Curve driving control method and control system, storage medium and electronic equipment

Abstract

The invention discloses a curve driving control method and system, a storage medium and electronic equipment. The curve driving control method comprises the steps that a voice instruction is received; collecting vehicle information; determining a deviation distance between a vehicle center line and a lane center line based on the vehicle information, and determining an adjustment strategy of a vehicle direction based on the deviation distance; judging whether the voice instruction is correct or not according to the adjustment strategy; if yes, the adjusting angle of the vehicle direction is determined according to the deviation distance, and curve control is conducted based on the adjusting angle; the voice instruction is received according to the voice of a driver, different adjustment strategies are determined, the problem of misoperation is avoided, the instruction only needs to be sent once during turning, self-adaptive adjustment is carried out, and after one-time vehicle direction adjustment is completed, the system can judge whether a current vehicle is in the middle or not in real time and then decide whether next-time adjustment continues to be executed or not, so that the driving safety is improved. And the adaptability and the stability of the system are improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile assisted driving, and in particular to a control method, a control system, a storage medium and an electronic device for driving on a curved road. Background Art

[0002] In the field of autonomous driving or assisted driving, the centering control of vehicles when driving on large curvature curves is an important research direction. Traditional curve centering control methods are usually based on data collected by sensors and preset control algorithms, such as PID control, MPC control or LQR control. These algorithms are designed based on certain assumptions and typical working conditions, but the actual driving environment is complex and changeable. For example, the curvature of road curves in different regions varies, from relatively gentle curves to extremely sharp large curvature curves. Once the preset control algorithm parameters are determined, it is difficult to flexibly adjust them in the face of these complex changes, resulting in insufficient adaptability. Since the preset control algorithm cannot be adjusted in real time according to specific curve characteristics, such as curvature change rate, curve length, etc., when driving on large curvature curves, the vehicle may understeer or oversteer. The fixed control algorithm cannot flexibly respond to the driving styles and curve conditions of different drivers and make adjustments. Summary of the invention

[0003] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a control method, control system, storage medium and electronic device for driving on a curve.

[0004] In order to achieve the above object, the present invention adopts the following technical solution: A control method for driving on a curve, comprising:

[0005] Receive voice commands;

[0006] Collect vehicle information;

[0007] Determine a deviation distance between a center line of the vehicle and a center line of the lane based on the vehicle information, and determine an adjustment strategy for the direction of the vehicle based on the deviation distance;

[0008] According to the adjustment strategy, determining whether the voice instruction is correct;

[0009] If correct, determining the adjustment angle of the vehicle direction according to the deviation distance;

[0010] Curve control is performed based on the adjustment angle.

[0011] As a further description of the above technical solution: determining the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information, including

[0012] Determine whether the vehicle is traveling on a curve;

[0013] The determination method includes:

[0014] According to the vehicle information, a distance function between the vehicle and the lane line is obtained by fitting to obtain a curve radius;

[0015] A radius threshold is set, and if the curve radius is smaller than the radius threshold, it is determined that the vehicle is traveling on a curve.

[0016] As a further description of the above technical solution: the adjustment strategy includes:

[0017] When the deviation distance is a positive value, the vehicle moves in the direction of the lane line away from the marked direction;

[0018] When the deviation distance is a negative value, the vehicle moves toward the lane line in the direction of the mark.

[0019] As a further description of the above technical solution: determining the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information includes:

[0020] The direction of the lane line on either side is set as the marked direction, and according to the distance function, the difference between half of the sum of the distances between the lane lines on both sides and the distance between the vehicle and the lane line in the marked direction is calculated to obtain the deviation distance.

[0021] As a further description of the above technical solution: determining the adjustment angle of the vehicle direction according to the deviation distance includes:

[0022] Set the correction angle threshold;

[0023] determining a correction value of the vehicle direction according to the deviation distance and judging whether the correction value is less than the correction angle threshold;

[0024] If it is less than the correction angle threshold, the adjustment angle is the correction value;

[0025] If it is not less than the correction angle threshold, the adjustment angle is the correction angle threshold.

