Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle. The method is applied to a controller of a vehicle, and comprises the steps of obtaining a road image collected by a camera module of the vehicle in the process of controlling the vehicle to advance; wherein the road image comprises a lane type in front of the vehicle, and the lane type comprises a linear solid-line lane, a curved solid-line lane and a non-solid-line lane; acquiring a rotation angle of a steering wheel acquired by a rotation angle sensor of the vehicle, and judging whether the rotation angle is greater than a preset rotation threshold value or not; if the rotation angle is larger than the rotation threshold value, the steering action of the vehicle is controlled according to the road image. By means of the technology, it can be reasonably guaranteed that the steering action of the vehicle is matched with the actual situation of the lane in front of the vehicle, violation caused by crossing a solid line lane in the vehicle driving process is reduced, and therefore the vehicle using cost of a driver is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a control method, device and vehicle for a vehicle. Background Art

[0002] Currently, during the process of driving a vehicle, generally, the driver controls the steering wheel to make the vehicle drive within the lane lines. To further assist the driver in driving the vehicle, some vehicles have a lane keeping function: by sensors (such as cameras, radars) to continuously monitor the relative position of the vehicle and the lane lines. When the sensors detect that the vehicle deviates from the lane non-actively (for example, without turning on the turn signal), the vehicle system will assist in correcting the direction through steering intervention or warning prompts, so that the vehicle drives within the lane lines.

[0003] However, the roads on which vehicles travel can be divided into solid line lanes and non-solid line lanes, straight lanes and non-straight lanes, and the road conditions are relatively complex. Sometimes, the driver's steering operation does not match the actual lane situation, there is a possibility of misoperation, and even situations such as vehicle violations may occur. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a control method, device and vehicle for a vehicle, so as to reasonably ensure that the steering action of the vehicle matches the actual lane situation in front of the vehicle, and reduce violations caused by crossing solid line lanes during vehicle driving.

[0005] In a first aspect, an embodiment of the present invention provides a control method for a vehicle, which is applied to a controller of the vehicle. The method includes: during the process of controlling the vehicle to travel, obtaining a road image collected by an imaging module of the vehicle; wherein, the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid line lane, a curved solid line lane and a non-solid line lane; obtaining the rotation angle of the steering wheel collected by a corner sensor of the vehicle, and determining whether the rotation angle is greater than a preset rotation threshold; if the rotation angle is greater than the rotation threshold, controlling the steering action of the vehicle according to the road image.

[0006] In an optional embodiment of the present invention, the imaging module is installed at the front windshield of the vehicle, the corner sensor is installed at the steering column of the vehicle steering wheel, and the controller is installed inside the instrument panel of the vehicle; the controller is connected to both the imaging module and the corner sensor.

[0007] In an alternative embodiment of the present invention, the above-mentioned controlling the steering action of the vehicle according to the road image includes: if the lane type in front of the vehicle is a straight solid line lane, controlling the vehicle to inhibit the steering action; if the lane type in front of the vehicle is a curved solid line lane, controlling the vehicle to perform the steering action according to the rotation angle of the steering wheel; or, determining the bending degree of the curved solid line lane according to the road image to determine the steering range of the vehicle, and controlling the vehicle to perform the steering action within the steering range.

[0008] In an alternative embodiment of the present invention, the above-mentioned controlling the vehicle to perform the steering action within the steering range includes: determining the rotation range of the steering wheel corresponding to the steering range; if the rotation angle belongs to the rotation range, controlling the vehicle to perform the steering action based on the rotation angle; if the rotation angle is greater than the upper limit value of the rotation range, controlling the vehicle to perform the steering action based on the upper limit value of the steering range; if the rotation angle is less than the lower limit value of the rotation range, controlling the vehicle to perform the steering action based on the lower limit value of the steering range.

[0009] In an alternative embodiment of the present invention, the above-mentioned controlling the steering action of the vehicle according to the road image includes: if the lane type in front of the vehicle is a straight solid line lane or a curved solid line lane, determining whether there are pedestrians or obstacles in front of the vehicle based on the road image; if there are no pedestrians or obstacles, controlling the vehicle to inhibit the steering action; if there are pedestrians or obstacles, controlling the vehicle to perform the steering action according to the rotation angle of the steering wheel, or, controlling the vehicle to perform a deceleration action or a braking action.

