Vehicle control method and device, computer equipment and storage medium

Abstract

The invention relates to a vehicle control method and device, computer equipment and a storage medium. The method comprises the steps that vehicle steer-by-wire failure is detected, current state data and current environment data of a vehicle are obtained, the target position and the differential steering direction of the vehicle are determined according to the current state data and the current environment data, and the torque difference of rear wheels of the vehicle is adjusted according to the differential steering direction so as to control the vehicle to move to the target position. By adopting the method, the transverse movement problem under the condition that the vehicle loses the transverse movement capability can be controlled through differential steering, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a vehicle control method, apparatus, computer equipment, and storage medium. Background Art

[0002] Steer-by-wire is the future direction of steering technology. Its key principle is to eliminate hardware connections like the steering column and instead decouple the steering wheel (upward steering) from the wheels (downward steering) through the control of an electronic control unit. This reduces hardware weight and increases available space in the front cabin. Furthermore, the application of steer-by-wire technology provides advantageous support for advanced intelligent driving.

[0003] Among them, when the vehicle is traveling in a straight line or turning at high speed, the electronic control unit of the vehicle's wire-controlled steering fails, and the vehicle has no lateral control ability at this time, which makes it easy for a vehicle collision accident to occur. Summary of the Invention

[0004] Based on this, it is necessary to provide a vehicle control method, device, computer equipment and storage medium that can control the lateral movement of the vehicle when it loses the lateral movement ability through differential torsional steering to improve the vehicle's driving safety in response to the above technical problems.

[0005] A vehicle control method, comprising:

[0006] Detecting vehicle steer-by-wire failure and obtaining the vehicle's current state data and current environment data;

[0007] Determine the target position and differential steering direction of the vehicle based on current state data and current environment data;

[0008] The torque difference of the vehicle's rear wheels is adjusted according to the direction of the differential torque to control the vehicle to move to the target position.

[0009] In one embodiment, it further includes:

[0010] Determine whether there is an obstacle in front of the target location. If there is an obstacle, detect the relative position of the obstacle and the distance to the vehicle;

[0011] Combine relative position and distance values ​​to determine whether there is a collision risk between the vehicle and the obstacle;

[0012] If there is no obstacle or no collision risk, the step of adjusting the torque difference of the rear wheels of the vehicle according to the direction of the differential torque is performed to control the vehicle to move to the target position.

[0013] In one embodiment, the method further includes:

[0014] If there is a collision risk, after the vehicle passes the obstacle and it is determined again that there is no new obstacle or there is no collision risk with the new obstacle, the step of adjusting the torque difference of the vehicle's rear wheels according to the differential torque direction is executed to control the vehicle to move to the target position.

[0015] In one embodiment, adjusting the torque difference of the rear wheels of a vehicle according to the direction of the torque difference to control the vehicle to move to a target position includes:

[0016] Identify the vehicle's lane line trajectory and the trajectory of the vehicle behind;

[0017] If the vehicle's lane trajectory does not conflict with the trajectory of the vehicle behind, the vehicle is controlled to move to the target position based on the torque difference.

[0018] In one embodiment, adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to a target position further includes:

[0019] If the lane line trajectory of the vehicle conflicts with the driving trajectory of the vehicle coming from behind, after the vehicle coming from behind passes the vehicle, the process returns to the step of identifying the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind.

[0020] In one embodiment, the method further includes:

[0021] When all electronic control units for controlling downward turning in the vehicle's steer-by-wire system fail, it is determined that the vehicle's steer-by-wire system fails.

[0022] In one embodiment, the current state data includes a front wheel steering angle of the vehicle and a current speed of the vehicle, and determining a target position and a differential steering direction of the vehicle based on the current state data and the current environment data includes:

[0023] Determine the target position of the vehicle based on the front wheel steering angle, current speed, and current environmental data;

[0024] The vehicle's differential steering direction is determined based on the target position.

[0025] In one embodiment, adjusting the torque difference of the rear wheels of a vehicle according to the direction of the torque difference to control the vehicle to move to a target position includes:

[0026] Obtaining a first torque force of a left rear wheel of the vehicle and a second torque force of a right rear wheel of the vehicle according to the front wheel steering angle and the current speed;

[0027] The left rear wheel of the vehicle is controlled to apply a first torque force according to the differential torsional direction, and the right rear wheel of the vehicle is controlled to apply a second torque force, so as to control the vehicle to move to a target position.

[0028] In one embodiment, obtaining a first torque force of a left rear wheel and a second torque force of a right rear wheel of the vehicle according to a front wheel steering angle and a current speed includes:

[0029] Get the vehicle's ground adhesion;

[0030] According to the front wheel steering angle, the current speed and the ground adhesion, a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle are obtained.

[0031] In one embodiment, the method further includes:

[0032] When the direction of the differential torque is the first direction, the direction of the first torque force is the same as the driving direction, and the direction of the second torque force is the opposite direction of the driving direction, wherein the first direction is the rightward driving direction of the vehicle;

[0033] When the differential torque direction is the second direction, the direction of the first torque force is opposite to the driving direction, and the direction of the second torque force is the same as the driving direction, wherein the second direction is the driving direction of the vehicle to the left.

