Vehicle control method and device, computer equipment and readable storage medium

Abstract

The invention relates to a vehicle control method and device, computer equipment and a readable storage medium. The method comprises the following steps: acquiring driving state information of a vehicle; under the condition that the driving state information meets a preset straight driving condition, determining a current steering wheel angle error according to the driving state information; under the condition that the driving state information meets a preset steering tendency condition, a target steering integral value is determined according to the current steering wheel angle error and the driving state information; and under the condition that the target steering integral value and the driving state information meet the active steering condition, the lane departure early warning system of the vehicle is controlled to enter a non-working state. By adopting the method, whether the vehicle actively changes the lane can be identified, and the driving safety is improved.

Description

Technical Field

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

[0002] While people are pursuing the convenience of cars, they are also paying more attention to the demand for intelligent cars, and the requirements for more convenient car functions are getting higher and higher, especially in the fields of assisted driving and smart cockpits. Among the two, assisted driving is more prominent. For example, the lane departure warning system in assisted driving can warn the driver when the vehicle has unintentionally departed from the lane.

[0003] In related technologies, turn signals are generally used to determine whether the driver actively deviates from the lane. For example, when the driver does not turn on the turn signal to avoid an obstacle, the lane departure warning system will also issue an alarm. However, this alarm does not meet the driver's expectations, may affect the driver's mood, and may pose a driving safety risk. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle control method, device, computer equipment and readable storage medium that can identify whether a vehicle actively changes lanes and improve driving safety in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0006] Obtain the vehicle's driving status information;

[0007] When the driving state information satisfies a preset straight-line driving condition, determining a current steering wheel angle error according to the driving state information;

[0008] When the driving state information satisfies a preset steering tendency condition, determining a target steering integral value according to the current steering wheel angle error and the driving state information;

[0009] When the target steering integral value and the driving state information satisfy an active steering condition, a lane departure warning system of the vehicle is controlled to enter a non-working state.

[0010] In one embodiment, the driving state information includes a lane line image quality score, a lane line fitting coefficient, and a steering wheel angle; when the driving state information satisfies a preset straight-line driving condition, determining a current steering wheel angle error according to the driving state information includes:

[0011] When the lane line image quality score is not less than a preset quality threshold and the lane line fitting coefficient is not less than a threshold fitting coefficient threshold, the current steering wheel angle error is determined according to the steering wheel angle and a pre-stored historical steering wheel angle error.

[0012] In one embodiment, the driving state information further includes steering wheel torque information; when the driving state information satisfies a preset steering tendency condition, determining a target steering integral value according to the current steering wheel angle error and the driving state information includes:

[0013] Determining an integral compensation value according to the current steering wheel angle error and a preset torque integral value compensation table;

[0014] When the absolute value of the steering wheel torque signal is greater than a preset first torque threshold, performing an integral calculation according to the absolute value of the steering wheel torque signal and a preset sampling interval to obtain an initial integral value;

[0015] A target steering integral value is determined according to the initial integral value and the integral compensation value.

[0016] In one embodiment, the method further comprises:

[0017] During the integral calculation process, when the absolute value of the steering wheel torque signal is less than a preset second torque threshold, the integral calculation is stopped and the target steering integral value is set to zero.

[0018] In one embodiment, the driving state information further includes steering wheel speed information; when the target steering integral value and the driving state information satisfy an active steering condition, controlling the lane departure warning system of the vehicle to enter a non-working state includes:

[0019] When the target steering integral value is greater than a preset integral threshold, the torque judgment flag is set to a first parameter and a preset first time period is maintained;

[0020] When the steering wheel speed information is greater than a preset speed threshold, the speed determination flag is set to the first parameter and a preset second time period is maintained;

[0021] In the case where the first time period overlaps with the second time period, the lane departure warning system of the vehicle is controlled to enter a non-working state and maintain a preset third time period.

[0022] In one embodiment, the method further comprises:

[0023] After the third time period ends, it is determined whether to control the lane departure warning system to enter a working state according to the driving state information.

