (AEB) is an active safety technology for automobiles, which is mainly composed of three modules, including the control module (ECU), the distance measurement module and the braking module. Among them, the core of the distance measurement module includes microwave radar, face recognition technology and video system, which can provide safe, accurate and real-time images and road condition information of the road ahead.

[0030] It should be understood that the AEB system uses radar to measure the distance to the vehicle in front or an obstacle, and then uses a data analysis module to compare the measured distance with the warning distance and the safety distance. When the distance is less than the warning distance, an alarm will be given. When the distance is less than the safety distance, even if the driver does not have time to step on the brake pedal, the AEB system will be activated to cause the car to brake automatically, thereby ensuring safe travel.

[0031] For example, Figure 1 and Figure 2 As shown in the figure, when the AEB system brakes in an emergency, it may include the sound and / or optical warning stage, the braking reminder stage, the partial braking stage and the full braking stage. Specifically: the AEB system detects the road environment in front of its own vehicle through the front millimeter wave radar and the front multi-function camera. When encountering an emergency, the AEB function will be activated to help the driver brake, so as to avoid or reduce the collision; the triggering process of the AEB function includes the sound and optical warning stage when the sensor recognizes the risk. When the driver does not brake, the system will brake to remind the driver again that there is danger ahead. When the degree of danger continues to increase, AEB will perform partial braking or full braking according to the risk situation.

[0032] However, since many drivers are unfamiliar with or do not trust the AEB system, they may try to manually control the steering wheel after AEB triggers the brakes, which may cause the AEB function to exit, thereby increasing the risk of accidents; or when there are other vehicles or obstacles in adjacent lanes, the driver may mistakenly operate the steering wheel and cause an accident.

[0033] Based on this, the embodiments of the present application provide a vehicle control method, a control device 300, a vehicle and a computer-readable storage medium to solve the above problems. Specifically: Please refer to Figure 1 , Figure 1 The schematic flow diagram of steps S210-S250 of a vehicle control method provided by an embodiment of the present application is shown. The method is executed by a vehicle terminal, and includes steps S210 to S250, which are described in detail as follows:

[0034] S210: Acquire sensor data of the vehicle, where the sensor data includes radar data and image data or a combination of the two.

[0035] In an exemplary embodiment of the present application, Figure 2 As shown, the vehicle at least includes a front millimeter wave radar, a front view camera, two side view cameras and two side rear corner radars installed on the vehicle body. Among them, the side view camera can also be used for 360 panoramic image recognition, and the side rear corner radar can also be used for target detection for BSD blind spot warning.

[0036] For example, obtaining the sensor data of the vehicle includes obtaining data from the front millimeter-wave radar, the front-view camera, two side-view cameras, and two side rear corner radars installed on the vehicle body. Among them, the radar data is provided by the front millimeter-wave radar and the two side rear corner radars, and the image data can be provided by the front-view camera and the two side-view cameras.

[0037] It should be understood that the front millimeter-wave radar and the front-view camera are important components for identifying the road environment and targets. The two side-view cameras and the two side rear corner radars can simultaneously monitor the vehicles in the adjacent lanes when the AEB function is triggered in the partial braking or full braking stage.

[0038] Step S220: Determine the collision time of the vehicle based on the sensor data, where the collision time is the predicted collision time between the vehicle and the front target.

[0039] For example, the front-view camera and front millimeter-wave radar monitor the forward road environment of the vehicle and the target vehicles around the vehicle. When an emergency occurs, the vehicle's domain controller will perform TTC based on the distance and relative speed between the vehicle and the target in front. F (Forward collision time) calculation. When the relative acceleration is 0, Where d is the distance between the two cars and v is the relative speed of the two cars. When the relative acceleration is not 0,

[0040] Step S230: If the collision time is lower than the preset time threshold, the automatic braking strategy of the vehicle is determined, and the automatic braking strategy at least includes a full braking strategy or a partial braking strategy.

[0041] For example, when 1.5s<TTC F When the time is less than 2.5s, AEB will trigger the sound and visual alarm prompts; when 0.5s<TTC F ≤1.5s, the automatic braking strategy is partial braking strategy; when TTC F When the AEB braking time is ≤0.5s, the automatic braking strategy is the full braking strategy; 2s after the AEB stops, the vehicle will request to pull up the EPB (electronic parking brake system) and the vehicle will enter the parking state.