[0026] As a further description of the above technical solution: judging whether the voice instruction is correct according to the adjustment strategy includes:

[0027] identifying an adjustment direction of the voice command;

[0028] Determining whether the adjustment direction of the voice command is consistent with the vehicle direction of the adjustment strategy;

[0029] If they are consistent, the voice instruction is correct;

[0030] If they are inconsistent, the voice instruction is incorrect.

[0031] As a further description of the above technical solution: the adjustment angle of the vehicle direction is determined according to the deviation distance, and then,

[0032] Determining again the deviation distance between the center line of the vehicle and the center line of the lane, and detecting whether the deviation distance is zero;

[0033] If it is not zero, determining the adjustment angle of the vehicle direction according to the deviation distance;

[0034] If zero, the vehicle direction is maintained.

[0035] Also included is a control system, which is applicable to the control method described in any one of the above technical solutions, including:

[0036] The receiving module generates voice commands through the voice recognition algorithm and sends them;

[0037] The monitoring module monitors the positions of the vehicle centerline, lane centerline and lane line to obtain position information;

[0038] A judgment module receives the voice command, determines an adjustment strategy according to the position information, and judges whether the voice command is correct according to the adjustment strategy, and sends adjustment information if it is correct, and sends feedback information if it is incorrect;

[0039] An execution module receives the adjustment information and adjusts the vehicle direction of the vehicle;

[0040] The feedback module receives the feedback information and provides feedback reminders.

[0041] It also includes a computer-readable storage medium storing a computer program for running the control method, wherein the computer program enables a computer to execute the control method as described in any one of the above technical solutions.

[0042] Also included is an electronic device, comprising:

[0043] one or more processors; memory; and

[0044] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a control method for executing any one of the above technical solutions.

[0045] The above technical solution has the following advantages or beneficial effects:

[0046] The system receives voice commands based on the driver's voice and determines different adjustment strategies to avoid misoperation problems. When turning, only one command needs to be sent for adaptive adjustment. After completing a vehicle direction adjustment, the system can determine in real time whether the current vehicle is centered, and then decide whether to continue with the next adjustment, which improves the adaptability and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flow chart of the control method proposed by the present invention;

[0048] Figure 2 A schematic diagram of the vehicle curve driving control in the present invention;

[0049] Figure 3 A model diagram of the corresponding relationship between the deviation distance and the adjustment angle value in the present invention;

[0050] Figure 4 This is a schematic diagram of the structure of the control system proposed by the present invention.

[0051] Legend:

[0052] 1. Receiving module; 2. Monitoring module; 3. Judgment module; 4. Execution module; 5. Feedback module. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The curve centering control method is usually based on the data collected by the sensor and the preset control algorithm, which are commonly PID control, MPC control or LQR control. These algorithms are designed based on certain assumptions and typical working conditions, but the actual driving environment is complex and changeable. For example, the curvature of road curves in different regions varies, which may range from relatively gentle curves to extremely sharp curves with large curvature. Once the preset control algorithm parameters are determined, it is difficult to flexibly adjust them in the face of these complex changes, resulting in insufficient adaptability. Since the preset control algorithm cannot be adjusted in real time according to specific curve characteristics, such as the curvature change rate, curve length, etc., when driving on a curve with large curvature, the vehicle may understeer or oversteer. The fixed control algorithm cannot flexibly respond to the driving styles and curve conditions of different drivers and make adjustments.

[0055] An embodiment of the present invention provides a method for controlling driving on a curve, comprising: receiving a voice command;

[0056] Collect vehicle information;

[0057] Determine the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information, and determine the adjustment strategy of the vehicle direction based on the deviation distance;

[0058] According to the adjustment strategy, determine whether the voice command is correct;

[0059] If it is correct, the adjustment angle of the vehicle direction is determined according to the deviation distance;

[0060] Curve control is performed based on the adjustment angle.