[0024] In one embodiment, the driving state information includes lane line image information; and judging whether to control the lane departure warning system to enter a working state according to the driving state information includes:

[0025] Determine, according to the lane line image information, first distance information between the left wheel group of the vehicle and the left lane line, and second distance information between the right wheel group of the vehicle and the right lane line;

[0026] When both the first distance information and the second distance information are not less than a preset safety distance threshold, controlling the lane departure warning system to enter a working state;

[0027] When at least one of the first distance information or the second distance information is smaller than the preset safety distance threshold, the lane departure warning system is controlled to remain in a non-working state.

[0028] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0029] A first acquisition module, used to acquire driving status information of a vehicle;

[0030] A first determination module, configured to determine a current steering wheel angle error according to the driving state information when the driving state information satisfies a preset straight-line driving condition;

[0031] A second determination module is used to determine a target steering integral value according to the current steering wheel angle error and the driving state information when the driving state information satisfies a preset steering tendency condition;

[0032] The first execution module is used to control the lane departure warning system of the vehicle to enter a non-working state when the target steering integral value and the driving state information meet an active steering condition.

[0033] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the vehicle control method in any one of the above embodiments when executing the computer program.

[0034] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle control method in any one of the above embodiments are implemented.

[0035] The above-mentioned vehicle control method, device, computer equipment and readable storage medium obtain the driving state information of the vehicle during the driving process of the vehicle, for example, determine whether the vehicle is driving in a straight line or whether the vehicle has a tendency to actively turn according to the driving state information of the vehicle, so as to determine the current steering wheel angle error when the vehicle is driving in a straight line, and then when the vehicle changes from a straight-line driving state to a state with an active steering tendency, it can determine the target steering integral value according to the current steering wheel angle error and the driving state information, and then determine whether the vehicle is actively turning according to the target steering integral value and the driving state information, and when it is determined that the vehicle is actively turning, control the lane departure warning system of the vehicle to enter a non-working state. In this application, by identifying the steering tendency of the vehicle, calculating the steering integral value of the vehicle according to the driving state information, and using the current steering wheel angle error to correct the steering integral value to obtain an accurate target steering integral value, it is possible to accurately identify the driver's active steering intention, so as to turn off the lane departure warning system when the driver has the intention to actively turn, reduce the alarm frequency that is not expected by the driver, avoid affecting the driver's mood, and reduce the risk of driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] FIG1 is a schematic flow chart of a vehicle control method in one embodiment;

[0038] FIG2 is a schematic diagram of a flow chart of step S103 in one embodiment;

[0039] FIG3 is a schematic diagram of a flow chart of step S104 in one embodiment;

[0040] FIG4 is a flow chart of a vehicle control method in another embodiment;

[0041] FIG5 is a block diagram of a vehicle control device in one embodiment;

[0042] FIG. 6 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] As described in the background technology section, lane departure warning systems commonly used in commercial vehicles on the market currently generally only use turn switch signals to determine whether the vehicle deviates from the lane line due to driver fatigue or distraction, or whether the driver actively changes lanes. The lane departure warning system will also issue an alarm when the driver does not turn on the turn signal to change lanes, overtake, or avoid obstacles. At this time, the vehicle actively deviates from the lane line because the driver actively deviates from the lane line, resulting in the alarm not meeting the driver's expectations and a high frequency of alarms, which causes the driver to become annoyed with this function and leads to driving safety risks. In summary, it is particularly important to identify whether the vehicle actively deviates from the lane line because the driver does not rely on the turn signal.

[0045] Based on the above technical problem, in an exemplary embodiment, please refer to FIG. 1 , the present application provides a vehicle control method, which includes steps S101 to S104 .

[0046] S101: Acquire vehicle driving status information.

[0047] In the application, various types of sensors can be installed on the vehicle, such as smart cameras, steering wheel angle sensors, steering wheel speed sensors, etc. Based on these sensors on the vehicle, the vehicle controller can obtain the vehicle's steering wheel angle, steering wheel speed, lane line image and other driving status information, and then determine the vehicle's current driving status based on these driving status information.

[0048] S102: When the driving state information satisfies a preset straight-line driving condition, a current steering wheel angle error is determined according to the driving state information.

[0049] Among them, when the driving status information meets the straight driving conditions, it is judged that the vehicle is currently in a straight driving state. Then, during the period when the vehicle is in the straight driving state, the current steering wheel angle error can be calculated based on the driving status information, such as the steering wheel angle, combined with the historical driving status data, so that the driver can judge whether the driver actively turns according to the current steering wheel angle error in the future.

