Vehicle control method, device, steering execution device and readable storage medium

Abstract

The vehicle control method, device, steering execution device and readable storage medium provided by the embodiment of the present invention relate to the field of intelligent driving technology. The method includes: parsing the manual intervention steering adjustment instruction to obtain the manual intervention adjustment angle, parsing the vehicle computer steering adjustment instruction to obtain the vehicle computer adjustment angle, calculating the target angle difference between the manual intervention adjustment angle and the vehicle computer adjustment angle, fusing the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference, determining the target adjustment angle, and controlling the wheel rack structure according to the target adjustment angle. By fusing the adjustment angle of the vehicle computer driving control device and the adjustment angle input by the driver, the effect of responding to the driver's intervention is achieved, thereby improving the safety of vehicle driving.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a vehicle control method, device, steering execution device and readable storage medium. Background Art

[0002] As an important part of modern automobile technology, the wire-controlled steering system is divided into two execution modes: human-driven mode and vehicle-computer driving mode. In human-driven mode, the steering system controls the vehicle through direct operation of the driver, while in vehicle-computer driving mode, it relies on the instructions of the vehicle-computer driving control device. However, the current intelligent driving technology is not yet fully mature, so it is necessary to be able to respond to the driver's intervention during the vehicle-computer driving process to achieve human-machine co-driving. At present, the steering actuator can only respond to the signal of the driving control device at the same time, and cannot respond to the driver's intervention at the same time, resulting in lower vehicle driving safety. Summary of the invention

[0003] The object of the present invention is to provide a vehicle control method, device, steering execution device and computer-readable storage medium to solve the problem of low vehicle driving safety.

[0004] In a first aspect, the present invention provides a vehicle control method, which is applied to a steering actuator of a vehicle, wherein the vehicle further comprises a steering simulation device, a vehicle driving control device, a wheel rack structure and a direction control device rack structure, wherein the steering actuator is respectively connected to the steering simulation device and the vehicle driving control device for communication; the steering actuator stores angle fusion ratios corresponding to different angle differences; the angle fusion ratio is proportional to the angle difference; the method comprises:

[0005] When the vehicle is in the vehicle-machine driving mode, receiving a manual intervention steering adjustment instruction sent by the steering simulation device and a vehicle-machine steering adjustment instruction sent by the vehicle-machine driving control device; the manual intervention steering adjustment instruction is an instruction for the driver to adjust the angle of the rack structure of the direction control device; the vehicle-machine steering adjustment instruction is an instruction for the vehicle-machine driving control device to adjust the angle of the wheel rack structure;

[0006] Parsing the manual intervention steering adjustment instruction to obtain a manual intervention adjustment angle, and parsing the vehicle computer steering adjustment instruction to obtain a vehicle computer adjustment angle;

[0007] Calculating a target angle difference between the manually intervened adjustment angle and the vehicle computer adjustment angle;

[0008] The manual intervention adjustment angle and the vehicle computer adjustment angle are fused according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle;

[0009] The wheel rack structure is controlled according to the target adjustment angle to control the driving direction of the vehicle.

[0010] In an optional implementation, before performing a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle, the method further includes:

[0011] Determining whether to perform a fusion operation on the manually intervened adjustment angle and the vehicle computer adjustment angle according to the target angle difference;

[0012] If the target angle difference is greater than a preset vehicle computer driving determination value, and the target angle difference is less than a preset manual intervention driving determination value, it is determined to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle.

[0013] In an optional embodiment, the method further comprises:

[0014] If the target angle difference is less than or equal to the preset vehicle computer driving judgment value, or the target angle difference is greater than or equal to the preset manual intervention driving judgment value, it is determined that the manual intervention adjustment angle and the vehicle computer adjustment angle will not be fused, and the manual intervention adjustment angle or the vehicle computer adjustment angle will be determined as the target adjustment angle.

[0015] In an optional implementation manner, determining the manually intervened adjustment angle or the vehicle computer adjustment angle as the target adjustment angle includes:

[0016] If the target angle difference is less than or equal to the preset vehicle computer driving determination value, the vehicle computer adjustment angle is determined as the target adjustment angle;

[0017] If the target angle difference is greater than or equal to the preset manual intervention driving determination value, the manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle driving mode is exited.

