Vehicle pose correction method and system

Abstract

The invention discloses a vehicle pose correction method and system, and the method comprises the steps: determining a current driving path attribute according to a driving path parameter, and determining a standard vehicle pose according to the current driving path attribute and the driving path parameter; according to the first rotation angle and direction information of the vehicle left front wheel and the second rotation angle and direction information of the vehicle right rear wheel, the current vehicle pose is determined; the pose deviation between the standard vehicle pose and the current vehicle pose is obtained, and whether the current vehicle pose is safe or not is judged according to the pose deviation; and determining whether to correct the current vehicle pose or not according to the judgment result, if so, obtaining correction parameters, and controlling the vehicle automatic driving system to correct the pose according to the correction parameters. According to the method, the pose of the vehicle can be detected under the sensor-free detection condition, the precision and the reliability of a detection result can be ensured, the limitation of use conditions is overcome, an automatic driving system can quickly make a correction response according to the pose of the vehicle, and the stability and the reliability are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving technology, and in particular to a vehicle posture correction method and system. Background Art

[0002] Modern vehicles often require data related to the vehicle's geographic location and / or orientation (i.e., the vehicle's posture). For example, autonomous vehicles and autonomous vehicle systems often rely on such data to perform certain autonomous driving operations, etc. Autonomous driving technology includes environmental perception, positioning, navigation, path planning, and decision control, among which posture detection is the key to autonomous driving. Accurate and robust real-time positioning is the basis for the safe driving of autonomous vehicles and can provide a basis for perception, planning, and control modules. Existing vehicle posture detection is performed by sensors configured on the vehicle body and then the detection information is uploaded to the vehicle system for correction and automatic correction decision-making. It has the following problems: sensor detection is subject to more environmental factors and there are errors in the detection results, which causes the autonomous driving system to be unable to respond in time, resulting in the inability to stably perform posture correction work or even safety accidents, reducing practicality and stability as well as user experience. Summary of the invention

[0003] In response to the above-mentioned problems, the present invention provides a vehicle posture correction method and system to solve the problem mentioned in the background technology that sensor detection is restricted by many environmental factors and the detection results have errors, which leads to the inability of the automatic driving system to respond in time, resulting in the inability to stably perform posture correction work and even safety accidents, thereby reducing practicality, stability and user experience.

[0004] A vehicle posture correction method comprises the following steps:

[0005] Determine the current driving path attribute according to the driving path parameter, and determine the standard vehicle posture according to the current driving path attribute and the driving path parameter;

[0006] Determine the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle;

[0007] Obtain the posture deviation between the standard vehicle posture and the current vehicle posture, and determine whether the current vehicle posture is safe based on the posture deviation;

[0008] Determine whether to correct the current vehicle posture based on the judgment result. If so, obtain the correction parameters and control the vehicle's automatic driving system to correct the posture based on the correction parameters.

[0009] Preferably, before determining the current driving path attribute according to the driving path parameter and determining the standard vehicle posture according to the current driving path attribute and the driving path parameter, the method further includes:

[0010] Obtaining a first bearing capacity of a left front wheel of the vehicle and a second bearing capacity of a right rear wheel of the vehicle;

[0011] Inputting the first load-bearing force and the second load-bearing force into a dynamic model of the vehicle to determine a current state of the vehicle;

[0012] Determine the braking condition of the vehicle according to the current state, and obtain the vehicle map information based on the braking condition;

[0013] The vehicle's driving section is determined based on the vehicle's map information, and the vehicle's driving path parameters are obtained based on the vehicle's driving section.

[0014] Preferably, it also includes:

[0015] Acquire structural parameters of the vehicle, acquire axle load distribution of the vehicle according to the structural parameters, and construct a virtual model of the vehicle according to the axle load distribution;

[0016] Determine the elastic preload force variation range of the vehicle under dynamic movement characterization and the elastic preload force of the vehicle under static rest characterization through a virtual model;

[0017] The dynamic model of the vehicle is constructed according to the variation range of the elastic preload force of the vehicle under the dynamic movement characterization and the elastic preload force of the elastic part under the static rest characterization.

