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

Abstract

The invention relates to a vehicle control method, a storage medium, a program product, equipment, a system and a vehicle. The vehicle control method comprises the step of adjusting a vehicle body posture of a vehicle under the condition that a predicted passing space of the vehicle is overlapped with a target object. According to the embodiment of the invention, the vehicle and the target object can be staggered in space by adjusting the posture of the vehicle body, so that the vehicle can avoid the target object without changing lanes or turning around, and the trafficability of the vehicle in space is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a vehicle control method, a storage medium, a program product, a device, a system, and a vehicle. Background Art

[0002] When vehicles meet or when a vehicle encounters an obstacle, in order to avoid friction or collision, the driving trajectory of the vehicle is usually adjusted so that the vehicle avoids other vehicles or obstacles. However, if scenarios such as vehicle meeting or obstacles are encountered on a narrow road, it may not be possible to avoid other vehicles or obstacles by changing lanes or other means. Therefore, in the face of scenarios such as vehicle meeting or obstacles, how to improve the passing performance of the vehicle in space is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0003] Embodiments of the present application provide a vehicle control method, a storage medium, a program product, a device, a system, and a vehicle, which improve the passing performance of the vehicle in space to at least partially solve the above technical problems.

[0004] To achieve the above object, according to the first aspect of the present application, a vehicle control method is provided, including: adjusting the body posture of the vehicle when the predicted passing space of the vehicle overlaps with a target object.

[0005] Optionally, adjusting the body posture of the vehicle includes: controlling the first side of the vehicle to lift, and / or, controlling the second side of the vehicle to lower. Wherein, the first side and the second side are opposite sides of the vehicle.

[0006] Optionally, adjusting the body posture of the vehicle includes: adjusting the body posture of the vehicle according to posture adjustment data.

[0007] Optionally, the posture adjustment data includes a body roll angle.

[0008] Optionally, the method further includes: determining the posture adjustment data according to the recognition result of the space overlap area; where the space overlap area refers to the area where the predicted passing space of the vehicle overlaps with the target object.

[0009] Optionally, the recognition result of the space overlap area includes at least one of the following: the space attribute of the space overlap area, the driving intention of the driver, the passing condition of the vehicle.

[0010] Optionally, the space attribute of the space overlap area includes at least one of the following: the space position of the space overlap area, the space size of the space overlap area.

[0011] Optionally, the driving intention of the driver includes any one of the following: the driver has the intention of controlling the vehicle to pass through the space overlapping area, and the driver has the intention of controlling the vehicle to avoid the space overlapping area.

[0012] Optionally, the passing condition of the vehicle includes at least one of the following: the contact risk between the vehicle and the target, and the possibility of the vehicle passing through the space overlapping area.

[0013] Optionally, the method further includes: determining the recognition result of the space overlapping area according to the driving data of the vehicle.

[0014] Optionally, the driving data of the vehicle includes at least one of the following: the spatial form data of the vehicle, the surrounding environment data of the vehicle, the attribute data of the road where the vehicle is located, and the motion data of the vehicle.

[0015] Optionally, the method further includes: adjusting the body height of the vehicle when the predicted passing space of the vehicle overlaps with the target.

[0016] Optionally, adjusting the body height of the vehicle includes: adjusting the suspension height of the vehicle to adjust the body height of the vehicle.

[0017] Optionally, the method further includes: performing steering control on the vehicle when the predicted passing space of the vehicle overlaps with the target.

[0018] Optionally, performing steering control on the vehicle includes: adjusting the steering wheel feedback torque of the vehicle.

[0019] Optionally, adjusting the body attitude of the vehicle includes: adjusting the body attitude of the vehicle when the vehicle meets the first condition and the predicted passing space of the vehicle overlaps with the target.

[0020] Optionally, the first condition includes that the target module of the vehicle does not malfunction.

[0021] Optionally, the target module includes at least one of the following: a data acquisition device, a preview system, a suspension system, a stabilizer bar system, and a communication module.

[0022] According to a second aspect of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0023] According to a third aspect of the present application, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0024] According to a fourth aspect of the present application, an electronic device is provided, including: a memory on which a computer program is stored; a processor configured to execute the computer program in the memory to implement the above vehicle control method.

[0025] According to a fifth aspect of the present application, a vehicle control system is provided. The vehicle control system includes a controller and an attitude adjustment module. Among them, the controller is configured to: in the case where the predicted passing space of the vehicle overlaps with a target, control the attitude adjustment module to adjust the body attitude of the vehicle.

[0026] Optionally, the attitude adjustment module includes at least one of the following: a stabilizer bar system, a suspension system.

[0027] Optionally, the stabilizer bar system includes any one of the following: an active lateral stabilizer bar, a passive lateral stabilizer bar.

[0028] Optionally, the suspension system includes any one of the following: an active suspension, a semi-active suspension, a passive suspension.

[0029] Optionally, the vehicle control system further includes a data acquisition module. Among them, the data acquisition module is configured to: send the driving data of the vehicle to the controller; the controller is configured to: determine the recognition result of the space overlap area according to the driving data of the vehicle. Wherein, the space overlap area refers to the area where the predicted passing space of the vehicle overlaps with the target.

[0030] Optionally, the data acquisition module includes at least one of the following: a radar, a camera, a preview system, a sensor, a communication module.

[0031] According to a sixth aspect of the present application, a vehicle is provided, including the above electronic device or the above vehicle control system.

