Vehicle control method and device, storage medium and electronic equipment

Abstract

The invention relates to a vehicle control method and device, a storage medium and electronic equipment. The method comprises the following steps: determining whether a vehicle has a rolling trend or not; if it is determined that the vehicle has the rolling trend, driving intention information of a driver is determined, and the driving intention information is used for indicating whether the driver needs to steer the vehicle or not; according to the driving intention information, motion control is conducted on the vehicle, so that the driving track of the vehicle conforms to the driving intention information. In this way, the control effect of the vehicle on the cross slope can precisely meet the control of a driver, and the driving experience of the driver is guaranteed.

Description

Technical Field

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

[0002] For a sloping road surface (i.e., a road surface with a lateral slope), the vehicle will be subject to the gravity component when traveling on the sloping road surface, which will cause a large lateral acceleration to the entire vehicle, interfering with the vehicle's control effect. This will cause the vehicle to always deviate from the desired control mode indicated by the control (e.g., the vehicle's driving path deviates from the control path), seriously affecting the driver's driving experience. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, storage medium and electronic device.

[0004] In order to achieve the above objective, according to a first aspect of the present disclosure, a vehicle control method is provided, the method comprising:

[0005] Determine if the vehicle has a tendency to roll;

[0006] If it is determined that the vehicle has a roll tendency, determining the driver's driving intention information, wherein the driving intention information is used to indicate whether the driver needs to steer the vehicle;

[0007] The vehicle is motion controlled according to the driving intention information so that the driving trajectory of the vehicle conforms to the driving intention information.

[0008] Optionally, the motion control of the vehicle includes at least steering control of rear wheels of the vehicle.

[0009] Optionally, determining whether the vehicle has a roll tendency includes:

[0010] Determining road surface information of the road where the vehicle is located, wherein the road surface information is used to indicate whether the road surface is a transverse slope;

[0011] determining a speed of the vehicle;

[0012] If the road surface information indicates that the road surface on which the vehicle is located is a transverse slope and the vehicle speed is greater than a preset speed threshold, it is determined that the vehicle has a roll tendency.

[0013] Optionally, before the step of determining whether the vehicle has a roll tendency, the method further includes:

[0014] Determining whether a road surface of a target road section is a transverse slope, the target road section being the road section that the vehicle is about to enter;

[0015] If it is determined that the road surface of the target section is a transverse slope, the suspension height of the target side of the vehicle is increased, and the target side is the side of the vehicle close to the lower side of the road surface of the target section.

[0016] Optionally, determining the driver's driving intention information includes:

[0017] Obtaining a steering wheel angle value of the vehicle;

[0018] If the steering wheel angle value is greater than a preset angle threshold, determining that the driver's driving intention information is that the vehicle needs to be turned;

[0019] If the steering wheel angle value is less than the preset angle threshold, it is determined that the driver's driving intention information does not require steering the vehicle.

[0020] Optionally, the performing motion control on the vehicle according to the driving intention information so that the driving trajectory of the vehicle conforms to the driving intention information includes:

[0021] If the driving intention information indicates that the vehicle does not need to be steered, steering the rear wheels of the vehicle to control the vehicle to travel in a straight line;

[0022] If the driving intention information indicates that the vehicle needs to be turned, the front wheels and rear wheels of the vehicle are steered to control the vehicle to turn.

[0023] Optionally, the steering control of the rear wheels of the vehicle to control the vehicle to travel in a straight line includes:

[0024] Determining the cross slope angle of the road surface on which the vehicle is located;

[0025] According to a preset correspondence between a transverse slope angle and a rear wheel steering angle value, determining a rear wheel steering angle value corresponding to the transverse slope angle of the road where the vehicle is located as a first steering angle value;

[0026] The rear wheels of the vehicle are controlled to rotate in a first direction by the first turning angle value to control the vehicle to travel in a straight line, wherein the first direction is a direction pointing to a lower side of a road surface where the vehicle is located.

[0027] Optionally, the steering control of the front wheels and rear wheels of the vehicle to control the steering of the vehicle includes:

[0028] Acquiring steering information of a steering wheel of the vehicle, wherein the steering information includes a steering direction and a steering wheel angle value;

[0029] Determining, according to the steering wheel angle value, a second steering angle value for controlling the front wheels of the vehicle and a third steering angle value for controlling the rear wheels of the vehicle;

[0030] The front wheels of the vehicle are steered according to the steering direction and the second steering angle value, and the rear wheels of the vehicle are steered according to the steering direction and the third steering angle value.