[0018] In an optional implementation, the fusing operation of the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle includes:

[0019] Counting the number of times the manual intervention steering adjustment instructions sent by the steering simulation device are received;

[0020] According to the number, determining a fusion ratio adjustment factor;

[0021] Adjusting the target angle fusion ratio according to the fusion ratio adjustment factor;

[0022] The manual intervention adjustment angle and the vehicle computer adjustment angle are fused according to the adjusted target angle fusion ratio to determine the target adjustment angle.

[0023] In an optional embodiment, the method further comprises:

[0024] obtaining a current steering ratio of the steering simulation device;

[0025] determining a feedback steering angle of the steering simulation device according to the current steering ratio and the target adjustment angle;

[0026] The feedback steering angle is sent to the steering simulation device, so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

[0027] In a second aspect, the present invention provides a vehicle control device, which is applied to a steering actuator of a vehicle, wherein the vehicle further comprises a wheel rack structure and a direction control device rack structure, wherein the steering actuator is respectively connected to a steering simulation device and a vehicle driving control device for communication; wherein the steering actuator stores angle fusion ratios corresponding to different angle differences; wherein the angle fusion ratios are proportional to the angle differences; and wherein the device comprises:

[0028] The command receiving module is used to receive the manual intervention steering adjustment command sent by the steering simulation device and the vehicle computer steering adjustment command sent by the vehicle computer driving control device when the vehicle is in the vehicle computer driving mode; the manual intervention steering adjustment command is a command for the driver to adjust the angle of the rack structure of the direction control device; the vehicle computer steering adjustment command is a command for the vehicle computer driving control device to adjust the angle of the wheel rack structure;

[0029] The adjustment angle acquisition module is used to parse the manual intervention steering adjustment instruction to obtain the manual intervention adjustment angle, and parse the vehicle computer steering adjustment instruction to obtain the vehicle computer adjustment angle; calculate the target angle difference between the manual intervention adjustment angle and the vehicle computer adjustment angle; perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle;

[0030] A direction control module is used to control the wheel rack structure according to the target adjustment angle to control the driving direction of the vehicle.

[0031] In an optional embodiment, before the manual intervention adjustment angle and the vehicle computer adjustment angle are fused according to the target angle fusion ratio corresponding to the target angle difference, and the target adjustment angle is determined, the adjustment angle acquisition module is also used to determine whether to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle difference; if the target angle difference is greater than a preset vehicle computer driving judgment value, and the target angle difference is less than a preset manual intervention driving judgment value, it is determined to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle.

[0032] In a third aspect, the present invention provides a steering execution device, including a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the computer program executable by the processor is used to implement the vehicle control method described in any of the aforementioned embodiments.

[0033] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a vehicle control method as described in any one of the aforementioned embodiments.

[0034] The vehicle control method, device, steering execution device and readable storage medium provided by the embodiment of the present invention, wherein the steering execution device stores angle fusion ratios corresponding to different angle differences, and the angle fusion ratio is proportional to the angle difference. The method comprises: when the vehicle is in a vehicle-machine driving mode, receiving a manual intervention steering adjustment instruction sent by a steering simulation device and a vehicle-machine steering adjustment instruction sent by a vehicle-machine driving control device, parsing the manual intervention steering adjustment instruction to obtain a manual intervention adjustment angle, parsing the vehicle-machine steering adjustment instruction to obtain a vehicle-machine adjustment angle, calculating a target angle difference between the manual intervention adjustment angle and the vehicle-machine adjustment angle, performing a fusion operation on the manual intervention adjustment angle and the vehicle-machine adjustment angle according to a target angle fusion ratio corresponding to the target angle difference, determining a target adjustment angle, and controlling a wheel rack structure according to the target adjustment angle to control the driving direction of the vehicle. By fusing the adjustment angle of the vehicle-machine driving control device with the adjustment angle input by the driver, the effect of responding to the driver's intervention is achieved, thereby improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention 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 creative work.

[0036] Figure 1A schematic diagram showing an application environment of the vehicle control method provided by an embodiment of the present invention is shown;

[0037] Figure 2 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention is shown;

[0038] Figure 3 A schematic diagram showing the corresponding relationship between the angle difference and the angle fusion ratio provided by an embodiment of the present invention;

[0039] Figure 4 Another schematic flow chart of a vehicle control method provided by an embodiment of the present invention is shown;

[0040] Figure 5 Another schematic flow chart of a vehicle control method provided by an embodiment of the present invention is shown;

[0041] Figure 6 Another schematic flow chart of a vehicle control method provided by an embodiment of the present invention is shown;

[0042] Figure 7 A module block diagram of a vehicle control device provided by an embodiment of the present invention is shown;

[0043] Figure 8 A block diagram of a steering actuator provided in an embodiment of the present invention is shown.