[0010] In an alternative embodiment of the present invention, the above-mentioned controlling the vehicle to inhibit the steering action includes: sending an inhibition signal to the steering assist motor of the vehicle, so that the steering assist motor inhibits the steering action of the vehicle based on the inhibition signal.

[0011] In an alternative embodiment of the present invention, the above-mentioned steering assist motor is installed at the lower end of the steering column of the steering wheel, and the steering assist motor is used to perform the steering action or inhibit the steering action under the control of the controller.

[0012] In an alternative embodiment of the present invention, the above-mentioned method further includes: if the rotation angle is not greater than the rotation threshold or the lane type in front of the vehicle is a non-solid line lane, controlling the vehicle to perform the steering action according to the rotation angle of the steering wheel.

[0013] Second aspect, an embodiment of the present invention further provides a control device for a vehicle, which is applied to a controller of the vehicle. The device includes: a road image acquisition module, configured to acquire a road image collected by a camera module of the vehicle during the process of controlling the vehicle to travel; wherein, the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid line lane, a curved solid line lane, and a non-solid line lane; a rotation angle acquisition module, configured to acquire the rotation angle of the steering wheel collected by a rotation angle sensor of the vehicle and determine whether the rotation angle is greater than a preset rotation threshold; a vehicle steering control module, configured to, if the rotation angle is greater than the rotation threshold, control the steering action of the vehicle according to the road image.

[0014] Third aspect, an embodiment of the present invention further provides a vehicle, including: a vehicle body main body, a controller, a camera module connected to the controller, and a rotation angle sensor; the camera module is configured to collect a road image of the vehicle; wherein, the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid line lane, a curved solid line lane, and a non-solid line lane; the rotation angle sensor is configured to collect the rotation angle of the steering wheel of the vehicle; the controller is configured to execute the above-mentioned vehicle control method.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] The embodiments of the present invention provide a vehicle control method, device, and vehicle. By collecting the road image in front of the vehicle through the camera module, the lane type in front of the vehicle can be determined, such as a straight solid line lane, a curved solid line lane, and a non-solid line lane; by collecting the rotation angle of the steering wheel of the vehicle through the rotation angle sensor, it can be determined whether the driver actively turns the steering wheel; if the rotation angle of the driver turning the steering wheel is greater than the threshold, the steering action of the vehicle can be controlled according to the road image, thereby reasonably ensuring that the steering action of the vehicle matches the actual situation of the lane type in front of the vehicle, reducing violations of crossing solid line lanes during vehicle driving, and thus reducing the vehicle use cost of the driver.

[0017] Other features and advantages of the present disclosure will be described in the subsequent specification, or, some features and advantages can be inferred from the specification or determined without doubt, or can be obtained by implementing the above technologies of the present disclosure.

[0018] To make the above objects, features, and advantages of the present disclosure more obvious and understandable, the following specific preferred embodiments are given below in conjunction with the accompanying drawings for detailed description as follows. Description of the Drawings

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a flowchart of a control method for a vehicle provided by an embodiment of the present invention;

[0021] Figure 2 It is a flowchart of another control method for a vehicle provided by an embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of a control method for a vehicle provided by an embodiment of the present invention;

[0023] Figure 4 It is a schematic structural diagram of a control device for a vehicle provided by an embodiment of the present invention;

[0024] Figure 5 It is a schematic structural diagram of another control device for a vehicle provided by an embodiment of the present invention;

[0025] Figure 6 It is a schematic structural diagram of a controller provided by an embodiment of the present invention. Specific Embodiments

