CN115489512B - Vehicle driving control method, device, equipment and medium - Google Patents

Vehicle driving control method, device, equipment and medium Download PDF

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Publication number
CN115489512B
CN115489512B CN202211437255.5A CN202211437255A CN115489512B CN 115489512 B CN115489512 B CN 115489512B CN 202211437255 A CN202211437255 A CN 202211437255A CN 115489512 B CN115489512 B CN 115489512B
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driving
information
vehicle
steering
driving mode
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CN115489512A (en
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桂科
张如高
虞正华
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Suzhou Moshi Intelligent Technology Co ltd
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Suzhou Moshi Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/043—Identity of occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a control method, a device, equipment and a medium for vehicle driving, which relate to the field of vehicle control, and the method comprises the following steps: determining the identity information of a driver, and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, and each driving style corresponds to a unique driving mode; determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter. The invention realizes the switching of the functions of the driving system and can meet the individual requirements of different customers.

Description

Vehicle driving control method, device, equipment and medium
Technical Field
The invention relates to the field of vehicle control, in particular to a method, a device, equipment and a medium for controlling vehicle driving.
Background
The driver assistance system is a vehicle system that assists a driver in steering, accelerating, decelerating, and the like, and the driver is more comfortable and less fatigued to some extent by the driver assistance system, but the driver assistance system cannot replace the driver, and the driver must always supervise the vehicle, which is still a main operator of the vehicle behavior. With respect to assisted driving, autonomous driving refers to a system that provides longitudinal and lateral control of the vehicle, allowing the driver to operate the steering wheel to some extent or even not at all.
Vehicle Steering control is mainly assisted by an Electric Power Steering (EPS) that assists the driver in Steering when receiving a Steering request signal. The EPS receiving the steering request signal mainly includes receiving a torque request through a torque interface and a steering angle request through a steering angle interface, and at present, the torque interface is suitable for an auxiliary driving system, and the steering angle interface is suitable for an automatic driving system.
However, currently, EPS suppliers only open a single control interface according to customer requirements, and the vehicle assistance/automatic driving system with a single interface cannot adapt to diversified user requirements.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, a device and a medium for controlling vehicle driving, so as to solve the problem that an EPS system cannot adapt to diversified user requirements.
According to a first aspect, an embodiment of the present invention provides a control method of vehicle driving, the method including:
acquiring a steering request signal of a driver;
determining identity information of the driver, and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, and each driving style corresponds to one unique driving mode;
determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter.
With reference to the first aspect, in a first implementation manner of the first aspect, the driving style library stores a plurality of preset driving styles, each preset driving style corresponds to a unique one of the driving modes, and the driving style is determined based on the preset driving style.
With reference to the first embodiment of the first aspect, in a second embodiment of the first aspect, the driving style is trained by the following steps:
determining sample driving data and identity information of a driver;
fitting the sample driving data to obtain fitting data, and determining the difference between the fitting data and various preset driving styles;
determining the driving mode corresponding to the preset driving style with the minimum difference value as the driving mode corresponding to the driver;
and binding the driving mode and the fitting data corresponding to the driver with the corresponding identity information to generate the driving style corresponding to the driver.
With reference to the first aspect, in a third implementation manner of the first aspect, the determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter specifically include:
determining road information and vehicle state information; the road information comprises lane line information, road edge information and road boundary information;
inputting the road information and the vehicle state information into a trained vehicle dynamics model to obtain target corner information output by the vehicle dynamics model;
and generating corresponding steering parameters based on the driving mode and the target steering angle information, and controlling the vehicle to steer based on the steering parameters.
With reference to the third aspect, in a fourth aspect, the generating a corresponding steering parameter based on the driving mode and the target steering angle information, and controlling the vehicle to steer based on the steering parameter specifically includes:
when the driving mode is determined to be the automatic driving mode, determining current corner information;
generating target torque information based on the current steering angle information and target steering angle information;
and generating a corresponding angle steering parameter based on the target torque information, and controlling the vehicle to steer based on the angle steering parameter.
