Vehicle control method, electronic device, vehicle control system, and vehicle

Abstract

The application provides a vehicle control method, comprising: acquiring a curvature of a curve in front of a vehicle and driving information of the vehicle; and correcting a wheel rotation angle according to the curvature of the curve and the driving information of the vehicle. In this way, the wheel rotation angle can be corrected when the vehicle passes the curve, without the need for manual adjustment by the driver, so that the driver's driving comfort can be improved, the vehicle can reliably pass the curve, and the psychological burden of the driver can be reduced. The application also provides a computer readable storage medium, a computer program product and a vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more particularly to a vehicle control method, electronic equipment, vehicle control system, and vehicle. Background Technology

[0002] In related technologies, the wheel angle during vehicle steering is only input to the vehicle's direction of travel via the steering wheel angle. When driving on curves, drivers may experience inaccurate steering control, requiring repeated corrections to ensure the vehicle follows the curve's trajectory. This can easily cause anxiety for inexperienced drivers, negatively impacting their driving. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle control method, a computer-readable storage medium, a computer program product, and a vehicle that overcomes or at least partially solves the above problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a vehicle control method is provided, comprising: The vehicle control method is characterized by comprising: Obtain the curvature of the curve ahead of the vehicle and the vehicle's driving information; The wheel angle is corrected based on the curvature of the curve and the vehicle's driving information.

[0005] The above method can correct the wheel angle when the vehicle is cornering without requiring manual adjustment by the driver. This improves the driver's handling comfort, allows the vehicle to reliably pass through curves, and reduces the driver's psychological burden.

[0006] Furthermore, the vehicle's driving information includes one or more of the following: vehicle speed, vehicle yaw rate, heading angle deviation, and vehicle lane centering deviation distance.

[0007] Furthermore, the step of correcting the wheel angle based on the curvature of the curve and the vehicle's driving information includes: when the curvature of the curve exceeds a first preset threshold and the steering wheel angle is greater than a second preset threshold, correcting the wheel angle based on the curvature of the curve and the vehicle's driving information.

[0008] Furthermore, the step of correcting the wheel angle based on the curvature of the curve and the vehicle's driving information includes: The optimal wheel angle is determined as the target wheel angle based on the curvature of the curve and the vehicle's driving information. Obtain the vehicle's current actual wheel angle; If the difference between the actual wheel angle and the target wheel angle is less than a third preset threshold, the wheel angle is corrected and compensated based on the difference.

[0009] Furthermore, if the vehicle's front wheel steering method is steer-by-wire, the front wheel steering angle of the vehicle is corrected and compensated. If the vehicle's front wheels are mechanically steered and the vehicle is equipped with rear-wheel steering, the rear wheel steering angle will be corrected and compensated. If the vehicle's front wheel steering is steer-by-wire and the vehicle is equipped with rear wheel steering, the front wheel steering angle and rear wheel steering angle of the vehicle will be corrected and compensated.

[0010] Furthermore, the method also includes: obtaining the curvature of the curve through a pre-aiming system, the pre-aiming system including a camera and / or radar for obtaining road conditions ahead.

[0011] Furthermore, the method also includes adjusting the vehicle's suspension based on the curvature of the curve and the vehicle's driving information.

[0012] Furthermore, the method also includes: if the curvature of the curve is greater than a fourth preset threshold, increasing the damping and stiffness of the suspension based on the curvature of the curve and the vehicle's driving information.

[0013] Furthermore, the method also includes: obtaining the tangent of the curve based on the curvature of the curve, and obtaining the current heading angle deviation based on the tangent of the curve and the vehicle's driving direction.

[0014] Furthermore, the method also includes: acquiring road bump information through the pre-aiming system, and adjusting the vehicle's suspension based on the bump information.

[0015] Furthermore, the method also includes: if the vehicle is not in an unstable condition, correcting the wheel angle based on the curvature of the curve and the vehicle's driving information.

[0016] Furthermore, if at least one of the vehicle's anti-lock braking system, torque limiting system, and vehicle dynamic control system is triggered, the vehicle is in an unstable operating condition.

[0017] According to a second aspect of this application, an electronic device is provided, including a memory and a processor, wherein the memory stores computer-executable instructions, which, when executed by the processor, are used to implement the vehicle control method as described in the first aspect of this application.

[0018] According to a third aspect of this application, a vehicle control system is provided, including electronic equipment as described in the second aspect of this application.

[0019] According to a fourth aspect of this application, a vehicle is provided, including electronic equipment as described in a second aspect of this application or a vehicle control system as described in a third aspect of this application.

