Vehicle control methods, devices, computer equipment and readable storage media

Abstract

This application relates to a vehicle control method, apparatus, computer device, and readable storage medium. The method comprises: obtaining vehicle driving status information; determining a current steering wheel angle error based on the driving status information when the driving status information satisfies a preset straight-line driving condition; determining a target steering integral value based on the current steering wheel angle error and the driving status information when the driving status information satisfies a preset steering tendency condition; and controlling the vehicle's lane departure warning system to enter an inactive state when the target steering integral value and the driving status information satisfy an active steering condition. This method can identify whether a vehicle is actively changing lanes, thereby improving driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, apparatus, computer equipment, and readable storage medium. Background Technology

[0002] While pursuing convenience in automobiles, people are also paying more attention to the demand for intelligent vehicles, with increasingly higher requirements for more convenient car functions. This is particularly evident in the fields of driver assistance and intelligent cockpits, with driver assistance being the more prominent of the two. For example, lane departure warning systems in driver assistance can alert the driver when the vehicle unintentionally deviates from its lane.

[0003] In related technologies, turn signals are generally used to determine whether the driver is actively deviating from the lane. For example, when the driver does not use 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] Therefore, it is necessary to provide a vehicle control method, device, computer equipment, and readable storage medium that can identify whether a vehicle is actively changing lanes, thereby improving driving safety, in order to address the aforementioned technical problems.

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

[0006] Obtain vehicle driving status information;

[0007] If the driving status information meets the preset straight driving conditions, the current steering wheel angle error is determined based on the driving status information.

[0008] If the driving status information meets the preset steering tendency conditions, the target steering integral value is determined based on the current steering wheel angle error and the driving status information.

[0009] 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-operating state.

[0010] In one embodiment, the driving status information includes lane line image quality score, lane line fitting coefficient, and steering wheel angle; the step of determining the current steering wheel angle error based on the driving status information when the driving status information meets preset straight driving conditions includes:

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

[0012] In one embodiment, the driving status information further includes steering wheel torque information; the step of determining a target steering integral value based on the current steering wheel angle error and the driving status information, when the driving status information meets a preset steering tendency condition, includes:

[0013] Based on the current steering wheel angle error and the preset torque integral value compensation table, determine the integral compensation value;

[0014] If the absolute value of the steering wheel torque signal is greater than a preset first torque threshold, an initial integral value is obtained by performing an integral calculation based on the absolute value of the steering wheel torque signal and a preset sampling interval.

[0015] The target steering integral value is determined based on the initial integral value and the integral compensation value.

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

[0017] During the integral calculation process, if 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 status information further includes steering wheel speed information; the step of controlling the vehicle's lane departure warning system to enter a non-operating state when the target steering integral value and the driving status information meet the active steering conditions includes:

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

[0020] If the steering wheel speed information is greater than a preset speed threshold, the speed judgment flag is set to the first parameter and maintained for a preset second time period.

[0021] If the first time period and the second time period overlap, the vehicle's lane departure warning system is controlled to enter a non-operating state and remain in a preset third time period.

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

[0023] After the third time period ends, the system determines whether to activate the lane departure warning system based on the driving status information.

[0024] In one embodiment, the driving status information includes lane line image information; the step of determining whether to control the lane departure warning system to enter the working state based on the driving status information includes:

[0025] Based on the lane line image information, the first distance information between the left wheel assembly of the vehicle and the left lane line, and the second distance information between the right wheel assembly of the vehicle and the right lane line are determined respectively.

[0026] When both the first spacing information and the second spacing information are not less than the preset safe spacing threshold, the lane departure warning system is controlled to enter the working state.

[0027] If at least one of the first spacing information or the second spacing information is less than the preset safe spacing threshold, the lane departure warning system shall be kept in a non-operating state.