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0027] Currently, when driving a vehicle, the driver generally controls the steering wheel to keep the vehicle driving within the lane lines. To further assist the driver in driving the vehicle, some vehicles have a lane keeping function. However, the roads on which the vehicle travels can be divided into solid-line lanes and non-solid-line lanes, straight lanes and non-straight lanes, and the road conditions are relatively complex. The driver's steering operation sometimes does not match the actual lane conditions, there is a possibility of misoperation, and even situations such as vehicle violations may occur. For example: If the driver actively turns the steering wheel, the existing lane keeping function generally automatically exits. At this time, the vehicle is very likely to deviate from the lane due to the driver's subjective factors, resulting in vehicle violations and increasing the driver's vehicle use cost. Based on this, a vehicle control method, device and vehicle provided by an embodiment of the present invention specifically relate to lane line recognition technology, steering wheel angle recognition technology and electric power steering technology, and can reasonably ensure that the steering action of the vehicle matches the actual lane conditions in front of the vehicle, reduce violations caused by crossing solid-line lanes during vehicle driving, and thus reduce the driver's vehicle use cost.

[0028] To facilitate the understanding of this embodiment, first, a vehicle control method disclosed in an embodiment of the present invention will be introduced in detail.

[0029] Embodiment 1:

[0030] An embodiment of the present invention provides a vehicle control method, which is applied to a vehicle controller. The controller in this embodiment can be used to control the vehicle to drive. The controller in this embodiment can be an integrated controller and is installed inside the vehicle instrument panel. Refer to Figure 1 The flowchart of a vehicle control method shown, the vehicle control method includes the following steps:

[0031] Step S102, during the process of controlling the vehicle to move forward, obtain the road image collected by the vehicle's camera module; wherein, the road image includes the lane type in front of the vehicle, and the lane type includes straight solid-line lanes, curved solid-line lanes and non-solid-line lanes.

[0032] The vehicle in this embodiment can be provided with a camera module. The camera module can be a camera, a vehicle-mounted recorder, etc. The camera module is used to collect the road image in front of the vehicle. Among them, the road image collected by the camera module can include the lane type in front of the vehicle.

[0033] In this embodiment, the lane type can be classified according to solid lines and dotted lines, straight lines and curves. Therefore, the lane type includes straight solid-line lanes, curved solid-line lanes, straight dotted-line lanes, and curved dotted-line lanes. Among them, since the dotted-line lane can be driven through by the vehicle, the straight dotted-line lane and the curved dotted-line lane in this embodiment can be collectively referred to as non-solid-line lanes.

[0034] Step S104: Obtain the rotation angle of the steering wheel collected by the vehicle's corner sensor, and determine whether the rotation angle is greater than a preset rotation threshold.

[0035] In this embodiment, the vehicle may be provided with a corner sensor for collecting the rotation angle of the vehicle's steering wheel, and the controller can determine whether the rotation angle is greater than a preset rotation threshold. Among them, if the rotation angle is greater than the rotation threshold (for example, 5°), it can be considered that the driver actively rotates the steering wheel, that is, the driver wants to control the vehicle to turn. If the rotation angle is less than or equal to the rotation threshold (for example, 5°), it can be considered that the driver does not actively rotate the steering wheel, that is, the driver wants to keep the vehicle going straight.

[0036] In some embodiments, the camera module is installed at the front windshield of the vehicle, the corner sensor is installed at the steering column of the vehicle's steering wheel, and the controller is installed inside the vehicle's instrument panel; the controller is connected to both the camera module and the corner sensor.

[0037] In this embodiment, the camera module can be installed at the front windshield of the vehicle, and the camera module can have a good view to collect clear and complete road images. In this embodiment, the corner sensor can be installed at the steering column of the vehicle's steering wheel, and the corner sensor can collect the minute rotation of the vehicle's steering wheel, thus having high sensitivity.

[0038] In this embodiment, the controller is connected to both the camera module and the corner sensor, and the controller can timely obtain the road image collected by the camera module and the rotation angle collected by the corner sensor. For example, the controller can be connected to the camera module and the corner sensor respectively through the vehicle bus harness.

[0039] Step S106: If the rotation angle is greater than the rotation threshold, control the vehicle's steering action according to the road image.