[0018] Preferably, it also includes:

[0019] Obtaining suspension structure parameters of the vehicle, and determining the suspension type of the vehicle according to the suspension structure parameters;

[0020] Set multiple collection points according to the suspension type, and obtain the ground clearance of the vehicle corresponding to each collection point in a static state and in different moving states;

[0021] Determine multiple driving requirements of the vehicle according to the ground clearance of the vehicle corresponding to each collection point in a stationary state and in different moving states;

[0022] Obtaining a vehicle engine torque characteristic corresponding to each driving demand, and determining a transmission efficiency of the vehicle under each driving demand according to the vehicle engine torque characteristic;

[0023] Determine the vehicle's posture error under each driving requirement based on the transmission efficiency, and set intelligent reminders based on the posture error.

[0024] Preferably, determining the current driving path attribute according to the driving path parameter, and determining the standard vehicle posture according to the current driving path attribute and the driving path parameter, comprises:

[0025] Determine the road segment extension attribute according to the driving path parameter, and determine the current driving path attribute according to the road segment extension attribute;

[0026] Obtaining the width parameter and curvature parameter of the driving section, and using the width parameter and curvature parameter as driving path parameters;

[0027] Determine the best driving lane for the vehicle according to the width parameter and the traffic condition of the driving section;

[0028] The wheel steering parameters of the vehicle on the driving section are determined according to the curvature parameters, and the standard vehicle posture is determined according to the mapping relationship between the wheel steering parameters and the wheel rotation and the vehicle body direction.

[0029] Preferably, determining the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle includes:

[0030] Obtaining an initial state estimate of the vehicle according to initial angles of the left front wheel and the right rear wheel of the vehicle;

[0031] Determine a Kalman gain based on an initialization state estimate and first rotation angle and direction information of a left front wheel of the vehicle and second rotation angle and direction information of a right rear wheel of the vehicle;

[0032] The next state estimate is predicted based on the Kalman gain, and the current vehicle position is determined based on the next state estimate.

[0033] Preferably, the step of obtaining a posture deviation between a standard vehicle posture and a current vehicle posture, and judging whether the current vehicle posture is safe according to the posture deviation, includes:

[0034] Obtain the front angle pose and parking angle pose of the standard vehicle pose and the current vehicle pose respectively;

[0035] Constructing a first posture matrix of a standard vehicle posture in a preset coordinate system and a second posture matrix of a current vehicle posture in a preset coordinate system according to the vehicle head angle posture and the parking space angle posture;

[0036] Determine a posture difference matrix between a standard vehicle posture and a current vehicle posture according to the first posture matrix and the second posture matrix, and determine a posture deviation based on the posture difference matrix;

[0037] The safety of the current vehicle posture is determined based on the posture deviation and the statistical parameters of vehicles traveling around the vehicle.

[0038] Preferably, determining whether to correct the current vehicle posture according to the judgment result, and if so, obtaining correction parameters, and controlling the vehicle automatic driving system to correct the posture according to the correction parameters, includes:

[0039] If the judgment result is that the current vehicle posture is unsafe, it is determined that the current vehicle posture needs to be corrected;

[0040] Determine the angle deviation between the vehicle's driving direction and the lane marking direction according to the current vehicle posture, and determine the tire shift parameter according to the angle deviation;

[0041] Determine a correction parameter according to the tire displacement parameter, and determine a steering wheel steering operation parameter according to the correction parameter;

[0042] The vehicle's automatic driving system is activated based on the steering wheel operation parameters and used to control the vehicle to steer to achieve posture correction.

[0043] Preferably, judging whether the current vehicle posture is safe based on the posture deviation and the statistical parameters of vehicles traveling around the vehicle includes:

[0044] Determine the deviation parameter between the current driving path of the vehicle and the preset driving path according to the posture deviation;

[0045] The collision probability is determined based on the deviation parameters and the statistical parameters of the surrounding vehicles, and whether the current vehicle posture is safe is determined based on the collision probability.

