Vehicle control method and device

Abstract

The embodiment of the application discloses a vehicle control method and device, and relates to the technical field of vehicles. In the case that the vehicle meets different conditions, different steering wheel angles are obtained in a self-learning manner, and the vehicle is controlled according to the steering wheel angles. In this way, for different scenes, the corresponding steering wheel angle in the scene can be determined, the steering wheel angle can be flexibly obtained, the applicability is higher, and the efficiency and accuracy of obtaining the steering wheel angle are improved, so that the vehicle is controlled according to the steering wheel angle, and the driving experience of a user is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method and apparatus. Background Technology

[0002] A vehicle includes a steering system, which is used to change the vehicle's direction of travel. During vehicle operation, it is necessary to determine the midpoint of the steering angle in the vehicle's steering system, also known as the steering angle median, which the vehicle can use as a basis for subsequent steering.

[0003] In related technologies, the median value of the steering angle can be obtained through calibration or self-learning. However, both of these methods are difficult to obtain and have low efficiency, which affects the user's driving experience. Summary of the Invention

[0004] This application provides a vehicle control method and apparatus that can improve the efficiency of obtaining the median value of the turning angle, so as to control the vehicle based on the median value of the turning angle and improve the user's driving experience.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, comprising: acquiring first information, the first information including vehicle speed; acquiring a first steering wheel angle when the first information satisfies a first condition; acquiring second information, the second information including vehicle speed; acquiring a second steering wheel angle when the second information satisfies a second condition; wherein the first condition and the second condition are different; and controlling the vehicle based on the first steering wheel angle and the second steering wheel angle.

[0006] In this way, different steering wheel angles can be determined for different vehicle speed scenarios, which can flexibly obtain the steering wheel angle, making it more applicable and accurate. The steering wheel angle can be obtained in different scenarios, improving the efficiency of obtaining the steering wheel angle, so as to control the vehicle according to the steering wheel angle and improve the user's driving experience.

[0007] In one possible implementation, the first information and the second information are different. The first information satisfies the first condition, and the second information satisfies the second condition.

[0008] In one possible implementation, the first condition further includes a vehicle speed greater than a first speed threshold; the second condition further includes a vehicle speed greater than a second speed threshold, and the first speed threshold being less than the second speed threshold.

[0009] For example, the first speed threshold can be 60 km / h, and the second speed threshold can be 80 km / h. When the vehicle speed is greater than 80 km / h, the steering wheel angle is the second steering wheel angle. When the vehicle speed is greater than 60 km / h, the steering wheel angle is the first steering wheel angle.

[0010] In one possible implementation, the first information further includes at least one of steering wheel torque, four-wheel wheel speed difference, yaw rate, or lateral acceleration; the second information further includes at least one of steering wheel torque, four-wheel wheel speed difference, yaw rate, or lateral acceleration.

[0011] Thus, based on more detailed first and second information, the vehicle obtains more accurate first and second steering wheel angles.

[0012] It should be understood that the above is only one example of the first information and the second information. The first information and the second information may also include more or less information, and the embodiments of this application do not impose specific limitations on this.

[0013] In one possible implementation, the first condition includes the state in which the vehicle speed is greater than a first speed threshold is maintained for a time greater than a first time threshold, and one or more of the following are maintained for a time greater than the first time threshold, including: steering wheel torque is less than a first torque threshold, the four-wheel wheel speed difference is less than a first wheel speed difference threshold, the yaw rate is less than a first yaw rate threshold, or the lateral acceleration is less than a first lateral acceleration threshold.

[0014] Thus, when the vehicle meets the first condition mentioned above, it can be determined that the vehicle is traveling in a stable straight line, and the first steering wheel angle of the vehicle at this time can be the median value of the vehicle's turning angle.

[0015] In one possible implementation, the second condition includes the state in which the vehicle speed is greater than a second speed threshold is maintained for a time greater than a second time threshold, and one or more of the following are maintained for a time greater than the second time threshold, including: steering wheel torque is less than a second torque threshold, the four-wheel speed difference is less than a second wheel speed difference threshold, the yaw rate is less than a second yaw rate threshold, or the lateral acceleration is less than a second lateral acceleration threshold; wherein, the second time threshold is greater than the first time threshold, the second torque threshold is less than the first torque threshold, the second wheel speed difference threshold is less than the first wheel speed difference threshold, the second yaw rate threshold is less than the first yaw rate threshold, and the second lateral acceleration threshold is less than the first lateral acceleration threshold.

[0016] Thus, the second condition is more complex than the first condition. When the vehicle meets the second condition, it can be determined that the vehicle will drive more smoothly in a straight line, and the second steering wheel angle at this time can be the median value of the vehicle's turning angle.

[0017] One possible implementation includes: setting the confidence level of the first steering wheel angle to a first confidence level; setting the confidence level of the second steering wheel angle to a second confidence level; and the first confidence level being less than the second confidence level.

[0018] Thus, the second condition is more complex than the first condition, and the reliability of the second steering wheel angle is also greater than that of the first steering wheel angle.

[0019] One possible implementation includes: using the second steering wheel angle as the center value of the steering angle, and controlling the vehicle based on the center value of the steering angle.

[0020] In this way, the median steering wheel angle or turning angle with high confidence is used as the vehicle's turning angle median. As the confidence level of the vehicle's stored turning angle median values ​​increases, the accuracy of the turning angle median values ​​also increases, improving vehicle driving safety and enhancing the user's driving experience.

[0021] In one possible implementation, the method further includes: obtaining the median value of the calibrated angle, setting the confidence level of the median value of the calibrated angle to a third confidence level; the third confidence level is less than or equal to the second confidence level, and the third confidence level is greater than the first confidence level.

[0022] Even with a calibrated median steering angle, the vehicle can continue to acquire median steering angles through self-learning. The calibrated median steering angle has high reliability, with a third confidence level greater than or equal to the second confidence level and greater than the first confidence level. When the vehicle acquires a second steering wheel angle, that second steering wheel angle can be used as the vehicle's median steering angle. When the vehicle acquires a first steering wheel angle, the first confidence level is lower, and the vehicle's median steering angle remains the calibrated median steering angle.

[0023] One possible implementation includes: if the difference between the second steering wheel angle and the current median steering angle of the vehicle is greater than a first threshold, using the second steering wheel angle as the median steering angle; the current median steering angle of the vehicle includes the vehicle's historical median steering angle or the calibrated median steering angle; and controlling the vehicle based on the median steering angle.

[0024] When the difference between the steering wheel angle obtained by the vehicle and the current median value of the vehicle's turning angle is small, the confidence level between the steering wheel angle obtained by the vehicle and the current median value of the vehicle's turning angle is not judged. The vehicle continues to control the vehicle based on the current median value of the turning angle, avoiding frequent updates of the median value of the turning angle and reducing resource consumption.

[0025] One possible implementation includes: the number of steering functions supported by the vehicle corresponding to the first steering wheel angle is less than the number of steering functions supported by the vehicle corresponding to the second steering wheel angle, and / or, the vehicle control capability of the steering functions supported by the vehicle corresponding to the first steering wheel angle is less than the vehicle control capability of the steering functions supported by the vehicle corresponding to the second steering wheel angle.

[0026] One possible implementation includes: displaying a first interface, the first interface including one or more of the following: a second confidence level, the number of steering functions supported by the vehicle corresponding to the second steering wheel angle, and / or the control capability of the vehicle by the steering functions supported by the vehicle corresponding to the second confidence level.

[0027] When the confidence level of the median corner angle is low, the number of cornering functions supported by the median corner angle is small, and / or the control capability of the vehicle is weak when the cornering functions supported by a single median corner angle are low, thus improving the vehicle's stability and safety.

[0028] In one possible implementation, the method further includes: obtaining third information, including vehicle speed; and obtaining a third steering wheel angle if the third information satisfies a third condition.

[0029] In this way, the conditions for vehicle information to be met are divided into finer granularities, and the steering wheel angle is obtained in a finer granular manner, thereby improving the accuracy of the steering wheel angle and providing the vehicle with a more accurate judgment of the steering angle.

[0030] In one possible implementation, the third information also includes steering wheel angle, steering wheel torque, and steering wheel speed, wherein the steering wheel angle includes a first angle to the left and a second angle to the right; the third condition includes: the duration of several of the following conditions is greater than a third time threshold, including: vehicle speed is less than a third speed threshold, the first angle of the steering wheel to the left is greater than a first angle threshold, the steering wheel torque is greater than a third torque threshold, and the steering wheel speed is less than a first speed threshold, and the duration of several of the following conditions is greater than a fourth time threshold, including: vehicle speed is less than a third speed threshold, the second angle of the steering wheel to the right is greater than a second angle threshold, the steering wheel torque is greater than a third torque threshold, and the steering wheel speed is less than a first speed threshold.