[0040] If the rotation angle is greater than the rotation threshold, it is considered that the driver wants to control the vehicle to turn. At this time, the vehicle has a risk of leaving the lane. Therefore, in this embodiment, the vehicle's steering action can be controlled according to the road image, which can reasonably ensure that the vehicle's steering action matches the actual situation of the lane in front of the vehicle, reduce vehicle violations, and thus reduce the driver's vehicle use cost. In addition, this method can also improve the safety of vehicle driving and reduce traffic accidents caused by the mismatch between the steering action and the actual situation of the lane.

[0041] In some embodiments, if the rotation angle is not greater than the rotation threshold or the lane type in front of the vehicle is a non-solid lane, the vehicle is controlled to perform a steering action according to the rotation angle of the steering wheel. If the rotation angle is less than or equal to the rotation threshold, the rotation direction of the vehicle is small and it will not deviate from the lane. Therefore, there is no need to control the steering action of the vehicle according to the road image, and it is only necessary to control the vehicle to perform the steering action according to the rotation angle of the steering wheel. If the lane type in front of the vehicle is a non-solid lane, the lane in front of the vehicle can control the vehicle to turn. Therefore, there is also no need to control the steering action of the vehicle according to the road image, and it is only necessary to control the vehicle to perform the steering action according to the rotation angle of the steering wheel.

[0042] An embodiment of the present invention provides a vehicle control method. By collecting the road image in front of the vehicle through a camera module, the lane type in front of the vehicle can be determined, such as a straight solid lane, a curved solid lane, and a non-solid lane; by collecting the rotation angle of the vehicle's steering wheel through a rotation angle sensor, it can be determined whether the driver actively rotates the steering wheel; if the rotation angle of the driver rotating the steering wheel is greater than the threshold, the steering action of the vehicle can be controlled according to the road image, thereby reasonably ensuring that the steering action of the vehicle matches the actual situation of the lane type in front of the vehicle, reducing the violation of crossing the solid lane during the vehicle driving process, and thus reducing the vehicle use cost of the driver.

[0043] Embodiment 2:

[0044] This embodiment also provides another vehicle control method, which is implemented on the basis of the above embodiment and focuses on describing the specific manner of controlling the steering action of the vehicle according to the road image. Refer to Figure 2 the flowchart of another vehicle control method shown in

[0045] Step S202, during the process of controlling the vehicle to move forward, obtain the road image collected by the camera module of the vehicle; wherein, the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid lane, a curved solid lane, and a non-solid lane.

[0046] It can be referred to Figure 3 the schematic diagram of a vehicle control method shown in

[0047] Step S204, obtain the rotation angle of the steering wheel collected by the rotation angle sensor of the vehicle, and determine whether the rotation angle is greater than a preset rotation threshold.

[0048] Such as Figure 3As shown, the steering angle sensor can collect the steering angle of the steering wheel and send the steering angle to the controller; the controller determines whether the steering angle is greater than the steering threshold ( Figure 3 which is 5° in

[0049] ) to determine whether the driver wants to control the vehicle to steer.

[0050] In Figure 3 step S206, if the steering angle is greater than the steering threshold and the lane type in front of the vehicle is a straight solid line lane, control the vehicle to inhibit the steering action.

[0051] In some embodiments, the above control of the vehicle to inhibit the steering action may specifically include: sending an inhibition signal to the steering assist motor of the vehicle so that the steering assist motor inhibits the steering action of the vehicle based on the inhibition signal.

[0052] In Figure 3 step S208, if the steering angle is greater than the steering threshold and the lane type in front of the vehicle is a curved solid line lane, control the vehicle to perform a steering action according to the steering angle of the steering wheel; or, determine the steering range of the vehicle according to the curvature of the curved solid line lane based on the road image and control the vehicle to perform a steering action within the steering range.

[0053] As shown, the vehicle in this embodiment may be provided with a steering assist motor, and the steering assist motor is used to control the vehicle to perform an automatic steering action or a steering inhibition action according to the control signal. The controller sends an inhibition signal to the steering assist motor, and the steering assist motor can control the vehicle to perform a steering inhibition action according to the above inhibition signal, thereby reducing the violation of crossing the solid line lane during the vehicle driving process.