[0061] Reference Figure 1 , the specific control methods are as follows:

[0062] S1: Identification through voice recognition algorithm, identity verification and receiving voice commands;

[0063] In this embodiment, the speech recognition algorithm can analyze the acoustic features of the driver when issuing voice commands, such as pitch, timbre, speaking speed, intonation, and pronunciation habits, and compare them with the driver's voice samples pre-stored in the vehicle system. These voice samples are recorded when the driver first uses this function or in the system setting stage. Through pattern matching and feature extraction technology, it is determined whether the current voice is an authorized driver, thereby completing the identity verification task, and converting the driver's speech content into voice commands that the computer can understand and process. The speech recognition algorithm uses its built-in acoustic model and language model to process the voice signal, determine the command text content, and receive it as a voice command.

[0064] Through voice recognition technology, the voice commands issued by the driver are identified, including those for adjusting direction or adjustment amplitude. When the driver issues a voice command to center left or center right, the cockpit controller (DHU) receives and verifies the driver's identity, and then converts it into a bus signal and sends it to the automatic driving controller (ADCU). When the automatic driving controller receives the signal, it makes a judgment based on the current position of the vehicle.

[0065] S2: Determine the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information, and determine the adjustment strategy of the vehicle direction based on the deviation distance;

[0066] In this embodiment, the vehicle itself determines the position of the center line through sensors. For example, the rotation speed information of each wheel can be obtained by installing wheel speed sensors near the front and rear axles of the vehicle. Combined with the geometric parameters such as the wheelbase and track width of the vehicle, the real-time position and posture of the vehicle are calculated using a kinematic model to determine the position of the vehicle's center line. In addition, the camera on the vehicle (such as a front-view camera, a rear-view camera, etc.) can also image the surrounding environment of the vehicle, analyze the contour features of the vehicle itself through image recognition technology, and further assist in determining the position of the vehicle's center line.

[0067] The acquisition of the centerline position of the lane mainly relies on the on-board vision system, which is identified by the front-view camera and image processing algorithm. The front-view camera will capture and identify the road image in front of the vehicle, and then use the image processing algorithm to analyze these images. For example, the edge detection algorithm can identify the edge lines of the road, and then combine the geometric shape model of the lane, such as straight lanes, curved lanes, etc., and the identification of road signs, such as lane dividing lines, to determine the position of the centerline of the lane.

[0068] The deviation distance is calculated based on the center line of the vehicle and the center line of the lane. After the deviation distance is calculated, the direction in which the vehicle needs to turn is determined based on the direction of the deviation. If the center line of the vehicle is on the left side of the center line of the lane, the vehicle may need to turn right to reduce the deviation; conversely, if the center line of the vehicle is on the right side of the center line of the lane, the vehicle may need to turn left to ensure that the vehicle can be adjusted in the direction that reduces the deviation; if the deviation distance is small and the curvature of the curve is relatively small, only a slight steering adjustment of the vehicle direction is required; if the deviation distance is large, or the curvature of the curve is large (such as a large curvature curve), then a larger steering adjustment is required.

[0069] S3: According to the adjustment strategy, determine whether the voice command is correct. If correct, control the vehicle to adjust according to the adjustment angle; detect whether the deviation distance is zero. If not, continue to adjust the vehicle direction.

[0070] In this embodiment, the voice command is compared with the adjustment strategy to determine whether the voice command is correct. If correct, the vehicle is controlled to drive in the center. The system will establish a corresponding relationship model between the deviation distance and the required adjustment angle based on the characteristics of the vehicle, such as the steering system characteristics of the vehicle, the steering response at different vehicle speeds, common conditions of driving on curves, and reasonable adjustment ranges corresponding to curves with different curvatures. The system sets the angle value that needs to be adjusted for each deviation distance. In this embodiment, each deviation of 0.7 cm corresponds to an adjustment of 5°, so as to adjust the vehicle direction.

[0071] Determining a deviation distance between a center line of the vehicle and a center line of the lane based on the vehicle information, including determining whether the vehicle is traveling on a curve;

[0072] The determination method includes:

[0073] According to the vehicle information, a distance function between the vehicle and the lane line is obtained by fitting to obtain a curve radius;

[0074] A radius threshold is set, and if the curve radius is smaller than the radius threshold, it is determined that the vehicle is traveling on a curve.

