Vehicle control method, auxiliary driving system, electronic equipment and medium

Abstract

The invention discloses a vehicle control method, an auxiliary driving system, electronic equipment and a medium, and relates to the technical field of vehicle control. The motion trail of the vehicle is corrected through the auxiliary driving system, so that the requirement of a driver for frequently and manually correcting the motion trail of the vehicle is reduced, the assembly load is reduced, and the operation reliability of the vehicle is enhanced; moreover, the steering angle is corrected by using the driving parameters and the safe distance between the vehicle and the target object to obtain a steering angle, the first motion track is corrected to obtain a second motion track, and then the corrected parameters are obtained based on the second motion track and the data of the sensor to control the driving of the vehicle. Due to the fact that the movement track of the vehicle is corrected by combining the driving parameters and the safe distance of the vehicle, and the data sensed by the sensor are considered in the process of controlling the driving of the vehicle, the driving safety is guaranteed and the driving experience feeling of a user is improved while automatic correction of transverse control of the vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, an auxiliary driving system, an electronic device and a medium. Background Art

[0002] With the development of autonomous driving technology, vehicle control systems have gradually changed from full manual control to multiple modes including automatic, semi-automatic and manual control. In the automatic control mode, the vehicle can complete the driving task independently without the intervention of the driver.

[0003] In semi-automatic and manual control modes, the driver sets the vehicle's driving trajectory. However, due to driver experience, environmental perception limitations, or unexpected situations, the user-set trajectory may not always be appropriate, affecting driving safety.

[0004] It can be seen that how to correct the vehicle driving trajectory set by the user to ensure driving safety is a technical problem that people in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle control method, an assisted driving system, an electronic device and a medium to solve the technical problem that in semi-automatic and manual control modes, the driver sets the driving trajectory of the vehicle. However, due to driver experience, environmental perception limitations or unexpected situations, the trajectory set by the user may not always be appropriate, affecting the safety of driving.

[0006] In order to solve the above technical problems, the present invention provides a vehicle control method, which is applied to an auxiliary driving system, and the method comprises:

[0007] When the first motion trajectory to be corrected is detected, the current steering angle of the vehicle, the safe distance between the vehicle and the target object, and the driving parameters of the vehicle are obtained; wherein the driving parameters at least include the current speed, the wheelbase of the vehicle, and the turning radius of the vehicle;

[0008] Correcting the current steering angle using the driving parameter and the safety distance, and acquiring a first corrected steering angle;

[0009] Correcting the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory;

[0010] Corrected parameters are obtained according to the second motion trajectory and the data of the sensor, and the vehicle driving is controlled using the corrected parameters; wherein the corrected parameters at least include the second corrected steering angle.

[0011] Exemplarily, the correcting the current steering angle by using the driving parameter and the safety distance and acquiring a first corrected steering angle includes:

[0012] Get the minimum turning radius from all turning radii of the vehicle;

[0013] Obtaining a first product result of the current speed and the minimum turning radius;

[0014] Determining a correction proportional coefficient according to a ratio of the vehicle wheelbase to the first product result;

[0015] Obtaining a second product result of the correction proportional coefficient and the safety distance;

[0016] The sum of the current steering angle and the second product result is obtained to obtain the first corrected steering angle.

[0017] Exemplarily, before the first motion trajectory is corrected based on the first corrected steering angle, the method further includes:

[0018] Obtaining a preset safety distance threshold and a maximum allowable correction angle; wherein the maximum allowable correction angle is the maximum angle of all correction angles of the steering angle allowed under the safety distance;

[0019] Determining a steering angle correction threshold value according to a ratio result of the safety distance to the safety distance threshold value and the maximum allowable correction angle;

[0020] When it is detected that the first corrected steering angle is less than or equal to the steering angle correction threshold, entering the step of correcting the first motion trajectory based on the first corrected steering angle;

[0021] When it is detected that the first corrected steering angle is greater than the steering angle correction threshold, information indicating that a user is prompted to take over the vehicle is output.

[0022] Exemplarily, the correcting the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory includes:

[0023] Obtaining the coordinate value of the vehicle at the current position; wherein the current position is located on the first motion trajectory;

[0024] Obtaining a third product result of the current speed, the preset time length and the trigonometric function value of the first corrected steering angle; wherein the preset time length is a period for the vehicle to receive a signal;

[0025] The corrected position corresponding to the current position is determined according to the result of adding the coordinate value of the current position and the third multiplication result to obtain the second motion trajectory.