[0034] A vehicle control device, comprising:

[0035] A detection module is used to detect a vehicle's steer-by-wire failure and obtain the vehicle's current state data and current environment data;

[0036] a processing module, configured to determine a target position and a differential steering direction of the vehicle based on current state data and current environment data;

[0037] The adjustment module is used to adjust the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position.

[0038] A computer device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0039] Detecting vehicle steer-by-wire failure and obtaining the vehicle's current state data and current environment data;

[0040] Determine the target position and differential steering direction of the vehicle based on current state data and current environment data;

[0041] The torque difference of the vehicle's rear wheels is adjusted according to the direction of the differential torque to control the vehicle to move to the target position.

[0042] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0043] Detecting vehicle steer-by-wire failure and obtaining the vehicle's current state data and current environment data;

[0044] Determine the target position and differential steering direction of the vehicle based on current state data and current environment data;

[0045] The torque difference of the vehicle's rear wheels is adjusted according to the direction of the differential torque to control the vehicle to move to the target position.

[0046] The vehicle control method, apparatus, computer device, and storage medium described above detect a steer-by-wire failure, obtain the vehicle's current state data and current environmental data, determine the vehicle's target position and differential steering direction based on the current state data and current environmental data, and adjust the torque difference of the vehicle's rear wheels based on the differential steering direction to control the vehicle's movement to the target position. Therefore, when the vehicle's steer-by-wire fails, the vehicle's rear wheels differentially steer, generating a yaw moment, thereby controlling the vehicle's lateral motion in the event of a loss of lateral motion capability, resolving safety concerns and improving vehicle driving safety.

[0047] In addition, the present application can determine the target position and differential steering direction of the vehicle based on the vehicle's current status data and current environmental data, and realize vehicle control through the differential steering direction. No human operation is required to determine the steering information, and the vehicle can be controlled to move to a safe position in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 1 is a flow chart of a vehicle control method according to an embodiment;

[0049] Figure 2-1 1 is a flow chart of a vehicle control method according to an embodiment;

[0050] Figure 2-2 is a schematic diagram of a target location in front of an embodiment;

[0051] Figure 3-1 A schematic flow chart of vehicle control movement steps in one embodiment;

[0052] Figure 3-2 A schematic diagram of a vehicle coming from behind in one embodiment;

[0053] Figure 4 Schematic diagram of a flow chart of a target position determination step in one embodiment;

[0054] Figure 5 A schematic flow chart of vehicle control movement steps in one embodiment;

[0055] Figure 6 Schematic diagram of a flow chart of a differential torque direction processing step in one embodiment;

[0056] Figure 7 is a structural block diagram of a vehicle control device in one embodiment;

[0057] Figure 8 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0059] In some embodiments, the vehicle control method provided in the embodiments of the present application can be implemented by various computer devices, for example, it can be implemented by a terminal alone, by a server alone, or by a terminal and a server in collaboration.

[0060] In some embodiments, as Figure 1 As shown, a vehicle control method is provided, which is described by taking the method applied to a computer device as an example, and includes the following steps:

[0061] Step 102 : Detecting failure of the vehicle's steer-by-wire control and obtaining the vehicle's current state data and current environment data.

[0062] Among them, steer-by-wire is the future development direction of steering technology. The main principle is to cancel the connection of hardware such as the steering column, and instead realize the decoupling of the steering wheel (upward turn) and the wheel (downward turn) through the control of the electronic control unit, thereby reducing the weight of the hardware and increasing the allowable layout space in the front cabin.

[0063] Among them, the current main design of wire-controlled steering is controlled by four electronic control units, namely HWA1, HWA2, RWA1, and RWA2, among which HWA is up-turn and RWA is down-turn. 1 represents the main road and 2 represents the auxiliary road. The main road represents the main control, which is converted into 48V by a DC-DC converter (abbreviated as: DCDC) and given to the lithium battery for control. The auxiliary road is redundant control, which is converted into 48V by DCDC and given to the supercapacitor for control. Both the main road and the auxiliary road will provide the vehicle with power steering capabilities. If one road fails, the other road can still operate normally and will not completely lose the lateral movement ability.

[0064] Among them, the failure of wire-controlled steering includes the dual failure of main road and auxiliary road downward turning, or the simultaneous failure of main road and auxiliary road upward turning and main road and auxiliary road downward turning, which means that the vehicle completely loses the ability to move laterally.

[0065] Among them, the current status data is data related to the vehicle status when the vehicle's wired steering fails, including but not limited to vehicle speed, vehicle front wheel angle, vehicle front wheel status, etc. The current status data can be used to reflect the status of the vehicle when the wired steering fails.

[0066] Among them, the current environmental data is data related to the environment in which the vehicle is currently located when the wired steering fails, including but not limited to ground adhesion, lane lines, number of lanes, vehicles or other obstacles in the lanes, etc. The current environmental data can be used to reflect the surrounding environment conditions of the vehicle when the wired steering fails.