With reference to the third aspect, in a fifth aspect of the present invention, in the method for generating a corresponding motor assist signal based on the driving mode and the target steering angle information, and controlling a vehicle to steer based on the motor assist signal, the method further includes:
determining current corner information when the driving mode is determined to be the auxiliary driving mode;
generating target torque information based on the current steering angle information and target steering angle information;
determining current steering wheel hand force information and determining a torque command based on the steering wheel hand force information and the target torque information;
and generating a corresponding torque steering parameter based on the torque instruction, and controlling the vehicle to steer based on the torque steering parameter.
With reference to the first aspect, in a sixth implementation of the first aspect, the method further includes:
determining mode selection information of a driver; the mode selection information is used to select a corresponding driving mode.
In a second aspect, an embodiment of the present invention further provides a control apparatus for vehicle driving, the apparatus including:
the signal acquisition module is used for acquiring a steering request signal of a driver;
the mode determining module is used for determining the identity information of the driver and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, and each driving style corresponds to one unique driving mode;
the vehicle control module is used for determining a steering parameter based on the driving mode and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the control methods for vehicle driving as described above when executing the program.
In a fourth aspect, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the control method for vehicle driving as described in any one of the above.
According to the control method, the device, the equipment and the medium for vehicle driving, the driving style corresponding to the identity information of a driver is generated through sample driving data of the driver in a daily driving environment, the driving style can correspond to one of an automatic driving mode or an auxiliary driving mode, then after a steering request signal and the identity information of the driver are obtained, the corresponding driving mode is called from a driving style library through the identity information, and then the vehicle is controlled to steer based on a driving module.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a schematic view showing an auxiliary driving mode in a control method of driving a vehicle according to the present invention;
FIG. 2 is a schematic diagram illustrating an autonomous driving mode in the control method for driving a vehicle according to the present invention;
FIG. 3 shows one of the flow diagrams of the control method for vehicle driving provided by the present invention;
FIG. 4 is a schematic diagram illustrating a driving style training process in the control method for driving a vehicle according to the present invention;
fig. 5 shows a specific flowchart of step S30 in the control method for driving a vehicle according to the present invention;
fig. 6 shows one of the specific flow diagrams of step S330 in the control method for driving a vehicle according to the present invention;
fig. 7 shows a second flowchart of the step S330 in the control method for driving a vehicle according to the present invention;
FIG. 8 is a second flowchart of a control method for driving a vehicle according to the present invention;
fig. 9 is a schematic structural diagram showing a control apparatus for vehicle driving provided by the present invention;
fig. 10 shows a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The driving assistance means a vehicle system in which a system can assist a driver in steering, accelerating, decelerating, and the like, and the driving assistance can make the driver more comfortable to some extent and reduce driving fatigue, but the driving assistance cannot replace the driver, and the driver must always supervise the vehicle, which is still a main operator of the vehicle behavior. With respect to assisted driving, autonomous driving refers to a system that provides longitudinal and lateral control of the vehicle, allowing the driver to operate the steering wheel to some extent or even not at all.
Vehicle Steering control is mainly assisted by an Electric Power Steering (EPS) that assists the driver in Steering when receiving a Steering request signal. The EPS receiving the steering request signal mainly includes receiving a torque request through a torque interface and a steering angle request through a steering angle interface, and the difference between the two is that: the real-time performance of the torque interface is poorer than that of the corner interface, but the torque interface driver feels better when driving at the same time, the closed loop delay of the corner interface is small, the response is quick, and the torque interface is suitable for accurately controlling the angle. Thus, the torque interface is suitable for a driver-assist system, while the corner interface is suitable for an autopilot system.
