Vehicle control method, device, vehicle, storage medium and program product

Abstract

The present application relates to a vehicle control method, device, vehicle, storage medium and program product, the method comprising: in the case of determining that a target vehicle is offset, based on the driver's historical operation of the steering wheel of the target vehicle, determining the target driving parameters of the target vehicle; based on the target driving parameters, determining the target deviation correction method corresponding to the target vehicle; performing deviation correction control on the target vehicle based on the target deviation correction method, so that the driving parameters of the target vehicle reach the target driving parameters. In this way, the target deviation correction method is determined based on the target driving parameters determined by the historical operation, and the deviation correction is performed on the target vehicle based on the target deviation correction method, so that the deviation of the target vehicle can be corrected according to the driver's historical operation, so that the vehicle state after the deviation correction can meet the driver's driving intention in the historical driving process, and the target deviation correction method does not require the driver to operate, so that non-sensing deviation correction can be achieved, reducing the driver's driving burden.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly relates to a vehicle control method, device, vehicle, storage medium and program product. Background Art

[0002] When a vehicle drifts due to its own reasons (such as suspension position deviation, four-wheel alignment deviation, etc.) or due to natural factors (such as crosswind, slippery road surface, etc.), the driver needs to continuously apply a steering driving torque to the steering wheel to keep the vehicle going straight. In a long driving scenario, this easily leads to a high driving intensity for the driver and increases the driver's operation burden. Summary of the Invention

[0003] This application provides a vehicle control method, device, vehicle, storage medium and program product. This method can achieve non-sensing deviation correction of the target vehicle and reduce the driver's driving burden.

[0004] The technical solution of this application is implemented as follows:

[0005] An embodiment of this application provides a control method, including: when it is determined that the target vehicle deviates, based on the historical operations of the driver on the steering wheel of the target vehicle, determining the target driving parameters of the target vehicle; based on the target driving parameters, determining the target deviation correction method corresponding to the target vehicle; and performing deviation correction control on the target vehicle based on the target deviation correction method so that the driving parameters of the target vehicle reach the target driving parameters.

[0006] According to the above technical means, by determining the target deviation correction method for the target vehicle after deviation based on the target driving parameters determined based on the historical operations of the driver on the steering wheel of the target vehicle, and performing deviation correction on the target vehicle based on the target deviation correction method, it is possible to correct the target vehicle according to the driver's historical operations on the steering wheel, so that the vehicle state after deviation correction can conform to the driver's driving intention during the historical driving process. At the same time, the target deviation correction method does not require the driver's operation, thus non-sensing deviation correction can be achieved and the driver's driving burden can be reduced.

[0007] In some embodiments, the historical operations include the recent return operation after steering performed by the driver on the steering wheel before the target vehicle deviates. Determining the target driving parameters of the target vehicle based on the historical operations of the driver on the target vehicle includes: obtaining the historical driving parameters of the target vehicle at the target moment; the target moment is the execution moment of the return operation after steering; if the historical driving parameters meet the first preset condition, determining the historical driving parameters as the target driving parameters.

[0008] According to the above technical means, when the historical driving parameters of the target vehicle obtained before the target vehicle deviates satisfy the first preset condition, the historical driving parameters are used as the target driving parameters, which can realize determining the control target for deviation correction according to the driving intention of the driver during the historical driving process of the vehicle. Therefore, after the target vehicle is corrected based on the target deviation correction method, the driving state of the vehicle can meet the driver's expectations, realizing seamless deviation correction and improving the driver's driving experience.

[0009] In some embodiments, determining the target deviation correction method corresponding to the target vehicle based on the target driving parameters includes: determining the absolute value of the difference between the current driving parameters and the target driving parameters of the target vehicle; and determining the target deviation correction method corresponding to the target vehicle based on the absolute value of the difference.

[0010] According to the above technical means, determining the target deviation correction method corresponding to the target vehicle according to the absolute value of the difference between the current driving parameters and the target driving parameters of the target vehicle can make the determined target deviation correction method adapt to the deviation degree of the target vehicle. Therefore, correcting the target vehicle based on the target deviation correction method can improve the driver's driving experience.

[0011] In some embodiments, the current driving parameters include the current angle between the target vehicle and the lane line and the current distance between the centroid of the target vehicle and the lane line; the target driving parameters include the target angle of the target vehicle relative to the lane line and the target distance between the centroid of the target vehicle and the lane line; determining the target deviation correction method corresponding to the target vehicle based on the absolute value of the difference includes: if the first absolute value of the difference is less than or equal to the angle threshold and the second absolute value of the difference is less than or equal to the distance threshold, determining the target deviation correction method as the drive torque correction method; the first absolute value of the difference is the absolute value of the difference between the current angle and the target angle, and the second absolute value of the difference is the absolute value of the difference between the current distance and the target distance; if the first absolute value of the difference is greater than the angle threshold and / or the second absolute value of the difference is greater than the distance threshold, determining the target deviation correction method as the steering wheel angle correction method.

[0012] According to the above technical means, when the first absolute value of the difference is less than or equal to the angle threshold and the second absolute value of the difference is less than or equal to the distance threshold, determining the target deviation correction method as the drive torque correction method without controlling the steering angle of the steering wheel can realize seamless deviation correction of the target vehicle during small deviations; when the first absolute value of the difference is greater than the angle threshold and / or the second absolute value of the difference is greater than the distance threshold, determining the target deviation correction method as the steering wheel angle correction method instead of correcting by adjusting the wheel driving torque can avoid the confusion brought to the driver by the mismatch between the driving path of the target vehicle and the steering wheel angle when the target vehicle has a large deviation.

[0013] In some embodiments, the target vehicle is a vehicle with a distributed drive, and the target correction method includes a driving torque correction method; correction control is performed on the target vehicle based on the target correction method, including: when the target correction method is the driving torque method, controlling the drive motors corresponding to each wheel of the target vehicle to adjust the driving torque of the corresponding wheel so that the driving parameters of the target vehicle reach the target driving parameters; the driving torque corresponding to the wheels on a first side of the target vehicle is different from the driving torque corresponding to the wheels on a side opposite to the first side, and the first side is the side to which the target vehicle deviates when it deviates.

[0014] According to the above-mentioned technical means, when the target deviation correction method is the driving torque method, by controlling the driving motors corresponding to each wheel of the target vehicle to adjust the driving torque of the corresponding wheel, a differential torque can be generated on the left and right sides of the target vehicle. Under the action of the differential torque, the target vehicle can change its current driving direction to return from the current lateral deviation state to a non-lateral deviation state, thereby realizing imperceptible deviation correction of the target vehicle.

[0015] In some embodiments, the target vehicle includes a first wheel located on a first side and a second wheel located on a side opposite to the first side; controlling the drive motors corresponding to each wheel of the target vehicle to adjust the drive torque of the corresponding wheel so that the driving parameters of the target vehicle reach the target driving parameters, including: controlling the drive motor of the first wheel to drive the first wheel with a first reference drive torque; and controlling the drive motor of the second wheel to drive the second wheel with a second reference drive torque; the first reference drive torque is greater than the current drive torque of the first wheel, and the second reference drive torque is less than the current drive torque of the second wheel; determining the candidate driving parameters of the target vehicle when the drive torque of the first wheel is the first reference drive torque and the drive torque of the second wheel is the second reference drive torque; if the candidate driving parameters are different from the target driving parameters, controlling the drive motor of the first wheel to adjust the drive torque of the first wheel at least once, and / or controlling the drive motor of the second wheel to adjust the drive torque of the second wheel at least once, until the driving parameters of the target vehicle reach the target driving parameters.

[0016] According to the above-mentioned technical means, when the candidate driving parameters and the target driving parameters are different after the driving force of the first wheel is adjusted based on the first reference driving torque and the driving force of the second wheel is adjusted based on the second reference driving torque, the driving torque of the first wheel is adjusted at least once by controlling the driving motor of the first wheel, and / or the driving torque of the second wheel is adjusted at least once by controlling the driving motor of the second wheel, thereby realizing dynamic adjustment of the driving force of the first wheel and the second wheel, thereby improving the smoothness and stability of the control of the target vehicle's operating state and realizing senseless correction.

[0017] In some embodiments, the target rectification method includes a steering wheel angle rectification method; performing rectification control on the target vehicle based on the target rectification method includes: when the target rectification method is the steering wheel angle rectification method, controlling the steering module corresponding to the steering wheel to adjust the angle of the steering wheel so that the driving parameters of the target vehicle reach the target driving parameters.

[0018] According to the above technical means, when the target rectification method is the steering wheel angle rectification method, rectifying the target vehicle by controlling the steering module corresponding to the steering wheel to adjust the angle of the steering wheel can avoid the driver's operation of the steering wheel, thereby reducing the driver's driving burden.

[0019] In some embodiments, the above method further includes: if it is determined that the steering force of the steering wheel is greater than the steering force threshold, controlling the steering module to stop adjusting the angle of the steering wheel.

[0020] According to the above technical means, when it is determined that the steering force of the steering wheel is greater than the steering force threshold, controlling the steering module to stop adjusting the angle of the steering wheel, that is, exiting the automatic rectification action of the steering wheel angle, to avoid conflicts with the driver's behavior and improve the driver's driving experience.

[0021] In some embodiments, the above method further includes: when the target vehicle enters a curve from a straight lane, determining the target driving parameters determined by the target vehicle in the straight lane as the first driving parameters when the target vehicle is driving in the curve; based on the first driving parameters, determining the corresponding reference rectification method for the target vehicle during the process of entering the curve from the straight lane; performing rectification control on the target vehicle based on the reference rectification method so that the target vehicle makes a smooth turn according to the curvature of the curve.