[0044] Icons: 100 - steering execution device; 110 - memory; 120 - processor; 130 - communication module; 200 - steering simulation device; 300 - vehicle driving control device; 400 - wheel rack structure; 500 - direction control device rack structure; 600 - vehicle control device; 610 - command receiving module; 620 - adjustment angle acquisition module; 630 - direction control module. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0048] See also Figure 1 , Figure 1 The schematic diagram of an application environment of the vehicle control method provided by the embodiment of the present invention shows that the vehicle comprises a steering execution device 100 , a steering simulation device 200 , a vehicle machine driving control device 300 , a wheel rack structure 400 and a direction control device rack structure 500 .

[0049] The steering execution device 100 is respectively connected to the steering simulation device 200 and the vehicle driving control device 300. The steering execution device 100, the steering simulation device 200 and the vehicle driving control device 300 are all located in the network, and the steering execution device 100 can be respectively connected to the steering simulation device 200 and the vehicle driving control device 300 to realize data interaction between the steering execution device 100 and the steering simulation device 200 and the vehicle driving control device 300.

[0050] As a method, the steering execution device 100, the steering simulation device 200 and the vehicle driving control device 300 can be communicatively connected via a LIN (Local Interconnect Networ) bus, a CAN (Controller Area Network) bus, etc., which is not limited here.

[0051] The steering actuator 100 can adjust the actual driving direction of the vehicle by adjusting the wheel rack structure 400 .

[0052] The steering simulation device 200 can simulate the actual steering resistance of the vehicle by adjusting the direction control device rack structure 500, thereby controlling the rotation direction of the vehicle's direction control device to provide feedback to the driver. The direction control device may include but is not limited to the vehicle's steering wheel.

[0053] The vehicle driving control device 300 is used to realize the automatic driving function of the vehicle. The vehicle driving control device 300 can generate a vehicle steering adjustment instruction based on the vehicle environment information detected by various sensors set in the vehicle, and send the vehicle steering adjustment instruction to the steering actuator 100, so that the steering actuator 100 adjusts the wheel rack structure 400 according to the vehicle steering adjustment instruction.

[0054] It can be understood that the vehicle driving control device 300 can be communicatively connected with the steering actuator 100. Therefore, the vehicle driving control device 300 can directly send the vehicle steering adjustment instruction to the steering actuator 100 without passing through the steering simulation device 200 and then sending it to the steering actuator 100, thereby improving the control efficiency of the vehicle driving mode.

[0055] The wheel rack structure 400 is used to adjust the rotation direction of the wheel, that is, the driving direction of the vehicle.

[0056] The steering control device rack structure 500 is used to adjust the rotation direction of the steering control device of the vehicle.

[0057] In some embodiments, the vehicle further includes a first engine and a second engine, the first engine is used to drive the wheel rack structure 400 , and the second engine is used to drive the direction control device rack structure 500 .

[0058] In some embodiments, the vehicle further includes a torque and angle sensor (Torque and Angle Sensor, TAS) and a linear position sensor (Linear Position Sensor, LPS).

[0059] TAS can be used to detect the parameters of the rack structure 500 of the direction control device in real time. The steering simulation device 200 can receive the parameters of the rack structure 500 of the direction control device in real time and generate manual intervention steering adjustment instructions according to the parameters of the rack structure 500 of the direction control device.

[0060] The LPS can be used to detect the parameters of the wheel rack structure 400 in real time, and send the parameters of the wheel rack structure 400 to the steering actuator 100 , so that the steering actuator 100 can adjust the wheel rack structure 400 according to the parameters of the wheel rack structure 400 .

[0061] The first engine, the second engine, the TAS and the LPS are not Figure 1 Displayed in.

[0062] See also Figure 2 , Figure 2A flow chart of a vehicle control method provided by an embodiment of the present invention is shown. The vehicle control method can be applied to a steering actuator of a vehicle, in which angle fusion ratios corresponding to different angle differences are stored, and the angle fusion ratio is proportional to the angle difference. The specific flow of this embodiment is described below using the steering actuator as an example. Figure 2 The process shown is described in detail, and the vehicle control method may specifically include the following steps:

[0063] Step 110: When the vehicle is in the vehicle computer driving mode, receiving the manual intervention steering adjustment instruction sent by the steering simulation device and the vehicle computer steering adjustment instruction sent by the vehicle computer driving control device.