[0046] A vehicle posture correction system, the system comprising:

[0047] A first determination module is used to determine the current driving path attribute according to the driving path parameter, and determine the standard vehicle posture according to the current driving path attribute and the driving path parameter;

[0048] A second determination module is used to determine the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle;

[0049] A judgment module is used to obtain the posture deviation between the standard vehicle posture and the current vehicle posture, and judge whether the current vehicle posture is safe according to the posture deviation;

[0050] The correction module is used to determine whether to correct the current vehicle posture based on the judgment result. If so, obtain the correction parameters and control the vehicle automatic driving system to correct the posture according to the correction parameters.

[0051] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0052] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0054] Figure 1 A working flow chart of a vehicle posture correction method provided by the present invention;

[0055] Figure 2 Another working flow chart of a vehicle posture correction method provided by the present invention;

[0056] Figure 3 Another working flow chart of a vehicle posture correction method provided by the present invention;

[0057] Figure 4 This is a schematic structural diagram of a vehicle posture correction system provided by the present invention. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0059] Modern vehicles often require data related to the geographic location and / or orientation (i.e., the posture of the vehicle) of the vehicle. For example, autonomous vehicles and autonomous vehicle systems usually rely on such data to perform certain autonomous driving operations, etc. Autonomous driving technology includes environmental perception, positioning, navigation, path planning, and decision control, among which posture detection is the key to autonomous driving. Accurate and robust real-time positioning is the basis for the safe driving of autonomous vehicles and can provide a basis for perception, planning, and control modules. Existing vehicle posture detection is performed by sensors configured on the vehicle body and then the detection information is uploaded to the vehicle system for correction and automatic correction decision. It has the following problems: the detection by sensors is restricted by environmental factors and there are errors in the detection results, which causes the autonomous driving system to be unable to respond in time, resulting in the inability to stably perform posture correction work and even safety accidents, reducing the practicality and stability as well as the user's experience. In order to solve the above problems, the present embodiment discloses a method for determining the vehicle posture and correction based on detecting the wheel rotation angle and direction.

[0060] A vehicle posture correction method, such as Figure 1 As shown, the following steps are included:

[0061] Step S101, determining the current driving path attribute according to the driving path parameter, and determining the standard vehicle posture according to the current driving path attribute and the driving path parameter;

[0062] Step S102, determining the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle;

[0063] Step S103, obtaining a posture deviation between a standard vehicle posture and a current vehicle posture, and judging whether the current vehicle posture is safe according to the posture deviation;

[0064] Step S104: determine whether to correct the current vehicle posture based on the judgment result. If so, obtain correction parameters and control the vehicle automatic driving system to correct the posture based on the correction parameters.

[0065] In this embodiment, the driving path parameters are represented as the road segment description parameters of the driving path;

[0066] In this embodiment, the current driving path attribute is represented as an extended attribute of the driving path, such as a straight path and a curved path;

[0067] In this embodiment, the driving path parameters are expressed as descriptive parameters of the driving section, such as: the number of lanes in the section, the width of the section, and the curvature of the section;

[0068] In this embodiment, the standard vehicle posture is represented by the standard driving posture of the vehicle on the driving section;

[0069] In this embodiment, the current vehicle posture is represented as the driving posture of the vehicle under the operation of the driver;

[0070] In this embodiment, the correction parameters are expressed as posture correction parameters of the vehicle, and can also be converted into special parameters of the steering wheel.

[0071] The working principle of the above technical solution is: determine the current driving path attributes according to the driving path parameters, and determine the standard vehicle posture according to the current driving path attributes and the driving path parameters; determine the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle; obtain the posture deviation between the standard vehicle posture and the current vehicle posture, and judge whether the current vehicle posture is safe according to the posture deviation; determine whether to correct the current vehicle posture according to the judgment result, and if so, obtain the correction parameters, and control the vehicle automatic driving system to perform posture correction according to the correction parameters.