[0050] S103: When the driving state information satisfies a preset steering tendency condition, a target steering integral value is determined according to a current steering wheel angle error and the driving state information.

[0051] It can be understood that when the driving status information meets the preset steering tendency condition, the target steering integral value can be determined according to the current steering wheel angle error and the driving status information to determine whether the vehicle is actively steering according to the target steering integral value.

[0052] S104: When the target steering integral value and the driving state information satisfy the active steering condition, the lane departure warning system of the vehicle is controlled to enter a non-working state.

[0053] In this embodiment, when the target steering integral value and the driving status information meet the active steering conditions, the lane departure warning system can be controlled to enter a non-working state to prevent the lane departure warning system from issuing an alarm signal that is not expected by the driver, thereby avoiding causing the driver's annoyance and ensuring driving safety.

[0054] The above-mentioned vehicle control method includes obtaining the driving state information of the vehicle during the driving process of the vehicle, for example, judging whether the vehicle is driving in a straight line or whether the vehicle has a tendency to actively turn according to the driving state information of the vehicle, so as to determine the current steering wheel angle error when the vehicle is driving in a straight line, and then when the vehicle changes from a straight-line driving state to a state with an active steering tendency, it is possible to determine the target steering integral value according to the current steering wheel angle error and the driving state information, and then judge whether the vehicle is actively turning according to the target steering integral value and the driving state information, and when it is judged that the vehicle is actively turning, the lane departure warning system of the vehicle is controlled to enter a non-working state. In the present application, by identifying the steering tendency of the vehicle, calculating the steering integral value of the vehicle according to the driving state information, and using the current steering wheel angle error to correct the steering integral value to obtain an accurate target steering integral value, it is possible to accurately identify the driver's active steering intention, so as to turn off the lane departure warning system when the driver has the intention to actively turn, reduce the alarm frequency that is not expected by the driver, avoid affecting the driver's mood, and reduce the risk of driving safety.

[0055] In an exemplary embodiment, step S102, when the driving status information satisfies a preset straight driving condition, determines the current steering wheel angle error according to the driving status information, including: when the lane line image quality score is not less than a preset quality threshold, and the lane line fitting coefficient is not less than a preset fitting coefficient threshold, determines the current steering wheel angle error according to the steering wheel angle and pre-stored historical steering wheel angle errors.

[0056] The driving status information includes the lane line image quality score, the lane line fitting coefficient and the steering wheel angle. It can be understood that the vehicle is equipped with a smart camera and a steering wheel angle sensor. The smart camera can capture the lane line image in front of the vehicle, calculate the quality of the captured lane line image, give the lane line image quality score, and calculate the lane line fitting coefficient based on the lane line image. When the lane line image quality score is not less than the preset quality threshold, and the absolute value of the lane line fitting coefficient is not less than the preset fitting coefficient threshold, it can be determined that the vehicle is driving in a straight line, and then, according to the steering wheel angle detected by the steering wheel angle sensor, combined with the pre-stored historical steering wheel angle error, the current steering wheel angle error is calculated. Among them, the preset fitting coefficient threshold can be 0.00005, and the positive and negative of the steering wheel angle is related to the steering of the steering wheel. For example, the steering wheel angle is positive when the steering wheel turns left, and the steering wheel angle is negative when the steering wheel turns right.

[0057] In an application, when it is determined that the vehicle is traveling in a straight line, the current steering wheel angle error may be calculated periodically, for example, once every 0.01 seconds. n , the rotation angle error SWA of the previous cycle erl , then, the current steering wheel angle error is SWA er =0.0001*(SWA n -SWA erl )+SWA erl .

[0058] In an exemplary embodiment, please refer to FIG. 2 , step S103 , when the driving state information satisfies a preset steering tendency condition, a target steering integral value is determined according to the current steering wheel angle error and the driving state information, including steps S201 to S203 .

[0059] S201: Determine an integral compensation value according to a current steering wheel angle error and a preset torque integral value compensation table.