[0032] The technical solution provided by the embodiments of the present application adjusts the body attitude of the vehicle in the case where the predicted passing space of the vehicle overlaps with a target, so that the vehicle and the target are staggered in space. For example, by adjusting the body attitude of the vehicle, the vehicle can pass by other vehicles in a passing scenario. The embodiments of the present application can make the vehicle and the target staggered in space by adjusting the body attitude, so that the vehicle can avoid the target without changing lanes or making a U-turn, etc., improving the passing performance of the vehicle in space. Moreover, the embodiments of the present application can be widely applied to various scenarios such as narrow road scenarios, obstacle scenarios, uphill and downhill scenarios, etc., improving the applicability to application scenarios.

[0033] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] To more fully understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, where the same reference numerals in the following description represent the same parts.

[0036] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of a vehicle control system provided by an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of a passing scenario provided by an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of another passing scenario provided by an embodiment of the present application;

[0040] Figure 5 is a schematic diagram of another passing scenario provided by an embodiment of the present application;

[0041] Figure 6 is a schematic diagram of a vehicle control method provided by an embodiment of the present application;

[0042] Figure 7 is a schematic diagram of another passing scenario provided by an embodiment of the present application;

[0043] Figure 8 is a schematic diagram of another vehicle control method provided by an embodiment of the present application;

[0044] Figure 9 is a schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.

[0046] According to the first aspect of the present application, embodiments of the present application provide a vehicle control method.

[0047] Please refer to Figure 1 , Figure 1 which is a flowchart of a vehicle control method provided by an embodiment of the present application. As Figure 1 shown, the vehicle control method may include the following steps:

[0048] Step S100: Adjust the body posture of the vehicle when the predicted passing space of the vehicle overlaps with the target object.

[0049] The target object is an object that may affect the driving of the vehicle. Embodiments of the present application do not limit the type of the target object, and the target object may be any type of object. For example, the target object may be an obstacle; or, the target object may be another vehicle; or, the target object may be a road facility, such as a railing, etc.; or, the target object may be a road surface element, such as a step, a raised mud pile or sand pile, a sunken pothole, etc.

[0050] The predicted passing space refers to the passing space occupied by the predicted vehicle within a future period of time. The predicted passing space may be a passing space with a regular shape or an irregular shape. For example, the predicted passing space may be a cuboid that can at least cover the spatial shape of the vehicle; or, the spatial shape of the predicted passing space is the same as the spatial shape of the vehicle.

[0051] Embodiments of the present application determine whether there is an overlap between the predicted passing space and the target object according to the relevant information of the predicted passing space and the target object of the vehicle, such as position, spatial shape, etc. When the predicted passing space overlaps with the target object, adjust the body posture of the vehicle so that the vehicle and the target object are staggered in space, so that the vehicle avoids the target object.

[0052] In summary, the technical solution provided by the embodiments of the present application adjusts the body posture of the vehicle when the predicted passing space of the vehicle overlaps with the target object, so that the vehicle and the target object are staggered in space. For example, by adjusting the body posture of the vehicle, the vehicle and other vehicles can pass by staggering in a meeting scenario. Embodiments of the present application can make the vehicle and the target object staggered in space by adjusting the body posture, so that the vehicle can avoid the target object without changing lanes or making a U-turn, etc., and improve the passing performance of the vehicle in space. Moreover, the embodiments of the present application can be widely applied to various scenarios such as narrow road scenarios, obstacle scenarios, uphill and downhill scenarios, etc., and improve the applicability to application scenarios.

[0053] In some embodiments, the above adjustment of the body posture of the vehicle includes: controlling the first side of the vehicle to be lifted, and / or, controlling the second side of the vehicle to be lowered.

[0054] Wherein, the first side and the second side are opposite sides of the vehicle. For example, the first side and the second side are respectively the left and right sides of the vehicle; the first side is the left side of the vehicle, and the second side is the right side of the vehicle; the first side is the right side of the vehicle, and the second side is the left side of the vehicle. Another example is that the first side and the second side are respectively the front and rear sides of the vehicle; the first side is the front side of the vehicle, and the second side is the rear side of the vehicle; the first side is the rear side of the vehicle, and the second side is the front side of the vehicle. Of course, in practical applications, the first side and the second side can also be two opposite oblique sides of the vehicle, and the embodiments of the present application do not limit this. For example, the first side is the left front side of the vehicle, and the second side is the right rear side of the vehicle; the first side is the right front side of the vehicle, and the second side is the left rear side of the vehicle.

[0055] In the embodiments of the present application, by controlling the lifting of the first side and / or the lowering of the second side, the adjustment of the roll attitude or pitch attitude of the vehicle can be achieved. For example, when the first side and the second side are respectively the left and right sides of the vehicle, by controlling the lifting of the first side and / or the lowering of the second side, the change of the vehicle's lateral inclination attitude can be achieved, that is, the change of the roll attitude; when the first side and the second side are respectively the front and rear sides of the vehicle, by controlling the lifting of the first side and / or the lowering of the second side, the change of the vehicle's longitudinal inclination attitude can be achieved, that is, the change of the pitch attitude.

[0056] In summary, the technical solution provided by the embodiments of the present application can adjust the roll attitude and pitch attitude of the vehicle by controlling the lifting of one side and / or the lowering of the other side of the two opposite sides of the vehicle, that is, unilateral lifting and / or unilateral lowering, so that the vehicle intersects with the target object in space and improves the vehicle's passability in space.