[0072] The beneficial effects of the above technical solution are: by determining the standard posture parameters of the vehicle as a reference according to the attributes of the preset road section, and then determining the current posture of the vehicle by detecting the rotation angle and direction information of the left and right sides of the vehicle body relative to the wheels to determine the posture deviation and then correct it, it is possible to detect the posture of the vehicle without sensor detection and ensure the accuracy and reliability of the detection results, overcome the restrictions on the use conditions, so that the automatic driving system can quickly make correction responses according to the vehicle posture, improve stability and reliability and user experience. It solves the problem mentioned in the prior art that the detection by sensors is more restricted by environmental factors and the detection results have errors, which leads to the inability of the automatic driving system to respond in time, resulting in the inability to stably perform posture correction work and even safety accidents, and reduces the practicality and stability and user experience.

[0073] In one embodiment, Figure 2 As shown, before determining the current driving path attribute according to the driving path parameter and determining the standard vehicle posture according to the current driving path attribute and the driving path parameter, it also includes:

[0074] Step S201, obtaining a first bearing capacity of a left front wheel of a vehicle and a second bearing capacity of a right rear wheel of the vehicle;

[0075] Step S202: inputting the first bearing capacity and the second bearing capacity into a dynamic model of the vehicle to determine a current state of the vehicle;

[0076] Step S203, determining the braking condition of the vehicle according to the current state, and obtaining vehicle map information based on the braking condition;

[0077] Step S204: determine the vehicle's driving section according to the vehicle map information, and obtain the vehicle's driving path parameters according to the vehicle's driving section.

[0078] In this embodiment, the bearing capacity is expressed as the shock-absorbing bearing capacity of the left front wheel and the right rear wheel of the vehicle;

[0079] In this embodiment, the dynamic model is represented as an evaluation model for evaluating whether the vehicle is in a braking state;

[0080] In this embodiment, the current state is represented by the braking state of the vehicle, for example, a driving state and a stationary state;

[0081] In this embodiment, the braking condition is represented by whether the vehicle is braking.

[0082] The beneficial effects of the above technical solution are: determining the current state of the vehicle based on the first bearing capacity of the left front wheel and the second bearing capacity of the right rear wheel, obtaining the braking condition of the vehicle, determining the driving section of the vehicle, and thus obtaining the vehicle's driving path parameters, which can better track and monitor the vehicle's driving condition and the section parameters of the driving path.

[0083] In one embodiment, it further includes:

[0084] Acquire structural parameters of the vehicle, acquire axle load distribution of the vehicle according to the structural parameters, and construct a virtual model of the vehicle according to the axle load distribution;

[0085] Determine the elastic preload force variation range of the vehicle under dynamic movement characterization and the elastic preload force of the vehicle under static rest characterization through a virtual model;

[0086] The dynamic model of the vehicle is constructed according to the variation range of the elastic preload force of the vehicle under the dynamic movement characterization and the elastic preload force of the elastic part under the static rest characterization.

[0087] In this embodiment, the structural parameters represent structural parameters of the vehicle body components;

[0088] In this embodiment, the axle load distribution is represented by the distribution of the ratio of the front and rear axles of the vehicle to share the vehicle weight;

[0089] In this embodiment, the preload force variation interval of the elastic member under the dynamic movement characterization of the vehicle is represented as the preload force variation value interval of the shock absorbing elastic member when the vehicle is in the driving state;

[0090] In this embodiment, the preload force of the elastic member under the static rest characterization of the vehicle is expressed as the standard preload force of the shock-absorbing elastic member of the vehicle in a static state.

[0091] The beneficial effects of the above technical solution are: obtaining the axle load distribution of the vehicle according to the structural parameters of the vehicle, building a virtual model of the vehicle, determining the change range of the elastic part preload force under the dynamic movement characterization and the elastic part preload force under the static standing characterization of the vehicle, and building a dynamic simulation of the vehicle, which can more accurately predict the dynamic behavior of the vehicle and thus determine whether the vehicle is in a braking state.