[0031] Optionally, determining, according to the steering wheel angle value, a second steering angle value for controlling the front wheels of the vehicle and a third steering angle value for controlling the rear wheels of the vehicle comprises:

[0032] Determine a front wheel angle corresponding to the steering wheel angle value as a second angle value;

[0033] Determine a target ratio of the front wheel steering angle to the rear wheel steering angle that enables the vehicle to travel stably;

[0034] A third turning angle value corresponding to the rear wheels of the vehicle is determined based on the second turning angle value and the target ratio.

[0035] Optionally, the turning direction is a first direction or a second direction, the first direction is a direction pointing to a lower side of the road surface where the vehicle is located, and the second direction is a direction pointing to a higher side of the road surface where the vehicle is located;

[0036] The method of controlling the steering of the front wheels of the vehicle according to the steering direction and the second steering angle value, and controlling the steering of the rear wheels of the vehicle according to the steering direction and the third steering angle value, comprises:

[0037] If the steering direction is the first direction, controlling the front wheels of the vehicle to rotate by the second steering angle value toward the first direction, and controlling the rear wheels of the vehicle to rotate by the third steering angle value toward the first direction;

[0038] If the steering direction is the second direction, the front wheels of the vehicle are controlled to rotate by the second steering angle value toward the second direction, and the rear wheels of the vehicle are controlled to rotate by the third steering angle value toward the first direction.

[0039] According to a second aspect of the present disclosure, there is provided a vehicle control device, the device comprising:

[0040] A first determination module is used to determine whether the vehicle has a roll tendency;

[0041] A second determination module is used to determine the driving intention information of the driver if it is determined that the vehicle has a roll tendency, wherein the driving intention information is used to indicate whether the driver needs to steer the vehicle;

[0042] The control module is used to control the motion of the vehicle according to the driving intention information so that the driving trajectory of the vehicle conforms to the driving intention information.

[0043] According to a third aspect of the present disclosure, a non-temporary computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in the first aspect of the present disclosure are implemented.

[0044] According to a fourth aspect of the present disclosure, there is provided an electronic device, including:

[0045] a memory having a computer program stored thereon;

[0046] A processor is used to execute the computer program in the memory to implement the steps of the method described in the first aspect of the present disclosure.

[0047] Through the above technical solution, it is determined whether the vehicle has a tendency to roll, so as to determine whether the control of the vehicle will be affected by the cross slope. When it is determined that the vehicle has a tendency to roll, the driver's driving intention information is determined to identify whether the driver needs to steer the vehicle, and then the vehicle is controlled based on the determined driving intention information so that the vehicle's driving trajectory can meet the driving intention information. In this way, the control effect of the vehicle on the cross slope can accurately meet the driver's control, ensuring the driver's driving experience.

[0048] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0050] Figure 1 is a flow chart of a vehicle control method provided according to an embodiment of the present disclosure;

[0051] Figure 2 is an exemplary schematic diagram of a vehicle traveling on a transverse slope road in the present disclosure;

[0052] Figure 3 is a block diagram of a vehicle control device provided according to an embodiment of the present disclosure;

[0053] Figure 4 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0054] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0055] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0056] Figure 1 FIG. 1 is a flow chart of a vehicle control method provided according to an embodiment of the present disclosure. Figure 1 As shown, the method may include steps 11 to 13.

[0057] In step 11, it is determined whether the vehicle has a tendency to roll.

[0058] For a transversely sloping road surface (i.e., a road surface with a lateral slope), when a vehicle is traveling on the road surface, it will be affected by the gravity component, causing a large pressure on one side of the vehicle, causing a roll, which in turn affects the control of the vehicle. For example, a schematic diagram of a vehicle traveling on a transversely sloping road surface can be as follows: Figure 2 shown.

[0059] Based on this, during the driving process of the vehicle, it is necessary to determine whether the vehicle has a tendency to roll and whether there are factors that affect the lateral control of the vehicle, so as to take timely countermeasures.