[0054] In some embodiments, the steering assist motor is installed at the lower end of the steering column of the steering wheel, and the steering assist motor is used to perform a steering action or a steering inhibition action under the control of the controller. In this embodiment, the steering assist motor can be installed at the lower end of the steering column of the steering wheel, the controller can be connected to the steering assist motor through the automotive bus harness, and the steering assist motor can inhibit the rotation of the steering wheel based on the inhibition signal sent by the controller, thereby controlling the vehicle to perform a steering inhibition action.

[0055] If the rotation angle is greater than the rotation threshold and the lane type in front of the vehicle is a curved solid line lane, it indicates that the vehicle needs to turn and the steering action of the vehicle needs to match the actual situation of the curved lane in front of the vehicle, that is, it is necessary to control the vehicle not to press the solid line when turning.

[0056] The controller in this embodiment can control the vehicle to perform a steering action according to the rotation angle of the steering wheel, that is, perform a steering action according to the rotation angle of the driver turning the steering wheel. However, if the rotation angle of the driver turning the steering wheel is too large or too small, the vehicle may press the solid line when turning.

[0057] Therefore, the controller of this embodiment assists the driver. The controller can analyze the road image to obtain the bending degree of the curved solid line lane, determine the steering range of the vehicle according to the bending degree, and control the vehicle to perform a steering action within the steering range, which can reasonably ensure that the steering action of the vehicle matches the actual situation of the curved lane in front of the vehicle, and the vehicle will not press the solid line when turning.

[0058] For example, the controller can analyze the road image through a built-in algorithm to obtain that the bending degree of the curved solid line lane is 40°. According to the corresponding relationship between the bending degree and the steering range that can be preset in the controller, it can be determined according to the above corresponding relationship that the steering range corresponding to the bending degree of 40° is 30° - 50°. The controller can control the vehicle to perform a steering action within the steering range of 30° - 50°.

[0059] In some embodiments, the rotation range of the steering wheel corresponding to the steering range can be determined; if the rotation angle belongs to the rotation range, control the vehicle to perform a steering action based on the rotation angle; if the rotation angle is greater than the upper limit value of the rotation range, control the vehicle to perform a steering action based on the upper limit value of the steering range; if the rotation angle is less than the lower limit value of the rotation range, control the vehicle to perform a steering action based on the lower limit value of the steering range.

[0060] For example, assuming that the steering range is 30° - 50° and the rotation angle of the driver turning the steering wheel is X. If 30° ≤ X ≤ 50°, then the rotation angle belongs to the rotation range. At this time, the controller can control the vehicle to perform a steering action based on the rotation angle X, and the steering action of the vehicle matches the actual situation of the curved lane in front of the vehicle, and there will be no situation of pressing the solid line.

[0061] If X < 30° or X > 50°, then the rotation angle does not belong to the rotation range. At this time, if the controller still controls the vehicle to perform a steering action based on the rotation angle X, the steering action of the vehicle does not match the actual situation of the curved lane in front of the vehicle, and there may be a situation of pressing the solid line.

[0062] Therefore, at this time, the controller can control the vehicle to perform a steering action based on the upper limit value or the lower limit value of the rotation range, so as to reasonably ensure that the steering action of the vehicle matches the actual situation of the curved lane in front of the vehicle. For example: when X < 30°, the controller controls the vehicle to perform a steering action based on the lower limit value of the rotation range, which is 30°; when X > 50°, the controller controls the vehicle to perform a steering action based on the upper limit value of the rotation range, which is 50°.

[0063] In summary, the controller in the embodiment of the present invention can assist the driver, analyze the road image to obtain the bending degree of the curved solid lane, determine the steering range of the vehicle according to the bending degree, and control the vehicle to perform a steering action within the steering range. Among them, if the rotation angle belongs to the rotation range, the controller controls the vehicle to perform a steering action based on the rotation angle; if the rotation angle is greater than the upper limit value of the rotation range, the controller controls the vehicle to perform a steering action based on the upper limit value of the steering range; if the rotation angle is less than the lower limit value of the rotation range, the controller controls the vehicle to perform a steering action based on the lower limit value of the steering range. By the above method, it can be reasonably ensured that the steering action of the vehicle matches the actual situation of the curved lane in front of the vehicle, and the vehicle will not press the solid line when turning.

