Vehicle control method and device, storage medium and electronic equipment

Abstract

The present disclosure relates to a vehicle control method, device, storage medium and electronic device. The method comprises: determining whether the vehicle has a tendency to roll; if it is determined that the vehicle has a tendency to roll, determining driving intention information of the driver, the driving intention information being used to indicate whether the driver needs to turn the vehicle; and performing motion control on the vehicle according to the driving intention information, so that the driving track of the vehicle conforms to the driving intention information. In this way, the control effect of the vehicle on a cross slope can accurately conform to the control of the driver, and the driving experience of the driver is ensured.

Description

TECHNICAL FIELD

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

[0002] For a transverse slope road surface (i.e., a road surface with lateral slope), due to the action of the gravity component when the vehicle travels on the transverse slope, a large lateral acceleration is brought to the whole vehicle, which interferes with the control effect of the vehicle, and causes the vehicle to always deviate from the expected control mode indicated by the control (e.g., the travel path of the vehicle deviates from the control path), which seriously affects the driving experience of the driver. SUMMARY

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

[0004] To achieve the above-mentioned purpose, according to a first aspect of the present disclosure, a vehicle control method is provided, the method comprising:

[0005] determining whether the vehicle has a side leaning tendency;

[0006] if it is determined that the vehicle has a side leaning tendency, determining driving intention information of the driver, the driving intention information being used to indicate whether the driver needs to turn the vehicle;

[0007] controlling the motion of the vehicle according to the driving intention information, so that the travel trajectory of the vehicle conforms to the driving intention information.

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

[0009] Optionally, the determination of whether the vehicle has a side leaning tendency comprises:

[0010] determining road surface information of the road surface on which the vehicle is located, the road surface information being used to indicate whether the road surface is a transverse slope;

[0011] determining the vehicle 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 side leaning tendency.

[0013] Optionally, before the step of determining whether the vehicle has a side leaning tendency, the method further comprises:

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

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

[0016] Optionally, the determining the driving intention information of the driver comprises:

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

[0018] If the steering wheel angle value is greater than a preset angle threshold, it is determined that the driving intention information of the driver is to turn the vehicle.

[0019] If the steering wheel angle value is less than the preset angle threshold, it is determined that the driving intention information of the driver is not to turn the vehicle.

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

[0021] If the driving intention information indicates that the vehicle is not to be turned, the rear wheels of the vehicle are controlled to turn, so as to control the vehicle to travel straight;

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

[0023] Optionally, the controlling the rear wheels of the vehicle to turn, so as to control the vehicle to travel straight, comprises:

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

[0025] According to a preset corresponding relationship between a cross slope angle and a rear wheel angle value, a rear wheel angle value corresponding to the cross slope angle of the road surface on which the vehicle is located is determined as a first angle value;

[0026] The rear wheels of the vehicle are controlled to turn to the first direction by the first angle value, so as to control the vehicle to travel straight, the first direction being a direction pointing to a low side of the road surface on which the vehicle is located.

[0027] Optionally, the controlling the front wheels and the rear wheels of the vehicle to turn, so as to control the vehicle to turn, comprises:

[0028] Obtaining steering information of the steering wheel of the vehicle, the steering information comprising a steering direction and a steering wheel angle value;

[0029] According to the steering wheel angle value, a second angle value for controlling the front wheels of the vehicle and a third angle value for controlling the rear wheels of the vehicle are determined.

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

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

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

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

[0034] determining the third steering angle value corresponding to the rear wheels of the vehicle according to the second steering angle value and the target ratio.

[0035] Optionally, the steering direction is a first direction or a second direction, the first direction is a direction pointing to a low side of a road surface on which the vehicle is located, and the second direction is a direction pointing to a high side of the road surface on which the vehicle is located.

[0036] The controlling of the front wheels of the vehicle according to the steering direction and the second steering angle value, and the controlling 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 turn in the first direction by the second steering angle value, and controlling the rear wheels of the vehicle to turn in the first direction by the third steering angle value;

[0038] if the steering direction is the second direction, controlling the front wheels of the vehicle to turn in the second direction by the second steering angle value, and controlling the rear wheels of the vehicle to turn in the first direction by the third steering angle value.

