Vehicle control method, device and equipment based on auxiliary driving and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device based on auxiliary driving, equipment and a storage medium. The method comprises the steps of obtaining driving information of a vehicle and road information of an environment where the vehicle is located; the driving information represents the driving state of the vehicle, and the road information comprises at least one of a road curvature and a road adhesion coefficient; determining first control information and second control information of an input device in the vehicle according to the driving information and the road information; the first control information represents an upper limit of operation allowed to be performed on the input device by the user, the second control information represents operation recommended to the input device by the user, and the input device comprises at least one of a steering wheel, an accelerator pedal and a brake pedal; determining target control information of the input device according to the first control information and the second control information of the input device; the target control information represents the optimal operation of the user on the input device. According to the method, the vehicle control precision is improved, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a vehicle control method, device, equipment and storage medium based on assisted driving. Background Art

[0002] With the improvement of living standards, vehicles are increasingly used in daily life, bringing great convenience to our lives. However, people's driving skills vary greatly, and many people cannot accurately control their vehicles, resulting in unstable driving and affecting the driving experience.

[0003] Therefore, it is necessary to provide users with assisted driving functions to help users control the vehicle accurately and effectively, improve the stability of vehicle driving, and enhance the user's driving experience. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle control method, device, equipment and storage medium based on assisted driving, which are used to improve the control accuracy of the vehicle and enhance the user's driving experience.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method based on assisted driving, comprising:

[0006] Acquiring driving information of the vehicle and road information of the vehicle's environment; wherein the driving information represents the driving state of the vehicle, and the road information includes at least one of a road curvature and a road adhesion coefficient;

[0007] determining, based on the driving information and the road information, first control information and second control information for an input device in the vehicle, wherein the first control information represents an upper limit of operations that a user may perform on the input device, and the second control information represents a recommended operation for the user on the input device, the input device comprising at least one of a steering wheel, an accelerator pedal, and a brake pedal;

[0008] Target control information of the input device is determined based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation of the input device by the user, and the target control information is used to guide the user to operate the input device in the vehicle.

[0009] In a second aspect, an embodiment of the present application provides a vehicle control device based on assisted driving, comprising:

[0010] An acquisition unit, configured to acquire driving information of the vehicle and road information of an environment in which the vehicle is located; wherein the driving information represents a driving state of the vehicle, and the road information includes at least one of a road curvature and a road adhesion coefficient;

[0011] a determining unit configured to determine, based on the driving information and the road information, first control information and second control information of an input device in the vehicle, wherein the first control information represents an upper limit of operations that the user can perform on the input device, and the second control information represents a recommended operation for the user on the input device, the input device comprising at least one of a steering wheel, an accelerator pedal, and a brake pedal;

[0012] A control unit is used to determine target control information of the input device based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation performed by the user on the input device, and the target control information is used to guide the user to operate the input device in the vehicle.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor;

[0014] The memory stores computer-executable instructions;

[0015] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method as described in the first aspect above.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect above.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which implements the method described in the first aspect above when executed by a processor.

[0018] Embodiments of the present application provide a vehicle control method, device, equipment, and storage medium based on assisted driving. By acquiring vehicle driving information and road information surrounding the vehicle, information such as the vehicle's current driving state, the curvature of the current road, and the road adhesion coefficient can be obtained. This allows for targeted assisted vehicle control based on the current driving and road information. Based on the driving and road information, first control information and second control information for an input device in the vehicle can be determined. The first control information represents the upper limit of user-permitted operations on the input device, and the second control information represents a recommended user operation for the input device. The input device includes at least one of a steering wheel, an accelerator pedal, and a brake pedal. Specifically, first control information, such as the maximum allowable steering wheel rotation angle, and second control information, such as the recommended steering wheel angle, can be determined based on actual driving conditions. Combining these two types of control information can determine optimal control information for the input device, namely, target control information. Based on the target control information, the driver's input device operation is guided, helping the driver to precisely control the vehicle, improving vehicle stability and enhancing the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] Figure 1 A flowchart of a vehicle control method based on assisted driving provided in an embodiment of the present application;

[0021] Figure 2 A flowchart of a vehicle control method based on assisted driving provided in an embodiment of the present application;

[0022] Figure 3 A flowchart of a vehicle control method based on assisted driving provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of information display on a dashboard provided in an embodiment of the present application;

[0024] Figure 5 A schematic structural diagram of a vehicle control device based on assisted driving provided in an embodiment of the present application;

[0025] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0026] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0028] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0030] In the description of this application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0031] It should be noted that due to space limitations, this specification does not exhaustively list all optional implementation methods. After reading this specification, those skilled in the art should be able to understand that, as long as the technical features do not contradict each other, any combination of the technical features can constitute an optional implementation method. The following describes each embodiment in detail.

