Vehicle control method, vehicle, server side, system and storage medium

Abstract

The embodiment of the invention provides a vehicle control method, a vehicle, a server side, a system and a storage medium. The method comprises the following steps: firstly, determining weather state information according to a current driving route of a vehicle; then the vehicle sends driving state information and weather state information of the vehicle to the server; the server determines a safe turning track band according to the weather state information and the driving state information; the vehicle receives the vehicle control information sent by the server; and finally controlling the four-wheel speed and the steering wheel angle of the vehicle according to the vehicle control information so as to prevent the vehicle from being separated from the safe turning track belt. It can be understood that based on the driving state information and the weather state information of the vehicle, the server side can directly determine the safe turning track band, meanwhile, the vehicle directly controls the four-wheel speed and the steering wheel angle according to the vehicle control information, the vehicle is effectively prevented from being separated from the safe turning track band, and then the safety control precision of the vehicle is improved; and finally, the safety of curve driving is improved.

Description

Technical Field

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

[0002] When vehicles are driving on high-frequency curves with large angles, they are easily affected by uncontrollable natural factors (such as bad weather, insufficient light at night, and icy water on the road), which can easily cause traffic accidents.

[0003] In the related art, in order to ensure the safety of driving on a curve, a speed measuring radar is usually installed at the curve to determine the actual driving speed of the vehicle; then, a safety warning is issued in time according to the actual driving speed of the vehicle.

[0004] However, since the vehicle speed provided by the speed radar is single-point data at the point where the vehicle passes the radar measurement point, and the warning variable is single, making a safety warning based on the vehicle speed may result in a low warning accuracy for the vehicle.

[0005] It should be pointed out that the information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0006] In view of this, the present application provides a vehicle control method, a vehicle, a server, a system and a storage medium, so as to solve the problem in the prior art that since the vehicle speed provided by the speed measuring radar is single-point data at the point where the vehicle passes the radar measurement point, the safety warning based on the vehicle speed will result in low warning accuracy of the vehicle.

[0007] In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to a vehicle, and the method includes:

[0008] Determining weather condition information corresponding to a current driving route of a vehicle, wherein the current driving route includes at least one curved road section;

[0009] Sending the driving state information of the vehicle and the weather state information to the server, wherein the driving state information is used to represent the driving state of the vehicle when the vehicle travels to the curved road section;

[0010] Receiving vehicle control information sent by the server;

[0011] Controlling the four-wheel speed and steering wheel angle of the vehicle according to the vehicle control information to prevent the vehicle from deviating from the safe cornering trajectory;

[0012] Among them, the safe cornering trajectory belt is a set of driving trajectories for the vehicle to safely pass through the target curved road section, determined based on the weather status information and the driving status information corresponding to the target curved road section; the target curved road section is the curved road section on which the vehicle is currently traveling.

[0013] In an embodiment of the present application, firstly, the weather status information corresponding to the current driving route of the vehicle is determined according to the current driving route of the vehicle; then, the vehicle sends the driving status information and weather status information of the vehicle to the server, so that the server determines the safe cornering trajectory according to the weather status information and driving status information corresponding to the target curved road section; then, the vehicle control information sent by the server is received; finally, the four-wheel speed and steering wheel angle of the vehicle are controlled according to the vehicle control information to prevent the vehicle from leaving the safe cornering trajectory. It can be understood that the present application can directly determine the safe cornering trajectory based on the driving status information and weather status information of the vehicle, and directly control the four-wheel speed and steering wheel angle of the vehicle to prevent the vehicle from leaving the safe cornering trajectory based on the server that performs big data processing. To a certain extent, the safety control accuracy of the vehicle is improved, and ultimately the safety of driving on a curved road is improved.

[0014] In a possible implementation, the sending the driving status information of the vehicle and the weather status information to the server includes:

[0015] Acquiring driving state information of the vehicle, wherein the driving state information includes four-wheel speeds, steering wheel angle, actual output torque, brake pedal opening, and accelerator pedal opening;

[0016] The driving status information of the vehicle and the weather status information are sent to the service end.

[0017] In the embodiment of the present application, the driving status information of the vehicle is first obtained; then the driving status information of the vehicle and the weather status information are sent to the server. It can be understood that since the driving status information includes the four-wheel speed, steering wheel angle, actual output torque, brake pedal opening and accelerator pedal opening, the vehicle speed can be directly calculated based on the four-wheel speed, and there is no need to arrange other speed measuring equipment, which saves costs and improves the safety control accuracy of the vehicle, and ultimately improves the safety of driving on curves.

[0018] In a possible implementation, determining weather status information corresponding to the current driving route of the vehicle according to the current driving route includes:

[0019] Determining whether the current position of the vehicle is a curved road section;

[0020] When the current position of the vehicle is a curved road section, weather status information corresponding to a target curved road section in the current driving route is determined according to the current driving route of the vehicle.