[0031] In this way, even when the vehicle speed is low, the third-party steering wheel angle can be obtained. When the vehicle does not store the steering angle median value, the third-party steering wheel angle can be used as the vehicle's steering angle median value. The vehicle can easily and efficiently obtain a steering angle median value to support the vehicle's steering function.

[0032] One possible implementation includes: setting the confidence level of the third steering wheel angle as the fourth confidence level; the fourth confidence level is less than the first confidence level.

[0033] Thus, the third condition is relatively simple, and the confidence level of the fourth confidence level corresponding to the third steering wheel angle is also relatively small. This can reduce the control intensity of the third steering wheel angle on the vehicle's steering function and improve the vehicle's stability and safety.

[0034] Secondly, this application provides a vehicle control device, comprising: an acquisition module for acquiring first information, the first information including vehicle speed; the acquisition module further for acquiring a first steering wheel angle when the first information satisfies a first condition; the acquisition module further for acquiring second information, the second information including vehicle speed; the first information and the second information being different; the acquisition module further for acquiring a second steering wheel angle when the first information satisfies a second condition, the first condition being different from the second condition; and a processing module for controlling the vehicle based on the first steering wheel angle and the second steering wheel angle.

[0035] Thirdly, this application provides a vehicle control device including at least one processor and a memory, the memory being used to store computer-readable instructions, wherein when the at least one processor reads the computer-readable instructions from the memory, the vehicle control device causes the vehicle control device to perform the method as described in the first aspect.

[0036] Fourthly, this application provides a vehicle including a vehicle control device as described in the second aspect, the vehicle control device being configured to perform the method described in the first aspect.

[0037] Fifthly, this application provides a computer-readable storage medium including a computer program or instructions that, when executed on a vehicle control device, cause the vehicle control device of the second aspect to perform the method described in the first aspect.

[0038] Sixthly, this application provides a computer program product comprising: a computer program or instructions that, when executed on a computer, cause the computer to perform the method described in the first aspect.

[0039] In a seventh aspect, this application provides a chip system comprising: a processor, the processor being configured to retrieve and execute a computer program stored in a memory to perform any of the methods provided in the implementation of the first aspect.

[0040] The technical effects corresponding to aspects two through seven, and any one of their implementations, can be found in the first aspect and any one of its implementations, and will not be repeated here. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of a method for obtaining the median value of a corner according to an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of the hardware structure of a vehicle provided in an embodiment of this application;

[0043] Figure 3 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0044] Figure 4 This is a flowchart illustrating a method for determining the median value of a turning angle provided in an embodiment of this application;

[0045] Figure 5 This is a flowchart illustrating another method for determining the median value of a turning angle provided in an embodiment of this application;

[0046] Figure 6 This is a flowchart illustrating another method for determining the median value of a turning angle provided in an embodiment of this application;

[0047] Figure 7 This is a schematic diagram of an interface provided in an embodiment of this application;

[0048] Figure 8 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0049] Figure 9 This is a schematic diagram of the structure of a chip system provided in an embodiment of this application. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments.

[0051] Hereinafter, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0052] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," "right," "horizontal," and "vertical" are defined relative to the orientation of the components shown in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation of the components in the accompanying drawings.

[0053] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0054] A vehicle's steering system is equipped with a steering angle sensor. When the steering wheel and wheels are in a straight line, the steering angle value measured by the sensor is called the center angle value. During driving, the vehicle needs to perform steering and other maneuvers based on this center angle value. If the center angle value used by the vehicle differs from the actual center angle value, the vehicle may automatically veer to one side during driving, potentially leading to safety accidents and affecting the driving experience. For example, the actual center angle value may change due to vehicle wear and tear. Alternatively, after chassis or steering system repairs, the actual center angle value may change. If the vehicle continues to use the original center angle value for control, it may result in inaccurate steering and a negative driving experience.

[0055] In some examples, vehicle manufacturers can determine the median angle of a vehicle through median angle calibration and write the median angle into the vehicle. The vehicle can then store the median angle for later use.

[0056] For example, after a vehicle is assembled on the production line, before it rolls off the line, the vehicle manufacturer can adjust the vehicle's wheels at a four-wheel alignment station so that the vehicle's wheels are in a straight-line position. The steering wheel is then calibrated using a steering wheel level gauge. When the steering wheel level gauge is level, the vehicle's center angle value can be determined. The vehicle's electronic control unit (ECU) can then obtain this center angle value.

[0057] However, this method is highly dependent on equipment such as four-wheel alignment stations and steering wheel level gauges. Furthermore, steering wheel level gauges need to be customized according to the shape of the vehicle's steering wheel, resulting in high costs. Without four-wheel alignment stations and steering wheel level gauges, it is difficult to determine the median value of the steering angle. For example, after the vehicle has been driven for a period of time, or after parts have been replaced, the median value of the vehicle's steering angle may change, making it difficult to re-determine the median value.

[0058] In some examples, the vehicle's steering system can also determine the vehicle's median steering angle value through a self-learning method. The steering system can acquire information such as vehicle speed, the force exerted on the steering wheel by the driver, wheel speed, and / or yaw rate. When the above information meets certain threshold conditions, the steering angle value acquired by the steering system from the steering angle sensor is determined as the vehicle's median steering angle value.

[0059] For example, when the absolute value of the curvature of the lane line ahead is less than the curvature setting value, the angle between the lane line ahead and the front of the vehicle is less than the angle setting value, and the lateral deviation between the center of the vehicle and the center of the lane is less than the lateral deviation setting value, it can be determined that the current driving state of the vehicle is straight driving. Based on the steering wheel angle when the vehicle is driving straight, the center of the electric power steering system is calibrated by self-learning to obtain the center value of the vehicle's steering angle.

[0060] For another example, the vehicle can determine whether the driver is steering based on the vehicle's steering wheel information; if the driver does not intend to steering and the duration exceeds a first threshold, the output torque of the vehicle's electric power steering (EPS) motor is compared with a preset output torque threshold; if the output torque is within the preset output torque threshold and the duration exceeds the first threshold, the vehicle's current driving state is determined based on the output torque; if the vehicle's current driving state is in a straight-line driving state, the system mid-range data in the EPS motor is compared with the vehicle's initial mid-range data; if the system mid-range data is not equal to the vehicle's initial mid-range data, the vehicle's current speed is compared with a preset speed threshold; if the current speed is within the preset speed threshold and the duration exceeds the first threshold, the electric power steering (EPS) motor undergoes mid-range self-learning based on the initial mid-range data.

[0061] However, both of the above methods require precise design of learning condition thresholds. For example, precise setting of learning condition thresholds such as lateral deviation setting, first threshold, preset output torque threshold, or preset vehicle speed threshold. The median steering angle value is obtained when the vehicle meets these learning condition thresholds. However, due to the influence of driver habits, external environment, and uncontrollable factors, the vehicle may have difficulty meeting the learning condition thresholds, making it difficult to obtain the median steering angle value.

[0062] To address the aforementioned issues, this application proposes a vehicle control method. This method includes: obtaining different steering wheel angles under varying vehicle conditions through self-learning, and controlling the vehicle based on these steering wheel angles. This allows for the determination of the corresponding steering wheel angle for different scenarios, providing greater flexibility and applicability. It also improves the efficiency and accuracy of steering wheel angle acquisition, enabling vehicle control based on the steering wheel angle and enhancing the user's driving experience.

[0063] In some examples, embodiments of this application can be applied to vehicles, such as electric cars, cars, trucks, motorcycles, buses, ships, airplanes, helicopters, lawnmowers, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, trains, and handcarts, etc., without any particular limitation.

[0064] In some examples, embodiments of this application can be applied to the process of setting the median value of the steering angle before the vehicle leaves the factory. For example, embodiments of this application can be applied to the process of obtaining the median value of the steering angle before the vehicle leaves the factory.

[0065] Alternatively, the embodiments of this application can also be applied to the use of a vehicle after it leaves the factory, to correct the median value of the steering angle stored in the vehicle. For example, the embodiments of this application can also be applied to the use of a vehicle by a user after it leaves the factory, where the vehicle can update the median value of the steering angle using the methods of the embodiments of this application, and the embodiments of this application do not impose specific limitations on this.

[0066] In some examples, before a vehicle leaves the factory, the vehicle manufacturer can also use the calibrated median steering angle obtained through calibration as the vehicle's steering angle median.

[0067] In some examples, the vehicle can obtain the median steering angle through a combination of calibration and self-learning.