[0032] When driving a vehicle, users often experience poor driving stability due to their own lack of driving skills, which affects the driving experience. For example, if the user controls the steering wheel to turn too sharply, the vehicle may become unstable; or if the user presses the accelerator or brake pedal too hard or too softly, the vehicle may not move smoothly.

[0033] To enhance the user's driving experience, assisted driving features are needed. For example, they can take over the user's control of the vehicle in specific scenarios, such as turning the steering wheel on their behalf to prevent the user from turning the steering wheel too much and affecting the vehicle's smooth driving. However, this approach does not consider the user's driving experience and only maintains vehicle stability without improving the driver's ability. It also provides limited control flexibility and cannot achieve precise control of the vehicle according to the user's actual needs.

[0034] The present application provides a vehicle control method, device, equipment and storage medium based on assisted driving, which aims to solve the above technical problems in the prior art.

[0035] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0036] Figure 1 This is a flow chart of a vehicle control method based on assisted driving provided in accordance with an embodiment of the present application. This method can be executed by a vehicle control device based on assisted driving. Figure 1 As shown, the method includes the following steps:

[0037] S101. Acquire driving information of a vehicle and road information of an environment in which the vehicle is located; wherein the driving information represents a driving state of the vehicle, and the road information includes at least one of a road curvature and a road surface adhesion coefficient.

[0038] For example, a vehicle is equipped with various sensors. These sensors, along with state estimators, can collect real-time or periodic information about the vehicle's driving state and the road conditions surrounding it. Driving information represents the vehicle's driving state. For example, this information may include the vehicle's current driving mode, speed, acceleration, yaw rate, and sideslip angle. Driving modes may include economy, normal, and sport. Road information may include road curvature and road adhesion coefficient. Curvature indicates the curvature of the road, while road adhesion coefficient indicates the smoothness of the road and driving capability.

[0039] The user's operation can also be obtained in real time or at a fixed time. The user can refer to the driver, and the operation can be an action or command issued by the user to the vehicle. For example, the user can change gears, turn on the turn signal, issue voice commands, etc.

[0040] S102. Determine first control information and second control information of an input device in the vehicle based on driving information and road information; wherein the first control information represents an upper limit of operations allowed to the user on the input device, and the second control information represents recommended operations to the user on the input device, where the input device includes at least one of a steering wheel, an accelerator pedal, and a brake pedal.

[0041] For example, a vehicle is equipped with multiple input devices. An input device refers to a device that can respond to user operations or commands. For example, an input device can be a steering wheel, accelerator pedal, brake pedal, etc. The user can control the vehicle by operating the input device. The user's operation on the input device can be determined as user control information for the input device. The user can perform different operations on different input devices. The input device receives the user's control information and controls the vehicle.

[0042] In order to enable the user to issue control information more accurately, an assisted driving function can be provided to the user to prompt the user what control information should be issued. In other words, assisted driving can be used to help the user determine how to control the vehicle.

[0043] When the vehicle is performing assisted driving, it first obtains the current driving information and road information. For each input device, the first control information and the second control information corresponding to the input device can be determined based on the driving information and road information. The first control information represents the upper limit of the operation allowed to the user on the input device at the current moment, and the second control information represents the operation currently recommended for the user to perform on the input device. That is, the first control information is the current maximum value allowed, and the second control information is the current recommended value. For example, if the input device is a steering wheel, the first control information is the current maximum allowed steering wheel angle, and the second control information is the recommended steering wheel angle; if the input device is an accelerator pedal, the first control information is the current maximum allowed accelerator pedal position, and the second control information is the recommended accelerator pedal position; if the input device is a brake pedal, the first control information is the current maximum allowed brake pedal position, and the second control information is the recommended brake pedal position.

[0044] In this embodiment, the order in which the first control information and the second control information are determined is not specifically limited. For example, the first control information of the input device can be determined first based on the driving information and the road information, and then the second control information of the input device can be determined based on the driving information and the road information. The calculation formulas for the first control information and the second control information can be pre-set, and the driving information and the road information can be substituted into the calculation formulas to obtain the corresponding first control information and the second control information. In this embodiment, the pre-set calculation formulas are not specifically limited. For example, if the input device is a steering wheel, the smaller the road curvature, the smaller the first control information.

[0045] S103. Determine target control information of the input device based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation of the user on the input device, and the target control information is used to guide the user to operate the input device in the vehicle.