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

[0040] a first determining module configured to determine whether the vehicle has a tendency to roll;

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

[0042] a control module configured to, according to the driving intention information, perform motion control on the vehicle so that a travel trajectory of the vehicle conforms to the driving intention information.

[0043] According to a third aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the first aspect of the present disclosure.

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

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

[0046] a processor configured to execute the computer program stored in the memory to implement the steps of the method of the first aspect of the present disclosure.

[0047] By the above technical solution, it is determined whether the vehicle has a tendency to roll, to determine whether the control of the vehicle is affected by the cross slope, in the case where it is determined that the vehicle has a tendency to roll, the driving intention information of the driver is determined to identify whether the driver needs to turn the vehicle, and then the vehicle is controlled based on the determined driving intention information, so that the driving trajectory of the vehicle can conform to the driving intention information. In this way, the control effect of the vehicle on the cross slope can be accurately consistent with the control of the driver, and the driving experience of the driver is guaranteed.

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

[0049] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, which together with the following detailed description, serve to explain the present disclosure. In the drawings:

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

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

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

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

[0054] The specific embodiments described hereinbelow are intended to be illustrative of the present disclosure and are not intended to limit the scope of the present disclosure. It should be understood that the specific embodiments described hereinbelow are merely illustrative of the present disclosure and are not intended to limit the scope of the present disclosure.

[0055] It should be noted that all the actions of obtaining signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection regulations 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 A flowchart of a vehicle control method is provided according to an embodiment of the present disclosure. As shown in the figure, the method can include steps 11-13. Figure 1

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

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

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

[0060] In one possible implementation, step 11 can include the following steps:

[0061] Determine the road surface information of the road surface on which the vehicle is located, the road surface information being used to indicate whether the road surface is transverse sloping;

[0062] Determine the vehicle speed of the vehicle;

[0063] If the road surface information indicates that the road surface on which the vehicle is located is transverse sloping, 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 ADAS (Advanced Driving Assistance System) of the vehicle can be used to determine whether the road surface on which the vehicle is located is transverse sloping, to determine the road surface information of the road surface on which the vehicle is located. The ADAS can determine whether the road surface is transverse sloping by collecting images, radar information, etc. of the surrounding environment of the vehicle, as the road surface information. For example, in the case where the vehicle travels forward, the ADAS can collect images of the road surface in front of the vehicle, to determine the road surface information of the road section into which the vehicle is about to enter.

[0065] Optionally, the vehicle speed of the vehicle can be obtained by a vehicle speed sensor arranged on the vehicle, to represent the current travel speed of the vehicle.

[0066] ​​If the determined road surface information indicates that the road surface where the vehicle is located is a cross slope, and the vehicle speed is greater than the preset speed threshold, it indicates that the vehicle is driving on the cross slope at a relatively high speed, and the lateral control is easily affected, and thus 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 surface where the vehicle is located and determining the vehicle speed, and both can be determined at the same time or in sequence.

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

[0070] If the road surface where the vehicle is located is a cross slope, and the cross 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 formula (1), θ is the cross slope angle. Figure 2 In formula (1), θ is the cross slope angle.

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

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

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

[0075] Optionally, before step 11 is performed, the method provided by the present disclosure can further include the following steps:

[0076] Determining 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 road section is a cross slope, increasing the suspension height of the target side of the vehicle.

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

[0079] Optionally, whether the road surface of the target road section is a cross slope can be determined by ADAS.

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

[0081] The target side is the side of the road surface where the vehicle is closest to the target road segment. Figure 2 For example, the vehicle is driving in Figure 2 On the transverse slope shown, the P1 side of the vehicle body is higher than the P2 side, and the vehicle body has a lateral tilt. At this time, the P2 side can be used as the target, and the suspension height on the P2 side of the vehicle can be increased to reduce the tilt angle of the vehicle body and make it closer to a horizontal state, so as to mitigate the body tilt caused by the transverse slope.