[0067] Specifically, when failure of the vehicle's steer-by-wire is detected, the vehicle's current state data and current environment data may be acquired through sensors or devices provided on the vehicle.

[0068] Step 104 : Determine the target position and the differential steering direction of the vehicle based on the current state data and the current environment data.

[0069] The target position is the safe location where the vehicle ultimately needs to stop. Because the vehicle is in a controlled-by-wire state and has lost lateral motion, a target position is necessary to ensure safe driving. For example, in a highway scenario, the target position could be a location in the emergency lane. In other words, the target position changes as the vehicle's position changes.

[0070] The differential direction is the direction of the differential direction. The differential direction refers to the different torque request values ​​of the motors at different wheel ends, thereby forming a torque difference between the two rear wheels, and realizing lateral motion control of the vehicle through the torque difference.

[0071] Specifically, after obtaining the current state data and the current environment data, the target location and the differential turning direction at which the vehicle ultimately needs to stop can be determined by combining the current state data and the current environment data. Specifically, the current location of the vehicle can be determined based on the current state data of the vehicle, and the differential turning direction can be determined based on the current location and the target location. The target location can be determined by combining the current state data of the vehicle and the vehicle environment data.

[0072] For example, when the vehicle's current state data shows that the vehicle is traveling at a high speed, and the vehicle environment data determines that the vehicle is on a highway, it can be determined that the vehicle's target position is the emergency lane, and the differential steering direction is to turn right.

[0073] Step 106 : adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position.

[0074] Specifically, after determining the differential steering direction, the vehicle is controlled to the target position by adjusting the requested motor torque between the two rear wheels. Differential torques are applied to the two motors controlling the rear wheels, creating a torque differential between the two rear wheels, thereby controlling the vehicle's movement to the target position. In other words, if the vehicle's steer-by-wire function fails, activating the differential steering logic to control lateral movement can avoid further collisions and ensure vehicle safety.

[0075] In the above-described vehicle control method, a steer-by-wire failure is detected, current vehicle state data and current environmental data are obtained, a target vehicle position and a differential steering direction are determined based on the current state data and current environmental data, and the torque difference of the vehicle's rear wheels is adjusted based on the differential steering direction to control the vehicle to the target position. Therefore, when the steer-by-wire failure occurs, the differential steering of the vehicle's rear wheels generates a yaw moment, thereby controlling the vehicle's lateral motion in the event of a loss of lateral motion capability, resolving safety concerns and improving vehicle driving safety.

[0076] In addition, the present application can determine the target position and differential steering direction of the vehicle based on the vehicle's current status data and current environmental data, and realize vehicle control through the differential steering direction. No human operation is required to determine the steering information, and the vehicle can be controlled to move to a safe position in a timely manner.

[0077] In some embodiments, as Figure 2-1 As shown, the above method also includes:

[0078] Step 202: Determine whether there is an obstacle in front of the target location. If there is an obstacle, detect the relative position of the obstacle and the distance value to the vehicle.

[0079] Step 204 : Determine whether there is a collision risk between the vehicle and the obstacle based on the relative position and the distance value.

[0080] Step 206 : If there is no obstacle or no collision risk, the step of adjusting the torque difference of the rear wheels of the vehicle according to the direction of the differential torque is performed to control the vehicle to move to the target position.

[0081] Obstacles are objects that block or prevent the vehicle from reaching its target location, such as other vehicles or fixed obstacles. Specifically, after determining the target location, the vehicle needs to determine whether there are any obstacles in front of it as it moves toward it to avoid collisions and secondary damage. The front of the target location is based on the vehicle's direction of travel, with the direction in the same direction as the vehicle's travel being considered the front, and the direction opposite to the direction of travel being considered the rear.

[0082] Furthermore, if there is an obstacle, it is necessary to avoid the obstacle. Specifically, the relative position of the obstacle and the distance value to the vehicle are detected, wherein the relative position is based on the target position and the distance between the target position, and the distance value to the vehicle is the distance from the vehicle. Finally, based on the relative position and the distance value, it is determined whether there is a collision risk between the vehicle and the obstacle. Specifically, a first threshold value of the relative position and a second threshold value of the distance value are obtained, and whether there is a collision risk between the vehicle and the obstacle is determined by comparing the relative position with the first threshold value and the distance value with the second threshold value. Alternatively, the relative position of the obstacle and the distance value to the vehicle can be determined based on the vehicle's intelligent driving camera and multi-sensor fusion solution.

[0083] In addition, if there is no obstacle in front of the target position or there is no risk of collision between the vehicle and the obstacle, it means that there is no obstacle for the vehicle to move to the target position, and it is safe to control the movement of the vehicle. Therefore, the step of adjusting the torque difference of the rear wheels of the vehicle according to the differential torque direction to control the vehicle to move to the target position can be directly executed.