[0021] In the embodiment of the present application, it is first determined whether the current position of the vehicle is a curved road section; when the current position of the vehicle is a curved road section, the weather status information corresponding to the target curved road section in the current driving route is determined according to the current driving route of the vehicle. It can be understood that directly obtaining the weather status information corresponding to the target curved road section can more quickly and accurately determine the safe curve trajectory, which, to a certain extent, improves the safety control accuracy and control efficiency of the vehicle, and ultimately improves the safety of driving on the curve.

[0022] In a possible implementation, the method further includes:

[0023] Receiving warning information sent by the server;

[0024] The vehicle is controlled to output user prompt information according to the warning information to remind the user that the vehicle is about to exit the safe cornering trajectory.

[0025] In the embodiment of the present application, when the distance between the current position of the vehicle and the boundary line of the safe turning track is less than the preset distance, the service end sends a warning message to the vehicle; then the vehicle controls the vehicle to output a user prompt message according to the warning message to remind the user that the vehicle is about to leave the safe turning track. It can be understood that when the current position of the vehicle is close to the trigger critical point, a warning reminder can be issued to the driver, which improves the safety of driving on a curve to a certain extent.

[0026] In a second aspect, an embodiment of the present application provides a vehicle control method, which is applied to a server, and the method includes:

[0027] receiving driving state information and weather state information of the vehicle sent by the vehicle, wherein the driving state information is used to represent the driving state of the vehicle when the vehicle drives to the curved road section; the weather state information is the weather state corresponding to the current driving route of the vehicle, and the current driving route includes at least one curved road section;

[0028] Determine a safe cornering trajectory zone according to the weather status information and the driving status information corresponding to a target cornering road section, wherein the target cornering road section is a cornering road section that the vehicle is currently driving on, and the safe cornering trajectory zone is a set of driving trajectories for the vehicle to safely pass through the target cornering road section;

[0029] When the actual driving route of the vehicle deviates from the safe cornering trajectory, vehicle control information is sent to the vehicle, wherein the vehicle control information is used to control the four-wheel speed and steering wheel angle of the vehicle to prevent the vehicle from deviating from the safe cornering trajectory.

[0030] In an embodiment of the present application, the server first receives the driving status information and weather status information of the vehicle sent by the vehicle; then determines the safe cornering trajectory according to the weather status information and driving status information corresponding to the target curved road section; when the actual driving route of the vehicle deviates from the safe cornering trajectory, the server sends vehicle control information to the vehicle, so that the vehicle controls the four-wheel speed and steering wheel angle of the vehicle according to the vehicle control information to prevent the vehicle from deviating from the safe cornering trajectory. It can be understood that the present application is based on the driving status information and weather status information of the vehicle, and relies on the server that performs big data processing, and can directly determine the safe cornering trajectory, and directly control the four-wheel speed and steering wheel angle of the vehicle to prevent the vehicle from deviating from the safe cornering trajectory. To a certain extent, the safety control accuracy of the vehicle is improved, and ultimately the safety of driving on a curve is improved.

[0031] In a possible implementation, the method further includes:

[0032] When the distance between the current position of the vehicle and the boundary line of the safe turning trajectory is less than a preset distance, a warning message is sent to the vehicle, and the warning message is used to control the vehicle to output user prompt information to remind the user that the vehicle is about to exit the safe turning trajectory.

[0033] In the embodiment of the present application, when the distance between the current position of the vehicle and the boundary line of the safe cornering track is less than the preset distance, a warning message is sent to the vehicle to control the vehicle to output a user prompt message, thereby reminding the user that the vehicle is about to exit the safe cornering track. It can be understood that when the current position of the vehicle is close to the trigger critical point, a warning reminder can be issued to the driver, which improves the safety of driving on a curve to a certain extent.

[0034] In a possible implementation, determining a safe cornering trajectory zone according to the weather status information and the driving status information corresponding to the target curved road section includes:

[0035] The weather status information and the driving status information corresponding to the target curved road section are input into a cornering model, and a safe cornering trajectory is output, wherein the cornering model is used to characterize the historical cornering information of the target curved road section, and the historical cornering information includes the historical weather status information, historical driving status information and historical cornering trajectory of the target curved road section.

[0036] In the embodiment of the present application, the weather status information and driving status information corresponding to the target curved road section are input into the curve model, and the safe curve trajectory is output. It can be understood that the safe curve trajectory can be determined more efficiently based on the curve model, which improves the safety control accuracy and control efficiency of the vehicle to a certain extent, and ultimately improves the safety of driving on the curve.