[0060] Among them, the vehicle can also be installed with a steering wheel torque sensor, and the steering wheel torque refers to the force required to turn the steering wheel. Since the assembly consistency of commercial vehicles is usually poor, the problem of poor steering gear mid-position calibration accuracy is prone to occur, that is, when the vehicle keeps driving in a straight line, the actual steering wheel angle is not zero. This phenomenon will cause the steering wheel torque signal to be asymmetric when the driver turns left or right. Since the steering wheel torque signal can be used as an important basis for judging whether the driver has the intention to turn, the processing of the steering wheel torque signal is particularly important. Therefore, in this application, the integral compensation value of the torque signal is determined by the current steering wheel angle error and the preset torque integral value compensation table to compensate the torque signal.

[0061] S202: When the absolute value of the steering wheel torque signal is greater than a preset first torque threshold, perform an integral calculation according to the absolute value of the steering wheel torque signal and a preset sampling interval to obtain an initial integral value.

[0062] In this embodiment, the driving state information also includes a steering wheel torque signal, and the positive or negative of the steering wheel torque signal is related to the steering direction of the steering wheel. For example, when the steering wheel turns to the left, the steering wheel torque signal is positive, and when the steering wheel turns to the right, the steering wheel torque signal is negative. Since the steering wheel torque signal fluctuates more seriously, when encountering a bumpy road, it sometimes causes the absolute value of the steering wheel torque signal to be larger. Therefore, it is not possible to simply judge whether the steering wheel is turned manually based on the absolute value of the steering wheel torque signal. An integral operation needs to be performed on the steering wheel torque signal. Therefore, in this application, when the absolute value of the steering wheel torque signal is greater than the preset first torque threshold, it is determined that the driving state information meets the preset steering tendency condition, and the integral calculation is started according to the absolute value of the steering wheel torque signal and the preset sampling interval. For example, when the absolute value of the steering wheel torque signal is greater than the preset first torque threshold, the product of the absolute value of the steering wheel torque signal at each sampling time point and the preset sampling interval is calculated, and it is accumulated to obtain an initial integral value.

[0063] S203: Determine a target steering integral value according to the initial integral value and the integral compensation value.

[0064] In an example, assuming the current steering wheel angle error is SWA er When it is 7°, the torque integral value compensation table is checked to determine that the corresponding integral compensation value is 1.4. Then, the initial integral value is subtracted by 1.4 to obtain the target steering integral value.

[0065] In an exemplary embodiment, the vehicle control method of the present application also includes: during the integral calculation process, when the absolute value of the steering wheel torque signal is less than a preset second torque threshold, stopping the integral calculation and setting the target steering integral value to zero.

[0066] In the application, when the absolute value of the steering wheel torque signal is less than the preset second torque threshold, it can be approximately considered that the driver is no longer turning the steering wheel, so the integral calculation can be stopped and the target steering integral value can be set to zero. The first torque threshold is greater than the second torque threshold. For example, the first torque threshold can be 2N.m and the second torque threshold can be 1N.m.

[0067] In an exemplary embodiment, the driving status information also includes steering wheel speed information; please refer to Figure 3, step S104, when the target steering integral value and the driving status information meet the active steering conditions, the lane departure warning system of the vehicle is controlled to enter a non-working state, including steps S301 to S303.

[0068] S301: When the target steering integral value is greater than a preset integral threshold, the torque judgment flag is set to a first parameter and a preset first time period is maintained.

[0069] When the target steering integral value is greater than the preset integral threshold, the torque judgment flag can be set to the first parameter, and the torque judgment flag is kept as the first parameter in the first time period, and after the first time period ends, the torque judgment flag is set to the second parameter. Exemplarily, the preset integral threshold is 5, the first parameter is 1, the second parameter is 0, and the first time period is 2s. When the target steering integral value is greater than 5, the torque judgment flag can be set to 1 and kept for 2s, and after 2s ends, the torque judgment flag is set to 0.

[0070] S302: When the steering wheel speed information is greater than a preset speed threshold, the speed determination flag is set to a first parameter and a preset second time period is maintained.