[0026] Exemplarily, the modified parameters also include a torque value; the modified parameters are obtained according to the second motion trajectory and the sensor data, and the vehicle is controlled by using the modified parameters; wherein the modified parameters at least include the second modified steering angle including:

[0027] Obtaining an actual steering angle or torque value corresponding to the second motion trajectory;

[0028] Using the data of the sensor to correct the actual steering angle to obtain a second corrected steering angle, or using the data of the sensor to correct the torque value to obtain a corrected torque value; wherein the data of the sensor at least includes a distance between the vehicle and the target object;

[0029] The second corrected steering angle or the corrected torque value is sent to a steering gear actuator, so that the steering gear actuator controls the vehicle to travel according to the second corrected steering angle or the corrected torque value.

[0030] Exemplarily, correcting the actual steering angle using the data of the sensor to obtain a second corrected steering angle includes:

[0031] Obtain the target safety distance between the vehicle and the target object;

[0032] Determine the current safe distance between the vehicle and the target object based on the data of the sensor;

[0033] Obtaining a difference between the current safety distance and the target safety distance;

[0034] The difference is input into a preset algorithm, the actual steering angle is corrected by the preset algorithm, and the second corrected steering angle is output.

[0035] Exemplarily, the target object is an intersection point where a solid line turns into a dotted line on a road and / or the target object is an obstacle; and detecting the first motion trajectory to be corrected or maintaining the first motion trajectory includes at least one of the following methods:

[0036] Method 1:

[0037] Acquire a first actual distance between the vehicle and the junction point sent by a sensor;

[0038] When it is detected that the vehicle has not reached the handover point and the first actual distance is less than the first preset distance, determining the first motion trajectory to be corrected;

[0039] When it is detected that the vehicle has not reached the handover point and the first actual distance is greater than or equal to the first preset distance, it is determined to maintain the first motion trajectory; wherein when the first actual distance is equal to the first preset distance, it indicates that the vehicle has traveled along the first motion trajectory to reach the handover point;

[0040] Method 2:

[0041] Acquire a second actual distance between the vehicle and the obstacle sent by a sensor;

[0042] In the case where it is detected that the second actual distance is less than the second preset distance, determining the first motion trajectory to be corrected;

[0043] When it is detected that the second actual distance is greater than or equal to the second preset distance, it is determined to maintain the first motion trajectory.

[0044] In order to solve the above technical problems, the present invention further provides a driving assistance system, comprising:

[0045] an acquisition module, configured to acquire, when the first motion trajectory to be corrected is detected, a current steering angle of the vehicle, a safe distance between the vehicle and the target object, and driving parameters of the vehicle; wherein the driving parameters at least include a current speed, a wheelbase of the vehicle, and a turning radius of the vehicle;

[0046] A first correction module, used to correct the current steering angle by using the driving parameter and the safety distance, and obtain a first corrected steering angle;

[0047] a second correction module, configured to correct the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory;

[0048] A control module is used to obtain corrected parameters according to the second motion trajectory and the data of the sensor, and use the corrected parameters to control the vehicle driving; wherein the corrected parameters at least include the second corrected steering angle.

[0049] In order to solve the above technical problems, the present invention provides an electronic device, comprising:

[0050] Memory for storing computer programs;

[0051] A processor is used to implement the steps of the above-mentioned vehicle control method when executing the computer program.

[0052] In order to solve the above technical problem, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above vehicle control method are implemented.

[0053] In the vehicle control method provided by the present invention, when the first motion trajectory of the vehicle to be corrected is detected, the auxiliary driving system corrects the first motion trajectory to a second motion trajectory, and finally controls the vehicle to travel along the second motion trajectory. By correcting the motion trajectory of the vehicle through the auxiliary driving system, the need for the driver to frequently manually correct the motion trajectory of the vehicle is reduced, the component load is reduced and the operational reliability of the vehicle is enhanced; moreover, in the process of correcting the motion trajectory of the vehicle, the auxiliary driving system first obtains the current steering angle of the vehicle, the safe distance between the vehicle and the target object, and the driving parameters of the vehicle, and then uses the driving parameters and the safe distance to correct the current steering angle, and obtains the first corrected steering angle, and finally corrects the first motion trajectory based on the first corrected steering angle to obtain the second motion trajectory, that is, the corrected motion trajectory of the vehicle. Since the vehicle's motion trajectory is corrected in combination with the vehicle's driving parameters and safety distance, driving safety is improved; and after obtaining the corrected second motion trajectory, corrected parameters (such as the second corrected steering angle) are obtained based on the second motion trajectory and sensor data, and the vehicle's driving is controlled using the corrected parameters, that is, the data sensed by the sensor is taken into account in the process of controlling the vehicle's driving. Therefore, while realizing automatic correction of the vehicle's lateral control, driving safety is further guaranteed (especially during manual driving or semi-automatic driving), and the user's driving experience is improved.

