CN109808694B - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN109808694B CN109808694B CN201910150861.0A CN201910150861A CN109808694B CN 109808694 B CN109808694 B CN 109808694B CN 201910150861 A CN201910150861 A CN 201910150861A CN 109808694 B CN109808694 B CN 109808694B
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Abstract
The application provides a vehicle control method and device, wherein driving behavior characteristic parameters of a driver in a turning process are obtained, a due driving force value of each wheel suitable for drivers of different styles in the turning process is calculated according to the driving behavior characteristic parameters of the driver, distribution of the driving force of the wheels is adjusted according to the driving force value of each wheel, and a steering mode is adjusted to a habitual mode of the driver by adjusting the driving force of the wheels, so that the driver is assisted to better control the vehicle, and traffic accidents are reduced.
Description
Technical Field
The application relates to the technical field of vehicle driving auxiliary control, in particular to a vehicle control method and device.
Background
With the development of economy and the improvement of living standard of people, the automobile industry is developed. The vehicle distributed driving technology has faster and more accurate torque response and stronger control flexibility, so the vehicle distributed driving technology is widely applied to the field of vehicle control. When the vehicle is in straight line normal running on a horizontal road surface, the vertical loads of the left wheel and the right wheel are approximately equal, when the vehicle is turned, the vertical load can be laterally transferred, the vertical load of the outer wheel is increased, the vertical load of the inner wheel is reduced, and the outer tire is pressed and the inner tire is lifted upwards under the action of centrifugal force during the turning process of the vehicle, so that the friction force of the outer tire is larger than that of the inner tire, and at the moment, the differential mechanism distributes more driving force to the inner tire to avoid idle slipping of the inner wheel.
However, in the process of actual driving, the vehicle distributed driving technology is found to have too fast steering response for some drivers, which undoubtedly increases the driver's aggressiveness, and also increases the driver's driving fatigue feeling and accident probability.
Disclosure of Invention
In view of this, the present application provides a vehicle control method and device, so as to facilitate better auxiliary control of a vehicle and reduce occurrence of traffic accidents.
The embodiment of the application provides a vehicle control method, which comprises the following steps:
acquiring at least one driving behavior characteristic parameter of a driver in the driving process;
determining a steering style coefficient of the driver based on the at least one driving behavior feature parameter;
calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient;
based on the driving force corresponding to each wheel, each wheel of the vehicle is controlled to turn according to the corresponding driving force.
Further, the determining the steering style coefficient of the driver based on the at least one driving behavior feature parameter includes:
acquiring a steering style weight coefficient corresponding to each driving behavior characteristic parameter;
and calculating the steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter.
Further, when the at least one driving behavior characteristic parameter includes a yaw rate of the vehicle and an angular acceleration of a steering wheel, the calculating the steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter includes:
the steering style coefficient is calculated using the following formula:
where γ is a yaw rate of the vehicle, A is a steering style weight coefficient of γ among the steering style coefficients, and aθIs the angular acceleration of the steering wheel of the vehicle, B is aθA steering style weight coefficient among the steering style coefficients.
Further, the steering style weight coefficient corresponding to each driving behavior characteristic parameter is determined in the following mode:
obtaining a plurality of sample data, wherein each sample data comprises at least one driving behavior sample characteristic parameter of a driver and a corresponding steering style sample coefficient;
establishing a steering style fuzzy logic membership function based on at least one driving behavior sample characteristic parameter in each sample data and the steering style corresponding to each sample data;
and fitting the steering style sample coefficient in each sample data with the steering style fuzzy logic membership function, and determining the corresponding steering style weight coefficient of each driving behavior characteristic parameter in the steering style coefficients based on the fitting result.
Further, the calculating the driving force of each wheel while the vehicle is turning, based on the steering style coefficient, includes:
acquiring lateral acceleration and longitudinal acceleration of the vehicle during turning and longitudinal required driving force applied to the vehicle by a driver;
calculating a vertical load transfer force of each wheel of the vehicle based on the lateral acceleration, the longitudinal acceleration, and the longitudinal required driving force;
calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient and the vertical load transfer force of each wheel.
