Method, apparatus, controller and product for controlling a vehicle
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-11
- Publication Date
- 2026-08-11
Smart Images
Figure CN122540189A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of this disclosure generally relate to the field of autonomous driving, and more specifically to a method, apparatus, controller, and computer program product for controlling a vehicle. Background Technology
[0002] Research on autonomous driving and driver assistance systems has attracted widespread attention in the industry. Autonomous driving can make decisions based on its perception of the surrounding environment and execute driving operations, thereby enabling vehicles to operate safely without human intervention. Autonomous driving can help improve road safety, reduce traffic accidents, and also improve traffic efficiency and reduce road congestion.
[0003] Driver assistance systems can provide help and guidance to drivers in various ways. They reduce driver fatigue and improve driving safety, comfort, and convenience by alerting drivers to potential hazards and automatically performing driving tasks in certain situations. Summary of the Invention
[0004] Embodiments of this disclosure relate to a method, apparatus, controller, and computer program product for controlling a vehicle.
[0005] According to a first aspect of this disclosure, a method for controlling a vehicle is provided, the method comprising determining the relative positional relationship between an obstacle to the side of the vehicle and the vehicle. The method further comprises selecting an obstacle avoidance mode for the obstacle from a predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the vehicle's driving state, the driving state including at least one of vehicle speed and driving direction, and controlling the vehicle based on the selected obstacle avoidance mode.
[0006] According to a second aspect of this disclosure, an apparatus for controlling a vehicle is provided, including a determining unit configured to determine the relative positional relationship between an obstacle to the side of the vehicle and the vehicle. The apparatus further includes a selecting unit configured to select an obstacle avoidance mode for the obstacle from a predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the vehicle's driving state, the driving state including at least one of vehicle speed and driving direction, and a control unit configured to control the vehicle based on the selected obstacle avoidance mode.
[0007] According to a third aspect of this disclosure, a controller is provided. The controller includes at least one processor; and a memory coupled to the at least one processor and having instructions stored thereon, which, when executed by the at least one processor, cause the controller to perform the steps of the method in the first aspect of this disclosure.
[0008] According to a fourth aspect of this disclosure, a computer program product is provided having machine-executable instructions, wherein the machine-executable instructions are executed by a processor to implement the steps of the method according to a first aspect of this disclosure.
[0009] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores computer-executable instructions, wherein the computer-executable instructions are executed by a processor to implement the steps of the method in the first aspect of this disclosure. Attached Figure Description
[0010] The above and other objects, features and advantages of this disclosure will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.
[0011] Figure 1A The illustration shows a schematic diagram of an example environment in which the apparatus and / or methods according to embodiments of the present disclosure may be implemented;
[0012] Figure 1B The illustration shows a schematic diagram of another example environment in which the apparatus and / or methods according to embodiments of the present disclosure may be implemented;
[0013] Figure 1C The illustration shows a schematic diagram of yet another example environment associated with embodiments of the present disclosure;
[0014] Figure 1D The illustration depicts an embodiment of the present disclosure for determining Figure 1C A schematic diagram of an example environment for the situation shown;
[0015] Figure 2 A flowchart is described for a method of controlling a vehicle according to embodiments of the present disclosure;
[0016] Figure 3 A schematic diagram of a plurality of predetermined obstacle avoidance modes according to embodiments of the present disclosure is shown;
[0017] Figure 4 A schematic diagram of a method process for controlling a vehicle according to an embodiment of the present disclosure is shown;
[0018] Figure 5 A schematic diagram illustrating another method process for controlling a vehicle according to an embodiment of the present disclosure is shown;
[0019] Figure 6 The illustration shows a schematic diagram of a device for controlling a vehicle according to an embodiment of the present disclosure; and
[0020] Figure 7A schematic block diagram of an example device that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation
[0021] The embodiments of this disclosure described below with reference to the accompanying drawings are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure. Furthermore, before using the technical solutions disclosed in the embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure through appropriate means in accordance with relevant laws and regulations, and their authorization should be obtained.
[0022] Typically, the target steering angle of the rear-wheel steering (RWS) system is limited to a predetermined range. Once RWS calibration is complete, without dynamic controller activation, the target steering angle of the RWS is fixed at a given vehicle speed and front steering wheel angle. This prevents the selection of a suitable obstacle avoidance mode, thus hindering proper vehicle control to avoid obstacles.