[0042] Step S240: Determine the vehicle's locking strategy for the steering system based on the automatic braking strategy.

[0043] In an exemplary embodiment of the present application, the method of determining the locking strategy of the steering system based on the automatic braking strategy includes: if the automatic braking strategy is determined to be a full braking strategy, then determining the locking strategy of the steering system to be a completely locked steering system.

[0044] For example, when the forward-looking camera and front millimeter-wave radar identify a collision risk in front of the own vehicle, the domain controller will calculate the TTC (forward collision time) based on the relative distance, relative speed and relative acceleration between the own vehicle and the vehicle in front. When TTC≤0.5s, AEB full braking is triggered. At this time, regardless of whether there are vehicles in the adjacent lane, the vehicle's domain controller will send a steering system self-locking request to EPS. EPS applies a holding torque of 100N.m to the steering wheel of the steering system. During this period, the driver cannot easily turn the steering wheel. When the vehicle stops, the own vehicle automatically pulls up the EPB, and the domain controller requests to release the steering system self-locking. At this time, the steering wheel of the steering system returns to normal.

[0045] It should be understood that when the automatic braking strategy is the full braking strategy, at the same time, the locking strategy of the steering system is determined to be completely locked, which can prevent the driver from misoperating and suddenly turning the steering wheel, thereby causing the vehicle to roll over and cause an accident.

[0046] In an exemplary embodiment of the present application, Figure 5 The schematic flow chart of steps S241-S242 of a vehicle control method provided in an embodiment of the present application is shown. Figure 5 As shown, the method for determining the locking strategy of the steering system based on the automatic braking strategy includes steps S241 to S242, which are described in detail as follows:

[0047] Step S241: If it is determined that the automatic braking strategy is a partial braking strategy, the lane change strategy of the vehicle is determined based on the sensor data.

[0048] For example, Figure 3A schematic diagram of a scene in a vehicle control method provided by an embodiment of the present application is shown. Figure 3 As shown in the figure, the current vision camera and front millimeter-wave radar recognize that there is a collision risk in front of the vehicle. The forward collision time calculated according to the formula is 0.5s<TTC F When the time is ≤1.5s, AEB partial braking is triggered. After the automatic braking strategy is the partial braking strategy, the vehicle can identify and calculate the relative distance and relative position of the vehicle in the adjacent lane through the sensor data collected by the side view camera and the side rear radar. When the vehicle in the adjacent lane is in front of the vehicle, the side view camera outputs the front longitudinal relative distance D L When the adjacent lane is located behind the vehicle, the rear corner radar will output the rear longitudinal distance D R , and finally according to the front longitudinal relative distance D L The longitudinal distance from the rear R The vehicle can judge the current scene condition of its own vehicle based on the distance and determine the vehicle's lane change strategy.

[0049] Step S242: If the lane change strategy is characterized as the vehicle not meeting the lane change condition, the locking strategy of the steering system is determined to be completely locking the steering system.

[0050] It should be understood that Figure 3 A schematic diagram of a scene in a vehicle control method provided by an embodiment of the present application is shown. Figure 3 As shown in the figure, when the AEB partial braking is triggered, the side view camera recognizes that there is a vehicle (or other obstacle) next to the adjacent lane. L Determine that the vehicle in the adjacent lane is close to the vehicle itself (for example, when the longitudinal distance D between the vehicle in the adjacent lane and the front of the vehicle is set L When the side rear corner radar identifies that the vehicle is close to the vehicle in the adjacent lane, that is, the vehicle in the adjacent lane is close to the rear longitudinal direction of the vehicle (for example, the longitudinal distance D between the vehicle in the adjacent lane and the rear longitudinal direction of the vehicle in the adjacent lane is less than 30m); or R When the distance is less than 100m, it is considered to be close). Considering the different speeds of the vehicles behind the adjacent lanes, it is necessary to calculate the relative speed, relative distance and relative acceleration between the vehicle behind the vehicle and the adjacent lane, and use the TTC calculation formula to determine the collision time TTC between the vehicle behind the vehicle and the adjacent lane. R , when TTC R When the time is ≤3s, it is considered that there is a risk of collision with the vehicle behind when changing lanes. At this time, the lane change strategy is characterized by the vehicle not meeting the lane change conditions, and the steering system locking strategy is determined to be completely locked to prevent the driver from misoperating the steering wheel and causing a traffic accident.