Specifically, the torque interface is suitable for a vehicle auxiliary driving system, but the transverse auxiliary driving function based on the vehicle auxiliary driving system cannot cover a full-scene road, the phenomenon that the vehicle deviates from a lane due to insufficient steering in a sharp curve cannot be avoided, a driver needs to monitor the driving state of the vehicle all the time and prepare to take over at any time, so that the system safety is questioned for the driver with a radical driving style, and the trust degree of auxiliary driving is reduced; the corner interface is suitable for a vehicle automatic driving system, a transverse automatic driving function based on the vehicle automatic driving system can cover a standard road full scene, ultra-strong over-bending capacity can be shown in sharp bends, a driver does not need to prepare for taking over all the time, but the steering control moment of the vehicle automatic driving system is large, the driver is difficult to intervene reversely, the driving style can be conservative, the driver feels that the vehicle control right is lost, and under the condition that the vehicle automatic driving system lacks a sufficient trust foundation, 245428and uneasiness are achieved.
More specifically, referring to fig. 1 and 2, the torque interface: the angle closed-loop period of an algorithm in the auxiliary driving system is 20ms, a target torque is output, and the instantaneity of a torque instruction is poor; the target torque is superposed with the hand force of the steering wheel, the motor boosting torque is output after passing through the EPS torque control algorithm module, the driver feels better when steering at the same time, but the control effect is influenced by the EPS function algorithm. Angle interface: the EPS receives an angle instruction, the angle closed-loop cycle is 1ms, the output torque instruction is high in instantaneity, and the time delay is small; the target torque is directly output to a current closed loop, the steering closed loop has small time delay and good following smoothness, but the hand feeling is poor when a driver participates in steering, and the steering of the vehicle is difficult to control when a control instruction is abnormal.
It can be seen that, currently, an EPS supplier opens a single control interface only according to customer requirements, and a vehicle assistance/automatic driving system with a single interface cannot adapt to diversified user requirements, that is, cannot meet personalized requirements of users.
The control method of driving of a vehicle of the invention is described below with reference to fig. 3, and includes the steps of:
and S10, acquiring a steering request signal of a driver.
In the embodiment of the invention, the driver can obtain the steering hope of the driver by dialing/pressing the corresponding steering lamp, or by gestures, voice, limb actions and other modes, or by a related intelligent terminal which is connected with the vehicle currently driven by the driver, namely, a steering request signal.
And S20, determining the identity information of the driver, and calling the driving mode corresponding to the identity information from the driving style library based on the determined identity information.
In an embodiment of the present invention, the driver may press the vehicle-related location, including but not limited to: the identity is selected and confirmed after selection by buttons at a center console, a steering wheel and a seat of the vehicle, or by gestures, voice, limb actions, or facial recognition, or by fingerprint information, or iris recognition, or by an intelligent terminal connected with the currently driven vehicle, and the like, so that the corresponding identity information is determined.
In the embodiment of the invention, the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, and each driving style corresponds to a unique driving mode.
It should be noted that the driving style is generated based on sample driving data of the driver corresponding to the identity information, where the sample driving data is various vehicle information collected by the driver in the previous daily driving environment, and the sample driving data includes steering wheel operation information, steering information, throttle information, brake information, and the like. The sample driving data can reflect the driving behavior and driving habits of the driver in the daily driving environment to a certain extent, and further reflect the personalized information and driving style of the driver.
It can be understood that the vehicle using the method of the embodiment of the present invention may integrate an automatic driving system and an auxiliary driving system at the same time, and by determining the identity information of the driver, the driving style and the driving mode corresponding to the driver are confirmed, so as to implement switching of the functions of the driving system, and may satisfy the personalized requirements of different customers.
In the embodiment of the invention, the sample driving data can be acquired by a Vehicle to electrical (V2X) technology, the V2X realizes the compatibility of manual driving and automatic driving by integrating a global positioning system navigation technology, a Vehicle-to-Vehicle communication technology, a wireless communication technology and a remote sensing technology, and simply, a Vehicle matched with the V2X can sense the surrounding environment and acquire related data by using a Vehicle-mounted sensor, a camera system and the like.
And S30, determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter.
In the embodiment of the invention, the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter.