[0060] In a possible implementation, step 11 may include the following steps:

[0061] Determine the road surface information of the road where the vehicle is located, the road surface information is used to indicate whether the road surface is a horizontal slope;

[0062] Determine the speed of the vehicle;

[0063] If the road surface information indicates that the road surface on which the vehicle is located is a transverse slope and the vehicle speed is greater than a preset speed threshold, it is determined that the vehicle has a tendency to roll.

[0064] Optionally, the vehicle's ADAS (Advanced Driving Assistance System) can be used to determine whether the road surface on which the vehicle is traveling is a horizontal slope, so as to determine the road surface information of the road surface on which the vehicle is traveling. Among them, ADAS can determine whether the road surface is a horizontal slope by collecting images of the vehicle's surrounding environment, radar and other information as road surface information. For example, when the vehicle is traveling forward, ADAS can collect images of the road surface in front of the vehicle to determine the road surface information of the road section that the vehicle is about to enter.

[0065] Optionally, the vehicle speed can be obtained by a vehicle speed sensor provided on the vehicle, indicating the current driving speed of the vehicle.

[0066] If the determined road surface information indicates that the road surface on which the vehicle is located is a transverse slope and the vehicle speed is greater than a preset speed threshold, it means that the vehicle is traveling at a relatively high speed on the transverse slope and lateral control is easily affected. Therefore, it can be determined that the vehicle has a tendency to roll.

[0067] The preset speed threshold can be set according to actual needs. For example, the preset speed threshold can be 80 km / h.

[0068] It should be noted that the present disclosure does not limit the execution order of determining the road surface information of the road on which the vehicle is located and determining the vehicle speed. The two can be determined simultaneously or successively.

[0069] In another possible implementation, step 11 may include the following steps:

[0070] If the road surface where the vehicle is located is a transverse slope, and the transverse slope angle of the road surface where the vehicle is located is greater than a specified threshold, it is determined that the vehicle has a tendency to roll.

[0071] in, Figure 2 The θ in is the cross slope angle.

[0072] The specified threshold value can be set according to actual needs. For example, the specified threshold value can be 1°.

[0073] Optionally, whether the road surface on which the vehicle is located is a cross slope and the angle of the cross slope can be determined by ADAS.

[0074] If the road surface where the vehicle is located is a transverse slope, and the transverse slope angle of the road surface where the vehicle is located is greater than a specified threshold, it means that the vehicle is on a transverse slope, and the transverse slope angle is large, which will generate a large gravity component and affect the lateral control of the vehicle. Therefore, it can be determined that the vehicle has a tendency to roll.

[0075] Optionally, before executing step 11, the method provided by the present disclosure may further include the following steps:

[0076] Determine whether the road surface of the target road section is a cross slope;

[0077] If it is determined that the road surface of the target section is a transverse slope, increase the suspension height of the target side of the vehicle.

[0078] The target road section is the road section that the vehicle is about to enter.

[0079] Optionally, ADAS may be used to determine whether the road surface of the target road section is a transverse slope.

[0080] If it is determined that the vehicle is about to enter a cross slope section, pre-measures can be taken before entering the cross slope so that the vehicle can be affected as little as possible when entering the cross slope section. Therefore, when it is determined that the vehicle is about to enter a cross slope section, the suspension height of the target side of the vehicle can be increased.

[0081] The target side is the side of the vehicle close to the lower side of the road surface of the target section. Figure 2 For example, a vehicle traveling on Figure 2 On the horizontal slope shown, the P1 side of the vehicle body is higher than the P2 side, and the vehicle body is laterally tilted. At this time, the P2 side can be used as the target to increase the suspension height on the P2 side of the vehicle, so that the body roll angle is reduced and closer to the horizontal state, thereby reducing the body roll caused by the horizontal slope.

[0082] For example, the suspension height of the active suspension on the target side of the vehicle may be increased by adjusting the current of the active suspension on the target side.

[0083] Optionally, increasing the suspension height on the target side may be completed before the vehicle enters the target road section. For example, the suspension height on the target side of the vehicle may be increased 1 second before entering the target road section.

[0084] In step 12, if it is determined that the vehicle has a roll tendency, the driver's driving intention information is determined.

[0085] The driving intention information is used to indicate whether the driver needs to steer the vehicle.

[0086] In a possible implementation, step 12 may include the following steps:

[0087] Get the steering wheel angle value of the vehicle;

[0088] If the steering wheel angle value is greater than a preset angle threshold, determining that the driver's driving intention information is that the vehicle needs to be turned;

[0089] If the steering wheel angle value is less than a preset angle threshold, it is determined that the driver's driving intention information is that there is no need to steer the vehicle.