[0022] According to the above technical means, when the target vehicle enters a curve from a straight lane, determining the target driving parameters determined by the target vehicle in the straight lane as the first driving parameters when the target vehicle is driving in the curve, determining the corresponding reference rectification method for the target vehicle during the process of entering the curve from the straight lane based on the first driving parameters, and performing rectification control on the target vehicle based on the reference rectification method can enable the target vehicle to move along the curvature of the curve during the process of entering the curve, thereby helping the driver to make a smooth turn.

[0023] In some embodiments, the above method further includes: obtaining the curvature of multiple discrete points on the lane line corresponding to the lane in which the target vehicle is traveling, and the second driving parameters of the target vehicle traveling in the lane; determining the influencing factors for the deviation of the target vehicle based on the curvature and the second driving parameters; outputting the influencing factors.

[0024] Based on the above technical means, the influencing factors of the deviation of the target vehicle are determined based on the curvature of multiple discrete points on the lane line corresponding to the lane in which the target vehicle travels and the second driving parameter of the target vehicle traveling in the lane. It realizes the comprehensive judgment of the influencing factors of the deviation of the target vehicle by combining the shape of the lane line and the vehicle driving parameters, rather than only judging based on the driving parameters of the target vehicle. Therefore, the accuracy of judging the influencing factors of the deviation of the target vehicle can be improved. At the same time, by outputting the influencing factors of the deviation of the target vehicle, targeted troubleshooting can be carried out on the deviation problem of the target vehicle based on these influencing factors, thereby improving the service life and driving safety of the target vehicle.

[0025] In some embodiments, the target vehicle includes a first wheel on the first side and a second wheel on the side opposite to the first side; the first side is the side to which the target vehicle tends to deviate when it deviates; based on the curvature and the second driving parameter, determining the influencing factors of the deviation of the target vehicle includes: if it is determined that the curvature is less than the curvature threshold and the second driving parameter meets the second preset condition, obtaining the first average driving force of the first wheel within the first preset time period and the second average driving force of the second wheel within the first preset time period, and the first driving mileage of the target vehicle within the first preset time period; based on the first average driving force and the second average driving force, determining the influencing factors of the deviation of the target vehicle.

[0026] According to the above technical means, when it is determined that the curvature of multiple discrete points on the lane line is less than the curvature threshold and the second driving parameter meets the second preset condition, it is determined that the target vehicle deviates. Further obtaining the first average driving force of the first wheel within the first preset time period and the second average driving force of the second wheel within the second preset time period, the influencing factors of the deviation of the target vehicle can be determined based on the driving forces of the two side wheels.

[0027] In some embodiments, based on the first average driving force and the second average driving force, determining the influencing factors of the deviation of the target vehicle includes: obtaining the second driving mileage of the target vehicle within the second preset time period; the first preset time period is less than the second preset time period; based on the first average driving force, the second average driving force, the first driving mileage and the second driving mileage, determining the torque deviation amount per unit driving mileage of the first wheel and the second wheel; if the torque deviation amount is greater than the torque threshold and the second driving mileage is greater than the driving mileage threshold, determining that the influencing factor of the deviation of the target vehicle is a non-natural factor.

[0028] According to the above technical means, the torque deviation of the first wheel and the second wheel within a unit mileage is determined based on the first average driving force, the second average driving force, the first mileage and the second mileage, and when the torque deviation is greater than the torque threshold and the second mileage is greater than the mileage threshold, it is determined that the influencing factor of the deviation of the target vehicle is a non-natural factor, and the deviation caused by the target vehicle itself can be checked based on the torque deviation, thereby avoiding the problem of vehicle deviation from continuing to increase and improving the service life of the vehicle.

[0029] The present application provides a vehicle control device, including:

[0030] A first determination module is used to determine a target driving parameter of the target vehicle based on a driver's historical operation of a steering wheel of the target vehicle when it is determined that the target vehicle is offset;

[0031] A second determination module is used to determine a target deviation correction method corresponding to the target vehicle based on the target driving parameter;

[0032] The first control module is used to perform correction control on the target vehicle based on the target correction method, so that the driving parameters of the target vehicle reach the target driving parameters.

[0033] An embodiment of the present application provides a vehicle, including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and is characterized in that the processor implements the steps in the above method when executing the program.

[0034] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method are implemented.

[0035] An embodiment of the present application provides a computer program product, including a computer program or instructions, which implement the steps in the above method when the computer program or instructions are executed by a processor.

[0036] Beneficial effects of this application:

[0037] According to the above-mentioned technical means, based on the target driving parameters determined by the driver for the target vehicle's historical operations, a target correction method for the target vehicle after deviation is determined, and correction is performed on the target vehicle based on the target correction method. It is possible to correct the target vehicle according to the driver's historical operations, so that the vehicle state after correction can meet the driver's driving intention in the historical driving process. At the same time, the target correction method does not require driver operation, thereby achieving imperceptible correction and reducing the driver's driving burden.

[0038] It can realize senseless correction and improve the driver's driving experience.

[0039] It can achieve a seamless deviation correction for the target vehicle during small - amplitude deviations, and avoid the confusion brought to the driver when the driving path of the target vehicle does not match the steering wheel angle in the case of large - amplitude deviations.

[0040] It can improve the smoothness and stability of the control of the running state of the target vehicle.

[0041] It can avoid conflicts with the driver's behavior and enhance the driver's driving experience.

[0042] It can enable the target vehicle to move along the curvature of the curve during the process of entering the curve, thus helping the driver to achieve a smooth turn.

[0043] It can improve the accuracy of judging the influencing factors of the deviation of the target vehicle.

[0044] It can prevent the vehicle deviation problem from continuing to increase and improve the service life of the vehicle. Brief Description of the Drawings

[0045] Figure 1 It is a schematic flow chart of a vehicle control method provided by an embodiment of the present application;

[0046] Figure 2 It is a schematic flow chart of a vehicle deviation correction control and deviation correction diagnosis method provided by an embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of a method for judging driver intention and determining control target provided by an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of lane lines and vehicle coordinates provided by an embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of deviation correction during straight - line driving provided by an embodiment of the present application;

[0050] Figure 6 It is a schematic diagram of a non - intersection vehicle entering a curve provided by an embodiment of the present application;

[0051] Figure 7 It is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. Detailed Embodiments

[0052] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0053] To make the objectives, technical solutions and advantages of this application clearer, the following will further describe this application in conjunction with the accompanying drawings. The described embodiments should not be regarded as limitations to this application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0054] In the following descriptions, reference is made to "some embodiments \ other embodiments", which describe subsets of all possible embodiments. However, it can be understood that "some embodiments \ other embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0055] In the following descriptions, the terms "first \ second" are merely used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first \ second" can be interchanged with a specific order or sequence when permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0057] In the related art, a method for adjusting vehicle deviation corrects by compensating the current rack force received by the rack in the steering actuator. That is to say, the conversion from the driver applying a steering driving torque to the steering wheel to compensating the target rack force to the rack by the vehicle directly controlling the assist motor to compensate the target rack force to the rack is adopted, but the driver needs to operate the steering wheel, reduce the force of the driver operating the steering wheel, and reduce the driver's operation burden; A vehicle driving control method corrects the deviation by detecting the vehicle deviation amount and controlling the steering wheel angle in real time. The driver needs to release the steering wheel, which is only applicable in the intelligent driving scenario. In the actual control process, the deviation correction often fails due to the competition for the control right of the steering wheel. At the same time, during the process of competing for the control right of the steering wheel, it is easy to bring a bad experience to the driver, and the user perception is obvious during the deviation correction process; A vehicle control method determines the steering compensation torque according to the actual yaw rate and vehicle speed of the vehicle, and then controls the steering system of the vehicle based on the steering compensation torque to correct the steering wheel angle of the vehicle to achieve deviation correction. This method is generally only applicable to slipping or when the yaw rate is relatively large. Affected by the sensitivity of the sensor, it is difficult to detect if the vehicle is moving laterally or the yaw rate is relatively small.

[0058] In addition, existing lane departure assistance systems with mature functions can only keep the vehicle driving within the lane and cannot accurately identify the driver's intention. For example, if the driver hopes to drive close to one side of the lane line or even straddle the lane line, and at the same time, it is difficult to achieve correction when the vehicle has a small yaw angle, etc.

[0059] Based on the problems existing in the related technologies, the embodiments of the present application provide a vehicle control method. For example Figure 1 As shown, it is a schematic flowchart of a vehicle control method provided by the embodiments of the present application. The method includes the following steps S101 to step S103:

[0060] Step S101, when it is determined that the target vehicle has deviated, based on the historical operations of the driver on the steering wheel of the target vehicle, determine the target driving parameters of the target vehicle.

[0061] In some embodiments, the deviation of the target vehicle may be caused by the deviation of the suspension position of the target vehicle, inaccurate four-wheel alignment, or natural factors such as wind and slippery road surface, which cause the target vehicle to deviate. For example, when the driver does not operate the steering wheel, the target vehicle changes from driving along the lane line to the body part deviating to the left, or the target vehicle changes from driving close to the centroid lane line to the whole body of the vehicle deviating towards the right lane line, etc. The situation of the deviation of the target vehicle here is only an exemplary description, and the present application does not limit this.