[0046] For example, for each input device, after obtaining the first control information and the second control information for that input device, the first control information and the second control information are combined to obtain target control information for that input device. The target control information represents the optimal operation of the user on the input device and can be used to guide the user in operating the input device in the vehicle, i.e., to assist the user in driving. For example, the average of the first control information and the second control information can be used as the target control information.

[0047] The target control information represents the optimal driving maneuver. Users can operate the input device according to the target control information, so that the control information actually issued by the user is the target control information. For example, if the input device is a steering wheel and the target control information is the optimal steering wheel angle, and the optimal steering wheel angle is 30° left, the user can then turn the steering wheel 30° to the left to achieve precise control of the vehicle.

[0048] The vehicle can display target control information to the user, for example, on the central control screen for reference. By determining the target control information, the user's daily driving can be guided and their driving skills improved.

[0049] In this embodiment, determining target control information of the input device according to the first control information and the second control information of the input device includes: determining the minimum value of the first control information and the second control information of the input device as the target control information of the input device.

[0050] Specifically, the first control information is the currently allowed maximum value, and the target control information should be less than or equal to the first control information. The second control information is the currently recommended value, and the second control information can be used as the current optimal value. However, the second control information may be greater than the first control information. Therefore, the first and second control information can be compared, and the minimum value of the first and second control information can be determined as the target control information.

[0051] For example, the input device is a steering wheel, and the first control information is represented by δ max , the second control information is expressed as δ A , the target control information is expressed as δ opt , then δ opt =min(δ max , δ A); the input device is an accelerator pedal, and the first control information is represented by PD max , the second control information is represented by PD A , the target control information is represented as PD opt , then PD opt =min(PD max , PD A ); the input device is a brake pedal, and the first control information is represented by PB max , the second control information is represented by PB A , the target control information is represented as PB opt , then PB opt =min(PB max , PB A ).

[0052] The beneficial effect of such a setting is that the minimum value of the first control information and the second control information is determined, ensuring that the optimal value is recommended to the user within the allowed range, improving the accuracy of vehicle control, and achieving smooth driving of the vehicle.

[0053] An embodiment of the present application provides a vehicle control method based on assisted driving. By acquiring vehicle driving information and road information in the vehicle's environment, information such as the vehicle's current driving state, the curvature of the current road, and the road adhesion coefficient can be obtained. This method then performs targeted assisted control of the vehicle based on the current driving and road information. Based on the driving and road information, first control information and second control information for an input device in the vehicle can be determined. The first control information represents the upper limit of user-permitted operations on the input device, and the second control information represents recommended user operations for the input device. The input device includes at least one of a steering wheel, an accelerator pedal, and a brake pedal. Specifically, first control information, such as the maximum allowable steering wheel rotation angle, and second control information, such as the recommended steering wheel angle, can be determined based on actual driving conditions. Combining these two types of control information, optimal control information for the input device, namely, target control information, can be determined. Based on the target control information, the driver's input device operations are guided, helping the driver to precisely control the vehicle, improve vehicle stability, and enhance the driving experience.

[0054] Figure 2 A flow chart of a vehicle control method based on assisted driving provided in an embodiment of the present application is shown as follows: Figure 2 As shown, this embodiment Figure 1 Based on the embodiment, a vehicle control method based on assisted driving is described in detail, and the method includes:

[0055] S201. Acquire driving information of a vehicle and road information of an environment in which the vehicle is located; wherein the driving information represents a driving state of the vehicle, and the road information includes at least one of a road curvature and a road adhesion coefficient.

[0056] For example, this step may refer to the above-mentioned step S101 and will not be described in detail.

[0057] S202 , obtaining preset boundary information of the actuator; wherein the preset boundary information represents a rated torque range of the actuator; and determining first control information of the input device according to the driving information, the road information, and the preset boundary information.

[0058] For example, a vehicle's chassis is equipped with various actuators. Actuators are devices that convert control signals into physical actions. For example, in a vehicle's steering system, actuators typically refer to those devices that convert steering wheel input into wheel drive. Actuators installed on the chassis are primarily used to control the vehicle's motion and stability. For example, actuators may include electric power steering actuators, hydraulic power steering actuators, four-wheel steering actuators, brake actuators, and suspension system actuators.

[0059] Different vehicles may be equipped with different actuators. For each actuator, its installation status on the vehicle can be determined. For example, the installation status can include installed or not installed. Each installed actuator has its own preset boundary information. This preset boundary information represents the rated torque range of the actuator, that is, the maximum torque set when the actuator leaves the vehicle. The preset boundary information of an actuator determines the type and range of operations it can perform. For example, the functional boundaries of a steering actuator are the maximum steering angle and steering force it can provide.