[0023] Therefore, embodiments of this disclosure provide a method for controlling a vehicle. The method includes determining the relative positional relationship between the vehicle and an obstacle to its side, such as the relative direction between the vehicle and the obstacle. The vehicle can then select an obstacle avoidance mode from a predetermined set of obstacle avoidance modes based on the relative positional relationship and the vehicle's driving state. For example, based on factors such as the vehicle's current speed and direction of travel, a mode suitable for the current vehicle can be selected from the predetermined set of obstacle avoidance modes to help the vehicle escape obstacles more quickly. The vehicle can control itself based on the selected obstacle avoidance mode. For example, the vehicle can adjust the angles of its rear and front wheels to bypass or avoid the obstacle based on its position.
[0024] The method implemented by this disclosure enables vehicles to bypass obstacles more quickly and easily, can break through the maximum limit of the target rear wheel steering angle, and can automatically adjust according to the driving environment to effectively modify the driving trajectory in order to avoid collisions with obstacles.
[0025] The embodiments of this disclosure will now be described in further detail with reference to the accompanying drawings, wherein... Figure 1A A schematic diagram 100a illustrates an example environment in which the devices and / or methods according to embodiments of the present disclosure may be implemented.
[0026] like Figure 1AAs shown, a vehicle 101 equipped with a controller implemented according to embodiments of this disclosure can use its own sensors, such as cameras, radar, system monitors, and inertial measurement units (IMUs), to collect various data. For example, in some embodiments, the data may include road-related data, such as pedestrian crossings, traffic light signals, traffic density, and road conditions. In some embodiments, the data may include road scene-related data, such as the number of pedestrians, vehicle speed, location, and road traffic conditions. In some embodiments, the data may also include data associated with the vehicle 101 itself, such as driver behavior, vehicle speed, acceleration, heading angle, steering wheel angle, braking status, lane change timing, steering wheel turning timing, tire-to-lane distance and corresponding time, braking intensity, etc.
[0027] According to embodiments of this disclosure, the vehicle controller of vehicle 101 can calculate and determine the driving trajectory of vehicle 101 in real time using vehicle speed, front wheel steering angle, rear wheel steering angle, etc. The radar or camera of vehicle 101 can confirm a safe distance from obstacle 108. For example, as... Figure 1A As shown, in some embodiments, the initial travel trajectory of vehicle 101 is 102. The radar or camera of vehicle 101 can determine a safe distance from obstacle 108 and detect that the travel trajectory 102 falls into a danger zone 104 where a collision or scrape with obstacle 108 is possible. Danger zone 104 is an area too close to obstacle 108, indicating that a portion of the vehicle's travel path in this area may intersect with the obstacle, resulting in a collision or contact.
[0028] To avoid this situation, the vehicle controller of vehicle 101 can select an obstacle avoidance mode applicable to the current obstacle from a predetermined plurality of obstacle avoidance modes based on the current driving status of the vehicle, such as vehicle speed and driving direction, according to the method implemented in this disclosure, and control the vehicle based on the selected obstacle avoidance mode, so that the vehicle can bypass or avoid the obstacle.
[0029] In some embodiments of this disclosure, the vehicle 101 may also increase the target rear wheel steering angle of the vehicle 101 through the RWS system, thereby changing the vehicle's driving trajectory from driving trajectory 102 to driving trajectory 106 and falling into the safe area 110 where it will not collide or scrape with the obstacle 108, thereby avoiding a collision with the obstacle 108.
[0030] In some embodiments of this disclosure, the vehicle controller of vehicle 101 may also request additional driving force by coupling to the vehicle powertrain system of the rear axle of vehicle 101 to help the driver get out of danger zone 104 more quickly.
[0031] Figure 1BA schematic diagram of another example environment 100b in which the devices and / or methods according to embodiments of the present disclosure may be implemented is shown.
[0032] In confined spaces, such as parking lots, when vehicle 101 is driving within the parking lot, its onboard sensors continuously monitor the surrounding environment to determine the safety of its current trajectory. During this process, vehicle 101's sensors detect that continuing along its original trajectory 103 might result in a collision with the parking lot wall.
[0033] Vehicle 101 can activate the obstacle avoidance mode implemented according to this disclosure. Through the obstacle avoidance mode implemented according to this disclosure, the vehicle's vehicle controller can replan the driving route and adjust the original trajectory, for example, by increasing the rotation angle of the front and rear wheels or adjusting the wheel direction, thereby enabling the vehicle to safely bypass obstacles and avoid collisions with walls. According to the method implemented according to this disclosure, the vehicle's driving trajectory can be adjusted to a new path 105, ensuring that the vehicle can continue to move forward in a safer manner.
[0034] Figure 1C The illustration shows a schematic diagram of yet another example environment associated with an embodiment of the present disclosure. Scenario 100c is a parking lot, where the vehicle 130 is very close to a pillar. Under normal circumstances, the distance between the pillar and the vehicle 130's door may pose a risk of scraping the vehicle body or a collision. The method implemented in this disclosure allows the vehicle 130 to avoid this dangerous situation by adjusting the angles of its front and rear wheels.