In the method, the steering angle/torque steering parameters required to be applied to the vehicle are calculated in real time through a related closed-loop algorithm, and the steering parameters are sent to an actuator of the vehicle, such as an electric motor, so that the intelligent control of the vehicle steering is realized through the actuator of the vehicle.
The invention relates to a control method for vehicle driving, which generates a driving style corresponding to identity information of a driver through sample driving data of the driver in a daily driving environment, wherein the driving style corresponds to one of an automatic driving mode or an auxiliary driving mode, then calls the corresponding driving mode from a driving style library by virtue of the identity information after acquiring a steering request signal and the identity information of the driver, and controls the vehicle to steer on the basis of a driving module.
In the embodiment of the invention, a plurality of preset driving styles are stored in the driving style library, each preset driving style corresponds to a unique driving mode, the driving style is determined based on the preset driving style, and the preset driving style comprises an aggressive style, a conservative style and the like.
Accordingly, the control method of driving the vehicle of the present invention is described below with reference to fig. 4, and the driving style is trained by the following steps:
and A10, determining sample driving data and identity information of the driver.
In the embodiment of the invention, the sample driving data can be obtained by a Vehicle to Vehicle (V2X) technology, the V2X realizes the compatibility of manual driving and automatic driving by integrating a global positioning system navigation technology, a Vehicle-to-Vehicle communication technology, a wireless communication technology and a remote sensing technology, and simply speaking, a Vehicle matched with the V2X can sense the surrounding environment and obtain related data by using a Vehicle-mounted sensor, a camera system and the like.
Preferably, the relevant sample driving data may be obtained by an On-Board-Unit (OBU) in V2X.
And A20, fitting the sample driving data to obtain fitting data, and determining the difference between the fitting data and various preset driving styles.
It can be understood that the sample driving data may be obtained by continuously collecting corresponding sample driving data on the vehicle and updating the previous sample driving data each time the driver drives the vehicle, that is, the sample driving data may be updated step by step during each driving process, and correspondingly, the fitting data of the driver may be updated step by step during each driving process.
And A30, determining the driving mode corresponding to the preset driving style with the minimum difference value as the driving mode corresponding to the driver.
After the fitting data are obtained, the fitting data are matched with each pre-stored preset driving style, the difference value between the fitting data and each pre-stored preset driving style is calculated one by one, and then the driving mode corresponding to the preset driving style with the minimum difference value is determined as the driving mode corresponding to the driver.
And A40, binding the driving mode and the fitting data corresponding to the driver with the corresponding identity information to generate the driving style corresponding to the driver.
In this way, the driving mode and fitting data of the driver who drives a certain vehicle are bound with the corresponding identity information, and the driving style corresponding to the driver is generated.
The control method of vehicle driving of the present invention is described below with reference to fig. 5, and step S30 specifically includes:
and S31, determining road information and vehicle state information, wherein in the embodiment of the invention, the road information comprises lane line information, road edge information, road boundary information and the like.
And S32, inputting the lane line information and the vehicle state information into the trained vehicle dynamics model to obtain the target corner information output by the vehicle dynamics model.
And S33, generating corresponding steering parameters based on the driving mode and the target steering angle information, and controlling the vehicle to steer based on the steering parameters.
In the embodiment of the invention, the vehicle lane information, the road edge information, the road boundary information and other road information are obtained through the vehicle-mounted camera, the radar and other sensors, the vehicle state information can be obtained through the vehicle signal, and the vehicle dynamics model is constructed through fusion processing of the algorithm module. Based on the position relation of the vehicle dynamics model relative to the lane boundary, the steering parameters (turning angle/torque request) required to be carried out on the vehicle are calculated in real time through a closed-loop algorithm, and the steering parameters are sent to a vehicle actuator, so that the intelligent control of the vehicle steering is realized.
The control method of vehicle driving of the present invention is described below with reference to fig. 6, and step S33 specifically includes:
and S331, determining the current corner information when the driving mode is determined to be the automatic driving mode.
And S332, generating target torque information based on the current steering angle information and the target steering angle information. After the current corner information and the target corner information are obtained, the two parameters are input into an angle closed-loop algorithm and are subjected to related PID control to obtain target torque information.