[0062] Here, the target vehicle may be an autonomous vehicle, a semi-autonomous vehicle, a non-autonomous vehicle, etc. The historical operations of the driver on the steering wheel of the target vehicle may be the steering (left turn, right turn) and straightening operations made by the driver on the steering wheel of the target vehicle before the target vehicle deviates. The target driving parameters may be the angle between the straight line where the driving direction of the target vehicle is located and the lane line during the process of keeping the target vehicle driving straight or along the lane line, the distance from the centroid point of the target vehicle to each lane line, etc. It should be noted that when the lane line is a curve, the distance from the centroid point of the target vehicle to the lane line may be the distance from the centroid point of the target vehicle to the nearest point on the lane line, and the angle between the straight line where the driving direction of the target vehicle is located and the lane line may be the angle between the straight line where the driving direction of the target vehicle is located and the tangent line corresponding to the nearest point on the lane line.

[0063] In some embodiments, the driving intention of the driver may be determined according to the historical operations of the driver on the steering wheel of the target vehicle before the target vehicle deviates. For example, the driver wants the target vehicle to drive straight close to the lane line on the left side of the target vehicle, or straddle the lane center line, etc. The driving parameters corresponding to keeping the target vehicle driving straight or along the lane line can be determined according to the historical operations, and this driving parameter is used as the target driving parameter after the target vehicle is corrected.

[0064] Step S102, determining a target deviation correction method corresponding to the target vehicle based on the target driving parameters.

[0065] In some embodiments, the target correction method includes multiple methods. For example, the target correction method may include controlling the steering wheel angle of the target vehicle to achieve correction, and adjusting the driving torque of the wheels of the target vehicle so that the left and right wheels of the target vehicle generate differential torque to achieve correction.

[0066] In some embodiments, the degree of deviation of the target vehicle can be determined based on the target driving parameters, and the target correction method can be determined according to the magnitude of the deviation. For example, when the deviation degree is greater than an deviation degree threshold, the steering wheel angle correction method is determined as the target correction method, or both the steering wheel angle correction method and the driving torque correction method are used as target correction methods; when the deviation degree is less than or equal to the deviation degree threshold, the driving torque correction method is determined as the target correction method.

[0067] Step S103, performing correction control on the target vehicle based on the target correction method, so that the driving parameters of the target vehicle reach the target driving parameters.

[0068] In some embodiments, in the process of performing correction control on the target vehicle based on the target correction method, the parameters of the control object (such as wheels, steering wheels) can be controlled according to the control object indicated by the target correction method, for example, the steering wheel angle is controlled, and the driving force of the wheel is adjusted, so that the target vehicle gradually returns to the operating state of driving in a straight line or along the lane line, thereby achieving correction of the target vehicle.

[0069] In an embodiment of the present application, when it is determined that the target vehicle has deviated, the target driving parameters of the target vehicle are determined based on the driver's historical operations on the steering wheel of the target vehicle; based on the target driving parameters, the target deviation correction method corresponding to the target vehicle is determined; and based on the target deviation correction method, deviation correction control is performed on the target vehicle so that the driving parameters of the target vehicle reach the target driving parameters. In this way, based on the target driving parameters determined by the driver's historical operations on the steering wheel of the target vehicle, the target deviation correction method is determined for the target vehicle after it has deviated, and the deviation correction is performed on the target vehicle based on the target deviation correction method. It is possible to correct the deviation of the target vehicle according to the driver's historical operations, so that the vehicle state after the deviation can meet the driver's driving intention during the historical driving process. At the same time, the target deviation correction method does not require the driver to operate, so that non-sensing deviation correction can be achieved, reducing the driver's driving burden.

[0070] In some embodiments, the historical operation includes the straightening operation after the last steering executed by the driver on the steering wheel before the target vehicle deviates. Determining the target driving parameters of the target vehicle based on the historical operation data of the driver on the steering wheel of the target vehicle in step S101 may include the following steps S1011 to S1012:

[0071] Step S1011, obtain the historical driving parameters corresponding to the target vehicle at the target moment.

[0072] Here, the straightening operation after steering may be the last left-turn operation and / or right-turn operation executed by the driver on the steering wheel before the target vehicle deviates, and the straightening operation on the steering wheel after the left-turn operation and / or right-turn operation. The target moment is the execution moment of the straightening operation after steering.

[0073] In some embodiments, under the action of the straightening operation after steering of the steering wheel, if the lane line is straight, the target vehicle may drive straight close to the lane line on one side of the target vehicle or drive straight pressing the lane line; if the lane line is curved, the target vehicle may drive along the lane line according to the curvature of the lane line. In some embodiments, the historical driving parameters may include the distances between the centroid point of the target vehicle and the lane lines on the left and right sides of the target vehicle, the distance between the centroid point of the target vehicle and the lane center line, the angle between the straight line where the driving direction of the target vehicle is located and the lane line, etc. under the action of the straightening operation after steering of the steering wheel. Here, in the case where the lane line is curved, the distances between the centroid point of the target vehicle and the lane lines on the left and right sides of the target vehicle may be the distances between the centroid point of the target vehicle and the nearest points on the lane line, and the angle between the straight line where the driving direction of the target vehicle is located and the lane line may be the angle between the straight line where the driving direction of the target vehicle is located and the tangent line corresponding to the nearest point on the lane line.

[0074] Step S1012, if the historical driving parameters meet the first preset condition, determine the historical driving parameters as the target driving parameters.

[0075] In some embodiments, the historical data meeting the first preset condition may be that the angle between the straight line where the driving direction of the target vehicle is located and the lane line is less than the first angle threshold under the action of the straightening operation after steering of the steering wheel. The first angle threshold may be 2°, 3°, etc.

[0076] In some embodiments, when the historical driving parameters meet the first preset condition, it can be considered that the target vehicle is in a straight driving state or a state of driving along the lane line under the action of the straightening operation after steering of the steering wheel of the target vehicle. At this time, the historical driving parameters can be used as the target driving parameters to use the target driving parameters as the control target after correcting the deviation of the target vehicle.

[0077] In some embodiments, in the process of determining the target driving parameters of a target vehicle based on the historical operation data of the driver on the steering wheel of the target vehicle, the historical positional relationship between the target vehicle and the lane line can be obtained under the action of the steering wheel returning to the straight position after the driver's last steering operation on the steering wheel of the target vehicle. Based on this historical positional relationship, the target positional relationship between the target vehicle and the lane line can be determined. Among them, the historical driving parameters may include this historical positional relationship, and the target driving parameters may include this target positional relationship.

[0078] In the above embodiments, when the historical driving parameters of the target vehicle obtained before the target vehicle deviates meet the first preset condition, taking these historical driving parameters as the target driving parameters can realize determining the control target for deviation correction according to the driver's driving intention during the historical driving process of the vehicle. Thus, after correcting the target vehicle based on the target deviation correction method, the driving state of the vehicle can meet the driver's expectations, realizing seamless deviation correction and improving the driver's driving experience.

[0079] In some embodiments, based on the target driving parameters, determining the target deviation correction method corresponding to the target vehicle in step S102 can be performed through the following steps S1021 to S1022:

[0080] Step S1021, determine the absolute value of the difference between the current driving parameters and the target driving parameters of the target vehicle.

[0081] Here, the current driving parameters may be the driving parameters of the target vehicle determined after the target vehicle deviates. The current driving parameters may include the angle between the straight line where the driving direction of the target vehicle is located and the lane line, the distance between the centroid point of the target vehicle and the lane line, etc.

[0082] In some embodiments, a vehicle body coordinate system can be established through the high-precision camera and high-precision map information of the target vehicle to determine the position coordinates of the lane line in the vehicle body coordinate system, and the angle between the centroid point of the target vehicle and the lane line, the distance between the centroid point of the target vehicle and the lane line, etc. can be determined through the position coordinates of the lane line.

[0083] Step S1022, based on the absolute value of the difference and the vehicle driving parameter threshold, determine the target deviation correction method corresponding to the target vehicle.

[0084] In some embodiments, the deviation degree or correction degree of the target vehicle can be determined according to the absolute value of the difference and the vehicle driving parameter threshold, and the corresponding target deviation correction method can be determined according to the magnitude of the deviation degree or correction degree.

[0085] In the above embodiments, determining the target deviation correction method corresponding to the target vehicle according to the absolute value of the difference between the current driving parameters and the target driving parameters of the target vehicle can make the determined target deviation correction method adapt to the deviation degree of the target vehicle. Therefore, correcting the target vehicle based on the target deviation correction method can improve the driving experience of the driver.

[0086] In some embodiments, the current driving parameters of the target vehicle include the current angle between the straight line where the driving direction of the target vehicle is located and the lane line, and the current distance between the centroid point of the target vehicle and the lane line; the target driving parameters include the target angle of the straight line where the driving direction of the target vehicle is located relative to the lane line, and the target distance between the centroid point of the target vehicle and the lane line; the determining of the target deviation correction method corresponding to the target vehicle based on the absolute value of the difference in step S1022 may include the following steps S10221 to S10222:

[0087] Step S10221, if the absolute value of the first difference is less than or equal to the angle threshold, and the absolute value of the second difference is less than or equal to the distance threshold, determine that the target deviation correction method is the drive torque deviation correction method.

[0088] Here, the absolute value of the first difference is the absolute value of the difference between the current angle and the target angle, and the absolute value of the second difference is the absolute value of the difference between the current distance and the target distance. The drive torque deviation correction method can be to adjust the drive torque of the corresponding wheels of the target vehicle through the drive motors corresponding to each wheel of the target vehicle.

[0089] In some embodiments, the angle threshold can be 2°, 3°, etc., and the distance threshold can be 10 cm, 15 cm, etc. If it is determined that the absolute value of the first difference is less than or equal to the angle threshold and the absolute value of the second difference is less than or equal to the distance threshold, it means that the current deviation degree of the target vehicle is small. In this case, the steering wheel can be not steered, and the target vehicle can be corrected through the drive torque deviation correction method to achieve non-sensing correction.