[0057] In some embodiments, the above adjustment of the vehicle body attitude includes: adjusting the vehicle body attitude according to the attitude adjustment data. The embodiments of the present application can adjust the vehicle body attitude according to the attitude adjustment data, thereby providing a basis for the adjustment of the vehicle body attitude. In some embodiments, the attitude adjustment data includes the vehicle body roll angle, such as the active roll angle. The adjustment of the vehicle body attitude is achieved through the vehicle body roll angle, and the implementation method is simple.

[0058] In some embodiments, the above vehicle control method may further include the following steps:

[0059] Step S010: Determine the attitude adjustment data according to the recognition result of the spatial overlap area.

[0060] Among them, the spatial overlap area refers to the area where the predicted passing space of the vehicle overlaps with the target object. That is, the predicted passing space of the vehicle includes this spatial overlap area, and the target object also includes this spatial overlap area. According to the recognition result of the spatial overlap area, the embodiment of the present application determines the attitude adjustment data, which can improve the pertinence and accuracy of the attitude adjustment data, and contribute to achieving more accurate vehicle body attitude adjustment. Among them, when determining the attitude adjustment data, it is possible to aim at maximizing the adjustment of the vehicle body attitude and / or the adjustment limit of the vehicle according to the recognition result of the spatial overlap area, so as to avoid repeated adjustment of the vehicle body attitude and improve the adjustment efficiency of the vehicle body attitude.

[0061] In some embodiments, the recognition result of the spatial overlap area includes at least one of the following: the spatial attribute of the spatial overlap area, the driving intention of the driver, and the passing condition of the vehicle. The embodiment of the present application determines the recognition result of the spatial overlap area from multiple dimensions, enriches and improves the recognition result of the spatial overlap area, and helps to improve the accuracy of the attitude adjustment data.

[0062] The spatial attribute of the spatial overlap area is used to indicate the spatial shape of the spatial overlap area. In some embodiments, the spatial attribute of the spatial overlap area includes at least one of the following: the spatial position of the spatial overlap area, the spatial size of the spatial overlap area. By determining the spatial attributes of the spatial overlap area from multiple dimensions, a more complete spatial shape can be described, making the spatial overlap area more intuitive. Among them, the spatial position and spatial size of the spatial overlap area can be implemented as two-dimensional data or three-dimensional data, and the embodiment of the present application does not limit this. In addition, the spatial position and spatial size of the spatial overlap area can be spatial data in an absolute coordinate system or spatial data relative to a certain reference object, and the embodiment of the present application also does not limit this. For example, the spatial position of the spatial overlap area can be spatial data relative to the current position of the vehicle or spatial data relative to the predicted position of the vehicle, etc.

[0063] The driving intention of the driver refers to the passing intention of the driver for the spatial overlap area. In some embodiments, the driving intention of the driver includes any one of the following: the driver has the intention to control the vehicle to pass through the spatial overlap area, and the driver has the intention to control the vehicle to avoid the spatial overlap area. By considering the driving intention of the driver, it is possible to make the vehicle body attitude adjustment match the driving intention, and avoid adjusting the vehicle body attitude when the driver intends to avoid the spatial overlap area.

[0064] The passing condition of the vehicle is used to indicate whether the vehicle can avoid the target object when passing through the spatial overlap area. In some embodiments, the passing condition of the vehicle includes at least one of the following: the contact risk between the vehicle and the target object, the possibility of the vehicle passing through the spatial overlap area. By considering the passing condition of the vehicle, it is possible to avoid redundant adjustment of the vehicle body attitude when the vehicle cannot pass through the spatial overlap area, and avoid ineffective adjustment and resource waste.

[0065] In some embodiments, the above vehicle control method may further include the following steps:

[0066] Step S000: Determine the recognition result of the spatial overlap area according to the driving data of the vehicle.

[0067] In the embodiments of the present application, during the driving process of the vehicle, the driving data of the vehicle can be continuously collected, and then the recognition result of the spatial overlap area is determined according to the driving data of the vehicle. By judging the spatial overlap area according to the real-time driving data and obtaining the recognition result of the spatial overlap area, the judgment accuracy of the spatial overlap area can be improved, which helps to further improve the accuracy of the attitude adjustment data.

[0068] In some embodiments, the driving data of the vehicle includes at least one of the following: the spatial shape data of the vehicle, the surrounding environment data of the vehicle, the attribute data of the road where the vehicle is located, and the motion data of the vehicle. By obtaining the driving data from multiple dimensions, the content of the driving data is enriched and improved, which helps to more accurately determine the predicted passing space of the vehicle and more accurately judge the spatial overlap area.

[0069] The spatial shape data of the vehicle is used to indicate the spatial shape of the vehicle. In some embodiments, the spatial shape data of the vehicle includes at least one of the following: the position data of at least one corner point of the vehicle, the position data of the rearview mirror of the vehicle. By the position data of at least one corner point, such as the position data of four corner points, and the position data of the rearview mirror, the spatial shape of the vehicle can be more perfectly described.