[0090] The driver's driving intention information, that is, whether the driver needs to steer the vehicle, can be determined by identifying whether the driver controls the vehicle to steer by turning the steering wheel.

[0091] If the obtained steering wheel angle value is greater than the preset angle threshold, it means that the driver has turned the steering wheel and wants to turn. If the obtained steering wheel angle value is less than the preset angle threshold, it means that the driver has not turned the steering wheel and does not need to turn.

[0092] Optionally, the preset turning angle threshold value can be set according to actual needs. For example, the preset turning angle value can be 5°.

[0093] In another possible implementation, it is also possible to determine whether the driver has a steering demand by identifying whether the vehicle receives a steering instruction, thereby determining the driving intention information.

[0094] For example, in an autonomous driving or assisted driving scenario, the driver can issue control instructions to the vehicle through voice information, such as voice controlling the vehicle's steering. Based on this, the driving intention information can be determined by identifying whether the vehicle receives a steering instruction (or a control instruction for instructing steering).

[0095] In step 13, the vehicle is motion-controlled according to the driving intention information so that the vehicle's driving trajectory complies with the driving intention information.

[0096] Optionally, the motion control of the vehicle may at least include steering control of the rear wheels of the vehicle, whereby the driving trajectory of the vehicle can be controlled by steering control of the rear wheels of the vehicle.

[0097] In a possible implementation, step 13 may include the following steps:

[0098] If the driving intention information indicates that the vehicle does not need to be steered, steering control is performed on the rear wheels of the vehicle to control the vehicle to travel in a straight line;

[0099] If the driving intention information indicates that the vehicle needs to be turned, the front and rear wheels of the vehicle are steered to control the steering of the vehicle.

[0100] If the driving intention information indicates that the vehicle does not need to be steered, it means that the driver needs to maintain the vehicle's straight-line driving on the horizontal slope. Therefore, the vehicle needs to be compensated for the horizontal slope to offset the roll effect caused by the horizontal slope. In this way, the rear wheels of the vehicle need to be steered to control the vehicle to drive in a straight line.

[0101] If the driving intention information indicates that the vehicle needs to be steered, it means that the driver needs to steer on the transverse slope. If the driver needs to steer to the lower side of the transverse slope, the gravity component will cause oversteering. If the driver needs to steer to the higher side of the transverse slope, the gravity component will cause understeering. Therefore, the vehicle movement needs to be controlled according to the transverse slope to avoid oversteering or understeering. In this way, the front and rear wheels of the vehicle need to be steered to control the vehicle to steer according to the needs of the driver.

[0102] Based on this, when the driving intention information indicates that the vehicle does not need to be steered, the vehicle can be controlled to maintain straight driving on the slope without deviation through motion control. When the driving intention information indicates that the vehicle needs to be steered, the vehicle can be controlled to meet the driver's needs through motion control to avoid understeering or oversteering.

[0103] In a possible implementation, steering the rear wheels of a vehicle to control the vehicle to travel in a straight line may include the following steps:

[0104] Determine the cross slope angle of the road on which the vehicle is located;

[0105] According to the correspondence between the preset transverse slope angle and the rear wheel steering angle value, a rear wheel steering angle value corresponding to the transverse slope angle of the road where the vehicle is located is determined as the first steering angle value;

[0106] The rear wheels of the vehicle are controlled to rotate in a first direction by a first turning angle value to control the vehicle to travel in a straight line.

[0107] The first direction is the direction pointing to the lower side of the road where the vehicle is located. Figure 2 For example, the first direction is the direction from the P1 side to the P2 side, that is, the negative direction of the y-axis.

[0108] When the vehicle needs to be controlled to travel in a straight line, due to the influence of the horizontal slope, there is a tendency to move to the lower side (i.e. Figure 2 In order to offset this tendency, the movement of the vehicle needs to be compensated so that the vehicle is subjected to a force toward the high side. In this way, the rear wheels of the vehicle need to be controlled to steer toward the low side of the road where the vehicle is located, that is, the wheels of the vehicle need to be controlled to steer toward the first direction. At this time, the front wheels need to maintain straight driving, so there is no need to steer.