[0071] In order to ensure the accuracy of active steering recognition, the steering wheel speed is also set as a judgment condition in this application. When the steering wheel speed information is greater than the preset speed threshold, the speed judgment flag is set to the first parameter and maintained for the preset second time period. After the second time period ends, the speed judgment flag is set to the second parameter. In an example, the preset speed threshold is 15° / s, the first parameter is 1, the second parameter is 0, and the second time period is 3s. When the steering wheel speed information is greater than 15° / s, the speed judgment flag is set to 1 and maintained for 3s. After 3s, the speed judgment flag is set to 0.

[0072] S303: When the first time period and the second time period overlap, the lane departure warning system of the vehicle is controlled to enter a non-working state and maintain a preset third time period.

[0073] Only when the first time period and the second time period overlap, that is, the torque judgment mark and the speed judgment mark are both the first parameters, is it determined that the vehicle is actively steering, and the lane departure warning system is controlled to enter a non-working state and maintain a preset third time period to control the lane departure warning system not to issue an alarm during the vehicle's active steering.

[0074] In an exemplary embodiment, the vehicle control method of the present application further includes: after the third time period ends, judging whether to control the lane departure warning system to enter a working state according to the driving state information.

[0075] It can be understood that since the vehicle may not complete the lane change process within the third time period, there is still a possibility that the lane departure warning system will resume alarming during the vehicle's active steering. Therefore, in this application, after the third time period ends, the lane departure warning system is not directly controlled to enter the working state. Instead, it is further determined based on the driving status information whether to control the lane departure warning system to enter the working state.

[0076] In an exemplary embodiment, the driving status information includes lane line image information; please refer to FIG. 4 , judging whether to control the lane departure warning system to enter a working state according to the driving status information includes steps S401 to S403 .

[0077] S401: Determine first distance information between a left wheel group of the vehicle and the left lane line, and second distance information between a right wheel group of the vehicle and the right lane line, respectively, based on the lane line image information.

[0078] In the present application, lane line image information can be obtained through an intelligent camera, and then based on the lane line image information, the first spacing information between the left wheel group of the vehicle and the left lane line, as well as the second spacing information between the right wheel group of the vehicle and the right lane line can be determined respectively, and whether the active steering process is ended can be judged based on the first spacing information and the second spacing information.

[0079] S402: When both the first distance information and the second distance information are not less than a preset safety distance threshold, the lane departure warning system is controlled to enter a working state.

[0080] When it is detected that both the first distance information and the second distance information are not less than the preset safety distance threshold, it is determined that the vehicle has completed active steering, so the lane departure warning system can be controlled to enter a working state.

[0081] S403: When at least one of the first distance information or the second distance information is smaller than a preset safety distance threshold, control the lane departure warning system to remain in a non-working state.

[0082] When it is detected that either the first distance information or the second distance information is less than a preset safety distance threshold, it is determined that the vehicle has not completed the active steering, and the lane departure warning system continues to be controlled to remain in a non-working state.

[0083] In a detailed embodiment, during the vehicle driving process, the vehicle controller determines whether the vehicle is in a straight driving state based on the lane line image quality score and lane line fitting coefficient transmitted back by the smart camera. Specifically, when the lane line image quality score is not less than a preset quality threshold, and the absolute value of the lane line fitting coefficient is not less than a preset fitting coefficient threshold, it can be determined that the vehicle is driving in a straight line. Then, according to the steering wheel angle SWA n and the previous cycle angle error SWA erl Calculate the current steering wheel angle error as SWA er .

[0084] When the absolute value of the vehicle steering wheel torque signal is greater than a preset first torque threshold, an integral compensation value is determined according to the current steering wheel angle error and the torque integral value compensation table, and an initial integral value is calculated according to the absolute value of the steering wheel torque signal and a preset sampling interval, and a target steering integral value is determined according to the initial integral value and the integral compensation value.