[0028] Secondly, this application provides a vehicle control device, the device comprising:

[0029] The first acquisition module is used to acquire vehicle driving status information;

[0030] The first determining module is used to determine the current steering wheel angle error based on the driving status information when the driving status information meets the preset straight driving conditions.

[0031] The second determining module is used to determine the target steering integral value based on the current steering wheel angle error and the driving status information, when the driving status information meets the preset steering tendency conditions.

[0032] The first execution module is used to control the vehicle's lane departure warning system to enter a non-operating state when the target steering integral value and the driving status information meet the active steering conditions.

[0033] Thirdly, this application provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the vehicle control method in any of the above embodiments.

[0034] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method in any of the above embodiments.

[0035] The aforementioned vehicle control method, device, computer equipment, and readable storage medium acquire vehicle driving status information during vehicle operation. For example, based on the vehicle's driving status information, they determine whether the vehicle is traveling in a straight line or whether it has a tendency to actively steer. When the vehicle is traveling in a straight line, the current steering wheel angle error is determined. Then, when the vehicle changes from a straight-line driving state to a state with an active steering tendency, a target steering integral value is determined based on the current steering wheel angle error and the driving status information. Furthermore, based on the target steering integral value and the driving status information, it is determined whether the vehicle is actively steering. When it is determined that the vehicle is actively steering, the lane departure warning system is controlled to enter a non-operating state. In this application, by identifying the vehicle's steering tendency, calculating the vehicle's steering integral value based on the driving status information, and correcting the steering integral value using the current steering wheel angle error to obtain an accurate target steering integral value, accurate identification of the driver's active steering intention can be achieved. This allows the lane departure warning system to be deactivated when the driver intends to actively steer, reducing the frequency of unexpected alarms, avoiding affecting the driver's mood, and reducing driving safety risks. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating a vehicle control method in one embodiment;

[0038] Figure 2 This is a flowchart illustrating step S103 in one embodiment;

[0039] Figure 3 This is a flowchart illustrating step S104 in one embodiment;

[0040] Figure 4 This is a flowchart illustrating the vehicle control method in another embodiment;

[0041] Figure 5 This is a structural block diagram of a vehicle control device in one embodiment;

[0042] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] As described in the background section, most commercial vehicle lane departure warning systems currently on the market rely solely on turn signal signals to determine whether a vehicle's lane departure is due to driver fatigue or inattention, or whether the driver actively changes lanes. The system also issues an alarm when the driver changes lanes, overtakes, or avoids obstacles without using turn signals, indicating that the driver has actively deviated from the lane. This results in alarms that do not meet driver expectations, leading to frequent alarms and causing driver frustration with the function, thus posing a safety risk. Therefore, it is crucial to develop a system that can identify whether a vehicle has actively deviated from the lane without relying on turn signals.

[0045] Based on the above-mentioned technical problems, in an exemplary embodiment, please refer to... Figure 1 This application provides a vehicle control method, which includes steps S101 to S104.

[0046] S101: Obtain vehicle driving status information.

[0047] In applications, various types of sensors can be installed on vehicles, such as smart cameras, steering wheel angle sensors, steering wheel speed sensors, etc. Based on these sensors on the vehicle, the vehicle controller can acquire driving status information such as steering wheel angle, steering wheel speed, and lane line images, and then determine the current driving status of the vehicle based on this driving status information.

[0048] S102: If the driving status information meets the preset straight driving conditions, determine the current steering wheel angle error based on the driving status information.

[0049] Specifically, when the driving status information meets the straight-line driving conditions, it is determined that the vehicle is currently in a straight-line driving state. Then, during the period when the vehicle is in a straight-line 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 historical driving status data, so that the driver can determine whether to actively steer based on the current steering wheel angle error.

[0050] S103: When the driving status information meets the preset steering tendency conditions, determine the target steering integral value based on the current steering wheel angle error and driving status information.

[0051] It is understandable that when the driving status information meets the preset steering tendency conditions, the target steering integral value can be determined based on the current steering wheel angle error and driving status information, so as to determine whether the vehicle is actively steering based on the target steering integral value.