[0084] For example, Figure 2-2 As shown, Figure 2-2 is a schematic diagram of a target position in one embodiment, Figure 2-2 On a highway, a vehicle is in a certain lane and suddenly the wire control fails. The rightmost lane is the emergency lane and the target position is in the emergency lane. Figure 2-2 The block in can be the target position. There is a vehicle parked in front of the target position. The vehicle is located in front of the target position and can be considered as an obstacle.

[0085] In some embodiments, the above method also includes: if there is a collision risk, after the vehicle passes the obstacle and it is determined again that there is no new obstacle or there is no collision risk with the new obstacle, the step of adjusting the torque difference of the rear wheels of the vehicle according to the differential torque direction is executed to control the vehicle to move to the target position.

[0086] Specifically, after determining that there is a collision risk between the vehicle and an obstacle, in order to avoid the collision and unnecessary losses, after the vehicle passes the obstacle and it is determined again that there is no new obstacle or there is no collision risk with the new obstacle, the step of adjusting the torque difference of the vehicle's rear wheels based on the differential torque direction is performed to control the vehicle to move to the target position. In this way, the vehicle can avoid collision with obstacles during the process of moving to the target position, further ensuring the vehicle's driving safety.

[0087] In some embodiments, as Figure 3-1 As shown, adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position includes:

[0088] Step 302: Identify the lane trajectory of the vehicle and the driving trajectory of the vehicle behind.

[0089] In step 304 , if the lane trajectory of the vehicle does not conflict with the driving trajectory of the vehicle behind, the vehicle is controlled to move to the target position according to the torque difference.

[0090] The lane trajectory here is the trajectory formed by the vehicle's current position and the target position, which can be understood as the vehicle's driving trajectory to the target position. Oncoming vehicles are vehicles traveling in the opposite direction of the vehicle's direction as it moves to the target position. These vehicles are called rear-end vehicles, and their trajectories can be identified. The lane trajectory and the rear-end vehicle's trajectories are used to determine whether there is a risk of collision with the vehicle as it moves to the target position.

[0091] Specifically, after identifying the vehicle's lane line trajectory and the driving trajectory of the vehicle behind, the lane line trajectory and the driving trajectory are compared to see if there is any conflict, such as whether the lane line trajectory and the driving trajectory overlap, intersect, or overlap. If not, it means that there is no risk of collision between the vehicle and the vehicle behind, and the vehicle can be directly controlled to move to the target position based on the torque difference.

[0092] For example, Figure 3-2 As shown, Figure 3-2 A schematic diagram of a vehicle coming from behind in one embodiment is shown. Figure 3-2 The middle is a highway. Vehicle A is in a lane. Suddenly, the wire control fails. The rightmost lane is the emergency lane. The target position is in the emergency lane. Figure 3-2 The square in the middle can be the target position, and the lane line trajectory corresponding to the vehicle moving to the target position is the dotted line 1. Since the vehicle needs to pass through the adjacent lane to move to the target position, it is necessary to determine whether there is a vehicle coming from behind in the adjacent lane. Figure 3-2 The vehicle B in the figure is the vehicle coming from behind, and the dotted line 2 is the driving trajectory of the vehicle B from behind.

[0093] In some embodiments, adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to a target position further includes:

[0094] If the lane line trajectory of the vehicle conflicts with the driving trajectory of the vehicle coming from behind, after the vehicle coming from behind passes the vehicle, the process returns to the step of identifying the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind.

[0095] Specifically, when it is determined that the vehicle's lane trajectory conflicts with the driving trajectory of the vehicle behind, it means that when the vehicle is controlled to move to the target position according to the differential steering direction, it will collide with the vehicle behind. Therefore, in order to avoid the vehicle from colliding with the vehicle behind, it is necessary to return to the step of identifying the vehicle's lane trajectory and the driving trajectory of the vehicle behind after the vehicle behind passes the vehicle, and re-identify whether there is a new vehicle behind. If so, it is re-determined whether the driving trajectory of the new vehicle behind conflicts with the lane trajectory of the vehicle moving to the target position. Only when there is no conflict or no new vehicle behind can the vehicle be controlled to move to the target position according to the differential steering direction. In this way, it can be ensured that the vehicle does not collide with the vehicle behind during the process of moving to the target position, thereby improving the driving safety of the vehicle and avoiding unnecessary collision risks.

[0096] In some embodiments, the above method further comprises:

[0097] When all electronic control units for controlling downward turning in the vehicle's steer-by-wire system fail, it is determined that the vehicle's steer-by-wire system fails.

[0098] Among them, the current main design of wire-controlled steering is controlled by four electronic control units, namely HWA1, HWA2, RWA1, and RWA2, among which HWA is up-turn and RWA is down-turn. 1 represents the main road and 2 represents the auxiliary road. The main road represents the main control, which is converted into 48V by a DC-DC converter (abbreviated as: DCDC) and given to the lithium battery for control. The auxiliary road is redundant control, which is converted into 48V by DCDC and given to the supercapacitor for control. Both the main road and the auxiliary road will provide the vehicle with power steering capabilities. If one road fails, the other road can still operate normally and will not completely lose the lateral movement ability.