[0035] Figure 1D The illustration depicts an embodiment of the present disclosure for determining Figure 1C The diagram illustrates an example environment. As shown in example environment 100d, line segment 150 is the centerline of vehicle 130, and rectangle 140 is the outer contour of vehicle 130. If no point on the centerline 150 touches or crosses into the danger zone 160, it indicates that the distance between the vehicle body and the obstacle is sufficient, and there is no risk of scraping or collision. If any point on the centerline 150 touches or crosses into the danger zone 160, it indicates that there is a risk of scraping or colliding between the vehicle body and the obstacle, and therefore, the method or function implemented according to this disclosure needs to be activated or taken action.
[0036] The following is combined Figure 2 A flowchart describing a method 200 for controlling a vehicle according to an embodiment of the present disclosure. Figure 2 The diagram illustrates a flowchart 200 of a method for controlling a vehicle according to some embodiments of the present disclosure. The method implemented according to the present disclosure can be realized in... Figure 1AThe execution takes place at the controller of vehicle 101 and any suitable computing device. For example... Figure 2 As shown, at box 202, the relative positional relationship between the vehicle and an obstacle to its side is determined. For example, in some embodiments, the vehicle's radar sensors (such as lidar) can identify the location and size of the obstacle by providing high-precision 3D point cloud data. At box 204, an obstacle avoidance mode is selected from a plurality of predetermined obstacle avoidance modes based on the relative positional relationship and the vehicle's driving state. According to embodiments of this disclosure, the driving state may include at least factors such as vehicle speed and driving direction. For example, in some embodiments, vehicle speed may be divided into a low-speed driving state below a predetermined threshold driving speed and a high-speed driving state above a predetermined threshold driving speed. The predetermined threshold driving speed can be arbitrarily set based on specific road conditions or environment.
[0037] As an example, the predetermined threshold driving speed can be 15 kilometers per hour. In some embodiments, the driving direction can be divided into forward, backward, left, right, etc. The vehicle controller can then select an obstacle avoidance mode for avoiding obstacles based on these factors. It should be understood that the obstacle avoidance mode implemented according to this disclosure will be referred to in the following reference. Figure 3 Provide an example description.
[0038] At box 206, the vehicle is controlled based on the selected obstacle avoidance mode. For example, according to embodiments of this disclosure, the vehicle controller can adjust factors such as the steering angles of the front and rear wheels (e.g., the permissible steering angle of the rear wheel steering mechanism) and vehicle speed based on the selected obstacle avoidance mode to control the vehicle's trajectory and help it avoid obstacles. For example, the vehicle controller can adjust the permissible steering angle of the rear wheel steering mechanism between 0 and 45 degrees to determine a suitable trajectory. The method implemented by this disclosure allows the vehicle to bypass obstacles faster and more easily, automatically adjusting according to the driving environment and effectively modifying the driving trajectory to avoid collisions with obstacles.
[0039] The following is combined Figure 3 A schematic diagram illustrating a plurality of predetermined obstacle avoidance modes 300 according to embodiments of the present disclosure. (See attached diagram.) Figure 3 As shown, embodiments of this disclosure may include at least four predetermined obstacle avoidance modes, which can be flexibly selected based on the relative position of obstacles to the side of the vehicle and the vehicle, thereby helping the vehicle to escape current driving difficulties more quickly and easily. In some embodiments, the predetermined obstacle avoidance modes may include a first obstacle avoidance mode 302, in which the front wheels of the vehicle turn to the left and the rear wheels of the vehicle turn to the right.
[0040] In some embodiments, the predetermined obstacle avoidance mode may include a second obstacle avoidance mode 304, in which the front wheels of the vehicle turn to the right and the rear wheels of the vehicle turn to the right. In some embodiments, the predetermined obstacle avoidance mode may include a third obstacle avoidance mode 306, in which the front wheels of the vehicle turn to the left and the rear wheels of the vehicle turn to the left. In some embodiments, the predetermined obstacle avoidance mode may include a fourth obstacle avoidance mode 308, in which the front wheels of the vehicle turn to the right and the rear wheels of the vehicle turn to the left.
[0041] According to embodiments of this disclosure, when the vehicle is traveling forward at a low speed and an obstacle is located on the left side of the vehicle, the driver or vehicle control unit (such as an Advanced Driver Assistance System (ADAS)) can automatically select a first obstacle avoidance mode 302, thereby allowing the vehicle to steer to the left to avoid the obstacle. According to another embodiment of this disclosure, when the vehicle is traveling forward at a low speed and an obstacle is located on the right side of the vehicle, the driver or vehicle control unit can automatically select a fourth obstacle avoidance mode 308, thereby allowing the vehicle to steer to the right to avoid the obstacle.