[0070] The surrounding environment data of the vehicle is used to indicate the state of the target objects that may affect driving around the vehicle. In some embodiments, the surrounding environment data of the vehicle includes at least one of the following: the spatial shape data of the target object, the distance data between the vehicle and the target object. Among them, the spatial shape data of the target object is used to indicate the spatial shape of the target object. For example, if the target object is another vehicle, the spatial shape data of the target object may include at least one of the following: the position data of at least one corner point, the position data of the rearview mirror; if the target object is an obstacle, the spatial shape data of the target object may include the position data of each vertex angle in the target object, etc. By the spatial shape data of the target object and the distance data between the vehicle and the target object, it helps to more accurately judge the spatial overlap area.

[0071] The attribute data of the road where the vehicle is located is used to indicate the driving conditions of the road where the vehicle is located. In some embodiments, the attribute data of the road where the vehicle is located includes at least one of the following: the road layout data of the vehicle, the road surface bumpiness of the vehicle. Among them, the road layout data can be a three-dimensional road layout. Through the road layout data and the road surface bumpiness, the driving conditions of the road where the vehicle is located can be characterized more perfectly, so as to more perfectly consider the contact risk between the vehicle and the target object and enrich the recognition result of the spatial overlap area.

[0072] The motion data of the vehicle is used to indicate the motion state of the vehicle. In some embodiments, the motion data of the vehicle includes at least one of the following: the vehicle speed of the vehicle, the lateral acceleration of the vehicle, the longitudinal acceleration of the vehicle, the steering angle data of the vehicle. Through the motion data in multiple dimensions, the driving intention of the driver can be identified more accurately, so as to enrich the recognition result of the spatial overlap area.

[0073] Exemplarily, according to the spatial form data of the vehicle, the surrounding environment data, and the attribute data of the road where the vehicle is located, the spatial overlap area can be judged, and the spatial attributes of the spatial overlap area (such as spatial position and spatial size, etc.) and the passing conditions of the vehicle (such as the contact risk between the vehicle and the target object and the possibility of the vehicle passing through the spatial overlap area, etc.) can be determined; according to the motion data of the vehicle, the driving intention of the driver (such as whether the driver has the intention to pass through the spatial overlap area, etc.) can be predicted.

[0074] In summary, the technical solution provided by the embodiments of the present application continuously collects the driving data of the vehicle during the driving process of the vehicle; then judges the spatial overlap area according to the driving data of the vehicle and determines the recognition result of the spatial overlap area; and then determines the attitude adjustment data according to the recognition result of the spatial overlap area, so as to further adjust the body attitude of the vehicle according to the attitude adjustment data. By judging the spatial overlap area according to the real-time driving data and obtaining the recognition result of the spatial overlap area, the judgment accuracy of the spatial overlap area can be improved, which helps to further improve the accuracy of the attitude adjustment data. In addition, the embodiments of the present application determine the attitude adjustment data according to the recognition result of the spatial overlap area, which can improve the pertinence and accuracy of the attitude adjustment data and help to realize more accurate body attitude adjustment.

[0075] In some embodiments, the above vehicle control method may further include the following steps:

[0076] Step S200: Adjust the body height of the vehicle when the predicted passing space of the vehicle overlaps with the target object.

[0077] Based on the adjustment of the vehicle body attitude, the embodiments of the present application can combine the adjustment of the vehicle body height to broaden the adjustment space of the vehicle body, so as to further reduce the contact risk between the vehicle and the target object. Among them, the vehicle body height can be adjusted simultaneously with the vehicle body attitude, or can be adjusted successively. The embodiments of the present application do not limit this.

[0078] Exemplarily, when the predicted passing space of the vehicle overlaps with the target object, the vehicle body attitude of the vehicle can be adjusted first, and then the vehicle body height of the vehicle can be adjusted. Or, the vehicle body attitude of the vehicle can be adjusted first, then the predicted passing space of the vehicle can be updated according to the adjusted vehicle body attitude, and it can be determined whether it will overlap with the target object according to the updated predicted passing space. If it still overlaps with the target object, the vehicle body height of the vehicle is further adjusted, otherwise there is no need to adjust the vehicle body height of the vehicle.

[0079] In some embodiments, the above-mentioned adjustment of the vehicle body height includes: adjusting the suspension height of the vehicle to adjust the vehicle body height. The adjustment of the vehicle body height can be achieved by adjusting the suspension height, and the implementation method is simple and easy to operate. Among them, the adjustment of the suspension height can be based on the suspension power. For example, the height adjustment amount can be determined according to the recognition result of the space overlap area, and then the suspension power can be determined according to the height adjustment amount to realize the height adjustment based on the suspension power.

[0080] In some embodiments, the above-mentioned vehicle control method may further include the following steps:

[0081] Step S300: When the predicted passing space of the vehicle overlaps with the target object, perform steering control on the vehicle.

[0082] Based on the adjustment of the vehicle body attitude, the embodiments of the present application can combine steering control to enhance the control method of the vehicle, so as to further reduce the contact risk between the vehicle and the target object. Among them, the steering control can be executed simultaneously with the adjustment of the vehicle body attitude, or can be executed successively. The embodiments of the present application do not limit this.

[0083] Exemplarily, when the predicted passing space of the vehicle overlaps with the target object, the vehicle body attitude of the vehicle can be adjusted first, and then steering control can be performed on the vehicle. Or, the vehicle body attitude of the vehicle can be adjusted first, then the predicted passing space of the vehicle can be updated according to the adjusted vehicle body attitude, and it can be determined whether it will overlap with the target object according to the updated predicted passing space. If it still overlaps with the target object, further steering control is performed on the vehicle, otherwise there is no need to perform steering control on the vehicle.