[0051] In an exemplary embodiment of the present application, Figure 6A schematic flow chart of steps S243-S245 of a vehicle control method provided in an embodiment of the present application is shown, combined with Figure 6 As shown, the method for determining the locking strategy of the steering system based on the automatic braking strategy also includes steps S243 to S245, which are described in detail as follows:

[0052] Step S243: If the lane change strategy indicates that the vehicle meets the lane change condition, the lane change direction of the vehicle is determined according to the lane change strategy.

[0053] It should be understood that Figure 3 A schematic diagram of a scene in a vehicle control method provided by an embodiment of the present application is shown. Figure 3 As shown, if according to D L Determine that the vehicle in the adjacent lane is far from the vehicle itself (for example, when the longitudinal distance D between the vehicle in the adjacent lane and the front of the vehicle is set L When the side rear corner radar detects that the vehicle is far away from the vehicle in the adjacent lane, that is, the vehicle in the adjacent lane is far away from the rear longitudinal direction of the vehicle (for example, the longitudinal distance D between the vehicle in the adjacent lane and the rear longitudinal direction of the vehicle in the adjacent lane is greater than 30m). R When the distance is greater than 100m, it is considered to be far), and it is considered that there is no risk of collision with the vehicle behind when the vehicle changes lanes. At this time, the lane change strategy is characterized by the vehicle meeting the lane change conditions, and the lane change direction of the vehicle is determined according to the lane change strategy.

[0054] For example, if according to D L If the vehicle in the adjacent lane on the left side of the vehicle is judged to be far away from the vehicle, the lane change direction of the vehicle is determined to be the left side according to the lane change strategy. L If the vehicle in the adjacent lane to the right of the vehicle is judged to be far away from the vehicle, the lane change direction of the vehicle is determined to be the right according to the lane change strategy. L If it is determined that the vehicles in the adjacent lanes on the right and left sides of the own vehicle are far away from the own vehicle, the lane change direction of the vehicle is determined to be right or left according to the lane change strategy.

[0055] Step S244: Determine the target lane for the vehicle to change lanes based on the lane changing direction.

[0056] For example, if the lane change direction is to the right, the target lane for the vehicle's lane change is determined to be the lane on the right; if the lane change direction is to the left, the target lane for the vehicle's lane change is determined to be the lane on the left; if the lane change direction is both to the right and to the left, the target lanes for the vehicle's lane change are determined to be the lane on the right and the lane on the left.

[0057] Step S245: If there are multiple target lanes and they are located on both sides of the vehicle along the wheelbase direction of the vehicle, the locking strategy of the steering system is determined to control the vehicle to unlock the steering system so that the steering system can turn toward any one of the multiple target lanes.

[0058] For example, there are two target lanes, which are located on the left and right sides of the vehicle in a one-to-one correspondence. At this time, it means that the vehicle's steering system can change lanes to the right or left. Therefore, the locking strategy of the steering system can be determined to control the vehicle to unlock the steering system so that the steering system can turn in any direction, and then turn to any target lane among the multiple target lanes.

[0059] In an exemplary embodiment of the present application, the vehicle control method also includes: if there is only one target lane, determining the locking direction of the steering system of the vehicle based on the lane change direction; and determining the locking strategy of the steering system based on the locking direction to control the vehicle to lock part of the steering system so that the steering system can only turn toward the target lane.

[0060] For example, if there is only one target lane and it is located on the left side of the vehicle, the lane change direction of the vehicle is determined to be left. At this time, it is determined that the steering system can turn to the left side of the vehicle, and the locking strategy of the steering system is determined to control the vehicle to lock the right-turning part of the steering system and unlock the left-turning part of the steering system, so that the steering system can only turn to the target lane.

[0061] It should be noted that locking part of the steering system so that the steering system can only steer toward the target lane means applying a holding torque of 100N.m to the steering wheel of the steering system so that the steering system can only steer toward the target lane when the external force is less than or equal to 100N.m. If the external force is greater than 100N.m, the steering system can only steer toward the target lane to deal with special emergency situations.