[0064] Among them, the manual intervention steering adjustment instruction is an instruction for the driver to adjust the angle of the rack structure of the direction control device; the vehicle computer steering adjustment instruction is an instruction for the vehicle computer driving control device to adjust the angle of the wheel rack structure.

[0065] It should be noted that when the vehicle is in the vehicle computer driving mode, the steering actuator receives the manual intervention steering adjustment command issued by the steering simulation device. In fact, the driver intervenes in the operation of the vehicle computer driving control by adjusting the rack structure of the steering control device (the rack structure of the steering control device). That is, the driver intervenes and controls the steering of the vehicle at this time.

[0066] Step 120: parse the manual intervention steering adjustment instruction to obtain the manual intervention adjustment angle, and parse the vehicle computer steering adjustment instruction to obtain the vehicle computer adjustment angle.

[0067] Step 130: Calculate the target angle difference between the manually intervened adjustment angle and the vehicle computer adjustment angle.

[0068] In some embodiments, if the adjustment directions of the manual intervention adjustment angle and the vehicle computer adjustment angle are the same, the target angle difference is the difference between the manual intervention adjustment angle and the vehicle computer adjustment angle; if the adjustment directions of the manual intervention adjustment angle and the vehicle computer adjustment angle are different, the target angle difference is the sum of the manual intervention adjustment angle and the vehicle computer adjustment angle.

[0069] For example, assuming that the manual intervention adjustment angle is 15° to the left and the vehicle computer adjustment angle is 20 degrees to the right, the target angle difference is 35 degrees; if the manual intervention adjustment angle is 10° to the left and the vehicle computer adjustment angle is 12 degrees to the left, the target angle difference is 2 degrees.

[0070] Step 150: The manual intervention adjustment angle and the vehicle computer adjustment angle are integrated according to the target angle integration ratio corresponding to the target angle difference to determine the target adjustment angle.

[0071] In some implementations, the historical angle difference between the manually intervened adjustment angle and the vehicle computer adjustment angle at different vehicle speeds may be sampled, and the different historical angle differences at different vehicle speeds may be fitted by the Bayesian estimation method to construct a corresponding relationship between the angle difference and the angle fusion ratio. For example, Figure 3 Curve A and curve B in the figure. The steering actuator stores angle fusion ratios corresponding to different angle differences, and the range of the angle fusion ratio is [0, 1]. Figure 3 As shown, the angle fusion ratio is proportional to the angle difference. Figure 3 The horizontal axis is the angle difference, and the vertical axis is the angle fusion ratio.

[0072] It is understandable that the target angle difference between the manual intervention adjustment angle and the vehicle computer adjustment angle is used as an indicator to evaluate the degree of driver intervention. When the target angle difference is large, it indicates that the driver has a greater need for intervention. At this time, the manual intervention adjustment angle input by the driver occupies a larger proportion of the target adjustment angle; when the target angle difference is small, it indicates that the driver has a smaller need for intervention, and the manual intervention adjustment angle input by the driver occupies a smaller proportion of the target adjustment angle. The steering actuator can dynamically adjust the response weight to the driver's input to ensure that appropriate intervention response can be provided in different situations, thereby optimizing the driving experience and improving the safety of vehicle driving.

[0073] In some embodiments, as the vehicle's driving speed increases, the angle fusion ratio changes more slowly with the angle difference. For example, Figure 3 The driving speed corresponding to the middle curve B is greater than the driving speed of the curve A.

[0074] In some embodiments, the steering actuator may integrate the manual intervention adjustment angle with the vehicle computer adjustment angle according to the following formula:

[0075]

[0076] in, represents the target adjustment angle, k represents the target angle fusion ratio, Indicates manual intervention to adjust the angle. Indicates the vehicle computer adjustment angle.

[0077] For example, Figure 3As shown, the driving speed corresponding to curve A is driving speed 1, and the driving speed corresponding to curve B is driving speed 2. Driving speed 1 is less than driving speed 2. When the driving speed is driving speed 1, assuming that the manual intervention adjustment angle is 30 degrees to the right, the vehicle computer adjustment angle is 10 degrees to the right, and the target angle difference is 20 degrees, then the corresponding target fusion ratio is 0.13, and the target adjustment angle is 12.6 degrees (0.13×30+(1-0.13)×10=12.6 degrees).