[0042] Additionally or alternatively, in some embodiments, when the system detects the location of an obstacle, it can automatically determine which obstacle avoidance method to adopt. For example, when the vehicle is traveling backward at low speed and the obstacle is located on the left side of the vehicle, the driver or vehicle control unit can automatically select a third obstacle avoidance mode 306, allowing the vehicle to steer to the left to avoid the obstacle. In this case, the front of the vehicle can turn left, thus changing the vehicle's trajectory and ensuring that the steering angle is neither too large nor too small, avoiding a collision with the obstacle on the left. In some embodiments, when the vehicle is traveling backward at low speed and the obstacle is located on the right side of the vehicle, the driver or vehicle control unit can automatically select a second obstacle avoidance mode 304. In this case, the front of the vehicle can turn right, thus changing the vehicle's trajectory and ensuring that the steering angle is appropriate, thereby avoiding a collision with the obstacle on the right. This allows the vehicle to steer to the right to avoid the obstacle.
[0043] According to embodiments of this disclosure, when the vehicle is stationary and an obstacle is located to the left of the vehicle, if the vehicle intends to move forward, it can avoid the obstacle by selecting a second obstacle avoidance mode. According to embodiments of this disclosure, when the vehicle is stationary and an obstacle is located to the left of the vehicle, if the vehicle intends to move backward, it can avoid the obstacle by selecting a third obstacle avoidance mode.
[0044] Additionally or alternatively, in some embodiments, when the vehicle is stationary and an obstacle is located to the right of the vehicle, if the vehicle intends to move forward, it can avoid the obstacle by selecting a third obstacle avoidance mode. In some embodiments, when the vehicle is stationary and an obstacle is located to the right of the vehicle, if the vehicle intends to move backward, it can avoid the obstacle by selecting a second obstacle avoidance mode. It should be understood that the four obstacle avoidance modes listed above are merely exemplary and are not intended to limit the methods implemented in this disclosure. The methods implemented in this disclosure may include more obstacle avoidance modes, and this disclosure makes no limitation in this regard.
[0045] Additionally or alternatively, in some embodiments, the rear-wheel drive of the vehicle can also be invoked in these modes to assist in obstacle avoidance by utilizing the rear-wheel drive force. In some embodiments, the specific value of the rear axle drive force can be determined based on factors such as the vehicle's driving state, the permissible steering angle of the vehicle's rear-wheel steering mechanism, the relative positional relationship between the obstacle and the vehicle, and vehicle sensor information.
[0046] For example, in some embodiments, when the distance between the vehicle and the obstacle is close and the angle is small, a larger driving force can be provided to help the vehicle quickly avoid the obstacle. In other embodiments, when the distance between the vehicle and the obstacle is far and the angle is large, a smaller driving force can be provided to help the vehicle avoid the obstacle. Additionally or alternatively, in some embodiments, when the vehicle driver or the vehicle control system detects that the vehicle has entered a safe area, the obstacle avoidance mode for driving difficulties can be exited.
[0047] In some embodiments, the exit process can be paused if the vehicle tends to re-enter a difficult driving situation during the exit from obstacle avoidance mode. For example, the vehicle can use multiple sensors such as cameras, radar, and lidar for comprehensive environmental assessment and continuous monitoring. If an existing obstacle is detected approaching again, or the complexity of the situation increases (e.g., new obstacles appear), the exit process can be paused.
[0048] Thus, the method implemented by this disclosure can dynamically adjust the steering angle and driving force distribution of the front and rear wheels of the vehicle according to the position of the obstacle, the driving direction of the vehicle, and driving needs, so as to maximize the obstacle avoidance efficiency and the driving safety of the vehicle.
[0049] The following is combined Figure 4 A schematic diagram illustrating a method process 400 for controlling a vehicle according to an embodiment of the present disclosure. (See attached diagram.) Figure 4As shown, at box 402, the vehicle control process begins. At box 404, the driver can choose whether to enable the vehicle control functions implemented according to this disclosure, for example, the driver can turn the obstacle avoidance mode on or off via the vehicle interface, physical switch, or voice command. Additionally or alternatively, in some embodiments, the vehicle controller can also automatically activate the obstacle avoidance mode based on the external environment (such as vehicle speed, driving scenario, etc.). If the driver chooses not to enable it, they can choose to exit the vehicle control process at box 406.