[0090] Step S10222, if the absolute value of the first difference is greater than the angle threshold, and / or the absolute value of the second difference is greater than the distance threshold, determine that the target deviation correction method is the steering wheel angle deviation correction method.

[0091] In some embodiments, if it is determined that the absolute value of the first difference is greater than the angle threshold, or the absolute value of the second difference is greater than the distance threshold, or the absolute value of the first difference is greater than the angle threshold and the absolute value of the second difference is greater than the distance threshold, it means that the current deviation degree of the target vehicle is large. In this case, the steering wheel angle deviation correction method can be determined as the target deviation correction method, and the target vehicle can be corrected by controlling the steering of the steering wheel.

[0092] In the above embodiment, when the absolute value of the first difference is less than or equal to the angle threshold, and the absolute value of the second difference is less than or equal to the distance threshold, the target correction method is determined to be the driving torque correction method, and the steering wheel angle is not controlled, so that imperceptible correction of the target vehicle when it deviates slightly can be achieved; when the absolute value of the first difference is greater than the angle threshold, and / or the absolute value of the second difference is greater than the distance threshold, the target correction method is determined to be the steering wheel angle correction method, rather than correcting the deviation by adjusting the wheel driving torque, so that confusion for the driver caused by the mismatch between the target vehicle's driving path and the steering wheel angle can be avoided when the target vehicle deviates significantly.

[0093] In some embodiments, the target vehicle is a vehicle with a distributed drive, and the target deviation correction method includes a driving torque deviation correction method; the execution of deviation correction control on the target vehicle based on the target deviation correction method in step S103 may include the following step S1031:

[0094] Step S1031, when the target deviation correction mode is the driving torque mode, the driving motors corresponding to the wheels of the target vehicle are controlled to adjust the driving torque of the corresponding wheels so that the driving parameters of the target vehicle reach the target driving parameters.

[0095] Here, the driving torque corresponding to the wheels on a first side of the target vehicle is different from the driving torque corresponding to the wheels on a side opposite to the first side, and the first side is the side to which the target vehicle deviates when it deviates.

[0096] In some embodiments, the drive motor corresponding to at least one wheel of the target vehicle can be controlled to adjust the drive torque of the corresponding wheel. When the target vehicle deviates to the first side, the drive torque corresponding to the wheel on the first side of the target vehicle can be greater than the drive torque corresponding to the wheel on the side opposite to the first side. In this case, the target vehicle can generate a force to move from the first side to the second side, thereby returning the target vehicle to a state of driving in a straight line or driving along a lane line; when the target vehicle deviates to the second side, the drive torque corresponding to the wheel on the first side of the target vehicle can be less than the drive torque corresponding to the wheel on the side opposite to the first side. In this case, the target vehicle can generate a force to move from the second side to the first side, thereby returning the target vehicle to a state of driving in a straight line or driving along a lane line.

[0097] In some embodiments, during the adjustment process of the driving torque corresponding to the wheel on the first side of the target vehicle and the driving torque corresponding to the wheel on the side opposite to the first side, the magnitude relationship between the driving torque corresponding to the wheel on the first side and the driving torque corresponding to the wheel on the side opposite to the first side may change. For example, if the target vehicle offsets and moves horizontally toward the first side, the driving torque corresponding to the wheel on the first side can be first controlled to be greater than the driving torque corresponding to the wheel on the side opposite to the first side, and then the driving torque corresponding to the wheel on the first side can be controlled to be less than the driving torque corresponding to the wheel on the side opposite to the first side, until the target vehicle returns to a straight-line driving state.

[0098] In the above embodiment, when the target deviation correction method is the driving torque method, a differential torque can be generated on the left and right sides of the target vehicle by controlling the driving motors corresponding to the wheels of the target vehicle to adjust the driving torque of the corresponding wheels. Under the action of the differential torque, the target vehicle can change its current driving direction to return from the current deviation state to the non-deviation state, thereby realizing imperceptible deviation correction of the target vehicle.

[0099] In some embodiments, the target vehicle includes a first wheel located on a first side and a second wheel located on a side opposite to the first side; controlling the drive motors corresponding to the wheels of the target vehicle to adjust the drive torque of the corresponding wheels in step S1031 so that the driving parameters of the target vehicle reach the target driving parameters may include the following steps S10311 to S10313:

[0100] Step S10311, controlling the driving motor of the first wheel to drive the first wheel with a first reference driving torque; and controlling the driving motor of the second wheel to drive the second wheel with a second reference driving torque.

[0101] Here, the first reference driving torque is greater than the current driving torque of the first wheel, and the second reference driving torque is less than the current driving torque of the second wheel.

[0102] In some embodiments, the first reference driving torque may be greater than the second reference driving torque. Under the action of the first reference driving torque, the driving force of the first wheel will increase, and under the action of the second reference driving torque, the driving force of the second wheel will decrease.

[0103] In some embodiments, the first wheel may include a first front wheel and a first rear wheel, the second wheel may include a second front wheel and a second rear wheel. The drive motor of the first front wheel may be controlled to drive the first front wheel with a first reference drive torque corresponding to the first front wheel, the drive motor of the first rear wheel may be controlled to drive the first rear wheel with a first reference drive torque corresponding to the first rear wheel, the drive motor of the second front wheel may be controlled to drive the second front wheel with a second reference drive torque corresponding to the second front wheel, and the drive motor of the second rear wheel may be controlled to drive the second rear wheel with a second reference drive torque corresponding to the second rear wheel. The sum of the first reference drive torque corresponding to the first front wheel and the first reference drive torque corresponding to the first rear wheel is greater than the sum of the second reference drive torque corresponding to the second front wheel and the second reference drive torque corresponding to the second rear wheel.

[0104] Step S10312: Determine the candidate driving parameters of the target vehicle when the drive torque of the first wheel is the first reference drive torque and the drive torque of the second wheel is the second reference drive torque.

[0105] In some embodiments, when the drive motor of the first wheel drives the first wheel with the first reference drive torque and the drive motor of the second wheel drives the second wheel with the second reference drive torque, the angle between the straight line of the driving direction of the target vehicle and the lane line and the distance between the centroid point of the target vehicle and the lane line may be determined, and the angle between the straight line of the driving direction of the target vehicle and the lane line and the distance between the centroid point of the target vehicle and the lane line determined at this time may be used as the candidate driving parameters.

[0106] Step S10313: If the candidate driving parameters are different from the target driving parameters, control the drive motor of the first wheel to adjust the drive torque of the first wheel at least once, and / or control the drive motor of the second wheel to adjust the drive torque of the second wheel at least once until the driving parameters of the target vehicle reach the target driving parameters.

[0107] In some embodiments, the candidate driving parameters may include the candidate angle between the straight line of the driving direction of the target vehicle and the lane line and the candidate distance between the centroid point of the target vehicle and the lane line. The difference between the candidate driving parameters and the target driving parameters may include that the candidate angle is different from the target angle (the target angle between the target vehicle and the lane line) or the candidate distance is different from the target distance (the target distance between the target vehicle and the lane line).

[0108] In some embodiments, the difference between the candidate driving parameters and the target driving parameters may indicate that the target vehicle is currently still in an offset state. In this case, the driving torque of the first wheel controlled by the driving motor may be adjusted once or multiple times; or, the driving torque of the second wheel controlled by the driving motor may be adjusted once or multiple times; or, the driving torque of the first wheel controlled by the driving motor may be adjusted once or multiple times, and at the same time, the driving torque of the second wheel controlled by the driving motor may be adjusted once or multiple times, thereby continuously changing the differential torque between the left and right sides of the target vehicle until the driving parameters of the target vehicle reach the target driving parameters and the target vehicle returns to a non-offset state.

[0109] In the above embodiment, when the candidate driving parameters and the target driving parameters are different after the driving force of the first wheel is adjusted based on the first reference driving torque and the driving force of the second wheel is adjusted based on the second reference driving torque, the driving torque of the first wheel is adjusted at least once by controlling the driving motor of the first wheel, and / or the driving torque of the second wheel is adjusted at least once by controlling the driving motor of the second wheel, thereby realizing dynamic adjustment of the driving force of the first wheel and the second wheel, thereby improving the smoothness and stability of the control of the target vehicle's operating state and realizing senseless correction.

[0110] In some embodiments, the target deviation correction method includes a steering wheel angle deviation correction method; the execution of deviation correction control on the target vehicle based on the target deviation correction method in step S103 may include the following step S1032:

[0111] Step S1032, when the target correction method is the steering wheel angle correction method, control the steering module corresponding to the steering wheel to adjust the steering wheel angle so that the driving parameters of the target vehicle reach the target driving parameters.

[0112] In some embodiments, a control instruction for adjusting the steering wheel angle can be sent to the steering module. After receiving the control instruction, the steering module can control the steering wheel to steer. During the steering wheel steering process, the dynamic driving parameters of the target vehicle can be collected in real time. When the dynamic driving parameters reach the target driving parameters, the steering module can stop controlling the steering wheel.

[0113] In some embodiments, the target rotation angle of the steering wheel can be determined based on the current offset size of the target vehicle and the preset correspondence between the offset size of the target vehicle and the rotation angle of the steering wheel, so as to control the steering module to control the steering wheel based on the target rotation angle size.

[0114] In some other embodiments, the steering angle of the steering wheel can also be dynamically adjusted. For example, first control the steering wheel to rotate an initial angle, observe the driving parameters of the target vehicle at this initial angle. When the driving parameters are different from the target driving parameters, the steering angle of the steering wheel can be further adjusted at least once, and the driving parameters of the target vehicle are observed in real time until the target driving parameters are reached.