[0052] S104: When the target steering integral value and driving status information meet the active steering conditions, the lane departure warning system of the vehicle is put into non-operation state.

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

[0054] The aforementioned vehicle control method includes acquiring vehicle driving status information during vehicle operation, such as determining whether the vehicle is traveling in a straight line or has a tendency to actively steer based on the driving status information. When the vehicle is traveling in a straight line, the current steering wheel angle error is determined. Then, when the vehicle changes from a straight-line driving state to a state with an active steering tendency, a target steering integral value is determined based on the current steering wheel angle error and the driving status information. Finally, based on the target steering integral value and the driving status information, it is determined whether the vehicle is actively steering. When it is determined that the vehicle is actively steering, the lane departure warning system is controlled to enter a non-operating state. This application, by identifying the vehicle's steering tendency, calculating the vehicle's steering integral value based on the driving status information, and correcting the steering integral value using the current steering wheel angle error to obtain an accurate target steering integral value, can accurately identify the driver's active steering intention. Therefore, when the driver has the intention to actively steer, the lane departure warning system is deactivated, reducing the frequency of unexpected alarms, avoiding affecting the driver's mood, and reducing driving safety risks.

[0055] In an exemplary embodiment, step S102, when the driving status information meets the preset straight driving conditions, determines the current steering wheel angle error based on 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, determining the current steering wheel angle error based on the steering wheel angle and the pre-stored historical steering wheel angle error.

[0056] The driving status information includes lane line image quality score, lane line fitting coefficient, and 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 lane line images in front of the vehicle, calculate the quality of the captured lane line images, and provide a lane line image quality score. The steering wheel angle fitting coefficient is then calculated based on the lane line images. 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, the vehicle can be determined to be traveling in a straight line. Then, based on the steering wheel angle detected by the steering wheel angle sensor and combined with pre-stored historical steering wheel angle errors, the current steering wheel angle error is calculated. The preset fitting coefficient threshold can be 0.00005. The sign of the steering wheel angle is related to the direction of the steering wheel; for example, the steering wheel angle is positive when turning left and negative when turning right.

[0057] In applications, when determining that the vehicle is traveling in a straight line, the current steering wheel angle error can be calculated periodically. For example, the current steering wheel angle error is calculated every 0.01 seconds. In one example, the steering wheel angle SWA... n The previous cycle's rotation angle error SWA erl Therefore, the current steering wheel angle error is SWA. er =0.0001*(SWA n -SWA erl )+SWA erl .

[0058] In one exemplary embodiment, please refer to Figure 2 Step S103: If the driving status information meets the preset steering tendency conditions, determine the target steering integral value based on the current steering wheel angle error and driving status information, including steps S201 to S203.

[0059] S201: Determine the integral compensation value based on the current steering wheel angle error and the preset torque integral value compensation table.

[0060] The vehicle can also be equipped with a steering wheel torque sensor. Steering wheel torque refers to the force required to turn the steering wheel. Due to the often poor assembly consistency of commercial vehicles, issues such as inaccurate steering gear centering calibration can easily arise. This means that when the vehicle is traveling in a straight line, the actual steering wheel angle is not zero. This phenomenon leads to asymmetric steering wheel torque signals when the driver turns left or right. Since the steering wheel torque signal is a crucial indicator of the driver's steering intention, its processing is particularly important. Therefore, in this application, the integral compensation value of the torque signal is determined using the current steering wheel angle error and a preset torque integral value compensation table to compensate for the torque signal.