[0054] In addition, the present invention also provides an assisted driving system, an electronic device and a computer-readable storage medium, which have the same or corresponding technical features as the above-mentioned vehicle control method and have the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] FIG1 is a flow chart of a vehicle control method applied to a driving assistance system provided by an embodiment of the present invention;

[0057] FIG2 is a schematic diagram of determining a corrected trajectory based on a lane line provided by an embodiment of the present invention;

[0058] FIG3 is a schematic diagram of determining a corrected trajectory based on an obstacle provided by an embodiment of the present invention;

[0059] FIG4 is an overall flow chart of a vehicle control method provided by an embodiment of the present invention;

[0060] FIG5 is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] The core of the present invention is to provide a vehicle control method, an assisted driving system, an electronic device and a medium to solve the technical problem that in semi-automatic and manual control modes, the driver sets the vehicle's driving trajectory. However, due to driver experience, environmental perception limitations or unexpected situations, the trajectory set by the user may not always be appropriate, affecting the safety of driving.

[0063] In semi-automatic and manual control modes, the driver sets the vehicle's driving trajectory. However, due to driver experience, environmental perception limitations or unexpected situations, the trajectory set by the user may not always be appropriate, affecting driving safety. In related technologies, there are few automatic corrective interventions for vehicle lateral control to provide assistance during the driver's manual control process. Therefore, the present invention corrects the vehicle's motion trajectory based on the assisted driving system.

[0064] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. FIG1 is a flow chart of a vehicle control method applied to an assisted driving system provided by an embodiment of the present invention. As shown in FIG1 , the method includes:

[0065] S10: when the first motion trajectory to be corrected is detected, obtaining the current steering angle of the vehicle, the safe distance between the vehicle and the target object, and the driving parameters of the vehicle; wherein the driving parameters at least include the current speed, the wheelbase of the vehicle, and the turning radius of the vehicle;

[0066] S11: correcting the current steering angle using the driving parameter and the safety distance, and obtaining a first corrected steering angle;

[0067] S12: Correcting the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory;

[0068] S13: Obtaining corrected parameters according to the second motion trajectory and the sensor data, and controlling the vehicle driving using the corrected parameters; wherein the corrected parameters at least include the second corrected steering angle.

[0069] The vehicle is equipped with a plurality of wheels and a steer-by-wire system. The steer-by-wire system is operatively connected to the vehicle wheels and is used to influence the direction of travel of the vehicle. The steering command can be transmitted to the vehicle wheels entirely by electrical signals. In addition, the vehicle is equipped with an environmental sensing system. The environmental sensing system is used to obtain at least one detection signal related to the vehicle's surroundings. In an embodiment of the present invention, the environmental sensing system is used to obtain information about the entire environment of the vehicle. To this end, the environmental sensing system may include at least one environmental sensor. The environmental sensor may be designed as a radar sensor, a lidar sensor, a sound sensor and / or a camera sensor or a similar device. At the same time, the vehicle is equipped with a control unit. The control unit is designed, for example, as a steering control unit and is therefore part of the steer-by-wire system. The control unit is electrically connected to the actuator unit and the steering gear actuator. As a result, the control unit couples the actuator unit to the steering gear actuator. In addition, the control unit is also electrically connected to the environmental sensing system. The control unit is used to control the operation of the steer-by-wire system and is therefore also used to control the lateral control of the vehicle.

[0070] In the embodiment of the present invention, in the manual driving operation state, the control process can be automatically detected based on the steering command of the steering control device and the speed of the vehicle to determine the target vehicle trajectory set by the driver (i.e., the first motion trajectory), especially the trajectory specified completely manually. Specifically, the first motion trajectory can be determined based on the steering parameters of the steering control device (such as a specific steering mode and / or steering behavior (such as the current steering wheel angle of the vehicle, the lateral acceleration, and the hand torque applied to the steering wheel by the driver)) and the vehicle speed (preferably not more than 20 km / h, most preferably not more than 10 km / h).