[0078] Step 160: Control the wheel rack structure according to the target adjustment angle to control the driving direction of the vehicle.

[0079] The vehicle control method provided by the embodiment of the present invention receives the manual intervention steering adjustment instruction sent by the steering simulation device and the vehicle computer steering adjustment instruction sent by the vehicle computer driving control device when the vehicle is in the vehicle computer driving mode, analyzes the manual intervention steering adjustment instruction to obtain the manual intervention adjustment angle, analyzes the vehicle computer steering adjustment instruction to obtain the vehicle computer adjustment angle, calculates the target angle difference between the manual intervention adjustment angle and the vehicle computer adjustment angle, fuses the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference, determines the target adjustment angle, and controls the wheel rack structure according to the target adjustment angle to control the driving direction of the vehicle. By fusing the adjustment angle of the vehicle computer driving control device and the adjustment angle input by the driver, the effect of responding to the driver's intervention is achieved, thereby improving the safety of vehicle driving.

[0080] In order to prevent angle fusion from being performed when the driver's driving intention is similar to the driving strategy of the vehicle computer driving control device or in an emergency, before the manual intervention angle adjustment and the vehicle computer adjustment angle fusion operation, the steering actuator first determines whether angle fusion is required based on the target angle difference, such as Figure 4 , before step 150, the following steps are specifically included:

[0081] Step 130: Determine whether to perform a fusion operation on the manually intervened adjustment angle and the vehicle computer adjustment angle according to the target angle difference.

[0082] In some implementations, the target angle difference is compared with a preset vehicle computer driving determination value and a preset manual intervention driving determination value, and a determination is made based on the comparison result whether to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle. Figure 3As shown, in curve A, it can be seen that at the driving speed corresponding to curve A, the preset vehicle computer driving judgment value is angle 1, when the angle difference is less than or equal to angle 1, the angle fusion ratio is 0, that is, the vehicle computer adjustment angle is determined as the target adjustment angle; the preset manual intervention driving judgment value is angle 2, when the angle difference is greater than or equal to angle 2, the angle fusion ratio is 1, that is, the manual intervention adjustment angle is determined as the target adjustment angle.

[0083] Step 140A: If the target angle difference is greater than the preset vehicle computer driving determination value, and the target angle difference is less than the preset manual intervention driving determination value, it is determined to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle.

[0084] It can be understood that the target angle difference is between the preset vehicle computer driving judgment value and the preset manual intervention driving judgment value, indicating that the driver is in normal driving control. The steering actuator can integrate the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle difference. The steering actuator can make corresponding feedback when the driver intervenes appropriately, and does not completely switch to manual driving mode or vehicle computer driving mode, thereby improving the driver's driving experience and achieving a smooth transition between driver driving and vehicle computer driving, that is, it responds to the driver's driving operation and utilizes the intelligent driving capability of the vehicle computer driving control device.

[0085] Step 140B: If the target angle difference is less than or equal to the preset vehicle computer driving judgment value, or the target angle difference is greater than or equal to the preset manual intervention driving judgment value, it is determined not to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle, and the manual intervention adjustment angle or the vehicle computer adjustment angle is determined as the target adjustment angle.

[0086] In some implementations, if the target angle difference is less than or equal to a preset vehicle computer driving determination value, the vehicle computer adjustment angle is determined as the target adjustment angle.

[0087] It can be understood that the target angle difference is less than or equal to the preset vehicle computer driving judgment value, indicating that the driver's driving intention at this time is similar to the driving strategy of the vehicle computer driving control device, that is, the manual intervention adjustment angle is close to the vehicle computer adjustment angle. Since the driver's driving intention is similar to the driving strategy of the vehicle computer driving control device, and the vehicle computer adjustment angle generated by the vehicle computer driving control device at this time is more accurate than the manual intervention adjustment angle of the driver's manual intervention, the steering actuator does not need to integrate the manual intervention adjustment angle and the vehicle computer adjustment angle, but directly determines the vehicle computer adjustment angle as the target adjustment angle. That is, when the driver's driving intention is similar to the driving strategy of the vehicle computer driving control device, the steering actuator controls the wheel rack structure in full accordance with the instruction of the vehicle computer driving control device to adjust the angle of the wheel rack structure, thereby improving the response efficiency to the vehicle computer driving control device.