[0109] When determining the direction in which the rear wheels of the vehicle are turned, in order to ensure that the steering control of the rear wheels of the vehicle can just offset the impact of the cross slope, maintain straight driving and avoid accidents, it is also necessary to determine the turning angle.

[0110] Therefore, the vehicle can be positioned according to the cross slope angle of the road surface (i.e. Figure 2 θ in θ), combined with the correspondence between the preset transverse slope angle and the rear wheel steering angle value, a rear wheel steering angle value corresponding to the transverse slope angle of the road where the vehicle is located is determined as the first steering angle value. Then, the rear wheels of the vehicle are controlled to rotate in a first direction by the first steering angle value to control the vehicle to travel in a straight line.

[0111] The corresponding relationship between the cross slope angle and the rear wheel steering angle value can be preset. For example, a large number of experiments can be designed to control the movement of the vehicle on cross slopes of different angles, and the rear wheel steering angle values ​​that enable the vehicle to travel in a straight line are collected, thereby forming and storing the corresponding relationship between the cross slope angle and the rear wheel steering angle value.

[0112] For example, the following correspondence may be set:

[0113] When the slope angle is 1≤<2, the corresponding rear wheel turning angle is 1°;

[0114] When the slope angle is 2≤<3, the corresponding rear wheel turning angle is 2°;

[0115] When the cross slope angle is ≥3, the corresponding rear wheel turning angle is 3°;

[0116] When the slope angle is less than 1, the corresponding rear wheel turning angle value is 0.

[0117] In the above manner, when the vehicle needs to travel in a straight line on a horizontal slope, motion compensation is performed by controlling the steering direction and steering angle of the rear wheels of the vehicle to offset the impact of the slope on the vehicle and keep the vehicle traveling in a straight line.

[0118] In a possible implementation manner, steering control is performed on the front wheels and rear wheels of a vehicle to control the steering of the vehicle, which may include the following steps:

[0119] Obtain steering information of the vehicle's steering wheel;

[0120] Determining, according to the steering wheel angle value, a second steering angle value for controlling the front wheels of the vehicle and a third steering angle value for controlling the rear wheels of the vehicle;

[0121] The front wheels of the vehicle are steered according to the steering direction and the second steering angle value, and the rear wheels of the vehicle are steered according to the steering direction and the third steering angle value.

[0122] The steering information may include a steering direction and a steering wheel angle value.

[0123] The turning direction may be a first direction or a second direction, the first direction being a direction pointing to the lower side of the road where the vehicle is located, and the second direction being a direction pointing to the higher side of the road where the vehicle is located. The description of the first direction has been given in the previous text and will not be repeated here.

[0124] Optionally, the second rotation angle value may be determined by:

[0125] A front wheel angle corresponding to the steering wheel angle value is determined as a second angle value.

[0126] According to the steering wheel angle value of the vehicle, the corresponding front wheel angle, that is, the second angle value, can be calculated. For example, the above calculation can be performed by a steering sensor of the vehicle steering system.

[0127] After the second turning angle value is determined, in order to enable the vehicle to turn stably on the cross slope, that is, neither understeer nor oversteer, it is also necessary to control the rear wheels to a certain extent.

[0128] Optionally, the third rotation angle value may be determined by:

[0129] Determine a target ratio of the front wheel steering angle to the rear wheel steering angle that enables the vehicle to travel stably;

[0130] A third turning angle value corresponding to the rear wheels of the vehicle is determined based on the second turning angle value and the target ratio.

[0131] First, a target ratio of the front wheel steering angle to the rear wheel steering angle that enables the vehicle to travel stably can be determined. The target ratio can be inferred from a two-degree-of-freedom dynamics model of the rear wheel steering.

[0132] For example, the following rear-wheel steering two-degree-of-freedom dynamics model is established:

[0133]

[0134] Among them, k1 is the front wheel cornering stiffness, k2 is the rear wheel cornering stiffness, β is the center of mass side slip angle, is the sideslip angular velocity of the center of mass, ω r is the yaw angular velocity, is the yaw acceleration, u is the vehicle speed, a is the distance from the center of mass to the front axle of the vehicle, b is the distance from the center of mass to the rear axle of the vehicle, δ1 is the front wheel turning angle, δ2 is the rear wheel turning angle, m is the mass of the vehicle, I z is the moment of inertia of the vehicle around the z-axis.