[0099] A steer-by-wire failure can include a dual failure of both the main and auxiliary roads, or a simultaneous failure of both the main and auxiliary roads, indicating a complete loss of lateral motion. Specifically, a steer-by-wire failure is considered complete when all electronic control units controlling downward steering in the vehicle's steer-by-wire system fail.

[0100] In some embodiments, as Figure 4 As shown, the current state data includes at least one front wheel steering angle and current speed when the vehicle fails, and determining the target position and differential steering direction of the vehicle based on the current state data and current environment data includes:

[0101] Step 402: Determine the target position of the vehicle based on the front wheel steering angle, the current speed, and the current environmental data.

[0102] Step 404: Determine the differential steering direction of the vehicle according to the target position.

[0103] Among them, the current state includes at least one front wheel steering angle and the current speed of the vehicle when the vehicle fails, wherein the front wheel steering angle is the angle at which the front wheels are turned when the vehicle fails, and can be collected by relevant sensors set in the vehicle.

[0104] Furthermore, the target position of the vehicle is determined in combination with the front wheel steering angle, the current speed and the current environmental data. Specifically, it can be determined whether the vehicle is traveling at a high speed or a low speed based on the current speed, and then the current environment in which the vehicle is currently located is determined through the current environmental data. Finally, the target position is determined in combination with the front wheel steering angle, the current speed and the current environmental data.

[0105] For example, the vehicle's current speed can be used to determine that the vehicle is traveling at a high speed, and the lane lines in the current environmental data can be used to determine that the vehicle's current environment is a highway. In this case, the target position can be determined to be a certain position in the emergency lane on the right.

[0106] For another example, the vehicle's current speed can be used to determine that the vehicle is traveling at a low speed, and the vehicle's front wheel steering angle can be used to determine that the vehicle's front wheels are currently turning left. At the same time, the vehicle's current environmental data can be used to determine that there are no obstacles within the specified range of the vehicle's left lane. In this case, the target position can be determined to be a certain position in the vehicle's left lane.

[0107] Finally, since the target location is the final, safe location for the vehicle to stop, the vehicle's differential turning direction can be determined based on the target location. For example, if the target location is on the right side of the vehicle, the vehicle's differential turning direction can be determined to the right of the travel direction.

[0108] In some embodiments, as Figure 5 As shown, adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position includes:

[0109] Step 502: Obtain a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle according to the front wheel steering angle and the current speed.

[0110] Step 504 : Control the left rear wheel of the vehicle to apply a first torque force and control the right rear wheel of the vehicle to apply a second torque force according to the differential torque direction, so as to control the vehicle to move to the target position.

[0111] Specifically, the torque forces corresponding to the two rear wheels of the vehicle can be obtained through the front wheel steering angle and the current speed. Specifically, the first torque force of the left rear wheel and the second torque force of the right rear wheel of the vehicle can be obtained by analyzing the front wheel steering angle and the current speed.

[0112] Furthermore, by applying a first torque force to the motor controlling the left rear wheel of the vehicle and a second torque force to the motor controlling the right rear wheel of the vehicle, a torque difference is formed between the two rear wheels of the vehicle, thereby controlling the vehicle to move laterally to the target position.

[0113] In one embodiment, step 502 includes: obtaining the ground adhesion of the vehicle, and obtaining a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle according to the front wheel steering angle, the current speed and the ground adhesion.

[0114] Ground adhesion refers to the friction between a vehicle and the road surface during driving. Its magnitude depends on the vehicle's weight and the road's adhesion coefficient. Ground adhesion is categorized as high-adhesion or low-adhesion. High-adhesion surfaces include muddy, unrepaired stone surfaces, and low-adhesion surfaces include snowy or hail-covered surfaces. Ground adhesion can be collected by the vehicle's sensors or obtained through experimental testing and stored in an onboard terminal or service for subsequent use.

[0115] Among them, since the torque force of differential steering control is different under different adhesion roads, for example, instability is more likely to occur on low-adhesion roads. Therefore, when calculating the magnitude of the first torque force and the second torque force, the ground adhesion can be considered. Combined with the ground adhesion, the front wheel steering angle and the current speed, the first torque force of the left rear wheel of the vehicle and the second torque force of the right rear wheel of the vehicle are obtained.

[0116] Generally, for low-adhesion surfaces, smaller first and second torques can be applied compared to high-adhesion surfaces, and the torque difference formed by the first and second torques is also smaller. Specifically, the first torque for the vehicle's left rear wheel and the second torque for the vehicle's right rear wheel can be obtained by combining the front wheel steering angle and the current speed. If the ground adhesion is less than a preset threshold, the values ​​of the first and second torques are adjusted downward; otherwise, the values ​​of the first and second torques are not adjusted. Alternatively, the magnitudes of the first and second torques can be determined directly by combining the ground adhesion, the front wheel steering angle, and the current speed. For example, a functional relationship or other correlation (e.g., a corresponding relationship table) can be pre-established between the first and second torques and the ground adhesion, the front wheel steering angle, and the vehicle speed. The first and second torques can then be determined by combining the currently obtained ground adhesion, the front wheel steering angle, and the current speed, as well as the pre-established functional relationship or correlation.