[0020] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0023] Figure 1 This is a schematic diagram of the vehicle control method provided by the present invention; Figure 2 This is a schematic diagram of the vehicle control method provided by the present invention; Figure 3 This is a schematic diagram of the vehicle control method provided by the present invention; Figure 4 This is a schematic diagram of the vehicle control method provided by the present invention; Figure 5 This is a schematic diagram of the vehicle control system provided by the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0025] According to the first aspect of this application, Figure 1 As shown, a vehicle control method is provided, including: The vehicle control method is characterized by comprising: S101. Obtain the curvature of the curve ahead of the vehicle and the vehicle's driving information; S102. Correct the wheel angle based on the curvature of the curve and the vehicle's driving information.

[0026] The above method can correct the wheel angle when the vehicle is cornering without requiring manual adjustment by the driver. This improves the driver's handling comfort, allows the vehicle to reliably pass through curves, and reduces the driver's psychological burden.

[0027] In some embodiments, the vehicle's driving information includes one or more of the following: vehicle speed, vehicle yaw rate, heading angle deviation, and vehicle lane centering deviation distance. In some embodiments, the vehicle speed is obtained by a vehicle speed sensor, the vehicle yaw rate is obtained by a gyroscope sensor (IMU), and the vehicle lane centering deviation distance is obtained by a camera.

[0028] In some embodiments, correcting the wheel angle based on the curvature of the curve and vehicle driving information includes: when the curvature of the curve exceeds a first preset threshold and the steering wheel angle is greater than a second preset threshold, correcting the wheel angle based on the curvature of the curve and vehicle driving information. A curvature exceeding the first preset threshold indicates a sharp curve, and a steering wheel angle greater than the second preset threshold indicates the driver is performing a turning maneuver; only in this case is the wheel angle corrected.

[0029] In some embodiments, correcting the wheel angle based on the curvature of the curve and vehicle driving information includes: The optimal wheel angle is determined based on the curvature of the curve and the vehicle's driving information, and is taken as the target wheel angle. Obtain the vehicle's current actual wheel angle; If the difference between the actual wheel angle and the target wheel angle is less than a third preset threshold, the wheel angle is corrected and compensated based on this difference. By correcting and compensating the wheel angle only when the difference is less than the third preset threshold, and not when the difference is greater than the third preset threshold, the vehicle's cornering angle will not deviate too much from the actual steering wheel angle, preventing the driver from experiencing a completely unintuitive experience during cornering. If the difference is greater than the third preset threshold, no wheel angle correction or compensation is performed, leaving the driver entirely in control.

[0030] like Figure 2 The diagram shows the flow of vehicle control methods according to some embodiments: S201, Start; Enter S202; S202, Obtain the curvature of the curve and the vehicle's driving information; Proceed to S203; S203. Determine whether the curvature of the curve is greater than the first preset threshold; if yes, proceed to S204; if no, proceed to S210. S204. Determine whether the steering wheel angle is greater than the second preset threshold; if yes, proceed to S205; if no, proceed to S202. S205. Obtain the target wheel angle based on the curvature of the curve and the vehicle's driving information; proceed to S206; S206. Determine whether at least one of the ABS, TCS, and VDC functions is triggered; if yes, proceed to S210; if no, proceed to S207. S207. Obtain the actual wheel angle of the vehicle; proceed to S208; S208. Determine whether the difference between the actual wheel angle and the target vehicle angle is less than the third preset threshold; if yes, proceed to S209; if no, proceed to S210. S209, Wheel angle correction compensation; proceed to S210; S210, End.

[0031] In some embodiments, if the vehicle’s front wheel steering method is steer-by-wire, the front wheel steering angle of the vehicle is corrected and compensated. If the vehicle's front wheels are mechanically steered and the vehicle is equipped with rear-wheel steering, the rear wheel steering angle will be corrected and compensated. If the vehicle's front wheel steering is steer-by-wire and the vehicle is equipped with rear wheel steering, the front wheel steering angle and rear wheel steering angle of the vehicle will be corrected and compensated.

[0032] In steer-by-wire, the steering wheel sends a turn signal, and the steering motor turns the front wheels accordingly. Therefore, the steering wheel and front wheels are connected by a signal, not a physical connection. This allows for adjustments to the wheel angle without changing the steering wheel angle, preventing driver panic. In mechanical steering, the steering wheel and front wheels are connected by a physical steering mechanism. Changes in the front wheel angle simultaneously change the steering wheel angle, potentially affecting driver control. Therefore, vehicles with mechanical steering do not provide correction or compensation for the front wheel angle.