[0075] In this embodiment, the environmental information and position information of the vehicle are collected in real time through sensors on the vehicle, such as cameras, millimeter wave radars, laser radars, etc., including road curvature, vehicle position, speed, etc. In order to analyze the relative relationship between the vehicle and the lane line, it is necessary to establish a suitable coordinate system. The lane line generally has a certain geometric shape, and the common ones are straight lines, circular curves, clothoid curves, etc. or their combination. The function of the distance between the vehicle and the lane line is fitted by combining the position parameters (coordinates and posture information) and motion parameters (vehicle speed, acceleration, etc.) of the vehicle.

[0076] A double helix curve model is established based on the lane lines of the curve, and the parameters a, b, c and d1 of the left and right lane lines detected by the camera are fitted. With the vehicle coordinate system as the axis, the function of the distance between the vehicle and the lane line is obtained:

[0077] F(x)=a+bx+cx^2+d1x^3;

[0078] Among them, a is the lateral offset, b is the heading angle, c is the initial curvature of the starting position, d1 is the rate of change of the curvature of the starting position, and x is the vehicle coordinate position. From this, the radius of the curve in the curve centering control can be calculated: 1 / c.

[0079] The double helix curve can better simulate the complex curvature of lane lines in reality. Compared with simple geometric curve models (such as circular curves, parabolas, etc.), it can more accurately capture the change in curvature of the curve from the starting position to subsequent positions.

[0080] The lateral offset a is calculated by identifying the pixel position of the lane line in the image and comparing it with the vehicle centerline in the vehicle coordinate system to calculate the offset perpendicular to the vehicle's travel direction; the heading angle b is determined based on the angle between the direction of the lane line in the image and the reference line of the vehicle's travel direction; the initial curvature c and the curvature change rate d1 need to be calculated through image processing algorithms to obtain the degree of curvature and its changes in the lane line at the starting position and nearby areas.

[0081] There is an inverse proportional relationship between the curvature k and the radius r, that is, k = 1 / r. The initial curvature c at the starting position is regarded as the curve curvature k of the curve at the starting position. By taking the inverse 1 / c, the corresponding curve radius r can be obtained. The curve radius can be quickly obtained to preliminarily judge the size of the curve that the vehicle is about to enter or is already in. For a curve with a smaller radius, it means that the curve is more curved. When entering the curve, the vehicle may need to reduce the speed earlier, increase the steering angle and other control operations to ensure that the vehicle can pass the curve safely and smoothly and maintain the ideal center position; for a curve with a larger radius, the vehicle's control strategy may be relatively loose. When performing center driving control, the vehicle direction can also be adjusted in time according to the adjustment strategy. The judgment module determines whether the vehicle is in the process of turning at this time, and sets the radius threshold. If the value of the radius 1 / c is less than the threshold, it is considered that the vehicle is in a larger turn, and monitoring and adjustment are performed according to the function of the distance between the vehicle and the lane line.

[0082] Adjustment strategies include:

[0083] When the deviation distance is positive, the vehicle moves towards the lane line away from the marked direction;

[0084] When the deviation distance is a negative value, the vehicle moves toward the lane line in the direction of the mark.

[0085] In this embodiment, the distance between the vehicle and the left and right lane lines is used to determine whether the center line of the vehicle deviates from the center line of the lane at this time. The judgment is made according to the marked direction. When the marked direction is the direction of the left lane line, if the deviation distance is a positive value greater than 0, the vehicle is judged to be left-biased, and the vehicle needs to be controlled to move toward the lane line in the right direction. If the deviation distance is a negative value less than 0, the vehicle is judged to be right-biased, and the vehicle needs to be controlled to move toward the lane line in the left direction. The vehicle adjustment strategy is determined by the deviation distance. In the automatic driving or assisted driving system, such an adjustment strategy can automatically correct the situation where the vehicle slightly deviates from the lane line on one side. By reasonably controlling the vehicle to move in different directions according to the positive and negative deviation distance, the vehicle can be effectively centered in the lane to avoid the risk of collision with adjacent vehicles or obstacles caused by the vehicle being too close to the lane line on one side.

