Control method for vehicle with trailer, vehicle and storage medium

Abstract

The invention provides a control method for a vehicle with a trailer, the vehicle and a storage medium, and the method comprises the steps: determining vehicle information according to multiple pieces of environment information, determining the length and the width of the whole vehicle according to the vehicle information, determining the minimum turning radius and the minimum driving width according to the length and the width of the whole vehicle, and outputting the minimum turning radius and the minimum driving width. And according to the obtained driving starting point, the driving ending point, the minimum turning radius and the minimum driving width, the current driving path and the current driving strategy are determined, the vehicle is controlled to run according to the current driving path and the current driving strategy, the distance between the front vehicle and the vehicle is obtained in real time, and the current driving speed is adjusted according to the distance between the front vehicle and the current driving speed of the vehicle. The current driving path and the current driving strategy are determined based on the lengths and the widths of the vehicle and the trailer, so that the current driving path conforms to the driving condition of the vehicle with the trailer, and the current driving speed is adjusted according to the distance of the front vehicle, so that the driver is prevented from controlling for a long time; therefore, the probability of occurrence of traffic accidents is reduced.

Description

Technical Field

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

[0002] With the development of science and technology, intelligent driving has become an important direction for the development of future transportation. The intelligent driving assistance system can replace the driver to control the automatic driving of the vehicle on some roads with simple road conditions.

[0003] However, in the prior art, most intelligent driving assistance systems control a single vehicle, and do not provide overall intelligent driving control for vehicles with trailers. Therefore, for vehicles with trailers, the driver needs to manually control the entire process, which greatly increases the probability of traffic accidents caused by driver fatigue. Summary of the invention

[0004] The purpose of the present application is to provide a vehicle control method with a trailer, a vehicle and a storage medium to address the deficiencies in the above-mentioned prior art, so as to solve the problem in the prior art that a vehicle with a trailer requires manual control by the driver throughout the entire process.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, the present application provides a method for controlling a vehicle with a trailer, the method comprising:

[0007] Determine vehicle information based on multiple environmental information sent by multiple collection devices installed around the vehicle, the vehicle information including vehicle width, trailer width, vehicle head position, and trailer tail position;

[0008] Determine the vehicle length and vehicle width according to the vehicle information, wherein the vehicle length is the distance from the head of the vehicle to the tail of the trailer, and the vehicle width is the maximum value between the vehicle width and the trailer width;

[0009] Determine a minimum turning radius and a minimum driving width according to the vehicle length and the vehicle width;

[0010] Determine a current driving path and a current driving strategy according to the acquired driving starting point, driving end point, the minimum turning radius, and the minimum driving width, and control the vehicle to drive according to the current driving strategy and the current driving path, wherein the current driving strategy includes driver taking over or automatic driving;

[0011] The distance to the preceding vehicle is acquired in real time through the multiple acquisition devices, and the current driving speed is adjusted according to the distance to the preceding vehicle and the current driving speed of the vehicle.

[0012] Optionally, the method further comprises:

[0013] Obtain the vehicle's current lateral acceleration and current yaw rate in real time;

[0014] Determining a lateral acceleration change rate and a yaw rate change rate according to the current lateral acceleration, the current yaw rate, the historical lateral acceleration, and the historical yaw rate;

[0015] According to the lateral acceleration change rate, the yaw rate change rate and a preset change rate threshold, the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle are adjusted.

[0016] Optionally, adjusting the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle according to the lateral acceleration change rate, the yaw rate change rate and a preset change rate threshold comprises:

[0017] If the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate thresholds, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate thresholds, and there is a lateral acceleration change rate not greater than the acceleration change rate threshold, or a yaw rate change rate not greater than the yaw rate change rate threshold within a preset period before the current moment, then reducing the current driving speed of the vehicle;

[0018] If the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate thresholds, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate thresholds, and the lateral acceleration change rate and the yaw rate change in a preset time period before the current moment are both greater than the acceleration change rate threshold and the yaw rate change rate threshold, then the connection offset angle of the trailer and the vehicle is adjusted.

[0019] Optionally, determining the minimum turning radius and the minimum driving width according to the vehicle length and the vehicle width includes:

[0020] Determining the minimum turning radius according to the vehicle length, the preset minimum stable vehicle speed, and the preset maximum steering wheel angle;

[0021] The minimum running width is determined according to the vehicle width and a preset width ratio.

[0022] Optionally, determining the current driving path and the current driving strategy according to the acquired driving starting point, driving end point, the minimum turning radius, and the minimum driving width includes:

[0023] Determining a plurality of to-be-selected driving paths according to the driving starting point and the driving end point;

[0024] Determining whether there is a target driving path suitable for automatic driving according to the multiple driving paths to be selected;

[0025] If yes, taking the target driving path as the current driving path, and determining the current driving strategy as the automatic driving;

[0026] If not, the current driving path is determined from the multiple to-be-selected driving paths, and the current driving strategy is determined to be taken over by the driver.