[0135] Assume the target ratio δ2 / δ1 is k, and the yaw rate is a constant when the vehicle enters a steady state, that is, is 0, and the center of mass side slip angle β is 0 when the vehicle is turning in a steady state. Substituting it into the dynamic model, we can get:

[0136]

[0137] Therefore, the target ratio k can be determined according to the above formula, where l = a + b.

[0138] Furthermore, based on the second turning angle value and the target ratio, a third turning angle value corresponding to the rear wheels of the vehicle can be determined.

[0139] As mentioned above, the steering direction may be the first direction or the second direction. Accordingly, the front wheels of the vehicle are steered according to the steering direction and the second steering angle value, and the rear wheels of the vehicle are steered according to the steering direction and the third steering angle value, which may include the following steps:

[0140] If the steering direction is the first direction, control the front wheels of the vehicle to rotate by a second steering angle value toward the first direction, and control the rear wheels of the vehicle to rotate by a third steering angle value toward the first direction;

[0141] If the steering direction is the second direction, the front wheels of the vehicle are controlled to rotate by a second steering angle value toward the second direction, and the rear wheels of the vehicle are controlled to rotate by a third steering angle value toward the first direction.

[0142] If the steering direction is the first direction, it means that the vehicle will turn toward the lower side of the road surface, which will cause oversteering due to the influence of the cross slope. Therefore, the rear wheels of the vehicle can be controlled to turn the third steering angle value in the first direction to avoid oversteering, and at the same time, the front wheels are controlled by the steering wheel to turn the second steering angle value in the first direction. In this way, the vehicle can turn in the first direction on the cross slope in a manner that meets the driver's expectations.

[0143] If the steering direction is the second direction, it means that the vehicle will turn toward the high road surface, and understeer will occur due to the influence of the cross slope. Therefore, the rear wheels of the vehicle can be controlled to turn the third steering angle value in the first direction to avoid understeer, and at the same time, the front wheels are controlled by the steering wheel to turn the second steering angle value in the second direction. As a result, the vehicle can turn in the second direction on the cross slope in a manner that meets the driver's expectations.

[0144] Through the above technical solution, it is determined whether the vehicle has a tendency to roll, so as to determine whether the control of the vehicle will be affected by the cross slope. When it is determined that the vehicle has a tendency to roll, the driver's driving intention information is determined to identify whether the driver needs to steer the vehicle, and then the vehicle is controlled based on the determined driving intention information so that the vehicle's driving trajectory can meet the driving intention information. In this way, the control effect of the vehicle on the cross slope can accurately meet the driver's control, ensuring the driver's driving experience.

[0145] Figure 3 is a block diagram of a vehicle control device provided according to an embodiment of the present disclosure. Figure 3 As shown, the device 30 comprises:

[0146] A first determination module 31 is used to determine whether the vehicle has a roll tendency;

[0147] A second determination module 32 is used to determine the driving intention information of the driver if it is determined that the vehicle has a roll tendency, wherein the driving intention information is used to indicate whether the driver needs to steer the vehicle;

[0148] The control module 33 is used to control the motion of the vehicle according to the driving intention information so that the driving trajectory of the vehicle conforms to the driving intention information.

[0149] Optionally, the motion control of the vehicle includes at least steering control of rear wheels of the vehicle.

[0150] Optionally, the first determining module 31 includes:

[0151] A first determination submodule is used to determine the road surface information of the road where the vehicle is located, and the road surface information is used to indicate whether the road surface is a transverse slope;

[0152] A second determination submodule, used to determine the speed of the vehicle;

[0153] The third determination submodule is used to determine that the vehicle has a roll tendency if the road surface information indicates that the road surface on which the vehicle is located is a transverse slope and the vehicle speed is greater than a preset speed threshold.

[0154] Optionally, the device 30 further includes:

[0155] A third determination module, used for determining whether the road surface of a target road section is a transverse slope before the first determination module 31 determines whether the vehicle has a roll tendency, the target road section being the road section that the vehicle is about to enter;

[0156] The suspension adjustment module is used to increase the suspension height of the target side of the vehicle if it is determined that the road surface of the target section is a transverse slope, and the target side is the side of the vehicle close to the lower side of the road surface of the target section.