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

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

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

[0085] Among them, driving intention information is used to indicate to the driver whether the vehicle needs to be steered.

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

[0087] Get the vehicle's steering wheel angle value;

[0088] If the steering wheel angle value is greater than the preset angle threshold, the driver's driving intention is determined to be that the vehicle needs to be steered.

[0089] If the steering wheel angle is less than the preset angle threshold, the driver's driving intention is determined to be that no steering is required.

[0090] The driver's driving intention information, that is, whether the driver needs to steer the vehicle, can be determined by recognizing 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 the driver is turning the steering wheel and intends to turn. If the obtained steering wheel angle value is less than the preset angle threshold, it means the driver is not turning the steering wheel and no turning is required.

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

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

[0094] For example, in an automatic driving or assisted driving scenario, the driver can issue a control instruction to the vehicle through voice information, such as voice control of vehicle steering, based on which the driving intention information can be determined by identifying whether the vehicle receives the steering instruction (or the control instruction for indicating steering).

[0095] In step 13, the vehicle is subjected to motion control according to the driving intention information, so that the driving trajectory of the vehicle conforms to the driving intention information.

[0096] Optionally, the motion control of the vehicle can at least include steering control of the rear wheels of the vehicle, so that the driving trajectory of the vehicle can be controlled through the steering control of the rear wheels of the vehicle.

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

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

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

[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 to travel in a straight line on the cross slope, and therefore, the motion of the vehicle needs to be compensated according to the cross slope to offset the side inclination effect caused by the cross slope. Thus, the rear wheels of the vehicle need to be subjected to steering control to control the vehicle to travel 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 cross slope, and if the driver needs to steer to the lower side of the cross slope, the steering will be excessive due to the action of the gravity component, and if the driver needs to steer to the higher side of the cross slope, the steering will be insufficient due to the action of the gravity component. Therefore, the motion of the vehicle needs to be controlled according to the cross slope to avoid excessive steering or insufficient steering of the vehicle. Thus, the front wheels and the rear wheels of the vehicle need to be subjected to steering control to control the vehicle to travel in a steered manner 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 maintain straight travel on the cross slope without deviation through the motion control of the vehicle. When the driving intention information indicates that the vehicle needs to be steered, the degree of steering of the vehicle can conform to the needs of the driver through the motion control of the vehicle, avoiding the cases of insufficient steering or excessive steering.

[0103] In one possible implementation, steering control of the rear wheels of the vehicle to control the vehicle's straight-line travel may include the following steps:

[0104] Determine the cross slope angle of the road surface where the vehicle is located;

[0105] Based on the preset correspondence between the cross slope angle and the rear wheel steering angle, the rear wheel steering angle value corresponding to the cross slope angle of the road surface where the vehicle is located is determined and used as the first steering angle value.

[0106] Control the rear wheels of the vehicle to turn a first angle value in a first direction to control the vehicle to travel in a straight line.

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

[0108] When it is necessary to control the vehicle to travel in a straight line, due to the influence of the cross slope, the vehicle tends to drift towards the lower side (i.e., Figure 2 As shown in the diagram (P2 side), there is a tendency for the vehicle to slide. To counteract this tendency, the vehicle's motion needs to be compensated, so that the vehicle is subjected to a force towards the higher side. This requires controlling the rear wheels of the vehicle to steer towards the lower side of the road surface where the vehicle is located, that is, controlling the vehicle's wheels to steer in the first direction. At this time, the front wheels need to maintain straight-line travel and therefore do not need to steer.

[0109] Given the direction of the vehicle's rear wheel steering, in order to ensure that the steering control of the rear wheel can just offset the effect of the cross slope, maintain straight driving, and prevent slippage, it is also necessary to determine the angle of rotation.

[0110] Therefore, the cross slope angle of the road surface where the vehicle is located (i.e., Figure 2 Using the preset relationship between the cross slope angle and the rear wheel steering angle (θ), the rear wheel steering angle value corresponding to the cross slope angle of the road surface 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 the first direction by the first steering angle value to control the vehicle to travel in a straight line.