[0027] Optionally, determining whether there is a target driving path suitable for automatic driving according to the multiple driving paths to be selected includes:

[0028] Each of the candidate driving paths is traversed, and for the traversed current candidate driving path, if the turning radius of the road in the current candidate driving path is greater than the minimum turning radius, and the driving width of the road in the current candidate driving path is greater than the minimum driving width, it is determined that there is a target driving path suitable for automatic driving, and the current candidate driving path is used as the target driving path.

[0029] Optionally, determining the current driving path from the multiple to-be-selected driving paths includes:

[0030] Determine the number of first roads with a turning radius smaller than the minimum turning radius and the number of second roads with a running width smaller than the minimum running width in each to-be-selected driving path;

[0031] The current driving path is determined from the multiple driving paths to be selected according to the first road quantity and the second road quantity corresponding to each driving path to be selected.

[0032] Optionally, adjusting the current driving speed according to the distance to the preceding vehicle and the current driving speed of the vehicle includes:

[0033] Obtaining a braking distance comparison table, wherein the braking distance comparison table is used to store a comparison relationship between a front vehicle safety distance and a driving speed;

[0034] Determine the current safety distance of the vehicle ahead corresponding to the current driving speed in the braking distance comparison table;

[0035] If the distance to the preceding vehicle is less than the current safety distance to the preceding vehicle, reducing the current driving speed;

[0036] If the distance to the preceding vehicle is greater than the current preceding vehicle safety distance, the current driving speed is increased.

[0037] In a second aspect, the present application provides a vehicle comprising: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the vehicle is running, the processor executes the machine-readable instructions to perform the steps of the vehicle control method with a trailer as described in the first aspect.

[0038] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the first aspect are executed.

[0039] The beneficial effects of the present application are: by determining the length and width of the vehicle according to multiple environmental information sent by multiple collection devices installed around the vehicle, determining the minimum turning radius and minimum driving width of the vehicle according to the length and width of the vehicle, and determining and controlling the vehicle's driving according to the current driving path and the current driving strategy according to the driving starting point, driving end point, minimum turning radius and minimum driving width. By determining the current driving path and the current driving strategy based on the length and width of the vehicle and the trailer, the current driving path meets the driving conditions of the vehicle with a trailer. Next, the current driving speed is adjusted according to the distance to the preceding vehicle and the current driving speed, so that when the vehicle is towing a trailer, intelligent driving control can be performed to avoid the driver's long-term control, thereby reducing the probability of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 is a flow chart of a method for controlling a vehicle with a trailer provided in an embodiment of the present application;

[0042] Figure 2 is a flow chart of another method for controlling a vehicle with a trailer provided in an embodiment of the present application;

[0043] Figure 3 It is a schematic diagram of a flow chart for determining a current driving strategy provided by an embodiment of the present application;

[0044] Figure 4 It is a schematic diagram of a process for adjusting the current driving speed provided in an embodiment of the present application;

[0045] Figure 5 It is a schematic diagram of a process of measuring trailer overweight provided in an embodiment of the present application;

[0046] Figure 6 It is a flowchart of another control method with a trailer provided in an embodiment of the present application;

[0047] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0049] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0050] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0051] In the prior art, most intelligent driving assistance systems control a single vehicle, and do not provide overall intelligent driving control for vehicles with trailers. Therefore, vehicles with trailers need to be driven manually, which increases the probability of traffic accidents.

[0052] Based on this, the present application proposes a method for controlling a vehicle with a trailer, which can determine the length and width of the entire vehicle based on multiple environmental information, and then determine the minimum turning radius and minimum driving width of the vehicle, and determine and control the vehicle's driving according to the current driving path and the current driving strategy based on the driving starting point, driving end point, minimum turning radius and minimum driving width, so as to determine the current driving path and the current driving strategy based on the length and width of the vehicle and the trailer, so that the current driving path meets the driving conditions of the vehicle with a trailer, and then adjust the current driving speed according to the distance to the preceding vehicle and the current driving speed, so as to perform intelligent driving control to a certain extent and reduce the probability of traffic accidents.

[0053] Next, refer to Figure 1 The specific implementation method of the vehicle control method with a trailer is introduced. Figure 1 1 is a flow chart of a method for controlling a vehicle with a trailer provided in an embodiment of the present application. Optionally, the method for controlling a vehicle with a trailer may be applied to a processor of a vehicle.

[0054] S101. Determine vehicle information based on multiple environmental information sent by multiple collection devices installed around the vehicle, where the vehicle information includes vehicle width, trailer width, vehicle head position, and trailer tail position.

[0055] Specifically, the vehicle can identify whether it is towing a trailer through the connecting piece used for towing, and if so, execute step S101 and subsequent steps.

[0056] The acquisition device may be a camera, an infrared sensor, a radar or other device.

[0057] Optionally, the environmental information may be an image, a radar map, or the like.