[0071] After obtaining the first motion trajectory, determine whether the first motion trajectory needs to be corrected. There is no limitation on the method of determining whether to correct or maintain the first motion trajectory. Specifically, it can be determined by referring to the target object on the road. If the target object is the intersection point when the solid line turns to the dotted line on the road and / or the target object is an obstacle; detecting the first motion trajectory to be corrected or maintaining the first motion trajectory includes at least one of the following methods:

[0072] Method 1:

[0073] Acquire a first actual distance between the vehicle and the handover point sent by a sensor;

[0074] When it is detected that the vehicle has not reached the handover point and the first actual distance is less than the first preset distance, determining a first motion trajectory to be corrected;

[0075] When it is detected that the vehicle has not reached the handover point and the first actual distance is greater than or equal to the first preset distance, it is determined to maintain the first motion trajectory; wherein, when the first actual distance is equal to the first preset distance, it indicates that the vehicle has traveled along the first motion trajectory to reach the handover point.

[0076] There is no limitation on the first preset distance, which is determined according to the actual situation. FIG2 is a schematic diagram of determining a corrected trajectory based on a lane line provided by an embodiment of the present invention. As shown in FIG2 , the intersection point between the solid line and the dotted line on the lane line is point O, and the E trajectory represents the first motion trajectory. The first actual distance between the vehicle and the intersection point O sent by the sensor is obtained. When it is detected that the vehicle has not reached the intersection point O and the first actual distance is less than the first preset distance, the first motion trajectory to be corrected is determined. As shown in FIG2 , if the first motion trajectory is corrected, the corrected motion trajectory, i.e., the second motion trajectory F, is obtained.

[0077] Method 2:

[0078] Acquire a second actual distance between the vehicle and the obstacle sent by the sensor;

[0079] When it is detected that the second actual distance is less than the second preset distance, determining the first motion trajectory to be corrected;

[0080] When it is detected that the second actual distance is greater than or equal to the second preset distance, it is determined to maintain the first motion track.

[0081] There is no limitation on the second preset distance, which is determined according to the actual situation. The obstacle may be a rear vehicle, a pedestrian, etc. Taking the obstacle as a vehicle as an example, FIG3 is a schematic diagram of determining a corrected trajectory based on an obstacle provided by an embodiment of the present invention. The first motion trajectory of the vehicle in the middle lane, i.e., the vehicle itself, is shown as trajectory E in FIG3 . As shown in FIG3 , when it is found that the second actual distance is less than the second preset distance, the first motion trajectory to be corrected is determined, that is, the first motion trajectory E is corrected by the control assistance function and the auxiliary intervention of the control assistance function on the lateral control of the vehicle to correct the vehicle trajectory, such as correcting it to the second motion trajectory F, so as to avoid collision between the vehicle and the obstacle.

[0082] The following uses the target object as an obstacle as an example to illustrate the method of determining the corrected motion trajectory. In implementation, environmental sensors (such as radar, lidar, and cameras, etc.) provide distance and speed information of the rear vehicle, and the perception system can calculate the "safe distance" (such as the minimum safe distance from the rear vehicle).

[0083] The calculation formula for the safety distance is as follows:

[0084] ;

[0085] in, For a safe distance, is the distance between the rear vehicle and the vehicle itself; For example, a safe distance of 50m is set for the ego vehicle. If the target is closer than 50m to the ego vehicle, planning is necessary.

[0086] if If the speed is less than a predetermined safety threshold, the system will determine that there is potential danger and prepare to correct the trajectory.

[0087] If it is determined that the first motion trajectory does not need to be corrected, the first motion trajectory can be maintained. If it is determined that the first motion trajectory needs to be corrected, in the embodiment of the present invention, the current steering angle of the vehicle, the safe distance between the vehicle and the target object, and the driving parameters of the vehicle (the driving parameters at least include the current speed, the vehicle wheelbase, and the turning radius of the vehicle) are obtained, and then the current steering angle is corrected using the driving parameters and the safe distance, and the first corrected steering angle is obtained; finally, the first motion trajectory is corrected based on the first corrected steering angle to obtain the second motion trajectory.

[0088] In implementation, the current steering angle is corrected using the driving parameter and the safety distance, and obtaining the first corrected steering angle includes:

[0089] Get the minimum turning radius from all turning radii of the vehicle;

[0090] Get the first product result of the current speed and the minimum turning radius;

[0091] Determining a correction proportional coefficient according to a ratio of the vehicle wheelbase to the result of the first multiplication;

[0092] Obtain the second product result of the correction proportional coefficient and the safety distance;

[0093] The sum of the current steering angle and the second multiplication result is obtained to obtain a first corrected steering angle.