Further, the calculating the driving force of each wheel while the vehicle is turning, based on the steering style coefficient and the vertical load transfer force of each wheel, includes:
calculating the driving force ratio of two wheels in each wheel set based on the vertical load transfer force of each wheel, wherein each wheel set comprises a first tire and a second tire which are positioned on two sides of the vehicle and connected to the same axle;
the driving force difference of the two wheels in each set of wheels is calculated using the following formula:
ΔFx＝R×F×(1-N)÷(1+N)；
wherein, Δ FxFor the difference in drive force between the two wheels in each set of wheels, F is the longitudinal demand driveForce, R is the steering style coefficient, and N is the driving force ratio of two wheels in each group of wheel sets;
the driving force of each wheel in each set of wheels is determined based on the difference in driving force of the two wheels in each set of wheels.
An embodiment of the present application further provides a vehicle control apparatus, including:
the acquisition module is used for acquiring at least one driving behavior characteristic parameter of a driver in the driving process;
a first determination module, configured to determine a steering style coefficient of the driver based on the at least one driving behavior feature parameter;
a calculation module for calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient;
and the control module is used for controlling the vehicle to turn according to the corresponding driving force by each wheel of the vehicle based on the corresponding driving force of each wheel.
Further, the first determining module comprises:
the first acquisition unit is used for acquiring a steering style weight coefficient corresponding to each driving behavior characteristic parameter;
and the first calculation unit is used for calculating the steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter.
Further, the first calculation unit, when the at least one driving behavior characteristic parameter includes a yaw rate of the vehicle and a steering wheel angular acceleration, is specifically configured to:
the steering style coefficient is calculated using the following formula:
where γ is a yaw rate of the vehicle, A is a steering style weight coefficient of γ among the steering style coefficients, and aθAs a steering wheel of a vehicleAngular acceleration, B being aθA steering style weight coefficient among the steering style coefficients.
Further, the apparatus further includes a second determining module, specifically configured to: determining a steering style weight coefficient corresponding to each driving behavior characteristic parameter by adopting the following method:
obtaining a plurality of sample data, wherein each sample data comprises at least one driving behavior sample characteristic parameter of a driver and a corresponding steering style sample coefficient;
establishing a steering style fuzzy logic membership function based on at least one driving behavior sample characteristic parameter in each sample data and the steering style corresponding to each sample data;
and fitting the steering style sample coefficient in each sample data with the steering style fuzzy logic membership function, and determining the steering style weight coefficient of each driving behavior characteristic parameter in the steering style coefficient based on the fitting result.
Further, the calculation module comprises:
a second acquisition unit that acquires a lateral acceleration, a longitudinal acceleration, and a longitudinal required driving force that a driver applies to the vehicle when the vehicle turns;
a second calculation unit that calculates a vertical load transfer force of each wheel of the vehicle based on the lateral acceleration, the longitudinal acceleration, and the longitudinal required driving force;
a third calculation unit for calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient and the vertical load transfer force of each wheel.
Further, the third calculating unit is specifically configured to:
calculating the driving force ratio of two wheels in each wheel set based on the vertical load transfer force of each wheel, wherein each wheel set comprises a first tire and a second tire which are positioned on two sides of the vehicle and connected to the same axle;
the driving force difference of the two wheels in each set of wheels is calculated using the following formula:
ΔFx＝R×F×(1-N)÷(1+N)；
wherein, Δ FxSetting the driving force difference of two wheels in each group of wheel sets, wherein F is the longitudinal required driving force, R is the steering style coefficient, and N is the driving force ratio of two wheels in each group of wheel sets;
the driving force of each wheel in each set of wheels is determined based on the difference in driving force of the two wheels in each set of wheels.
An embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the vehicle control method as described above.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the vehicle control method as described above.
According to the vehicle control method and device provided by the embodiment of the application, at least one driving behavior characteristic parameter of a driver in the driving process is obtained; determining a steering style coefficient of the driver based on the at least one driving behavior feature parameter; calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient; based on the driving force corresponding to each wheel, each wheel of the vehicle is controlled to turn according to the corresponding driving force.