[0037] In a possible implementation, determining a safe cornering trajectory according to the weather status information and the driving status information corresponding to the target curved road section includes:

[0038] Determining a road friction coefficient corresponding to the target curved road section according to the weather condition information corresponding to the target curved road section;

[0039] A safe cornering trajectory is determined according to the road friction coefficient corresponding to the target curved road section and the driving state information.

[0040] In the embodiment of the present application, the road friction coefficient corresponding to the target curved road section is determined according to the weather status information corresponding to the target curved road section; the safe curve trajectory is determined according to the road friction coefficient corresponding to the target curved road section and the driving status information. It can be understood that the road friction coefficient is the most affected by the weather status information, so directly determining the road friction coefficient based on the weather status information can simplify the data processing amount, and to a certain extent, improve the safety control accuracy and control efficiency of the vehicle, and ultimately improve the safety of driving on the curve.

[0041] In a possible implementation, determining a safe cornering trajectory according to the weather status information and the driving status information corresponding to the target curved road section includes:

[0042] Determining, based on the weather status information and the driving status information corresponding to the target curved road section, a plurality of driving trajectories for the vehicle to safely pass through the target curved road section;

[0043] A plurality of driving trajectories corresponding to safely passing the target curved road section are fitted to determine a safe curved trajectory zone.

[0044] In the embodiment of the present application, multiple driving trajectories for the vehicle to safely pass the target curved road section are determined based on the weather status information and driving status information corresponding to the target curved road section; multiple driving trajectories corresponding to the target curved road section are fitted to determine the safe curve trajectory belt. It can be understood that the multiple driving trajectories of the vehicle are first determined, and then based on the multiple driving trajectories, the safe curve trajectory belt can be determined more efficiently and accurately, ultimately improving the safety control accuracy and control efficiency of the vehicle, thereby improving the safety of driving on the curve.

[0045] In a possible implementation, determining, based on the weather status information and the driving status information corresponding to the target curved road section, a plurality of driving trajectories for the vehicle to safely pass through the target curved road section includes:

[0046] Based on the weather status information and the driving status information corresponding to the target curved road section, multiple driving trajectories for the vehicle to safely pass through the target curved road section are determined under constant conditions, wherein the constant condition is a condition that the four-wheel speed and the steering wheel angle remain unchanged.

[0047] In the embodiment of the present application, according to the weather status information and driving status information corresponding to the target curved road section, multiple driving trajectories for the vehicle to safely pass the target curved road section are determined under constant conditions. It can be understood that since the constant condition is the condition that the four-wheel speed and the steering wheel angle remain unchanged, the embodiment of the present application can more efficiently determine multiple driving trajectories, and then more efficiently determine the safe curve trajectory, ultimately improving the safety control accuracy and control efficiency of the vehicle, and then improving the safety of driving on the curve.

[0048] In a possible implementation, fitting a plurality of driving trajectories corresponding to the target curved road section for safely passing through to determine a safe curved trajectory zone includes:

[0049] According to the fuzzy control PID strategy, calibrate a plurality of driving trajectories corresponding to safely passing through the target curved road section;

[0050] The plurality of calibrated driving trajectories are fitted to determine a safe cornering trajectory zone.

[0051] In the embodiment of the present application, according to the fuzzy control PID strategy, multiple driving trajectories corresponding to the target curved road section are calibrated safely; the multiple calibrated driving trajectories are fitted to determine the safe curve trajectory. It can be understood that by calibrating multiple driving trajectories based on the fuzzy control PID strategy, more accurate multiple driving trajectories can be determined, which makes the determined safe curve trajectory more accurate, and ultimately improves the safety control accuracy of the vehicle, thereby improving the safety of driving on the curve.

[0052] In a third aspect, an embodiment of the present application provides a vehicle, including:

[0053] processor;

[0054] Memory;

[0055] and a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions, which, when executed by the processor, cause the vehicle to execute the method described in any one of the first aspects.

[0056] In a fourth aspect, an embodiment of the present application provides a server, including:

[0057] processor;

[0058] Memory;

[0059] And a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, and when the instructions are executed by the processor, the server executes any one of the methods described in the second aspect.

[0060] In a fifth aspect, an embodiment of the present application provides a vehicle control system, including:

[0061] The vehicle according to the third aspect;

[0062] The server described in the fourth aspect;

[0063] Wherein, the vehicle is communicatively connected with the server.

[0064] In the sixth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described in the first aspect or the second aspect.

[0065] It is understandable that the vehicle provided in the third aspect, the server provided in the fourth aspect, the vehicle control system provided in the fifth aspect, and the computer-readable storage medium provided in the sixth aspect are all used to execute the method provided in the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0067] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application.

[0068] Figure 2 A schematic diagram of another application scenario provided for an embodiment of the present application.

[0069] Figure 3 A flow chart of a vehicle control method provided in an embodiment of the present application.