[0058] Optionally, after obtaining the vehicle's environmental information, the vehicle width, trailer width, vehicle head position, and trailer tail position can be determined based on an image recognition algorithm, wherein the vehicle width and trailer width are both the maximum values ​​of the vehicle's entire width and the trailer's trailer width.

[0059] S102. Determine the vehicle length and the vehicle width according to the vehicle information, where the vehicle length is the distance from the head of the vehicle to the tail of the trailer, and the vehicle width is the maximum value between the vehicle width and the trailer width.

[0060] Specifically, the vehicle length can be the distance between the vehicle head position and the trailer tail position. The vehicle width is the maximum value of the vehicle width and the trailer width.

[0061] S103: Determine a minimum turning radius and a minimum driving width according to the length and width of the vehicle.

[0062] It should be understood that the longer the vehicle is, the larger the minimum turning radius is, and the shorter the vehicle is, the smaller the minimum turning radius is. The larger the vehicle is, the larger the minimum driving width is, and the smaller the vehicle is, the smaller the minimum driving width is.

[0063] The minimum turning radius is the radius of the circle of the track that the center plane of the outer steering wheel rolls on the support plane when the steering wheel is turned to the maximum steering wheel angle and the vehicle is traveling at the minimum stable speed. The minimum driving width is the minimum width of the road on which the vehicle can safely travel.

[0064] S104, determining the current driving path and the current driving strategy based on the acquired driving starting point, driving end point, minimum turning radius, and minimum driving width, and controlling the vehicle driving according to the current driving strategy and the current driving path, wherein the current driving strategy includes driver takeover or automatic driving.

[0065] As an optional implementation, the candidate driving paths can be determined according to the driving starting point and the driving end point, and then the current driving path and the current driving strategy can be determined according to the driving road conditions, minimum turning radius and minimum driving width of each candidate driving path. The candidate driving paths include multiple roads, each of which corresponds to a driving road condition. The current driving path is the path that best meets the minimum turning radius and minimum driving width of the vehicle among all the candidate driving paths.

[0066] It is worth noting that the starting point and the end point of the journey can be the location where the driver requests automatic driving and the location where the driver requests to end automatic driving, or they can be determined in real time according to the driver's settings during the vehicle's driving.

[0067] Optionally, in the current driving strategy, the driver takes over by slowing down and stopping, and a first takeover prompt is issued to the driver, and the first takeover prompt is used to remind the driver that the current road conditions do not meet the minimum turning radius or minimum driving width of the vehicle. When the driver takes over, the vehicle is driven according to the driver's control action. Automatic driving is automatic driving of the vehicle. When the current road conditions meet the minimum turning radius and minimum driving width of the vehicle, the current driving strategy can be automatic driving.

[0068] S105, obtaining the distance of the preceding vehicle in real time through multiple acquisition devices, and adjusting the current driving speed according to the distance of the preceding vehicle and the current driving speed of the vehicle.

[0069] During vehicle driving, the acquisition device can determine the distance of the preceding vehicle in front of the vehicle based on the acquired images around the vehicle, and adjust the current driving speed based on the preceding vehicle distance and the current driving speed.

[0070] Specifically, when the distance to the preceding vehicle is too large, the current driving speed is increased, and when the distance to the preceding vehicle is too small, the current driving speed is reduced. Wherein, the distance to the preceding vehicle can be determined to be too large or too small according to a preset braking distance comparison table and the current driving speed.

[0071] In this embodiment, the length and width of the vehicle are determined based on multiple environmental information sent by multiple collection devices installed around the vehicle, the minimum turning radius and the minimum driving width of the vehicle are determined based on the length and width of the vehicle, and the vehicle driving is determined and controlled according to the current driving path and the current driving strategy based on the driving starting point, the driving end point, the minimum turning radius and the minimum driving width. By determining the current driving path and the current driving strategy based on the length and width of the vehicle and the trailer, the current driving path meets the driving conditions of the vehicle with the trailer. Next, the current driving speed is adjusted according to the distance to the preceding vehicle and the current driving speed, so that when the vehicle is towing a trailer, intelligent driving control can be performed to avoid the driver's long-term control, thereby reducing the probability of traffic accidents.

[0072] As an optional implementation, refer to Figure 2 The vehicle control method with a trailer may further include the following steps. Figure 2 It is a flow chart of another method for controlling a vehicle with a trailer provided in an embodiment of the present application.

[0073] S201. Acquire the current lateral acceleration and current yaw rate of the vehicle in real time.

[0074] Optionally, the current lateral acceleration and the current yaw rate of the vehicle may be measured based on an inertial sensor of a vehicle body stability system deployed on the vehicle.

[0075] The lateral acceleration of a vehicle refers to the acceleration in the direction perpendicular to the direction of the vehicle's travel, which is the acceleration caused by the centrifugal force generated when the vehicle turns. The greater the lateral acceleration of the vehicle, the easier it is for the vehicle to deviate from the current driving path. The yaw rate of a vehicle refers to the rotation rate of the vehicle around its vertical axis, and is usually used to describe the directional stability of the vehicle during driving.