[0085] When the target steering integral value is greater than the preset integral threshold, the torque judgment flag is set to the first parameter, and the preset first time period is maintained, and the steering wheel speed information is obtained at the same time. When the steering wheel speed information is greater than the preset speed threshold, the speed judgment flag is set to the first parameter, and the preset second time period is maintained. When the torque judgment flag and the speed judgment flag are both the first parameter, it is determined that the vehicle is actively steering, and the lane departure warning system is controlled to enter a non-working state, and the preset third time period is maintained. After the third time period ends, it is determined whether the first spacing information of the left wheel group of the vehicle and the left lane line, and the second spacing information of the right wheel group of the vehicle and the right lane line are both not less than the preset safety spacing threshold. When it is detected that both the first spacing information and the second spacing information are not less than the preset safety spacing threshold, it is determined that the vehicle has completed active steering, and the lane departure warning system can be controlled to enter a working state; when it is detected that either the first spacing information or the second spacing information is less than the preset safety spacing threshold, it is determined that the vehicle has not completed active steering, and the lane departure warning system continues to be controlled to remain in a non-working state.

[0086] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0087] Based on the same inventive concept, the embodiment of the present application also provides a vehicle control device for implementing the vehicle control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle control device embodiments provided below can refer to the limitations on the vehicle control method above, and will not be repeated here.

[0088] In an exemplary embodiment, as shown in FIG5 , a vehicle control device is provided, including: a first acquisition module 501, a first determination module 502, a second determination module 503 and a first execution module 504, wherein:

[0089] The first acquisition module 501 is used to acquire the driving status information of the vehicle.

[0090] The first determination module 502 is used to determine a current steering wheel angle error according to the driving state information when the driving state information satisfies a preset straight-line driving condition.

[0091] The second determination module 503 is used to determine a target steering integral value according to the current steering wheel angle error and the driving state information when the driving state information satisfies a preset steering tendency condition.

[0092] The first execution module 504 is used for controlling the lane departure warning system of the vehicle to enter a non-working state when the target steering integral value and the driving state information satisfy an active steering condition.

[0093] In an exemplary embodiment, the driving status information includes a lane line image quality score, a lane line fitting coefficient and a steering wheel angle; the first determination module includes: a first determination submodule, the first determination submodule is used to determine the current steering wheel angle error based on the steering wheel angle and the pre-stored historical steering wheel angle errors when the lane line image quality score is not less than a preset quality threshold and the lane line fitting coefficient is not less than a preset fitting coefficient threshold.

[0094] In an exemplary embodiment, the driving state information further includes a steering wheel torque signal; the second determination module includes: a second determination submodule, a first calculation submodule and a third determination submodule.

[0095] The second determination submodule is used to determine the integral compensation value according to the current steering wheel angle error and a preset torque integral value compensation table.

[0096] The first calculation submodule is used to perform integral calculation according to the absolute value of the steering wheel torque signal and a preset sampling interval to obtain an initial integral value when the absolute value of the steering wheel torque signal is greater than a preset first torque threshold.

[0097] The third determination submodule is used to determine the target steering integral value according to the initial integral value and the integral compensation value.

[0098] In an exemplary embodiment, the vehicle control device of the present application further includes: a second execution module. The second execution module is used to stop the integral calculation and set the target steering integral value to zero when the absolute value of the steering wheel torque signal is less than a preset second torque threshold during the integral calculation.

[0099] In an exemplary embodiment, the driving status information further includes steering wheel speed information; the first execution module includes a first execution submodule, a second execution submodule and a third execution submodule.

[0100] The first execution submodule is used to set the torque judgment flag to a first parameter and maintain a preset first time period when the target steering integral value is greater than a preset integral threshold.

[0101] The second execution submodule is used to set the speed judgment flag to the first parameter and maintain a preset second time period when the steering wheel speed information is greater than a preset speed threshold.

[0102] The third execution submodule is used to control the lane departure warning system of the vehicle to enter a non-working state and maintain a preset third time period when the first time period and the second time period overlap.

[0103] In an exemplary embodiment, the vehicle control device of the present application further includes a first judgment module, which is used to judge whether to control the lane departure warning system to enter a working state according to the driving status information after the third time period ends.

[0104] In an exemplary embodiment, the driving state information includes lane line image information; the first judgment module includes: a fourth determination submodule, a fourth execution submodule and a fifth execution submodule.

[0105] The fourth determination submodule is used to determine the first distance information between the left wheel group of the vehicle and the left lane line, and the second distance information between the right wheel group of the vehicle and the right lane line according to the lane line image information.

[0106] The fourth execution submodule is used to control the lane departure warning system to enter a working state when both the first distance information and the second distance information are not less than a preset safety distance threshold.