[0117] In some embodiments, as Figure 6 As shown, the above method also includes:

[0118] Step 602: When the differential torque direction is a first direction, the direction of the first torque force is the same as the driving direction, and the direction of the second torque force is the opposite direction of the driving direction, wherein the first direction is the rightward driving direction of the vehicle.

[0119] Step 604: When the differential torque direction is the second direction, the direction of the first torque force is opposite to the driving direction, and the direction of the second torque force is the same as the driving direction, wherein the second direction is the vehicle's driving direction to the left.

[0120] Among them, the differential direction can include a first direction and a second direction. Among them, when the differential direction is the first direction, the first direction is the vehicle's driving direction to the right, then it moves to the right, and the direction of the first torque force is the same direction as the driving direction, and the direction of the second torque force is the opposite direction of the driving direction.

[0121] When the differential torque direction is the second direction, the first direction is the vehicle's driving direction to the left, then it moves to the left, the direction of the first torque force is the opposite direction of the driving direction, and the direction of the second torque force is the same direction as the driving direction.

[0122] For example, when the torque differential is determined to be moving to the left, positive torque is applied to the right rear wheel and negative torque is applied to the left rear wheel. This creates a torque differential through the torque difference between the left and right rear wheels, thereby controlling the vehicle to turn left. When the torque differential is determined to be moving to the right, positive torque is applied to the left rear wheel and negative torque is applied to the right rear wheel, generating a yaw moment to the right, thereby controlling the vehicle to turn right. Positive torque is torque in the same direction as the direction of travel, while negative torque is torque in the opposite direction.

[0123] It should be understood that, although the various steps in the above flow chart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the above flow chart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0124] In some embodiments, as Figure 7 As shown, a vehicle control device 700 is provided, comprising: a detection module 702, a processing module 704 and an adjustment module 706, wherein:

[0125] The detection module 702 is used to detect the failure of the vehicle's steer-by-wire control and obtain the vehicle's current state data and current environment data.

[0126] The processing module 704 is configured to determine the target position and the differential steering direction of the vehicle according to the current state data and the current environment data.

[0127] The adjustment module 706 is configured to adjust the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to a target position.

[0128] In some embodiments, the vehicle control device 700 determines whether there is an obstacle in front of the target position. If there is an obstacle, the relative position of the obstacle and the distance value to the vehicle are detected. Combined with the relative position and distance value, it is determined whether there is a collision risk between the vehicle and the obstacle. If there is no obstacle or there is no collision risk, the adjustment module 706 adjusts the torque difference of the rear wheels of the vehicle according to the differential torque direction to control the step of moving the vehicle to the target position.

[0129] In some embodiments, if there is a collision risk, the vehicle control device 700 adjusts the torque difference of the rear wheels of the vehicle according to the torque difference direction after the vehicle passes the obstacle and determines again that there is no obstacle and no collision risk, so as to control the vehicle to move to the target position.

[0130] In some embodiments, the adjustment module 706 identifies the lane trajectory of the vehicle and the driving trajectory of the vehicle behind. If the lane trajectory of the vehicle and the driving trajectory of the vehicle behind do not conflict, the adjustment module 706 controls the vehicle to move to the target position according to the torque difference.

[0131] In some embodiments, if the vehicle's lane line trajectory conflicts with the driving trajectory of the vehicle coming from behind, the vehicle control device 700 returns to the step of identifying the vehicle's lane line trajectory and the driving trajectory of the vehicle coming from behind after the vehicle coming from behind passes the vehicle.

[0132] In some embodiments, the vehicle control device 700 determines that the vehicle's steer-by-wire system has failed when all electronic control units for controlling downward turns in the vehicle's steer-by-wire system have failed.

[0133] In some embodiments, the current state data includes at least one front wheel steering angle and current speed when the vehicle fails. The processing module 704 determines the target position of the vehicle based on the front wheel steering angle, current speed and current environmental data, and determines the differential steering direction of the vehicle based on the target position.

[0134] In some embodiments, the adjustment module 706 obtains a first torque force on the left rear wheel of the vehicle and a second torque force on the right rear wheel of the vehicle based on the front wheel steering angle and the current speed, and controls the left rear wheel of the vehicle to apply the first torque force and the right rear wheel of the vehicle to apply the second torque force according to the differential torque direction, so as to control the vehicle to move to the target position.

[0135] In some embodiments, the adjustment module 706 obtains the ground adhesion of the vehicle and obtains a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle according to the front wheel steering angle, the current speed and the ground adhesion.

[0136] In some embodiments, when the differential direction is a first direction, the direction of the first torque force is the same direction as the driving direction, and the direction of the second torque force is the opposite direction to the driving direction, wherein the first direction is the rightward driving direction of the vehicle; when the differential direction is a second direction, the direction of the first torque force is the opposite direction to the driving direction, and the direction of the second torque force is the same direction as the driving direction, wherein the second direction is the leftward driving direction of the vehicle.