[0068] For example, such as Figure 1 As shown, the vehicle, through calibration, determines its current steering wheel angle as the median value when the four-wheel alignment and steering wheel level meet the requirements. Subsequently, the vehicle can further determine its median steering angle using a self-learning method.

[0069] Alternatively, the vehicle can determine its median steering angle through a self-learning method. Then, through calibration, provided that four-wheel alignment and steering wheel level are satisfied, the current steering wheel angle can be determined as the median steering angle.

[0070] Figure 2 A functional block diagram of vehicle 100 is shown. Vehicle 100 may include a sensor system 110, a computer system 120, and a control system 130. In some examples, vehicle 100 may also include a display module 140.

[0071] Sensor system 110 may include several sensors for sensing information about vehicle 100. For example, sensor system 110 may include a steering wheel angle sensor 111, a steering wheel torque sensor 112, a vehicle speed sensor 113, wheel speed sensors 114, a yaw rate sensor 115, and an accelerometer sensor 116. Steering wheel angle sensor 111 can be used to acquire the steering wheel angle in the vehicle; steering wheel torque sensor 112 can be used to acquire the torque of the steering wheel in the vehicle; vehicle speed sensor 113 can be used to acquire the vehicle speed; wheel speed sensor 114 can be used to acquire the wheel speed of each wheel in the vehicle; yaw rate sensor 115 can be used to acquire the yaw rate of the vehicle; and accelerometer sensor 116 can be used to acquire the lateral acceleration of the vehicle.

[0072] Some or all of the functions of vehicle 100 are controlled by computer system 120. Computer system 120 may include at least one processor 121, which executes instructions 1221 stored in a non-transitory computer-readable medium such as data storage device 122. Computer system 120 may also be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed manner.

[0073] Processor 121 can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special-purpose device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Although Figure 2 The processor, memory, and other components in the same physical housing are illustrated functionally, but those skilled in the art will understand that the processor, computer system, or memory may actually include multiple processors, computer systems, or memories that may be stored in the same physical housing, or multiple processors, computer systems, or memories that may not be stored in the same physical housing.

[0074] In some examples, computer system 120 can obtain vehicle information from sensor system 110 and, if the vehicle information meets a set threshold condition, determine the steering wheel angle as the center value of the steering angle. The center value of the steering angle can be stored in data storage device 122.

[0075] The control system 130 can control the operation of the vehicle 100 and its components. The control system 130 may include various elements, including a steering system 131, a throttle 132, a braking unit 133, a lane keeping assist system 134, and an adaptive cruise control system 135.

[0076] The steering system 131 is operable to adjust the forward direction of the vehicle 100. For example, in one embodiment, the steering system 131 may be a steering wheel system.

[0077] In some examples, the steering system 131 may obtain a steering center value from the data storage device 122 of the computer system 120 and perform steering functions based on that steering center value. Steering functions may include, for example, a steering return function, where the steering center value is the return angle of the steering wheel, ensuring that the vehicle returns to a straight-line driving state after completing a turn.

[0078] In some examples, the lane keeping assist system 134 may also obtain the steering center value from the data storage device 122 of the computer system 120 and perform the lane keeping assist function based on the steering center value. The steering center value can be used to correct the vehicle's centering position within the lane, and the lane keeping assist system 134 can more accurately determine whether the vehicle has deviated from the lane and provide appropriate steering correction.

[0079] In some examples, the adaptive cruise control system 135 may also obtain the steering center value from the data storage device 122 of the computer system 120 and perform the adaptive cruise control function based on the steering center value. In the adaptive cruise control system 135, the steering center value can keep the vehicle in a straight-line driving state, driving in the center of the lane.

[0080] Display module 140 can be used to display information related to the median value of the corner, thereby improving the user experience.

[0081] In some examples, the display module 140 may include one or more of the following: a central display screen (CDS), an instrument cluster, or a head-up display (HUD).

[0082] In some examples, the vehicle may also include other systems or modules. For instance, the vehicle may also include a driving system, user interface, computer vision system, route control system, obstacle avoidance system, wireless communication system, microphone and / or speaker, etc.

[0083] Alternatively, one or more of these components may be installed separately from or associated with the vehicle. These components may be coupled together in a wired and / or wireless manner.

[0084] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 2 This should not be construed as a limitation on the embodiments of this application.

[0085] In other embodiments of this application, the vehicle may further include hardware structures and / or software modules to implement the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is implemented in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0086] The hardware structure of the vehicle and the functions of each component have been described above. The vehicle control method provided in this application will now be described in detail with reference to the accompanying drawings. In some examples, such as... Figure 3 The diagram shown is a flowchart of a vehicle control method provided in this application embodiment.

[0087] It should be noted that this method does not rely on... Figure 3 The specific order described below is a limitation. It should be understood that in other embodiments, the order of some steps in the method can be interchanged according to actual needs, or some steps can be omitted or deleted. The method includes the following steps:

[0088] S301, Vehicle obtains first information.

[0089] In some examples, the first piece of information may include vehicle speed.

[0090] Among them, the vehicle can obtain its speed in real time through the vehicle speed sensor.

[0091] S302, If the first information satisfies the first condition, the vehicle acquires the first steering wheel angle.

[0092] In some examples, the vehicle can obtain the first steering wheel angle when the vehicle speed meets the first condition.

[0093] The first condition can be customized by the user or vehicle manufacturer according to their needs or experience, and this application embodiment does not specifically limit it.

[0094] S303, Vehicle obtains second information.

[0095] In some examples, the second piece of information may include vehicle speed.

[0096] Among them, the vehicle can obtain its speed in real time through the vehicle speed sensor.

[0097] S304. If the second information satisfies the second condition, the vehicle acquires the second steering wheel angle.

[0098] In some examples, the vehicle can obtain a second steering wheel angle when the vehicle speed meets the second condition.

[0099] The second condition differs from the first condition. The second condition can be customized by the user or vehicle manufacturer according to their needs or experience. This application embodiment does not specifically limit this.

[0100] S305. The vehicle is controlled based on the first steering wheel angle and the second steering wheel angle.

[0101] In some examples, the vehicle can be controlled based on either a first steering wheel angle or a second steering wheel angle.

[0102] For example, when the vehicle information meets the first condition, the vehicle is controlled by the first steering wheel angle; when the vehicle information meets the second condition, the vehicle is controlled by the second steering wheel angle.

[0103] In this way, by determining the corresponding steering wheel angle for different scenarios, the steering wheel angle can be obtained simply and flexibly, improving the efficiency of obtaining the steering wheel angle so as to control the vehicle and enhance the user's driving experience.

[0104] The above describes the process of controlling the vehicle based on a first steering wheel angle and a second steering wheel angle. In some examples, the first condition may specifically include a vehicle speed greater than a first speed threshold; the second condition may specifically include a vehicle speed greater than a second speed threshold. The first speed threshold is less than the second speed threshold. The first condition is easier to achieve than the second condition.

[0105] When the vehicle speed exceeds a first speed threshold, the vehicle acquires a first steering wheel angle. When the vehicle speed exceeds a second speed threshold, the vehicle acquires a second steering wheel angle.

[0106] For example, the first speed threshold can be 60 km / h, and the second speed threshold can be 80 km / h. When the vehicle speed is greater than 80 km / h, the steering wheel angle is the second steering wheel angle. When the vehicle speed is greater than 60 km / h, the steering wheel angle is the first steering wheel angle.

[0107] In some examples, the first condition may further include maintaining a state where the vehicle speed is greater than a first speed threshold for a duration greater than a first time threshold; the second condition may further include maintaining a state where the vehicle speed is greater than a second speed threshold for a duration greater than a second time threshold. The first time threshold is less than the second time threshold. The first condition is easier to achieve than the second condition.

[0108] For example, the first time threshold can be 3 seconds, and the second time threshold can be 5 seconds. When the vehicle speed is greater than 80 km / h and the duration is greater than 5 seconds, the steering wheel angle is the second steering wheel angle. When the vehicle speed is greater than 60 km / h and the duration is greater than 3 seconds, the steering wheel angle is the first steering wheel angle.

[0109] The above embodiments describe cases where the first information includes vehicle speed and the second information includes vehicle speed. In some examples, the first and second information may also include other information. For example, the first information may also include at least one of steering wheel torque, four-wheel wheel speed difference, yaw rate, or lateral acceleration; the second information may also include at least one of steering wheel torque, four-wheel wheel speed difference, yaw rate, or lateral acceleration. The first and second information may also include more or less information, and this application embodiment does not impose specific limitations on this.

[0110] Correspondingly, the first condition may also include one or more of the following conditions being maintained for a time greater than a first time threshold. Among them, one or more of the following conditions may be: steering wheel torque is less than a first torque threshold, wheel speed difference is less than a first wheel speed difference threshold, yaw rate is less than a first yaw rate threshold, or lateral acceleration is less than a first lateral acceleration threshold.

