CN110155172A

CN110155172A - A kind of vehicle driving method of adjustment, device, vehicle control system and storage medium

Info

Publication number: CN110155172A
Application number: CN201810421205.5A
Authority: CN
Inventors: 向南; 苏奎峰
Original assignee: Tencent Technology Shenzhen Co Ltd; Tencent Dadi Tongtu Beijing Technology Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd; Tencent Dadi Tongtu Beijing Technology Co Ltd
Priority date: 2018-05-04
Filing date: 2018-05-04
Publication date: 2019-08-23
Anticipated expiration: 2038-05-04
Also published as: CN110155172B

Abstract

The invention discloses a kind of vehicle driving method of adjustment, device, vehicle control system and storage mediums, belong to technical field of vehicle.In the vehicle driving method of adjustment, during vehicle driving, it is logged in during the automatic Pilot of vehicle, multiple practical implementation data of vehicle and corresponding multiple target travel data can be compared to obtain multiple traveling deviation datas, and then the misalignment angle of the corner of the steering wheel of vehicle is determined further according to multiple traveling deviation datas of acquisition, that is can corner deviation to the steering wheel of vehicle carry out real-time measurement, and then the real-time offsets of vehicle in the process of moving can be specified, the corner of steering wheel can be further modified according to the misalignment angle of the corner for the steering wheel determined, and then dynamically, traveling error is eliminated in time, to improve the accuracy of vehicle driving, realize more accurate automatic Pilot control.

Description

A kind of vehicle driving method of adjustment, device, vehicle control system and storage medium

Technical field

The present invention relates to technical field of vehicle more particularly to a kind of vehicle driving methods of adjustment, device, vehicle control system And storage medium.

Background technique

With the development of artificial intelligence (Artificial Intelligence, AI) technology and technology of Internet of things, drive automatically It sails technology to be also rapidly progressed and constantly promoted, such as autonomous driving vehicle can be solved by using autonomous driving vehicle The both hands for putting user promote user and drive to experience.

During automatic Pilot, the vehicle of automatic Pilot may result in traveling deviation due to some, in turn So that some gaps are generated between actual driving status and pre-set expectation driving status, so as to cause automatic Pilot Accuracy reduces, and is a problem in need of consideration so how to improve the accuracy of automatic Pilot.

Summary of the invention

The embodiment of the present invention provides a kind of vehicle driving method of adjustment, device, vehicle control system and storage medium, is used for Improve the accuracy of vehicle driving.

In a first aspect, providing a kind of vehicle driving method of adjustment, which comprises

Vehicle is obtained in multiple actual travel data at multiple moment；

By each actual travel data in the multiple actual travel data respectively with corresponding target travel data into Row compares, to obtain multiple traveling deviation datas, wherein each target travel data be with for pre-set mesh of each moment Mark the corresponding running data of driving status；

According to the multiple traveling deviation data, the misalignment angle of the corner of the steering wheel of the vehicle is determined；

It is modified according to corner of the misalignment angle to the steering wheel.

It in the above-mentioned technical solutions, can be to vehicle during vehicle driving, such as during automatic Pilot Multiple actual travel data and corresponding multiple target travel data be compared to obtain multiple traveling deviation datas, in turn Further according to acquisition multiple traveling deviation datas determine vehicle steering wheel corner misalignment angle, that is to say, that can be right The corner deviation of the steering wheel of vehicle carries out real-time measurement, and then can specify the real-time offsets of vehicle in the process of moving, into The corner of steering wheel can be modified to one step according to the misalignment angle of the corner for the steering wheel determined, and then dynamic Ground, in time elimination traveling error realize accurate automatic Pilot to improve the accuracy of vehicle driving.

In a kind of possible design, according to the multiple traveling deviation data, the steering wheel of the vehicle is determined Before the misalignment angle of corner, further includes:

According to the multiple traveling deviation data, determining the vehicle, there are constant ride deviations, wherein the constant row Sailing deviation is static deviation stable existing for the vehicle.

Vehicle causes steering wheel or other components in installation process in assembly due to the technological disparity of operator In there is installation deviation, these installation deviations make vehicle that can have stable static deviation in the process of moving, in another example vehicle In use, since the different height for leading to tire of the tire pressure of tire wear, the tire of vehicle body the right and left exists Difference, automotive suspension spring the hardware anomalies existing for vehicles itself such as occur wearing and also result in vehicle to be existed in the process of moving Travel deviation, due to it is above-mentioned these due to caused by hardware anomalies travel deviation whithin a period of time be usually will not occur Too big variation, so while the stable static deviation that the traveling deviation of vehicle caused by these reasons is considered as, i.e., Constant ride deviation in this programme.

Due to constant ride deviation be it is stable, can be more accurate, thoroughly for the deviation of dynamic change It is eliminated, so that it is more accurate for the elimination of deviation and thorough, to improve the accuracy of vehicle driving.So in this programme In, it, can also be first according to more before determining the misalignment angle of the corner of steering wheel of vehicle according to multiple traveling deviation datas A traveling deviation data determines vehicle, and there are constant ride deviations, later use can be made to the corner of steering wheel in this way Angle carry out vehicle driving calibration mode more can close to traveling deviation actual type so that for the traveling deviation of vehicle The mode of calibration and the reason of generate the traveling deviation between can be bonded as far as possible, matching is higher.

In a kind of possible design, according to the multiple traveling deviation data, determine that there are constant rides for the vehicle Deviation, comprising:

According to the identical rule of classification for being divided into one group of type of traveling deviation data, by the multiple traveling deviation data It is divided into M group traveling deviation data, M is positive integer；

For every group of traveling deviation data in the N group traveling deviation data in M group traveling deviation data, institute is determined The deviation desired value for all traveling deviation datas that every group of traveling deviation data includes is stated, N is positive integer, and N is less than or equal to M；

If the deviation desired value of every group of traveling deviation data is greater than corresponding target offset desired value, and described every group The fluctuating change range for all traveling deviation datas that traveling deviation data includes is less than corresponding predetermined fluctuation variation range, then Determining the vehicle, there are constant ride deviations.

In the above-mentioned technical solutions, it can be determined whether there is by a seed type or a plurality of types of traveling deviation datas Constant ride deviation, method of determination is simple, convenient, scheme it is with strong applicability.

In a kind of possible design, the multiple actual travel data are the traveling number in the same running section According to；According to the multiple traveling deviation data, the misalignment angle of the corner of the steering wheel of the vehicle is determined, comprising:

Corresponding multiple heading angle deviations of the multiple moment are filtered, to obtain effective heading angle deviation；

The effective heading angle deviation is handled, to obtain average heading angular displacement；

Determine that the average heading angular displacement is the misalignment angle of the corner of the steering wheel.

In a kind of possible design, the multiple actual travel data are divided at least two groups, in at least two groups Every group of actual travel data for including are the running data in different running sections；According to the multiple traveling variation According to determining the misalignment angle of the corner of the steering wheel of the vehicle, comprising:

Determination deviation fluctuating range is less than or equal to the target group of predetermined fluctuation amplitude from at least two groups；

All heading angle deviations for including to each target group in the target group are filtered, to obtain each target Effective heading angle deviation in group；

Effective heading angle deviation included by each target group is handled, to obtain average heading angular displacement；

Respective description is carried out for a running section and multiple running sections respectively above, so that the embodiment of the present invention In scheme can be suitable for more scenes, the universality of enhanced scheme.

It include at least one straight line in the multiple moment corresponding all running sections in a kind of possible design Running section.