[0115] In the above embodiments, when the target deviation correction method is the steering angle deviation correction method, the deviation correction of the target vehicle is achieved by controlling the steering module corresponding to the steering wheel to adjust the steering angle of the steering wheel, which can avoid the driver's operation of the steering wheel, thereby reducing the driver's driving burden.

[0116] In some embodiments, the above method may further include the following step S104:

[0117] Step S104, if it is determined that the steering force of the steering wheel is greater than the steering force threshold, control the steering module to stop adjusting the steering angle of the steering wheel.

[0118] Here, the steering force threshold can be the pre-determined steering force of the steering wheel, for example, it can be 10 Newtons (N), 20 N, etc.

[0119] In some embodiments, the steering force threshold can be used to determine whether the steering wheel is currently being manipulated by the driver. When it is determined that the steering force of the steering wheel is greater than the steering force threshold, it means that the driver is currently operating the steering wheel. At this time, the steering module can be controlled to stop adjusting the steering angle of the steering wheel.

[0120] In the above embodiments, when it is determined that the steering force of the steering wheel is greater than the steering force threshold, control the steering module to stop adjusting the steering angle of the steering wheel, that is, exit the automatic steering angle deviation correction action, avoid conflicts with the driver's behavior, and improve the driver's driving experience.

[0121] In some embodiments, the above method may further include the following steps S105 to S107:

[0122] Step S105, when the target vehicle enters a curve from a straight lane, determine the target driving parameters determined by the target vehicle in the straight lane as the first driving parameters when the target vehicle is driving in the curve.

[0123] In some embodiments, the target driving parameters determined by the target vehicle in the straight lane may be the target driving parameters determined most recently by the target vehicle before entering the curve, and the target driving parameters may be determined based on the historical operations of the driver on the steering wheel of the target vehicle. The first driving parameter may include the distance between the centroid point of the target vehicle and the nearest point on the corresponding lane line in the curve during the process of the target vehicle entering the curve, and the angle between the straight line where the driving direction of the target vehicle is located and the tangent line corresponding to the nearest point on the lane line.

[0124] Step S106: Based on the first driving parameter, determine the corresponding reference deviation correction method for the target vehicle during the process of entering the curve from the straight lane.

[0125] In some embodiments, the reference deviation correction method for the target vehicle during the process of entering the curve from the straight line may be determined according to the difference between the driving parameters of the target vehicle during the process of entering the curve and the first driving parameter. The reference deviation correction method may include a driving torque deviation correction method and / or a steering wheel angle deviation correction method.

[0126] In some embodiments, during the process of the target vehicle entering the curve from the straight lane, the curvature of the corresponding lane line in the curve may gradually change, the driving parameters corresponding to the target vehicle may also change in real time, and correspondingly, the offset of the target vehicle may also change. The reference deviation correction method may be determined according to the magnitude of the offset. Therefore, the determined reference deviation correction method may also change dynamically. For example, as the target vehicle enters the curve, the reference deviation correction method may change from a driving torque deviation correction method to a steering wheel angle deviation correction method.

[0127] Step S107: Perform deviation correction control on the target vehicle based on the reference deviation correction method so that the target vehicle turns according to the curvature of the curve.

[0128] In some embodiments, during the process of performing deviation correction control on the target vehicle based on the reference deviation correction method, the driving parameters of the target vehicle may be collected in real time. When the driving parameters are different from the first driving parameters, the parameters of the control object corresponding to the reference deviation correction method (the driving torque of the wheel, the angle of the steering wheel) may be dynamically adjusted until the driving parameters are the same as the first driving parameters, so that the target vehicle can enter the curve along the curvature of the curve without deviation.

[0129] In the above embodiments, when the target vehicle enters a curve from a straight lane, the target driving parameters determined by the target vehicle in the straight lane are determined as the first driving parameters for the target vehicle when driving in the curve. Based on the first driving parameters, the corresponding reference deviation correction method for the target vehicle during the process of entering the curve from the straight lane is determined, and deviation correction control is performed on the target vehicle based on the reference deviation correction method, which can enable the target vehicle to move along the curvature of the curve during the process of entering the curve, thereby helping the driver achieve a smooth turn.

[0130] In some embodiments, the above method may further include the following steps S108 to S110:

[0131] Step S108, obtain the curvature of multiple discrete points on the lane line corresponding to the lane in which the target vehicle is traveling, and the second driving parameters of the target vehicle when traveling in the lane.

[0132] In some embodiments, the curvature of N discrete points on the lane line corresponding to the lane in which the target vehicle is traveling may be collected, where N may be 10, 12, 20, etc. The second driving parameters of the target vehicle when traveling in the lane may be the vehicle speed of the target vehicle when traveling in the lane, the angle between the target vehicle and the lane line, the distance between the target vehicle and the lane line, the steering wheel angle, etc.

[0133] Step S109, based on the curvature and the second driving parameters, determine the influencing factors for the target vehicle to deviate.

[0134] In some embodiments, it is possible to determine whether the lane line is a straight line or a curve according to the curvature of each discrete point on the lane line, and it is possible to determine whether the target vehicle is currently deviating according to the second driving parameters, that is, whether the target vehicle is traveling along a straight line or along the lane line. Further, in combination with the shape of the lane line, it is possible to determine whether the reason for the target vehicle to deviate is a natural factor or a factor of the vehicle itself.

[0135] Step S110, output the influencing factors.

[0136] In some embodiments, the influencing factors for the target vehicle to deviate can be pushed to the user, pushed to the 4S store, and / or uploaded to the cloud, etc. For example, the influencing factors for the target vehicle to deviate are sent to the user's mobile phone. When the user determines that the influencing factor is a factor of the vehicle itself, the vehicle can be sent for repair; the influencing factors for the target vehicle to deviate can also be pushed to the 4S store, and the 4S store conducts targeted troubleshooting on the target vehicle based on the influencing factor; the influencing factors for the target vehicle to deviate can also be uploaded to the cloud, and the cloud pushes the influencing factors for the target vehicle to deviate to the user or the 4S store.

[0137] In the above embodiments, based on the curvature of multiple discrete points on the lane line corresponding to the lane in which the target vehicle travels, and the second driving parameter of the target vehicle traveling in the lane, the influencing factors for the deviation of the target vehicle are determined, realizing the comprehensive judgment of the influencing factors for the deviation of the target vehicle by combining the shape of the lane line and the vehicle driving parameters, rather than simply judging based on the driving parameters of the target vehicle. Therefore, the accuracy of judging the influencing factors for the deviation of the target vehicle can be improved. At the same time, by outputting the influencing factors for the deviation of the target vehicle, targeted troubleshooting can be carried out on the deviation problem of the target vehicle based on these influencing factors, thereby improving the service life and driving safety of the target vehicle.

[0138] In some embodiments, the target vehicle includes a first wheel on a first side and a second wheel on a side opposite to the first side; the first side is the side to which the target vehicle deviates when it deviates; the determining of the influencing factors for the deviation of the target vehicle based on the curvature and the second driving parameter in the above step S109 may include the following steps S1091 to step S1092:

[0139] Step S1091, if it is determined that the curvature is less than the curvature threshold and the second driving parameter meets the second preset condition, obtain the first average driving force of the first wheel within the first preset duration and the second average driving force of the second wheel within the first preset duration, and the first driving mileage of the target vehicle within the first preset duration.

[0140] In some embodiments, the curvature threshold may be 0.5 m -1 , 0.8 m -1 etc. In the case where it is determined that the curvatures of multiple discrete points on the lane line are all less than the curvature threshold, the lane line can be determined to be a straight line. The second driving parameter meeting the second preset condition may include that the vehicle speed of the target vehicle is greater than the vehicle speed threshold (such as the average vehicle speed is greater than 50 kilometers per hour), the steering wheel angle is less than the angle threshold (such as the steering wheel angle of the target vehicle is less than 2°), and the distance between the centroid point of the target vehicle and the lane line changes.

[0141] In some embodiments, in the case where it is determined that the lane line is a straight line, while the vehicle speed of the target vehicle is greater than the vehicle speed threshold, the steering wheel angle is less than the angle threshold, and the distance between the centroid point of the target vehicle and the lane line changes, it can be considered that the target vehicle should travel along the straight lane line, but actually deviates.

[0142] In some embodiments, the first preset duration may be a relatively short time length, for example, it may be 0.1 second. The first average driving force and the second average driving force may be different. The continuous driving force received by the first wheel within the first preset duration can be integrated with the first preset duration, and then the integrated result is divided by the first preset duration to obtain the first average driving force. The calculation method of the second average driving force is the same.

[0143] Step S1092: Determine the influencing factors for the deviation of the target vehicle based on the first average driving force and the second average driving force.

[0144] In some embodiments, based on the first average driving force and the second average driving force, the torque deviation amount of the target wheel can be determined, and based on the magnitude of the torque deviation amount, the influencing factors for the deviation of the target vehicle can be determined. The influencing factors can include natural factors and non-natural factors. The natural factors can be wind force, slippery road surface, etc., and the non-natural factors can be problems with the target vehicle itself, such as deviation of the suspension position of the target vehicle itself, inaccurate four-wheel alignment, etc.

[0145] In the above embodiments, when it is determined that the curvature of multiple discrete points on the lane line is less than the curvature threshold and the second driving parameter satisfies the second preset condition, it is determined that the target vehicle deviates. Further, the first average driving force of the first wheel within the first preset duration and the second average driving force of the second wheel within the second preset duration are obtained. The influencing factors for the deviation of the target vehicle can be determined based on the driving forces of the two wheels on both sides.