[0060] Different actuators can correspond to different input devices, and the actuators can control the driving of the vehicle based on the user's operation received by the input device. For example, the user operates on the input device, the input device feeds back the operation to the actuator, and the actuator controls the vehicle based on the received operation. When determining the first control information of the input device, the actuator corresponding to the input device can be determined first, and the preset boundary information of the actuator can be obtained. An input device can correspond to one or more actuators. In this embodiment, for the actuator corresponding to the steering wheel, the preset boundary information can represent the rated maximum yaw torque; for the actuator corresponding to the accelerator pedal, the preset boundary information can represent the rated maximum driving torque; for the actuator corresponding to the brake pedal, the preset boundary information can represent the rated maximum braking torque.

[0061] The first control information of the input device can be determined by combining the driving information, road information, and preset boundary information of the actuator. For example, the driving information, road information, and preset boundary information can be substituted into a preset vehicle dynamics model to obtain the first control information. The vehicle dynamics model is a mathematical formula model, and in this embodiment, the preset vehicle dynamics model is not specifically limited.

[0062] In this embodiment, the first control information of the input device is determined based on the driving information, road information, and preset boundary information, including: determining the allowable boundary information of the actuator based on the driving information, road information, and preset boundary information; wherein the allowable boundary information represents the maximum torque allowed by the actuator at the current moment; and determining the first control information of the input device based on the allowable boundary information of the actuator.

[0063] Specifically, the vehicle dynamics model can output new boundary information based on driving information, road information, and preset boundary information. This output boundary information is called the allowable boundary information, which represents the maximum torque allowed by the actuator at the current moment. Specifically, the preset boundary information is a fixed value determined by the actuator's hardware and properties, while the allowable boundary information is a dynamic value that may vary at different times and is typically less than or equal to the preset boundary information.

[0064] There is a preset association between the actuator boundary information and the control information of the input device. After obtaining the actuator's allowable boundary information, the control information corresponding to the allowable boundary information can be found based on this association and used as the first control information. For example, the steering wheel angle corresponding to the current maximum allowable yaw torque, the accelerator pedal position corresponding to the current maximum allowable drive torque, and the brake pedal position corresponding to the current maximum allowable braking torque can be determined.

[0065] This arrangement advantageously determines permissible boundary information through a dynamic model, then converts this permissible boundary information into first control information. This first control information is then determined, ensuring that the boundary corresponding to the first control information does not exceed the rated range of the actuator. Assisted driving is performed under the conditions of the first control information, improving vehicle driving stability.

[0066] S203. Input the driving information and road information into a preset vehicle control model to obtain second control information of the input device; wherein the preset vehicle control model is a pre-trained neural network model, which is used to output the second control information based on the driving information and road information.

[0067] Exemplarily, a vehicle control model is pre-set, and the vehicle control model is a pre-trained neural network model, i.e., an AI model. In this embodiment, the model structure of the vehicle control model is not specifically limited. Driving information and road information are input into the pre-set vehicle control model, which then outputs second control information for the input device. There can be multiple input devices, and the vehicle control model can output second control information for multiple input devices. For example, the steering wheel angle, accelerator pedal position, brake pedal position, etc. can be output.

[0068] The vehicle control model can be trained in advance to improve the accuracy of determining the second control information. A training data set is collected in advance. The training data set may include the driving information and road information to be trained, and may also include the standard steering wheel angle, accelerator pedal position, brake pedal position, etc. under the driving information and road information as labels for model training. The specific training process may be:

[0069] Step A: Set the vehicle driving mode, for example, economy mode.

[0070] Step B: A professional driver drives the vehicle on roads with varying curvatures and adhesion coefficients. Onboard sensors and state estimators collect road information, vehicle state information, and driver control information. Specifically, training data such as road curvature and road adhesion coefficient are collected, along with driving data such as vehicle speed, acceleration, yaw rate, and sideslip angle. The actual steering wheel angle, accelerator pedal position, and brake pedal position are then used as labels for model training.

[0071] Step C: Switch the driving mode and repeat step B to obtain a sufficient amount of training data.

[0072] Step D: Using road curvature, road adhesion coefficient, vehicle speed, acceleration, yaw rate, sideslip angle, etc. as input data, the model outputs steering wheel angle, accelerator pedal position, and brake pedal position. The model is then trained using predetermined labels and the model's output data to obtain a trained vehicle control model.

[0073] In this embodiment, an assisted driving method is proposed that integrates an AI model with a vehicle dynamics model to improve the accuracy of determining target control information and help the driver perform optimal control operations.