Because linear section is more steady, vehicle is typically at more stable driving status in linear section, And it is easier detected if the deviation of directivity in linear section, so by obtaining in linear section Actual travel data are compared with corresponding target travel data, and the traveling deviation data enabled is more accurate, And then it improves to steering wheel more precisely corner amendment.

In a kind of possible design, by each actual travel data in the multiple actual travel data respectively with Before corresponding target travel data are compared, further includes:

Determine that the vehicle is greater than or equal to the first predetermined speed in the speed desired value of multiple speed at multiple moment.

Being greater than or equal to the first predetermined speed in the speed desired value of multiple speed may indicate that vehicle is in stable traveling State, if carrying out traveling deviation measurement at this time, accuracy is higher.

In a kind of possible design, before being modified according to corner of the misalignment angle to the steering wheel, Further include:

Determine that the travel speed of the vehicle is less than or equal to the second predetermined speed.

The speed of vehicle it is smaller or stop when carry out steering wheel angle amendment, can ensure safety as far as possible.

In a kind of possible design, after being modified according to corner of the misalignment angle to the steering wheel, Further include:

Obtain several actual travel data in the scheduled duration after the corner to the steering wheel is modified；

According to several described actual travel data and several corresponding target travel data, the steering wheel is determined The new misalignment angle of corner；

If the new misalignment angle is less than target offset angle, it is determined that have to the amendment of the corner of the steering wheel Effect.

May be implemented through the above technical solution to amendment whether effectively test, it is ensured that modified validity and in time Property.

Second aspect, provides a kind of vehicle driving adjustment device, which includes:

First obtains module, for obtaining vehicle in corresponding multiple actual travel data of multiple moment；

Second obtain module, for by each actual travel data in the multiple actual travel data respectively with it is corresponding Target travel data be compared, to obtain multiple traveling deviation datas, wherein each target travel data are and be each The corresponding running data of moment pre-set target travel state；

First determining module, for determining the corner of the steering wheel of the vehicle according to the multiple traveling deviation data Misalignment angle；

Correction module, for being modified according to corner of the misalignment angle to the steering wheel.

In a kind of possible design, described device further includes the second determining module, is used for:

In first determining module according to the multiple traveling deviation data, the corner of the steering wheel of the vehicle is determined Misalignment angle before, according to the multiple traveling deviation data, determining the vehicle, there are constant ride deviations, wherein institute Stating constant ride deviation is static deviation stable existing for the vehicle.

In a kind of possible design, second determining module is specifically used for:

According to the identical rule of classification for being divided into one group of type of traveling deviation data, by the multiple traveling deviation data It is divided into M group traveling deviation data, M is positive integer；For in the N group traveling deviation data in M group traveling deviation data Every group of traveling deviation data, determine all traveling deviation datas that every group of traveling deviation data includes deviation expectation Value, N is positive integer, and N is less than or equal to M；If the deviation desired value of every group of traveling deviation data is greater than corresponding predetermined Deviation desired value, and the fluctuating change range of every group of traveling deviation data all traveling deviation datas for including is less than and corresponds to Predetermined fluctuation variation range, it is determined that there are constant ride deviations for the vehicle.

In a kind of possible design, the multiple actual travel data are the traveling number in the same running section According to；First determining module is specifically used for:

Corresponding multiple heading angle deviations of the multiple moment are filtered, to obtain effective heading angle deviation；It will The effective heading angle deviation is handled, to obtain average heading angular displacement；And determine the average heading angular displacement For the misalignment angle of the corner of the steering wheel.

In a kind of possible design, the multiple actual travel data are divided at least two groups, in at least two groups Every group of actual travel data for including are the running data in different running sections；First determining module is specifically used In:

Determination deviation fluctuating range is less than or equal to the target group of predetermined fluctuation amplitude from at least two groups；To each All heading angle deviations that target group includes are filtered, to obtain effective heading angle deviation in each target group；To each Effective heading angle deviation that target group includes is handled, to obtain average heading angular displacement；And determine the average heading Angular displacement is the misalignment angle of the corner of the steering wheel.

In a kind of possible design, described device further includes third determining module, is used for:

It is described second obtain module by each actual travel data in the multiple actual travel data respectively with it is right Before the target travel data answered are compared, determine that the vehicle is greater than in the speed desired value of multiple speed at multiple moment Or it is equal to the first predetermined speed.

In a kind of possible design, described device further includes the 4th determining module, is used for:

Before the correction module is modified according to corner of the misalignment angle to the steering wheel, described in determination The travel speed of vehicle is less than or equal to the second predetermined speed.

In a kind of possible design, described device includes amendment correction verification module, is used for:

After the correction module is modified according to corner of the misalignment angle to the steering wheel, obtain right The corner of the steering wheel be modified after scheduled duration in several actual travel data；According to several described reality Running data and several corresponding target travel data, determine the new misalignment angle of the corner of the steering wheel；If described New misalignment angle is less than target offset angle, it is determined that effective to the amendment of the corner of the steering wheel.

The third aspect, provides a kind of vehicle driving adjustment device, and described device includes:

Memory, for storing program instruction；

Processor executes such as the according to the program instruction of acquisition for calling the program instruction stored in the memory Any method includes the steps that in one side.

Fourth aspect provides a kind of vehicle control system, the system comprises:

Vehicle；

Vehicle driving adjusts device, the corner of the steering wheel for determining the vehicle according to multiple traveling deviation datas After misalignment angle is modified according to corner of the misalignment angle to the steering wheel, and the control vehicle is to correct Steering wheel corner traveling.

5th aspect, provides a kind of storage medium, the storage medium is stored with computer executable instructions, the calculating Machine executable instruction is for executing computer as any method includes the steps that in first aspect.

6th aspect provides a kind of vehicle driving adjustment device, and it includes at least one processing which, which adjusts device, Device and readable storage medium storing program for executing, when the instruction for including in the readable storage medium storing program for executing is executed by least one processor, Ke Yiru Any method includes the steps that in first aspect.

7th aspect, provides a kind of chip system, which includes processor, can also include memory, be used for The step of realizing any method in such as first aspect.The chip system can be made of chip, also may include chip and its His discrete device.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The disclosure can be limited.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Inventive embodiments for those of ordinary skill in the art without creative efforts, can also be according to mentioning The attached drawing of confession obtains other attached drawings.

Fig. 1 is the schematic diagram of the vehicle driving method of adjustment in the embodiment of the present invention；

Fig. 2 is the application scenarios schematic diagram of the vehicle driving method of adjustment in the embodiment of the present invention；

Fig. 3 is the another application schematic diagram of a scenario of the vehicle driving method of adjustment in the embodiment of the present invention；

Fig. 4 a is the another application schematic diagram of a scenario of the vehicle driving method of adjustment in the embodiment of the present invention；

Fig. 4 b is the another application schematic diagram of a scenario of the vehicle driving method of adjustment in the embodiment of the present invention；

Fig. 4 c is the another application schematic diagram of a scenario of the vehicle driving method of adjustment in the embodiment of the present invention；

Fig. 5 is the flow chart of the vehicle driving method of adjustment in the embodiment of the present invention；

Fig. 6 is the schematic diagram of multiple running sections of the vehicle in the embodiment of the present invention；

Fig. 7 is the schematic diagram that the motion state of vehicle is decomposed into two components in the embodiment of the present invention；

Fig. 8 is the schematic diagram at multiple actual heading angles for the section Path_1 in Fig. 6 in the embodiment of the present invention；

Fig. 9 is the schematic diagram at multiple actual heading angles for the section Path_2 in Fig. 6 in the embodiment of the present invention；

Figure 10 be multiple actual heading angles for the section Path_1 in Fig. 6 in the embodiment of the present invention with it is corresponding more The contrast schematic diagram of a target course；

Figure 11 is the structural schematic diagram of the vehicle driving adjustment device in the embodiment of the present invention；

Figure 12 is the structural schematic diagram of the vehicle control system in the embodiment of the present invention；

Figure 13 is another structural schematic diagram of the vehicle driving adjustment device in the embodiment of the present invention.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.? In the case where not conflicting, the feature in embodiment and embodiment in the present invention can mutual any combination.Although also, flowing Logical order is shown in journey figure, but in some cases, it can be to be different from shown or described by sequence execution herein The step of.