[0146] In some embodiments, the step of determining the influencing factors for the deviation of the target vehicle based on the first average driving force and the second average driving force in step S1092 may include the following steps S10921 to S10923:

[0147] Step S10921: Obtain the second driving mileage of the target vehicle within the second preset duration.

[0148] Here, the first preset duration is less than the second preset duration, and the second driving mileage is greater than the first driving mileage.

[0149] In some embodiments, the second preset duration can be a time length much greater than the first preset duration. For example, when the first preset duration is 0.1 s, the second preset duration can be 5 minutes (min), 10 min, etc.

[0150] Step S10922: Determine the torque deviation amount per unit driving mileage of the first wheel and the second wheel based on the first average driving force, the second average driving force, the first driving mileage, and the second driving mileage.

[0151] In some embodiments, the average driving force deviation of the first wheel and the second wheel can be determined based on the first average driving force and the second average driving force, and then the torque deviation amount per unit driving mileage of the first wheel and the second wheel can be determined based on the average driving force deviation, the first driving mileage, the second driving mileage, the first preset duration, and the second preset duration.

[0152] Exemplarily, the torque deviation amount of the first wheel and the second wheel within a unit driving mileage can be calculated according to the following formula (1). :

[0153] (1);

[0154] Wherein, represents the average driving force deviation between the first wheel and the second wheel, and respectively represent the first average driving force and the second average driving force, is the first preset duration, is the second preset duration, is the first driving mileage, is the second driving mileage.

[0155] Step S10923, if the torque deviation amount is greater than the driving torque threshold and the second driving mileage is greater than the driving mileage threshold, determine that the influencing factor for the target vehicle to deviate is a non-natural factor.

[0156] In some embodiments, the torque threshold can be a relatively small torque value set in advance, for example, it can be 5 N·m; the driving mileage threshold can be 500 m, 1000 m, etc. The torque deviation amount being greater than the torque threshold can indicate that the torque deviation amount between the first wheel and the second wheel is large, and the second driving mileage being greater than the driving mileage threshold can indicate that the accumulated total mileage is large enough. In this case, it can be determined that the influencing factor for the target vehicle to deviate is a non-natural factor, that is, the suspension position deviation, inaccurate four-wheel alignment, etc. of the target vehicle.

[0157] In the above embodiments, by determining the torque deviation amount of the first wheel and the second wheel within a unit driving mileage based on the first average driving force, the second average driving force, the first driving mileage, and the second driving mileage, and determining that the influencing factor for the target vehicle to deviate is a non-natural factor when the torque deviation amount is greater than the torque threshold and the second driving mileage is greater than the driving mileage threshold, it is possible to check for deviations caused by the target vehicle itself based on the torque deviation amount, thereby preventing the vehicle deviation problem from continuing to increase and improving the service life of the vehicle.

[0158] Next, the implementation process of the application embodiment in the actual application scenario will be introduced.

[0159] As Figure 2 shown, it is a schematic flowchart of a vehicle deviation correction control and deviation diagnosis method provided by an embodiment of the present application. The method includes the following steps S201 to step S205:

[0160] Step S201, determine the driver's intention based on the driver's operation of the steering wheel and the positional relationship between the lane line and the vehicle.

[0161] As shown Figure 3 in the figure, when the driver controls the steering wheel and the vehicle is driving in the middle of the road, and the steering wheel is returned to the straight position (the steering wheel angle is near 0), at this time, the driver expects the vehicle to continue driving along the middle of the lane line according to the current heading. At time T1, the distances from the vehicle's center of mass A1 to the left and right lane lines are L1 and R1 respectively, and L1 and R1 are equal; but at time T2, due to non-driver reasons (such as crosswind, slippery road surface, or the vehicle itself), the vehicle's driving deviates and does not match the driver's expectation. At this time, the distances from the vehicle's center of mass A2 to the left and right lane lines are L2 and R2 respectively, and L2 is less than R2; after time T2, the vehicle should be corrected with the heading of the vehicle at time T1 and driving in the middle of the lane line as the goal. After correction, at time T3, the distances from the vehicle's center of mass A3 to the left and right lane lines are L3 and R3 respectively, and L3 and R3 are equal; after time T3, the driver adjusts the steering wheel and hopes the vehicle to drive close to the right lane line. The steering wheel is returned to the straight position. At this time, the driver expects the vehicle to drive close to the right lane line according to the current heading. At time T4, at time T4, the distances from the vehicle's center of mass A4 to the left and right lane lines are L4 and R4 respectively, and L4 is greater than R4; but at time T5, similarly due to non-driver reasons, the vehicle deviates and does not match the driver's expectation. At time T5, the distances from the vehicle's center of mass A5 to the left and right lane lines are L5 and R5 respectively, and L5 is less than R5; after time T5, the vehicle should be corrected with the heading of the vehicle at time T4 and driving close to the lane line as the goal. After correction, at time T6, the vehicle drives close to the right lane line, and the distances from the vehicle's center of mass A6 to the left and right lane lines are L6 and R6 respectively, and L6 is greater than R6; similarly at time T7, the driver adjusts the steering wheel and the vehicle straddles the lane line. At this time, the driver expects the vehicle to straddle the lane line according to the current heading. At time T7, the distances from the vehicle's center of mass A7 to the left and right lane lines are L7 and R7 respectively, and L7 is greater than R7.

[0162] Step S202: Regarding the lateral distance between the vehicle and the lane line and the heading angle of the vehicle relative to the lane line as control targets according to the driving intention.

[0163] Among them, the "lateral distance between the vehicle and the lane line" is equivalent to the "target distance between the center of mass of the target vehicle and the lane line" in other embodiments, and the "heading angle of the vehicle relative to the lane line" is equivalent to the "target angle of the target vehicle relative to the lane line" in other embodiments.

[0164] When the driver operates the steering wheel and then returns the steering wheel (when the steering wheel angle is less than the calibrated value and is 0, it means the steering wheel is completely straight), and the absolute value of the heading angle of the vehicle relative to the lane line is less than the threshold (when the heading angle is equal to 0, it means the driving direction of the vehicle is parallel to the lane line), record the distance between the vehicle's center of mass point and the lane line at this time, asFigure 3 As shown in the figure, at time T1, the distance between the centroid A1 and the lane line is L1 or R1. Subsequently, the distance between the centroid point and the lane line, with the vehicle's heading angle being 0, will be used as the control target to correct the vehicle's deviation in real time. When the driver operates the steering wheel again, the control target will be updated, and all control targets will become invalid during the update process. The update of the control target requires the driver to operate the steering wheel, then return the steering wheel to the straight position, and when the vehicle's heading angle relative to the lane line meets the requirements, the control target will be updated.

[0165] The intelligent driving perception module can obtain the coordinates (x, y) of the discrete points of the lane line in the next 30 meters through high-precision cameras and high-precision map information after processing, as Figure 4 shown. This coordinate system has the center point O of the vehicle's rear axle as the coordinate origin, the X-axis pointing to the front of the vehicle, and the Y-axis pointing to the left lane line of the vehicle. There is one point every 1m. The discrete points of the left lane line of the vehicle include B1 to B30, and the discrete points of the right lane line of the vehicle include C1 to C30. The vehicle control unit (VCU) obtains the vehicle's attitude relative to the lane line through the coordinate system and the discrete point coordinates of the lane line, including the distances from the vehicle's centroid point to the lane lines on both sides and the heading angle.

[0166] Step S203: When the lateral distance and the deviation of the vehicle's heading angle relative to the lane line are small, distributed electric drive differential torque control is adopted.

[0167] Among them, "distributed electric drive differential torque control" is equivalent to the "driving torque correction method" in other embodiments.

[0168] Based on the advantage that each wheel's driving force can be controlled separately by the distributed electric drive, differential torque control can be applied to the left and right wheels to achieve deviation correction. When the deviation correction amplitude is small (as Figure 5 shown, the vehicle's centroid moves from A1 to A2, the distance between the vehicle's centroid A1 and the lane line is L1 or R1, the distances between the vehicle's centroid A2 and the lane lines on both sides are L2 and R2 respectively, L2 is less than R2, the lateral offset d is less than the threshold, and the heading angle deviation θ is less than the threshold), then by increasing the driving force of the outer wheel and reducing the driving force of the inner wheel, the vehicle will form a certain deviation correction turn, thereby adjusting the vehicle's driving direction and avoiding competing with the driver's steering wheel. Among them, the inner wheel refers to the wheel on the side where the vehicle corrects the turn, and the outer wheel refers to the wheel on the side opposite to the side where the vehicle corrects the turn. A feedback control algorithm is adopted to adjust the torque distribution in real time according to the offset and the deviation of the heading angle from the control target. Ensure the smoothness and stability of the control and achieve seamless deviation correction. This control method can also make the vehicle have a certain followability with the lane line. When the lane has a small curvature, the vehicle can drive along the lane, reducing the driver's control of the steering wheel.

[0169] Step S204: When the deviation correction amount is large, correct the deviation by controlling the steering wheel steering angle.

[0170] Among them, "correcting the deviation by controlling the steering wheel steering angle" is equivalent to the "steering wheel angle deviation correction method" in other embodiments.

[0171] When the deviation correction amplitude is large (for example, the lateral offset is d greater than the threshold or the course angle deviation is θ greater than the threshold. Generally, when driving on a straight road, the deviation correction has been completed when the offset is small, and this situation is less likely to occur. It often occurs when transitioning from a straight road to a curve or other situations with a large yaw rate caused by skidding). By controlling the steering wheel angle to correct the deviation, the driver will feel the steering wheel turning, avoiding the confusion brought to the driver by the inconsistency between the vehicle driving path and the steering wheel angle during the large deviation correction process. When the driver operates the steering wheel (the steering force is greater than the threshold), the deviation correction action is exited to avoid conflicts with the driver's behavior.