[0064] In this embodiment, it is also possible to judge whether there are pedestrians or obstacles in front of the vehicle through the road image. If there are pedestrians or obstacles in front of the vehicle, the controller can also perform corresponding hazard avoidance measures.

[0065] In some embodiments, if the lane type in front of the vehicle is a straight solid lane or a curved solid lane, it is judged whether there are pedestrians or obstacles in front of the vehicle based on the road image; if there are no pedestrians or obstacles, the controller controls the vehicle to suppress the steering action; if there are pedestrians or obstacles, the controller controls the vehicle to perform a steering action according to the rotation angle of the steering wheel, or controls the vehicle to perform a deceleration action or a braking action.

[0066] If the lane type in front of the vehicle is a solid lane (i.e., a straight solid lane or a curved solid lane), when the driver in this embodiment wants to control the steering of the vehicle, the controller can perform image recognition based on the above road image to determine whether there are pedestrians or obstacles in front of the vehicle. If there are pedestrians or obstacles in front of the vehicle, it means that the driver wants to control the steering of the vehicle to avoid colliding with pedestrians or obstacles. At this time, the vehicle should perform a steering action even if it presses the solid line. Therefore, the controller can control the vehicle to perform a steering action according to the turning angle of the steering wheel. Further, the controller can also control the vehicle to perform a deceleration action or a braking action, so that the vehicle decelerates or brakes to avoid colliding with pedestrians or obstacles in front of the vehicle as much as possible. If there are no pedestrians or obstacles in front of the vehicle, it means that the driver wants to control the steering of the vehicle not to avoid colliding with pedestrians or obstacles. At this time, the controller can control the vehicle to suppress the steering action to ensure that the steering action of the vehicle matches the actual situation of the lane in front of the vehicle to avoid the situation of pressing the solid line.

[0067] The above method provided by the embodiment of the present invention can determine the lane type in front of the vehicle, such as a straight solid lane, a curved solid lane and a non-solid lane, by collecting the road image in front of the vehicle through a camera module; collect the steering angle of the vehicle's steering wheel through a steering angle sensor to determine whether the driver actively turns the steering wheel; if the steering angle of the driver's steering wheel is greater than a threshold, the steering action of the vehicle can be controlled according to the road image, thereby reasonably ensuring that the steering action of the vehicle matches the actual lane type in front of the vehicle, reducing violations due to crossing the solid lane during vehicle driving, thereby reducing the driver's vehicle use costs.

[0068] The controller in this embodiment can assist the driver by analyzing the road image to obtain the curvature of the curved solid lane, determine the turning range of the vehicle according to the curvature, and control the vehicle to perform steering actions within the turning range. This can reasonably ensure that the steering action of the vehicle matches the actual situation of the curved lane in front of the vehicle, and the vehicle will not cross the solid line when turning.

[0069] In this embodiment, it is also possible to determine whether there are pedestrians or obstacles in front of the vehicle through the road image. If there are pedestrians or obstacles in front of the vehicle, the controller can also perform corresponding risk avoidance measures.

[0070] Embodiment three:

[0071] Corresponding to the above method embodiment, this embodiment provides a vehicle control device, which is applied to a vehicle controller, see Figure 4 A schematic structural diagram of a vehicle control device is shown, the vehicle control device comprising:

[0072] A road image acquisition module 41, which is used to acquire the road image collected by the vehicle's camera module during the process of controlling the vehicle's travel; wherein, the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid line lane, a curved solid line lane, and a non-solid line lane.

[0073] A rotation angle acquisition module 42, which is used to acquire the rotation angle of the steering wheel collected by the vehicle's rotation angle sensor and determine whether the rotation angle is greater than a preset rotation threshold.

[0074] A vehicle steering control module 43, which is used to, if the rotation angle is greater than the rotation threshold, control the steering action of the vehicle according to the road image.