[0084] In some embodiments, the above-mentioned steering control of the vehicle includes: adjusting the steering wheel feedback torque of the vehicle. Since the driver's steering operation on the steering wheel may cause the vehicle to get closer to the target during driving, in order to avoid the vehicle contacting or colliding with the target, the steering wheel feedback torque can be adjusted, for example, increasing the steering wheel feedback torque, and not allowing or not responding to the driver's steering operation on the steering wheel. The steering control of the vehicle is realized by adjusting the steering wheel feedback torque, and the realization method is simple and easy to operate.

[0085] In summary, the technical solution provided by the embodiments of the present application, on the basis of adjusting the vehicle body attitude, combined with the vehicle body height adjustment and steering control, can broaden the vehicle body adjustment space of the vehicle and the control method of the vehicle, further reduce the contact risk between the vehicle and the target, ensure that the vehicle and the target are staggered in space, and further improve the passing performance of the vehicle in space. In addition, the embodiments of the present application can adjust the vehicle body height by adjusting the suspension height, and can realize steering control by adjusting the steering wheel feedback torque. The realization method is simple and easy to operate.

[0086] In some embodiments, the above-mentioned step S100 may include: adjusting the vehicle body attitude when the vehicle meets the first condition and the predicted passing space of the vehicle overlaps with the target.

[0087] By setting the first condition and performing the adjustment of the vehicle body attitude when the vehicle meets the first condition, the failure rate of the vehicle body attitude adjustment can be reduced, and the opportunity to avoid the target due to the failure of the vehicle body attitude adjustment can be avoided.

[0088] The embodiments of the present application do not limit the judgment timing of whether the vehicle meets the first condition, and can be flexibly set according to requirements in practical applications. For example, it can be judged whether the vehicle meets the first condition after the vehicle starts; or, when a space overlap area is detected, that is, when the predicted passing space of the vehicle overlaps with the target, it can be first judged whether the vehicle meets the first condition.

[0089] In some embodiments, the first condition includes that the target module of the vehicle does not fail. By detecting the faults of the vehicle and performing the adjustment of the vehicle body attitude when no faults occur, the failure of the vehicle body attitude adjustment can be avoided. Among them, the target module can be a functional module in the vehicle related to the adjustment of the vehicle body attitude. In some embodiments, the target module includes at least one of the following: data acquisition device, preview system, suspension system, stabilizer bar system, communication module. By comprehensively detecting whether each functional module related to the adjustment of the vehicle body attitude fails, the success rate of the vehicle body attitude adjustment can be further improved.

[0090] In summary, in the embodiments of the present application, by setting the first condition to detect vehicle faults and performing body attitude adjustment when no faults occur, the failure rate of body attitude adjustment can be reduced, and the opportunity to avoid the target object due to the failure of body attitude adjustment can be avoided. Moreover, by comprehensively detecting whether each functional module related to body attitude adjustment fails, the success rate of body attitude adjustment can be further improved.

[0091] According to the second aspect of the present application, embodiments of the present application further provide a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above vehicle control method are implemented. This non-transitory computer-readable storage medium has all the beneficial effects of the above vehicle control method, and details are not described herein again in the present application.

[0092] According to the third aspect of the present application, embodiments of the present application further provide a computer program product, including a computer program, and when the computer program is executed by a processor, the above vehicle control method is implemented and has all the beneficial effects of the above vehicle control method, and details are not described herein again in the present application.

[0093] According to the fourth aspect of the present application, embodiments of the present application further provide an electronic device, including: a memory and a processor, where a computer program is stored on the memory; the processor is configured to execute the computer program in the memory to implement the steps of the above vehicle control method. This electronic device has all the beneficial effects of the above vehicle control method, and details are not described herein again in the present application.

[0094] A computer-readable storage medium may, for example, be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. The present application does not make specific limitations thereto. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0095] In some embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0096] The above computer-readable storage medium may be included in the above electronic device, or may exist independently without being assembled into the electronic device. The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by the electronic device, the electronic device adjusts the body posture of the vehicle when the predicted passing space of the vehicle overlaps with the target object.

[0097] Computer program code for performing the operations of some embodiments of the present application may be written in one or more programming languages or combinations thereof. The above programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network (including a Local Area Network (LAN) or a Wide Area Network (WAN)), or may be connected to an external computer (for example, by connecting through an Internet service provider via the Internet).

[0098] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function.

[0099] It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings.

[0100] For example, two consecutively represented blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0101] The units described in some embodiments of the present application may be implemented in software or in hardware. The described units may also be provided in a processor.

[0102] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), and so on.

[0103] According to the fifth aspect of the present application, embodiments of the present application further provide a vehicle control system.

[0104] Please refer to Figure 2 , Figure 2 which is a schematic diagram of a vehicle control system provided by an embodiment of the present application. As Figure 2 shown, the vehicle control system includes a controller 100 and an attitude adjustment module 200.

[0105] Among them, the controller 100 is configured to: when the predicted passing space of the vehicle overlaps with an object, control the attitude adjustment module 200 to adjust the body attitude of the vehicle.