[0033] The following will combine Figure 3 The embodiments are illustrated by way of example: S301, Start; Enter S302; S302. Determine whether the wheel angle needs to be corrected; if yes, proceed to S303; if no, proceed to S307. S303. Determine if the vehicle's front wheels are steer-by-wire; if yes, proceed to S305; if no, proceed to S304. S304. Determine if the vehicle is equipped with rear-wheel steering; if yes, proceed to S306; if no, proceed to S307. S305, Correct and compensate for the front wheel steering angle; proceed to S304; S306, Correct and compensate for the rear wheel steering angle; proceed to S307; S307, End.

[0034] In some embodiments, the method further includes: obtaining the curvature of the curve through a pre-aiming system, the pre-aiming system including a camera and / or radar for obtaining road conditions ahead.

[0035] In some embodiments, the method further includes adjusting the vehicle's suspension based on the curvature of the curve and the vehicle's driving information.

[0036] In some embodiments, the vehicle's suspension is an electronically controlled suspension. Electronically controlled suspensions allow for convenient adjustment of the suspension's damping and stiffness.

[0037] In some embodiments, the method further includes: if the curvature of the curve is greater than a fourth preset threshold, increasing the damping and stiffness of the suspension based on the curvature of the curve and the vehicle's driving information. When a vehicle passes through a curve, the vehicle body will roll. Increasing the damping and stiffness of the suspension can suppress the vehicle's roll angle and roll rate, thereby improving the comfort of the occupants when cornering.

[0038] In some embodiments, the method further includes: obtaining the tangent of the curve based on the curvature of the curve, and obtaining the current heading angle deviation based on the tangent of the curve and the driving direction of the vehicle.

[0039] In some embodiments, the method further includes: acquiring road bump information through a pre-aiming system, and adjusting the vehicle suspension based on the bump information.

[0040] In some embodiments, the method further includes: if the vehicle is not in an unstable condition, correcting the wheel angle based on the curvature of the curve and the vehicle's driving information.

[0041] In some embodiments, if at least one of the vehicle's anti-lock braking system, torque limiting system, and vehicle dynamic control system is triggered, the vehicle is in an unstable condition.

[0042] The following will combine Figure 4 The embodiments are illustrated by way of example: S401, Start; Enter S402; S402, Obtain the curvature of the curve ahead and the road surface bumps; Proceed to S403; S403. Determine whether the curvature of the curve is greater than the fourth preset threshold; if yes, proceed to S404; if no, proceed to S407. S404. Determine if the vehicle's vertical acceleration exceeds the fifth preset threshold or if the road surface ahead is bumpy; if yes, proceed to S405; if no, proceed to S402. S405. Determine if the suspension system is fault-free; if yes, proceed to S406; if no, proceed to S407. S406, Suspension damping and stiffness adjustment; proceed to S407; S407, End.

[0043] Curving wheel angle compensation is performed based on different vehicle configurations. The vehicle's heading angle deviation is calculated based on the vehicle's direction of travel. Simultaneously, the steering wheel angle is monitored to ensure it does not exceed a second preset threshold, guaranteeing the driver is performing a turning maneuver.

[0044] When it is determined that the vehicle is in a turning condition, the current yaw rate of the vehicle is obtained through the IMU gyroscope; the current vehicle speed is obtained through the wheel speed sensor; and the lane lateral deviation of the vehicle is obtained through the pre-aiming camera. The target front wheel steering angle or target rear wheel steering angle is then calculated to ensure that the vehicle travels in the target direction under the current turning condition.

[0045] The vehicle's stability is assessed by checking if its ABS (Anti-lock Braking System), TCS (Torque Limiting System), and VDC (Vehicle Dynamic Control) functions are activated. This ensures the vehicle is not in an unstable condition before proceeding with subsequent steering control.

[0046] Based on the driver's steering wheel angle input, the vehicle's current actual front wheel angle and rear wheel angle are obtained.

[0047] When the difference between the steering angle of the four wheels controlled by the driver and the ideal target steering angle is less than a threshold, wheel steering angle compensation is performed to assist the driver in turning. This improves the driver's comfort when cornering and reduces the driving burden of frequent steering corrections.

[0048] According to a second aspect of this application, an electronic device is provided, including a memory and a processor, wherein the memory stores computer-executable instructions, which, when executed by the processor, are used to implement the vehicle control method as described in the first aspect of this application.

[0049] According to the third aspect of this application, such as Figure 5 As shown, a vehicle control system is provided, including electronic equipment as described in the second aspect of this application.