[0070] Figure 4 A schematic diagram of a vehicle passing a curved road section provided in an embodiment of the present application.

[0071] Figure 5 A schematic diagram of vehicle motion in an xy coordinate system provided in an embodiment of the present application.

[0072] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0073] Figure 7 A schematic diagram of the structure of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0075] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0076] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0077] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0078] When a vehicle is driving on a high-frequency curve with a large angle, it is easy to cause traffic accidents due to the influence of natural uncontrollable factors (such as bad weather, insufficient light at night, and ice on the road surface, etc.). For ease of understanding, the specific application scenarios of this application are first exemplified below.

[0079] See also Figure 1 , is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1 As shown, the application scenario includes: a vehicle 101 and a road 102. As can be seen from the figure, the vehicle 101 is traveling on the road 102 including multiple curved road sections.

[0080] It should be pointed out that Figure 1The road 102 shown in FIG. 1 only shows two curved road sections, and for the sake of simplicity, other curved road sections are not shown in the figure.

[0081] In the related art, in order to ensure the safety of driving on curved roads, a speed measuring radar is usually installed at the curved road section of the road 102 to determine the actual driving speed of the vehicle; then, a safety warning is issued in time according to the actual driving speed of the vehicle.

[0082] However, since the vehicle speed provided by the speed radar is single-point data at the point where the vehicle passes the radar measurement point, and the warning variable is single, making a safety warning based on the vehicle speed may result in a low warning accuracy for the vehicle.

[0083] In view of the above problems, based on the vehicle's driving status information and weather status information, the server can directly determine the safe cornering trajectory, and the vehicle directly controls the four-wheel speed and steering wheel angle according to the vehicle control information, effectively preventing the vehicle from leaving the safe cornering trajectory, thereby improving the safety control accuracy of the vehicle, and ultimately improving the safety of driving on the curve. Specifically, the following is a detailed description in conjunction with the accompanying drawings and specific embodiments.

[0084] For easier understanding, see Figure 2 , is a schematic diagram of another application scenario provided by the embodiment of the present application. Figure 2 As shown, the figure shows a vehicle 201 and a server 202, and the vehicle 201 and the server 202 are interconnected through a wired or wireless communication network to transmit information. The communication network can be a local area network or a wide area network transferred through a relay device. When the communication network is a local area network, exemplarily, the communication network can be a short-range communication network such as a wifi hotspot network, a wifi P2P network, a Bluetooth network, a zigbee network or a near field communication (NFC) network. When the communication network is a wide area network, exemplarily, the communication network can be a third-generation mobile communication technology (3rd-generation wireless telephone technology, 3G) network, a fourth-generation mobile communication technology (the 4th generation mobile communication technology, 4G) network, a fifth-generation mobile communication technology (5th-generation mobile communication technology, 5G) network, a future-evolved public land mobile network (public land mobile network, PLMN) or the Internet, etc.

[0085] It should be noted that, in addition to the illustrated vehicle types, the vehicle 201 may also include other types of vehicles, and this application does not impose any specific restrictions on this.

[0086] See also Figure 3 , is a flow chart of a vehicle control method provided in an embodiment of the present application. The method can be applied to Figure 1 as well as Figure 2 The application scenarios shown are as follows: Figure 3 As shown, it mainly includes the following steps.

[0087] Step S301: According to the current driving route of the vehicle, determine the weather status information corresponding to the current driving route.

[0088] In the embodiment of the present application, firstly, according to the current driving route of the vehicle, the onboard controller determines the weather status information corresponding to the current driving route, wherein the current driving route includes at least one curved road section.

[0089] Specifically, after the current driving route of the vehicle is determined, the weather status information corresponding to different curved road sections in the driving route is determined.

[0090] Of course, in actual applications, since it is only necessary to control the weather status information of the vehicle at the curved road section, it is possible to first determine whether the current position of the vehicle is a curved road section. Specifically, in a possible implementation, it is first determined whether the current position of the vehicle is a curved road section; when the current position of the vehicle is a curved road section, the weather status information corresponding to the target curved road section in the current driving route is determined according to the current driving route of the vehicle.

[0091] In the embodiment of the present application, directly obtaining the weather status information corresponding to the target curved road section can more quickly and accurately determine the safe cornering trajectory, which, to a certain extent, improves the safety control accuracy and control efficiency of the vehicle, and ultimately improves the safety of driving on the curve.

[0092] Step S302: The vehicle sends the vehicle's driving status information and weather status information to the server.

[0093] In the embodiment of the present application, after the weather status information is determined, the vehicle sends the vehicle's driving status information and weather status information to the service end. The driving status information is used to characterize the vehicle's corresponding driving status when the vehicle travels to the curved road section.