[0137] The specific definition of the vehicle control device can be found in the definition of the vehicle control method above and will not be repeated here. Each module in the above-mentioned vehicle control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor of the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0138] In some embodiments, a computer device is provided, wherein the internal structure diagram of the computer device can be as follows: Figure 8 As shown. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements a vehicle control method.

[0139] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0140] In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented: detecting failure of vehicle steer-by-wire, obtaining current state data and current environment data of the vehicle, determining a target position and a differential steering direction of the vehicle based on the current state data and current environment data, and adjusting the torque difference of the rear wheels of the vehicle based on the differential steering direction to control the vehicle to move to the target position.

[0141] In one embodiment, when the processor executes the computer program, it also implements the following steps: determining whether there is an obstacle in front of the target position; if there is an obstacle, detecting the relative position of the obstacle and the distance value to the vehicle; combining the relative position and the distance value to determine whether there is a collision risk between the vehicle and the obstacle; if there is no obstacle or no collision risk, executing the step of adjusting the torque difference of the rear wheels of the vehicle according to the differential torque steering direction to control the vehicle to move to the target position.

[0142] In one embodiment, when the processor executes the computer program, the following steps are also implemented: if there is a risk of collision, the step of adjusting the torque difference of the rear wheels of the vehicle according to the differential torque direction to control the vehicle to move to the target position is performed only after the vehicle passes the obstacle and it is determined again that there are no obstacles and no collision risk.

[0143] In one embodiment, when the processor executes the computer program, it further implements the following steps: identifying the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind; if the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind do not conflict, controlling the vehicle to move to the target position according to the torque difference.

[0144] In one embodiment, when the processor executes the computer program, the following steps are also implemented: if the lane line trajectory of the vehicle conflicts with the driving trajectory of the vehicle coming from behind, then after the vehicle coming from behind passes the vehicle, the processor returns to the step of identifying the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind.

[0145] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: when all electronic control units for controlling downward turning in the vehicle's steer-by-wire system fail, determining that the vehicle's steer-by-wire system has failed.

[0146] In one embodiment, the current state data includes the front wheel steering angle and current speed of the vehicle. When the processor executes the computer program, it also implements the following steps: determining the target position of the vehicle based on the front wheel steering angle, the current speed and the current environmental data, and determining the differential steering direction of the vehicle based on the target position.

[0147] In one embodiment, when the processor executes the computer program, it also implements the following steps: based on the front wheel steering angle and the current speed, a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle are obtained, and based on the differential torque direction, the left rear wheel of the vehicle is controlled to apply the first torque force, and the right rear wheel of the vehicle is controlled to apply the second torque force, so as to control the vehicle to move to the target position.

[0148] In one embodiment, when the processor executes the computer program, it further implements the following steps: obtaining the ground adhesion of the vehicle, and obtaining a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle based on the front wheel steering angle, the current speed and the ground adhesion.

[0149] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the differential direction is a first direction, the direction of the first torque force is the same as the driving direction, and the direction of the second torque force is the opposite direction to the driving direction, wherein the first direction is the rightward driving direction of the vehicle; when the differential direction is a second direction, the direction of the first torque force is the opposite direction to the driving direction, and the direction of the second torque force is the same as the driving direction, wherein the second direction is the leftward driving direction of the vehicle.

[0150] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: detecting failure of vehicle steer-by-wire, obtaining current state data and current environmental data of the vehicle, determining a target position and a differential steering direction of the vehicle based on the current state data and current environmental data, and adjusting the torque difference of the rear wheels of the vehicle based on the differential steering direction to control the vehicle to move to the target position.

[0151] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining whether there is an obstacle in front of the target position; if there is an obstacle, detecting the relative position of the obstacle and the distance value to the vehicle; combining the relative position and the distance value to determine whether there is a collision risk between the vehicle and the obstacle; if there is no obstacle or there is no collision risk, executing the step of adjusting the torque difference of the rear wheels of the vehicle according to the differential torque steering direction to control the vehicle to move to the target position.

[0152] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: if there is a risk of collision, the step of adjusting the torque difference of the rear wheels of the vehicle according to the differential torque direction to control the vehicle to move to the target position is performed only after the vehicle passes the obstacle and it is determined again that there are no obstacles and no collision risk.

[0153] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: identifying the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind; if the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind do not conflict, controlling the vehicle to move to the target position according to the torque difference.

[0154] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: if the lane line trajectory of the vehicle conflicts with the driving trajectory of the vehicle coming from behind, then after the vehicle coming from behind passes the vehicle, the process returns to the step of identifying the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind.

[0155] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when all electronic control units for controlling downward turning in the vehicle's steer-by-wire system fail, determining that the vehicle's steer-by-wire system has failed.