Thus, the present application determines the steering style coefficient of the driver by acquiring the behavior characteristic parameter of the driver during driving, calculates the driving force of each wheel during turning based on the steering style coefficient, and changes the driving force allocated to each wheel based on the calculated driving force of the wheel. Therefore, the driver can be assisted to better control the vehicle, and the occurrence of traffic accidents is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a diagram of a system architecture in one possible application scenario;
FIG. 2 is a flow chart of a vehicle control method provided in an embodiment of the present application;
FIG. 3 is a flow chart of a vehicle control method provided in another embodiment of the present application;
fig. 4 is a structural diagram of a vehicle control device according to an embodiment of the present application;
FIG. 5 is a block diagram of a first determination module shown in FIG. 4;
FIG. 6 is a block diagram of the computing module shown in FIG. 4;
fig. 7 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
First, an application scenario to which the present application is applicable will be described. The application can be applied to the technical field of automatic control, and the driving force of each wheel during turning is changed according to the driving habit of the driver by acquiring the behavior characteristic parameters of the driver in the driving process, so that the driver can better control the vehicle, and the occurrence of traffic accidents is reduced. Referring to fig. 1, fig. 1 is a system diagram in the application scenario. As shown in fig. 1, the system includes a vehicle and a control device for assisting driving of the vehicle, and the control device may acquire a behavior characteristic parameter of a driver and calculate a driving force of each wheel during turning based on the behavior characteristic parameter of the driver, so that the driving force of the wheels is adjusted based on the calculated driving force distribution value of each wheel to assist the driver in better controlling the vehicle. The control device can be embedded into the central control device of the vehicle, or can be arranged separately from the central control device of the vehicle and connected with the central control device of the vehicle.
Research shows that the most extensive driving technology currently applied to the field of vehicle control is distributed driving technology, but the distributed driving technology has a quick steering reaction in an actual driving process compared with other vehicle control technologies. However, for some drivers, too fast a steering response will undoubtedly increase the driver's aggressiveness, and will also increase the driving fatigue and the incidence of accidents.
Based on the above, the vehicle control method provided by the embodiment of the application changes the driving force of the wheels by acquiring the behavior characteristic parameters of the driver during steering so as to assist the driver to better control the vehicle.
Referring to fig. 2, fig. 2 is a flowchart of a vehicle control method according to an embodiment of the present application. As shown in fig. 2, a vehicle control method provided in an embodiment of the present application includes:
In this step, the control device can acquire the driving behavior characteristic parameters of the driver during driving, and ensure that the acquired result at least contains one driving behavior characteristic parameter.
The driving behavior characteristic parameters comprise at least one driving behavior characteristic parameter such as steering wheel angle, yaw rate and steering wheel angular acceleration, and can be acquired through a sensor. Specifically, the degree of the steering wheel angle rotated by the driver during the steering process can be obtained through the steering angle sensor, the yaw rate of the whole vehicle can be obtained through the yaw rate sensor, and the driving behavior characteristic parameters such as the angular acceleration of the steering wheel rotated by the driver during the steering process can be obtained through the angular acceleration sensor.
The sensor for collecting the at least one driving behavior characteristic parameter may be a sensor provided on a vehicle, or a sensor provided in the vehicle control device.
In the step, after the driving behavior characteristic parameters are obtained, the collected driving behavior characteristic parameters are processed, and the steering style coefficient of the driver is determined according to the processed driving behavior characteristic parameters.
Wherein, different steering style coefficients can correspond to different steering styles. And determining driving style coefficients corresponding to different driving styles according to different driving habits of the driver, and distinguishing the driving styles of the driver according to the driving style coefficients. For example, if the driver's steering style coefficient is 0, the driver's steering style is the warmest type; if the driver's steering style factor is 1, the driver's steering style is the most aggressive.
Specifically, the steering style coefficient may be determined by a calculation method, for example, the acquired driving behavior characteristic parameters are subjected to data preprocessing, and the processed data are calculated according to a preset calculation formula to obtain the steering style coefficient; the steering style coefficient can also be obtained by inputting the acquired driving behavior characteristic parameters into a driving style recognition model trained in advance and used for recognizing the driving style of the driver.
In a specific embodiment, the trained driving style model may be written into an Electronic Control Unit (ECU) program of the vehicle in advance, and during the running process of the vehicle, the driving style model may be invoked by the ECU program to learn and recognize the at least one driving behavior characteristic parameter, so as to obtain the steering style coefficient of the driver.
The collected driving behavior characteristic parameters are subjected to data preprocessing, including denoising processing, smoothing processing and the like. Specifically, the singular points in the working condition curve composed of the driving behavior characteristic parameters are removed by adopting an impulse noise filter, and the working condition curve with the singular points removed is subjected to smoothing treatment and the like by using a high-frequency noise filter.