[0106] In some embodiments, the attitude adjustment module 200 includes at least one of the following: a stabilizer bar system 210, a suspension system 220. The stabilizer bar system 210 may include any one of the following: an active lateral stabilizer bar, a passive lateral stabilizer bar. The suspension system 220 may include any one of the following: an active suspension, a semi-active suspension, a passive suspension. Among them, the active lateral stabilizer bar can cause the body to actively roll and adjust the body roll angle; the active suspension can adjust the chassis height, roll, and pitch of the vehicle, and can also adjust the stiffness and damping of the suspension, increasing the adjustment space of the body attitude; the semi-active suspension can adjust the stiffness and damping of the suspension, increasing the adjustment space of the body attitude. Thus, the attitude adjustment module 200 realizes the control of the body attitude by controlling the torque of the front and rear stabilizer bars, the suspension damping, and the suspension stiffness.

[0107] In practical applications, the attitude adjustment module 200 may include any one of the following configuration modes: an active lateral stabilizer bar and an active suspension, an active lateral stabilizer bar and a semi-active suspension, an active lateral stabilizer bar and a passive suspension, a passive lateral stabilizer bar and an active suspension.

[0108] In some embodiments, the vehicle control system further includes a data acquisition module 300. The data acquisition module 300 is configured to: send the driving data of the vehicle to the controller 100; the controller 100 is configured to: determine the recognition result of the spatial overlap area according to the driving data of the vehicle. The spatial overlap area refers to the area where the predicted passing space of the vehicle overlaps with the target object.

[0109] In some embodiments, the data acquisition module 300 includes at least one of the following: a radar 310, a camera 320, a preview system 330, a sensor 340, and a communication module 350. The communication module 350 can be implemented based on a Controller Area Network (CAN), and transmit relevant driving data through CAN signals. The radar 310 includes but is not limited to at least one of the following: a lidar, a millimeter-wave radar, an ultrasonic radar, etc. The sensor 340 includes but is not limited to an angle sensor, a speed sensor, a wheel speed sensor, etc.

[0110] Exemplarily, through the radar 310, the camera 320, and the preview system 330, attribute data of the road where the vehicle is located (such as road layout data, road surface bump data, etc.) and surrounding environment data of the vehicle (such as spatial form data of the target object, distance data between the vehicle and the target object, etc.) can be obtained; through the sensor 340 and the communication module 350, motion data of the vehicle (such as vehicle speed, lateral acceleration, longitudinal acceleration, steering angle data, etc.) can be obtained.

[0111] For the introduction and description of the steps performed by each module in the vehicle control system and their beneficial effects, please refer to the above embodiments and will not be elaborated here.

[0112] Next, the vehicle control method provided by the embodiments of the present application will be introduced with several examples.

[0113] As Figure 3 shown, in a meeting vehicle scenario, the predicted passing space of vehicle A overlaps with vehicle B because the rearview mirrors of vehicle A and vehicle B will overlap in space. Therefore, it is necessary to adjust the body attitude and / or body height of vehicle A to avoid contact or collision between vehicle A and vehicle B.

[0114] As Figure 4 shown, in an obstacle scenario, there is a bump on the road surface where vehicle A is located, such as bump C between two wheels of vehicle A, and this bump C may hit the chassis. In addition, when vehicle A enters and exits the underground garage, there is also a risk of hitting the front and rear bumpers of vehicle A. Therefore, it is necessary to adjust the body attitude and / or body height of vehicle A to avoid vehicle A from being hit.

[0115] As Figure 5As shown, in an obstacle scenario, there are obstacles D and E on both sides of vehicle A. The predicted passing space of vehicle A overlaps with obstacle D, so vehicle A needs to adjust its body posture to avoid obstacle D, and at the same time, it also needs to pay attention to preventing the other side of vehicle A from being scratched by obstacle E.

[0116] As Figure 6 shown, during the driving process of the vehicle, the driving data of the vehicle can be collected in real time. Based on the driving data of the vehicle, the driving trajectory of the vehicle can be predicted, so as to determine the predicted passing space of the vehicle and the spatial overlap area between the predicted passing space and the target object. In addition, based on the driving data of the vehicle, the driving intention of the driver can also be determined, and the passing conditions of the vehicle can be determined. According to the driving data of the vehicle, the passing conditions of the vehicle, etc., feedforward decision-making and adjustment decision-making for the body posture of the vehicle can be carried out to determine the adjustment result and adjustment method of the body posture. According to the results of the body posture feedforward decision-making and adjustment decision-making, as well as the spatial overlap area, etc., front and rear axle chassis suspension control is carried out, the suspension stroke of the vehicle is observed, the body roll angle is controlled by PID, and closed-loop adjustment of the body posture is achieved by combining fuzzy logic control. Among them, observing the suspension stroke and roll angle is mainly to avoid exceeding the suspension stroke and damaging the vehicle; fuzzy PID can adjust the control parameters of PID through the current suspension stroke and body roll angle to achieve the smoothness and robustness of the entire control process.

[0117] As can be seen from the above embodiments, at the actuator implementation level, the following configuration methods are included:

[0118] (1) Active anti-roll bar and active suspension: The active anti-roll bar can make the body actively roll and adjust the body roll angle; the active suspension can adjust the chassis height, roll, and pitch of the vehicle, and at the same time can also control the stiffness and damping of the suspension, increasing the adjustment space for roll control.