[0111] The correspondence between the cross slope angle and the rear wheel steering angle can be preset. For example, by designing a large number of experiments, controlling the vehicle's movement on cross slopes of different angles, and collecting the rear wheel steering angle values ​​that enable the vehicle to travel in a straight line, the correspondence between the cross slope angle and the rear wheel steering angle values ​​can be established and stored.

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

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

[0114] 2≤cross-camber angle < 3, corresponding to a rear wheel turning angle value of 2°;

[0115] cross-camber angle ≥ 3, corresponding to a rear wheel turning angle value of 3°;

[0116] cross-camber angle < 1, corresponding to a rear wheel turning angle value of 0.

[0117] In this way, when the vehicle needs to travel straight on a cross-camber, the turning direction and turning angle of the rear wheels of the vehicle are controlled to compensate for the influence of the slope on the vehicle, so that the vehicle can travel straight.

[0118] In one possible implementation, the step of controlling the front wheels and the rear wheels of the vehicle to control the vehicle to turn can include the following steps:

[0119] obtaining turning information of a steering wheel of the vehicle;

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

[0121] controlling the front wheels of the vehicle according to the turning direction and the second turning angle value, and controlling the rear wheels of the vehicle according to the turning direction and the third turning angle value.

[0122] The turning information can include the turning direction and the steering wheel turning angle value.

[0123] The turning direction can be a first direction or a second direction, the first direction being a direction pointing to the low side of the road surface on which the vehicle is located, and the second direction being a direction pointing to the high side of the road surface on which the vehicle is located. The description of the first direction is given above and will not be repeated here.

[0124] Optionally, the second turning angle value can be determined in the following way:

[0125] determining the front wheel turning angle corresponding to the steering wheel turning angle value as the second turning angle value.

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

[0127] After the second turning angle value is determined, the rear wheels also need to be controlled to enable the vehicle to turn stably on the cross-camber, i.e. neither understeer nor oversteer.

[0128] Optionally, the third turning angle value can be determined in the following way:

[0129] determining a target ratio of the front wheel turning angle to the rear wheel turning angle that enables the vehicle to travel stably.

[0130] According to the second turning angle value and the target ratio value, a third turning angle value corresponding to the rear wheels of the vehicle is determined.

[0131] Firstly, a target ratio value of the front wheel turning angle and the rear wheel turning angle that can enable the vehicle to travel stably can be determined. The target ratio value can be deduced by a rear wheel steering two-degree-of-freedom dynamics model.

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

[0133]

[0134] where k1 is the front wheel cornering stiffness, k2 is the rear wheel cornering stiffness, β is the mass center cornering angle, is the mass center cornering angle velocity, ω r is the yaw rate, is the yaw acceleration, u is the vehicle speed, a is the distance from the mass center to the front axle of the vehicle, b is the distance from the mass center 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 about the z axis.

[0135] Let the target ratio value δ2 / δ1 be k, and the yaw rate be a constant value when the vehicle enters a steady state, i.e. is 0, and the mass center cornering angle β is 0 when the vehicle is in a steady state turning, the dynamics model can be obtained as follows:

[0136]

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

[0138] Further, according to the second turning angle value and the target ratio value, a third turning angle value corresponding to the rear wheels of the vehicle is determined.

[0139] As described above, the steering direction can be the first direction or the second direction. Accordingly, the steering control of the front wheels of the vehicle according to the steering direction and the second turning angle value, and the steering control of the rear wheels of the vehicle according to the steering direction and the third turning angle value can include the following steps:

[0140] If the steering direction is the first direction, the front wheels of the vehicle are controlled to turn in the first direction by the second turning angle value, and the rear wheels of the vehicle are controlled to turn in the first direction by the third turning angle value.

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

[0142] If the steering direction is the first direction, it indicates that the vehicle will steer to the low side of the road surface, and the influence of the cross slope will cause oversteering, so the third steering angle value of the rear wheel of the vehicle can be controlled to steer to the first direction to avoid oversteering, and the second steering angle value of the front wheel is controlled to steer to the first direction by the steering wheel. Thus, the vehicle can steer to the first direction on the cross slope in a manner consistent with the driver's expectation.