[0111] The second condition also includes one or more of the following conditions being maintained for a period of time greater than a second time threshold. These conditions include: steering wheel torque being less than a second torque threshold, wheel speed difference being less than a second wheel speed difference threshold, yaw rate being less than a second yaw rate threshold, or lateral acceleration being less than a second lateral acceleration threshold.

[0112] Among these conditions, the second torque threshold is less than the first torque threshold, the second wheel speed difference threshold is less than the first wheel speed difference threshold, the second yaw rate threshold is less than the first yaw rate threshold, and the second lateral acceleration threshold is less than the first lateral acceleration threshold. The first condition is easier to achieve than the second condition.

[0113] For example, the first torque threshold can be 60 Nm, the first wheel speed threshold can be 7 rpm, the first yaw rate threshold can be 6° / s, and the first lateral acceleration threshold can be 3 m / s². 2 The second torque threshold can be 50 Nm, the second wheel speed threshold can be 5 rpm, the second yaw rate threshold can be 4° / s, and the second lateral acceleration threshold can be 2 m / s². 2 .

[0114] The first condition may include maintaining a speed greater than 60 km / h for more than 3 seconds, and having a steering wheel torque of less than 60 Nm, a wheel speed difference of less than 7 rpm, a yaw rate of less than 6° / s, or a lateral acceleration of less than 3 m / s². 2At least one of them is held for a time greater than 3 seconds.

[0115] The second condition may include maintaining a speed greater than 80 km / h for more than 5 seconds, and having a steering wheel torque of less than 50 Nm, a wheel speed difference of less than 5 rpm, a yaw rate of less than 4° / s, or a lateral acceleration of less than 2 m / s². 2 At least one of them is held for a time greater than 5 seconds.

[0116] In some examples, the vehicle can be set to obtain a first steering wheel angle with a confidence level of 1 when the vehicle information meets a first condition, and to obtain a second steering wheel angle with a confidence level of 2 when the vehicle information meets a second condition; wherein the first confidence level is less than the second confidence level.

[0117] For example, the first confidence level can be 0.5, and the second confidence level can be 1, where 0.5 is less than 1. It should be understood that the above values ​​of the first confidence level and the second confidence level are only examples, and the values ​​of the first confidence level and the second confidence level can also be other values, such as the first confidence level being 0.6 and the second confidence level being 0.9. This application embodiment does not impose specific limitations on this.

[0118] Thus, when the vehicle meets the relatively simple first condition, the first confidence level of the obtained first steering wheel angle is low, and the reliability of the first steering wheel angle is low; when the vehicle meets the relatively complex second condition, the second confidence level of the obtained second steering wheel angle is high, and the reliability of the second steering wheel angle is high.

[0119] In some examples, the vehicle can use the steering wheel angle with high confidence as the vehicle's median steering angle. The vehicle can control the vehicle based on this median steering angle, improving the reliability of the median steering angle and providing more accurate vehicle control.

[0120] For example, the vehicle uses the second steering wheel angle as the vehicle's center angle value, and the vehicle can control the vehicle based on this center angle value.

[0121] In some examples, before a vehicle leaves the factory, the manufacturer can obtain the median calibrated steering angle through calibration and set the confidence level of this median calibrated steering angle as the third confidence level. The median calibrated steering angle obtained through calibration is highly reliable, and the third confidence level is less than or equal to the second confidence level and greater than the first confidence level.

[0122] For example, the third confidence level can be 1. It should be understood that the above-mentioned value of the third confidence level is only an example, and the value of the third confidence level can also be other values, such as 0.8. This application embodiment does not impose specific limitations on this.

[0123] In some examples, if the first confidence level of the first steering wheel angle is less than the third confidence level when the vehicle obtains the first steering wheel angle, the vehicle can continue to use the calibrated median steering angle as the vehicle's median steering angle. If the second confidence level of the second steering wheel angle is greater than or equal to the third confidence level when the vehicle obtains the second steering wheel angle, the vehicle can use the second steering wheel angle as the vehicle's median steering angle.

[0124] In some examples, after the vehicle acquires the steering wheel angle, it can be compared with the vehicle's current median steering angle. If the difference between the acquired steering wheel angle and the current median steering angle is greater than a first threshold, the confidence level of the comparison between the steering wheel angle and the current median steering angle can be determined. The steering wheel angle or median steering angle with the higher confidence level is taken as the vehicle's median steering angle. The current median steering angle can be a historical median steering angle or a calibrated median steering angle.

[0125] In some examples, the difference between the second steering wheel angle and the calibrated median steering angle can be compared to see if it exceeds a first threshold. If the difference between the second steering wheel angle and the calibrated median steering angle exceeds the first threshold, and if the second confidence level is greater than or equal to the third confidence level, the vehicle can use the second steering wheel angle as the vehicle's median steering angle.

[0126] For example, the first threshold can be 1°. It should be understood that the value of the first threshold mentioned above is only an example, and the value of the first threshold can also be other values, such as 0.8°. This application embodiment does not impose specific limitations on this.

[0127] Thus, when the difference between the steering wheel angle obtained by the vehicle and the current median value of the vehicle's turning angle is small, the relationship between the confidence level of the steering wheel angle obtained by the vehicle and the confidence level of the current median value of the vehicle's turning angle is not judged. The vehicle continues to control the vehicle using the current median value of the turning angle, avoiding frequent updates of the median value of the turning angle and reducing resource consumption.

[0128] The above describes a method for determining the median steering angle of a vehicle. The vehicle can acquire information in real time and, under certain conditions, determine the steering wheel angle. The steering wheel angle with the highest confidence level is used as the vehicle's median steering angle, completing the self-learning process for the vehicle's median steering angle. As the confidence level and accuracy of the stored median steering angles increase, vehicle safety and the user's driving experience are improved.

[0129] In some examples, such as Figure 4 The diagram shows the self-learning flowchart for the vehicle's turning angle median value. The vehicle can continuously acquire information to complete the self-learning process for the turning angle median value.

[0130] For example, the vehicle acquires first information, which may include a vehicle speed of 70 km / h, steering wheel torque of 55 Nm, four-wheel wheel speed difference of 4 rpm, yaw rate of 4° / s, and lateral acceleration of 2 m / s². 2 And maintain this state for 4 seconds. Then the vehicle's first information satisfies the first condition.

[0131] In some examples, the vehicle can obtain a first steering wheel angle at the time of the first information. For example, the first steering wheel angle can be 2° to the left, and the confidence level of the first steering wheel angle is 0.5.

[0132] In some examples, if there is no current steering angle median in the vehicle, the vehicle can use the first steering wheel angle "2° to the left" as the vehicle's steering angle median.

[0133] If the vehicle has a current median steering angle value, the vehicle can compare the first steering wheel angle "2° to the left" with the current median steering angle value. If the difference between the first steering wheel angle "2° to the left" and the current median steering angle value is greater than a second threshold, the vehicle proceeds to the next step. If the difference between the first steering wheel angle "2° to the left" and the current median steering angle value is not greater than the second threshold, the vehicle continues to acquire the first information to obtain the first steering wheel angle.

[0134] For example, the second threshold can be 1°. If the current median turning angle of the vehicle is "1° to the right", then the difference between the first steering wheel angle "2° to the left" and the current median turning angle of the vehicle "1° to the right" can be determined to be 3°, which is greater than the second threshold of 1°.

[0135] If the difference between the first steering wheel angle acquired by the vehicle and the median value of the current steering angle of the vehicle is greater than the second threshold, the vehicle can compare the first confidence level of the acquired first steering wheel angle with the confidence level of the median value of the current steering angle of the vehicle.

[0136] If the first confidence level of the first steering wheel angle is greater than or equal to the confidence level of the current median steering angle of the vehicle, the first steering wheel angle is taken as the median steering angle of the vehicle.

[0137] For example, if the confidence level of the current median steering angle of the vehicle is 0.5, which is not greater than the first confidence level of 0.5, then the first steering wheel angle "2° to the left" obtained by the vehicle is taken as the median steering angle of the vehicle.

[0138] If the first confidence level of the first steering wheel angle is less than the confidence level of the current median steering angle of the vehicle, the current median steering angle of the vehicle remains unchanged.

[0139] For example, if the current median steering angle of the vehicle is the calibrated median steering angle, and the third confidence level of the calibrated median steering angle is 1, which is equal to the first confidence level of 0.5, then the median steering angle of the vehicle is still the calibrated median steering angle.

[0140] In this way, the vehicle can determine the median value of the turning angle based on the first information obtained.