[0088] In some implementations, if the target angle difference is greater than or equal to a preset manual intervention driving determination value, the manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle driving mode is exited.

[0089] It can be understood that if the target angle difference is greater than or equal to the preset manual intervention driving judgment value, it means that the driver has a high need to intervene in vehicle control due to system failure, complex road conditions or other safety issues. The manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle driving mode is exited. That is, the steering actuator controls the wheel rack structure in full accordance with the driver's instructions to adjust the angle of the rack structure of the direction control device, so as to promptly discover potential safety hazards and improve driving safety.

[0090] It should be noted that the steering actuator avoids unnecessary fusion operations in the above two situations (the situation where the driver's driving intention is similar to the driving strategy of the vehicle computer driving control device; the situation where the driver has a high need for intervention in vehicle control due to system failure, complex road conditions or other safety issues), thereby improving the driver's driving experience and driving safety.

[0091] In order to improve the adaptability of the steering actuator, the steering actuator can dynamically adjust the angle fusion ratio according to the driver's habits, such as Figure 5 As shown, step 150 specifically further includes the following steps:

[0092] Step 151: Count the number of times the manual intervention steering adjustment instructions sent by the steering simulation device are received.

[0093] In some embodiments, the driver manually controls the vehicle's direction control device, the steering simulation device generates a manual intervention steering adjustment instruction based on the driver's manual control, and sends the manual intervention steering adjustment instruction to the steering execution device, and the steering execution device counts the number of times the manual intervention steering adjustment instruction sent by the steering simulation device is received.

[0094] For example, starting from the start of the vehicle driving mode, the steering simulation device sends the manual intervention steering adjustment instructions to the steering execution device 5 times.

[0095] Step 152: Determine the fusion ratio adjustment factor according to the number of times.

[0096] The range of the fusion ratio adjustment factor is [1, 2].

[0097] In some embodiments, the total number of times the steering actuator controls the wheel rack structure is obtained, and the fusion ratio adjustment factor is determined by adding the minimum value of the range of the fusion ratio adjustment factor to the ratio based on the ratio of the number of manual intervention steering adjustment instructions received from the steering simulation device to the total control times.

[0098] For example, the total number of controls is 100 times, and the number of manual intervention steering adjustment instructions sent by the steering simulation device is 40 times. The proportion of the number of manual intervention steering adjustment instructions sent by the steering simulation device to the total number of controls is 0.4, and the fusion ratio adjustment factor is 1.4 (1+0.4=1.4).

[0099] Step 153: Adjust the target angle fusion ratio according to the fusion ratio adjustment factor.

[0100] In some embodiments, the product of the fusion ratio adjustment factor and the target angle fusion ratio is used as the adjusted target angle fusion ratio.

[0101] For example, if the fusion ratio adjustment factor is 1.5 and the target angle fusion ratio is 0.5, the adjusted target angle fusion ratio is 0.75.

[0102] Step 154: The manual intervention adjustment angle and the vehicle computer adjustment angle are integrated according to the adjusted target angle integration ratio to determine the target adjustment angle.

[0103] To enhance the driver's driving experience, such as Figure 6 As shown, the vehicle control method specifically also includes the following steps:

[0104] Step 210: Obtain the current steering ratio of the steering simulation device.

[0105] The steering ratio is the ratio between the steering rack structure and the wheel rack structure. For example, a steering ratio of 16:1 means that when the steering rack structure rotates 16 degrees, the wheel rack structure rotates 1 degree.

[0106] Step 220: Determine the feedback steering angle of the steering simulation device according to the current steering ratio and the target adjustment angle.

[0107] For example, assuming the target adjustment angle is 5 degrees, the current steering ratio is 8:1, and the feedback steering angle is 40 degrees (5×8=40 degrees).

[0108] Step 230: Send the feedback steering angle to the steering simulation device, so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

[0109] It can be understood that by simulating the steering response of the actual vehicle under different driving directions according to the feedback steering angle through the steering simulation device, the driver can obtain a more realistic and natural driving experience, which helps to improve the driver's comfort, especially in the automatic driving system. At the same time, this natural steering experience also helps to improve the driver's sense of control over the vehicle, thereby improving safety.