Therefore, the working condition curve formed by the driving behavior characteristic parameters after pretreatment has less noise and is smooth, and the steering style coefficient of the driver can be more accurately determined.
In this step, the control device may calculate, after determining the steering style coefficient, a driving force required for each wheel corresponding to the steering style coefficient during turning of the vehicle, based on the steering style coefficient.
Because the driving style coefficient of each driver is different and the driving force of each wheel is different, in the turning process, if the steering style coefficient of the driver is biased to 1, the driving force corresponding to the wheel at the outer side of the vehicle is larger, and the driving force corresponding to the wheel at the inner side of the vehicle is smaller; if the driver's steering style coefficient is biased toward 0, the driving force corresponding to the outer wheels of the vehicle is biased toward small, and the driving force corresponding to the inner wheels is biased toward large.
And 204, controlling the vehicle to turn according to the corresponding driving force by each wheel of the vehicle based on the corresponding driving force of each wheel.
In this step, the control means distributes the driving force to each wheel after determining the driving force corresponding to each wheel, and changes the driving force of each wheel at the time of the original turning so that the vehicle controls the vehicle to turn in accordance with the calculated driving force.
For example, the driving force of the driving vehicle originally has a forward driving force, and the driving force of the wheels can be adjusted according to the steering style coefficient of the driver in order to facilitate the driver to control the driving vehicle during the turning process, and different compensation forces can be provided for each wheel by compensating the driving force of each wheel, for example, the driving force of each wheel in the original vehicle is N, the driving force of the left wheel during the turning process is N +2, and the driving force of the right wheel during the turning process is N-1; alternatively, different driving forces may be directly applied to the two wheels, for example, the driving force of each wheel of the original automobile is N, the driving force of the left wheel is M during turning, and the driving force of the right wheel is W.
Therefore, the energy loss of the vehicle in the running process can be reduced by reasonably distributing the driving force through calculation, the tire is prevented from being worn and damaged, and the steering performance of the vehicle is improved.
According to the vehicle control method provided by the embodiment of the application, at least one driving behavior characteristic parameter of a driver in the driving process is obtained; determining a steering style coefficient of the driver based on the at least one driving behavior feature parameter; calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient; based on the driving force corresponding to each wheel, each wheel of the vehicle is controlled to turn according to the corresponding driving force.
Thus, the present application determines the steering style coefficient of the driver by acquiring the behavior characteristic parameter of the driver during driving, calculates the driving force of each wheel during turning based on the steering style coefficient, and changes the driving force allocated to each wheel based on the calculated driving force of the wheel. Therefore, the driver can be assisted to better control the vehicle, and the occurrence of traffic accidents is reduced.
Referring to fig. 3, fig. 3 is a flowchart of a vehicle control method according to another embodiment of the present application. As shown in fig. 3, a vehicle control method provided in an embodiment of the present application includes:
and 301, acquiring at least one driving behavior characteristic parameter of the driver in the driving process.
In the step, the longitudinal required driving force applied to the vehicle by the driver during turning is obtained by acquiring the transverse acceleration of the whole vehicle and the longitudinal acceleration of the whole vehicle during turning, which are acquired by the sensor, and according to the inclination angle of the accelerator pedal of the driver during turning.
Wherein the longitudinal required driving force can be directly obtained by a throttle pedal module in the actual vehicle. The change conditions of the lateral acceleration and the longitudinal acceleration are different according to different driving styles of the driver, and if the lateral acceleration of the vehicle is larger and the longitudinal acceleration is rapidly reduced when the driver turns in an aggressive mode; if the vehicle is an aggressive driver, the lateral acceleration of the vehicle is small and the longitudinal acceleration is slowly reduced.
In the step, the vertical load transfer force of the original wheels is changed due to the sudden change of the direction of the force of the vehicle in the steering process and the inertia effect, so that the vertical load transfer force of the vehicle needs to be calculated again, the lateral load transfer force and the longitudinal load transfer force of the vehicle in the turning process are calculated based on the acquired lateral acceleration and the longitudinal acceleration of the whole vehicle in the turning process, and then the vertical load transfer force of each wheel of the vehicle in the turning process of different drivers is calculated based on the lateral load transfer force and the longitudinal load transfer force.