[0074] S204. Determine target control information of the input device based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation of the user on the input device, and the target control information is used to guide the user to operate the input device in the vehicle.

[0075] For example, this step may refer to the above-mentioned step S103 and will not be described in detail.

[0076] An embodiment of the present application provides a vehicle control method based on assisted driving. By acquiring vehicle driving information and road information in the vehicle's environment, information such as the vehicle's current driving state, the curvature of the current road, and the road adhesion coefficient can be obtained. This method then performs targeted assisted control of the vehicle based on the current driving and road information. Based on the driving and road information, first control information and second control information for an input device in the vehicle can be determined. The first control information represents the upper limit of user-permitted operations on the input device, and the second control information represents recommended user operations for the input device. The input device includes at least one of a steering wheel, an accelerator pedal, and a brake pedal. Specifically, first control information, such as the maximum allowable steering wheel rotation angle, and second control information, such as the recommended steering wheel angle, can be determined based on actual driving conditions. Combining these two types of control information, optimal control information for the input device, namely, target control information, can be determined. Based on the target control information, the driver's input device operations are guided, helping the driver to precisely control the vehicle, improve vehicle stability, and enhance the driving experience.

[0077] Figure 3 A flow chart of a vehicle control method based on assisted driving provided in an embodiment of the present application is shown as follows: Figure 3 As shown, this embodiment Figure 1 Based on the embodiment, a vehicle control method based on assisted driving is described in detail, and the method includes:

[0078] S301. Acquire driving information of a vehicle and road information of an environment in which the vehicle is located; wherein the driving information represents a driving state of the vehicle, and the road information includes at least one of a road curvature and a road adhesion coefficient.

[0079] For example, this step may refer to the above-mentioned step S101 and will not be described in detail.

[0080] S302. Determine first control information and second control information of an input device in the vehicle based on driving information and road information; wherein the first control information represents an upper limit of operations allowed to the user on the input device, and the second control information represents recommended operations to the user on the input device, and the input device includes at least one of a steering wheel, an accelerator pedal, and a brake pedal.

[0081] For example, this step may refer to the above-mentioned step S102 and will not be described in detail.

[0082] S303. Determine target control information of the input device based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation of the user on the input device, and the target control information is used to guide the user to operate the input device in the vehicle.

[0083] For example, this step may refer to the above-mentioned step S103 and will not be described in detail.

[0084] S304: Acquire actual control information of the user on the input device; wherein the actual control information represents the actual operation performed by the user on the input device.

[0085] For example, the user's actual control information for each input device can be obtained in real time. The actual control information represents the actual operation performed by the user on the input device. For example, if the input device is a steering wheel, the actual control information represents the actual angle the user turns the steering wheel; if the input device is a brake pedal, the actual control information represents the actual position of the brake pedal after the user presses the brake pedal.

[0086] S305 : Based on a preset information display style, the target control information and the actual control information are sent to the vehicle's instrument panel for display.

[0087] For example, after the target control information is obtained and before the actual control information is displayed, the target control information can be displayed on the vehicle's instrument panel before the actual control information is displayed. Alternatively, after the actual control information is obtained, the target control information and the actual control information can be displayed together on the instrument panel.

[0088] The information display style can be pre-set, and the target control information and actual control information can be sent to the vehicle's instrument panel for display according to the preset information display style. For example, if the preset information display style is a bar graph, the target control information and actual control information can be displayed as two data columns. The height of the data column of the target control information can be fixed, while the height of the data column of the actual control information can be adjusted according to user operation. For example, for the steering wheel, as the steering wheel angle increases, the data column of the actual control information can be increased, allowing the user to intuitively see the difference between the actual control information and the target control information.

[0089] Figure 4 A schematic diagram of the information displayed on the instrument panel. Figure 4The information is displayed in a circular graph format, and the arc length within the circular graph can be used to represent the magnitude of the control information. The preset boundary information can also be converted into a control information format as rated control information, representing the maximum control information rated for the input device at the factory. The rated control information can be represented as the arc length of the entire circular ring, and the target control information can be represented as a portion of the circular ring, for example, the arc length of half a circular ring. As the user operates the input device, the arc length corresponding to the actual control information can change. For example, the arc length of the actual control information can gradually cover part of the target control information, or even cover part of the rated control information. Figure 4 The blue portion represents the rated control information, the green portion represents the target control information, and the red portion represents the actual control information. The length of the blue portion remains constant. In the same driving scenario, the length of the green portion remains constant. The length of the red portion can change based on user control. When the red portion exactly covers the green portion, the user's operation is optimal.