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

[0062] In this embodiment, the driving status information also includes a steering wheel torque signal. The sign of the steering wheel torque signal is related to the steering direction. For example, the steering wheel torque signal is positive when the steering wheel is turned left, and negative when the steering wheel is turned right. Since the steering wheel torque signal fluctuates significantly, its absolute value can sometimes be large when encountering bumpy roads. Therefore, it is not possible to simply determine whether the steering wheel has been manually turned based on the absolute value of the steering wheel torque signal; an integration operation is required. Therefore, in this application, when the absolute value of the steering wheel torque signal is greater than a preset first torque threshold, it is determined that the driving status information meets a preset steering tendency condition. Integration calculation begins based on the absolute value of the steering wheel torque signal and a 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 accumulated to obtain an initial integral value.

[0063] S203: Determine the target steering integral value based on the initial integral value and the integral compensation value.

[0064] In one example, assume the current steering wheel angle error is SWA. er When the angle is 7°, the corresponding integral compensation value is determined to be 1.4 by referring to the torque integral value compensation table. Then, subtracting 1.4 from the initial integral value will give the target steering integral value.

[0065] In an exemplary embodiment, the vehicle control method of this application further includes the step of stopping the integral calculation and setting 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 process.

[0066] In application, when the absolute value of the steering wheel torque signal is less than a preset second torque threshold, it can be approximately assumed that the driver is no longer turning the steering wheel. Therefore, 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 2 N·m, and the second torque threshold can be 1 N·m.

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

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

[0069] When the target steering integral value is greater than a preset integral threshold, the torque judgment flag can be set to the first parameter and maintained at the first parameter for a first time period. After the first time period ends, the torque judgment flag is set to the second parameter. For example, 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 maintained for 2s. After 2s, the torque judgment flag is set to 0.

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

[0071] To ensure the accuracy of active steering recognition, this application also sets the steering wheel speed as a judgment condition. When the steering wheel speed information is greater than a preset speed threshold, the speed judgment flag is set to the first parameter and maintained for a preset second time period. After the second time period ends, the speed judgment flag is set to the second parameter. In one 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 there is an overlap between the first and second time periods, the lane departure warning system of the vehicle is deactivated and the preset third time period is maintained.

[0073] Only when there is an overlap between the first and second time periods, i.e., when both the torque judgment indicator and the speed judgment indicator are at the first parameter, is it determined that the vehicle is actively steering, and the lane departure warning system is controlled to enter a non-operating state, while maintaining a preset third time period, so as to control the lane departure warning system not to issue an alarm during the period when the vehicle is actively steering.

[0074] In an exemplary embodiment, the vehicle control method of this application further includes the step of determining, after the third time period ends, whether to control the lane departure warning system to enter the working state based on the driving status information.

[0075] It is understandable 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, the driving status information is used to further determine whether to control the lane departure warning system to enter the working state.

[0076] In one exemplary embodiment, the driving status information includes lane line image information; please refer to... Figure 4 The system determines whether to activate the lane departure warning system based on driving status information, including steps S401 to S403.

[0077] S401: Based on the lane line image information, determine the first distance information between the left wheel assembly of the vehicle and the left lane line, and the second distance information between the right wheel assembly of the vehicle and the right lane line.

[0078] In this application, lane line image information can be acquired through a smart camera, and then, based on the lane line image information, the first distance information between the left wheel assembly of the vehicle and the left lane line, and the second distance information between the right wheel assembly of the vehicle and the right lane line can be determined respectively. Based on the first distance information and the second distance information, it can be determined whether the active steering process has ended.

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

[0080] When both the first and second spacing information are detected to be no less than the preset safe spacing threshold, it is determined that the vehicle has completed active steering, and the lane departure warning system can be controlled to enter the working state.

[0081] S403: If at least one of the first spacing information or the second spacing information is less than the preset safe spacing threshold, the lane departure warning system shall be kept in a non-operating state.

[0082] When either the first spacing information or the second spacing information is detected to be less than the preset safe spacing threshold, it is determined that the vehicle has not yet completed the active steering, and the lane departure warning system is kept in a non-operating state.