In this step, a driving force corresponding to each wheel when the vehicle turns is calculated for a driver who is suitable for different driving styles, based on the determined steering style coefficient and the calculated vertical load transfer force for each wheel.
And step 306, controlling the vehicle to turn according to the corresponding driving force by each wheel of the vehicle based on the corresponding driving force of each wheel.
The descriptions of step 301, step 302, and step 306 may refer to the descriptions of step 201, step 202, and step 204, which are not described herein again.
Further, step 302 includes: acquiring a steering style weight coefficient corresponding to each driving behavior characteristic parameter; and calculating the steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter.
In this step, the control device may acquire a steering style weight coefficient corresponding to each driving behavior characteristic parameter, and then calculate a steering style coefficient of the driver based on the acquired driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter.
The steering style weighting coefficient can be a fixed value set in advance, or the steering style weighting coefficients corresponding to drivers with different driving styles can be determined through a steering style fuzzy logic membership function in a steering style model.
Further, step 302 further includes: when the at least one driving behavior characteristic parameter includes a yaw rate of the vehicle and an angular acceleration of a steering wheel, the calculating the steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter includes:
the steering style coefficient is calculated using the following formula:
where γ is a yaw rate of the vehicle, A is a steering style weight coefficient of γ among the steering style coefficients, and aθIs the angular acceleration of the steering wheel of the vehicle, B is aθA steering style weight coefficient among the steering style coefficients.
In the step, the yaw velocity gamma of the vehicle is obtained, the second derivative of the yaw velocity is calculated, and the second derivative is multiplied by the steering style weight coefficient corresponding to the yaw velocity to obtain the impact degree of the yaw velocity of the vehicle
Obtaining the angular acceleration of the steering wheel of the vehicle, calculating the first derivative of the angular acceleration of the steering wheel, and multiplying the first derivative by the steering style weight coefficient corresponding to the angular acceleration of the steering wheel to obtain the impact degree of the angular acceleration of the steering wheel
Degree of impact of yaw rate of vehicle
Degree of impact with steering wheel angular acceleration
And summing, and solving the ratio of the sum of the impact degrees to the sum of the steering style weight coefficients to obtain a steering style coefficient R.
Further, step 302 further includes: determining a steering style weight coefficient corresponding to each driving behavior characteristic parameter by adopting the following method: obtaining a plurality of sample data, wherein each sample data comprises at least one driving behavior sample characteristic parameter of a driver and a corresponding steering style sample coefficient; establishing a steering style fuzzy logic membership function based on at least one driving behavior sample characteristic parameter in each sample data and the steering style corresponding to each sample data; and fitting the steering style sample coefficient in each sample data with the steering style fuzzy logic membership function, and determining the steering style weight coefficient of each driving behavior characteristic parameter in the steering style coefficient based on the fitting result.
In the step, the driving behavior characteristic parameters of drivers with different steering styles are obtained as sample data, each sample data is ensured to at least contain one driving behavior sample characteristic parameter and a steering style sample coefficient of the driver in the steering process, and a steering style fuzzy logic membership function is established based on at least one driving behavior sample characteristic parameter in each sample data and the steering style of the driver corresponding to each sample data; and then fitting the steering style sample coefficients in the obtained sample data with the established steering style fuzzy logic membership function, and determining the steering style weight coefficients suitable for drivers with different driving styles based on the fitting result.
Further, step 305 includes: calculating the driving force ratio of two wheels in each wheel set based on the vertical load transfer force of each wheel, wherein each wheel set comprises a first tire and a second tire which are positioned on two sides of the vehicle and connected to the same axle;
the driving force difference of the two wheels in each set of wheels is calculated using the following formula:
ΔFx＝R×F×(1-N)÷(1+N)；
wherein, Δ FxSetting the driving force difference of two wheels in each group of wheel sets, wherein F is the longitudinal required driving force, R is the steering style coefficient, and N is the driving force ratio of two wheels in each group of wheel sets;
the driving force of each wheel in each set of wheels is determined based on the difference in driving force of the two wheels in each set of wheels.