[0075] An embodiment of the present invention provides a control device for a vehicle. By collecting the road image in front of the vehicle through a camera module, the lane type in front of the vehicle can be determined, such as a straight solid line lane, a curved solid line lane, and a non-solid line lane; by collecting the rotation angle of the vehicle's steering wheel through a rotation angle sensor, it can be determined whether the driver actively rotates the steering wheel; if the rotation angle of the driver rotating the steering wheel is greater than the threshold, the steering action of the vehicle can be controlled according to the road image, and thus it can reasonably ensure that the steering action of the vehicle matches the actual situation of the lane type in front of the vehicle, reduce the violation of crossing the solid line lane during the vehicle's travel, and thereby reduce the vehicle use cost of the driver.

[0076] The above-mentioned vehicle steering control module is used to, if the lane type in front of the vehicle is a straight solid line lane, control the vehicle to inhibit the steering action; if the lane type in front of the vehicle is a curved solid line lane, control the vehicle to perform the steering action according to the rotation angle of the steering wheel; or, determine the steering range of the vehicle according to the bending degree of the curved solid line lane in the road image, and control the vehicle to perform the steering action within the steering range.

[0077] The above-mentioned vehicle steering control module is used to determine the rotation range of the steering wheel corresponding to the steering range; if the rotation angle belongs to the rotation range, control the vehicle to perform the steering action based on the rotation angle; if the rotation angle is greater than the upper limit value of the rotation range, control the vehicle to perform the steering action based on the upper limit value of the steering range; if the rotation angle is less than the lower limit value of the rotation range, control the vehicle to perform the steering action based on the lower limit value of the steering range.

[0078] The above-mentioned vehicle steering control module is used to, if the lane type in front of the vehicle is a straight solid line lane or a curved solid line lane, judge whether there are pedestrians or obstacles in front of the vehicle based on the road image; if there are no pedestrians or obstacles, control the vehicle to inhibit the steering action; if there are pedestrians or obstacles, control the vehicle to perform the steering action according to the rotation angle of the steering wheel, or control the vehicle to perform a deceleration action or a braking action.

[0079] The above vehicle steering control module is used to send an inhibition signal to the steering assist motor of the vehicle, so that the steering assist motor inhibits the steering action of the vehicle based on the inhibition signal.

[0080] See Figure 5 The structural schematic diagram of a control device of another vehicle shown in the figure. The control device of this vehicle further includes: a driver steering control module 44, which is used to control the vehicle to perform a steering action according to the rotation angle of the steering wheel if the rotation angle is not greater than the rotation threshold or the lane type in front of the vehicle is a non-solid line lane.

[0081] Embodiment 4:

[0082] The embodiment of the present invention further provides a vehicle, which includes: a vehicle body main body, a controller, a camera module connected to the controller, and a steering angle sensor; the camera module is used to collect the road image of the vehicle; wherein, the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid line lane, a curved solid line lane, and a non-solid line lane; the steering angle sensor is used to collect the rotation angle of the steering wheel of the vehicle; the controller is used to execute the vehicle control method provided in the foregoing embodiment.

[0083] See Figure 6 The structural schematic diagram of a controller shown in the figure. The controller includes a memory 60 and a processor 61. Among them, the memory 60 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 61 to implement the vehicle control method described above.

[0084] Furthermore, Figure 6 The controller shown in the figure further includes a bus 62 and a communication interface 63, and the processor 61, the communication interface 63, and the memory 60 are connected through the bus 62.

[0085] Among them, the memory 60 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 63 (which can be wired or wireless), the communication connection between this system network element and at least one other network element can be realized, and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 62 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 6 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0086] The processor 61 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 61 or the instructions in the form of software. The above-mentioned processor 61 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 60, and the processor 61 reads the information in the memory 60 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0087] The embodiments of the present invention also provide a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above-mentioned vehicle control method. For the specific implementation, reference can be made to the method embodiments, and details are not described herein again.

[0088] The vehicle control method, device and computer program product of the vehicle provided by the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the foregoing method embodiments. For the specific implementation, reference can be made to the method embodiments, and details are not described herein again.