[0141] In some examples, the vehicle can continuously acquire information, such as acquiring secondary information. For instance, the secondary information might include a vehicle speed of 90 km / h, steering wheel torque of 45 Nm, wheel speed difference of 3 rpm, yaw rate of 3° / s, and lateral acceleration of 2 m / s². 2 And hold for 6 seconds. Then the vehicle's second information satisfies the second condition.

[0142] In some examples, the vehicle can obtain a second steering wheel angle when the second information is available. For example, the second steering wheel angle can be 1° to the left, and the confidence level of the second steering wheel angle is a first confidence level of 1.

[0143] The vehicle currently stores the median steering angle value. The vehicle can compare the second steering wheel angle "1° to the left" with the current median steering angle value. If the difference between the second steering wheel angle "1° to the left" and the current median steering angle value is greater than a first threshold, the vehicle proceeds to the next step. If the difference between the second steering wheel angle "1° to the left" and the current median steering angle value is not greater than the first threshold, the vehicle continues to acquire second information to obtain the second steering wheel angle.

[0144] For example, the first threshold can be 0.8°, and the current median turning angle of the vehicle can be "2° to the left". Then it can be determined that the difference between the second steering wheel angle "1° to the left" and the current median turning angle of the vehicle "2° to the left" is 1°, which is greater than the first threshold of 0.8°.

[0145] If the difference between the first steering wheel angle obtained by the vehicle and the current median steering angle of the vehicle is greater than a first threshold, the vehicle can use the second steering wheel angle as the median steering angle of the vehicle.

[0146] Thus, the vehicle can determine its median steering angle based on the acquired second information. In some examples, the vehicle can continue to acquire second information.

[0147] In the above embodiments, the confidence level of the median steering angle is divided into two levels. In some examples, the confidence level of the median steering angle can also be divided into multiple levels to make the granularity of the confidence level of the median steering angle smaller, so as to provide the vehicle with a more accurate steering angle judgment.

[0148] For example, researchers can classify confidence levels based on vehicle speed, setting three or more speed thresholds. Different vehicle speeds correspond to different confidence levels depending on the speed conditions met. Alternatively, researchers can also classify confidence levels based on one or more of the following: steering wheel torque, four-wheel speed difference, yaw rate, and lateral acceleration. This application does not impose specific limitations on these aspects.

[0149] In some scenarios, the vehicle may not have stored the median steering angle value before it leaves the factory, making it impossible to control the vehicle based on the median steering angle value. To solve this problem, the vehicle can also obtain the median steering angle value through other simple methods.

[0150] In some examples, the vehicle can also obtain a third steering wheel angle when the vehicle's third information meets a third condition. The third information may include vehicle speed, and the third condition may include vehicle speed being less than a third speed threshold.

[0151] For example, in a scenario where the vehicle is stationary or traveling at low speed, the third-party steering wheel angle can be obtained. If the vehicle does not store the median steering angle value, this third-party steering wheel angle can be used as the vehicle's median steering angle value. Obtaining the median steering angle value is also simpler.

[0152] In some examples, the third information may also include steering wheel angle, steering wheel torque, and steering wheel speed, wherein the steering wheel angle includes a first angle to the left and a second angle to the right. The third condition may also include: the duration of several of the following conditions being greater than a third time threshold, including: vehicle speed less than a third speed threshold, the first angle of the steering wheel to the left being greater than a first angle threshold, steering wheel torque greater than a third torque threshold, and steering wheel speed less than a first speed threshold; and the duration of several of the following conditions being greater than a fourth time threshold, including: vehicle speed less than a third speed threshold, the second angle of the steering wheel to the right being greater than a second angle threshold, steering wheel torque greater than a third torque threshold, and steering wheel speed less than a first speed threshold.

[0153] In some examples, the third condition can be that the time the steering wheel is fully turned to the left is greater than a third time threshold, and the time the steering wheel is fully turned to the right is greater than a fourth time threshold.

[0154] In some examples, the maximum rotation angle of the steering wheel from the center position to the left may differ between different vehicles, and the maximum rotation angle of the steering wheel from the center position to the right may also differ within the same vehicle. For example, the maximum rotation angle of the steering wheel from the center position to the left or right is between 540 degrees and 720 degrees. In this embodiment of the application, in order to be applicable to vehicles with different steering wheels, the first angle threshold and the second angle threshold may be less than 540 degrees.

[0155] The first angle threshold and the second angle threshold can be the same or different, and this application embodiment does not impose specific restrictions on this. Taking the first angle threshold and the second angle threshold being the same as an example.

[0156] For example, both the first angle threshold and the second angle threshold can be 500°. Therefore, if the first angle of the steering wheel to the left is greater than the first angle threshold, it indicates that the first angle of the vehicle's steering wheel to the left is greater than 500°. Similarly, if the second angle of the steering wheel to the right is greater than the second angle threshold, it indicates that the second angle of the vehicle's steering wheel to the right is greater than 500°.

[0157] For example, the third speed threshold can be 5 km / h, the third torque threshold can be 40 Nm, and the first speed threshold can be 2 rpm.

[0158] In some examples, the third time threshold and the fourth time threshold may be the same or different, and this application does not impose specific restrictions on this. Taking the case where the third time threshold and the fourth time threshold are the same as an example, for instance, the third time threshold and the fourth time threshold may both be 2 seconds.

[0159] The third condition may include: the duration of holding multiple of the following conditions for more than 2 seconds, including: vehicle speed less than 5 km / h, steering wheel first angle to the left greater than 500°, steering wheel torque greater than 40 Nm, and steering wheel speed less than 2 rpm; and the duration of holding multiple of the following conditions for more than 2 seconds, including: vehicle speed less than 5 km / h, steering wheel second angle to the right greater than 500°, steering wheel torque greater than 40 Nm, and steering wheel speed less than 2 rpm.

[0160] Therefore, the third condition is relatively simple: the steering wheel angle can be determined by turning the steering wheel while the vehicle is at low speed or stationary. The vehicle can then be controlled based on this steering angle midpoint.

[0161] In some examples, the vehicle can be configured such that the confidence level of the third steering wheel angle obtained under the condition that the vehicle information meets the third condition is the fourth confidence level, where the fourth confidence level is less than the first confidence level.

[0162] For example, the fourth confidence level can be 0.3, which is less than the first confidence level of 0.5. It should be understood that the above-mentioned value of the fourth confidence level is only an example, and the value of the fourth confidence level can also be other values, such as 0.2. This application embodiment does not impose specific limitations on this.

[0163] In some examples, after the vehicle obtains the third-party steering wheel angle, it can compare the third-party steering wheel angle with the vehicle's current median steering angle. If the difference between the third-party steering wheel angle obtained by the vehicle and the vehicle's current median steering angle is greater than a third threshold, the confidence level of the comparison between the third-party steering wheel angle and the vehicle's current median steering angle can be determined.

[0164] If the fourth confidence level is greater than or equal to the confidence level of the vehicle's current median steering angle, then the third steering wheel angle is taken as the vehicle's median steering angle. The vehicle's current median steering angle can be either a historical median steering angle or a calibrated median steering angle.

[0165] In some examples, if the vehicle stores a calibrated median steering angle, the vehicle can compare the difference between the third steering wheel angle and the calibrated median steering angle to see if it is greater than a third threshold. If the difference between the third steering wheel angle and the calibrated median steering angle is greater than the third threshold, and if the fourth confidence level is greater than or equal to the third confidence level, the vehicle can use the third steering wheel angle as the vehicle's median steering angle.

[0166] For example, the third threshold can be 0.5°. It should be understood that the above-mentioned value of the third threshold is only an example, and the value of the third threshold can also be other values, such as 0.8°. This application embodiment does not specifically limit this.

[0167] Thus, when the difference between the third-party steering wheel angle obtained by the vehicle and the current median steering angle of the vehicle is small, the confidence level between the third-party steering wheel angle obtained by the vehicle and the confidence level of the current median steering angle of the vehicle is not judged. The vehicle continues to control the vehicle through the current median steering angle, avoiding frequent updates of the median steering angle and reducing resource consumption.

[0168] The above describes how to obtain the third steering wheel angle when the vehicle meets a simpler third condition. When the vehicle does not store the steering angle median, the third steering wheel angle can be used as the steering angle median for vehicle control.

[0169] For example, such as Figure 5 The diagram shows the self-learning flowchart of the vehicle's turning angle median value when the third information acquired by the vehicle meets the third condition.

[0170] For example, the vehicle acquires third information, which may include a first steering wheel angle of 560° to the left, a vehicle speed of 3 km / h, a steering wheel torque of 50 Nm, a steering wheel speed of 0.2 rpm, and maintain this position for 3 seconds; and a second steering wheel angle of 564° to the right, a vehicle speed of 3 km / h, a steering wheel torque of 50 Nm, a steering wheel speed of 0.2 rpm, and maintain this position for 3 seconds. Then, the vehicle's third information satisfies the third condition.