In this step, after the steering style coefficient R of the driver is determined from the acquired longitudinal required driving force F applied by the driver during turning, the lateral load transfer force Δ F obtained by calculationNCalculating the vertical load force F of the first tireN1And vertical load force F of the second tireN2Calculating the vertical load force F of the first tireN1Andvertical load force F of second tireN2Calculating a driving force ratio N of the first tire and the second tire by a calculation formula of DeltaF based on a steering style coefficient R of a driver, the acquired longitudinal required driving force F applied by the driver during turning, and the driving force ratio N of the first tire and the second tirexThe difference in driving force Δ F between the two wheels in each set was calculated as R × F × (1-N) ÷ (1+ N)x(ii) a The driving force of each wheel during turning is determined for drivers who are suitable for different driving styles, based on the driving force difference of the two wheels.
According to the vehicle control method provided by the embodiment of the application, at least one driving behavior characteristic parameter of a driver in the driving process is obtained; determining a steering style coefficient of the driver based on the at least one driving behavior feature parameter; acquiring lateral acceleration and longitudinal acceleration of the vehicle during turning and longitudinal required driving force applied to the vehicle by a driver; calculating a vertical load transfer force of each wheel of the vehicle based on the lateral acceleration, the longitudinal acceleration, and the longitudinal required driving force; calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient and the vertical load transfer force of each wheel; based on the driving force corresponding to each wheel, each wheel of the vehicle is controlled to turn according to the corresponding driving force.
In this way, the present application determines the steering style coefficient of the driver by acquiring the behavior characteristic parameter of the driver during driving, acquires the lateral acceleration, the longitudinal acceleration, and the longitudinal required driving force applied to the vehicle by the driver when the vehicle turns, calculates the driving force of each wheel during turning based on the steering style coefficient of the driver and the calculated vertical load transfer force of each wheel, and changes the driving force allocated to each wheel according to the calculated driving force of the wheel. Therefore, the driver can be assisted to better control the vehicle, and the occurrence of traffic accidents is reduced.
Referring to fig. 4, fig. 4 is a structural diagram of a vehicle control device according to an embodiment of the present application, fig. 5 is a structural diagram of a first determination module shown in fig. 4, and fig. 6 is a structural diagram of a calculation module shown in fig. 4. As shown in fig. 4, the vehicle control device 400 includes:
the obtaining module 410 is used for obtaining at least one driving behavior characteristic parameter of a driver in a driving process;
a first determining module 420, configured to determine a steering style coefficient of the driver based on the at least one driving behavior feature parameter;
a calculation module 430 for calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient;
and a control module 440 configured to control the vehicle to turn according to the corresponding driving force based on the corresponding driving force of each wheel.
Further, as shown in fig. 5, the first determining module 420 includes:
a first obtaining unit 421, configured to obtain a steering style weight coefficient corresponding to each driving behavior characteristic parameter;
the first calculating unit 422 is configured to calculate a steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and a steering style weighting coefficient corresponding to each driving behavior characteristic parameter.
Further, when the at least one driving behavior characteristic parameter includes a yaw rate of the vehicle and a steering wheel angular acceleration, the first calculation unit is specifically configured to:
the steering style coefficient is calculated using the following formula:
where γ is a yaw rate of the vehicle, A is a steering style weight coefficient of γ among the steering style coefficients, and aθIs the angular acceleration of the steering wheel of the vehicle, B is aθA steering style weight coefficient among the steering style coefficients.
Further, the apparatus further includes a second determining module, specifically configured to: determining a steering style weight coefficient corresponding to each driving behavior characteristic parameter by adopting the following method:
obtaining a plurality of sample data, wherein each sample data comprises at least one driving behavior sample characteristic parameter of a driver and a corresponding steering style sample coefficient;
establishing a steering style fuzzy logic membership function based on at least one driving behavior sample characteristic parameter in each sample data and the steering style corresponding to each sample data;
and fitting the steering style sample coefficient in each sample data with the steering style fuzzy logic membership function, and determining the steering style weight coefficient of each driving behavior characteristic parameter in the steering style coefficient based on the fitting result.
Further, as shown in fig. 6, the calculation module 430 includes:
a second acquisition unit 431 for acquiring a lateral acceleration, a longitudinal acceleration, and a longitudinal required driving force applied to the vehicle by the driver when the vehicle turns;
a second calculation unit 432 for calculating a vertical load transfer force of each wheel of the vehicle based on the lateral acceleration, the longitudinal acceleration, and the longitudinal required driving force;
a third calculation unit 433 for calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient and the vertical load transfer force of each wheel.