[0062] In addition, the target lane is one of multiple candidate lanes. Among them, the "target lane" is not a standard lane in the strict sense. As long as there are spatial positions on both sides of the vehicle that have lane change conditions, they can be regarded as candidate lanes for the target lane.

[0063] It should be understood that when there is only one target lane, by determining the locking strategy of the steering system to control the vehicle to lock part of the steering system so that the steering system can only turn toward the target lane, not only can the driver be provided with the power to choose whether to change lanes or not when the vehicle's braking system is controlled based on the automatic braking strategy to perform braking, but the driver can also be prevented from changing lanes to a lane that does not meet the lane change conditions, thereby reducing the accident rate.

[0064] Furthermore, the vehicle control method also includes: if the lane change strategy is characterized as the vehicle satisfying the lane change condition, obtaining a target steering angle value of the steering system; based on the target steering angle value, determining a locking strategy of the steering system to control the vehicle to unlock the steering system at the target steering angle value.

[0065] For example, after the lane change strategy is characterized as the vehicle meeting the lane change conditions, the target steering angle value that the vehicle can offset can be analyzed through sensor data collected by the front millimeter-wave radar, the front-view camera, two side-view cameras and two side rear corner radars.

[0066] It should be understood that after the steering wheel of the steering system is turned to the target steering angle value, it can just avoid the vehicle or obstacle in front of the vehicle; or, after the steering wheel of the steering system is turned to the target steering angle value, it can just be located in the target lane, but not to the extent that the vehicle will roll over due to a large steering range due to excessive speed.

[0067] Furthermore, the vehicle control method also includes: after obtaining the target steering angle value of the steering system, obtaining the current speed of the vehicle, and determining the steering speed of the steering wheel of the steering system based on the current speed and the target steering angle value, thereby preventing the driver from turning the steering wheel too quickly when the vehicle speed is too fast and causing the vehicle to roll over.

[0068] For example, after obtaining a target steering angle value of the steering system and a steering speed of the steering wheel of the steering system, the force required to rotate the steering wheel gradually increases during the process of turning the steering wheel of the steering system toward the target lane to the target steering angle value.

[0069] Optionally, when the target lane is on the left, the locking strategy of the steering system is: apply a holding torque of 100 N.m to the right side of the steering wheel, and then gradually increase the holding torque applied to the left side of the steering wheel as the angle value of the steering wheel rotation increases, until the steering wheel rotates to the target steering angle value, and the holding torque applied to the left side of the steering wheel is a holding torque of 100 N.m.

[0070] Step S250: Control the vehicle's braking system to perform braking based on the automatic braking strategy, and control the steering system to lock or unlock based on the locking strategy.

[0071] In an exemplary embodiment of the present application, during the process of controlling the vehicle's braking system to perform braking based on an automatic braking strategy, and controlling the steering system to lock or unlock based on a locking strategy, the vehicle control method also includes: acquiring real-time operating condition information of the vehicle, the real-time operating condition information including brake pedal information, accelerator pedal information, steering wheel information, and vehicle's driving path curvature information.

[0072] Furthermore, if the braking opening of the brake pedal is greater than a preset braking opening threshold, if the acceleration opening of the accelerator pedal is greater than a preset acceleration opening threshold, if the steering wheel angle is greater than a preset angle threshold, the steering wheel angular speed is greater than a preset angular speed threshold, or if the driving path curvature is less than a preset driving path curvature threshold, the vehicle's brake system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

[0073] For example, in the process of controlling the vehicle's brake system to perform braking based on the automatic braking strategy, if the driver presses the brake pedal to a brake opening greater than or equal to 60% of the maximum brake opening, the vehicle's brake system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

[0074] For example, in the process of controlling the vehicle's brake system to perform braking based on the automatic braking strategy, if the acceleration opening of the accelerator pedal is greater than or equal to 85% of the maximum acceleration opening, the vehicle's brake system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

[0075] For example, in the process of controlling the vehicle's brake system to perform braking based on the automatic braking strategy, if the steering wheel angle is greater than or equal to 60°, the vehicle's brake system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