[0076] It should be understood that the current lateral acceleration and the current yaw rate of the vehicle are in a proportional relationship, that is, the greater the current lateral acceleration, the greater the current yaw rate, and the smaller the current lateral acceleration, the smaller the current yaw rate.

[0077] S202: Determine a lateral acceleration change rate and a yaw rate change rate according to the current lateral acceleration, the current yaw rate, the historical lateral acceleration, and the historical yaw rate.

[0078] The historical lateral acceleration is the lateral acceleration at the time corresponding to the preset historical period before the current moment. For example, if the current moment is 2 minutes and 10 seconds and the preset historical period is 10 seconds, then the time corresponding to the preset historical period before the current moment is 2 minutes. Similarly, the historical yaw rate is the yaw rate at the time corresponding to the preset historical period before the current moment.

[0079] As an optional implementation, the lateral acceleration change rate is determined according to the current lateral acceleration, the historical lateral acceleration and the preset period. Specifically, the quotient of the difference between the current lateral acceleration and the historical lateral acceleration and the preset period is taken as the lateral acceleration change rate.

[0080] As an optional implementation, the yaw rate change rate is determined according to the current yaw rate, the historical yaw rate and the preset period. Specifically, the difference between the current yaw rate and the historical yaw rate and the quotient of the preset period are taken as the yaw rate change rate.

[0081] S203: adjusting the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle according to the lateral acceleration change rate, the yaw rate change rate and a preset change rate threshold.

[0082] Optionally, the preset change rate threshold includes an acceleration change rate threshold and a yaw rate change rate threshold. The acceleration change rate threshold is the maximum safe value of the lateral acceleration change rate of the vehicle, and the yaw rate change rate threshold is the maximum safe value of the yaw rate change rate of the vehicle. If the lateral acceleration change rate of the vehicle exceeds the acceleration change rate threshold, and the yaw rate change rate exceeds the yaw rate change rate threshold, it means that the current vehicle and trailer are yawed, and the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle should be adjusted.

[0083] In this embodiment, by acquiring the current lateral acceleration and the current yaw rate of the vehicle, the lateral acceleration change rate and the yaw rate change rate are determined according to the current lateral acceleration, the current yaw rate, the historical lateral acceleration and the historical yaw rate, and according to the lateral acceleration change rate, the yaw rate change rate and a preset change rate threshold, the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle are adjusted to avoid traffic accidents caused by vehicle swaying.

[0084] Furthermore, the specific process of adjusting the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle according to the lateral acceleration change rate, the yaw rate change rate and the preset change rate threshold in the above step S203 includes the following steps.

[0085] Optionally, if the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate thresholds, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate thresholds, and there is a lateral acceleration change rate not greater than the acceleration change rate threshold, or a yaw rate change rate not greater than the yaw rate change rate threshold within a preset time period before the current moment, the current driving speed of the vehicle is reduced.

[0086] Specifically, if the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate threshold, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate threshold, it means that at the current moment, the vehicle sways beyond the preset change rate threshold, and a traffic accident may occur. If the lateral acceleration change rate is not greater than the acceleration change rate threshold or the yaw rate change rate is not greater than the yaw rate change rate threshold in the preset time period before the current moment, it means that the vehicle sways for a short time exceeding the preset change rate threshold, and the current driving speed of the vehicle is reduced to reduce the vehicle sway amplitude, thereby reducing the vehicle lateral acceleration change rate and yaw change rate, and avoiding traffic accidents caused by vehicle sway.

[0087] The longer the preset time period is, the more the sway control of the vehicle is mainly to reduce the current driving speed of the vehicle. The shorter the preset time period is, the more the sway control of the vehicle is mainly to adjust the connection offset angle between the trailer and the vehicle.

[0088] As an optional implementation, the process of reducing the current driving speed of the vehicle may be: the body stability system deployed in the vehicle feeds back to the processor of the vehicle through the controller area network (CAN), and the processor issues a deceleration control instruction, so that the driving module performs a braking response according to the deceleration control instruction. The deceleration control instruction may instruct the driving module to brake according to a gradually increasing deceleration, and the maximum deceleration change rate may be controlled at 3 meters per square second, for example.

[0089] As an optional implementation, while reducing the current driving speed of the vehicle, sway warning information can be output to the driver through an instrument or display device, and the hazard warning lights can be flashed so that the driver can promptly understand that the current vehicle is in the sway control stage.

[0090] Optionally, if the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate thresholds, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate thresholds, and the lateral acceleration change rate and the yaw rate change rate in a preset time period before the current moment are both greater than the acceleration change rate threshold and the yaw rate change rate threshold, then the connection offset angle between the trailer and the vehicle is adjusted.