Further, the third calculating unit is specifically configured to:
calculating the driving force ratio of two wheels in each wheel set based on the vertical load transfer force of each wheel, wherein each wheel set comprises a first tire and a second tire which are positioned on two sides of the vehicle and connected to the same axle;
the driving force difference of the two wheels in each set of wheels is calculated using the following formula:
ΔFx＝R×F×(1-N)÷(1+N)；
wherein, Δ FxFor the difference in drive force between the two wheels in each set of wheels, F is the longitudinal demand driveForce, R is the steering style coefficient, and N is the driving force ratio of two wheels in each group of wheel sets;
the driving force of each wheel in each set of wheels is determined based on the difference in driving force of the two wheels in each set of wheels.
The vehicle control device provided by the embodiment of the application acquires at least one driving behavior characteristic parameter of a driver in the driving process; determining a steering style coefficient of the driver based on the at least one driving behavior feature parameter; calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient; based on the driving force corresponding to each wheel, each wheel of the vehicle is controlled to turn according to the corresponding driving force.
Thus, the present application determines the steering style coefficient of the driver by acquiring the behavior characteristic parameter of the driver during driving, calculates the driving force of each wheel during turning based on the steering style coefficient, and changes the driving force allocated to each wheel based on the calculated driving force of the wheel. Therefore, the driver can be assisted to better control the vehicle, and the occurrence of traffic accidents is reduced.
Referring to fig. 7, fig. 7 is a structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 7, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.
The memory 720 stores machine-readable instructions executable by the processor 710, when the electronic device 700 runs, the processor 710 communicates with the memory 720 through the bus 730, and when the machine-readable instructions are executed by the processor 710, the steps of the vehicle control method in the method embodiments shown in fig. 2 and fig. 3 can be performed.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of a vehicle control method in the method embodiments shown in fig. 2 and fig. 3 may be executed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing 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 application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A vehicle control method, characterized by comprising:
acquiring at least one driving behavior characteristic parameter of a driver in the driving process;
determining a steering style coefficient of the driver based on the at least one driving behavior feature parameter;
calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient;
controlling the vehicle to turn in accordance with the corresponding driving force, based on the driving force corresponding to each wheel;
the determining the steering style coefficient of the driver based on the at least one driving behavior feature parameter comprises:
acquiring a steering style weight coefficient corresponding to each driving behavior characteristic parameter;
calculating a steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter;
when the at least one driving behavior characteristic parameter includes a yaw rate of the vehicle and an angular acceleration of a steering wheel, the calculating the steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter includes:
the steering style coefficient is calculated using the following formula:
where γ is a yaw rate of the vehicle, A is a style weight coefficient of γ among the steering style coefficients, and a isθIs the angular acceleration of the steering wheel of the vehicle, B is aθA style weight coefficient among the steering style coefficients.
2. The method according to claim 1, characterized in that the steering style weight coefficient corresponding to each driving behavior characteristic parameter is determined in the following way:
obtaining a plurality of sample data, wherein each sample data comprises at least one driving behavior sample characteristic parameter of a driver and a corresponding steering style sample coefficient;
establishing a steering style fuzzy logic membership function based on at least one driving behavior sample characteristic parameter in each sample data and the steering style corresponding to each sample data;
and fitting the steering style sample coefficient in each sample data with the steering style fuzzy logic membership function, and determining the corresponding steering style weight coefficient of each driving behavior characteristic parameter in the steering style coefficients based on the fitting result.
3. The method according to claim 1, wherein the calculating the driving force of each wheel while the vehicle is turning, based on the steering style coefficient, comprises:
acquiring lateral acceleration and longitudinal acceleration of the vehicle during turning and longitudinal required driving force applied to the vehicle by a driver;
calculating a vertical load transfer force of each wheel of the vehicle based on the lateral acceleration, the longitudinal acceleration, and the longitudinal required driving force;
calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient and the vertical load transfer force of each wheel.