And S333, generating a corresponding angle steering parameter based on the target torque information, and controlling the vehicle to steer based on the angle steering parameter.
After the target torque information is obtained, the current information and the current torque information are combined, the two parameters are input into a current closed-loop algorithm and subjected to related PID control, and an angle steering parameter is obtained.
The following describes the control method for vehicle driving according to the present invention with reference to fig. 7, where step S33 further specifically includes:
and S331, when the driving mode is determined to be the auxiliary driving mode, determining the current corner information.
And S332, generating target torque information based on the current steering angle information and the target steering angle information.
Similarly, after the current corner information and the target corner information are obtained, the two parameters are input into an angle closed-loop algorithm and are subjected to related PID control to obtain target torque information.
S334, current steering wheel hand force information is determined, and a torque command is determined based on the steering wheel hand force information and the target torque information.
And superposing the target torque information and the hand force information of the steering wheel, inputting the two parameters into a torque loop algorithm and obtaining a torque instruction through related PID control.
And S335, generating a corresponding torque steering parameter based on the torque command, and controlling the vehicle to steer based on the torque steering parameter.
After the torque instruction is obtained, the current information and the current parameter are combined, the two parameters are input into a current closed-loop algorithm and are subjected to related PID control, and a torque steering parameter is obtained.
The control method of the driving of the vehicle of the invention is described below with reference to fig. 8, and the method further includes:
and S40, determining mode selection information of the driver, wherein in the embodiment of the invention, the mode selection information is used for selecting a corresponding driving mode, and the driving mode comprises an automatic driving mode and an auxiliary driving mode.
After the corresponding driving mode is obtained through step S40, step 30 shown in fig. 3 may be performed again.
In the embodiment of the invention, aiming at different customer requirements, selection keys of an auxiliary driving mode and an automatic driving switching mode can be set on a human-computer interaction interface of the vehicle, and customers can select according to self preference. When a customer selects an auxiliary driving mode, a vehicle system automatically matches a torque interface, receives torque steering parameters output by an auxiliary driving system, realizes an auxiliary driving function, and prompts the customer system to be in an auxiliary driving state through a human-computer interface, wherein the auxiliary driving mode meets the requirements of a conservative driver, and the driving fatigue can be relieved through auxiliary driving; when the customer selects the automatic driving mode, the vehicle system automatically matches the corner interface, receives the angle steering parameters output by the automatic driving system, realizes the automatic driving function, and prompts the customer system to be in the automatic driving state through the human-computer interface, the automatic driving mode accords with the requirements of an aggressive driver, hands and feet of the driver are liberated through automatic driving, and complete intelligent control is realized.
The following describes a control device for vehicle driving provided by the present invention, and the control device for vehicle driving described below and the control method for vehicle driving described above may be referred to in correspondence with each other.
The control device for vehicle driving of the invention is described below with reference to fig. 9, and includes:
the signal acquiring module 10 is configured to acquire a steering request signal of a driver.
In the embodiment of the invention, the driver can obtain the steering hope of the driver by dialing/pressing the corresponding steering lamp, or by gestures, voice, limb actions and other modes, or by a related intelligent terminal which is connected with the vehicle currently driven by the driver, namely, a steering request signal.
And the mode determining module 20 is used for determining the identity information of the driver and calling the driving mode corresponding to the identity information from the driving style library based on the determined identity information.
In an embodiment of the present invention, the driver may press the vehicle-related location, including but not limited to: the identity is selected and confirmed after selection by buttons at a center console, a steering wheel and a seat of the vehicle, or by gestures, voice, limb actions, or facial recognition, or by fingerprint information, or iris recognition, or by an intelligent terminal connected with the currently driven vehicle, and the like, so that the corresponding identity information is determined.
In the embodiment of the invention, the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, and each driving style corresponds to a unique driving mode.