[0090] In this embodiment, it also includes: determining the difference between the actual control information and the target control information; if it is determined that the difference is within a preset difference range, issuing an alarm message on the vehicle's dashboard; wherein the alarm message is used to prompt the user to complete the operation of the input device.

[0091] Specifically, the difference between the actual control information and the target control information can be determined in real time. For example, the actual steering wheel angle can be subtracted from the optimal steering wheel angle to obtain a difference. Based on the calculated difference, it can be determined whether the user's current operation achieves the optimal operation. Each input device can be associated with a difference.

[0092] A difference threshold is preset for each input device. The difference value of the input device is compared with the corresponding difference threshold. If the difference is determined to be within the preset difference range, it indicates that the user's actual operation is close to optimal operation, and the user can stop operating the input device. The vehicle can issue a warning message on the instrument panel to prompt the user to complete the input device operation. If the difference is determined to be outside the preset difference range, the user can continue to operate until receiving a warning message.

[0093] The beneficial effect of this setting is that it can prompt the user on the dashboard to remind the user to perform the optimal operation, improve the accuracy of vehicle control, and enhance the user's driving ability.

[0094] In this embodiment, the input device is a steering wheel, the actual control information represents the actual angle of the steering wheel controlled by the user, and the target control information represents the optimal angle of the steering wheel controlled by the user; the method also includes: if the actual control information is greater than the target control information, a preset reverse torque is applied to the steering wheel; wherein the reverse torque is used to prompt the user to stop turning the steering wheel.

[0095] Specifically, in the case where the input device is a steering wheel, the actual control information represents the actual angle of rotation of the steering wheel controlled by the user, and the target control information represents the determined optimal angle of rotation of the steering wheel.

[0096] The actual control information is compared with the target control information. If the actual control information is greater than the target control information, it indicates that the actual steering wheel rotation angle has exceeded the optimal angle. To prevent the user from continuing to turn the steering wheel, the EPS (Electric Power Steering) system can apply a preset reverse torque to the steering wheel. This reverse torque can be used to prompt the user to stop turning the steering wheel. In other words, by applying reverse torque, the user can provide a certain amount of resistance when continuing to turn the steering wheel. When the user feels the resistance, they can stop turning.

[0097] This beneficial feature is that when the actual steering wheel angle exceeds the optimal value, a reverse torque offset is applied to the EPS torque assist, alerting the user that the current operation may cause vehicle instability, thereby improving vehicle control precision. Furthermore, the interaction is not limited to the instrument panel display; force feedback can be used to directly alert the user, enhancing the driving experience.

[0098] In this embodiment, the input device is a pedal device, the pedal device is an accelerator pedal or a brake pedal, the actual control information represents the actual position reached by the user controlling the pedal device, and the target control information represents the optimal position reached by the user controlling the steering wheel pedal device; the method also includes: if the actual control information is greater than the target control information, a pedal resistance of a preset size is applied to the pedal device; wherein the pedal resistance is used to prompt the user to stop depressing the pedal device.

[0099] Specifically, the pedal device can be an accelerator pedal or a brake pedal. In the case of a pedal device, the actual control information represents the actual position reached by the user controlling the pedal device, i.e., the actual height reached by the pedal after the user steps on the pedal device. The target control information represents the optimal position reached by the user controlling the pedal device, i.e., the height the pedal should reach after the user steps on the pedal device.

[0100] A smaller Pedal Position value indicates the pedal is in a higher position—not depressed or only lightly depressed, meaning the accelerator or brake input is smaller. A larger Pedal Position value indicates the pedal is depressed deeper, nearing its maximum travel, meaning the accelerator or brake input is larger. Therefore, a smaller Pedal Position value indicates the pedal is not depressed or lightly depressed, not that it is depressed lower. Conversely, a larger Pedal Position value indicates the pedal is depressed lower.

[0101] The actual control information is compared with the target control information. If the actual control information is greater than the target control information, it indicates that the pedal has been depressed to a depth exceeding the optimal depth. To prevent the user from continuing to depress the pedal, a preset pedal resistance can be applied to the pedal device. This pedal resistance serves as a prompt for the user to stop depressing the pedal device. In other words, applying pedal resistance can prevent the user from continuing to depress the pedal. Once the user feels the resistance, they can stop.

[0102] This configuration has the beneficial effect of increasing pedal resistance when the actual pedal depression depth exceeds the optimal value, alerting the user that the current operation may cause vehicle instability and improving vehicle control precision. Furthermore, the interaction is not limited to the instrument panel display; force feedback can be used to directly alert the user, enhancing the driving experience.