[0091] Specifically, if the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate threshold, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate threshold, it means that at the current moment, the vehicle sways beyond the preset change rate threshold, and a traffic accident may occur. If the lateral acceleration change rate and the yaw rate change rate in the preset time period before the current moment are both greater than the acceleration change rate threshold and the yaw rate change rate threshold, it means that the vehicle sways beyond the preset change rate threshold for a long time, and a traffic accident is very likely to occur, then the connection offset angle between the trailer and the vehicle is adjusted, so as to control the swaying of the trailer and alleviate the swaying state of the vehicle.

[0092] Among them, the adjustment of the connection offset angle between the trailer and the vehicle can be controlled by the Trailer Stability Management (TSM) deployed in the vehicle. Among them, TSM can monitor the vehicle's driving status, such as speed, direction and the sway angle of the trailer, and use the braking system and engine torque adjustment to suppress the sway of the trailer, thereby improving driving safety and stability.

[0093] In this embodiment, by comparing the lateral acceleration change rate with the acceleration change rate threshold, and comparing the yaw rate change rate with the yaw rate change rate threshold, and if there is a lateral acceleration change rate not greater than the acceleration change rate threshold, or a yaw rate change rate not greater than the yaw rate change rate threshold in a preset period before the current moment, the current driving speed of the vehicle is reduced. By reducing the current driving speed of the vehicle, the vehicle swaying is alleviated by reducing the vehicle speed when the vehicle swaying suddenly occurs. When the lateral acceleration change rate and the yaw rate change in the preset period before the current moment are both greater than the acceleration change rate threshold and the yaw rate change rate threshold, the connection offset angle between the trailer and the vehicle is adjusted. By adjusting the connection offset angle between the trailer and the vehicle, the long-term vehicle swaying is overcome to avoid traffic accidents.

[0094] Next, the step of determining the minimum turning radius and the minimum driving width according to the vehicle length and the vehicle width in the above step S103 is introduced.

[0095] Optionally, the minimum turning radius is determined based on the vehicle length, a preset minimum stable vehicle speed, and a preset maximum steering wheel angle.

[0096] Among them, the preset minimum stable vehicle speed can be 10 kilometers per hour, and the preset maximum steering wheel angle is 450 degrees.

[0097] Specifically, the minimum turning radius may be a turning radius of a vehicle whose length is the entire vehicle length when turning at a preset minimum stable vehicle speed and according to a preset maximum steering wheel angle.

[0098] Optionally, the minimum driving width is determined based on the ratio of the vehicle width to a preset width.

[0099] Specifically, due to the existence of rearview mirrors and the like of the vehicle, a preset width ratio is usually set, and the width of the entire vehicle is enlarged by the preset width ratio, thereby determining the minimum running width.

[0100] As an optional implementation, the product of the vehicle width and the preset width ratio is used as the minimum driving width.

[0101] In this embodiment, the minimum turning radius is determined according to the vehicle length, the preset minimum stable speed and the preset maximum steering wheel angle, and the minimum driving width is determined according to the ratio of the vehicle width and the preset width, so as to calculate the current driving path and ensure the normal passage of the vehicle towing the trailer.

[0102] Figure 3 This is a flow chart of determining the current driving strategy provided by an embodiment of the present application. Figure 3 The specific steps of determining the current driving path and the current driving strategy according to the acquired driving starting point, driving end point, minimum turning radius and minimum driving width in the above step S104 are introduced.

[0103] S301: Determine a plurality of to-be-selected driving routes according to a driving starting point and a driving end point.

[0104] As an optional implementation, multiple candidate travel paths from the travel starting point to the travel end point may be searched based on pre-stored route information.

[0105] S302: Determine whether there is a target driving path suitable for automatic driving based on multiple candidate driving paths.

[0106] Specifically, it can be determined whether there is a target driving path suitable for automatic driving according to the driving conditions, minimum turning radius and minimum driving width of each road in each candidate driving path. The driving conditions are the minimum turning radius and the passing width of the road.

[0107] Among them, the minimum turning radius of each road corresponding to the driving road suitable for automatic driving is larger than the minimum turning radius of the vehicle, and the passage width is larger than the minimum driving width of the vehicle.

[0108] S303: If yes, the target driving path is used as the current driving path, and the current driving strategy is determined to be automatic driving.

[0109] Specifically, if there is a target driving path suitable for automatic driving among multiple to-be-selected driving paths, it means that the driving conditions of the target driving path fully meet the driving conditions of a vehicle with a towed trailer, and the target driving path is used as the current driving path, and the current driving strategy is determined to be automatic driving.

[0110] S304: If not, determine the current driving path from a plurality of candidate driving paths, and determine that the current driving strategy is to be taken over by the driver.

[0111] Specifically, if there is no driving path suitable for automatic driving among the candidate driving paths, the current driving path is determined according to the driving conditions, minimum turning radius and minimum driving width of each road in the candidate driving paths, and the current driving strategy is determined to be taken over by the driver.

[0112] It is worth noting that the driver taking over can specifically be: determining whether the distance between the road position that does not meet the minimum turning radius or the minimum driving path and the current vehicle position is less than a preset distance, and the road has not been passed; if so, remind the driver to take over; if not, continue to execute automatic driving until the road is passed, and then continue to execute the step of determining whether the distance between the road position that does not meet the minimum turning radius or the minimum driving path and the current vehicle position is less than a preset distance.