It should be noted that the driving style is generated based on sample driving data of the driver corresponding to the identity information, where the sample driving data is various vehicle information collected by the driver in a previous daily driving environment, and the sample driving data includes steering wheel operation information, steering information, throttle information, brake information, and the like. The sample driving data can reflect the driving behavior and driving habits of the driver in the daily driving environment to a certain extent, and further reflect the personalized information and driving style of the driver.
It can be understood that the vehicle using the device of the embodiment of the present invention may integrate an automatic driving system and an auxiliary driving system at the same time, and by determining the identity information of the driver, confirm the driving style and driving mode corresponding to the driver, implement switching of the functions of the driving system, and may satisfy the personalized requirements of different customers.
In the embodiment of the invention, sample driving data can be obtained by a V2X technology, the compatibility of manual driving and automatic driving is realized by integrating a global positioning system navigation technology, a vehicle-to-vehicle communication technology, a wireless communication technology and a remote sensing technology for the V2X, and simply, a vehicle matched with the V2X can sense the surrounding environment by using a vehicle-mounted sensor, a camera system and the like to obtain related data.
And the vehicle control module 30 is used for determining a steering parameter based on the driving mode and controlling the vehicle to steer based on the steering parameter.
In the embodiment of the invention, the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter.
In the device, the turning angle/torque steering parameters required to be applied to the vehicle are calculated in real time through a related closed-loop algorithm, and the steering parameters are sent to an actuator of the vehicle, such as an electric motor, so that the intelligent control of the vehicle steering is realized through the actuator of the vehicle.
The control device for vehicle driving generates the driving style corresponding to the identity information of a driver through sample driving data of the driver in a daily driving environment, the driving style can correspond to one of an automatic driving mode or an auxiliary driving mode, then after a steering request signal and the identity information of the driver are obtained, the corresponding driving mode is called from a driving style library through the identity information, and then the vehicle is controlled to steer based on a driving module.
Fig. 10 illustrates a physical structure diagram of an electronic device, and as shown in fig. 10, the electronic device may include: a processor (processor) 510, a communication Interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic commands in memory 530 to perform a method of controlling vehicle driving, the method comprising:
acquiring a steering request signal of a driver;
determining identity information of the driver, and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, each driving style corresponds to a unique driving mode, the driving styles correspond to the identity information one by one, and the driving styles are generated based on sample driving data of the driver corresponding to the identity information;
determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter.
In addition, the logic commands in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic commands are sold or used as a separate medium. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software medium, which is stored in a storage medium and includes several commands for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program medium including a computer program, the computer program being storable on a non-transitory computer-readable storage medium, the computer program, when executed by a processor, being capable of executing a method for controlling driving of a vehicle provided by the above methods, the method comprising:
acquiring a steering request signal of a driver;
determining identity information of the driver, and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, each driving style corresponds to a unique driving mode, the driving styles correspond to the identity information one by one, and the driving styles are generated based on sample driving data of the driver corresponding to the identity information;
determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling vehicle driving provided by the above methods, the method comprising:
acquiring a steering request signal of a driver;
determining identity information of the driver, and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, each driving style corresponds to a unique driving mode, the driving styles correspond to the identity information one by one, and the driving styles are generated based on sample driving data of the driver corresponding to the identity information;
determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software medium which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (7)

1. A control method of vehicle driving, characterized by comprising:
acquiring a steering request signal of a driver;
determining identity information of the driver, and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, each driving style corresponds to a unique driving mode, the driving styles correspond to the identity information one by one, and the driving styles are generated based on sample driving data of the driver corresponding to the identity information; a plurality of preset driving styles are stored in the driving style library, each preset driving style corresponds to a unique driving mode, and the driving style is determined based on the preset driving style;
determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter;
the determining a steering parameter based on the driving mode, and controlling the vehicle to steer based on the steering parameter specifically include:
determining road information and vehicle state information; the road information comprises lane line information, road edge information and road boundary information;
inputting the road information and the vehicle state information into a trained vehicle dynamics model to obtain target corner information output by the vehicle dynamics model;
generating corresponding steering parameters based on the driving mode and the target steering angle information, and controlling the vehicle to steer based on the steering parameters;
the method includes generating corresponding steering parameters based on the driving mode and the target steering angle information, and controlling the vehicle to steer based on the steering parameters, and further includes:
when the driving mode is determined to be the auxiliary driving mode, determining current corner information;
generating target torque information based on the current steering angle information and target steering angle information;
determining current steering wheel hand force information and determining a torque command based on the steering wheel hand force information and the target torque information; the target torque information and the hand force information of the steering wheel are superposed, and the two parameters are input into a torque loop algorithm and are subjected to related PID control to obtain a torque instruction;
and generating a corresponding torque steering parameter based on the torque instruction, and controlling the vehicle to steer based on the torque steering parameter.