[0086] Determining the deviation distance between the vehicle centerline and the lane centerline based on vehicle information includes:

[0087] Set the direction of the lane line on either side as the marked direction, and calculate the difference between half of the sum of the distances to the lane lines on both sides and the distance between the vehicle and the lane line in the marked direction according to the distance function to obtain the deviation distance.

[0088] In this embodiment, the vehicle coordinate system axis is established, and the direction of the lane line on either side is set as the marked direction. According to the function of the distance between the vehicle and the lane line, FL(x) represents the equation of the left lane line, and FR(x) represents the equation of the right lane line. The left direction of the vehicle is set as the marked direction, and the deviation distance is calculated. The deviation distance is the distance between the center line of the vehicle and the center line of the lane in the image generated by the monitoring.

[0089] Deviation distance = 1 / 2[FL(x0)+|FR(x0)|]-FL(x0);

[0090] After determining the vehicle coordinate system, it is necessary to select the direction of one lane line from the two lane lines as the marking direction. The setting of this marking direction is mainly to have a clear reference standard when calculating the deviation distance later, so as to more clearly compare the relative position relationship between the vehicle and the lane line. The choice of marking direction can be arbitrary, and the direction of the lane line that is easier to calculate or more in line with the analysis requirements will be selected according to the actual situation. If the relevant data of the left lane line is easier to obtain or more convenient to process in the subsequent calculation or analysis, then the direction of the left lane line can be selected as the marking direction. This embodiment uses the direction of the left lane line as the marking direction, and gives the calculation function of the above deviation distance.

[0091] Adjusting the vehicle direction based on the deviation distance includes:

[0092] Set the correction angle threshold, output the angle adjustment request according to the deviation distance, and compare it with the correction angle threshold. If it is less than the correction angle threshold, make an adjustment; if it is greater than the correction angle threshold, make an adjustment based on the set correction angle threshold.

[0093] In this embodiment, the correction angle threshold is set to regulate and limit the amplitude of each angle adjustment, so as to ensure that the vehicle can effectively correct the deviation when adjusting the vehicle direction, realize the requirement of centering driving, and ensure the stability and safety of the vehicle driving. Different vehicle types, driving scenarios, road conditions and other factors may require different correction angle threshold settings. For example, in a high-speed driving scenario, the stability of the vehicle is crucial to driving safety. At this time, the correction angle threshold may be relatively small to avoid excessive lateral acceleration of the vehicle due to excessive angle adjustment, thereby causing the risk of loss of control; while in a low-speed driving and complex road conditions scenario, the correction angle threshold can be set relatively large so that the vehicle can more flexibly respond to various position deviations and quickly adjust to a suitable driving position. The correction angle threshold is set when the vehicle makes an angle adjustment, and the angle to be adjusted is calculated according to the deviation distance to determine whether it exceeds the correction angle threshold. If it is less than the correction angle threshold, the angle can be adjusted directly. If it is greater than the correction angle threshold, the vehicle direction is adjusted at the set threshold angle. After the adjustment is completed, monitoring is performed again.

[0094] Reference Figure 3 In a specific embodiment, assuming that the vehicle is traveling on a curve and the deviation between the center line of the vehicle and the center line of the lane is detected to be 2.1 cm, according to the preset correspondence model between the deviation distance and the required adjustment angle, each deviation of 0.7 cm corresponds to an adjustment of 5°. At this time, the system will output an angle adjustment request, requiring the vehicle direction to be adjusted by 15° (2.1 cm / 0.7 cm×5°=15°) to try to return the vehicle to the center position in the curve;

[0095] If the output angle adjustment request is to adjust 10°, and the set correction angle threshold is 15°, since 10° is less than 15°, the system will adjust the vehicle direction by 10° to move the vehicle in the direction of reducing the deviation distance;

[0096] If the output angle adjustment request is to adjust 20°, and the set correction angle threshold is 15°, the steering angle of the vehicle is limited by the angle limiter, and the vehicle direction is adjusted by 15°. At this time, the angle value of the vehicle at the turn is the sum of the vehicle direction output by the ADCU control algorithm and the adjustment angle.