[0157] Optionally, the second determining module 32 includes:

[0158] A first acquisition submodule, used to acquire a steering wheel angle value of the vehicle;

[0159] A fourth determination submodule, configured to determine that the driver's driving intention information requires steering the vehicle if the steering wheel angle value is greater than a preset angle threshold;

[0160] The fifth determination submodule is used to determine that the driver's driving intention information does not require steering the vehicle if the steering wheel angle value is less than the preset angle threshold.

[0161] Optionally, the control module 33 includes:

[0162] A first control submodule, configured to perform steering control on the rear wheels of the vehicle to control the vehicle to travel in a straight line if the driving intention information indicates that the vehicle does not need to be steered;

[0163] The second control submodule is used to control the steering of the front wheels and the rear wheels of the vehicle if the driving intention information indicates that the vehicle needs to be turned, so as to control the steering of the vehicle.

[0164] Optionally, the first control submodule includes:

[0165] A sixth determination submodule, used to determine the transverse slope angle of the road surface on which the vehicle is located;

[0166] a seventh determination submodule, configured to determine, according to a preset correspondence between a transverse slope angle and a rear wheel steering angle value, a rear wheel steering angle value corresponding to a transverse slope angle of a road surface on which the vehicle is located, as a first steering angle value;

[0167] The third control submodule is used to control the rear wheels of the vehicle to rotate in a first direction by the first turning angle value to control the vehicle to travel in a straight line, and the first direction is the direction pointing to the lower side of the road where the vehicle is located.

[0168] Optionally, the second control submodule includes:

[0169] A second acquisition submodule is used to acquire steering information of a steering wheel of the vehicle, wherein the steering information includes a steering direction and a steering wheel angle value;

[0170] an eighth determination submodule, configured to determine, according to the steering wheel angle value, a second steering angle value for controlling the front wheels of the vehicle and a third steering angle value for controlling the rear wheels of the vehicle;

[0171] The fourth control submodule is used to control the steering of the front wheels of the vehicle according to the steering direction and the second steering angle value, and to control the steering of the rear wheels of the vehicle according to the steering direction and the third steering angle value.

[0172] Optionally, the eighth determining submodule includes:

[0173] a ninth determination submodule, configured to determine a front wheel angle corresponding to the steering wheel angle value as a second angle value;

[0174] a tenth determination submodule, for determining a target ratio of a front wheel steering angle to a rear wheel steering angle that enables the vehicle to travel stably;

[0175] An eleventh determination submodule is used to determine a third turning angle value corresponding to the rear wheels of the vehicle according to the second turning angle value and the target ratio.

[0176] Optionally, the turning direction is a first direction or a second direction, the first direction is a direction pointing to a lower side of the road surface where the vehicle is located, and the second direction is a direction pointing to a higher side of the road surface where the vehicle is located;

[0177] The fourth control submodule includes:

[0178] a fifth control submodule, configured to control the front wheels of the vehicle to rotate by the second turning angle value toward the first direction, and control the rear wheels of the vehicle to rotate by the third turning angle value toward the first direction if the steering direction is the first direction;

[0179] The sixth control submodule is used for controlling the front wheels of the vehicle to rotate by the second turning angle value in the second direction, and controlling the rear wheels of the vehicle to rotate by the third turning angle value in the first direction if the steering direction is the second direction.

[0180] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0181] Figure 4 FIG. 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. Figure 4 As shown, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0182] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned vehicle control method. The memory 702 is used to store various types of data to support the operation of the electronic device 700, and these data may include, for example, instructions for any application or method used to operate on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. 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 (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0183] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle control method.

[0184] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned vehicle control method.

[0185] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0186] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0187] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0188] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: The method comprises: Determine if the vehicle has a tendency to roll; If it is determined that the vehicle has a roll tendency, determining the driver's driving intention information, wherein the driving intention information is used to indicate whether the driver needs to steer the vehicle; The vehicle is motion controlled according to the driving intention information so that the driving trajectory of the vehicle conforms to the driving intention information.

2. The method according to claim 1, characterized in that The motion control of the vehicle at least includes steering control of rear wheels of the vehicle.

3. The method according to claim 1, characterized in that The determining whether the vehicle has a roll tendency comprises: Determining road surface information of the road where the vehicle is located, wherein the road surface information is used to indicate whether the road surface is a transverse slope; determining a speed of the vehicle; If the road surface information indicates that the road surface on which the vehicle is located is a transverse slope and the vehicle speed is greater than a preset speed threshold, it is determined that the vehicle has a roll tendency.