[0172] When the vehicle transitions from a straight road to a curve (not an intersection, as there are multiple lanes at an intersection), if the driver does not operate the steering wheel and the function is not activated, the vehicle will drive out of the lane line. After the function is turned on, the vehicle will smoothly turn according to the curve curvature of the curve.

[0173] When the vehicle transitions from a straight road to a curve (not an intersection), the control target is determined using the straight section (the distance between the centroid point and the lane line, and at the same time, the vehicle course angle is 0 as the control target), as Figure 6 shown. From time T1 to time T2, the vehicle enters the curve. When the vehicle enters the curve, the course angle θ and lateral offset of the vehicle relative to the lane line will gradually increase. At this time, the deviation correction is performed according to the vehicle course angle and lateral offset, which is consistent with the deviation correction logic in the straight-line situation described above. The vehicle will experience differential torque control for turning with a small offset, and when the offset is large, the steering wheel is controlled to turn until the driver manually takes over the steering wheel, enabling the vehicle to smoothly enter the curve.

[0174] Step S205: Determine whether the vehicle may have an inherent deviation problem by statistically analyzing the vehicle deviation torque.

[0175] Among them, "inherent deviation problem" is equivalent to "non-natural factors" in other embodiments.

[0176] If the vehicle often deviates, it may be due to vehicle malfunctions such as uneven tire wear, uneven tire pressure, inaccurate four-wheel alignment parameters, etc. It is possible to determine whether the vehicle has an inherent deviation problem based on the statistical data of deviation correction in the straight section, providing support for after-sales service. The curvature of each discrete point of the lane line can be calculated using the central difference formula through the discrete points of the lane line to determine the bending condition of the lane itself. The curvatures of B2, B3...B29 are k2, k3...k29.

[0177] Prerequisites for statistics: When the curvature k is less than the threshold for more than 10 consecutive points (10 meters) (when the curvature is 0, it means the point is a straight line), the vehicle speed is greater than the threshold (default 50 km / h), the vehicle's heading angle relative to the lane line is less than the threshold, and the steering wheel angle is less than the threshold, it is considered that the vehicle is driving straight on a straight lane. At this time, if the vehicle drifts, it may be due to an inherent drift problem of the vehicle or natural factors such as wind and slippery road surface. According to the straight-line deviation correction logic in the previous text, in this case, the driving force of the wheels will be controlled by differential torque to achieve deviation correction.

[0178] After meeting the prerequisite conditions, the driving force conditions of each wheel can be statistically analyzed respectively, and the torque deviation of the left and right front wheels per unit mileage and the torque deviation of the left and right rear wheels per unit mileage can be statistically analyzed according to formula (1).

[0179] When the total mileage accumulated when the conditions are met is greater than the threshold (when the data volume is large enough, it can basically be inferred whether the vehicle has a drift problem), and the average torque deviation of the left and right front wheels per unit mileage is greater than the threshold or the average torque deviation of the left and right rear wheels per unit mileage, it is considered that the vehicle may have an inherent drift problem. When the vehicle is maintained or serviced, the average torque deviation of the left and right front wheels greater than the threshold and the average torque deviation of the left and right rear wheels will be sent to the 4S shop for targeted investigation. This can prevent the vehicle drift problem from continuing to increase and improve the service life of the vehicle.

[0180] The vehicle deviation correction control and deviation diagnosis method provided in this application can, according to the user's intention (such as the vehicle driving in the middle of the lane line, on one side, or straddling the line, etc.), when the vehicle drifts, achieve seamless deviation correction without the user's operation; for non-intersection roads, when the driver enters a curve, it can assist the driver to smoothly enter the curve; it can initially determine whether the vehicle has an inherent drift problem and provide support for the 4S shop or after-sales service.

[0181] An embodiment of this application provides a vehicle control device, as Figure 7 shown, the vehicle control device 700 includes:

[0182] A first determination module 701, configured to determine the target driving parameters of the target vehicle based on the historical operations of the driver on the steering wheel of the target vehicle when it is determined that the target vehicle has deviated;

[0183] A second determination module 702, configured to determine the target deviation correction method corresponding to the target vehicle based on the target driving parameters;

[0184] A first control module 703, configured to perform deviation correction control on the target vehicle based on the target deviation correction method so that the driving parameters of the target vehicle reach the target driving parameters.

[0185] In some embodiments, the historical operation includes the recent straightening operation of the steering wheel by the driver before the target vehicle deviates; the first determination module 701 includes:

[0186] A first acquisition sub-module, configured to acquire the historical driving parameters of the target vehicle corresponding to a target moment; the target moment is the execution moment of the straightening operation after the steering.

[0187] A first determination sub-module, configured to determine the historical driving parameters as target driving parameters if the historical driving parameters meet a first preset condition.

[0188] In some embodiments, the second determination module 702 includes:

[0189] A second determination sub-module, configured to determine the absolute value of the difference between the current driving parameters and the target driving parameters of the target vehicle.

[0190] A third determination sub-module, configured to determine the target deviation correction method corresponding to the target vehicle based on the absolute value of the difference.

[0191] In some embodiments, the current driving parameters include the current angle between the target vehicle and the lane line and the current distance between the centroid of the target vehicle and the lane line; the target driving parameters include the target angle of the target vehicle relative to the lane line and the target distance between the centroid of the target vehicle and the lane line; the third determination sub-module includes:

[0192] A first determination unit, configured to determine that the target deviation correction method is a driving torque deviation correction method if a first absolute value of the difference is less than or equal to an angle threshold and a second absolute value of the difference is less than or equal to a distance threshold; the first absolute value of the difference is the absolute value of the difference between the current angle and the target angle, and the second absolute value of the difference is the absolute value of the difference between the current distance and the target distance.

[0193] A second determination unit, configured to determine that the target deviation correction method is a steering wheel angle deviation correction method if the first absolute value of the difference is greater than the angle threshold and / or the second absolute value of the difference is greater than the distance threshold.

[0194] In some embodiments, the target vehicle is a vehicle with distributed drive, and the target deviation correction method includes a driving torque deviation correction method; the first control module 703 includes:

[0195] The first control sub-module is used to control the drive motors corresponding to the respective wheels of the target vehicle to adjust the drive torque of the corresponding wheels when the target rectification method is the drive torque method, so that the driving parameters of the target vehicle reach the target driving parameters; the drive torque corresponding to the wheels on the first side of the target vehicle is different from the drive torque corresponding to the wheels on the opposite side of the first side, and the first side is the side to which the target vehicle deviates when it deviates.

[0196] In some embodiments, the target vehicle includes a first wheel located on the first side and a second wheel located on the side opposite to the first side; the first control sub-module includes:

[0197] The first control unit is used to control the drive motor of the first wheel to drive the first wheel with a first reference drive torque; and control the drive motor of the second wheel to drive the second wheel with a second reference drive torque; the first reference drive torque is greater than the current drive torque of the first wheel, and the second reference drive torque is less than the current drive torque of the second wheel;

[0198] The third determination unit is used to determine the candidate driving parameters of the target vehicle when the drive torque of the first wheel is the first reference drive torque and the drive torque of the second wheel is the second reference drive torque;

[0199] The second control unit is used to, if the candidate driving parameters are different from the target driving parameters, control the drive motor of the first wheel to make at least one adjustment to the drive torque of the first wheel, and / or control the drive motor of the second wheel to make at least one adjustment to the drive torque of the second wheel until the driving parameters of the target vehicle reach the target driving parameters.

[0200] In some embodiments, the target rectification method includes a steering wheel angle rectification method; the first control module 703 includes:

[0201] The second control sub-module is used to control the steering module corresponding to the steering wheel to adjust the angle of the steering wheel when the target rectification method is the steering wheel angle rectification method, so that the driving parameters of the target vehicle reach the target driving parameters.

[0202] In some embodiments, the vehicle control device 700 further includes:

[0203] The second control module is used to, if it is determined that the steering force of the steering wheel is greater than the steering force threshold, control the steering module to stop adjusting the angle of the steering wheel.

[0204] In some embodiments, the vehicle control device 700 further includes:

[0205] A third determination module, configured to, when the target vehicle enters a curve from a straight lane, determine the target driving parameter determined by the target vehicle in the straight lane as the first driving parameter when the target vehicle is driving in the curve;

[0206] A fourth determination module, configured to determine a corresponding reference deviation correction method for the target vehicle during the process of entering the curve from the straight lane based on the first driving parameter;

[0207] A third control module, configured to perform deviation correction control on the target vehicle based on the reference deviation correction method, so that the target vehicle turns according to the curvature of the curve.

[0208] In some embodiments, the vehicle control device 700 further includes:

[0209] A first acquisition module, configured to acquire the curvatures of a plurality of discrete points on the lane line corresponding to the lane in which the target vehicle is driving, and the second driving parameter of the target vehicle driving in the lane;

[0210] A fifth determination module, configured to determine the influencing factors for the deviation of the target vehicle based on the curvature and the second driving parameter;

[0211] A first output module, configured to output the influencing factors.

[0212] In some embodiments, the target vehicle includes a first wheel on a first side and a second wheel on a side opposite to the first side; the first side is the side to which the target vehicle deviates when it deviates; the fifth determination module includes:

[0213] A second acquisition sub-module, configured to, if it is determined that the curvature is less than a curvature threshold and the second driving parameter satisfies a second preset condition, acquire the first average driving force of the first wheel within a first preset duration and the second average driving force of the second wheel within the first preset duration, and the first driving mileage of the target vehicle within the first preset duration;

[0214] A fourth determination sub-module, configured to determine the influencing factors for the deviation of the target vehicle based on the first average driving force and the second average driving force.