[0094] Specifically, in one possible implementation method, the vehicle's four-wheel speed, steering wheel angle, actual output torque, brake pedal opening, and accelerator pedal opening are first obtained; and the vehicle's four-wheel speed, steering wheel angle, actual output torque, brake pedal opening, and accelerator pedal opening are used as the vehicle's driving status information, together with weather status information, and sent to the server.

[0095] It can be understood that since the driving status information includes the four-wheel speed, steering wheel angle, actual output torque, brake pedal opening and accelerator pedal opening, the vehicle speed can be directly calculated based on the four-wheel speed without the need to arrange other speed measuring equipment, which saves costs and improves the safety control accuracy of the vehicle, ultimately improving the safety of driving on curves.

[0096] Of course, in addition to the four-wheel speed, steering wheel angle, actual output torque, brake pedal opening and accelerator pedal opening, the driving status information may also include the vehicle's lateral acceleration, yaw angular velocity, four-wheel slip rate and other status information, which is not specifically limited in this application.

[0097] Step S303: The server determines a safe cornering trajectory according to the weather status information and driving status information corresponding to the target curved road section.

[0098] In the embodiment of the present application, when the server receives the weather status information and driving status information corresponding to the target curved road section, the server determines the safe curve trajectory according to the weather status information and driving status information corresponding to the target curved road section. The target curved road section is the curved road section that the vehicle is currently traveling on, and the safe curve trajectory is a set of driving trajectories for the vehicle to safely pass the target curved road section.

[0099] For easier understanding, see Figure 4 , is a schematic diagram of a vehicle turning road section provided in an embodiment of the present application. As shown in the figure, a vehicle 101 and a road 102 are shown. Among them, the area marked by the dotted line frame in the road 102 is the safe turning track belt 401.

[0100] It is understandable that the vehicle will not slip or roll over when traveling in the safe cornering track zone 401 according to the current driving state information.

[0101] In practical applications, the road friction coefficient is an important factor affecting vehicle driving safety. At the same time, the road friction coefficient is closely related to weather status information (rainy and snowy weather). Therefore, the road friction coefficient can be determined first.

[0102] Specifically, in a possible implementation, the road friction coefficient corresponding to the target curved road section is determined according to the weather status information corresponding to the target curved road section; and the safe cornering trajectory is determined according to the road friction coefficient corresponding to the target curved road section and the driving status information.

[0103] It is understandable that the road friction coefficient is the most affected by weather status information. Therefore, directly determining the road friction coefficient based on weather status information can simplify the data processing amount and, to a certain extent, improve the safety control accuracy and control efficiency of the vehicle, ultimately improving the safety of driving on curves.

[0104] In practical applications, the safe trajectory can be directly determined based on the trained related model. Specifically, in a possible implementation, the weather status information and driving status information corresponding to the target curved road section are input into the curve model to output the safe curve trajectory.

[0105] It can be understood that in the embodiment of the present application, the safe cornering trajectory can be determined more efficiently based on the cornering model, which, to a certain extent, improves the safety control accuracy and control efficiency of the vehicle, and ultimately improves the safety of driving on curves.

[0106] In a possible implementation, multiple driving trajectories for the vehicle to safely pass the target curved road section are determined based on weather status information and driving status information corresponding to the target curved road section; multiple driving trajectories corresponding to the target curved road section are fitted to determine the safe curve trajectory belt. It can be understood that multiple driving trajectories of the vehicle are first determined, and then based on the multiple driving trajectories, the safe curve trajectory belt can be determined more efficiently and accurately, ultimately improving the safety control accuracy and control efficiency of the vehicle, thereby improving the safety of driving on the curve.

[0107] Of course, in practical applications, since the vehicle system is a complex nonlinear system and it is difficult to establish an accurate mathematical model, some states can be simplified to improve the efficiency of vehicle safety control.

[0108] Specifically, in a possible implementation, based on the weather status information and driving status information corresponding to the target curved road section, multiple driving trajectories for the vehicle to safely pass through the target curved road section are determined under constant conditions. It can be understood that since the constant condition is the condition that the four-wheel speed and the steering wheel angle remain unchanged, the embodiment of the present application can more efficiently determine multiple driving trajectories, and then more efficiently determine the safe curve trajectory, ultimately improving the safety control accuracy and control efficiency of the vehicle, and then improving the safety of driving on the curve.

[0109] Of course, since the vehicle system is a complex nonlinear system and it is difficult to establish an accurate mathematical model, the vehicle's driving trajectory can also be further calibrated based on the fuzzy control PID strategy. Specifically, in one possible implementation, according to the fuzzy control PID strategy, multiple driving trajectories corresponding to the target curved road section are calibrated for safe passage; the multiple calibrated driving trajectories are fitted to determine the safe curve trajectory band.