[0113] As an optional implementation, if there are multiple to-be-selected driving paths that are all suitable for automatic driving, then a path with the shortest driving length among the multiple to-be-selected driving paths may be selected as the target driving path.

[0114] In this embodiment, a plurality of candidate driving paths are determined, and then it is determined whether there is a target driving path suitable for automatic driving based on the plurality of candidate driving paths, thereby determining the current driving path and the current driving strategy, so as to reasonably plan the path of the vehicle towing the trailer from the driving starting point to the driving end point, and the driving road meets the vehicle driving requirements to the greatest extent.

[0115] Furthermore, the specific process of determining whether there is a target driving path suitable for automatic driving according to a plurality of candidate driving paths in the above step S302 is introduced.

[0116] Optionally, each candidate driving path is traversed, and for the current candidate driving path traversed, if the turning radius of the road in the current candidate driving path is greater than the minimum turning radius, and the driving width of the road in the current candidate driving path is greater than the minimum driving width, it is determined that there is a target driving path suitable for automatic driving, and the current candidate driving path is used as the target driving path.

[0117] Specifically, if the turning radius of all roads in the current to-be-selected driving path is greater than the minimum turning radius, and the driving width of all roads in the current to-be-selected driving path is greater than the minimum driving width, then the current to-be-selected driving path is the target driving path suitable for automatic driving. The turning radius of the road is the minimum turning radius of the road, and the driving width of the road is the traffic width.

[0118] It is worth noting that if there is a target driving path suitable for automatic driving, the vehicle can travel automatically from the starting point to the end point without the need for the driver to take over.

[0119] In this embodiment, by judging whether the turning radius and driving width of the road in the current selected driving path during the traversed time slot are greater than the minimum turning radius and minimum driving width, it is determined whether there is a target driving path suitable for automatic driving, thereby simplifying the steps of judging whether to drive automatically, and the judgment basis is reliable.

[0120] Furthermore, the specific steps of determining the current driving path from a plurality of candidate driving paths in the above step S304 are introduced below.

[0121] Optionally, the number of first roads whose turning radius is smaller than the minimum turning radius and the number of second roads whose driving width is smaller than the minimum driving width in each to-be-selected driving path are determined.

[0122] Each of the to-be-selected driving paths corresponds to a first road number and a second road number.

[0123] Optionally, the current driving path is determined from a plurality of driving paths to be selected according to the number of first roads and the number of second roads corresponding to each driving path to be selected.

[0124] Specifically, the sum of the first road quantity and the second road quantity is taken as the quantity sum, and the candidate driving path with the smallest quantity sum is taken as the current driving path.

[0125] In this embodiment, by determining the number of first roads with a turning radius less than the minimum turning radius and the number of second roads with a driving width less than the minimum driving width in each candidate driving path, the current driving path is determined from multiple candidate driving paths, and the path with the least difficulty for vehicle driving is selected as the current driving path, thereby reducing the number of times the driver takes over and reducing driving safety risks.

[0126] Next, refer to Figure 4 The specific process of adjusting the current driving speed according to the distance to the preceding vehicle and the current driving speed of the vehicle in the above step S105 is introduced. Figure 4 It is a flow chart of adjusting the current driving speed provided in an embodiment of the present application.

[0127] S401. Obtain a braking distance comparison table, where the braking distance comparison table is used to store a comparison relationship between a front vehicle safety distance and a driving speed.

[0128] The braking distance comparison table stores the comparison relationship between the vehicle's front vehicle safety distance and driving speed. If the distance between the vehicle and the front vehicle is equal to the front vehicle safety distance, and the current driving speed is greater than the driving speed corresponding to the front vehicle safety distance in the braking distance comparison table, there may be an accident with the front vehicle, and the current vehicle braking distance is insufficient, resulting in a rear-end collision.

[0129] It is worth noting that the braking distance comparison table is a comparison of the front vehicle safety distance and driving speed of a vehicle towing a trailer. Since the vehicle towing a trailer is heavier, the front vehicle safety distance is greater at the same driving speed compared to a vehicle without a trailer.

[0130] S402: Determine the current safety distance of the vehicle ahead corresponding to the current driving speed in the braking distance comparison table.

[0131] Specifically, each comparison relationship record in the braking distance comparison table is traversed, and for the current comparison relationship record traversed, if the driving speed in the current comparison relationship record is equal to the current driving speed, the front vehicle safety distance corresponding to the driving speed in the record is used as the current front vehicle safety distance.

[0132] S403: If the distance to the preceding vehicle is less than the current preceding vehicle safety distance, reduce the current driving speed.

[0133] Optionally, when the current driving speed is reduced, the distance to the vehicle in front becomes larger, then step S402 of determining the current safety distance of the vehicle in front corresponding to the current driving speed in the braking distance comparison table and subsequent steps are re-executed to make the distance to the vehicle in front and the current driving speed conform to the comparison relationship between the safety distance of the vehicle in front and the driving speed in the braking distance comparison table.