[0089] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems and / or devices can refer to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

[0090] In addition, in the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0091] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0092] In the description of the present invention, "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set composed of A, B, and C. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0093] Finally, it should be noted that the above embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the technical field of the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: A controller applied to a vehicle, the method comprising: In the process of controlling the movement of the vehicle, a road image captured by a camera module of the vehicle is obtained; wherein the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid lane, a curved solid lane, and a non-solid lane; Obtaining a rotation angle of a steering wheel acquired by a rotation angle sensor of the vehicle, and determining whether the rotation angle is greater than a preset rotation threshold; If the turning angle is greater than the turning threshold, a steering action of the vehicle is controlled according to the road image.

2. The method according to claim 1, characterized in that The camera module is installed on the front windshield of the vehicle, the angle sensor is installed on the steering column of the vehicle steering wheel, and the controller is installed inside the dashboard of the vehicle; the controller is connected to both the camera module and the angle sensor.

3. The method according to claim 1, characterized in that Controlling the steering action of the vehicle according to the road image includes: If the lane type in front of the vehicle is a straight solid lane, controlling the vehicle to suppress steering action; If the lane type in front of the vehicle is a curved solid lane, the vehicle is controlled to perform a steering action according to the turning angle of the steering wheel; or, the steering range of the vehicle is determined by determining the curvature of the curved solid lane based on the road image, and the vehicle is controlled to perform a steering action within the steering range.

4. The method according to claim 3, characterized in that Controlling the vehicle to perform a steering action within the steering range includes: Determining a rotation range of the steering wheel corresponding to the steering range; If the rotation angle belongs to the rotation range, controlling the vehicle to perform a steering action based on the rotation angle; If the rotation angle is greater than an upper limit value of the rotation range, controlling the vehicle to perform a steering action based on the upper limit value of the steering range; If the turning angle is smaller than a lower limit value of the turning range, the vehicle is controlled to perform a turning action based on the lower limit value of the turning range.

5. The method according to claim 1, characterized in that Controlling the steering action of the vehicle according to the road image includes: If the lane type in front of the vehicle is a straight solid lane or a curved solid lane, judging whether there is a pedestrian or an obstacle in front of the vehicle based on the road image; If there is no pedestrian or obstacle, controlling the vehicle to suppress steering action; If there are pedestrians or obstacles, the vehicle is controlled to perform a steering action according to the rotation angle of the steering wheel, or the vehicle is controlled to perform a deceleration action or a braking action.

6. The method according to claim 3 or 5, characterized in that: Controlling the vehicle to inhibit steering action includes: An inhibition signal is sent to a power steering motor of the vehicle so that the power steering motor inhibits a steering action of the vehicle based on the inhibition signal.

7. The method according to claim 6, characterized in that The power steering motor is installed at the lower end of the steering column of the steering wheel, and the power steering motor is used to perform a steering action or inhibit a steering action under the control of the controller.

8. The method according to claim 1, characterized in that The method further comprises: If the turning angle is not greater than the turning threshold or the lane type in front of the vehicle is a non-solid lane, the vehicle is controlled to perform a steering action according to the turning angle of the steering wheel.

9. A vehicle control device, characterized in that: A controller applied to a vehicle, the device comprising: A road image acquisition module, used to acquire a road image captured by a camera module of the vehicle during the process of controlling the movement of the vehicle; wherein the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid lane, a curved solid lane, and a non-solid lane; A rotation angle acquisition module, used to acquire the rotation angle of the steering wheel collected by the rotation angle sensor of the vehicle, and determine whether the rotation angle is greater than a preset rotation threshold; A vehicle steering control module is used to control the steering action of the vehicle according to the road image if the turning angle is greater than the turning threshold.

10. A vehicle, characterized in that: include: A vehicle body, a controller, a camera module connected to the controller, and a rotation angle sensor; The camera module is used to collect a road image of the vehicle; wherein the road image includes the lane type in front of the vehicle, and the lane type includes a straight solid lane, a curved solid lane, and a non-solid lane; The rotation angle sensor is used to collect the rotation angle of the steering wheel of the vehicle; The controller is used to execute the vehicle control method according to any one of claims 1 to 8.

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