Term " first " and " second " in description and claims of this specification and above-mentioned attached drawing are for distinguishing Different objects, not for description particular order.In addition, term " includes " and their any deformations, it is intended that covering is not Exclusive protection.Such as it contains the process, method, system, product or equipment of a series of steps or units and is not limited to The step of listing or unit, but optionally further comprising the step of not listing or unit, or optionally further comprising for these The intrinsic other step or units of process, method, product or equipment.

In the embodiment of the present invention, " multiple " can indicate at least two, for example, can be two, three or more, The embodiment of the present invention is with no restrictions.

In addition, the terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates may exist Three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.Separately Outside, character "/" herein typicallys represent the relationship that forward-backward correlation object is a kind of "or" in the case where not illustrating.

The part term being referred to herein is illustrated below, in order to those skilled in the art understand that.

1, running data refers to the related data for showing the driving status of vehicle, could be aware that by running data The driving status of vehicle, running data can be corresponding with the traveling moment, i.e., each moment in the driving process of vehicle, It can be corresponding with a running data, in other words, may indicate that vehicle in the traveling at corresponding moment by a running data State.

Latitude and longitude information of the running data of vehicle for example including vehicle, the speed of vehicle, course angle of vehicle, etc., And the position of vehicle can be determined by latitude and longitude information therein.In the specific implementation, some biographies in vehicle can be passed through Sensor acquires these running datas, such as can pass through global positioning system (the Global Positioning in vehicle System, GPS) acquisition latitude and longitude information, pass through the acceleration transducer or Inertial Measurement Unit (Inertial in vehicle Measurement Unit, IMU) acquisition speed, and the course angle, etc. of vehicle can be detected by the IMU in vehicle.

2, deviation data is travelled, refers to variance data existing between two running datas.

For example, during actual travel, running data of the vehicle at the first moment is the first running data, and vehicle is the The running data at two moment is the second running data, if the first moment is different with the driving status at the second moment, first Data can be then had differences between running data and the second running data, it at this time can be by first moment of variance data and second Traveling deviation data between moment.

In another example a certain moment during vehicle actual travel, vehicle has actual travel data, due to being automatic It drives, so corresponding target travel state is pre-set for a certain moment, and for the target travel shape The running data of state is for example referred to as target travel data, if in the actual travel data and target travel data at a certain moment Identical or data difference is within certain tolerance, it may be considered that the vehicle of automatic Pilot is travelled substantially according to expected , when there are data differences present in data difference exclusive or to be greater than tolerance between actual travel data and target travel data Words, it may be considered that there are certain deviations between the vehicle of automatic Pilot and expected driving status, it at this time can be by reality It is referred to as between running data and target travel data there are data difference and travels deviation data.

It following is a brief introduction of the technical background of the embodiment of the present invention.

As previously mentioned, during vehicle driving, such as during automatic Pilot, the vehicle of automatic Pilot due to Some reasons may result in traveling deviation, for example, installation error when due to auto tire wear or vehicle release and cause Traveling deviation so that some gaps can be generated between actual travel state and pre-set expectation driving status, and then lead Causing the accuracy of automatic Pilot reduces.

In consideration of it, the embodiment of the present invention provides a kind of vehicle driving method of adjustment, it is real to improve the accuracy of vehicle driving Now more accurate automatic Pilot control.Vehicle driving method of adjustment in the embodiment of the present invention shown in Figure 1 it is whole Body schematic diagram can determine the actual travel path of vehicle, and and actual travel path according to the actual travel situation of vehicle Corresponding reference path (also referred to as target travel path) is inclined when there is traveling between actual travel path and target travel path When poor, it can be acquired by the sensor (such as IMU, GPS and other sensors) in vehicle and obtain some actual travel data, Then actual travel data target travel data corresponding with target travel path are compared calculating again, to determine vehicle Steering wheel corner deviation, finally again with certain correction strategy according to the corner deviation for the steering wheel determined to vehicle The corner of steering wheel is modified, and is calibrated dynamically, in realtime with realizing to the traveling deviation of vehicle, is improved certainly with reaching The purpose of the dynamic accuracy driven.

The application scenarios that can be applicable in the embodiment of the present invention below do some simple introductions, it should be noted that following The application scenarios of introduction are merely to illustrate the embodiment of the present invention and non-limiting.It in the specific implementation, can be clever according to actual needs Technical solution provided in an embodiment of the present invention is applied livingly.

Fig. 2 is a kind of application scenarios that the vehicle driving method of adjustment in the embodiment of the present invention is able to use, in the application In scene include vehicle 211, vehicle 212, vehicle 213 and server 221, server 222, wherein vehicle 211 by network with Server 221 connects, and vehicle 212, vehicle 213 are connect by another network with server 222, that is to say, that can be vehicle 211 independent one server 221 of deployment, may be implemented the control to vehicle 211 by server 221, and can allow vehicle 212 and 213 shared service net 222 of vehicle, the control to vehicle 212 and vehicle 213 may be implemented by server 222.Also, Server 221 and server 222 can be deployed in distal end, such as the control to corresponding vehicle is realized by way of cloud. By taking vehicle 211 as an example, vehicle 211 can acquire actual travel data by built-in some sensors, then by the reality of acquisition Running data is sent to corresponding server 221 by network, such as can send in real time or periodicity sending, server 221 after the actual travel data for receiving the transmission of vehicle 211, can be compared meter with preset target travel data It calculates, to determine the traveling deviation between the actual travel state of vehicle 211 and desired target travel state, wherein with reality Running data corresponding target travel data in border can be stored in advance in corresponding server, or can preset traveling road Diameter determines the target travel data at each moment.

Fig. 3 is another application scenarios that the vehicle driving method of adjustment in the embodiment of the present invention is able to use, relative to For application scenarios shown in Fig. 2, road communication equipment 31 and road communication equipment 32, road are increased in the application scenarios of Fig. 3 Road communication equipment 31 and road communication equipment 32 can be set in the one or both sides of road, as shown in Figure 2, road communication is set Standby 31 communicates with server 221 and vehicle 211 respectively by network, similarly, road communication equipment 32 pass through network respectively with Server 222, vehicle 212 and vehicle 213 communicate.By taking vehicle 211 as an example, vehicle 211 can be by the actual travel data of acquisition In real time or it is sent periodically to road communication equipment 31, and then again as road communication equipment 31 by reality transmitted by vehicle 211 Border running data is transmitted to server 221.

Fig. 4 a is another application scenarios that are able to use of vehicle driving method of adjustment in the embodiment of the present invention, is answered at this With in scene, including vehicle 411 and server 421, wherein server 421 is placed in the inside of vehicle 411, relative to above-mentioned Fig. 2 and shown in Fig. 3 by server disposition mode at the far end, is that will be used to control vehicle in application scenarios shown in figure 4a 411 server 421 has been deployed in local, as onboard servers.Wherein, can pass through between server 421 and vehicle 411 Wired or wireless mode keeps communicating to connect or server 421 can be embeddedly set in vehicle 411, vehicle 411 The actual travel data for acquiring acquisition can be real-time or be periodically transmitted to server 421, and server 421 can be to vehicle 411 realize the control of automatic Pilot.