[0103] An embodiment of the present application provides a vehicle control method based on assisted driving. By acquiring vehicle driving information and road information in the vehicle's environment, information such as the vehicle's current driving state, the curvature of the current road, and the road adhesion coefficient can be obtained. This method then performs targeted assisted control of the vehicle based on the current driving and road information. Based on the driving and road information, first control information and second control information for an input device in the vehicle can be determined. The first control information represents the upper limit of user-permitted operations on the input device, and the second control information represents recommended user operations for the input device. The input device includes at least one of a steering wheel, an accelerator pedal, and a brake pedal. Specifically, first control information, such as the maximum allowable steering wheel rotation angle, and second control information, such as the recommended steering wheel angle, can be determined based on actual driving conditions. Combining these two types of control information, optimal control information for the input device, namely, target control information, can be determined. Based on the target control information, the driver's input device operations are guided, helping the driver to precisely control the vehicle, improve vehicle stability, and enhance the driving experience.

[0104] Figure 5 A schematic diagram of the structure of a vehicle control device based on assisted driving provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the vehicle control device 50 based on assisted driving provided in this embodiment includes:

[0105] An acquisition unit 501 is configured to acquire driving information of a vehicle and road information of an environment in which the vehicle is located; wherein the driving information represents a driving state of the vehicle, and the road information includes at least one of a road curvature and a road adhesion coefficient;

[0106] a determining unit 502 configured to determine, based on the driving information and the road information, first control information and second control information for an input device in the vehicle, wherein the first control information represents an upper limit on user-permitted operations on the input device, and the second control information represents a recommended user-permitted operation on the input device, the input device comprising at least one of a steering wheel, an accelerator pedal, and a brake pedal;

[0107] The control unit 503 is used to determine the target control information of the input device based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation performed by the user on the input device, and the target control information is used to guide the user to operate the input device in the vehicle.

[0108] In one possible implementation, an actuator is installed on the chassis of the vehicle, and the actuator is used to control the driving of the vehicle according to the user operation received by the input device; the determination unit 502 includes:

[0109] A boundary acquisition module, configured to acquire preset boundary information of the actuator; wherein the preset boundary information represents a rated torque range of the actuator;

[0110] The first determining module is configured to determine first control information of the input device according to the driving information, the road information, and the preset boundary information.

[0111] In a possible implementation, the first determining module is specifically configured to:

[0112] Determining allowable boundary information of the actuator based on the driving information, the road information, and the preset boundary information; wherein the allowable boundary information represents the maximum torque allowed by the actuator at the current moment;

[0113] First control information of the input device is determined according to the allowable boundary information of the actuator.

[0114] In a possible implementation, the determining unit 502 includes:

[0115] The second determination module is used to input the driving information and the road information into a preset vehicle control model to obtain second control information of the input device; wherein the preset vehicle control model is a pre-trained neural network model, which is used to output the second control information based on the driving information and the road information.

[0116] In a possible implementation, the control unit 503 is specifically configured to:

[0117] The minimum value between the first control information and the second control information of the input device is determined as the target control information of the input device.

[0118] In a possible implementation, the method further includes:

[0119] an actual acquisition unit, configured to acquire actual control information of the user on the input device; wherein the actual control information represents the actual operation performed by the user on the input device;

[0120] The display unit is used to send the target control information and the actual control information to the instrument panel of the vehicle for display based on a preset information display style.

[0121] In a possible implementation, the method further includes:

[0122] a difference determining unit, configured to determine a difference between the actual control information and the target control information;

[0123] An alarm unit is used to issue an alarm message on the dashboard of the vehicle if it is determined that the difference is within a preset difference range; wherein the alarm message is used to prompt the user to complete the operation of the input device.

[0124] In one possible implementation, the input device is a steering wheel, the actual control information represents an actual angle of rotation of the steering wheel controlled by the user, and the target control information represents an optimal angle of rotation of the steering wheel controlled by the user; the device further includes:

[0125] A torque applying unit is configured to apply a reverse torque of a preset magnitude to the steering wheel if the actual control information is greater than the target control information; wherein the reverse torque is used to prompt the user to stop turning the steering wheel.

[0126] In one possible implementation, the input device is a pedal device, which is an accelerator pedal or a brake pedal. The actual control information represents an actual position reached by the user controlling the pedal device, and the target control information represents an optimal position reached by the user controlling the steering wheel pedal device. The device further includes:

[0127] A resistance applying unit is used to apply a pedal resistance of a preset magnitude to the pedal device if the actual control information is greater than the target control information; wherein the pedal resistance is used to prompt the user to stop depressing the pedal device.