[0050] When obstacle avoidance mode is selected, it can be determined at box 408 whether obstacle avoidance mode is activated. According to embodiments of this disclosure, the activation condition for obstacle avoidance mode can be a predetermined vehicle speed. In some embodiments, driving difficulties may typically occur at low speeds, such as in parking lots, narrow roads, or complex road or working conditions. Therefore, the predetermined threshold or predetermined vehicle speed can be 15 kilometers per hour, and this value can be adjusted based on the usage scenario. For example, the predetermined threshold can be set to 15 kilometers per hour on urban roads and 10 kilometers per hour on parking lots. This disclosure does not impose any limitations on this.
[0051] In some embodiments, when the vehicle speed is higher than a predetermined speed threshold, the vehicle is currently in normal driving mode and does not require obstacle avoidance, so the process can return to confirm again. In some embodiments, when the vehicle speed is lower than the predetermined speed threshold, it indicates that the vehicle may be entering a complex scene, and therefore the obstacle avoidance mode needs to be activated.
[0052] According to some embodiments of this disclosure, at block 410, when it is determined that the obstacle avoidance mode is activated, the vehicle can detect surrounding obstacles to identify them and potential predicaments. In some embodiments, the vehicle can identify the type (e.g., pedestrians, vehicles, walls, etc.), location, distance, size, speed, and other dynamic characteristics of obstacles using camera and radar sensors, and perform obstacle location analysis using image processing methods. In some embodiments, the vehicle's radar sensors can penetrate adverse environments such as fog, rain, and snow, thereby providing more stable perception than camera sensors. For example, in other embodiments, the vehicle's camera sensors can be used to identify and classify obstacles (e.g., vehicles, guardrails, walls, etc.), as well as lane line detection, and perform obstacle location analysis using image processing methods. For example, in other embodiments, the vehicle controller can fuse data from multiple sensors and combine it with the vehicle's GPS to determine the relative positional relationship between obstacles on the side of the vehicle and the vehicle, such as the distance and angle between them.
[0053] Specifically, in some embodiments of this disclosure, determining the relative position of an obstacle to the side of the vehicle and the vehicle can be done by using the obstacle as the center and a predetermined distance as the radius to determine the danger distance, which can be determined based on specific road conditions; subsequently, a safe distance is determined based on the danger distance and the vehicle's dimensions. In some embodiments, the safe distance is the sum of the danger distance and half the width of the vehicle. Additionally or alternatively, in some embodiments, the safe distance can be adjusted to any value.
[0054] In some embodiments of this disclosure, the machine learning model in the vehicle's infotainment controller can analyze image data in real time. Additionally or alternatively, in some embodiments, the vehicle's infotainment controller can align and comprehensively analyze camera and radar data using sensor fusion algorithms to reduce false alarms or missed alarms from a single sensor. For example, in other embodiments, the infotainment controller can fuse data from multiple sensors and combine it with the vehicle's GPS to determine the relative position of obstacles to the side of the vehicle, such as the distance and angle between them.
[0055] Based on the detection results, if the obstacle is on the left side of the vehicle, the vehicle can issue a "barrier on the left" warning to the user at box 412. If the obstacle is on the right side of the vehicle, the vehicle can issue a "barrier on the right" warning to the user at box 414. At boxes 416 and 418, the vehicle can adjust its path based on the obstacle's position using the obstacle avoidance modes described above to ensure safe passage. In some embodiments, when the obstacle on the left is closer, the vehicle controller can use the obstacle avoidance mode to adjust the path to the right. In some embodiments, when the obstacle on the right is closer, the vehicle controller can use the obstacle avoidance mode to adjust the path to the left.
[0056] Additionally or alternatively, the vehicle controller can also determine a new driving trajectory based on vehicle width, obstacle position, and dynamic characteristics. For example, in some embodiments of this disclosure, the path can be calculated by drawing a circle with the nearest obstacle point to the vehicle as the center and a predetermined arbitrary distance as the radius. According to some embodiments of this disclosure, the safety distance can be a set distance radius plus half the vehicle width.
[0057] The vehicle controller can redetermine a new driving trajectory based on the selected obstacle avoidance mode, ensuring that the trajectory falls within a safe distance to avoid obstacles. In some embodiments of this disclosure, the vehicle controller can transmit modified path data to the vehicle's steering control module or rear-wheel steering mechanism, thereby adjusting the steering angles of the vehicle's front and rear wheels. In some embodiments, the vehicle's rotation angle can be achieved between 0 and 45 degrees with the support of a mechanical structure, thereby enabling low-speed right-angle turns. The specific angle values to be rotated by the front and rear wheels can be determined based on factors such as the vehicle's driving trajectory, the distance between the vehicle and the obstacle, the vehicle's driving direction, the vehicle's driving speed, the front wheel steering angle, and the relative angle between the vehicle and the obstacle. For example, in some embodiments, the permissible steering angle of the rear-wheel steering mechanism can be allowed to increase when the method or function implemented according to this disclosure is activated. For instance, the maximum permissible steering angle of a conventional rear-wheel steering mechanism is approximately 10 degrees, while the rear-wheel steering angle according to the method implemented according to this disclosure can be allowed to increase to the same maximum value as the front wheel steering angle, 45 degrees.