[0134] S404: If the distance to the preceding vehicle is greater than the current preceding vehicle safety distance, increase the current driving speed.

[0135] As an optional implementation, if the distance to the preceding vehicle is equal to the current preceding vehicle safety distance, the current driving speed is ensured to remain unchanged so that the vehicle travels at a constant speed.

[0136] As an optional implementation, if the distance to the vehicle in front is less than the current safety distance to the vehicle in front, the distance to the vehicle coming from the side and rear and the distance to the vehicle in front can be acquired through the acquisition device, and lanes can be changed according to the current driving speed.

[0137] In this embodiment, by obtaining a braking distance comparison table, the current front vehicle safety distance corresponding to the current driving speed in the braking distance comparison table is determined. If the front vehicle distance is less than the current front vehicle safety distance, the current driving speed is reduced. If the front vehicle distance is greater than the current front vehicle safety distance, the current driving speed is increased, thereby ensuring that the distance between the vehicle and the front vehicle is not less than the braking distance, thereby reducing the probability of traffic accidents.

[0138] As an optional implementation, refer to Figure 5 The vehicle control method with a trailer also includes the following steps. Figure 5 It is a flow chart of trailer overweight measurement provided in an embodiment of the present application.

[0139] S501. When the vehicle is stopped or traveling at a constant speed, obtain a vehicle pitch angle sent by an angle sensor.

[0140] It should be understood that when a vehicle is towing a trailer, the trailer will exert a downward force on the connection between the vehicle and the trailer, so that the vehicle will deflect at an angle. Therefore, when the vehicle is stationary or moving at a constant speed, the pitch angle of the vehicle is collected by the angle sensor and sent to the processor.

[0141] S502: Calculate the difference between the preset vehicle unloaded pitch angle and the vehicle pitch angle.

[0142] The preset vehicle unloaded pitch angle is the pitch angle of the vehicle when it is not towing a trailer.

[0143] S503: Determine whether the difference is greater than a preset pitch angle threshold.

[0144] The preset pitch angle threshold may be determined according to the maximum trailer load of the vehicle. If the trailer load of the vehicle exceeds the maximum trailer load, the weight of the trailer is distributed on the rear axle of the vehicle and the trailer axle through the connector, which may cause rollover and yaw.

[0145] S504: If yes, output an alarm signal, where the alarm signal is used to indicate that the trailer is overweight.

[0146] Optionally, if the difference is greater than a preset pitch angle threshold, an alarm signal is output, so that the driver can take corresponding actions according to the alarm signal.

[0147] In this embodiment, the difference between the vehicle pitch angle of the vehicle and the preset vehicle unloaded pitch angle and the preset pitch angle threshold are judged. If the difference is greater than the preset pitch angle, an alarm signal is output to allow the driver to take over, and promptly judge the overload situation and make relevant processing.

[0148] As an optional implementation, refer to Figure 6The overall process of the control method with a trailer is introduced. Figure 6 It is a flow chart of another control method with a trailer provided in an embodiment of the present application.

[0149] When the vehicle is stationary, it is determined whether the vehicle is towing a trailer. If not, the vehicle control without towing a trailer is performed normally. If yes, it is determined whether the trailer is overloaded. If yes, an alarm signal is output to allow the driver to take over. If the trailer is not overloaded, the current driving path and the current driving strategy are determined. The current driving strategy includes driver takeover or automatic driving. When the current driving strategy is automatic driving, it is determined whether the vehicle swaying degree reaches the change rate threshold according to the lateral acceleration change rate and the yaw rate change rate. If not, the current driving speed of the vehicle is reduced. If yes, the connection offset angle between the trailer and the vehicle is adjusted.

[0150] The present application also provides a vehicle, such as Figure 7 As shown, it is a schematic diagram of the structure of a vehicle provided by an embodiment of the present application, including: a processor 701, a memory 702 and a bus. The memory 702 stores machine-readable instructions executable by the processor 701. When the vehicle is running, the processor 701 communicates with the memory 702 through the bus. When the machine-readable instructions are executed by the processor 701, the processing of the vehicle control method with a trailer is performed.

[0151] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for controlling a vehicle with a trailer are executed.

[0152] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0153] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or part of the technical solution that contributes to the prior art or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0154] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for controlling a vehicle with a trailer, characterized in that: The method comprises: Determine vehicle information based on multiple environmental information sent by multiple collection devices installed around the vehicle, the vehicle information including vehicle width, trailer width, vehicle head position, and trailer tail position; Determine the vehicle length and vehicle width according to the vehicle information, wherein the vehicle length is the distance from the head of the vehicle to the tail of the trailer, and the vehicle width is the maximum value between the vehicle width and the trailer width; Determine a minimum turning radius and a minimum driving width according to the vehicle length and the vehicle width; Determine a current driving path and a current driving strategy according to the acquired driving starting point, driving end point, the minimum turning radius, and the minimum driving width, and control the vehicle to drive according to the current driving strategy and the current driving path, wherein the current driving strategy includes driver taking over or automatic driving; The distance to the preceding vehicle is acquired in real time through the multiple acquisition devices, and the current driving speed is adjusted according to the distance to the preceding vehicle and the current driving speed of the vehicle.