[0083] In a detailed embodiment, during vehicle operation, the vehicle controller determines whether the vehicle is traveling in a straight line based on the lane line image quality score and lane line fitting coefficient transmitted from the intelligent 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, the vehicle can be determined to be traveling in a straight line. Furthermore, based on the steering wheel angle SWA...n and the previous cycle's rotation 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 exceeds a preset first torque threshold, the integral compensation value is determined based on the current steering wheel angle error and torque integral value compensation table. The initial integral value is then calculated based on the absolute value of the steering wheel torque signal and a preset sampling interval. Finally, the target steering integral value is determined based on the initial integral value and the integral compensation value.

[0085] When the target steering integral value is greater than a preset integral threshold, the torque judgment flag is set to the first parameter and maintained for a preset first time period. Simultaneously, steering wheel speed information is acquired. If the steering wheel speed information is greater than a preset speed threshold, the speed judgment flag is set to the first parameter and maintained for a preset second time period. When both the torque judgment flag and the speed judgment flag are set to the first parameter, it is determined that the vehicle is actively steering, and the lane departure warning system is deactivated and maintained for a preset third time period. After the third time period ends, it is determined whether the first distance information between the vehicle's left wheel assembly and the left lane line, and the second distance information between the vehicle's right wheel assembly and the right lane line, are both not less than a preset safe distance threshold. When both the first and second distance information are detected to be not less than the preset safe distance threshold, it is determined that the vehicle has completed active steering, and the lane departure warning system can be activated. When either the first or second distance information is detected to be less than the preset safe distance threshold, it is determined that the vehicle has not yet completed active steering, and the lane departure warning system remains deactivated.

[0086] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed 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 portion of steps or stages in other steps.

[0087] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0088] In one exemplary embodiment, such as Figure 5 As shown, 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 vehicle's driving status information.

[0090] The first determining module 502 is used to determine the current steering wheel angle error based on the driving status information when the driving status information meets the preset straight driving conditions.

[0091] The second determining module 503 is used to determine the target steering integral value based on the current steering wheel angle error and the driving status information when the driving status information meets the preset steering tendency conditions.

[0092] The first execution module 504 is used to control the vehicle's lane departure warning system to enter a non-operating state when the target steering integral value and the driving status information meet the active steering conditions.

[0093] In an exemplary embodiment, the driving status information includes lane line image quality score, lane line fitting coefficient, and steering wheel angle; the first determining module includes: a first determining submodule, which is used to determine the current steering wheel angle error based on the steering wheel angle and 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 status information further includes a steering wheel torque signal; the second determining module includes a second determining submodule, a first calculation submodule, and a third determining submodule.

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

[0096] The first calculation submodule is used to perform integral calculation based on the absolute value of the steering wheel torque signal and the preset sampling interval when the absolute value of the steering wheel torque signal is greater than the preset first torque threshold, so as to obtain the initial integral value.

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

[0098] In an exemplary embodiment, the vehicle control device of this 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 process.

[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 the first parameter and maintain it for a preset first time period when the target steering integral value is greater than the preset integral threshold.

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

[0102] The third execution submodule is used to control the vehicle's lane departure warning system to enter a non-operating state when there is an overlap between the first time period and the second time period, and to maintain the preset third time period.

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

[0104] In an exemplary embodiment, the driving status information includes lane line image information; the first determination 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 assembly of the vehicle and the left lane line, and the second distance information between the right wheel assembly of the vehicle and the right lane line, respectively, based on the lane line image information.

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

[0107] The fifth execution submodule is used to keep the lane departure warning system in a non-operating state when at least one of the first spacing information or the second spacing information is less than the preset safe spacing threshold.

[0108] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0109] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the vehicle control method in any of the above embodiments.

[0110] This computer device can be a terminal, and its internal structure diagram can be as follows: Figure 6 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a vehicle control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or 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 casing, or an external keyboard, touchpad or mouse.