[0143] If the steering direction is the second direction, it indicates that the vehicle will steer to the high side of the road surface, and the influence of the cross slope will cause understeering, so the third steering angle value of the rear wheel of the vehicle can be controlled to steer to the first direction to avoid understeering, and the second steering angle value of the front wheel is controlled to steer to the second direction by the steering wheel. Thus, the vehicle can steer to the second direction on the cross slope in a manner consistent with the driver's expectation.

[0144] By the above technical solution, it is determined whether the vehicle has a tendency to roll to one side to determine whether the control of the vehicle will be affected by the cross slope, and in the case where it is determined that the vehicle has a tendency to roll to one side, the driving intention information of the driver 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 to make the driving trajectory of the vehicle consistent with the driving intention information. In this way, the control effect of the vehicle on the cross slope can be accurately consistent with the control of the driver, and the driving experience of the driver is guaranteed.

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

[0146] A first determination module 31 is configured to determine whether the vehicle has a tendency to roll to one side.

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

[0148] A control module 33 is configured to control the motion of the vehicle according to the driving intention information, so that the driving trajectory of the vehicle is consistent with the driving intention information.

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

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

[0151] A first determination sub-module is configured to determine road surface information of the road surface on which the vehicle is located, the road surface information being used to indicate whether the road surface is a cross slope.

[0152] a second determining sub-module, configured to determine a vehicle speed of the vehicle;

[0153] a third determining sub-module, configured to determine that the vehicle has a tendency of rolling if the road surface information indicates that the road surface where the vehicle is located is a cross slope and the vehicle speed is greater than a preset speed threshold.

[0154] Optionally, the device 30 further comprises:

[0155] a third determining module, configured to determine whether the road surface of a target road section is a cross slope before the first determining module 31 determines whether the vehicle has a tendency of rolling, the target road section being a road section where the vehicle is about to enter;

[0156] a suspension adjusting module, configured to increase the suspension height of a target side of the vehicle if it is determined that the road surface of the target road section is a cross slope, the target side being a side of the vehicle close to the low side of the road surface of the target road section.

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

[0158] a first obtaining sub-module, configured to obtain a steering wheel angle value of the vehicle;

[0159] a fourth determining sub-module, configured to determine that the driving intention information of the driver is to turn the vehicle if the steering wheel angle value is greater than a preset angle threshold;

[0160] a fifth determining sub-module, configured to determine that the driving intention information of the driver is not to turn the vehicle if the steering wheel angle value is less than the preset angle threshold.

[0161] Optionally, the control module 33 comprises:

[0162] a first control sub-module, configured to control the rear wheels of the vehicle to perform steering control to control the vehicle to travel in a straight line if the driving intention information indicates that the vehicle is not to be turned;

[0163] a second control sub-module, configured to control the front wheels and the rear wheels of the vehicle to perform steering control to control the vehicle to turn if the driving intention information indicates that the vehicle is to be turned.

[0164] Optionally, the first control sub-module comprises:

[0165] a sixth determining sub-module, configured to determine a cross slope angle of the road surface where the vehicle is located;

[0166] a seventh determining sub-module, configured to determine, according to a preset corresponding relationship between a cross slope angle and a rear wheel angle value, a rear wheel angle value corresponding to the cross slope angle of the road surface where the vehicle is located as a first angle value;

[0167] a third control submodule, configured to control the rear wheel of the vehicle to rotate to the first direction by the first rotation angle value, so as to control the vehicle to travel in a straight line, the first direction being a direction pointing to a low side of a road surface on which the vehicle is located.

[0168] Optionally, the second control submodule comprises:

[0169] a second acquisition submodule, configured to acquire steering information of a steering wheel of the vehicle, the steering information comprising a steering direction and a steering wheel rotation angle value;

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

[0171] a fourth control submodule, configured to perform steering control on the front wheel of the vehicle according to the steering direction and the second rotation angle value, and perform steering control on the rear wheel of the vehicle according to the steering direction and the third rotation angle value.