[0156] In one embodiment, the current state data includes the front wheel steering angle and the current speed of the vehicle. When the computer program is executed by the processor, the following steps are also implemented: determining the target position of the vehicle based on the front wheel steering angle, the current speed and the current environmental data, and determining the differential steering direction of the vehicle based on the target position.

[0157] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the front wheel steering angle and the current speed, a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle are obtained, and based on the differential torque direction, the left rear wheel of the vehicle is controlled to apply the first torque force, and the right rear wheel of the vehicle is controlled to apply the second torque force, so as to control the vehicle to move to the target position.

[0158] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining the ground adhesion of the vehicle, and obtaining a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle based on the front wheel steering angle, the current speed and the ground adhesion.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when the differential direction is a first direction, the direction of the first torque force is the same as the driving direction, and the direction of the second torque force is the opposite direction to the driving direction, wherein the first direction is the rightward driving direction of the vehicle; when the differential direction is a second direction, the direction of the first torque force is the opposite direction to the driving direction, and the direction of the second torque force is the same as the driving direction, wherein the second direction is the leftward driving direction of the vehicle.

[0160] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0161] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0162] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A vehicle control method, the method comprising: Detecting a failure of the vehicle's steer-by-wire control, and obtaining current state data and current environment data of the vehicle; determining a target position and a differential steering direction of the vehicle based on the current state data and the current environment data; The torque difference of the rear wheels of the vehicle is adjusted according to the direction of the torque difference to control the vehicle to move to the target position.

2. The method according to claim 1, characterized in that The method further comprises: Determine whether there is an obstacle in front of the target position, and if so, detect the relative position of the obstacle and the distance value to the vehicle; Determining whether there is a collision risk between the vehicle and the obstacle based on the relative position and the distance value; If there is no obstacle or no collision risk, the step of adjusting the torque difference of the rear wheels of the vehicle according to the direction of the differential torque to control the vehicle to move to the target position is performed.

3. The method according to claim 2, characterized in that The method further comprises: If there is a collision risk, after the vehicle passes the obstacle and it is determined again that there is no new obstacle or there is no collision risk with the new obstacle, the step of adjusting the torque difference of the rear wheels of the vehicle according to the differential torque direction is performed to control the vehicle to move to the target position.

4. The method according to claim 2 or 3, characterized in that The adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position includes: Identifying the lane trajectory of the vehicle and the driving trajectory of the vehicle behind; If the lane trajectory of the vehicle does not conflict with the driving trajectory of the rear vehicle, the vehicle is controlled to move to the target position according to the torque difference.

5. The method according to claim 4, characterized in that The method further comprises adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position, further comprising: If the lane line trajectory of the vehicle conflicts with the driving trajectory of the vehicle coming from behind, after the vehicle coming from behind passes the vehicle, the process returns to the step of identifying the lane line trajectory of the vehicle and the driving trajectory of the vehicle coming from behind.

6. The method according to claim 1, wherein The method further comprises: When all electronic control units for controlling downward turning in the steer-by-wire system of the vehicle fail, it is determined that the steer-by-wire system of the vehicle fails.

7. The method according to claim 1, characterized in that The current state data includes at least one front wheel steering angle of the vehicle and a current speed of the vehicle, and determining the target position and the differential steering direction of the vehicle based on the current state data and the current environment data includes: determining a target position of the vehicle according to the front wheel steering angle, the current speed, and the current environmental data; A differential steering direction of the vehicle is determined based on the target position.

8. The method according to claim 7, characterized in that The adjusting the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position includes: Obtaining a first torque force of a left rear wheel of the vehicle and a second torque force of a right rear wheel of the vehicle according to the front wheel steering angle and the current speed; The left rear wheel of the vehicle is controlled to apply a first torque force according to the differential torque direction, and the right rear wheel of the vehicle is controlled to apply a second torque force, so as to control the vehicle to move to the target position.

9. The method according to claim 8, characterized in that The obtaining of a first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle according to the front wheel steering angle and the current speed includes: obtaining a ground adhesion force of the vehicle; A first torque force of the left rear wheel of the vehicle and a second torque force of the right rear wheel of the vehicle are obtained according to the front wheel steering angle, the current speed and the ground adhesion.

10. The method according to claim 8 or 9, characterized in that The method further comprises: When the direction of the differential torque is a first direction, the direction of the first torque force is the same as the driving direction, and the direction of the second torque force is the opposite direction of the driving direction, wherein the first direction is the rightward driving direction of the vehicle; When the differential torque direction is the second direction, the direction of the first torque force is opposite to the driving direction, and the direction of the second torque force is the same as the driving direction, wherein the second direction is the driving direction of the vehicle to the left.

11. A vehicle control device, characterized in that: The device comprises: a detection module, configured to detect a failure of the vehicle's steer-by-wire control and obtain current state data and current environment data of the vehicle; a processing module, configured to determine a target position and a differential steering direction of the vehicle based on the current state data and the current environment data; An adjustment module is used to adjust the torque difference of the rear wheels of the vehicle according to the direction of the torque difference to control the vehicle to move to the target position.

12. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 10 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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