[0092] In one embodiment, it further includes:

[0093] Obtaining suspension structure parameters of the vehicle, and determining the suspension type of the vehicle according to the suspension structure parameters;

[0094] Set multiple collection points according to the suspension type, and obtain the ground clearance of the vehicle corresponding to each collection point in a static state and in different moving states;

[0095] Determine multiple driving requirements of the vehicle according to the ground clearance of the vehicle corresponding to each collection point in a stationary state and in different moving states;

[0096] Obtaining a vehicle engine torque characteristic corresponding to each driving demand, and determining a transmission efficiency of the vehicle under each driving demand according to the vehicle engine torque characteristic;

[0097] Determine the vehicle's posture error under each driving requirement based on the transmission efficiency, and set intelligent reminders based on the posture error.

[0098] In this embodiment, the suspension type may be air suspension, ordinary suspension, etc.;

[0099] In this embodiment, the driving demand is represented by the driver's driving function demand, such as: off-road demand, high-speed driving demand, provincial road and mountain road driving demand, etc.;

[0100] In this embodiment, the posture error is represented by the posture reaction delay time error of the vehicle under control.

[0101] The beneficial effect of the above technical solution is: by determining the posture error of the vehicle under each driving requirement, the delay error of the vehicle posture adjustment under various driving conditions can be accurately determined, and then an advance response reminder can be issued to the driver to maximize the stability of the posture adjustment, thereby improving reliability and safety.

[0102] In one embodiment, Figure 3 As shown, the method of determining the current driving path attribute according to the driving path parameter and determining the standard vehicle posture according to the current driving path attribute and the driving path parameter includes:

[0103] Step S301, determining a road segment extension attribute according to a driving path parameter, and determining a current driving path attribute according to the road segment extension attribute;

[0104] Step S302, obtaining a width parameter and a curvature parameter of the driving section, and using the width parameter and the curvature parameter as driving path parameters;

[0105] Step S303, determining the best driving lane for the vehicle according to the width parameter and the traffic conditions of the driving section;

[0106] Step S304: determining the wheel steering parameters of the vehicle on the driving section according to the curvature parameters, and determining the standard vehicle posture according to the mapping relationship between the wheel steering parameters and the wheel rotation and the vehicle body direction.

[0107] In this embodiment, the current driving path attribute is represented by the route description attribute of the current driving path, such as: a straight route and a curved route;

[0108] In this embodiment, the mapping relationship between the wheel rotation and the vehicle body direction is expressed as a mapping relationship between the changing direction of the vehicle body direction at a certain set angle of the wheel rotation.

[0109] The beneficial effects of the above technical solution are: determining the optimal driving lane of the vehicle and the wheel steering parameters of the vehicle on the driving section according to the width parameters and curvature parameters of the driving section, determining the standard vehicle posture, and more accurately tracking the position and direction of the vehicle and the posture state of the vehicle under normal driving.

[0110] In one embodiment, determining the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle includes:

[0111] Obtaining an initial state estimate of the vehicle according to initial angles of the left front wheel and the right rear wheel of the vehicle;

[0112] Determine a Kalman gain based on an initialization state estimate and first rotation angle and direction information of a left front wheel of the vehicle and second rotation angle and direction information of a right rear wheel of the vehicle;

[0113] The next state estimate is predicted based on the Kalman gain, and the current vehicle position is determined based on the next state estimate.

[0114] The beneficial effects of the above technical solution are: the first rotation angle of the left front wheel of the vehicle and the second rotation angle of the right rear wheel of the vehicle are estimated according to the initialization state of the vehicle to determine the Kalman gain, the next state estimation is predicted, and the current vehicle posture is determined according to the next state estimation, so that the vehicle posture estimation can be calculated in real time. Thereby improving the accuracy of vehicle posture determination.