4. The method according to claim 1, characterized in that Before the step of determining whether the vehicle has a roll tendency, the method further includes: Determining whether a road surface of a target road section is a transverse slope, the target road section being the road section that the vehicle is about to enter; If it is determined that the road surface of the target section is a transverse slope, the suspension height of the target side of the vehicle is increased, and the target side is the side of the vehicle close to the lower side of the road surface of the target section.

5. The method according to claim 1, characterized in that The determining of the driving intention information of the driver includes: Obtaining a steering wheel angle value of the vehicle; If the steering wheel angle value is greater than a preset angle threshold, determining that the driver's driving intention information is that the vehicle needs to be turned; If the steering wheel angle value is less than the preset angle threshold, it is determined that the driver's driving intention information does not require steering the vehicle.

6. The method according to claim 1, characterized in that The step of controlling the vehicle according to the driving intention information so that the driving trajectory of the vehicle conforms to the driving intention information includes: If the driving intention information indicates that the vehicle does not need to be steered, steering the rear wheels of the vehicle to control the vehicle to travel in a straight line; If the driving intention information indicates that the vehicle needs to be turned, the front wheels and rear wheels of the vehicle are steered to control the vehicle to turn.

7. The method according to claim 6, characterized in that The method of controlling the rear wheels of the vehicle to steer the vehicle in a straight line includes: Determining the cross slope angle of the road surface on which the vehicle is located; According to a preset correspondence between a transverse slope angle and a rear wheel steering angle value, determining a rear wheel steering angle value corresponding to the transverse slope angle of the road where the vehicle is located as a first steering angle value; The rear wheels of the vehicle are controlled to rotate in a first direction by the first turning angle value to control the vehicle to travel in a straight line, wherein the first direction is a direction pointing to a lower side of a road surface where the vehicle is located.

8. The method according to claim 6, characterized in that The steering control of the front wheels and the rear wheels of the vehicle to control the steering of the vehicle comprises: Acquiring steering information of a steering wheel of the vehicle, wherein the steering information includes a steering direction and a steering wheel angle value; Determining, according to the steering wheel angle value, a second steering angle value for controlling the front wheels of the vehicle and a third steering angle value for controlling the rear wheels of the vehicle; The front wheels of the vehicle are steered according to the steering direction and the second steering angle value, and the rear wheels of the vehicle are steered according to the steering direction and the third steering angle value.

9. The method according to claim 8, characterized in that Determining, according to the steering wheel angle value, a second steering angle value for controlling the front wheels of the vehicle and a third steering angle value for controlling the rear wheels of the vehicle comprises: Determine a front wheel angle corresponding to the steering wheel angle value as a second angle value; Determine a target ratio of the front wheel steering angle to the rear wheel steering angle that enables the vehicle to travel stably; A third turning angle value corresponding to the rear wheels of the vehicle is determined based on the second turning angle value and the target ratio.

10. The method according to claim 8, characterized in that The turning direction is a first direction or a second direction, the first direction is a direction pointing to a lower side of the road where the vehicle is located, and the second direction is a direction pointing to a higher side of the road where the vehicle is located; The method of controlling the steering of the front wheels of the vehicle according to the steering direction and the second steering angle value, and controlling the steering of the rear wheels of the vehicle according to the steering direction and the third steering angle value, comprises: If the steering direction is the first direction, controlling the front wheels of the vehicle to rotate toward the first direction by the second steering angle value, and controlling the rear wheels of the vehicle to rotate toward the first direction by the third steering angle value; If the steering direction is the second direction, the front wheels of the vehicle are controlled to rotate by the second steering angle value toward the second direction, and the rear wheels of the vehicle are controlled to rotate by the third steering angle value toward the first direction.

11. A vehicle control device, characterized in that: The device comprises: A first determination module is used to determine whether the vehicle has a roll tendency; A second determination module is used to determine the driving intention information of the driver if it is determined that the vehicle has a roll tendency, wherein the driving intention information is used to indicate whether the driver needs to steer the vehicle; The control module is used to control the motion of the vehicle according to the driving intention information so that the driving trajectory of the vehicle conforms to the driving intention information.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 10 are implemented.

13. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 10.

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