[0171] In some examples, the vehicle can calculate half of the sum of the first angle and the second angle as the vehicle's third steering wheel angle.

[0172] For example, the third steering wheel angle is (564-560) / 2 = 2°. The third steering wheel angle is "2° to the right". The confidence level of the third steering wheel angle is 0.3 (first confidence level).

[0173] In some examples, if the vehicle does not have a current steering angle median, the vehicle can use that third steering wheel angle "2° to the right" as the vehicle's steering angle median.

[0174] If the vehicle has a current median steering angle value, it can compare the third-party steering wheel angle "2° to the right" with the current median steering angle value. If the difference between the third-party steering wheel angle "2° to the right" and the current median steering angle value is greater than a third threshold, the vehicle proceeds to the next step. If the difference between the third-party steering wheel angle "2° to the right" and the current median steering angle value is not greater than the third threshold, the vehicle can continue to acquire third information to obtain the third-party steering wheel angle.

[0175] For example, the third threshold can be 1°. If the current median steering angle of the vehicle is "0.5° to the right", then it can be determined that the difference between the third steering wheel angle "2° to the right" and the current median steering angle of the vehicle "0.5° to the right" is 1.5°, which is greater than the third threshold of 0.5°.

[0176] If the difference between the third-party steering wheel angle obtained by the vehicle and the current median steering angle of the vehicle is greater than the third threshold, the vehicle can compare the fourth confidence level of the obtained third-party steering wheel angle with the confidence level of the current median steering angle of the vehicle.

[0177] If the fourth confidence level of the third steering wheel angle is greater than or equal to the confidence level of the current median steering angle of the vehicle, the third steering wheel angle is taken as the median steering angle of the vehicle.

[0178] For example, if the confidence level of the current steering angle median of the vehicle is 0.3, which is not greater than the fourth confidence level of 0.3, then the third-party steering wheel angle "2° to the right" obtained by the vehicle is taken as the steering angle median of the vehicle.

[0179] If the fourth confidence level of the third steering wheel angle is less than the confidence level of the current median steering angle of the vehicle, the current median steering angle of the vehicle remains unchanged.

[0180] In this way, the vehicle can determine the median value of the turning angle based on the acquired third information.

[0181] In some examples, the fourth confidence level of the third-party steering wheel angle acquired by the vehicle is low, indicating low reliability. After using this third-party steering wheel angle as the median steering angle, the vehicle can continue acquiring information. When the first piece of information acquired by the vehicle satisfies the first condition, the first confidence level of the acquired first steering wheel angle is greater than the fourth confidence level, and the vehicle can use this first steering wheel angle as the median steering angle. Subsequently, the vehicle continues acquiring information. When the second piece of information acquired by the vehicle satisfies the second condition, the second confidence level of the acquired second steering wheel angle is greater than the first confidence level, and the vehicle can use this second steering wheel angle as the median steering angle.

[0182] In some examples, after the vehicle uses the third steering wheel angle as the median steering angle, it can continue to acquire information. When the second information acquired by the vehicle satisfies the second condition, and the second confidence level of the acquired second steering wheel angle is greater than the fourth confidence level, the vehicle can use the second steering wheel angle as the median steering angle.

[0183] In this way, the confidence level of the median turning angle obtained by the vehicle becomes higher and higher, the accuracy of the median turning angle becomes higher and higher, improving the safety of vehicle driving and enhancing the user's driving experience.

[0184] For example, this paper introduces a method where the third confidence level is considered low confidence, corresponding to low confidence corner median self-learning; the first confidence level is considered medium confidence, corresponding to medium confidence corner median self-learning; and the second confidence level is considered high confidence, corresponding to high confidence corner median self-learning. Specifically, the third confidence level is less than the first confidence level, the third confidence level is less than the second confidence level, the first confidence level is less than the second confidence level, and the second confidence level is greater than or equal to the calibrated confidence level.

[0185] like Figure 6 The diagram illustrates the process of self-learning the median of the turning angle with different confidence levels when the information acquired by the vehicle meets different conditions.

[0186] The example will be the third condition, where the time the steering wheel is fully turned to the left is greater than the third time threshold, and the time the steering wheel is fully turned to the right is greater than the fourth time threshold.

[0187] S601. If the vehicle maintains the steering wheel fully turned to the left for a time greater than the third time threshold and the steering wheel maintains the steering wheel fully turned to the left for a time greater than the fourth time threshold, it will perform low-confidence self-learning of the median steering angle.

[0188] For example, a vehicle can obtain a low-confidence self-learning result of the median steering angle as a third-party steering wheel angle.

[0189] S602, The difference between the self-learning result of the low-confidence turning angle median and the median value of the turning angle stored in the vehicle is greater than the third threshold.

[0190] In some examples, if the difference between the low-confidence corner median self-learning result and the corner median value stored by the vehicle is greater than the third threshold, S603 or S604 is performed. If the difference between the low-confidence corner median self-learning result and the corner median value stored by the vehicle is not greater than the third threshold, the vehicle can continue to acquire the low-confidence corner median self-learning result.

[0191] S603. If the vehicle has a calibrated median angle value stored in it, that is, if the calibrated median angle value is not empty, then the vehicle does not update the low-confidence self-learned median angle value to the vehicle's median angle value, and keeps the calibrated median angle value to the vehicle's median angle value.

[0192] S604. If there is no calibrated median angle value in the vehicle, that is, the calibrated median angle value is empty, then the vehicle updates the low-confidence median angle self-learning result as the vehicle's median angle value.

[0193] In this way, the vehicle can perform mid-confidence self-learning to determine the median value of the vehicle's steering angle.

[0194] In some examples, the vehicle can continue to acquire information and perform self-learning of the corner median. For instance, this can be illustrated in steps S605-S608 as follows:

[0195] S605. If the information acquired by the vehicle satisfies the following conditions: vehicle speed is greater than a first speed threshold, steering wheel torque is less than a first torque threshold, four-wheel wheel speed difference is less than a first wheel speed difference threshold, yaw rate is less than a first yaw rate threshold, lateral acceleration is less than a first lateral acceleration threshold, and the duration of each of the above conditions is greater than a first time threshold, then a mid-confidence turning angle median self-learning is performed.

[0196] For example, a vehicle can obtain the median self-learning result of the mid-confidence steering angle as the first steering wheel angle.

[0197] S606. The difference between the self-learning result of the confidence angle median in the vehicle comparison and the stored angle median value of the vehicle is greater than the second threshold.

[0198] In some examples, if the difference between the self-learned median angle result with medium confidence and the median angle value stored by the vehicle is greater than the second threshold, then S607 or S608 is performed. If the difference between the self-learned median angle result with medium confidence and the median angle value stored by the vehicle is not greater than the second threshold, the vehicle can continue to perform self-learning of the median angle with medium confidence and obtain the self-learned median angle result with medium confidence.

[0199] S607. If the vehicle has a calibrated median angle value stored in it, that is, the calibrated median angle value is not empty, then the vehicle does not update the self-learned median angle value of the middle confidence angle to the median angle value of the vehicle, and keeps the calibrated median angle value as the median angle value of the vehicle.

[0200] S608. If there is no calibrated median angle value in the vehicle, that is, the calibrated median angle value is empty, then the self-learning result of the confidence median angle in the vehicle update is the median angle value of the vehicle.

[0201] In this way, the vehicle can perform mid-confidence self-learning to determine the median value of the vehicle's steering angle.

[0202] In some examples, the vehicle can continue to acquire information and perform corner median self-learning. For instance, this can be illustrated in steps S609-S611 below:

[0203] S609. If the information acquired by the vehicle satisfies the following conditions: vehicle speed is greater than the second speed threshold, steering wheel torque is less than the second torque threshold, four-wheel wheel speed difference is less than the second wheel speed difference threshold, yaw rate is less than the second yaw rate threshold, lateral acceleration is less than the second lateral acceleration threshold, and the duration of each of the above conditions is greater than the second time threshold, then high-confidence corner median self-learning is performed.

[0204] For example, a vehicle can obtain a high-confidence self-learning result of the median steering angle as the second steering wheel angle.

[0205] S610, The difference between the self-learning result of the high-confidence median turning angle of the vehicle and the median turning angle value stored in the vehicle is greater than the second threshold.

[0206] In some examples, if the difference between the high-confidence corner median self-learning result and the corner median value stored by the vehicle is greater than a first threshold, step S611 is performed. If the difference between the high-confidence corner median self-learning result and the corner median value stored by the vehicle is not greater than the first threshold, the vehicle can continue to perform high-confidence corner median self-learning to obtain the high-confidence corner median self-learning result.