[0094] Specifically, the vehicle trajectory correction process usually involves the adjustment of the steering angle. Assume that the automatic correction is based on the rear danger judgment to calculate the new steering angle. Considering the driver's original steering wheel input and environmental information, the calculation formula of the corrected steering angle can be expressed as:

[0095] ;

[0096] in, is the first corrected steering angle, is the steering wheel angle originally turned by the driver, To correct the proportional coefficient, it depends on the vehicle's dynamic characteristics and environmental conditions.

[0097] The calculation formula of the correction proportional coefficient is as follows:

[0098] ;

[0099] in, Indicates that the correction ratio coefficient can be changed dynamically. Indicates the vehicle wheelbase, Indicates the current speed of the vehicle. Indicates the minimum turning radius of the vehicle.

[0100] In practice, after the first corrected steering angle is determined, if the first corrected steering angle is too large, the corrected trajectory will deviate from the first motion trajectory set by the user, that is, the driver's intention is greatly changed. Therefore, in practice, before correcting the first motion trajectory based on the first corrected steering angle, the following steps are also included:

[0101] Obtaining a preset safety distance threshold and a maximum allowable correction angle; wherein the maximum allowable correction angle is the maximum angle of all correction angles of the steering angle allowed under the safety distance;

[0102] Determine the steering angle correction threshold value according to the ratio result of the safety distance and the safety distance threshold value and the maximum allowable correction angle;

[0103] When it is detected that the first corrected steering angle is less than or equal to the steering angle correction threshold, entering the step of correcting the first motion trajectory based on the first corrected steering angle;

[0104] When it is detected that the first corrected steering angle is greater than the steering angle correction threshold, information indicating that the user is prompted to take over the vehicle is output.

[0105] In practice, the calculation formula of the steering angle correction threshold is as follows:

[0106] ;

[0107] in, Indicates the steering angle correction threshold; The safety distance threshold set by the system. The size of the safety distance threshold is determined according to the actual situation, such as setting it to 50m; The maximum allowable correction angle, such as setting it to 90°.

[0108] This method uses Set the steering angle correction threshold When the steering angle correction threshold is exceeded, the deviation from the first motion trajectory (i.e. the original trajectory) is too large, and no correction is performed, but the user is prompted to take over the vehicle. The steering angle correction threshold will be dynamically adjusted according to the size of the safety distance.

[0109] Based on the above determination that the first motion trajectory needs to be corrected, further, the first motion trajectory is corrected based on the first corrected steering angle to obtain a second motion trajectory. In implementation, correcting the first motion trajectory based on the first corrected steering angle to obtain the second motion trajectory includes:

[0110] Obtaining the coordinate value of the vehicle at the current position; wherein the current position is located on the first motion trajectory;

[0111] Obtaining a third product result of the current speed, the preset duration, and the trigonometric function value of the first corrected steering angle;

[0112] The corrected position corresponding to the current position is determined according to the result of adding the coordinate value of the current position and the third multiplication result to obtain the second motion trajectory.

[0113] The preset duration is the period of the vehicle receiving the signal, such as 20ms. Specifically, based on the corrected steering angle, the trajectory of the vehicle can be adjusted by the control system. For example, assuming the current speed of the vehicle is , and the driver wants the vehicle to travel along a certain target trajectory, then the corrected trajectory (i.e., the second motion trajectory) can be calculated using the following formula:

[0114] ;

[0115] ;

[0116] in, Indicates the horizontal coordinate value of the vehicle's position (i.e. current position) at the moment the vehicle receives the signal. Indicates the ordinate value of the vehicle's position (i.e. current position) at the moment the vehicle receives the signal. Indicates the preset duration; The horizontal coordinate value representing the corrected position of the vehicle at the time when the vehicle receives the signal; Indicates the vertical coordinate value of the vehicle's position after correction at the time the vehicle receives the signal.