[0076] For example, in the process of controlling the vehicle's brake system to perform braking based on the automatic braking strategy, if the steering wheel angular velocity is greater than 150° / s, the vehicle's brake system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

[0077] For example, in the process of controlling the vehicle's brake system to perform braking based on the automatic braking strategy, if the curvature radius of the driving path is less than 125m, the vehicle's brake system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

[0078] For example, in the process of controlling the vehicle's braking system to perform braking based on the automatic braking strategy, if the TCS (traction control system) / ABS (anti-lock braking system) / VDC vehicle dynamic control is activated, the vehicle's braking system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

[0079] For example, when the vehicle's braking system is controlled based on the automatic braking strategy to perform braking, if the time since the last AEB activation is less than 20 seconds.

[0080] In the present invention, since the collision time of the vehicle can be determined by acquiring the sensor data of the vehicle, the automatic braking strategy of the vehicle is determined when the collision time is lower than the preset time threshold, wherein if the automatic braking strategy is a full braking strategy, the steering system locking strategy of the vehicle is determined to be completely locking the steering system based on the automatic braking strategy; if the automatic braking strategy is a partial braking strategy, the lane changing strategy of the vehicle is determined based on the sensor data, and the steering system of the vehicle is determined to be completely unlocking the steering system or partially unlocking the steering system based on the lane changing strategy. Therefore, after the vehicle triggers AEB, the steering system can be selected to unlock and lock according to the automatic braking strategy to prevent the driver from misoperating the steering wheel.

[0081] In addition, when the steering system of the vehicle is determined to meet the lane changing conditions based on the lane changing strategy, the lane changing direction and target steering angle value of the vehicle can be determined according to the lane changing strategy, so that the steering system can only steer in the corresponding direction after partially unlocking the steering system, and the steering angle is only the target steering angle value, which can further improve the safety of the vehicle during automatic braking.

[0082] Figure 7 FIG. 2 shows a schematic diagram of the structure of a vehicle control device 300 provided in an embodiment of the present application. Figure 7 As shown, in this embodiment, a vehicle control device 300 is also provided for executing the vehicle control method in the above embodiment.

[0083] Furthermore, the vehicle control device 300 includes an acquisition module 310, and the acquisition module 310 is used to acquire sensor data of the vehicle, and the sensor data includes one of radar data and image data or a combination of the two.

[0084] Furthermore, the vehicle control device 300 includes a first determination module 320, and the first determination module 320 is used to determine the collision time of the vehicle based on the sensor data, and the collision time is the predicted collision time between the vehicle and the front target.

[0085] Furthermore, the vehicle control device 300 includes a second determination module 330, and the second determination module 330 is used to determine the automatic braking strategy of the vehicle if the collision time is lower than a preset time threshold, and the automatic braking strategy includes a full braking strategy or a partial braking strategy.

[0086] Furthermore, the vehicle control device 300 includes a third determination module 340, and the third determination module 340 is used to determine the steering system locking strategy of the vehicle based on the automatic braking strategy.

[0087] Furthermore, the vehicle control device 300 includes a control module 350, and the control module 350 is used to control the braking system of the vehicle to perform braking based on the automatic braking strategy, and control the steering system to lock or unlock based on the locking strategy.

[0088] It should be noted that the vehicle control device 300 provided in the above embodiment and the vehicle control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0089] Figure 8 A schematic diagram of the structure of an embodiment of a computing device of a vehicle of the present application is shown, which shows a schematic diagram of the structure of a computer system of a computing device of a vehicle suitable for implementing an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the computing device of the vehicle.

[0090] See also Figure 8 As shown, the vehicle includes a computing device, which includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the above-mentioned vehicle control method is executed.

[0091] Please continue reading Figure 8 As shown, the computer system of the computing device 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method in the above embodiment. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, ROM 502 and RAM 503 are connected to each other through a bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0092] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0093] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0094] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method as described above is implemented. The computer-readable storage medium may be included in the computing device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0095] Another aspect of the present application also provides a computer program product or a computer program, which includes at least one executable instruction, and when the executable instruction is run on the vehicle control device 300 / vehicle, the vehicle control device 300 / vehicle executes the above vehicle control method.