[0115] In one embodiment, the step of obtaining a posture deviation between a standard vehicle posture and a current vehicle posture, and determining whether the current vehicle posture is safe according to the posture deviation, includes:

[0116] Obtain the front angle pose and parking angle pose of the standard vehicle pose and the current vehicle pose respectively;

[0117] Constructing a first posture matrix of a standard vehicle posture in a preset coordinate system and a second posture matrix of a current vehicle posture in a preset coordinate system according to the vehicle head angle posture and the parking space angle posture;

[0118] Determine a posture difference matrix between a standard vehicle posture and a current vehicle posture according to the first posture matrix and the second posture matrix, and determine a posture deviation based on the posture difference matrix;

[0119] The safety of the current vehicle posture is determined based on the posture deviation and the statistical parameters of vehicles traveling around the vehicle.

[0120] The beneficial effects of the above technical solution are: constructing a first posture matrix of the standard vehicle posture in a preset coordinate system and a second posture matrix of the current vehicle posture in a preset coordinate system according to the angle posture of the vehicle head and the angle posture of the parking space, determining the posture difference matrix and the posture deviation, and judging whether the current vehicle posture is safe. Through real-time monitoring of the status of vehicles around the vehicle and accurate judgment of the vehicle's own posture deviation, the vehicle can control its driving direction more accurately and improve driving safety.

[0121] In this embodiment, determining a posture difference matrix between a standard vehicle posture and a current vehicle posture according to the first posture matrix and the second posture matrix includes:

[0122] Obtaining coordinate feature maps of the first posture matrix and the second posture matrix respectively, and projecting the coordinate feature maps to obtain projection feature maps of the standard vehicle posture and the current vehicle posture;

[0123] Determine high-dimensional vectors of the coordinate feature map and the projection feature map respectively, and determine vector attributes corresponding to the high-dimensional vectors;

[0124] The metric function is selected according to the vector attributes, and the connection matrix of the coordinate feature map and the projection feature map is calculated according to the metric function.

[0125] Construct a connection matrix between the coordinate feature map and the projection feature map, and determine the measurement system according to the connection matrix;

[0126] Based on the measurement system, a measurement function is used to obtain a measurement distance information set of the first posture matrix and the second posture matrix;

[0127] A posture difference matrix between the standard vehicle posture and the current vehicle posture is generated based on the metric distance information set.

[0128] In this embodiment, constructing the connection matrix between the coordinate feature map and the projection feature map specifically includes: constructing a conversion matrix between the coordinate feature map and the projection feature map according to the coordinate definition representation of the coordinate feature map and the projection feature map, and converting the element features in the coordinate feature map and the projection feature map through the conversion matrix to construct the connection matrix;

[0129] The beneficial effects of the above technical solution are: by selecting a measurement function and determining a measurement system to determine the measurement distance information set of the first posture matrix and the second posture matrix and then determining the posture difference matrix, it is possible to accurately perform reasonable and accurate information measurement based on the different dimensional representations of the matrix and then determine the data difference, thereby ensuring the accuracy and reliability of the final data.

[0130] In one embodiment, determining whether to correct the current vehicle posture according to the judgment result, and if so, obtaining correction parameters, and controlling the vehicle automatic driving system to correct the posture according to the correction parameters, includes:

[0131] If the judgment result is that the current vehicle posture is unsafe, it is determined that the current vehicle posture needs to be corrected;

[0132] Determine the angle deviation between the vehicle's driving direction and the lane marking direction according to the current vehicle posture, and determine the tire shift parameter according to the angle deviation;

[0133] Determine a correction parameter according to the tire displacement parameter, and determine a steering wheel steering operation parameter according to the correction parameter;

[0134] The vehicle's automatic driving system is activated based on the steering wheel operation parameters and used to control the vehicle to steer to achieve posture correction.

[0135] The beneficial effects of the above technical solution are: determining the tire shift parameters according to the current vehicle posture, thereby obtaining the correction parameters, determining the steering wheel steering operation parameters, activating the vehicle's automatic driving system and using it to control the vehicle to steer to achieve posture correction, which can avoid vehicle loss of control or lane deviation and ensure traffic safety.