[0058] The following is combined Figure 5 A schematic diagram illustrating another method process 500 for controlling a vehicle according to an embodiment of the present disclosure. (See attached diagram.) Figure 5 As shown, the vehicle's camera / radar detection module 502 can detect environmental information around the vehicle. In some embodiments, when the vehicle's camera / radar detection module 502 detects that the front axle is driving across or approaching an obstacle and the shortest distance is less than a safe distance value, it can provide active markers to indicate obstacle-side information, such as the obstacle's location, size, and type.
[0059] In some embodiments of this disclosure, the driver can input commands or requests 504, such as speed, steering angle, and rear wheel steering angle, to the vehicle control unit via the steering wheel or console. At block 506, the vehicle control unit can determine the type of operation to be performed or predetermine one of multiple obstacle avoidance modes based on obstacle detection information from the camera / radar and the driver's input request. At block 508, the driving path correction module can also determine the target driving path based on the obstacle's position.
[0060] At box 510, the target rear wheel steering angle can be determined based on type information or one of multiple obstacle avoidance modes, the target driving path, and driver request 512 including parameters such as speed, steering angle, and rear wheel steering angle.
[0061] In some embodiments of this disclosure, at block 514, the determined target angle and driving speed are transmitted to the vehicle's RWS brakes for adjusting and controlling the vehicle's angle and speed. Additionally or alternatively, the vehicle's powertrain 516, coupled to the rear axle, may also provide additional driving force based on the determined target angle to assist the driver in avoiding obstacles.
[0062] According to embodiments of this disclosure, the magnitude of the rear axle driving force can be determined based on one or more factors such as the vehicle's driving state, the permissible steering angle of the vehicle's rear wheel steering mechanism, the relative positional relationship between the obstacle and the vehicle, and vehicle sensor information data.
[0063] According to embodiments of this disclosure, after a vehicle bypasses an obstacle, its steering angle should return to the normal RWS angle. In some embodiments, the method implemented according to this disclosure can be implemented as a "simple unit" in the vehicle-mounted interface to provide information on an activity button, activity type, and activity duration. This function can be triggered by a driver button or input by radar or a camera.
[0064] Figure 6 The illustration shows a schematic diagram of a vehicle control device 600 according to an embodiment of the present disclosure. The device 600 can be applied to a vehicle 101 and may include multiple modules for performing functions such as… Figure 2 The corresponding steps in process 200 discussed herein. For example... Figure 6 As shown, the device 600 may include: a determining module 602 configured to determine the relative positional relationship between an obstacle to the side of the vehicle and the vehicle; a selecting module 604 configured to select an obstacle avoidance mode for the obstacle from a predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle, wherein the driving state includes at least one of vehicle speed and driving direction; and a control module 606 configured to control the vehicle based on the selected obstacle avoidance mode.
[0065] According to some embodiments of this disclosure, the predetermined plurality of obstacle avoidance modes include at least one or more of the following: a first obstacle avoidance mode for turning the front wheels of the vehicle to the left and turning the rear wheels of the vehicle to the right; a second obstacle avoidance mode for turning the front wheels of the vehicle to the right and turning the rear wheels of the vehicle to the right; a third obstacle avoidance mode for turning the front wheels of the vehicle to the left and turning the rear wheels of the vehicle to the left; and a fourth obstacle avoidance mode for turning the front wheels of the vehicle to the right and turning the rear wheels of the vehicle to the left.
[0066] According to some embodiments of this disclosure, the selection module 604 is further configured to select an obstacle avoidance mode for the obstacle from a predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle, including: controlling the vehicle by selecting the first obstacle avoidance mode in response to the vehicle being driven forward and the obstacle being located to the left of the vehicle; and controlling the vehicle by selecting the fourth obstacle avoidance mode in response to the vehicle being driven forward and the obstacle being located to the right of the vehicle.
[0067] According to some embodiments of this disclosure, the selection module 604 is further configured to select an obstacle avoidance mode for the obstacle from a predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle, including: controlling the vehicle by selecting the third obstacle avoidance mode in response to the vehicle being driven backward and the obstacle being located to the left of the vehicle; and controlling the vehicle by selecting the second obstacle avoidance mode in response to the vehicle being driven backward and the obstacle being located to the right of the vehicle.