Fig. 4 b is another application scenarios that are able to use of vehicle driving method of adjustment in the embodiment of the present invention, is answered at this With in scene, including vehicle 412 and traveling control centre 422, the traveling control centre 422 for example can be automatic Pilot control Center, traveling control centre 422 can be built in the onboard operations system of vehicle 412, be the equal of, traveling can be controlled A software function module is regarded at center 422 as, and the real-time control to vehicle 412 also may be implemented by travelling control centre 422 System, and the interaction with traveling control centre 422 may be implemented by the display screen in vehicle 412.

Fig. 4 c is another application scenarios that the vehicle driving method of adjustment in the embodiment of the present invention is able to use, relative to It further include terminal device 431 in the application scenarios of Fig. 4 c for application scenarios shown in Fig. 4 b, terminal device 431 and traveling are controlled Center 422 processed keeps communication connection, may be implemented and travels between control centre 422 by carrying out operation to terminal device 431 Interaction, to realize control to vehicle 412.

Servers-all in earlier figures 2- Fig. 4 c, such as server 221, server 222, server 421 may each be Personal computer, large and medium-sized computer, computer cluster, etc. and terminal device therein 431 for example can be mobile phone, Tablet computer, palm PC (Personal Digital Assistant, PDA), laptop, mobile unit, intelligence are worn Wear formula equipment (such as smartwatch and Intelligent bracelet), personal computer, etc..

The technical solution provided for the embodiment of the present invention will be further explained, with reference to the accompanying drawing and specific embodiment pair This is described in detail.Although the embodiment of the invention provides as the following examples or method operating procedure shown in the drawings, It but based on routine or in the method may include more or less operating procedure without creative labor.It is patrolling It collected in upper the step of there is no necessary causalities, the execution sequence of these steps is not limited to execution provided in an embodiment of the present invention Sequentially.It, can be according to embodiment in the treatment process of the vehicle driving adjustment of the method in practice or when device executes Either method shown in the drawings sequence executes or parallel executes that (such as parallel processor or multiple threads apply ring Border).

The flow chart of vehicle driving method of adjustment provided in an embodiment of the present invention shown in Figure 5, the stream of this method Journey is described as follows.

Step 51: obtaining vehicle in multiple actual travel data at multiple moment.

Vehicle may pass through multiple sections in the process of moving, and the surface conditions in each section passed through may It is different, such as vehicle, during automatic Pilot, the section that 15:00-15:02 passes through is the bend section of cement pavement, The section that 15:08-15:13 passes through is the linear section, etc. of bituminous pavement, and vehicle travels on the section of different surface conditions Degree of stability be in general different, for example the stability that vehicle travels on expressway is generally greater than in city road The stability of road traveling, because the general very fast and road of speed on expressway is more unimpeded, vehicle can be longer Temporally stable traveling.

Running data of vehicle during actual travel is referred to as actual travel data, practical row in the embodiment of the present invention Sailing data may include the running datas such as position, speed, course angle during actual travel, and position, speed, course angle etc. Running data regards different types of running data as.

The schematic diagram of vehicle shown in Figure 6 in the process of moving, it is assumed that vehicle successively have passed through Path_1, These three sections Path_2 and Path_3, and just travel on the section Path_3 at this time, it is seen that Path_1 and Path_ therein 3 be linear section, and Path_2 is bend section.

For the vehicle of traveling, it can be seen as the particle of a movement, it can be with during traveling Its driving status can be decomposed into position and course for the vehicle of any time by the movement for regarding a vector as Component corresponding to the two running datas of angle, and it is possible to first set a rectangular co-ordinate, the subsequent traveling shape for vehicle The decomposition of state can be decomposed based on the rectangular co-ordinate, such as shown in Fig. 7, for the A being respectively in Path_1 The motion state of the vehicle of the vehicle and B point in Path_2 of point can be sat according to right angle shown in the upper left corner in Fig. 7 Mark system is decomposed, and in Fig. 7, the circular label of black indicates vehicle, and the solid arrow acted in black circle indicates vehicle Actual travel state, and dotted arrow respectively indicates the signal decomposed to the actual travel state of vehicle, in one kind In possible embodiment, for example, can by vehicle each moment actual travel state decomposition be position and course angle two Component.

In a kind of possible embodiment, multiple actual travel numbers at multiple moment on a section can be obtained It can be one in running section according to, i.e., multiple actual travel data, in other words, multiple actual travel data are same One running data in running section.

Such as multiple actual travel data are the course angle on the section Path_1 in Fig. 6.It is assumed that vehicle is in Path_1 Concurrence has been sailed 5 minutes on section, the course angle of vehicle is successively acquired according to 30 seconds intervals, so 5 minutes can obtain 10 The course angle at moment, the course angle in this 5 minutes are as shown in Figure 8.Since Path_1 is linear section, according to the traveling side of straight trip To, so course angle of the vehicle in this 5 minutes on the section Path_1 is smaller, such as in Fig. 8 shown in it is most Course angle is distributed in 4 ° or so, and is about 10 ° for the course angle wherein at the 90th second, the course angle at the moment with it is other The gap that moment is each about between 4 ° of course angle is larger, can be collected by the moment according to the principle of general normal distribution Course angle regards invalid data as, i.e., about 4 ° of the course angle collected the 90th second place is determined as invalid data, When so subsequent using these course angles, so that it may not consider further that the invalid data, i.e., directly be given up, can be mentioned in this way High accuracy.

In another example multiple actual travel data are the course angle on the section Path_2 in Fig. 6.It is assumed that vehicle exists Concurrence has been sailed 2 minutes on the section Path_2, the course angle of vehicle is successively acquired according to 10 seconds intervals, so 2 minutes can obtain The course angle at 12 moment is obtained, the course angle in this 2 minutes is as shown in Figure 9.Since Path_2 is bend section, according to bend Bend is towards being travelled, so course angle of the vehicle in this 2 minutes on the section Path_2 is larger, such as in Fig. 9 Shown in be largely distributed in 35 ° or so, and it is smaller for the course angle wherein at the 10th second, this is because vehicle is rigid It is just transitioned on bend section from the Path_1 of linear section, so the acquisition of the 10th second course angle changes suddenly due to road conditions It is less accurate to measure caused by reason, or it is to be understood that the 10th second course angle sails section (i.e. closer to lastrow Path_1 actual heading angle).

In alternatively possible embodiment, multiple actual travel data in the embodiment of the present invention are also possible to multiple Running section, i.e., multiple actual travel data can be divided at least two groups actual travel data, every group of actual travel data The running section different from one is corresponding, for example including two groups of actual travel data, one group therein, example corresponding with Path_1 Multiple course angles in the section Path_1 for example shown in Fig. 8, one group in addition is corresponding with Path_2, for example, shown in Fig. 9 Multiple course angles in the section Path_2, etc..

Step 52: by each actual travel data in multiple actual travel data respectively with corresponding target travel data Be compared, to obtain multiple traveling deviation datas, wherein each target travel data be with for each moment it is pre-set The corresponding running data of target travel state.