[0110] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a vehicle control device is given below. Figure 7 , is a functional module diagram of a vehicle control device provided by an embodiment of the present invention. It should be noted that the basic principle and technical effects of the vehicle control device provided by this embodiment are the same as those of the above embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments. The vehicle control device 600 includes: an instruction receiving module 610, an adjustment angle acquisition module 620 and a direction control module 630, wherein:

[0111] The instruction receiving module 610 is used to receive the manual intervention steering adjustment instruction sent by the steering simulation device and the vehicle computer steering adjustment instruction sent by the vehicle computer driving control device when the vehicle is in the vehicle computer driving mode; the manual intervention steering adjustment instruction is an instruction for the driver to adjust the angle of the rack structure of the direction control device; the vehicle computer steering adjustment instruction is an instruction for the vehicle computer driving control device to adjust the angle of the wheel rack structure;

[0112] The adjustment angle acquisition module 620 is used to parse the manual intervention steering adjustment instruction to obtain the manual intervention adjustment angle, and parse the vehicle computer steering adjustment instruction to obtain the vehicle computer adjustment angle; calculate the target angle difference between the manual intervention adjustment angle and the vehicle computer adjustment angle; perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle;

[0113] The direction control module 630 is used to control the wheel rack structure according to the target adjustment angle to control the driving direction of the vehicle.

[0114] Optionally, before the manual intervention adjustment angle and the vehicle computer adjustment angle are fused according to the target angle fusion ratio corresponding to the target angle difference, and the target adjustment angle is determined, the adjustment angle acquisition module 620 is also specifically used to determine whether to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle difference; if the target angle difference is greater than the preset vehicle computer driving judgment value, and the target angle difference is less than the preset manual intervention driving judgment value, it is determined to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle.

[0115] Optionally, the adjustment angle acquisition module 620 is also specifically used to determine not to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle if the target angle difference is less than or equal to a preset vehicle computer driving judgment value, or the target angle difference is greater than or equal to a preset manual intervention driving judgment value, and to determine the manual intervention adjustment angle or the vehicle computer adjustment angle as the target adjustment angle.

[0116] Optionally, the adjustment angle acquisition module 620 is also specifically used to determine the vehicle computer adjustment angle as the target adjustment angle if the target angle difference is less than or equal to a preset vehicle computer driving judgment value; if the target angle difference is greater than or equal to a preset manual intervention driving judgment value, the manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle computer driving mode is exited.

[0117] Optionally, the adjustment angle acquisition module 620 is also specifically used to count the number of times the manual intervention steering adjustment instructions sent by the steering simulation device are received; determine the fusion ratio adjustment factor according to the number; adjust the target angle fusion ratio according to the fusion ratio adjustment factor; and fuse the manual intervention adjustment angle and the vehicle computer adjustment angle according to the adjusted target angle fusion ratio to determine the target adjustment angle.

[0118] Optionally, the vehicle control device 600 further includes: a feedback adjustment module, wherein:

[0119] The feedback adjustment module is used to obtain the current steering ratio of the steering simulation device; determine the feedback steering angle of the steering simulation device according to the current steering ratio and the target adjustment angle; and send the feedback steering angle to the steering simulation device so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0121] In several embodiments provided by the present invention, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0122] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0123] Please refer to Figure 8 , is a block diagram of a steering actuator 100 provided in an embodiment of the present invention. The steering actuator 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0124] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0125] The processor 120 is used to read / write data or programs stored in the memory and execute corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the vehicle control method disclosed in the above embodiments can be implemented.

[0126] The communication module 130 is used to establish a communication connection between the steering execution device 100 and the vehicle driving control device and the steering simulation device through the network, and is used to send and receive data through the network.

[0127] It should be understood that Figure 8 The structure shown is only a schematic diagram of the structure of the steering actuator. The steering actuator may also include Figure 8 More or fewer components may be shown. Figure 8 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0128] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program can be executed by a processor, the vehicle control method described in the above method embodiment is implemented.