[0107] The fifth execution submodule is used to control the lane departure warning system to remain in a non-working state when at least one of the first distance information or the second distance information is less than a preset safety distance threshold.

[0108] Each module in the above vehicle control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0109] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the vehicle control method in any one of the above embodiments when executing the computer program.

[0110] The computer device may be a terminal, and its internal structure diagram may be shown in FIG6. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle control method is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0111] Those skilled in the art will understand that the structure shown in FIG. 6 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0112] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method in any of the above embodiments are implemented.

[0113] In one embodiment, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle control method in any one of the above embodiments are implemented.

[0114] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0115] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0116] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0117] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtain the vehicle's driving status information; When the driving state information satisfies a preset straight-line driving condition, determining a current steering wheel angle error according to the driving state information; When the driving state information satisfies a preset steering tendency condition, determining a target steering integral value according to the current steering wheel angle error and the driving state information; When the target steering integral value and the driving state information satisfy an active steering condition, a lane departure warning system of the vehicle is controlled to enter a non-working state.

2. The method according to claim 1, characterized in that The driving state information includes a lane line image quality score, a lane line fitting coefficient, and a steering wheel angle; when the driving state information satisfies a preset straight-line driving condition, determining a current steering wheel angle error according to the driving state information includes: When the lane line image quality score is not less than a preset quality threshold and the lane line fitting coefficient is not less than a preset fitting coefficient threshold, the current steering wheel angle error is determined according to the steering wheel angle and a pre-stored historical steering wheel angle error.

3. The method according to claim 1, characterized in that The driving state information also includes a steering wheel torque signal; when the driving state information satisfies a preset steering tendency condition, determining a target steering integral value according to the current steering wheel angle error and the driving state information includes: Determining an integral compensation value according to the current steering wheel angle error and a preset torque integral value compensation table; When the absolute value of the steering wheel torque signal is greater than a preset first torque threshold, performing an integral calculation according to the absolute value of the steering wheel torque signal and a preset sampling interval to obtain an initial integral value; A target steering integral value is determined according to the initial integral value and the integral compensation value.

4. The method according to claim 3, characterized in that The method further comprises: During the integral calculation process, when the absolute value of the steering wheel torque signal is less than a preset second torque threshold, the integral calculation is stopped and the target steering integral value is set to zero.

5. The method according to claim 1, characterized in that The driving state information further includes steering wheel speed information; when the target steering integral value and the driving state information meet the active steering condition, controlling the lane departure warning system of the vehicle to enter a non-working state includes: When the target steering integral value is greater than a preset integral threshold, the torque judgment flag is set to a first parameter and a preset first time period is maintained; When the steering wheel speed information is greater than a preset speed threshold, the speed determination flag is set to the first parameter and a preset second time period is maintained; In the case where the first time period overlaps with the second time period, the lane departure warning system of the vehicle is controlled to enter a non-working state and maintain a preset third time period.

6. The method according to claim 5, characterized in that The method further comprises: After the third time period ends, it is determined whether to control the lane departure warning system to enter a working state according to the driving state information.

7. The method according to claim 6, characterized in that The driving state information includes lane line image information; and judging whether to control the lane departure warning system to enter a working state according to the driving state information includes: Determine, according to the lane line image information, first distance information between the left wheel group of the vehicle and the left lane line, and second distance information between the right wheel group of the vehicle and the right lane line; When both the first distance information and the second distance information are not less than a preset safety distance threshold, controlling the lane departure warning system to enter a working state; When at least one of the first distance information or the second distance information is smaller than the preset safety distance threshold, the lane departure warning system is controlled to remain in a non-working state.

8. A vehicle control device, characterized in that: The device comprises: A first acquisition module, used to acquire driving status information of a vehicle; A first determination module, configured to determine a current steering wheel angle error according to the driving state information when the driving state information satisfies a preset straight-line driving condition; A second determination module is used to determine a target steering integral value according to the current steering wheel angle error and the driving state information when the driving state information satisfies a preset steering tendency condition; The first execution module is used to control the lane departure warning system of the vehicle to enter a non-working state when the target steering integral value and the driving state information meet an active steering condition.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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 steps of the method according to any one of claims 1 to 7 are implemented.

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