For the vehicle of automatic Pilot, the travel route of vehicle can be pre-set, or can directly select In beginning and end again by vehicle according to the Driving control algorithm of itself determined in conjunction with built-in electronic map by starting point to Driving path between terminal, either that mode have for each actual travel state of the vehicle in actual travel One corresponding target travel state is corresponding, and the target travel state can be understood as user and it is expected that vehicle is travelled State, i.e., theoretically accurately travelled after through pre-set mode above-mentioned or the mode of vehicle itself control State, for example, for the section Path_1 shown in Fig. 6, since Path_1 is linear section, so preferably driving Sailing state is exactly to travel along rectilinear direction, then the course angle of vehicle should be just 0 ° or as far as possible close to 0 ° at this time, however In practice, it is not to be to travel close to 0 ° of course angle that vehicle may be caused due to some, such as a kind of actual row Shape is sailed as shown in figure 8, i.e. vehicle is travelled according to about 4 ° of course angle.It is shown in Figure 10 for the Path_ in Fig. 6 The actual heading angle in 1 section and target course schematic diagram, the circular mark of black indicates the reality of each sampling instant in Figure 10 Border course angle, and the circular mark of white indicates the corresponding target course of each sampling instant, it is seen that at every sampling moment, There is about 4 ° of heading angle deviation between actual heading angle and target course.

It is above only with the course angle in one running section for example, for other running sections and other Running data, can using foregoing description it is similar by the way of understand, just no longer have been illustrated here herein.

In practice, since the road conditions of linear section are for other sections such as bend, driving conditions come relatively Say much better, and the driving status of vehicle is also easier tends towards stability in linear section, and gets on the bus in linear section Be usually can accurately according to rectilinear direction traveling, so under linear section calculate vehicle traveling deviation it is more straight It connects conveniently, is influenced by other factors smaller, can ensure accuracy well, so acquiring in inventive embodiments When practical the multiple actual travel status data, it can at least take the running data in straight line running section as reference Data, such as Path_1 or Path_3 shown in Fig. 6.

Step 53: according to multiple traveling deviation datas, determining the misalignment angle of the corner of the steering wheel of vehicle.

Continue by taking Figure 10 as an example, can determine the course between each actual heading angle and corresponding each target course Angular displacement, and then corresponding 10 heading angle deviations of available 10 moment, at this time can be by this 10 heading angle deviation reasons It solves to be multiple traveling deviation datas in the embodiment of the present invention.

Above-mentioned is the acquisition process that multiple traveling deviation datas are illustrated with the such running data of course angle, In practice, it certainly can also include other types of running data, such as can also include position deviation data, etc..? When determining position deviation data, can be indicated with longitude and latitude, specifically, be by the practical longitude and latitude at each moment with it is right The target longitude and latitude answered is compared to obtain final position deviation data.

In general, traveling deviation may include the deviation of travel route and/or the deviation of driving direction, and driving direction Deviation it is most of the reason is that because caused by the corner deviation of the steering wheel of vehicle, it is in embodiments of the present invention, main It to be realized by correcting the corner deviation of steering wheel to traveling correction for drift.

Again since the heading angle deviation of vehicle can intuitively show the corner deviation of steering wheel, so of the invention real The corner deviation that heading angle deviation can be directly determined as to steering wheel in example is applied, the mode explicitly converted direct in this way, Simple and clear, efficiency is higher, and accuracy is also relatively high.

If all actual travel data are all taken from same running section, such as aforementioned Path_ shown in Fig. 8 1 or Path_2 shown in Fig. 9.By taking Figure 10 as an example, after obtaining 10 heading angle deviations shown in Fig. 10, such as by this 10 Heading angle deviation is according to acquisition time successively respectively with Δ h1, Δ h2, Δ h3, Δ h4, Δ h5, Δ h6, Δ h7, Δ h8, Δ H9 and Δ h10 is indicated, further, in order to ensure the objectivity and accuracy of each data, can use certain screening side Formula carries out a degree of screening to these data, as previously described, because the value of Δ h3 therein and other gaps compared with The rule being just distributed very much is not met greatly, it is possible to regard Δ h3 as invalid data and give up and do not have to, it is, of course, also possible to adopt These data are filtered with other screening modes, the embodiment of the present invention is not specifically limited.Then, it then finds out remaining The desired value of valid data, such as by the desired value of Δ h1, Δ h2, Δ h4, Δ h5, Δ h6, Δ h7, Δ h8, Δ h9 and Δ h10 It is indicated with xhEt_1, finally can then be continued by taking Figure 10 as an example directly using xhEt_1 as the constant misalignment angle of steering wheel For, it is assumed that calculated Δ h1, Δ h2, Δ h4, Δ h5, Δ h6, Δ h7, Δ h8, Δ h9 and Δ h10 desired value be 3.8 °, then it may be considered that misalignment angle existing for the corner of steering wheel is 3.8 °.

If all actual travel data are taken from different running sections, it is assumed that be taken from as shown in Figure 6 Path_1, Path_2 and Path_3 these three running sections, then then can be according to the different by all courses of section Angular displacement divide three groups, such as it is corresponding with Path_1, Path_2 and Path_3 be referred to as the 1st group, the 2nd group and the 3rd group, that It is possible, firstly, to determine the 1st group, the 2nd group and the 3rd group of deviation fluctuating range respectively, deviation fluctuating range shows all Heading angle deviation shows that this group of data may if having exceeded defined fluctuation range all in a preset fluctuation range Be it is abnormal, by the screening of deviation fluctuating range, such as define the deviation fluctuating range of 1st group therein and the 2nd group Meet condition, it is possible to by the foundation of the 1st group and the 2nd group deviation as the subsequent corner for calculating steering wheel, such as by the 1st Group is referred to as target group with the 2nd group, further, is filtered for multiple heading angle deviations included by each target group to obtain Method to effective heading angle deviation of each target group, filtering can use mode above-mentioned, finally again to each target group Included effective heading angle deviation is handled to obtain average heading angular displacement, and then again that obtained average heading angle is inclined Difference be determined directly as be the corner of steering wheel misalignment angle.The mode of average heading angular displacement is wherein obtained, such as can be incited somebody to action Effective heading angle deviation data in each target group carry out average computation to obtain the average value of each target group, finally again will The average value of all target groups is averaged again to obtain final average heading angular displacement, or can be directly by all targets All heading angle deviations in group carry out average computation to obtain final average heading angular displacement, can also have certainly it is some its Its mode, the embodiment of the present invention to this with no restriction.

In the embodiment of the present invention, it can be and acquire the multiple reality of acquisition when the traveling of vehicle is in and stablizes driving status Border running data alternatively can be and go to calculate actual traveling shape again when the traveling of vehicle is in and stablizes driving status Traveling deviation between state and corresponding target travel state, can ensure as far as possible in this way deviation determine accuracy, and Vehicle, which is in, stablizes the traveling deviation being calculated under driving status, can more objective, accurately embody the practical institute of vehicle Existing stable static deviation, mode modified for the corner of utilization orientation disk in this way realize the mode of traveling deviation correction For more match, that is to say, that the cancellation for travelling deviation more matches, and accuracy is higher.

In the specific implementation, such as when vehicle is greater than or waits in the speed desired value of multiple speed at multiple moment above-mentioned When the first predetermined speed, or when vehicle is greater than or equal in the speed desired value of multiple speed at multiple moment above-mentioned Fluctuating change between first predetermined speed and multiple speed keep thinking when stablizing vehicle in stablizing driving status, In the first predetermined speed be, for example, 3m/s (about 10Km/h) because 3m/s is the speed that vehicle can just travel, due to vehicle Speed show that a possibility that it stablizes traveling is bigger more greatly, it is possible to by big as far as possible, the example of the first predetermined speed setting Such as it is set as 90Km/h or 110Km/h, etc..Path_1 and for same running section, such as in Fig. 6, Path_2 or Path_3 can make the fluctuating change of multiple speed on every running section keep stable as far as possible, vehicle The fluctuating change stabilization of multiple speed illustrates that the driving status of vehicle does not mutate, can also reflect vehicle indirectly in this way It is to be in stablize driving status.