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

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

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

[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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0115] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0116] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method comprises: Acquire vehicle driving status information; the driving status information includes steering wheel torque signal and steering wheel speed information; If the driving status information meets the preset straight driving conditions, the current steering wheel angle error is determined based on the driving status information. If the driving status information meets the preset steering tendency conditions, the target steering integral value is determined based on the current steering wheel angle error and the driving status information. When the target steering integral value and the driving status information meet the active steering conditions, the vehicle's lane departure warning system is controlled to enter a non-operating state. When the driving status information meets the preset steering tendency conditions, the target steering integral value is determined based on the current steering wheel angle error and the driving status information, including: determining an integral compensation value based on 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 integral calculation based on the absolute value of the steering wheel torque signal and a preset sampling interval to obtain an initial integral value; and determining the target steering integral value based on the initial integral value and the integral compensation value. The step of controlling the vehicle's lane departure warning system to enter a non-operating state when the target steering integral value and the driving status information meet the active steering conditions includes: when the target steering integral value is greater than a preset integral threshold, setting the torque judgment flag to a first parameter and maintaining it for a preset first time period; when the steering wheel speed information is greater than a preset speed threshold, setting the speed judgment flag to the first parameter and maintaining it for a preset second time period; and when the first time period and the second time period overlap, controlling the vehicle's lane departure warning system to enter a non-operating state and maintaining it for a preset third time period.

2. The method according to claim 1, characterized in that, The driving status information includes lane line image quality score, lane line fitting coefficient, and steering wheel angle; the step of determining the current steering wheel angle error based on the driving status information when the driving status information meets preset straight driving conditions includes: If 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 based on the steering wheel angle and the pre-stored historical steering wheel angle error.

3. The method according to claim 1, characterized in that, The method further includes: During the integral calculation process, if 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.

4. The method according to claim 1, characterized in that, The method further includes: After the third time period ends, the system determines whether to activate the lane departure warning system based on the driving status information.

5. The method according to claim 4, characterized in that, The driving status information includes lane line image information; determining whether to control the lane departure warning system to enter the working state based on the driving status information includes: Based on the lane line image information, the first distance information between the left wheel assembly of the vehicle and the left lane line is determined, and the second distance information between the right wheel assembly of the vehicle and the right lane line is determined. When both the first spacing information and the second spacing information are not less than the preset safe spacing threshold, the lane departure warning system is controlled to enter the working state. If at least one of the first spacing information or the second spacing information is less than the preset safe spacing threshold, the lane departure warning system shall be kept in a non-operating state.

6. A vehicle control device, characterized in that, The device comprises: The first acquisition module is used to acquire the vehicle's driving status information; the driving status information includes steering wheel torque signal and steering wheel speed information; The first determining module is used to determine the current steering wheel angle error based on the driving status information when the driving status information meets the preset straight driving conditions. The second determining module is used to determine the target steering integral value based on the current steering wheel angle error and the driving status information, when the driving status information meets the preset steering tendency conditions. The first execution module is used to control the vehicle's lane departure warning system to enter a non-working state when the target steering integral value and the driving status information meet the active steering conditions. The second determining module includes: a second determining submodule, a first calculation submodule, and a third determining submodule; the second determining submodule is used to determine the integral compensation value based on the current steering wheel angle error and a preset torque integral value compensation table; the first calculation submodule is used to perform integral calculation based on 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; the third determining submodule is used to determine the target steering integral value based on the initial integral value and the integral compensation value. The first execution module includes a first execution submodule, a second execution submodule, and a third execution submodule. The first execution submodule is used to set the torque judgment flag to a first parameter and maintain it for a preset first time period when the target steering integral value is greater than a preset integral threshold. The second execution submodule is used to set the speed judgment flag to a first parameter and maintain it for a preset second time period when the steering wheel speed information is greater than a preset speed threshold. The third execution submodule is used to control the vehicle's lane departure warning system to enter a non-working state and maintain it for a preset third time period when the first time period and the second time period overlap.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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