[0117] The first motion trajectory is corrected by the above method, that is, the second motion trajectory is obtained. After the second motion trajectory is obtained, the corrected parameters are obtained according to the second motion trajectory and the sensor data, and the vehicle is controlled by using the corrected parameters; wherein the corrected parameters at least include the second corrected steering angle. In implementation, the corrected parameters are obtained according to the second motion trajectory and the sensor data, and the vehicle is controlled by using the corrected parameters, including:

[0118] Obtaining an actual steering angle or torque value corresponding to the second motion trajectory;

[0119] Using the data from the sensor to correct the actual steering angle to obtain a second corrected steering angle, or using the data from the sensor to correct the torque value to obtain a corrected torque value; wherein the data from the sensor at least includes a distance between the vehicle and the target object;

[0120] The second corrected steering angle or the corrected torque value is sent to the steering gear actuator so that the steering gear actuator controls the vehicle to travel according to the second corrected steering angle or the corrected torque value.

[0121] Specifically, using the data from the sensor to correct the actual steering angle to obtain the second corrected steering angle includes:

[0122] Obtain the target safety distance between the vehicle and the target object;

[0123] Determine the current safe distance between the vehicle and the target object based on the sensor data;

[0124] Get the difference between the current safety distance and the target safety distance;

[0125] The difference is input into a preset algorithm, the actual steering angle is corrected by the preset algorithm and a second corrected steering angle is output.

[0126] There is no limitation on the preset algorithm, such as the proportional-integral-derivative (PID) control algorithm. Since the vehicle's automatic correction system needs to respond to changes in the external environment in real time, the control system will periodically obtain new sensor data (such as whether there are still vehicles behind) and adjust the current trajectory. Feedback control mechanisms, such as PID controllers, can be introduced into the control process. When the PID controller is controlling, the calculation formula used is as follows:

[0127] ;

[0128] ;

[0129] in, Indicates the difference between the current safety distance and the target safety distance; represents the proportionality coefficient, represents the integral coefficient, represents the differential coefficient, represents the second corrected steering angle.

[0130] In order to enable those skilled in the art to better understand the solution of the present invention, the vehicle control method provided by the present invention is described below in conjunction with the accompanying drawings and specific embodiments. FIG4 is an overall flow chart of a vehicle control method provided by an embodiment of the present invention. As shown in FIG4 , the method includes:

[0131] S14: The auxiliary driving system obtains the information of the sensor input and the information of the vehicle body;

[0132] S15: determining a first motion trajectory according to the sensed input information and the vehicle body information;

[0133] S16: judging whether the motion trajectory needs to be corrected according to the sensed input information and the vehicle body information; if so, proceeding to step S17; if not, ending;

[0134] S17: Perform steering angle correction calculation;

[0135] S18: Correcting the first motion trajectory based on the corrected steering angle to obtain a second motion trajectory;

[0136] S19: The steering actuator sends a torque / steering angle request and starts controlling the vehicle driving according to the request.

[0137] Generally speaking, adjusting the trajectory involves four steps: 1. Environmental perception input. Environmental sensors (such as radar, lidar, camera, etc.) provide distance and speed information of the vehicle behind, and the "safe distance" described above can be calculated through the perception system; 2. Vehicle trajectory correction; 3. Corrected trajectory planning; 4. The system combines algorithms (such as PID algorithm) to feedback and adjust to obtain the second corrected steering angle. The information input by environmental perception includes at least obstacle information (such as distance, speed and acceleration, etc.), lane line information (such as line type (solid or dotted), distance, curvature, etc.); the vehicle body information includes steering angle, driver's hand torque and lateral acceleration, etc.

[0138] For the control process, based on at least the steering command of the steering control device, or based on the first motion trajectory E of the driver derived from the steering command and the environmental conditions collected by the environmental sensor system, a second motion trajectory F of the vehicle related to the driver's intention is determined or predicted. In addition, the first motion trajectory is collected by the environmental sensor system and is gradually compared with the second motion trajectory F during the control process.

[0139] If there is a deviation between the first motion trajectory E and the second motion trajectory F that exceeds the tolerance range (which can be determined by method one and method two mentioned in the above process of judging whether the motion trajectory needs to be corrected), the first motion trajectory is automatically corrected by manipulating the assisted driving function and performing auxiliary intervention on the lateral control of the vehicle, especially to make the vehicle trajectory conform to the second motion trajectory F again, or at least reduce its deviation from the second motion trajectory F.

[0140] In addition, the steering gear actuator adjusts the position of the steering positioning element of the steering gear actuator by controlling the assisted driving function and according to the deviation between the first motion trajectory E and the second motion trajectory F. Alternatively, as an alternative or in addition, the assisted driving function can also be used to activate the operating unit to apply additional steering torque to the steering control device to ensure safety. The second corrected steering angle can be adjusted according to the vehicle model. If the calculated second corrected steering angle is 30°, and the current vehicle is a large vehicle, the second corrected steering angle can be appropriately increased to 40° to ensure driving safety.