[0129] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes for executing any method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0130] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0131] If the function is implemented in the form of a software function module 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, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments 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, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0132] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: A steering actuator applied to a vehicle, the vehicle further comprising a steering simulation device, a vehicle driving control device, a wheel rack structure and a direction control device rack structure, the steering actuator being communicatively connected to the steering simulation device and the vehicle driving control device respectively; The steering actuator stores angle fusion ratios corresponding to different angle differences; The angle fusion ratio is proportional to the angle difference; the method comprises: When the vehicle is in the vehicle-machine driving mode, receiving a manual intervention steering adjustment instruction sent by the steering simulation device and a vehicle-machine steering adjustment instruction sent by the vehicle-machine driving control device; the manual intervention steering adjustment instruction is an instruction for the driver to adjust the angle of the rack structure of the direction control device; the vehicle-machine steering adjustment instruction is an instruction for the vehicle-machine driving control device to adjust the angle of the wheel rack structure; Parsing the manual intervention steering adjustment instruction to obtain a manual intervention adjustment angle, and parsing the vehicle computer steering adjustment instruction to obtain a vehicle computer adjustment angle; Calculating a target angle difference between the manually intervened adjustment angle and the vehicle computer adjustment angle; The manual intervention adjustment angle and the vehicle computer adjustment angle are fused according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle; The wheel rack structure is controlled according to the target adjustment angle to control the driving direction of the vehicle.

2. The method according to claim 1, characterized in that Before performing a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle, the method further includes: Determining whether to perform a fusion operation on the manually intervened adjustment angle and the vehicle computer adjustment angle according to the target angle difference; If the target angle difference is greater than a preset vehicle computer driving determination value, and the target angle difference is less than a preset manual intervention driving determination value, it is determined to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle.

3. The method according to claim 2, characterized in that The method further comprises: If the target angle difference is less than or equal to the preset vehicle computer driving judgment value, or the target angle difference is greater than or equal to the preset manual intervention driving judgment value, it is determined that the manual intervention adjustment angle and the vehicle computer adjustment angle will not be fused, and the manual intervention adjustment angle or the vehicle computer adjustment angle will be determined as the target adjustment angle.

4. The method according to claim 3, characterized in that The step of determining the manually intervened adjustment angle or the vehicle computer adjustment angle as the target adjustment angle includes: If the target angle difference is less than or equal to the preset vehicle computer driving determination value, the vehicle computer adjustment angle is determined as the target adjustment angle; If the target angle difference is greater than or equal to the preset manual intervention driving determination value, the manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle driving mode is exited.

5. The method according to claim 1, characterized in that The fusing operation of the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle includes: Counting the number of times the manual intervention steering adjustment instructions sent by the steering simulation device are received; According to the number, determining a fusion ratio adjustment factor; Adjusting the target angle fusion ratio according to the fusion ratio adjustment factor; The manual intervention adjustment angle and the vehicle computer adjustment angle are fused according to the adjusted target angle fusion ratio to determine the target adjustment angle.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: obtaining a current steering ratio of the steering simulation device; determining a feedback steering angle of the steering simulation device according to the current steering ratio and the target adjustment angle; The feedback steering angle is sent to the steering simulation device, so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

7. A vehicle control device, characterized in that: A steering actuator applied to a vehicle, the vehicle further comprising a wheel rack structure and a direction control device rack structure, the steering actuator being communicatively connected to a steering simulation device and a vehicle machine driving control device respectively; The steering actuator stores angle fusion ratios corresponding to different angle differences; The angle fusion ratio is proportional to the angle difference; the device comprises: The command receiving module is used to receive the manual intervention steering adjustment command sent by the steering simulation device and the vehicle computer steering adjustment command sent by the vehicle computer driving control device when the vehicle is in the vehicle computer driving mode; the manual intervention steering adjustment command is a command for the driver to adjust the angle of the rack structure of the direction control device; the vehicle computer steering adjustment command is a command for the vehicle computer driving control device to adjust the angle of the wheel rack structure; The adjustment angle acquisition module is used to parse the manual intervention steering adjustment instruction to obtain the manual intervention adjustment angle, and parse the vehicle computer steering adjustment instruction to obtain the vehicle computer adjustment angle; calculate the target angle difference between the manual intervention adjustment angle and the vehicle computer adjustment angle; perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle; A direction control module is used to control the wheel rack structure according to the target adjustment angle to control the driving direction of the vehicle.

8. The device according to claim 7, characterized in that Before the manual intervention adjustment angle and the vehicle computer adjustment angle are fused according to the target angle fusion ratio corresponding to the target angle difference and the target adjustment angle is determined, the adjustment angle acquisition module is also used to determine whether to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle according to the target angle difference; if the target angle difference is greater than the preset vehicle computer driving judgment value, and the target angle difference is less than the preset manual intervention driving judgment value, it is determined to perform a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle.

9. A steering actuator, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and the computer program executable by the processor is used to implement the vehicle control method described in any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

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