Step 54: being modified according to corner of the misalignment angle to steering wheel.

It, can be by the misalignment angle directly as the corner of steering wheel after the misalignment angle for obtaining the inclined corner in direction Angle correction, finally the corner of steering wheel is modified with the angle correction determined again, such as the steering wheel determined The misalignment angle of corner be 3.8 °, i.e., the corner of direction disk is additional how inclined 3.8 ° on the basis of normally travel, institute 3.8 ° are rotated in the opposite direction then can control steering wheel at this time, to realize the accurate amendment to the corner of steering wheel, into And improve the accuracy of vehicle driving.

In addition, can choose opportunity appropriate to steering wheel after the misalignment angle for the corner that steering wheel has been determined Corner is modified processing, such as can execute and repair when the current driving speed of vehicle is less than or equal to the second predetermined speed Positive operation causes vehicle significantly to deviate even in order to ensure safety in order to avoid the corner due to amendment steering wheel as far as possible Safety issue caused by abending, which, which can be, shows that vehicle has stopped or approached stopping Speed, such as 0 can be set by the second predetermined speed, it perhaps can be set to 1m/s or can be set to 2m/s, etc. Deng.

In general, the traveling deviation of vehicle may include the deviation of travel route and/or the deviation of driving direction, generate The reason of these deviations, may also be different, for example, since automatic Pilot control algolithm is inaccurate or control error causes Traveling deviation be usually period for changing it is short and be frequently easy to happen mutation, such as the deviation of this dynamic instability is claimed Make dynamic to be deteriorated, in another example, vehicle leads to steering wheel or other components due to the technological disparity of operator in assembly Occurs installation deviation during the installation process, these installation deviations, which make vehicle in the process of moving, can have stable static state partially Difference leads to tire since the tire pressure of tire wear, the tire of vehicle body the right and left is different in another example vehicle is in use Height have differences, hardware anomalies existing for the vehicles itself such as wearing occurs in automotive suspension spring also result in vehicle and are travelling There is traveling deviation in the process, due to it is above-mentioned these due to hardware anomalies be typically also whithin a period of time will not occur it is too big Variation, so while the stable static deviation that the traveling deviation of vehicle caused by these reasons is considered as, or also There is static deviation stable existing for vehicle caused by some other reasons, just different one has been illustrated herein.

For stable static deviation described above, constant ride deviation is called it as in the embodiment of the present invention, the perseverance Surely traveling deviation is usually and will not vary widely whithin a period of time, and be it is constant, it is to these constant rides inclined Difference, which carries out calibration in time, can ensure that vehicle eliminates these deviations for a long time, in conjunction with accurate automatic Pilot control If algorithm processed controls the automatic Pilot of vehicle, it will be able to which the automatic Pilot process for more precisely controlling vehicle mentions The accuracy of high automatic Pilot.Also, due to constant ride deviation be it is constant, for the deviation of dynamic change, energy It is enough more precisely to be eliminated, so that it is more accurate for the elimination of deviation and thorough, further improve accuracy.

In view of the above, in the embodiment of the present invention, the steering wheel of vehicle is being determined according to multiple traveling deviation datas Before the misalignment angle of corner, can also first according to multiple traveling deviation datas determine vehicle there are constant ride deviation, The mode that later use can be made to carry out vehicle driving calibration to the angle of the corner of steering wheel so more can be inclined close to traveling The actual type of difference so that mode for the traveling deviation calibration of vehicle and the reason of generate the traveling deviation between can use up Amount fitting, matching are higher.

It in the specific implementation process, can be according to multiple rows existing between actual travel state and target travel state Deviation data is sailed to determine vehicle with the presence or absence of constant ride deviation.

It is possible, firstly, to according to the identical rule of classification for being divided into one group of traveling Deviation Type, by multiple traveling deviation datas It is divided into M group traveling deviation data, M for example can be 2,3, etc..Wherein, traveling Deviation Type refers to traveling deviation data Belong to the data of which seed type on earth, as previously described, traveling deviation data for example may include position, course angle and speed These three types, it is assumed that divide all traveling deviation data for position and course angle this 2 groups of traveling deviation datas.

Then, then for every group of traveling deviation in at least one set in position and course angle this 2 groups of traveling deviation datas Data determine the deviation desired value for all traveling deviation datas that every group of traveling deviation data includes.For example, position traveling is inclined In difference data group all positions traveling deviation data include Δ d1, Δ d2, Δ d3, Δ d4, Δ d5, Δ d6, Δ d7, Δ d8, This 10 position deviation datas of Δ d9 and Δ d10, the desired value that can calculate this 10 position deviation datas is xdEt_1, with And standard deviation is xdDt_1.

Further, when xdEt_1 is greater than preset expected value and Δ d1, Δ d2, Δ d3, Δ d4, Δ d5, Δ d6, Δ If the fluctuating change range of this 10 position deviation datas of d7, Δ d8, Δ d9 and Δ d10 is less than predetermined fluctuation variation range, It can then determine that there are constant ride deviations for vehicle.Wherein, Δ d1, Δ d2, Δ d3, Δ d4, Δ d5, Δ d6, Δ d7, Δ d8, The fluctuating change range of this 10 position deviation datas of Δ d9 and Δ d10 can be directly with the ratio table of xdDt_1 and xdEt_1 Show, such as a kind of possible Rule of judgment is xdDt_1 >=0.1m, and can be existed when (xdDt_1/xdEt_1)≤5% with vehicle Constant ride deviation, because must have position deviation when xdDt_1 >=0.1m is shown to be, and (xdDt_1/xdEt_1) ≤ 5% may indicate that the fluctuation of existing position deviation is smaller, tend towards stability, existing not only there is deviation but also show Deviation be when stabilization, so that it may determining vehicle, there are constant ride deviations.

Above-mentioned be illustrated with position deviation, in the specific implementation process, can also be adopted using heading angle deviation Constant ride deviation is determined whether there is with above-mentioned similar judgment mode, and, in order to improve the accuracy of judgement as far as possible, Aforesaid way can also be used to judge with the presence or absence of constant ride deviation simultaneously position deviation and heading angle deviation, That is, it is possible to determine whether there is constant ride deviation by a seed type or a plurality of types of traveling deviation datas, it is It is succinct, here just no longer it is described in detail.

After the corner to steering wheel is modified, it can also obtain predetermined after being modified to the corner of steering wheel Several actual travel data in duration (such as in 1 day or in 3 days), further according to several actual travel data with Several corresponding target travel data determine the new misalignment angle of the corner of steering wheel, in the specific implementation process, can be with Calculated according to the mode of the misalignment angle of the corner of the determination steering wheel of foregoing description obtain the corner of steering wheel this is new Misalignment angle is, for example, less than 0.5 °, it may be considered that above-mentioned to direction if the new misalignment angle is less than target offset angle The amendment of the corner of disk is effective, that is to say, after the corner to steering wheel is modified, can also to the amendment whether It effectively tests, when determining amendment is the corner progress that can effectively continue to control vehicle according to revised steering wheel Traveling, if determining that amendment is invalid, then can then continue to be modified calibration as previously described, at the same time, also Prompt information can be exported, by the prompt information may remind the user that vehicle there is currently traveling deviation and also fail to it is enough into Row calibration, in order to which user can know the problem of that in time vehicle exists according to the prompt information, and then takes corresponding place Reason mode.