[0141] The method provided by the present invention realizes automatic correction of the lateral control of the vehicle by combining the auxiliary driving function and the environmental sensing system, especially in the process of manual driving or semi-automatic driving, improving the user experience. When the actual vehicle trajectory (such as the first motion trajectory described above) deviates from the target trajectory (such as the second motion trajectory), the system can automatically adjust the steering position according to the driver's intention and environmental conditions (such as obstacles or parking spaces) to avoid collisions and improve the control accuracy. Compared with the method of directly controlling the vehicle to return to the original lane when there is a car behind, the method provided by the present invention controls the vehicle steering angle, which allows the vehicle to optimize the driving path without changing the driver's intention, thereby improving the flexibility and safety of driving. At the same time, the need for frequent manual corrections by the driver is reduced, the component load is reduced and the operational reliability of the vehicle is enhanced. Through the above method, the system can respond to the distance change of the rear vehicle and the steering input of the driver in real time, dynamically adjust the vehicle trajectory, and ensure that potential dangers are avoided. On the whole, the method provided by the present invention provides the driver with an intuitive, continuous and efficient auxiliary system, which helps to improve the driving experience.

[0142] In the above embodiments, the vehicle control method is described in detail, and the present invention also provides corresponding embodiments of the auxiliary driving system and the electronic device. It should be noted that the present invention describes the embodiments of the device part from two perspectives, one is based on the functional module perspective, and the other is based on the hardware perspective.

[0143] An embodiment of the present invention provides an auxiliary driving system, based on the perspective of functional modules, including:

[0144] an acquisition module, for acquiring the current steering angle of the vehicle, the safe distance between the vehicle and the target object, and the driving parameters of the vehicle when the first motion trajectory to be corrected is detected; wherein the driving parameters at least include the current speed, the wheelbase of the vehicle, and the turning radius of the vehicle;

[0145] A first correction module, used to correct the current steering angle using the driving parameter and the safety distance, and obtain a first corrected steering angle;

[0146] a second correction module, configured to correct the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory;

[0147] The control module is used to obtain the corrected parameters according to the second motion trajectory and the data of the sensor, and use the corrected parameters to control the vehicle driving; wherein the corrected parameters at least include the second corrected steering angle.

[0148] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0149] FIG5 is a structural diagram of an electronic device provided by an embodiment of the present invention. Based on the hardware perspective, as shown in FIG5 , the electronic device includes:

[0150] A memory 20, used for storing computer programs;

[0151] The processor 21 is used to implement the steps of the vehicle control method mentioned in the above embodiment when executing the computer program.

[0152] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0153] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the vehicle control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the above-mentioned vehicle control method, etc.

[0154] In some embodiments, the electronic device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power source 25 , and a communication bus 26 .

[0155] Those skilled in the art will appreciate that the structure shown in FIG. 5 does not limit the electronic device and may include more or fewer components than those shown in the figure.

[0156] The electronic device provided by the embodiment of the present invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: a vehicle control method, with the same effect as above.

[0157] Finally, the present invention also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0158] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. Various media that can store program codes.

[0159] The computer-readable storage medium provided by the present invention includes the above-mentioned vehicle control method, and the effect is the same as above.

[0160] The above is a detailed introduction to a vehicle control method, an assisted driving system, an electronic device and a medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

[0161] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A vehicle control method, characterized in that: Applied to an assisted driving system, the method comprises: When the first motion trajectory to be corrected is detected, the current steering angle of the vehicle, the safe distance between the vehicle and the target object, and the driving parameters of the vehicle are obtained; wherein the driving parameters at least include the current speed, the wheelbase of the vehicle, and the turning radius of the vehicle; Correcting the current steering angle using the driving parameter and the safety distance, and acquiring a first corrected steering angle; Correcting the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory; Corrected parameters are obtained according to the second motion trajectory and the data of the sensor, and the vehicle driving is controlled using the corrected parameters; wherein the corrected parameters at least include the second corrected steering angle.