[0110] For easier understanding, see Figure 5 , which is a schematic diagram of vehicle motion in an xy coordinate system provided in an embodiment of the present application. As shown in the figure, the solid circle on the vehicle in the figure is the center of mass of the vehicle; the x-axis and the y-axis are the horizontal and vertical coordinates of the road system respectively; the speed of the vehicle is Ve; the longitudinal and lateral speeds are u and v respectively; the sideslip angle of the center of mass is β, where β = arctan (v / u); the yaw rate of the vehicle is ω; the heading angle is φ; the vehicle state can be simplified as S = [xyu vβ φ]. The dotted curve in the figure is the fitted driving trajectory, and the solid origin on the dotted curve is the target position corresponding to the current actual position of the vehicle. Among them, the target position is determined by the maximum slip rate that the vehicle can bear at different speeds at this point and under the current road conditions as a key factor.

[0111] Among them, when calculating based on the fuzzy control PID strategy, it can be assumed that under constant conditions, the distance deviation between the point on the target curve and the actual point is recorded as Δd, the direction deviation is recorded as Δφ, and the speed deviation is recorded as ΔVe.

[0112] In practical applications, the control variable deviation between the vehicle’s current actual position and the target position is represented by e, and the differential of the deviation is recorded as e c , they are used as the input of the fuzzy controller, and the three parameters of PID Kp, Ki and Kd are used as the three outputs of the system, where ΔKP, ΔKi and ΔKd represent the change of proportional coefficient, integral coefficient and differential coefficient respectively. The basic principle is to compare the actual value of the controlled quantity with the set value to obtain the error e, and then calculate the error change rate e c , change e, e c The fuzzy subsets of , ΔKP, ΔKi and ΔKd are taken as {negative large, negative medium, negative small, zero, positive small, positive medium, positive large} and are recorded as {NB, NM, NS, ZO, PS, PM, PB}.

[0113] According to the effect of parameters Kp, Ki, Kd on the system output characteristics, the fuzzy rule table of ΔKP, ΔKi, ΔKd can be established according to the following principles:

[0114] When |e| is large, a larger Kp is used to improve the rapidity of the system, a smaller Ki is used to prevent differential overflow caused by a larger |e|, and a smaller Kd is used to reduce the overshoot of the system.

[0115] When |e| and |e c When the value of ∣ is medium, it is necessary to reduce Kp appropriately and select appropriate Ki and Kd to prevent excessive overshoot;

[0116] When |e| is very small, select larger Kp and Ki to make the system have good steady-state performance, and select appropriate Kd to avoid system oscillation. c When ∣ is small, Kd should be selected larger. c When ∣ is large, Kd should be selected to be smaller.

[0117] Then, the membership functions of the input and output quantities are selected as trigonometric functions, and the domains of the input and output quantities are selected according to the actual situation. Finally, ΔKP, ΔKi and ΔKd are defuzzified by the centroid method to obtain the precise output control quantity, and act on the PID controller to realize fuzzy adaptive PID control. Among them, Kp = Kp + ΔKP, Ki = Ki + ΔKi, Kd = Kd + ΔKd.

[0118] In an embodiment of the present application, multiple driving trajectories are calibrated based on the fuzzy control PID strategy, so that multiple more accurate driving trajectories can be determined, thereby making the determined safe cornering trajectory more accurate, ultimately improving the safety control accuracy of the vehicle and thereby improving the safety of driving on curves.

[0119] Step S304: When the actual driving route of the vehicle deviates from the safe turning trajectory, the service end sends vehicle control information to the vehicle.

[0120] In an embodiment of the present application, when the actual driving route of the vehicle deviates from the safe turning trajectory, the service end sends vehicle control information to the vehicle.

[0121] Step S305: According to the vehicle control information, the vehicle controls the four-wheel speed and steering wheel angle of the vehicle to prevent the vehicle from deviating from the safe cornering trajectory.

[0122] In an embodiment of the present application, after the vehicle receives the vehicle control information, the vehicle controls the four-wheel speed and steering wheel angle of the vehicle according to the vehicle control information to prevent the vehicle from deviating from the safe cornering trajectory.

[0123] In the embodiment of the present application, based on the vehicle's driving status information and weather status information, relying on the server that processes big data, the safe cornering trajectory can be directly determined, and the four-wheel speed and steering wheel angle of the vehicle can be directly controlled to prevent the vehicle from leaving the safe cornering trajectory. To a certain extent, the safety control accuracy of the vehicle is improved, and ultimately the safety of driving on a curve is improved.

[0124] In actual applications, before the vehicle control system directly controls the vehicle to change speed and turn, the user prompt information can be output before the vehicle is about to leave the safe turning track. Specifically, in a possible implementation, when the distance between the current position of the vehicle and the boundary line of the safe turning track is less than a preset distance, the service end sends a warning message to the vehicle; then the vehicle controls the vehicle to output the user prompt information according to the warning information to remind the user that the vehicle is about to leave the safe turning track.