[0097] According to the adjustment strategy, determine whether the voice command is correct, including:

[0098] Recognize the adjustment direction of voice commands;

[0099] Determine whether the adjustment direction of the voice command is consistent with the vehicle direction of the adjustment strategy;

[0100] If they are consistent, the voice command is correct;

[0101] If they are inconsistent, the voice command is incorrect.

[0102] In this embodiment, whether the voice command is correct is determined based on whether the driver's voice command is to the left or right, and whether the center line of the vehicle and the center line of the lane are biased to the left or right. If correct, the corresponding angle value adjustment request is calculated and output based on the correspondence model between the actual deviation distance and the required adjustment angle. The angle value is a recommended value. In the specific implementation process, due to the dynamic differences of vehicles of different models, it is necessary to determine the correspondence model according to the actual situation and then adjust the angle. If incorrect, the voice command is not executed, and the human-computer interaction system (HMI) prompts the driver that the command is not currently executed.

[0103] During the vehicle driving control process, it is crucial to accurately determine whether the voice command is consistent with the pre-set adjustment strategy. If the command that is inconsistent with the actual situation or the adjustment strategy is executed incorrectly, it may cause the vehicle to deviate from the expected driving trajectory, causing the risk of collision with other vehicles or obstacles, or fail to achieve the expected driving goal. It is necessary to analyze the received voice command in detail to clarify the specific requirements for adjusting the vehicle's driving direction. For example, the voice command may be expressed as "drive to the left center" or "drive to the right center". The content about the direction adjustment (left, right) and the degree of adjustment (center) is extracted. According to the content in the voice command, the corresponding adjustment information is generated and sent to the vehicle's execution module (such as the electric power steering system, vehicle power control system, etc.) to execute the adjustment action on the vehicle's driving direction.

[0104] Reference Figure 2 In a specific embodiment, if the vehicle is in position 1, the center line of the lane can be calculated by the left and right lanes detected by the camera, and the calculated deviation distance is greater than 0, it can be determined that the vehicle is biased to the left in the lane. If the driver inputs a command to center to the left, it is considered to be an erroneous command; similarly, if the vehicle is in position 2, the center line of the lane can be calculated by the left and right lanes detected by the camera, and the calculated deviation distance is less than 0, it can be determined that the vehicle is biased to the right in the lane. If the driver inputs a command to center to the right, it is considered to be an erroneous command;

[0105] If the vehicle is in position 1, the center line of the lane can be calculated through the left and right lanes detected by the camera, and the calculated deviation distance is greater than 0, it can be determined that the vehicle is biased to the left in the lane. If the driver inputs a command to center to the right, it is considered to be a correct command; similarly, if the vehicle is in position 2, the center line of the lane can be calculated through the left and right lanes detected by the camera, and the calculated deviation distance is less than 0, it can be determined that the vehicle is biased to the right in the lane. If the driver inputs a command to center to the left, it is considered to be a correct command.

[0106] The adjustment angle of the vehicle direction is determined according to the deviation distance, and then,

[0107] Determining again the deviation distance between the center line of the vehicle and the center line of the lane, and detecting whether the deviation distance is zero;

[0108] If it is not zero, determining the adjustment angle of the vehicle direction according to the deviation distance;

[0109] If zero, the vehicle direction is maintained.

[0110] In this embodiment, the deviation distance between the adjusted vehicle center line and the lane center line is detected. If the deviation distance is zero, the vehicle center line and the lane center line coincide with each other, the vehicle is in a centered driving state, and the vehicle direction at this time is maintained for driving control.