[0172] Optionally, the eighth determination submodule comprises:

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

[0174] a tenth determination submodule, configured to determine a target ratio of the front wheel rotation angle to the rear wheel rotation angle that enables the vehicle to travel stably;

[0175] an eleventh determination submodule, configured to determine, according to the second rotation angle value and the target ratio, the third rotation angle value corresponding to the rear wheel of the vehicle.

[0176] Optionally, the steering direction is a first direction or a second direction, the first direction being a direction pointing to a low side of a road surface on which the vehicle is located, and the second direction being a direction pointing to a high side of the road surface on which the vehicle is located.

[0177] the fourth control submodule comprises:

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

[0179] a sixth control submodule, configured to, if the steering direction is the second direction, control the front wheel of the vehicle to rotate to the second direction by the second rotation angle value, and control the rear wheel of the vehicle to rotate to the first direction by the third rotation angle value.

[0180] With regard to the apparatus in the above-described embodiments, a specific manner in which each module performs an operation has been described in detail in the embodiments related to the method, and thus will not be described in detail here.

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

[0182] ​The processor 701 is configured to control overall operations of the electronic device 700 to complete all or part of the steps of the vehicle control method described above. The memory 702 is configured to store various types of data to support operations of the electronic device 700, which can include, for example, instructions for operating any application or method on the electronic device 700, and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk. The multimedia component 703 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 702 or transmitted through the communication component 705. The audio component further includes at least one speaker configured to output audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 705 is configured to perform wired or wireless communication between the electronic device 700 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the communication component 705 can include, for example, a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0183] In an exemplary embodiment, the electronic device 700 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the vehicle control method described above.

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

[0185] In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable apparatus, the computer program having code portions for performing the vehicle control method described above when executed by the programmable apparatus.

[0186] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above-described embodiments. Various simple modifications can be made to the technical solutions of the present disclosure within the technical concept of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0187] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the present disclosure.

[0188] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, it should also be considered as disclosed by the present disclosure.

Claims

1. A vehicle control method characterized by, The method comprises: determining whether the vehicle has a tendency to roll; if it is determined that the vehicle has a tendency to roll, determining driving intention information of the driver, the driving intention information being used to indicate whether the driver needs to turn the vehicle; controlling the motion of the vehicle according to the driving intention information, so that the driving track of the vehicle conforms to the driving intention information; wherein the controlling the motion of the vehicle according to the driving intention information, so that the driving track of the vehicle conforms to the driving intention information, comprises: if the driving intention information indicates that the vehicle needs to be turned, controlling the front wheels and the rear wheels of the vehicle to turn, so as to control the vehicle to turn; the controlling the front wheels and the rear wheels of the vehicle to turn, so as to control the vehicle to turn, comprises: obtaining steering information of the steering wheel of the vehicle, the steering information comprising a steering direction and a steering wheel angle value; determining a second angle value for controlling the front wheels of the vehicle and a third angle value for controlling the rear wheels of the vehicle according to the steering wheel angle value; controlling the front wheels of the vehicle according to the steering direction and the second angle value, and controlling the rear wheels of the vehicle according to the steering direction and the third angle value.

2. The method of claim 1, wherein, The controlling the motion of the vehicle at least comprises controlling the turning of the rear wheels of the vehicle.

3. The method of claim 1, wherein, The determining whether the vehicle has a tendency to roll comprises: determining road surface information of the road surface on which the vehicle is located, the road surface information being used to indicate whether the road surface is a cross slope; determining the speed of the vehicle; if the road surface information indicates that the road surface on which the vehicle is located is a cross slope and the speed of the vehicle is greater than a preset speed threshold, determining that the vehicle has a tendency to roll.

4. The method of claim 1, wherein, Before the step of determining whether the vehicle has a tendency to roll, the method further comprises: determining whether the road surface of a target road section is a cross slope, the target road section being a road section into which the vehicle is about to enter; if it is determined that the road surface of the target road section is a cross slope, increasing the suspension height of the target side of the vehicle, the target side being a side of the vehicle close to the low side of the road surface of the target road section.