Based on the same inventive concept, the embodiment of the present invention provides a kind of vehicle driving adjustment device, vehicle driving adjustment Device can be any server in server, such as Fig. 2-Fig. 4 c, or the row being also possible in such as Fig. 4 b or Fig. 4 c Sail control centre 422.Vehicle driving adjustment device can be hardware configuration, software module or hardware configuration and add software module. The vehicle driving adjustment device can realize that chip system can be made of chip by chip system, also may include chip and Other discrete devices.

Shown in Figure 11, the vehicle driving adjustment device in the embodiment of the present invention may include the first acquisition module 1101, second module 1102, the first determining module 1103 and correction module 1104 are obtained.Wherein:

First obtains module 1101, for obtaining vehicle in corresponding multiple actual travel data of multiple moment；

Second obtain module 1102, for by each actual travel data in the multiple actual travel data respectively with Corresponding target travel data are compared, to obtain multiple traveling deviation datas, wherein each target travel data be with for The corresponding running data of each moment pre-set target travel state；

First determining module 1103, for determining the steering wheel of the vehicle according to the multiple traveling deviation data The misalignment angle of corner；

Correction module 1104, for being modified according to corner of the misalignment angle to the steering wheel.

In a kind of possible embodiment, the vehicle driving adjustment device further includes the second determining module, is used for:

In the first determining module 1103 according to the multiple traveling deviation data, the corner of the steering wheel of the vehicle is determined Misalignment angle before, according to the multiple traveling deviation data, determining the vehicle, there are constant ride deviations, wherein institute Stating constant ride deviation is static deviation stable existing for the vehicle.

In a kind of possible embodiment, second determining module is specifically used for:

In a kind of possible embodiment, the multiple actual travel data are the row in the same running section Sail data；First determining module 1103 is specifically used for:

In a kind of possible embodiment, the multiple actual travel data are divided at least two groups, at least two groups In every group of actual travel data for including be different running sections in running data；First determining module 1103 It is specifically used for:

Determination deviation fluctuating range is less than or equal to the target group of predetermined fluctuation amplitude from at least two groups；To each All heading angle deviations that target group includes are filtered, to obtain effective heading angle deviation in each target group；To each Effective heading angle deviation included by target group is handled, to obtain average heading angular displacement；And determine the average boat To the misalignment angle for the corner that angular displacement is the steering wheel.

It include at least one in the multiple moment corresponding all running sections in a kind of possible embodiment Straight-line travelling section.

In a kind of possible embodiment, described device further includes third determining module, is used for:

Module 1102 is obtained described second to distinguish each actual travel data in the multiple actual travel data Before being compared with corresponding target travel data, determine the vehicle in the speed desired value of multiple speed at multiple moment More than or equal to the first predetermined speed.

In a kind of possible embodiment, described device further includes the 4th determining module, is used for:

Before correction module 1104 is modified according to corner of the misalignment angle to the steering wheel, described in determination The travel speed of vehicle is less than or equal to the second predetermined speed.

In a kind of possible embodiment, described device includes amendment correction verification module, is used for:

After correction module 1104 is modified according to corner of the misalignment angle to the steering wheel, obtain right The corner of the steering wheel be modified after scheduled duration in several actual travel data；According to several described reality Running data and several corresponding target travel data, determine the new misalignment angle of the corner of the steering wheel；If described New misalignment angle is less than target offset angle, it is determined that effective to the amendment of the corner of the steering wheel.

Wherein, all related contents for each step that aforementioned vehicle traveling method of adjustment embodiment is related to can be quoted The function of corresponding function module in the embodiment of the present invention describes, and details are not described herein.

It is schematical, only a kind of logical function partition to the division of module in the embodiment of the present invention, it is practical to realize When there may be another division manner, in addition, each functional module in each embodiment of the present invention can integrate at one It manages in device, is also possible to physically exist alone, can also be integrated in two or more modules in a module.It is above-mentioned integrated Module both can take the form of hardware realization, can also be realized in the form of software function module.

Based on the same inventive concept, shown in Figure 12, the embodiment of the present invention provides a kind of vehicle control system 1201, The vehicle control system 1201 includes vehicle 1202 and vehicle driving adjusts device 1203, vehicle 1202 and vehicle driving adjustment dress Setting can communicate between 1203.Vehicle driving adjustment device 1203 can be a software function module or a hardware Entity apparatus (such as server), vehicle driving adjustment device 1203 can be deployed in vehicle 1202 either internally or externally, Vehicle driving adjustment device 1203 is used to determine the deviation of the corner of the steering wheel of vehicle 1202 according to multiple traveling deviation datas Angle is modified according to corner of the misalignment angle to steering wheel, and control vehicle 1202 is turned with revised steering wheel Angle traveling.

Further, aforementioned vehicle traveling adjustment may be implemented in the vehicle driving adjustment device 1203 in the embodiment of the present invention All steps in method may refer to the introduction of the vehicle driving adjustment device 1203 in the embodiment of the present invention above-mentioned The description of vehicle driving method of adjustment, herein just not repeated explanation.

Based on the same inventive concept, the embodiment of the present invention also provides another vehicle driving adjustment device, and referring to Figure 13, It illustrates the structural schematic diagram of vehicle driving provided by one embodiment of the present invention adjustment device, which adjusts device Such as it can be server 221, server 222 or server 421 in Fig. 2-Fig. 4 c.Specifically:

The vehicle driving adjustment device include processor 1301, random access memory (Random Access Memory, RAM) 1302 and read-only memory (Read Only Memory, ROM) 1303 system storage 1304, and connection system deposit The system bus 1305 of reservoir 1304 and processor 1301.Vehicle driving adjustment device further includes each in help computer The basic input/output (I/O system) 1306 of information is transmitted between device, and for storage program area 1313, application The mass-memory unit 1307 of program 1314 and other program modules 1315.

Processor 1301 is the control centre of vehicle driving adjustment device, can use various interfaces and connection is entire Vehicle driving adjusts the various pieces of device, is stored in memory (such as 132 He of random access memory by running or executing Read-only memory 1303) in instruction and calling be stored in the data in memory, vehicle driving adjusts the various function of device Data can and be handled, to carry out integral monitoring to vehicle driving adjustment device.

Optionally, processor 1301 may include one or more processing units, and processor 1301 can integrate application processor And modem processor, wherein the main processing operation system of application processor, user interface and application program etc., modulatedemodulate Processor is adjusted mainly to handle wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processor In 1301.In some embodiments, processor 1301 and memory can be realized on the same chip, in some embodiments, They can also be realized respectively on independent chip.

Processor 1301 can be general processor, such as central processing unit (CPU), digital signal processor, dedicated collection At circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array or other Perhaps transistor logic, discrete hardware components may be implemented or execute the present invention in fact for programmable logic device, discrete gate Apply each method, step disclosed in example and logic diagram.General processor can be microprocessor or any conventional processing Device etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware processor and execute completion, or With in processor hardware and software module combination execute completion.

Memory as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software program, Non-volatile computer executable program and module.Memory may include the storage medium of at least one type, such as can To include flash memory, hard disk, multimedia card, card-type memory, RAM, static random-access memory (Static Random Access Memory, SRAM), programmable read only memory (Programmable Read Only Memory, PROM), ROM, Band electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic storage, disk, CD etc..Memory can be used for carry or store have instruction or The desired program code of data structure form and can by any other medium of computer access, but not limited to this.This hair Memory in bright embodiment can also be circuit or other devices that arbitrarily can be realized store function, for storing program Instruction and/or data.