[0207] S611, The self-learning result of the vehicle's updated high-confidence turning angle median is the vehicle's turning angle median value.

[0208] In some examples, after the vehicle completes S601-S604, if the information acquired by the vehicle meets the conditions for high-confidence self-learning, S609-S611 can also be executed. This application does not impose specific limitations on this.

[0209] In some examples, after the self-learning of the steering angle median begins, if the information acquired by the vehicle meets the conditions for medium confidence self-learning, the vehicle can perform medium confidence self-learning to obtain the first steering wheel angle and determine the vehicle's steering angle median value.

[0210] In some examples, after the self-learning of the steering angle median begins, if the information acquired by the vehicle meets the conditions for high-confidence self-learning, the vehicle can perform high-confidence self-learning to obtain the second steering wheel angle and determine the vehicle's steering angle median value.

[0211] In some examples, with varying confidence levels for the median angle value, the number of cornering functions supported by the vehicle based on the median angle value differs, and / or the control capability of the vehicle based on the cornering functions supported by the median angle value differs. A higher confidence level for the median angle value indicates a greater number of cornering functions supported by the vehicle based on the median angle value, and / or stronger control capability of the vehicle based on the cornering functions supported by the median angle value. Conversely, a lower confidence level for the median angle value indicates a fewer number of cornering functions supported by the vehicle based on the median angle value, and / or weaker control capability of the vehicle based on the cornering functions supported by the median angle value.

[0212] For example, when the confidence level of the median corner angle is 0, the vehicle does not support cornering functionality; when the confidence level of the median corner angle is between 0 and 1, the vehicle supports partial cornering functionality; when the confidence level of the median corner angle is 1, the vehicle supports full cornering functionality.

[0213] In some examples, the steering functions included in the vehicle may include a steering return function that automatically returns the steering wheel to the center position, supplementary functions based on the median steering angle, and autonomous driving-related functions. The supplementary functions based on the median steering angle may include steering assist and / or steering damping functions. Autonomous driving-related functions may include lane keeping assist and adaptive cruise control.

[0214] When the confidence level of the median corner angle is the fourth confidence level, the confidence level is low, the number of cornering functions supported by the median corner angle is small, and / or the control capability of the vehicle is weak when the cornering functions supported by a median corner angle are weak.

[0215] For example, when the confidence level of the median steering angle is 0.3, the vehicle can control a steering function based on the median steering angle. This function could be a steering return function. The vehicle's control over this steering return function could be 30%. After the steering wheel angle changes, the steering return force is 30% of the vehicle's preset normal steering return force. The steering wheel can slowly return to the median steering angle position, reducing the impact of the median steering angle on the steering return function and improving vehicle stability and safety.

[0216] When the confidence level of the median corner angle is the first confidence level, the confidence level is low, the number of cornering functions supported by the vehicle based on the median corner angle is small, and / or the vehicle's control capability based on the cornering functions supported by a single median corner angle is weak.

[0217] For example, when the confidence level of the median steering angle is 0.5, the vehicle can control one or more steering functions based on the median steering angle. For instance, the vehicle can control the steering return function and the steering assist function. Taking the steering return function as an example, the vehicle's control capability for this function can be 50%. After the steering wheel angle changes, the magnitude of the steering return force is 50% of the preset normal steering return force in the vehicle. The steering wheel can return to the median steering angle position relatively slowly, reducing the impact of the median steering angle on the steering return function and improving the vehicle's stability and safety.

[0218] When the confidence level of the median angle is the second confidence level, the confidence level is relatively high, the vehicle can support all cornering functions through the median angle, and / or the vehicle has strong control over the cornering functions supported by the median angle.

[0219] For example, when the confidence level of the steering angle median is 1, the vehicle can control all steering functions based on the steering angle median. For instance, for the steering return function, the vehicle's control over the steering function can be 100%. After the steering wheel angle changes, the magnitude of the steering return force is the preset normal steering return force in the vehicle. The steering wheel can return to the position of the second steering angle median relatively quickly, improving the vehicle's stability and safety.

[0220] The above describes how different confidence levels of the median angle result in varying numbers of steering functions supported by the vehicle based on that median angle, and / or different control capabilities of the vehicle based on those steering functions. In some examples, the vehicle can provide feedback to the user, allowing the user to perceive the differences in vehicle control depending on the confidence level of the median angle.

[0221] In some examples, the vehicle can display the confidence level corresponding to the median value of the vehicle's turning angle through the display module, and / or the number of turning functions supported by the vehicle corresponding to that confidence level, and / or the control capability of the turning functions supported by the vehicle corresponding to that confidence level.

[0222] In some examples, the vehicle can also display other information through the display module, such as the vehicle's turning angle median value. This application does not impose specific restrictions on this.

[0223] For example, this application embodiment describes the vehicle's control capability by displaying the median value of the turning angle, the confidence level of the median value of the turning angle, the number of turning functions supported by the vehicle corresponding to the confidence level, and the turning functions supported by the vehicle corresponding to the confidence level on the vehicle's large screen through the display module.

[0224] like Figure 7 As shown, the first interface 701 in the vehicle's large screen includes the corner median value 702, confidence level 703, number of corner functions 704, control capability of corner function 1 over the vehicle 705, and control capability of corner function 2 over the vehicle 706.

[0225] Among them, the median turning angle 702 is "1° to the left", the confidence level 703 is 0.5, the number of turning functions 704 is 2 / 5, the control capability of turning function 1 on the vehicle 705 is 60%, and the control capability of turning function 2 on the vehicle 706 is 60%. The number of turning functions 704 being 2 / 5 indicates that the vehicle has 5 turning functions, and at a confidence level of 0.5, the vehicle supports 2 turning functions.

[0226] For example, steering function 1 can be a steering return function, and steering function 2 can be a steering assist function of the steering wheel. It should be understood that the above examples of steering function 1 and steering function 2 are only examples, and steering function 1 and steering function 2 can also be other functions. This application embodiment does not make specific limitations on these.

[0227] In this way, users or developers can perceive the differences in corner functionality caused by different confidence levels of the corner median, thereby improving the user and / or developer experience.

[0228] It should be understood that some operations in the processes of the above method embodiments may be optionally combined, and / or the order of some operations may be optionally changed. Furthermore, the execution order between the steps of each process is merely exemplary and does not constitute a limitation on the execution order between steps; other execution orders are also possible. It is not intended to indicate that the execution order is the only possible order in which these operations can be performed. Those skilled in the art will conceive of various ways to reorder the operations described herein. Additionally, it should be noted that process details relating to one embodiment herein are similarly applicable to other embodiments, or different embodiments may be combined.

[0229] Furthermore, some steps in the method embodiments can be equivalently replaced with other possible steps. Alternatively, some steps in the method embodiments may be optional and can be deleted in certain use cases. Or, other possible steps may be added to the method embodiments.

[0230] Furthermore, the above-described method embodiments can be implemented individually or in combination.

[0231] like Figure 8The diagram shown is a structural schematic of another vehicle control device provided in an embodiment of this application. The vehicle control device 800 includes an acquisition module 801 and a processing module 802. In some examples, the vehicle control device 800 may also include a display module 802. The vehicle control device 800 is used to execute the aforementioned vehicle control method, for example, to execute... Figure 3 The vehicle control method shown is illustrated. Of course, the vehicle control device 800 may also include other modules, or the vehicle control device 800 may include fewer modules. This application does not specifically limit the specific form and implementation of the vehicle control device.

[0232] The acquisition module 801 is used to acquire first information, including vehicle speed; the acquisition module 801 is also used to acquire a first steering wheel angle when the first information meets a first condition; it is also used to acquire second information, the second information of the vehicle including vehicle speed; the first information and the second information are different; it is also used to acquire a second steering wheel angle when the first information meets a second condition, wherein the first condition and the second condition are different.

[0233] The processing module 802 is used to control the vehicle based on the first steering wheel angle and the second steering wheel angle.

[0234] Display module 803 is used to display a first interface, which includes one or more of the following: a second confidence level, the number of steering functions supported by the vehicle corresponding to the second steering wheel angle, and / or the control capability of the vehicle by the steering functions supported by the vehicle corresponding to the second confidence level.

[0235] The operation and / or function of each module in the vehicle control device 800 are respectively to implement the corresponding process of the vehicle control method described in the above method embodiments. All relevant content of each step involved in the above method embodiments can be referred to the functional description of the corresponding functional unit. For the sake of brevity, it will not be repeated here.