2. The method for controlling a vehicle with a trailer according to claim 1, characterized in that: The method further comprises: Obtain the vehicle's current lateral acceleration and current yaw rate in real time; Determining a lateral acceleration change rate and a yaw rate change rate according to the current lateral acceleration, the current yaw rate, the historical lateral acceleration, and the historical yaw rate; According to the lateral acceleration change rate, the yaw rate change rate and a preset change rate threshold, the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle are adjusted.

3. The method for controlling a vehicle with a trailer according to claim 2, characterized in that: The adjusting the current driving speed of the vehicle and / or the connection offset angle between the trailer and the vehicle according to the lateral acceleration change rate, the yaw rate change rate and a preset change rate threshold value includes: If the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate thresholds, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate thresholds, and there is a lateral acceleration change rate not greater than the acceleration change rate threshold, or a yaw rate change rate not greater than the yaw rate change rate threshold within a preset period before the current moment, then reducing the current driving speed of the vehicle; If the lateral acceleration change rate is greater than the acceleration change rate threshold in the change rate thresholds, and the yaw rate change rate is greater than the yaw rate change rate threshold in the change rate thresholds, and the lateral acceleration change rate and the yaw rate change in a preset time period before the current moment are both greater than the acceleration change rate threshold and the yaw rate change rate threshold, then the connection offset angle of the trailer and the vehicle is adjusted.

4. The method for controlling a vehicle with a trailer according to claim 1, characterized in that: Determining a minimum turning radius and a minimum driving width according to the vehicle length and the vehicle width includes: Determining the minimum turning radius according to the vehicle length, the preset minimum stable vehicle speed, and the preset maximum steering wheel angle; The minimum running width is determined according to the vehicle width and a preset width ratio.

5. The method for controlling a vehicle with a trailer according to claim 1, characterized in that: The determining of the current driving path and the current driving strategy according to the acquired driving starting point, driving end point, the minimum turning radius and the minimum driving width includes: Determining a plurality of to-be-selected driving paths according to the driving starting point and the driving end point; Determining whether there is a target driving path suitable for automatic driving according to the multiple driving paths to be selected; If yes, taking the target driving path as the current driving path, and determining the current driving strategy as the automatic driving; If not, the current driving path is determined from the multiple to-be-selected driving paths, and the current driving strategy is determined to be taken over by the driver.

6. The method for controlling a vehicle with a trailer according to claim 5, characterized in that: The determining whether there is a target driving path suitable for automatic driving according to the plurality of to-be-selected driving paths comprises: Each of the candidate driving paths is traversed, and for the traversed current candidate driving path, if the turning radius of the road in the current candidate driving path is greater than the minimum turning radius, and the driving width of the road in the current candidate driving path is greater than the minimum driving width, it is determined that there is a target driving path suitable for automatic driving, and the current candidate driving path is used as the target driving path.

7. The method for controlling a vehicle with a trailer according to claim 5, characterized in that: The step of determining the current driving path from the plurality of to-be-selected driving paths comprises: Determine the number of first roads with a turning radius smaller than the minimum turning radius and the number of second roads with a running width smaller than the minimum running width in each to-be-selected driving path; The current driving path is determined from the multiple driving paths to be selected according to the first road quantity and the second road quantity corresponding to each driving path to be selected.

8. The method for controlling a vehicle with a trailer according to claim 1, characterized in that: The adjusting the current driving speed according to the distance to the preceding vehicle and the current driving speed of the vehicle comprises: Obtaining a braking distance comparison table, wherein the braking distance comparison table is used to store a comparison relationship between a front vehicle safety distance and a driving speed; Determine the current safety distance of the vehicle ahead corresponding to the current driving speed in the braking distance comparison table; If the distance to the preceding vehicle is less than the current safety distance to the preceding vehicle, reducing the current driving speed; If the distance to the preceding vehicle is greater than the current preceding vehicle safety distance, the current driving speed is increased.

9. The method for controlling a vehicle with a trailer according to claim 1, characterized in that: The method further comprises: When the vehicle is stopped or moving at a constant speed, the pitch angle of the vehicle sent by the angle sensor is obtained; Calculating the difference between a preset vehicle unloaded pitch angle and the vehicle pitch angle; Determining whether the difference is greater than a preset pitch angle threshold; If so, an alarm signal is output, wherein the alarm signal is used to indicate that the trailer is overweight.

10. A vehicle, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the vehicle is running, the processor executes the machine-readable instructions to perform the steps of the vehicle control method with a trailer as described in any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method with a trailer as claimed in any one of claims 1 to 9 are executed.

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