[0096] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0097] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the apparatus, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0098] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0099] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0100] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0101] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0102] In the present application, the same or similar terminology concepts, technical solutions and / or application scenario descriptions are generally described in detail only the first time they appear. When they appear again later, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of the present application, for the same or similar terminology concepts, technical solutions and / or application scenario descriptions that are not described in detail later, reference can be made to the previous related detailed descriptions.

[0103] In the present application, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0104] The various technical features of the technical solution of the present application can be arbitrarily combined. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.

[0105] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring sensor data of the vehicle, wherein the sensor data includes radar data and image data or a combination of the two; determining a collision time of the vehicle based on the sensor data, the collision time being a predicted collision time between the vehicle and a forward target; If the collision time is lower than a preset time threshold, determining an automatic braking strategy for the vehicle, wherein the automatic braking strategy includes a full braking strategy or a partial braking strategy; Determining a steering system locking strategy for the vehicle based on the automatic braking strategy; The braking system of the vehicle is controlled to perform braking based on the automatic braking strategy, and the steering system is controlled to lock or unlock based on the locking strategy.

2. The method according to claim 1, characterized in that The method for determining the locking strategy of the steering system based on the automatic braking strategy includes: If it is determined that the automatic braking strategy is the partial braking strategy, determining a lane change strategy for the vehicle based on the sensor data; If the lane change strategy indicates that the vehicle does not meet the lane change condition, the locking strategy of the steering system is determined to be completely locking the steering system.

3. The method according to claim 2, characterized in that The method for determining the locking strategy of the steering system based on the automatic braking strategy also includes: If the lane change strategy indicates that the vehicle meets the lane change condition, determining the lane change direction of the vehicle according to the lane change strategy; Determining a target lane for the vehicle to change lanes based on the lane change direction; If there are multiple target lanes and they are located on both sides of the vehicle along the wheelbase direction of the vehicle, the locking strategy of the steering system is determined to completely unlock the steering system so that the steering system can steer toward any one of the multiple target lanes.

4. The method according to claim 3, characterized in that The method further comprises: If there is only one target lane, determining a locking direction of the steering system by the vehicle based on the lane change direction; The locking strategy of the steering system is determined based on the locking direction to unlock part of the steering system so that the steering system can only be steered toward the target lane.

5. The method according to claim 3, characterized in that The method further comprises: If the lane change strategy indicates that the vehicle meets the lane change condition, obtaining a target steering angle value of the steering system; The locking strategy of the steering system is determined based on the target steering angle value, so that the maximum rotation angle value of the steering system is the target steering angle value.

6. The method according to claim 1, characterized in that The method for determining the locking strategy of the steering system based on the automatic braking strategy includes: If it is determined that the automatic braking strategy is the full braking strategy, then the locking strategy of the steering system is determined to be completely locking the steering system.

7. The method according to claim 1, characterized in that The method further comprises: Acquiring real-time operating condition information of the vehicle, the real-time operating condition information including brake pedal information, accelerator pedal information, steering wheel information, and curvature information of a driving path of the vehicle; If the braking opening of the brake pedal is greater than a preset braking opening threshold, if the acceleration opening of the accelerator pedal is greater than a preset acceleration opening threshold, if the steering wheel angle is greater than a preset angle threshold, the steering wheel angular speed is greater than a preset angular speed threshold, or if the driving path curvature is less than a preset driving path curvature threshold, the vehicle's brake system is controlled to perform exit braking, and the vehicle is controlled to completely unlock the steering system.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, used to acquire sensor data of the vehicle, wherein the sensor data includes radar data and image data or a combination of the two; A first determination module, configured to determine a collision time of the vehicle based on the sensor data, the collision time being a predicted collision time between the vehicle and a forward target; A second determination module is used to determine an automatic braking strategy of the vehicle if the collision time is lower than a preset time threshold, wherein the automatic braking strategy includes a full braking strategy or a partial braking strategy; A third determination module, configured to determine a steering system locking strategy of the vehicle based on the automatic braking strategy; A control module is used to control the braking system of the vehicle to perform braking based on the automatic braking strategy, and to control the steering system to lock or unlock based on the locking strategy.

9. A vehicle, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the vehicle control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is executed on the vehicle control device / vehicle, the vehicle control device / vehicle executes the vehicle control method as described in any one of claims 1 to 7.

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