5. The method of claim 1, wherein, The determining the driving intention information of the driver comprises: obtaining the steering wheel angle value of the vehicle; if the steering wheel angle value is greater than a preset angle threshold, determining that the driving intention information of the driver is that the vehicle needs to be turned; if the steering wheel angle value is less than the preset angle threshold, determining that the driving intention information of the driver is that the vehicle does not need to be turned.

6. The method of claim 1, wherein, The controlling the motion of the vehicle according to the driving intention information, so that the driving track of the vehicle conforms to the driving intention information, comprises: if the driving intention information indicates that the vehicle does not need to be turned, controlling the rear wheels of the vehicle to turn, so as to control the vehicle to travel in a straight line.

7. The method of claim 6, wherein, The controlling the rear wheels of the vehicle to turn, so as to control the vehicle to travel in a straight line, comprises: determining the cross slope angle of the road surface on which the vehicle is located; determining a rear wheel angle value corresponding to the cross slope angle of the road surface on which the vehicle is located as a first angle value according to a preset correspondence between cross slope angles and rear wheel angle values. The rear wheel of the vehicle is controlled to rotate in the first direction by the first rotation angle value, the first direction being a direction pointing to a low side of a road surface on which the vehicle is located.

8. The method of claim 1, wherein, The second rotation angle value for controlling the front wheel of the vehicle and the third rotation angle value for controlling the rear wheel of the vehicle are determined according to the steering wheel rotation angle value, including: A front wheel rotation angle corresponding to the steering wheel rotation angle value is determined as the second rotation angle value; A target ratio of the front wheel rotation angle to the rear wheel rotation angle capable of enabling the vehicle to travel stably is determined; The third rotation angle value corresponding to the rear wheel of the vehicle is determined according to the second rotation angle value and the target ratio.

9. The method of claim 1, wherein, The steering direction is the first direction or the second direction, the first direction being a direction pointing to a low side of a road surface on which the vehicle is located, and the second direction being a direction pointing to a high side of the road surface on which the vehicle is located; The front wheel of the vehicle is controlled to steer according to the steering direction and the second rotation angle value, and the rear wheel of the vehicle is controlled to steer according to the steering direction and the third rotation angle value, including: If the steering direction is the first direction, the front wheel of the vehicle is controlled to rotate in the first direction by the second rotation angle value, and the rear wheel of the vehicle is controlled to rotate in the first direction by the third rotation angle value; If the steering direction is the second direction, the front wheel of the vehicle is controlled to rotate in the second direction by the second rotation angle value, and the rear wheel of the vehicle is controlled to rotate in the first direction by the third rotation angle value.

10. A vehicle control device characterized by comprising: The device includes: A first determination module configured to determine whether the vehicle has a tendency to roll; A second determination module configured to determine driver driving intention information if it is determined that the vehicle has a tendency to roll, the driving intention information being used to indicate whether the driver needs to steer the vehicle; A control module configured to control the motion of the vehicle according to the driving intention information, so that the driving track of the vehicle conforms to the driving intention information; The control module is configured to control the motion of the vehicle according to the driving intention information, so that the driving track of the vehicle conforms to the driving intention information, including: If the driving intention information indicates that the vehicle needs to be steered, the front wheel and the rear wheel of the vehicle are controlled to steer, so that the vehicle travels in a steering manner; The front wheel and the rear wheel of the vehicle are controlled to steer, so that the vehicle travels in a steering manner, including: Obtaining steering information of a steering wheel of the vehicle, the steering information including a steering direction and a steering wheel rotation angle value; The second rotation angle value for controlling the front wheel of the vehicle and the third rotation angle value for controlling the rear wheel of the vehicle are determined according to the steering wheel rotation angle value; The front wheel of the vehicle is controlled to steer according to the steering direction and the second rotation angle value, and the rear wheel of the vehicle is controlled to steer according to the steering direction and the third rotation angle value.

11. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by a processor to implement the steps of the method of any one of claims 1-9.

12. An electronic device, comprising: Including: A memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of any of claims 1-9.

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