[0068] According to some embodiments of this disclosure, the selection module 604 is further configured to select an obstacle avoidance mode for the obstacle from a predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle, including: controlling the vehicle by selecting a second obstacle avoidance mode in response to the vehicle being stationary and intending to move forward, and the obstacle being located to the left of the vehicle; and controlling the vehicle by selecting a third obstacle avoidance mode in response to the vehicle being stationary and intending to move backward, and the obstacle being located to the left of the vehicle.
[0069] According to some embodiments of this disclosure, the selection module 604 is further configured to select an obstacle avoidance mode for the obstacle from the predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle, including: controlling the vehicle by selecting the third obstacle avoidance mode in response to the vehicle being stationary and intending to move forward, and the obstacle being located to the right of the vehicle; and controlling the vehicle by selecting the second obstacle avoidance mode in response to the vehicle being stationary and intending to move backward, and the obstacle being located to the right of the vehicle.
[0070] According to some embodiments of this disclosure, the control module 606 is further configured to control the vehicle based on a selected obstacle avoidance mode, including: controlling the vehicle to avoid the obstacle by invoking the rear-wheel drive of the vehicle; and wherein the magnitude of the rear axle drive force is determined based on the driving state of the vehicle, the permissible steering angle of the rear-wheel steering mechanism of the vehicle, the relative positional relationship between the obstacle and the vehicle, and vehicle sensor information.
[0071] According to some embodiments of this disclosure, the driving state of the vehicle is a low-speed driving state where the vehicle's driving speed is below a predetermined threshold speed.
[0072] According to some embodiments of this disclosure, the control module 606 is further configured to control the vehicle based on the selected obstacle avoidance mode by: increasing the permissible steering angle of the rear wheel steering mechanism of the vehicle to avoid the obstacle; the permissible steering angle of the rear wheel steering mechanism is determined based on one or more of the following: the vehicle's trajectory, the distance between the vehicle and the obstacle, the vehicle's direction, the vehicle's speed, the front wheel steering angle, and the relative angle between the vehicle and the obstacle; and wherein the permissible steering angle of the rear wheel steering mechanism is adjusted between 0 degrees and 45 degrees.
[0073] According to some embodiments of this disclosure, the determining module 602 is further configured to determine the relative positional relationship between the obstacle to the side of the vehicle and the vehicle, including: determining a danger distance with the obstacle as the center and a predetermined distance as the radius; and determining a safe distance based on the danger distance and the vehicle body size, wherein the safe distance is the sum of the danger distance and half the width of the vehicle body; and providing obstacle-related information in response to the vehicle entering the danger distance. The predetermined distance may be determined based on specific road conditions. Additionally or alternatively, in some embodiments, the safe distance may be adjusted to any value.
[0074] Figure 7 A schematic block diagram of an example device 700 that can be used to implement embodiments of the present disclosure is shown. As shown, device 700 includes a processor 701 that can perform various appropriate actions and processes according to computer program instructions loaded into random access memory (RAM) 703 based on computer program instructions stored in read-only memory (ROM) 702. Various programs and data required for the operation of device 700 may also be stored in RAM 703. The processor 701, ROM 702, and RAM 703 are interconnected via bus 704. Input / output (I / O) interface 705 is also connected to bus 704.
[0075] The various processes and procedures described above, such as method 200 and process 300, can be executed by processor 701. For example, in some embodiments, method 200 and process 300 may be implemented as computer software programs tangibly contained in a machine-readable medium. In some embodiments, part or all of the computer program may be loaded and / or installed on device 700 via ROM 702. When the computer program is loaded into RAM 703 and executed by processor 701, one or more actions of method 200 and process 300 described above may be performed.
[0076] This disclosure can be a method, apparatus, system, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of this disclosure.
[0077] A computer-readable storage medium can be a tangible device capable of holding and storing instructions for use by an instruction execution device. A computer-readable storage medium can be, for example—but not limited to—an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), and any suitable combination thereof. The computer-readable storage medium as used herein is not to be construed as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.
[0078] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.
[0079] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.
[0080] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.
[0081] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.
[0082] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.
[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0084] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.
Claims
1. A method (200) for controlling a vehicle, comprising: Determine (202) the relative positional relationship between the obstacle on the side of the vehicle and the vehicle; Based on the relative positional relationship and the driving state of the vehicle, select (204) an obstacle avoidance mode for the obstacle from a plurality of predetermined obstacle avoidance modes, wherein the driving state includes at least one of vehicle speed and driving direction; as well as The vehicle is controlled (206) based on the selected obstacle avoidance mode.