[0050] In some embodiments, the vehicle control system includes a controller, a pre-aiming system, a gyroscope sensor IMU, a steer-by-wire system, an electronically controlled suspension, a rear-wheel steering system, and a braking system. For example, the electronic device of the second aspect of this application is configured as a controller. The pre-aiming system is used to acquire curve curvature and bump signals. The gyroscope sensor IMU is used to acquire vehicle yaw rate and vertical acceleration. The steer-by-wire system is used to acquire steering wheel angle and actual front wheel angle, and also to execute angle correction compensation requests. The electronically controlled suspension is used to acquire suspension status and execute damping and stiffness adjustments. The rear-wheel steering system is used to acquire the actual rear wheel angle and execute rear wheel angle correction compensation. The braking system is used to acquire ABS, VDC, and TCS function trigger signals.

[0051] According to a fourth aspect of this application, a vehicle is provided, including electronic equipment as described in a second aspect of this application or a vehicle control system as described in a third aspect of this application.

[0052] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the vehicle control method as described in the first aspect of this application.

[0053] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the vehicle control method as described in the first aspect of this application.

[0054] The various embodiments described in this specification are mainly those that differ from other embodiments. For the same or similar parts between the various embodiments, please refer to each other.

[0055] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0056] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, computer-readable storage media, and computer program products according to embodiments of the invention. It will 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 program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0057] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0059] In the description of this application, the terms "first" and "second" 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 as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0060] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0061] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0062] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. In the embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant content of other embodiments. Any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

[0063] The present invention has provided a detailed description of a vehicle control method, electronic device, vehicle control system, and vehicle. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A vehicle control method, characterized in that, include: Obtain the curvature of the curve ahead of the vehicle and the vehicle's driving information; The wheel angle is corrected based on the curvature of the curve and the vehicle's driving information.

2. The vehicle control method according to claim 1, characterized in that, The vehicle's driving information includes one or more of the following: vehicle speed, vehicle yaw rate, heading angle deviation, and vehicle lane centering deviation distance.

3. The vehicle control method according to claim 1, characterized in that, The step of correcting the wheel angle based on the curvature of the curve and the vehicle's driving information includes: when the curvature of the curve exceeds a first preset threshold and the steering wheel angle is greater than a second preset threshold, correcting the wheel angle based on the curvature of the curve and the vehicle's driving information.

4. The vehicle control method according to claim 1, characterized in that, The step of correcting the wheel angle based on the curvature of the curve and the vehicle's driving information includes: The optimal wheel angle is determined as the target wheel angle based on the curvature of the curve and the vehicle's driving information. Obtain the vehicle's current actual wheel angle; If the difference between the actual wheel angle and the target wheel angle is less than a third preset threshold, the wheel angle is corrected and compensated based on the difference.

5. The vehicle control method according to claim 4, characterized in that, If the vehicle's front wheel steering method is steer-by-wire, the front wheel steering angle of the vehicle will be corrected and compensated. If the vehicle's front wheels are mechanically steered and the vehicle is equipped with rear-wheel steering, the rear wheel steering angle will be corrected and compensated. If the vehicle's front wheel steering is steer-by-wire and the vehicle is equipped with rear wheel steering, the front wheel steering angle and rear wheel steering angle of the vehicle will be corrected and compensated.

6. The vehicle control method according to claim 1, characterized in that, The method further includes: obtaining the curvature of the curve through a pre-aiming system, the pre-aiming system including a camera and / or radar for obtaining road conditions ahead.

7. The vehicle control method according to claim 1, characterized in that, The method further includes adjusting the vehicle's suspension based on the curvature of the curve and the vehicle's driving information.

8. The vehicle control method according to claim 7, characterized in that, The method further includes: if the curvature of the curve is greater than a fourth preset threshold, increasing the damping and stiffness of the suspension based on the curvature of the curve and the vehicle's driving information.

9. The vehicle control method according to claim 1, characterized in that, The method further includes: obtaining the tangent of the curve based on the curvature of the curve, and obtaining the current heading angle deviation based on the tangent of the curve and the vehicle's driving direction.

10. The vehicle control method according to claim 6, characterized in that, The method further includes: acquiring road bump information through the pre-aiming system, and adjusting the vehicle's suspension based on the bump information.

11. The vehicle control method according to claim 1, characterized in that, The method further includes: if the vehicle is not in an unstable condition, correcting the wheel angle based on the curvature of the curve and the vehicle's driving information.

12. The vehicle control method according to claim 11, characterized in that, If at least one of the vehicle's anti-lock braking system, torque limiting system, and vehicle dynamic control system is triggered, the vehicle is in an unstable condition.

13. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores computer-executable instructions, which, when executed by the processor, are used to implement the vehicle control method as described in any one of claims 1-12.

14. A vehicle control system, characterized in that, Includes the electronic device as described in claim 13.

15. A vehicle, characterized in that, This includes the electronic device as described in claim 13 or the vehicle control system as described in claim 14.

Images