2. The vehicle control method according to claim 1, characterized in that: The correcting the current steering angle by using the driving parameter and the safety distance and obtaining a first corrected steering angle comprises: Get the minimum turning radius from all turning radii of the vehicle; Obtaining a first product result of the current speed and the minimum turning radius; Determining a correction proportional coefficient according to a ratio of the vehicle wheelbase to the first product result; Obtaining a second product result of the correction proportional coefficient and the safety distance; The sum of the current steering angle and the second product result is obtained to obtain the first corrected steering angle.

3. The vehicle control method according to claim 1 or 2, characterized in that: Before correcting the first motion trajectory based on the first corrected steering angle, the method further includes: Obtaining a preset safety distance threshold and a maximum allowable correction angle; wherein the maximum allowable correction angle is the maximum angle of all correction angles of the steering angle allowed under the safety distance; Determining a steering angle correction threshold value according to a ratio result of the safety distance to the safety distance threshold value and the maximum allowable correction angle; When it is detected that the first corrected steering angle is less than or equal to the steering angle correction threshold, entering the step of correcting the first motion trajectory based on the first corrected steering angle; When it is detected that the first corrected steering angle is greater than the steering angle correction threshold, information indicating that a user is prompted to take over the vehicle is output.

4. The vehicle control method according to claim 1, characterized in that: The correcting the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory includes: Obtaining the coordinate value of the vehicle at the current position; wherein the current position is located on the first motion trajectory; Obtaining a third product result of the current speed, the preset time length and the trigonometric function value of the first corrected steering angle; wherein the preset time length is a period for the vehicle to receive a signal; The corrected position corresponding to the current position is determined according to the result of adding the coordinate value of the current position and the third multiplication result to obtain the second motion trajectory.

5. The vehicle control method according to claim 1, characterized in that: The corrected parameters also include a torque value; obtaining the corrected parameters according to the second motion trajectory and the sensor data, and using the corrected parameters to control the vehicle driving includes: Obtaining an actual steering angle or torque value corresponding to the second motion trajectory; Using the data of the sensor to correct the actual steering angle to obtain a second corrected steering angle, or using the data of the sensor to correct the torque value to obtain a corrected torque value; wherein the data of the sensor at least includes a distance between the vehicle and the target object; The second corrected steering angle or the corrected torque value is sent to a steering gear actuator, so that the steering gear actuator controls the vehicle to travel according to the second corrected steering angle or the corrected torque value.

6. The vehicle control method according to claim 5, characterized in that: Correcting the actual steering angle using the data of the sensor to obtain a second corrected steering angle includes: Obtain the target safety distance between the vehicle and the target object; Determine the current safe distance between the vehicle and the target object based on the data of the sensor; Obtaining a difference between the current safety distance and the target safety distance; The difference is input into a preset algorithm, the actual steering angle is corrected by the preset algorithm, and the second corrected steering angle is output.

7. The vehicle control method according to claim 1, characterized in that: The target object is an intersection point where a solid line turns into a dotted line on the road and / or the target object is an obstacle; detecting the first motion trajectory to be corrected or maintaining the first motion trajectory includes at least one of the following methods: Method 1: Acquire a first actual distance between the vehicle and the junction point sent by a sensor; When it is detected that the vehicle has not reached the handover point and the first actual distance is less than the first preset distance, determining the first motion trajectory to be corrected; When it is detected that the vehicle has not reached the handover point and the first actual distance is greater than or equal to the first preset distance, it is determined to maintain the first motion trajectory; wherein when the first actual distance is equal to the first preset distance, it indicates that the vehicle has traveled along the first motion trajectory to reach the handover point; Method 2: Acquire a second actual distance between the vehicle and the obstacle sent by a sensor; When it is detected that the second actual distance is less than the second preset distance, determining the first motion trajectory to be corrected; When it is detected that the second actual distance is greater than or equal to the second preset distance, it is determined to maintain the first motion trajectory.

8. A driving assistance system, characterized in that: include: an acquisition module, configured to acquire, when the first motion trajectory to be corrected is detected, a current steering angle of the vehicle, a safe distance between the vehicle and the target object, and driving parameters of the vehicle; wherein the driving parameters at least include a current speed, a wheelbase of the vehicle, and a turning radius of the vehicle; a first correction module, configured to correct the current steering angle by using the driving parameter and the safety distance, and obtain a first corrected steering angle; a second correction module, configured to correct the first motion trajectory based on the first corrected steering angle to obtain a second motion trajectory; A control module is used to obtain corrected parameters according to the second motion trajectory and the data of the sensor, and use the corrected parameters to control the vehicle driving; wherein the corrected parameters at least include the second corrected steering angle.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the vehicle control method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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