[0215] In some embodiments, the fourth determination sub-module includes:

[0216] A first acquisition unit, configured to acquire the second driving mileage of the target vehicle within a second preset duration; the first preset duration is less than the second preset duration;

[0217] A fourth determination unit, configured to determine a torque deviation amount per unit driving mileage of the first wheel and the second wheel based on the first average driving force, the second average driving force, the first driving mileage, and the second driving mileage;

[0218] A fifth determination unit, configured to determine that the influencing factor for the deviation of the target vehicle is a non-natural factor if the torque deviation amount is greater than a torque threshold and the second driving mileage is greater than a driving mileage threshold.

[0219] An embodiment of the present application provides a vehicle, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, some or all of the steps in the above method are implemented.

[0220] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium may be transient or non-transient.

[0221] An embodiment of the present application provides a computer program product, including a computer program or instruction. When the computer program or instruction is executed by a processor, the steps in the method described in the above embodiment are implemented.

[0222] An embodiment of the present application provides a computer program product. The computer program product includes a non-transient computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be specifically implemented in a manner of hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium. In other embodiments, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), etc.

[0223] It should be noted here that the descriptions of the above embodiments tend to emphasize the differences between the embodiments, and their similarities can be referred to each other. The descriptions of the above device, vehicle, storage medium, and program product embodiments are similar to the descriptions of the above method embodiments and have beneficial effects similar to those of the method embodiments. For the technical details not disclosed in the embodiments of the device, vehicle, storage medium, and program product of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0224] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0225] It should be noted that in this text, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0226] As mentioned above, it is only to fully illustrate the implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, Including: When it is determined that the target vehicle deviates, based on the historical operations of the driver on the steering wheel of the target vehicle, determine the target driving parameters of the target vehicle; Based on the target driving parameters, determine the target deviation correction method corresponding to the target vehicle; Based on the target deviation correction method, perform deviation correction control on the target vehicle so that the driving parameters of the target vehicle reach the target driving parameters; When the target vehicle enters a curve from a straight lane, determine the target driving parameters determined by the target vehicle in the straight lane as the first driving parameters when the target vehicle is driving in the curve; Based on the first driving parameters, determine the reference deviation correction method corresponding to the target vehicle during the process of the target vehicle entering the curve from the straight lane; wherein, the reference deviation correction method includes a driving torque deviation correction method and / or a steering wheel angle deviation correction method; Based on the reference deviation correction method, perform deviation correction control on the target vehicle so that the target vehicle turns according to the curvature of the curve.

2. The vehicle control method according to claim 1, wherein The historical operation includes the recent return operation of the driver on the steering wheel after steering before the target vehicle deviates; The determining the target driving parameters of the target vehicle based on the historical operations of the driver on the steering wheel of the target vehicle includes: Obtain the historical driving parameters corresponding to the target vehicle at the target time; the target time is the execution time of the return operation after steering; If the historical driving parameters meet the first preset condition, determine the historical driving parameters as the target driving parameters.

3. The vehicle control method according to claim 1, wherein The determining the target deviation correction method corresponding to the target vehicle based on the target driving parameters includes: Determine the absolute value of the difference between the current driving parameters and the target driving parameters of the target vehicle; Based on the absolute value of the difference, determine the target deviation correction method corresponding to the target vehicle.

4. The vehicle control method according to claim 3, wherein, The current driving parameters include the current angle between the target vehicle and the lane line and the current distance between the centroid of the target vehicle and the lane line; the target driving parameters include the target angle of the target vehicle relative to the lane line and the target distance between the centroid of the target vehicle and the lane line; The determining the target deviation correction method corresponding to the target vehicle based on the absolute value of the difference includes: If the first absolute value of the difference is less than or equal to the angle threshold, and the second absolute value of the difference is less than or equal to the distance threshold, determine the target deviation correction method as the driving torque deviation correction method; the first absolute value of the difference is the absolute value of the difference between the current angle and the target angle, and the second absolute value of the difference is the absolute value of the difference between the current distance and the target distance; If the first absolute value of the difference is greater than the angle threshold, and / or the second absolute value of the difference is greater than the distance threshold, determine the target deviation correction method as the steering wheel angle deviation correction method.

5. The vehicle control method according to claim 1, wherein The target vehicle is a vehicle with distributed drive, and the target deviation correction method includes the driving torque deviation correction method; The performing deviation correction control on the target vehicle based on the target deviation correction method includes: When the target deviation correction method is the driving torque method, control the drive motors corresponding to the respective wheels of the target vehicle to adjust the driving torque of the corresponding wheels so that the driving parameters of the target vehicle reach the target driving parameters; The driving torque corresponding to the wheels on the first side of the target vehicle is different from the driving torque corresponding to the wheels on the side opposite to the first side, and the first side is the side to which the target vehicle deviates when it deviates.

6. The vehicle control method according to claim 5, wherein The target vehicle includes a first wheel located on the first side and a second wheel located on the side opposite to the first side; The control of the drive motors corresponding to the respective wheels of the target vehicle to adjust the driving torque of the corresponding wheels so that the driving parameters of the target vehicle reach the target driving parameters includes: Controlling the drive motor of the first wheel to drive the first wheel with a first reference driving torque; and controlling the drive motor of the second wheel to drive the second wheel with a second reference driving torque; the first reference driving torque is greater than the current driving torque of the first wheel, and the second reference driving torque is less than the current driving torque of the second wheel; Determine the candidate driving parameters of the target vehicle when the driving torque of the first wheel is the first reference driving torque and the driving torque of the second wheel is the second reference driving torque; If the candidate driving parameters are different from the target driving parameters, control the drive motor of the first wheel to make at least one adjustment to the driving torque of the first wheel, and / or control the drive motor of the second wheel to make at least one adjustment to the driving torque of the second wheel until the driving parameters of the target vehicle reach the target driving parameters.

7. The vehicle control method according to claim 1, characterized in that The target deviation correction method includes the steering wheel angle deviation correction method; The performing deviation correction control on the target vehicle based on the target deviation correction method includes: When the target deviation correction method is the steering wheel angle deviation correction method, control the steering module corresponding to the steering wheel to adjust the angle of the steering wheel so that the driving parameters of the target vehicle reach the target driving parameters.

8. The vehicle control method according to claim 7, characterized in that, The method further includes: If it is determined that the steering force of the steering wheel is greater than the steering force threshold, control the steering module to stop adjusting the angle of the steering wheel.

9. The vehicle control method according to any one of claims 1 to 8, characterized in that, The method further includes: Obtain the curvature of a plurality of discrete points on the lane line corresponding to the lane in which the target vehicle travels, and the second driving parameter of the target vehicle traveling in the lane; Based on the curvature and the second driving parameter, determine the influencing factors for the deviation of the target vehicle; Output the influencing factors.

10. The vehicle control method according to claim 9, characterized in that, The target vehicle includes a first wheel located on the first side and a second wheel located on the side opposite to the first side; the first side is the side to which the target vehicle deviates when it deviates; The determining the influencing factors for the deviation of the target vehicle based on the curvature and the second driving parameter includes: If it is determined that the curvature is less than the curvature threshold and the second driving parameter satisfies the second preset condition, obtain the first average driving force of the first wheel within the first preset time period, the second average driving force of the second wheel within the first preset time period, and the first driving mileage of the target vehicle within the first preset time period; Based on the first average driving force and the second average driving force, determine the influencing factors for the deviation of the target vehicle.

11. The vehicle control method according to claim 10, wherein The determining the influencing factors for the deviation of the target vehicle based on the first average driving force and the second average driving force includes: Obtain the second driving mileage of the target vehicle within the second preset time period; the first preset time period is less than the second preset time period; Based on the first average driving force, the second average driving force, the first driving mileage, and the second driving mileage, determine the torque deviation amount per unit driving mileage of the first wheel and the second wheel; If the torque deviation amount is greater than the torque threshold and the second driving mileage is greater than the driving mileage threshold, determine that the influencing factor for the deviation of the target vehicle is a non-natural factor.

12. A vehicle control device, characterized in that, including: A first determination module, configured to, when it is determined that the target vehicle deviates, determine the target driving parameter of the target vehicle based on the historical operations of the driver on the steering wheel of the target vehicle; A second determination module, configured to determine the target deviation correction method corresponding to the target vehicle based on the target driving parameter; A first control module, configured to perform deviation correction control on the target vehicle based on the target deviation correction method so that the driving parameter of the target vehicle reaches the target driving parameter; A third determination module, configured to, when the target vehicle enters a curve from a straight lane, determine the target driving parameter determined by the target vehicle in the straight lane as the first driving parameter when the target vehicle is driving in the curve; A fourth determination module, configured to determine the reference deviation correction method corresponding to the target vehicle during the process of entering the curve from the straight lane based on the first driving parameter; wherein, the reference deviation correction method includes a driving torque deviation correction method and / or a steering wheel angle deviation correction method; A third control module, configured to perform deviation correction control on the target vehicle based on the reference deviation correction method so that the target vehicle turns according to the curvature of the curve.

13. A vehicle, characterized in that, It includes a memory and a processor, and the memory stores a computer program that can be run on the processor. It is characterized in that when the processor executes the program, the steps in the method according to any one of claims 1 to 11 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps in the method according to any one of claims 1 to 11 are implemented.

15. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instruction is executed by the processor, the steps in the method according to any one of claims 1 to 11 are implemented.

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