[0136] In one embodiment, judging whether the current vehicle posture is safe based on the posture deviation and the statistical parameters of vehicles traveling around the vehicle includes:

[0137] Determine the deviation parameter between the current driving path of the vehicle and the preset driving path according to the posture deviation;

[0138] The collision probability is determined based on the deviation parameters and the statistical parameters of the surrounding vehicles, and whether the current vehicle posture is safe is determined based on the collision probability.

[0139] The beneficial effects of the above technical solution are: determining the deviation parameter according to the posture deviation, determining the collision probability in combination with the statistical parameters of the surrounding vehicles, and judging the safety of the current vehicle posture, which can more effectively monitor the vehicle's driving status and improve the vehicle's driving safety and operation reliability.

[0140] In one embodiment, this embodiment also discloses a vehicle posture correction system, such as Figure 4 As shown, the system includes:

[0141] The first determination module 401 is used to determine the current driving path attribute according to the driving path parameter, and determine the standard vehicle posture according to the current driving path attribute and the driving path parameter;

[0142] A second determination module 402 is used to determine the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle;

[0143] The judgment module 403 is used to obtain the posture deviation between the standard vehicle posture and the current vehicle posture, and judge whether the current vehicle posture is safe according to the posture deviation;

[0144] The correction module 404 is used to determine whether to correct the current vehicle posture according to the judgment result. If so, obtain the correction parameters and control the vehicle automatic driving system to correct the posture according to the correction parameters.

[0145] The working principle and beneficial effects of the above technical solution have been described in the method claims and will not be repeated here.

[0146] Those skilled in the art should understand that the first and second in the present invention merely refer to different application stages.

[0147] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0148] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle posture correction method, characterized in that: The following steps are involved: Determine the current driving path attribute according to the driving path parameter, and determine the standard vehicle posture according to the current driving path attribute and the driving path parameter; Determine the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle; Obtain the posture deviation between the standard vehicle posture and the current vehicle posture, and determine whether the current vehicle posture is safe based on the posture deviation; Determine whether to correct the current vehicle posture based on the judgment result. If so, obtain the correction parameters and control the vehicle's automatic driving system to correct the posture based on the correction parameters.

2. The vehicle posture correction method according to claim 1, characterized in that: Before determining the current driving path attribute according to the driving path parameter and determining the standard vehicle posture according to the current driving path attribute and the driving path parameter, the method further includes: Obtaining a first bearing capacity of a left front wheel of the vehicle and a second bearing capacity of a right rear wheel of the vehicle; Inputting the first load-bearing force and the second load-bearing force into a dynamic model of the vehicle to determine a current state of the vehicle; Determine the braking condition of the vehicle according to the current state, and obtain the vehicle map information based on the braking condition; The vehicle's driving section is determined based on the vehicle's map information, and the vehicle's driving path parameters are obtained based on the vehicle's driving section.

3. The vehicle posture correction method according to claim 2, characterized in that: Also includes: Acquire structural parameters of the vehicle, acquire axle load distribution of the vehicle according to the structural parameters, and construct a virtual model of the vehicle according to the axle load distribution; Determine the elastic preload force variation range of the vehicle under dynamic movement characterization and the elastic preload force of the vehicle under static rest characterization through a virtual model; The dynamic model of the vehicle is constructed according to the variation range of the elastic preload force of the vehicle under the dynamic movement characterization and the elastic preload force of the elastic part under the static rest characterization.

4. The vehicle posture correction method according to claim 1, characterized in that: Also includes: Obtaining suspension structure parameters of the vehicle, and determining the suspension type of the vehicle according to the suspension structure parameters; Set multiple collection points according to the suspension type, and obtain the ground clearance of the vehicle corresponding to each collection point in a static state and in different moving states; Determine multiple driving requirements of the vehicle according to the ground clearance of the vehicle corresponding to each collection point in a stationary state and in different moving states; Obtaining a vehicle engine torque characteristic corresponding to each driving demand, and determining a transmission efficiency of the vehicle under each driving demand according to the vehicle engine torque characteristic; Determine the vehicle's posture error under each driving requirement based on the transmission efficiency, and set intelligent reminders based on the posture error.