[0125] Specifically, in a possible implementation, when the distance between the current position of the vehicle and the boundary line of the safe turning trajectory is less than a preset distance, the vehicle directly announces by voice: "Please adjust the steering wheel to the left / right" or "Please slow down."

[0126] For example, when the distance between the current position of the vehicle and the boundary line of the safe turning trajectory is less than a preset distance, the vehicle directly announces in voice: "Please adjust the steering wheel 10 degrees to the left."

[0127] Of course, in a possible implementation, within a preset period of time, if it is detected that the user does not actively operate the vehicle, the vehicle automatically controls the four-wheel speed and steering wheel angle of the vehicle.

[0128] It can be understood that in the embodiment of the present application, a warning reminder can be issued to the driver when the current position of the vehicle approaches the trigger critical point, which improves the safety of driving on curves to a certain extent.

[0129] Of course, in one possible implementation, when the current position of the vehicle is close to the triggering critical point, the vehicle can use GPS navigation or the in-vehicle entertainment system as a medium to broadcast warning information in the form of text or language to provide intuitive and effective reminders to the driver. This application does not impose specific restrictions on this.

[0130] Corresponding to the above embodiment, the present application also provides a vehicle. Figure 6, is a schematic diagram of a vehicle structure provided in an embodiment of the present application, wherein the vehicle 600 may include: a processor 601, a memory 602, and a communication unit 603. These components communicate via one or more buses, and those skilled in the art may understand that the structure of the vehicle shown in the figure does not constitute a limitation on the embodiment of the present invention, and it may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0131] The communication unit 603 is used to establish a communication channel so that the vehicle can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0132] The processor 601 is the control center of the vehicle. It uses various interfaces and lines to connect various parts of the entire vehicle. It runs or executes software programs, instructions, and / or modules stored in the memory 602, and calls data stored in the memory to perform various functions of the vehicle and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 601 can include only a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0133] The memory 602 is used to store the execution instructions of the processor 601. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0134] When the execution instructions in the memory 602 are executed by the processor 601 , the vehicle 600 is enabled to execute part or all of the steps in the above-described embodiments.

[0135] The specific contents involved in the embodiments of the present application can be found in the description of the above method embodiments. For the sake of brevity, they will not be repeated here.

[0136] Corresponding to the above embodiment, the present application also provides a server. Figure 7, is a schematic diagram of the structure of a server provided in an embodiment of the present application, and the server 700 may include: a processor 701, a memory 702, and a communication unit 703. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the server shown in the figure does not constitute a limitation on the embodiment of the present invention. It can be a bus structure or a star structure, and can also include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0137] The communication unit 703 is used to establish a communication channel so that the server can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0138] The processor 701 is the control center of the server, and uses various interfaces and lines to connect various parts of the entire server. It runs or executes software programs, instructions, and / or modules stored in the memory 702, and calls data stored in the memory to perform various functions and / or process data of the server. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of a plurality of packaged ICs with the same or different functions. For example, the processor 701 can include only a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0139] The memory 702 is used to store the execution instructions of the processor 701. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0140] When the execution instructions in the memory 702 are executed by the processor 701 , the server 700 can execute part or all of the steps in the above-mentioned embodiments.

[0141] The specific contents involved in the examples in the implementation of this application can be found in the description of the above method embodiments. For the sake of brevity, they will not be repeated here.

[0142] Corresponding to the above embodiment, the present application also provides a vehicle control system, which specifically includes the vehicle and the server described in the above embodiment, wherein the vehicle is in communication connection with the server.

[0143] In a specific implementation, the present application further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the simulation scene generation method provided by the present invention. The storage medium may be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0144] In a specific implementation, the present application also provides a computer program product, wherein the computer program product includes executable instructions, and when the executable instructions are executed on a computer, the computer executes part or all of the steps in each embodiment of the simulation scene generation method provided by the present invention.

[0145] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0146] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0147] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0148] In several embodiments provided in the present application, any function can be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0149] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the method comprises: Determining weather condition information corresponding to a current driving route of a vehicle, wherein the current driving route includes at least one curved road section; Sending the driving state information of the vehicle and the weather state information to the server, wherein the driving state information is used to represent the driving state of the vehicle when the vehicle travels to the curved road section; Receiving vehicle control information sent by the server; Controlling the four-wheel speed and steering wheel angle of the vehicle according to the vehicle control information to prevent the vehicle from deviating from the safe cornering trajectory; Among them, the safe cornering trajectory belt is a set of driving trajectories for the vehicle to safely pass through the target curved road section, determined based on the weather status information and the driving status information corresponding to the target curved road section; the target curved road section is the curved road section on which the vehicle is currently traveling.