[0111] If the deviation distance is not zero, the vehicle centering driving control is not completed, and the deviation distance between the detected vehicle centerline and lane centerline is adjusted again. The position information of the vehicle centerline and lane centerline is updated, and the deviation distance is recalculated. According to the recalculated deviation distance and the current driving state of the vehicle, the vehicle direction is adjusted according to the adjustment strategy. By continuously updating the position information, recalculating the deviation distance and adjusting the vehicle direction, the vehicle can gradually approach the center position and achieve precise vehicle control. The driver only needs to send a command once, and after completing an adjustment, the monitoring module determines in real time whether FL(x) and FR(x) are equal, that is, whether the current vehicle is centered, and whether it needs to be adjusted again, which improves the adaptability and stability of the system.

[0112] Reference Figure 4 , also includes an embodiment of a control system, wherein the control system is applicable to any control method in the above technical solution, including:

[0113] Receiving module 1 generates voice commands through voice recognition algorithm and sends them;

[0114] Monitoring module 2 monitors the positions of the vehicle centerline, lane centerline and lane line to obtain position information;

[0115] The judgment module 3 receives the voice command, determines the adjustment strategy according to the location information, and judges whether the voice command is correct according to the adjustment strategy. If correct, the adjustment information is sent; if incorrect, the feedback information is sent;

[0116] An execution module 4 receives the adjustment information and adjusts the vehicle direction of the vehicle;

[0117] Feedback module 5 receives feedback information and provides feedback reminders.

[0118] In this embodiment, the receiving module 1 converts the voice command issued by the driver into a voice command that can be understood and processed by the computer through a voice recognition algorithm, and then sends it for further processing by subsequent modules.

[0119] Monitoring module 2 monitors the position of the vehicle centerline, lane centerline and lane line in real time to obtain accurate position information. For monitoring the position of the vehicle centerline, various sensors on the vehicle are used, such as wheel speed sensors combined with the vehicle's geometric parameters (wheelbase, track width, etc.) to calculate the vehicle's real-time position and posture through a kinematic model to determine the position of the vehicle's centerline; at the same time, the on-board camera can also assist in determining the position of the vehicle's centerline by imaging the vehicle's surrounding environment and using image recognition technology to analyze the vehicle's own contour features. For monitoring the position of the lane centerline and lane line, it mainly relies on the on-board vision system (usually composed of a forward-looking camera and related image processing software), through edge detection, image processing algorithms based on lane geometry models and road sign recognition, to accurately determine the position of the lane centerline and lane line from the captured road image.

[0120] The judgment module 3 receives the voice command from the receiving module and obtains the location information provided by the monitoring module, and then determines the adjustment strategy based on the information, and determines whether the voice command is correct based on the determined adjustment strategy;

[0121] The execution module 4 receives the adjustment information from the judgment module 3 and adjusts the vehicle direction. After receiving the adjustment information, the execution module 4 interacts with the vehicle's steering system (such as an electric power steering system) and converts the specific requirements in the adjustment information, such as the adjustment direction and angle value, into operation instructions that can be executed by the steering system, thereby realizing the actual adjustment of the vehicle direction.

[0122] The feedback module 5 receives the feedback information from the judgment module 3 and provides feedback reminder. The feedback information usually includes the reason why the voice command is incorrect. The information is fed back to the human-machine interaction system (HMI) to prompt the driver.

[0123] Also included is a computer-readable storage medium storing a computer program for executing the control method, wherein the computer program causes a computer to execute the following steps:

[0124] S1: Identification through voice recognition algorithm, identity verification and receiving voice commands;

[0125] S2: Determine the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information, and determine the adjustment strategy of the vehicle direction based on the deviation distance;

[0126] S3: According to the adjustment strategy, determine whether the voice command is correct. If correct, control the vehicle to adjust according to the adjustment angle; detect whether the deviation distance is zero. If not, continue to adjust the vehicle direction.

[0127] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0128] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0129] Also included is an electronic device, comprising:

[0130] one or more processors; memory; and

[0131] One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors, the programs comprising steps for performing the following steps:

[0132] S1: Identification through voice recognition algorithm, identity verification and receiving voice commands;

[0133] S2: Determine the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information, and determine the adjustment strategy of the vehicle direction based on the deviation distance;

[0134] S3: According to the adjustment strategy, determine whether the voice command is correct. If correct, control the vehicle to adjust according to the adjustment angle; detect whether the deviation distance is zero. If not, continue to adjust the vehicle direction.