[0119] Combined with Figure 7 the scenario shown, there is a raised object F on the road surface where vehicle A is located, and there is a risk of touching the chassis. Therefore, the expected body roll angle expected body height h r can be obtained according to the height and axial position of the raised object F. In addition, in Figure 7 , h d is the height of the raised object F; l L is the distance between the raised object F and the left side of the vehicle; l R is the distance between the raised object F and the right side of the vehicle. h d , l L and l R can be collected and obtained through data acquisition equipment. In practical applications, the expected body roll angle expected body height h rLimit the value of h. To ensure safety, r Lift the left suspension to its maximum height. This is the maximum roll angle achievable by the current vehicle, obtained through calibration. Additionally, considering Figure 7 the scenario shown, the desired body roll angle is The current body roll angle is The roll angle deviation is Used as the input to the active anti-roll bar fuzzy PID control system. When the value is large, appropriate measures such as increasing the P value gain are taken to ensure the rapid response of the system.

[0120] (2) Active anti-roll bar and semi-active suspension: The active anti-roll bar can actively cause the body to roll and adjust the body roll angle; the semi-active suspension can adjust the stiffness and damping of the suspension, increasing the adjustment space for roll control.

[0121] Considering Figure 7 the scenario shown, if it is a semi-active suspension at this time, only the damping stiffness on the right side can be reduced, and the stiffness on the left side can be appropriately increased while reducing the damping to ensure the maximum roll.

[0122] (3) Active anti-roll bar and passive suspension: The active anti-roll bar can actively cause the body to roll and adjust the body roll angle.

[0123] Considering Figure 7 the scenario shown, the desired body roll angle is The current body roll angle is The roll angle deviation is Used as the input to the active anti-roll bar fuzzy PID control system, the motor torque T of the active anti-roll bar m is the system output. When the value is large, appropriate measures such as increasing the P value gain are taken to ensure the rapid response of the system.

[0124] (4) Passive anti-roll bar and active suspension: The active suspension can adjust the vehicle's chassis height, roll, and pitch.

[0125] Considering Figure 7 the scenario shown, lift the left suspension to its maximum height for h r At this time, the desired body roll angle is The current body roll angle is The roll angle deviation is Used as the input to the active anti-roll bar fuzzy PID control system, the air pressure difference between the left and right main suspensions is the system output. When the value is large, appropriate measures such as increasing the P value gain are taken to ensure the rapid response of the system.

[0126] As shown Figure 8 below, first, the vehicle's passing function self-check is performed, mainly to determine whether the status of devices such as the vehicle's radar and camera is normal, whether the communication module checks such as the vehicle's CAN communication are normal, and whether the suspension system and the active stabilizer bar system are normal. After all checks are normal, the vehicle can normally trigger the passing performance improvement function. The controller performs oncoming vehicle scenario determination and passing performance determination based on the driving data collected by the vehicle, such as whether there is a passing risk for the vehicle. Then, the predicted passing space determination and the driver's driving intention determination can be carried out to further determine whether there is a passing risk for the vehicle. When there is no passing risk for the vehicle, the vehicle passes normally and continuously performs oncoming vehicle scenario and passing performance determination. When there is a passing risk for the vehicle, a body attitude feedforward decision is made to determine whether the vehicle has the conditions to pass during the passing process. When there is a passing danger, the vehicle cannot pass at this time, and a body attitude feedforward decision will also be made. However, the decision-making goal at this time is to reduce the losses when passing through the impassable path, avoid serious collision accidents that endanger the personal safety of the driver and passengers, and secondly, reduce the subsequent vehicle repair costs, and try to replace expensive parts with parts with low repair costs during the collision. When there is a passing risk and a passing danger for the vehicle, a passing performance warning for the driving space is executed, and the driver is reminded and warned accordingly through multimedia devices, etc., to reduce the panic of the driver after an accidental collision and enable the driver to intervene in advance to avoid the collision. In addition, when there is a passing risk and a passing danger for the vehicle, a body attitude adjustment decision is executed to make a real-time adjustment judgment of the body according to the real-time passability change of the front space during the vehicle driving process. Then, the body attitude and body height are controlled by the stabilizer bar system and the suspension system, and the stabilizer bar system and the suspension system are used as actuators. After the body is adjusted, the determination module performs real-time monitoring and determination.

[0127] It should be understood that the degree of passing danger is higher than that of passing risk. When there is a passing danger for the vehicle, the vehicle may not be able to avoid the target object, while when there is a passing risk for the vehicle, the vehicle has a greater possibility of avoiding the target object. In addition, the body attitude feedforward decision is to determine whether the vehicle has the possibility to pass when it has not entered the space overlapping area; the body attitude adjustment decision is to formulate the passing strategies of each actuator during the vehicle driving process.

[0128] In summary, the embodiments of the present application at least include the following beneficial effects:

[0129] The embodiments of the present application can focus on narrow roads, realize staggered passing with other vehicles, and improve the passing performance of the vehicle in space;

[0130] The application scenarios of the embodiments of the present application are more extensive. The embodiments of the present application can cover road conditions such as road surface protrusions under the vehicle body, uphill and downhill in parking lots, etc., and improve the space passing performance of the vehicle;

[0131] The embodiments of the present application mainly use a suspension system or a stabilizer bar system that can achieve vehicle body height, roll, and pitch. The implementation principle is simple and efficient.

[0132] According to the sixth aspect of the present application, as Figure 9 shown, the embodiments of the present application further provide a vehicle 10, which includes the above-mentioned electronic device or the above-mentioned vehicle control system. The vehicle has all the beneficial effects of the above-mentioned electronic device or the above-mentioned vehicle control system, etc., and the present application will not elaborate herein.