Basic input/output 1306 includes display 1308 for showing information and inputs information for user Such as mouse, keyboard etc input equipment 1309.Wherein display 1308 and input equipment 1309 are all by being connected to The basic input/output 1306 of system bus 1305 is connected to processor 1301.The basic input/output 1306 is also It may include input and output controller to be set for receiving and handling from multiple other such as keyboard, mouse or electronic touch pen Standby input.Similarly, input and output controller also provides output to display screen, printer or other kinds of output equipment.

The mass-memory unit 1307 (is not shown by being connected to the bulk memory controller of system bus 1305 It is connected to processor 1301 out).The mass-memory unit 1307 and its associated computer-readable medium are the vehicle Traveling adjustment device packet provides non-volatile memories.That is, mass-memory unit 1307 may include such as hard disk or The computer-readable medium (not shown) of person's CD-ROM drive etc.

Without loss of generality, the computer-readable medium may include computer storage media and communication media.Computer Storage medium includes information such as computer readable instructions, data structure, program module or other data for storage The volatile and non-volatile of any method or technique realization, removable and irremovable medium.Computer storage medium includes RAM, ROM, EPROM, EEPROM, flash memory or other solid-state storages its technologies, CD-ROM, DVD or other optical storages, tape Box, tape, disk storage or other magnetic storage devices.Certainly, skilled person will appreciate that the computer storage medium It is not limited to above-mentioned several.Above-mentioned system storage 904 and mass-memory unit 907 may be collectively referred to as memory.

Based on the same inventive concept, the embodiment of the present invention also provides a kind of storage medium, which is stored with calculating Machine instruction, when the computer instruction is run on computers, so that computer executes vehicle driving method of adjustment as the aforementioned The step of.

Based on the same inventive concept, the embodiment of the present invention also provides a kind of vehicle driving adjustment device, which includes extremely A few processor and readable storage medium storing program for executing, when the instruction for including in the readable storage medium storing program for executing is executed by least one processor When, can as the aforementioned vehicle driving method of adjustment the step of.

Based on the same inventive concept, the embodiment of the present invention also provides a kind of chip system, which includes processor, It can also include memory, the step of for realizing vehicle driving method of adjustment as the aforementioned.The chip system can be by chip It constitutes, also may include chip and other discrete devices.

In some possible embodiments, the various aspects of vehicle driving method of adjustment provided by the invention can also be real It is now a kind of form of program product comprising program code, when described program product is run on computers, described program Code is used to that the computer to be made to execute the vehicle driving tune for stating the illustrative embodiments various according to the present invention of description above Step in adjusting method.

It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more, The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.) Formula.

The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates, Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or The function of being specified in multiple boxes.

These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one The step of function of being specified in a box or multiple boxes.

Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims

1. a kind of vehicle driving method of adjustment, which is characterized in that the described method includes:

Vehicle is obtained in multiple actual travel data at multiple moment；

Each actual travel data in the multiple actual travel data are compared with corresponding target travel data respectively Compared with to obtain multiple traveling deviation datas, wherein each target travel data be with for pre-set target line of each moment Sail the corresponding running data of state；

2. the method as described in claim 1, which is characterized in that according to the multiple traveling deviation data, determine the vehicle Steering wheel corner misalignment angle before, further includes:

According to the multiple traveling deviation data, determining the vehicle, there are constant ride deviations, wherein the constant ride is inclined Difference is static deviation stable existing for the vehicle.

3. method according to claim 2, which is characterized in that according to the multiple traveling deviation data, determine the vehicle There are constant ride deviations, comprising:

According to the identical rule of classification for being divided into one group of type of traveling deviation data, the multiple traveling deviation data is divided Deviation data is travelled for M group, M is positive integer；

For every group of traveling deviation data in the N group traveling deviation data in M group traveling deviation data, determine described every The deviation desired value for all traveling deviation datas that group traveling deviation data includes, N is positive integer, and N is less than or equal to M；

If the deviation desired value of every group of traveling deviation data is greater than corresponding target offset desired value, and every group of traveling The fluctuating change range for all traveling deviation datas that deviation data includes is less than corresponding predetermined fluctuation variation range, it is determined that There are constant ride deviations for the vehicle.

4. the method as described in claim 1, which is characterized in that the multiple actual travel data are same to have travelled road Running data in section；

According to the multiple traveling deviation data, the misalignment angle of the corner of the steering wheel of the vehicle is determined, comprising:

5. the method as described in claim 1, which is characterized in that the multiple actual travel data are divided at least two groups, described Every group in at least two groups actual travel data for including are the running data in different running sections；

All heading angle deviations for including to each target group are filtered, inclined to obtain effective course angle in each target group Difference；

The effective heading angle deviation for including to each target group is handled, to obtain average heading angular displacement；

6. method as described in claim 4 or 5, which is characterized in that in the multiple moment corresponding all running sections Including at least one straight-line travelling section.

7. method a method as claimed in any one of claims 1 to 5, which is characterized in that by each of the multiple actual travel data Before actual travel data are compared with corresponding target travel data respectively, further includes:

8. method a method as claimed in any one of claims 1 to 5, which is characterized in that according to the misalignment angle to the steering wheel Before corner is modified, further includes:

9. method a method as claimed in any one of claims 1 to 5, which is characterized in that according to the misalignment angle to the steering wheel After corner is modified, further includes:

According to several described actual travel data and several corresponding target travel data, the corner of the steering wheel is determined New misalignment angle；

If the new misalignment angle is less than target offset angle, it is determined that effective to the amendment of the corner of the steering wheel.

10. a kind of vehicle driving adjusts device, which is characterized in that described device includes:

Second obtain module, for by each actual travel data in the multiple actual travel data respectively with corresponding mesh Mark running data is compared, to obtain multiple traveling deviation datas, wherein each target travel data be with for each moment The corresponding running data of pre-set target travel state；

First determining module, for determining the inclined of the corner of the steering wheel of the vehicle according to the multiple traveling deviation data Declinate degree；

11. device as claimed in claim 10, which is characterized in that described device further includes the second determining module, is used for:

In first determining module according to the multiple traveling deviation data, the inclined of the corner of the steering wheel of the vehicle is determined Before declinate degree, according to the multiple traveling deviation data, determining the vehicle, there are constant ride deviations, wherein the perseverance Surely traveling deviation is static deviation stable existing for the vehicle.

12. device as described in claim 10 or 11, which is characterized in that described device further includes third determining module, is used for:

It is described second obtain module by each actual travel data in the multiple actual travel data respectively with it is corresponding Before target travel data are compared, determine that the vehicle is greater than or waits in the speed desired value of multiple speed at multiple moment In the first predetermined speed.

13. a kind of vehicle driving adjusts device, which is characterized in that described device includes:

Memory, for storing program instruction；

Processor, for calling the program instruction stored in the memory, according to the program instruction perform claim requirement of acquisition Any method of 1-9 includes the steps that.

14. a kind of vehicle control system, which is characterized in that the system comprises:

Vehicle；

Vehicle driving adjusts device, the deviation of the corner of the steering wheel for determining the vehicle according to multiple traveling deviation datas Angle is modified according to corner of the misalignment angle to the steering wheel, and the control vehicle is with revised side It is travelled to the corner of disk.

15. a kind of storage medium, which is characterized in that the storage medium is stored with computer executable instructions, the computer The method that executable instruction is used to that computer to be made to execute as described in claim 1-9 is any includes the steps that.