[0135] Memory is used to store computer programs. The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk.

[0136] The processor is used to execute the computer program stored in the memory to implement the control method in the above embodiment. The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0137] Optionally, the memory can be independent or integrated with the processor.

[0138] When the memory is a device independent of the processor, the electronic device may further include a bus. The bus is used to connect the memory and the processor. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like.

[0139] It should be noted that, through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment. In this article, the term "includes", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0140] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for driving on a curve, characterized in that: include: Receive voice commands; Collect vehicle information; Determine a deviation distance between a center line of the vehicle and a center line of the lane based on the vehicle information, and determine an adjustment strategy for the vehicle direction based on the deviation distance; According to the adjustment strategy, determining whether the voice instruction is correct; If correct, determining the adjustment angle of the vehicle direction according to the deviation distance; Curve control is performed based on the adjustment angle.

2. The control method according to claim 1, characterized in that: Determining the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information, including Determine whether the vehicle is traveling on a curve; The determination method includes: According to the vehicle information, a distance function between the vehicle and the lane line is obtained by fitting to obtain a curve radius; A radius threshold is set, and if the curve radius is smaller than the radius threshold, it is determined that the vehicle is traveling on a curve.

3. The control method according to claim 2, characterized in that: The adjustment strategies include: When the deviation distance is a positive value, the vehicle moves in the direction of the lane line away from the marked direction; When the deviation distance is a negative value, the vehicle moves toward the lane line in the direction of the mark.

4. The control method according to claim 3, characterized in that: Determining the deviation distance between the center line of the vehicle and the center line of the lane based on the vehicle information includes: The direction of the lane line on either side is set as the marked direction, and according to the distance function, the difference between half of the sum of the distances between the lane lines on both sides and the distance between the vehicle and the lane line in the marked direction is calculated to obtain the deviation distance.

5. The control method according to claim 1, characterized in that: Determining the adjustment angle of the vehicle direction according to the deviation distance includes: Set the correction angle threshold; determining a correction value of the vehicle direction according to the deviation distance and judging whether the correction value is less than the correction angle threshold; If it is less than the correction angle threshold, the adjustment angle is the correction value; If it is not less than the correction angle threshold, the adjustment angle is the correction angle threshold.

6. The control method according to claim 1, characterized in that: Judging whether the voice instruction is correct according to the adjustment strategy includes: identifying an adjustment direction of the voice command; Determining whether the adjustment direction of the voice command is consistent with the vehicle direction of the adjustment strategy; If they are consistent, the voice instruction is correct; If they are inconsistent, the voice instruction is incorrect.

7. The control method according to claim 1, characterized in that: The adjustment angle of the vehicle direction is determined according to the deviation distance, and then, Determining again the deviation distance between the center line of the vehicle and the center line of the lane, and detecting whether the deviation distance is zero; If it is not zero, determining the adjustment angle of the vehicle direction according to the deviation distance; If zero, the vehicle direction is maintained.

8. A control system, characterized in that: The control system is applicable to the control method described in any one of claims 1 to 7, including: The receiving module generates voice commands through the voice recognition algorithm and sends them; The monitoring module monitors the positions of the vehicle centerline, lane centerline and lane line to obtain position information; A judgment module receives the voice command, determines an adjustment strategy according to the position information, and judges whether the voice command is correct according to the adjustment strategy, and sends adjustment information if it is correct, and sends feedback information if it is incorrect; An execution module receives the adjustment information and adjusts the vehicle direction of the vehicle; The feedback module receives the feedback information and provides feedback reminders.

9. A computer-readable storage medium, characterized in that: It stores a computer program for running the control method, wherein the computer program enables a computer to execute the control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: one or more processors; Memory; as well as One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, the programs including instructions for executing the control method according to any one of claims 1 to 7.

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