[0133] The vehicle can be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present application does not make specific limitations thereto.

[0134] In the description of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0135] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0136] Among the embodiments, implementation manners, and related technical features of the present application, they can be combined and replaced with each other without conflict.

[0137] The above are only the preferred embodiments of the present application and do not impose any form of limitation on the present application. Although in the embodiments of the present application, the descriptions of the respective embodiments have their own emphases, and for the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that, The method includes: When the predicted passing space of the vehicle overlaps with the target object, adjusting the body attitude of the vehicle.

2. The vehicle control method according to claim 1, wherein The adjusting the body attitude of the vehicle includes: Controlling the first side of the vehicle to lift, and / or controlling the second side of the vehicle to lower; Wherein, the first side and the second side are opposite sides of the vehicle.

3. The vehicle control method according to claim 1, characterized in that The adjusting the body attitude of the vehicle includes: Adjusting the body attitude of the vehicle according to attitude adjustment data.

4. The vehicle control method according to claim 3, wherein, The attitude adjustment data includes a body roll angle.

5. The vehicle control method according to claim 3, wherein The method further includes: Determining the attitude adjustment data according to the recognition result of the spatial overlap area; wherein, the spatial overlap area refers to the area where the predicted passing space of the vehicle overlaps with the target object.

6. The vehicle control method according to claim 5, wherein, The recognition result of the spatial overlap area includes at least one of the following: the spatial attribute of the spatial overlap area, the driving intention of the driver, the passing condition of the vehicle.

7. The vehicle control method according to claim 6, wherein The spatial attribute of the spatial overlap area includes at least one of the following: the spatial position of the spatial overlap area, the spatial size of the spatial overlap area.

8. The vehicle control method according to claim 6, characterized in that, The driving intention of the driver includes any one of the following: the driver has the intention to control the vehicle to pass through the spatial overlap area, the driver has the intention to control the vehicle to avoid the spatial overlap area.

9. The vehicle control method according to claim 6, wherein The passing condition of the vehicle includes at least one of the following: the contact risk between the vehicle and the target object, the possibility of the vehicle passing through the spatial overlap area.

10. The vehicle control method according to claim 5, characterized in that, The method further includes: Determining the recognition result of the spatial overlap area according to the driving data of the vehicle.

11. The vehicle control method according to claim 10, wherein, The driving data of the vehicle includes at least one of the following: the spatial form data of the vehicle, the surrounding environment data of the vehicle, the attribute data of the road where the vehicle is located, the motion data of the vehicle.

12. The vehicle control method according to claim 1, wherein The method further includes: When the predicted passing space of the vehicle overlaps with the target object, adjusting the body height of the vehicle.

13. The vehicle control method according to claim 12, wherein The adjusting the body height of the vehicle includes: Adjusting the suspension height of the vehicle to adjust the body height of the vehicle.

14. The vehicle control method according to claim 1, wherein The method further includes: When the predicted passing space of the vehicle overlaps with the target object, performing steering control on the vehicle.

15. The vehicle control method according to claim 14, characterized in that, The performing steering control on the vehicle includes: Adjusting the steering wheel feedback torque of the vehicle.

16. The vehicle control method according to claim 1, characterized in that, The adjusting the body attitude of the vehicle includes: When the vehicle meets the first condition and the predicted passing space of the vehicle overlaps with the target object, adjusting the body attitude of the vehicle.

17. The vehicle control method according to claim 16, wherein, The first condition includes that the target module of the vehicle does not malfunction.

18. The vehicle control method according to claim 17, characterized in that, The target module includes at least one of the following: a data acquisition device, a preview system, a suspension system, a stabilizer bar system, a communication module.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 18.

20. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 18.

21. An electronic device, characterized in that, Including: A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the vehicle control method according to any one of claims 1 to 18.

22. A vehicle control system, characterized in that, The vehicle control system includes a controller (100) and an attitude adjustment module (200); wherein, The controller (100) is configured to: control the attitude adjustment module (200) to adjust the body attitude of the vehicle when the predicted passing space of the vehicle overlaps with the target.

23. The vehicle control system according to claim 22, wherein, The attitude adjustment module (200) includes at least one of the following: a stabilizer bar system (210), a suspension system (220).

24. The vehicle control system according to claim 23, wherein The stabilizer bar system (210) includes any one of the following: an active lateral stabilizer bar, a passive lateral stabilizer bar.

25. The vehicle control system according to claim 23, wherein The suspension system (220) includes any one of the following: an active suspension, a semi-active suspension, a passive suspension.

26. The vehicle control system according to claim 22, characterized in that, The vehicle control system further includes a data acquisition module (300); wherein, The data acquisition module (300) is configured to: send the driving data of the vehicle to the controller (100); The controller (100) is configured to: determine the recognition result of the space overlap area according to the driving data of the vehicle; wherein, the space overlap area refers to the area where the predicted passing space of the vehicle overlaps with the target.

27. The vehicle control system according to claim 26, wherein, The data acquisition module (300) includes at least one of the following: a radar (310), a camera (320), a preview system (330), a sensor (340), a communication module (350).

28. A vehicle, characterized in that, Including the electronic device according to claim 21, or the vehicle control system according to any one of claims 22 to 27.

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