4. The method of claim 3, wherein calculating the driving force of each wheel while the vehicle is turning based on the steering style coefficient and the vertical load transfer force of each wheel comprises:
calculating the driving force ratio of two wheels in each wheel set based on the vertical load transfer force of each wheel, wherein each wheel set comprises a first tire and a second tire which are positioned on two sides of the vehicle and connected to the same axle;
the driving force difference of the two wheels in each set of wheels is calculated using the following formula:
ΔFx＝R×F×(1-N)÷(1+N)，
wherein, Δ FxSetting the driving force difference of two wheels in each group of wheel sets, wherein F is the longitudinal required driving force, R is the steering style coefficient, and N is the driving force ratio of two wheels in each group of wheel sets;
the driving force of each wheel in each set of wheels is determined based on the difference in driving force of the two wheels in each set of wheels.
5. A vehicle control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring at least one driving behavior characteristic parameter of a driver in the driving process;
a first determination module, configured to determine a steering style coefficient of the driver based on the at least one driving behavior feature parameter;
a calculation module for calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient;
the control module is used for controlling the vehicle to turn according to the corresponding driving force on the basis of the corresponding driving force of each wheel;
the first determining module includes:
the first acquisition unit is used for acquiring a steering style weight coefficient corresponding to each driving behavior characteristic parameter;
the first calculation unit is used for calculating the steering style coefficient of the driver based on the at least one driving behavior characteristic parameter and the steering style weight coefficient corresponding to each driving behavior characteristic parameter;
when the at least one driving behavior characteristic parameter comprises a yaw rate of the vehicle and a steering wheel angular acceleration, the first calculation unit is specifically configured to:
the steering style coefficient is calculated using the following formula:
where γ is a yaw rate of the vehicle, A is a steering style weight coefficient of γ among the steering style coefficients, and aθIs the angular acceleration of the steering wheel of the vehicle, B is aθA steering style weight coefficient among the steering style coefficients.
6. The vehicle control device according to claim 5, characterized in that the device further comprises a second determination module, in particular for:
determining a steering style weight coefficient corresponding to each driving behavior characteristic parameter by adopting the following method:
obtaining a plurality of sample data, wherein each sample data comprises at least one driving behavior sample characteristic parameter of a driver and a corresponding steering style sample coefficient;
establishing a steering style fuzzy logic membership function based on at least one driving behavior sample characteristic parameter in each sample data and the steering style corresponding to each sample data;
and fitting the steering style sample coefficient in each sample data with the steering style fuzzy logic membership function, and determining the steering style weight coefficient of each driving behavior characteristic parameter in the steering style coefficient based on the fitting result.
7. The vehicle control apparatus according to claim 5, characterized in that the calculation module includes:
a second acquisition unit that acquires a lateral acceleration, a longitudinal acceleration, and a longitudinal required driving force that a driver applies to the vehicle when the vehicle turns;
a second calculation unit that calculates a vertical load transfer force of each wheel of the vehicle based on the lateral acceleration, the longitudinal acceleration, and the longitudinal required driving force;
a third calculation unit for calculating a driving force of each wheel when the vehicle turns, based on the steering style coefficient and the vertical load transfer force of each wheel.
8. The vehicle control apparatus according to claim 7, wherein the third calculation unit is specifically configured to:
calculating the driving force ratio of two wheels in each wheel set based on the vertical load transfer force of each wheel, wherein each wheel set comprises a first tire and a second tire which are positioned on two sides of the vehicle and connected to the same axle;
the driving force difference of the two wheels in each set of wheels is calculated using the following formula:
ΔFx＝R×F×(1-N)÷(1+N)；
wherein, Δ FxSetting the driving force difference of two wheels in each group of wheel sets, wherein F is the longitudinal required driving force, R is the steering style coefficient, and N is the driving force ratio of two wheels in each group of wheel sets;
the driving force of each wheel in each set of wheels is determined based on the difference in driving force of the two wheels in each set of wheels.
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| CN113060152A (en) * | 2019-12-26 | 2021-07-02 | 北京新能源汽车股份有限公司 | Control method and device for automatic driving of vehicle and vehicle |
| CN113353079A (en) * | 2020-03-05 | 2021-09-07 | 纳恩博（常州）科技有限公司 | Method and device for controlling turning posture of vehicle and vehicle |
| CN114435364B (en) * | 2022-01-27 | 2023-08-04 | 东风汽车集团股份有限公司 | Vehicle accelerator pedal control method and related equipment |
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