2. The vehicle control method according to claim 1, characterized in that: The sending the driving status information of the vehicle and the weather status information to the service end includes: Acquiring driving state information of the vehicle, wherein the driving state information includes four-wheel speeds, steering wheel angle, actual output torque, brake pedal opening, and accelerator pedal opening; The driving status information of the vehicle and the weather status information are sent to the service end.

3. The vehicle control method according to claim 1, characterized in that: The step of determining weather status information corresponding to the current driving route of the vehicle includes: Determining whether the current position of the vehicle is a curved road section; When the current position of the vehicle is a curved road section, weather status information corresponding to a target curved road section in the current driving route is determined according to the current driving route of the vehicle.

4. The vehicle control method according to claim 1, characterized in that: Also includes: Receiving the warning information sent by the server; The vehicle is controlled to output user prompt information according to the warning information to remind the user that the vehicle is about to exit the safe cornering trajectory.

5. A vehicle control method, characterized in that: Applied to the server, the method includes: receiving driving state information and weather state information of the vehicle sent by the vehicle, wherein the driving state information is used to represent the driving state of the vehicle when the vehicle drives to the curved road section; the weather state information is the weather state corresponding to the current driving route of the vehicle, and the current driving route includes at least one curved road section; Determine a safe cornering trajectory zone according to the weather status information and the driving status information corresponding to a target cornering road section, wherein the target cornering road section is a cornering road section that the vehicle is currently driving on, and the safe cornering trajectory zone is a set of driving trajectories for the vehicle to safely pass through the target cornering road section; When the actual driving route of the vehicle deviates from the safe cornering trajectory, vehicle control information is sent to the vehicle, wherein the vehicle control information is used to control the four-wheel speed and steering wheel angle of the vehicle to prevent the vehicle from deviating from the safe cornering trajectory.

6. The method according to claim 5, characterized in that Also includes: When the distance between the current position of the vehicle and the boundary line of the safe turning trajectory is less than a preset distance, a warning message is sent to the vehicle, and the warning message is used to control the vehicle to output user prompt information to remind the user that the vehicle is about to exit the safe turning trajectory.

7. The method according to claim 5, characterized in that Determining a safe cornering trajectory according to the weather status information and the driving status information corresponding to the target curved road section includes: The weather status information and the driving status information corresponding to the target curved road section are input into a cornering model, and a safe cornering trajectory is output, wherein the cornering model is used to characterize the historical cornering information of the target curved road section, and the historical cornering information includes the historical weather status information, historical driving status information and historical cornering trajectory of the target curved road section.

8. The method according to claim 5, characterized in that The step of determining a safe cornering trajectory according to the weather status information and the driving status information corresponding to the target curved road section includes: Determining a road friction coefficient corresponding to the target curved road section according to the weather condition information corresponding to the target curved road section; A safe cornering trajectory is determined according to the road friction coefficient corresponding to the target curved road section and the driving state information.

9. The method according to claim 5, characterized in that The step of determining a safe cornering trajectory according to the weather status information and the driving status information corresponding to the target curved road section includes: Determining, based on the weather status information and the driving status information corresponding to the target curved road section, a plurality of driving trajectories for the vehicle to safely pass through the target curved road section; A plurality of driving trajectories corresponding to safely passing the target curved road section are fitted to determine a safe curved trajectory zone.

10. The method according to claim 9, characterized in that The step of determining, based on the weather status information and the driving status information corresponding to the target curved road section, a plurality of driving trajectories for the vehicle to safely pass through the target curved road section includes: Based on the weather status information and the driving status information corresponding to the target curved road section, multiple driving trajectories for the vehicle to safely pass through the target curved road section are determined under constant conditions, wherein the constant condition is a condition that the four-wheel speed and the steering wheel angle remain unchanged.

11. The method according to claim 9, characterized in that The step of fitting a plurality of driving trajectories corresponding to the target curved road section for safely passing through to determine a safe curved trajectory zone includes: According to the fuzzy control PID strategy, calibrate a plurality of driving trajectories corresponding to safely passing through the target curved road section; The plurality of calibrated driving trajectories are fitted to determine a safe cornering trajectory zone.

12. A vehicle, characterized in that: include: processor; Memory; and a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions, which, when executed by the processor, cause the vehicle to perform the method of any one of claims 1 to 4.

13. A server, characterized in that: include: processor; Memory; And a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, and when the instructions are executed by the processor, the server performs the method described in any one of claims 5 to 11.

14. A vehicle control system, characterized in that: include: The vehicle according to claim 12; The server as claimed in claim 13; Wherein, the vehicle is communicatively connected with the server.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 11.

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