2. The method (200) according to claim 1, wherein the predetermined plurality of obstacle avoidance modes includes at least one or more of the following: A first obstacle avoidance mode for turning the front wheels of the vehicle to the left and the rear wheels of the vehicle to the right; A second obstacle avoidance mode for turning the front wheels of the vehicle to the right and turning the rear wheels of the vehicle to the right; A third obstacle avoidance mode for turning the front wheels of the vehicle to the left and turning the rear wheels of the vehicle to the left; as well as A fourth obstacle avoidance mode for turning the front wheels of the vehicle to the right and the rear wheels of the vehicle to the left.
3. The method (200) according to claim 2, wherein selecting (204) an obstacle avoidance mode for the obstacle from the predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle includes: In response to the vehicle moving forward and the obstacle being located to the left of the vehicle, the vehicle is controlled by selecting the first obstacle avoidance mode; as well as In response to the vehicle moving forward and the obstacle being located to the right of the vehicle, the vehicle is controlled by selecting the fourth obstacle avoidance mode.
4. The method (200) according to claim 2, wherein selecting (204) an obstacle avoidance mode for the obstacle from the predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle includes: In response to the vehicle being moved backward and the obstacle being located to the left of the vehicle, the vehicle is controlled by selecting the third obstacle avoidance mode; as well as In response to the vehicle being moved backward and the obstacle being located to the right of the vehicle, the vehicle is controlled by selecting the second obstacle avoidance mode.
5. The method (200) according to claim 2, wherein selecting (204) an obstacle avoidance mode for the obstacle from the predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle includes: In response to the vehicle being stationary and intending to move forward, and the obstacle being located to the left of the vehicle, the vehicle is controlled by selecting the second obstacle avoidance mode; as well as In response to the vehicle being stationary and intending to move backward, and the obstacle being located to the left of the vehicle, the vehicle is controlled by selecting the third obstacle avoidance mode.
6. The method (200) according to claim 2, wherein selecting (204) an obstacle avoidance mode for the obstacle from the predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle includes: In response to the vehicle being stationary and intending to move forward, and the obstacle being located to the right of the vehicle, the vehicle is controlled by selecting the third obstacle avoidance mode; as well as In response to the vehicle being stationary and intending to move backward, and the obstacle being located to the right of the vehicle, the vehicle is controlled by selecting the second obstacle avoidance mode.
7. The method (200) of claim 1, wherein controlling (206) the vehicle based on the selected obstacle avoidance mode further comprises: The vehicle is controlled to avoid the obstacle by activating its rear-wheel drive. and The magnitude of the rear axle driving force is determined based on the vehicle's driving state, the permissible steering angle of the vehicle's rear wheel steering mechanism, the relative positional relationship between the obstacle and the vehicle, and vehicle sensor information.
8. The method according to claim 1, wherein the driving state of the vehicle is a low-speed driving state where the vehicle's driving speed is below a predetermined threshold speed.
9. The method (200) of claim 1, wherein controlling (206) the vehicle based on the selected obstacle avoidance mode further comprises: Increase the permissible steering angle of the vehicle's rear-wheel steering mechanism to avoid the obstacle; The permissible steering angle of the rear wheel steering mechanism is determined based on one or more of the following: the vehicle's trajectory, the distance between the vehicle and the obstacle, the vehicle's direction, the vehicle's speed, the front wheel steering angle, and the relative angle between the vehicle and the obstacle; and The allowable steering angle of the rear wheel steering mechanism can be increased from 10 degrees to the maximum value of 45 degrees, the same as the front wheel steering angle.
10. The method (200) according to claim 1, wherein determining (202) the relative positional relationship between the obstacle on the side of the vehicle and the vehicle comprises: The danger distance is determined by using the obstacle as the center and a predetermined distance as the radius; The safe distance is determined based on the danger distance and the vehicle body size, wherein the safe distance is the sum of the danger distance and half the width of the vehicle body; as well as In response to a vehicle entering a dangerous distance, it provides information related to obstacles.
11. A device (600) for controlling a vehicle, comprising: The determining unit (602) is configured to determine the relative positional relationship between the obstacle on the side of the vehicle and the vehicle; The selection unit (604) is configured to select an obstacle avoidance mode for the obstacle from a predetermined plurality of obstacle avoidance modes based on the relative positional relationship and the driving state of the vehicle, wherein the driving state includes at least one of vehicle speed and driving direction. as well as The control unit (606) is configured to control the vehicle based on the selected obstacle avoidance mode.
12. A controller, comprising: At least one processor; as well as A memory coupled to the at least one processor and having instructions stored thereon, which, when executed by the at least one processor, cause the controller to perform the method according to any one of claims 1-10.
13. A vehicle (101) comprising a controller according to claim 12.
14. A program product comprising a computer program which, when executed, implements the method according to any one of claims 1 to 10.