5. The vehicle posture correction method according to claim 1, characterized in that: Determining the current driving path attribute according to the driving path parameter, and determining the standard vehicle posture according to the current driving path attribute and the driving path parameter, includes: Determine the road segment extension attribute according to the driving path parameter, and determine the current driving path attribute according to the road segment extension attribute; Obtaining the width parameter and curvature parameter of the driving section, and using the width parameter and curvature parameter as driving path parameters; Determine the best driving lane for the vehicle according to the width parameter and the traffic condition of the driving section; The wheel steering parameters of the vehicle on the driving section are determined according to the curvature parameters, and the standard vehicle posture is determined according to the mapping relationship between the wheel steering parameters and the wheel rotation and the vehicle body direction.

6. The vehicle posture correction method according to claim 1, characterized in that: The determining the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle includes: Obtaining an initial state estimate of the vehicle according to initial angles of the left front wheel and the right rear wheel of the vehicle; Determine a Kalman gain based on an initialization state estimate and first rotation angle and direction information of a left front wheel of the vehicle and second rotation angle and direction information of a right rear wheel of the vehicle; The next state estimate is predicted based on the Kalman gain, and the current vehicle position is determined based on the next state estimate.

7. The vehicle posture correction method according to claim 1, characterized in that: The step of obtaining a posture deviation between a standard vehicle posture and a current vehicle posture, and judging whether the current vehicle posture is safe according to the posture deviation, includes: Obtain the front angle pose and parking angle pose of the standard vehicle pose and the current vehicle pose respectively; Constructing a first posture matrix of a standard vehicle posture in a preset coordinate system and a second posture matrix of a current vehicle posture in a preset coordinate system according to the vehicle head angle posture and the parking space angle posture; Determine a posture difference matrix between a standard vehicle posture and a current vehicle posture according to the first posture matrix and the second posture matrix, and determine a posture deviation based on the posture difference matrix; The safety of the current vehicle posture is determined based on the posture deviation and the statistical parameters of vehicles traveling around the vehicle.

8. The vehicle posture correction method according to claim 1, characterized in that: The method of determining whether to correct the current vehicle posture according to the judgment result, and if so, obtaining correction parameters, and controlling the vehicle automatic driving system to correct the posture according to the correction parameters, includes: If the judgment result is that the current vehicle posture is unsafe, it is determined that the current vehicle posture needs to be corrected; Determine the angle deviation between the vehicle's driving direction and the lane marking direction according to the current vehicle posture, and determine the tire shift parameter according to the angle deviation; Determine a correction parameter according to the tire displacement parameter, and determine a steering wheel steering operation parameter according to the correction parameter; The vehicle's automatic driving system is activated based on the steering wheel operation parameters and used to control the vehicle to steer to achieve posture correction.

9. The vehicle posture correction method according to claim 7, characterized in that: The step of judging whether the current vehicle posture is safe based on the posture deviation and the statistical parameters of vehicles traveling around the vehicle includes: Determine the deviation parameter between the current driving path of the vehicle and the preset driving path according to the posture deviation; The collision probability is determined based on the deviation parameters and the statistical parameters of the surrounding vehicles, and whether the current vehicle posture is safe is determined based on the collision probability.

10. A vehicle posture correction system, characterized in that: The system includes: A first determination module is used to determine the current driving path attribute according to the driving path parameter, and determine the standard vehicle posture according to the current driving path attribute and the driving path parameter; A second determination module is used to determine the current vehicle posture according to the first rotation angle and direction information of the left front wheel of the vehicle and the second rotation angle and direction information of the right rear wheel of the vehicle; A judgment module is used to obtain the posture deviation between the standard vehicle posture and the current vehicle posture, and judge whether the current vehicle posture is safe according to the posture deviation; The correction module is used to determine whether to correct the current vehicle posture based on the judgment result. If so, obtain the correction parameters and control the vehicle automatic driving system to correct the posture according to the correction parameters.

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