[0236] Optional, Figure 8 The vehicle control unit 800 shown may also include a storage module. Figure 8 (not shown in the image), this storage module stores a program or instruction. When the acquisition module 801, processing module 802, and display module 802 execute the program or instruction, it causes... Figure 8 The vehicle control device 800 shown can execute the vehicle control method described in the above method embodiments. In some examples, the storage module can store the current median value of the vehicle's steering angle.

[0237] Figure 8 The technical effects of the vehicle control device 800 shown can be referred to the technical effects of the vehicle control method described in the above method embodiments, and will not be repeated here.

[0238] This application also provides a chip system, such as... Figure 9 As shown, the chip system 900 includes at least one processor 901 and at least one interface circuit 902. As an example, when the chip system 900 includes a processor and an interface circuit, the processor can be... Figure 9 The processor 901 shown in the solid box (or the processor 901 shown in the dashed box) can be an interface circuit. Figure 9 The interface circuit 902 is shown in the solid box (or the dashed box). When the chip system 900 includes two processors and two interface circuits, the two processors include... Figure 9 The processor 901 shown in the solid box and the processor 901 shown in the dashed box, these two interface circuits include Figure 9 Interface circuit 902 is shown in both solid and dashed boxes. No limitations are imposed on this.

[0239] The processor 901 and the interface circuit 902 can be interconnected via a line. For example, the interface circuit 902 can be used to receive signals. As another example, the interface circuit 902 can be used to send signals to other devices (such as the processor 901). Exemplarily, the interface circuit 902 can read instructions stored in memory and send those instructions to the processor 901. When the instructions are executed by the processor 901, the rendering device can perform the steps in the above embodiments. Of course, the chip system may also include other discrete devices, and this application embodiment does not specifically limit this.

[0240] For example, the chip system may be a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system on a chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0241] It should be understood that each step in the above method embodiments can be completed by integrated logic circuits in the processor hardware or by instructions in software form. The method steps disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or being executed by a combination of hardware and software modules in the processor.

[0242] This application also provides a computer storage medium storing computer instructions that, when executed on a vehicle control device, cause the vehicle control device to perform the methods described in the above-described method embodiments.

[0243] This application provides a computer program product, which includes a computer program or instructions that, when run on a computer, cause the computer to perform the methods described in the above-described method embodiments.

[0244] In addition, this application also provides an apparatus, which may specifically be a chip, component or module. The apparatus may include a connected processor and a memory. The memory is used to store computer execution instructions. When the apparatus is running, the processor can execute the computer execution instructions stored in the memory to cause the apparatus to perform the methods in the above-described method embodiments.

[0245] In this embodiment, the vehicle control device, computer storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0246] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0247] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The embodiments can be combined with or referenced to each other without conflict. The apparatus embodiments described above are merely illustrative; for example, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0248] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0249] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0250] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0251] The above content is only a specific implementation of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: Obtain first information, which includes vehicle speed; If the first information satisfies the first condition, the first steering wheel angle is obtained; Obtain second information, which includes vehicle speed; If the second information satisfies the second condition, the second steering wheel angle is obtained; the first condition is different from the second condition. The vehicle is controlled based on the first steering wheel angle and the second steering wheel angle.

2. The method according to claim 1, characterized in that, The first condition further includes the vehicle speed being greater than a first speed threshold; the second condition further includes the vehicle speed being greater than a second speed threshold, wherein the first speed threshold is less than the second speed threshold.

3. The method according to claim 1 or 2, characterized in that, The first information further includes at least one of steering wheel torque, four-wheel wheel speed difference, yaw rate, or lateral acceleration; the second information further includes at least one of steering wheel torque, four-wheel wheel speed difference, yaw rate, or lateral acceleration.

4. The method according to claim 3, characterized in that, The first condition includes the state of vehicle speed being greater than a first speed threshold being maintained for a time greater than a first time threshold, and one or more of the following being maintained for a time greater than the first time threshold, the one or more of which include: the steering wheel torque being less than a first torque threshold, the four-wheel wheel speed difference being less than a first wheel speed difference threshold, the yaw rate being less than a first yaw rate threshold, or the lateral acceleration being less than a first lateral acceleration threshold.

5. The method according to claim 4, characterized in that, The second condition includes the vehicle speed being greater than the second speed threshold for a duration greater than the second time threshold, and one or more of the following being maintained for a duration greater than the second time threshold, the one or more of which include: the steering wheel torque being less than the second torque threshold, the four-wheel wheel speed difference being less than the second wheel speed difference threshold, the yaw rate being less than the second yaw rate threshold, or the lateral acceleration being less than the second lateral acceleration threshold; Wherein, the second time threshold is greater than the first time threshold, the second torque threshold is less than the first torque threshold, the second wheel speed difference threshold is less than the first wheel speed difference threshold, the second yaw rate threshold is less than the first yaw rate threshold, and the second lateral acceleration threshold is less than the first lateral acceleration threshold.

6. The method according to any one of claims 1-5, characterized in that, include: Set the confidence level of the first steering wheel angle to the first confidence level; Set the confidence level of the second steering wheel angle to the second confidence level; The first confidence level is less than the second confidence level.

7. The method according to claim 6, characterized in that, include: The second steering wheel angle is used as the median angle value, and the vehicle is controlled according to the median angle value.

8. The method according to claim 6 or 7, characterized in that, The method further includes: Obtain the median value of the calibrated angle, and set the confidence level of the median value of the calibrated angle to the third confidence level; The third confidence level is less than or equal to the second confidence level, and the third confidence level is greater than the first confidence level.

9. The method according to claim 8, characterized in that, include: If the difference between the second steering wheel angle and the current median steering angle of the vehicle is greater than a first threshold, the second steering wheel angle is taken as the median steering angle; the current median steering angle of the vehicle includes the historical median steering angle of the vehicle or the calibrated median steering angle. The vehicle is controlled based on the median value of the turning angle.

10. The method according to any one of claims 6-9, characterized in that, include: The number of steering functions supported by the vehicle corresponding to the first steering wheel angle is less than the number of steering functions supported by the vehicle corresponding to the second steering wheel angle, and / or, the vehicle control capability of the steering functions supported by the vehicle corresponding to the first steering wheel angle is less than the vehicle control capability of the steering functions supported by the vehicle corresponding to the second steering wheel angle.

11. The method according to claim 10, characterized in that, include: Display a first interface, which includes one or more of the following: the second confidence level, the number of steering functions supported by the vehicle corresponding to the second steering wheel angle, and / or the control capability of the vehicle by the steering functions supported by the vehicle corresponding to the second confidence level.

12. The method according to any one of claims 1-11, characterized in that, The method further includes: Obtain third information, including vehicle speed; If the third information satisfies the third condition, the third steering wheel angle is obtained.

13. The method according to claim 12, characterized in that, The third information also includes steering wheel angle, steering wheel torque, and steering wheel speed, wherein the steering wheel angle includes a first angle to the left and a second angle to the right. The third condition includes: the duration of several of the following conditions is greater than a third time threshold, including: the vehicle speed is less than a third speed threshold, the first angle of the steering wheel to the left is greater than a first angle threshold, the steering wheel torque is greater than a third torque threshold, and the steering wheel speed is less than a first speed threshold; and the duration of several of the following conditions is greater than a fourth time threshold, including: the vehicle speed is less than a third speed threshold, the second angle of the steering wheel to the right is greater than a second angle threshold, the steering wheel torque is greater than a third torque threshold, and the steering wheel speed is less than a first speed threshold.

14. The method according to claim 12 or 13, characterized in that, include: The confidence level of the third steering wheel angle is set as the fourth confidence level; the fourth confidence level is less than the first confidence level.

15. A vehicle control device, characterized in that, include: The acquisition module is used to acquire first information, which includes vehicle speed; The acquisition module is also used to acquire the first steering wheel angle when the first information satisfies the first condition; The acquisition module is also used to acquire second information, wherein the second information of the vehicle includes vehicle speed; the first information is different from the second information. The acquisition module is also used to acquire a second steering wheel angle when the first information satisfies the second condition, wherein the first condition is different from the second condition; The processing module is used to control the vehicle based on the first steering wheel angle and the second steering wheel angle.

16. A vehicle control device, characterized in that, It includes at least one processor and a memory for storing computer-readable instructions, which, when read from the memory by the at least one processor, cause the vehicle control device to perform the method as described in any one of claims 1-14.

17. A vehicle, characterized in that, Includes a vehicle control device for performing the method as described in any one of claims 1-14.

18. A computer-readable storage medium storing instructions, characterized in that, When the instructions are executed on a computer, the computer causes the computer to perform the method as described in any one of claims 1-14.

19. A computer program product, characterized in that, The computer program product includes: a computer program or instructions that, when run on a computer, cause the computer to perform the method as described in any one of claims 1-14.

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