2. The control method of vehicle driving according to claim 1, wherein the driving style is trained by:
determining sample driving data and identity information of a driver;
fitting the sample driving data to obtain fitting data, and determining the difference between the fitting data and various preset driving styles;
determining the driving mode corresponding to the preset driving style with the minimum difference value as the driving mode corresponding to the driver;
and binding the driving mode and the fitting data corresponding to the driver with the corresponding identity information to generate the driving style corresponding to the driver.
3. The method for controlling vehicle driving according to claim 1, wherein the generating a corresponding steering parameter based on the driving mode and the target steering angle information, and controlling the vehicle to steer based on the steering parameter, specifically comprises:
when the driving mode is determined to be the automatic driving mode, determining current corner information;
generating target torque information based on the current steering angle information and target steering angle information;
and generating a corresponding angle steering parameter based on the target torque information, and controlling the vehicle to steer based on the angle steering parameter.
4. The control method of vehicle driving according to claim 1, characterized by further comprising:
determining mode selection information of a driver; the mode selection information is used to select a corresponding driving mode.
5. A control apparatus for vehicle driving, characterized by comprising:
the signal acquisition module is used for acquiring a steering request signal of a driver;
the style determining module is used for determining the identity information of the driver and calling a driving mode corresponding to the identity information from a driving style library based on the determined identity information; the driving modes comprise an automatic driving mode and an auxiliary driving mode, a plurality of driving styles are stored in the driving style library, each driving style corresponds to a unique driving mode, the driving styles correspond to the identity information one by one, and the driving styles are generated based on sample driving data of the driver corresponding to the identity information; a plurality of preset driving styles are stored in the driving style library, each preset driving style corresponds to a unique driving mode, and the driving style is determined based on the preset driving style;
the vehicle control module is used for determining a steering parameter based on the driving mode and controlling the vehicle to steer based on the steering parameter; the steering parameter corresponding to the automatic driving module is an angle control parameter, and the steering parameter corresponding to the auxiliary driving module is a torque control parameter;
wherein the vehicle control module is specifically configured to:
determining road information and vehicle state information; the road information comprises lane line information, road edge information and road boundary information;
inputting the road information and the vehicle state information into a trained vehicle dynamics model to obtain target corner information output by the vehicle dynamics model;
generating corresponding steering parameters based on the driving mode and the target steering angle information, and controlling the vehicle to steer based on the steering parameters;
wherein, the vehicle control module is specifically further configured to:
determining current corner information when the driving mode is determined to be the auxiliary driving mode;
generating target torque information based on the current corner information and the target corner information;
determining current steering wheel hand force information and determining a torque command based on the steering wheel hand force information and the target torque information; the target torque information and the hand force information of the steering wheel are superposed, the two parameters are input to a torque loop algorithm and are controlled by related PID to obtain a torque instruction;
and generating a corresponding torque steering parameter based on the torque instruction, and controlling the vehicle to steer based on the torque steering parameter.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the control method of driving a vehicle according to any one of claims 1 to 4 are implemented when the program is executed by the processor.
7. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of a control method of driving a vehicle according to any one of claims 1 to 4.
CN202211437255.5A 2022-11-17 2022-11-17 Vehicle driving control method, device, equipment and medium Active CN115489512B (en)

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