[0128] The vehicle control device based on assisted driving provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0129] Figure 6This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the device 60 further includes a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus 604.

[0130] During the specific implementation process, at least one processor 601 executes the computer-executable instructions stored in the memory 602, so that the at least one processor 601 performs the above method.

[0131] The specific implementation process of the processor 601 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0132] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0133] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0134] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0135] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0136] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0137] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0138] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0139] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0140] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0141] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0142] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0143] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0144] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A vehicle control method based on assisted driving, characterized in that: include: Acquiring driving information of the vehicle and road information of the vehicle's environment; wherein the driving information represents the driving state of the vehicle, and the road information includes at least one of a road curvature and a road adhesion coefficient; determining, based on the driving information and the road information, first control information and second control information for an input device in the vehicle, wherein the first control information represents an upper limit of operations that a user may perform on the input device, and the second control information represents a recommended operation for the user on the input device, the input device comprising at least one of a steering wheel, an accelerator pedal, and a brake pedal; Target control information of the input device is determined based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation of the input device by the user, and the target control information is used to guide the user to operate the input device in the vehicle.

2. The method according to claim 1, characterized in that An actuator is installed on the chassis of the vehicle, and the actuator is used to control the driving of the vehicle according to the user operation received by the input device; Determining first control information of an input device in the vehicle according to the driving information and the road information includes: Acquiring preset boundary information of the actuator; wherein the preset boundary information represents a rated torque range of the actuator; First control information of the input device is determined according to the driving information, the road information, and the preset boundary information.

3. The method according to claim 2, characterized in that Determining first control information of the input device according to the driving information, the road information, and the preset boundary information includes: Determining allowable boundary information of the actuator based on the driving information, the road information, and the preset boundary information; wherein the allowable boundary information represents the maximum torque allowed by the actuator at the current moment; First control information of the input device is determined according to the allowable boundary information of the actuator.

4. The method according to claim 1, wherein Determining second control information of the input device according to the driving information and the road information includes: The driving information and the road information are input into a preset vehicle control model to obtain second control information of the input device; wherein the preset vehicle control model is a pre-trained neural network model, which is used to output the second control information based on the driving information and the road information.

5. The method according to claim 1, wherein Determining target control information of the input device according to the first control information and the second control information of the input device includes: The minimum value between the first control information and the second control information of the input device is determined as the target control information of the input device.

6. The method according to any one of claims 1 to 5, characterized in that Also includes: Acquiring actual control information of the user on the input device; wherein the actual control information represents the actual operation performed by the user on the input device; Based on a preset information display style, the target control information and the actual control information are sent to the instrument panel of the vehicle for display.

7. The method according to claim 6, characterized in that Also includes: determining a difference between the actual control information and the target control information; If it is determined that the difference is within a preset difference range, a warning message is issued on the dashboard of the vehicle; wherein the warning message is used to prompt the user to complete the operation of the input device.

8. The method according to claim 6, characterized in that The input device is a steering wheel, the actual control information represents an actual angle of rotation of the steering wheel controlled by the user, and the target control information represents an optimal angle of rotation of the steering wheel controlled by the user; the method further includes: If the actual control information is greater than the target control information, a reverse torque of a preset magnitude is applied to the steering wheel; wherein the reverse torque is used to prompt the user to stop turning the steering wheel.

9. The method according to claim 6, characterized in that The input device is a pedal device, and the pedal device is an accelerator pedal or a brake pedal. The actual control information represents an actual position reached by the user controlling the pedal device, and the target control information represents an optimal position reached by the user controlling the steering wheel pedal device. The method further includes: If the actual control information is greater than the target control information, a pedal resistance of a preset magnitude is applied to the pedal device; wherein the pedal resistance is used to prompt the user to stop stepping on the pedal device.

10. A vehicle control device based on assisted driving, characterized in that: include: An acquisition unit, configured to acquire driving information of the vehicle and road information of an environment in which the vehicle is located; wherein the driving information represents a driving state of the vehicle, and the road information includes at least one of a road curvature and a road adhesion coefficient; a determining unit configured to determine, based on the driving information and the road information, first control information and second control information of an input device in the vehicle, wherein the first control information represents an upper limit of operations that the user can perform on the input device, and the second control information represents a recommended operation for the user on the input device, the input device comprising at least one of a steering wheel, an accelerator pedal, and a brake pedal; A control unit is used to determine target control information of the input device based on the first control information and the second control information of the input device; wherein the target control information represents the optimal operation performed by the user on the input device, and the target control information is used to guide the user to operate the input device in the vehicle.

11. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 9 when executed by a processor.

13. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 9 when the computer program is executed by a processor.

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