CN110979456B - Vehicle running track keeping method and device and electronic equipment - Google Patents

Vehicle running track keeping method and device and electronic equipment Download PDF

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Publication number
CN110979456B
CN110979456B CN201911145170.8A CN201911145170A CN110979456B CN 110979456 B CN110979456 B CN 110979456B CN 201911145170 A CN201911145170 A CN 201911145170A CN 110979456 B CN110979456 B CN 110979456B
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steering wheel
vehicle
torque
driver
preset
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CN110979456A (en
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邢扬
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Nanjing Thunder Software Technology Co ltd
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Quarkdata Software Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation

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

Abstract

The embodiment of the disclosure provides a method, a device and electronic equipment for keeping a vehicle running track, belonging to the technical field of automatic control, wherein the method is applied to a vehicle, and the vehicle at least comprises an operation interface for receiving user operation and a correcting actuator for applying torsion moment to a steering wheel of the vehicle; the method comprises the following steps: detecting whether a preset operation capable of triggering a track keeping action is received; if a preset operation of triggering track maintenance is received, calculating a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under the preset operation; and controlling the aligning actuator to apply aligning force corresponding to the recovery parameter to a steering wheel. By the method, the safety of a driver in operating an operation interface in the driving process of the vehicle is improved, and the stability of the vehicle in the driving process is guaranteed.

Description

Vehicle running track keeping method and device and electronic equipment
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a method and an apparatus for maintaining a vehicle trajectory, and an electronic device.
Background
Recently, it was announced that majord decided to remove the 7-inch center screen of a flag-off car model and replace it with a small screen similar in size to a radio. The majord research considers that the touch screen can cause distraction of a driver during driving, thereby influencing driving safety. A number of studies have also shown that when drivers operate the center-controlled large screen of a vehicle while driving, they can inadvertently apply a moment to the steering wheel, causing the vehicle to deviate from the current lane.
Currently, automobile manufacturers represented by tesla use touch-type large center control screens instead of traditional physical keys in more and more automobile models. But for some vehicle models with larger screens and wider wheelbases. When the driver touches the lower end of the center control screen, the driver may inadvertently apply a torque to the steering wheel that is slightly offset to the screen side, thereby causing the vehicle to deviate from the lane.
Therefore, the conventional vehicle is easy to deviate from a normally running lane due to the torque force applied by accident, and potential safety hazards exist.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method, an apparatus, and an electronic device for maintaining a vehicle moving track, which at least partially solve the problems in the prior art.
In a first aspect, the disclosed embodiments provide a method for vehicle operation trajectory maintenance, the method being applied to a vehicle, the vehicle at least comprising an operation interface for receiving user operations and a aligning actuator for applying a torsion torque to a steering wheel of the vehicle;
the method comprises the following steps:
detecting whether a preset operation capable of triggering a track keeping action is received;
if a preset operation of triggering track maintenance is received, calculating a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under the preset operation;
and controlling the aligning actuator to apply aligning force corresponding to the recovery parameter to a steering wheel.
According to a specific implementation manner of the embodiment of the present disclosure, the step of detecting whether a preset operation for triggering track maintenance is received includes:
and detecting whether an operation that a driver of the vehicle clicks the operation interface is received.
According to a specific implementation manner of the embodiment of the disclosure, the vehicle further comprises a touch sensing module arranged on one side of the operation interface close to the driving position, wherein the touch sensing module is used for sensing hand shielding information of the driver when the operation interface is operated;
the step of detecting whether the operation of clicking the operation interface by the driver is received comprises the following steps:
detecting whether the touch sensing module senses a hand shielding signal of a driver;
and if the touch sensing module senses a hand shielding signal of a driver, detecting whether a click operation acting on the operation interface is received.
According to a specific implementation manner of the embodiment of the disclosure, the vehicle further comprises a steering wheel torque sensor for collecting torque force information borne by a steering wheel of the vehicle;
after the step of detecting whether an operation of clicking an operation interface by a driver of the vehicle is received, the method further includes:
if the operation of clicking an operation interface by a driver of the vehicle is detected, detecting whether a first torque applied to a steering wheel by the driver is received by the steering wheel torque sensor within a first preset time period, wherein the first torque is smaller than or equal to a preset torque, and the first preset time period is a time period from the touch sensing module receiving a sensing signal to the operation interface receiving a clicking signal;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a first torque applied to the steering wheel by a driver in a first preset time period, and the first torque is smaller than or equal to a preset torque, calculating a first torque duration and a first offset generated on the vehicle;
and calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the first torsion and the first offset generated to the vehicle.
According to a specific implementation manner of the embodiment of the disclosure, the vehicle further comprises a steering wheel torque sensor for collecting torque force information borne by a steering wheel of the vehicle;
after the step of detecting whether an operation of clicking the operation interface by a driver of the vehicle is received, the method further includes:
if the operation of clicking an operation interface by a driver is detected, detecting whether a first torque applied to a steering wheel by the driver is received by the steering wheel torque sensor within a first preset time period, wherein the first torque is smaller than or equal to the preset torque, and the first preset time period is a time period from the touch sensing module receiving a sensing signal to the operation interface receiving a clicking signal;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a first torque applied to the steering wheel by a driver in a first preset time period, and the first torque is smaller than or equal to a preset torque, calculating the duration of the first torque and a first offset generated on the vehicle;
judging whether the first offset is larger than or equal to a displacement threshold value;
and if the first offset is larger than or equal to a displacement threshold, calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the first torque and the first offset generated to the vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, after the step of detecting whether the operation of clicking the operation interface by the driver of the vehicle is received, the method further includes:
if the operation of clicking the operation interface by a driver is detected, detecting whether a second torsion applied to the steering wheel by the driver is received by the steering wheel torque sensor in a second preset time period, wherein the second torsion is smaller than or equal to the preset torsion, and the second preset time period is a time period from the point signal received by the operation interface to the disconnection of the induction signal of the touch induction module;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a second torque force applied to the steering wheel by a driver in a second preset time period, and the second torque force is smaller than or equal to a preset torque force, calculating the duration of the second torque force and a second offset generated on the vehicle;
and calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the second torsion and a second offset generated to the vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, after the step of detecting whether the operation of clicking the operation interface by the driver of the vehicle is received, the method further includes:
if the operation of clicking the operation interface by a driver is detected, detecting whether a second torsion applied to the steering wheel by the driver is received by the steering wheel torque sensor in a second preset time period, wherein the second torsion is smaller than or equal to the preset torsion, and the second preset time period is a time period from the point signal received by the operation interface to the disconnection of the induction signal of the touch induction module;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a second torque force applied to the steering wheel by a driver in a second preset time period, and the second torque force is smaller than a preset torque force, calculating the duration of the second torque force and a second offset generated on the vehicle;
judging whether the second offset is greater than or equal to a displacement threshold value;
and if the second offset is larger than or equal to a displacement threshold, calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the second torque and the second offset generated to the vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, after the step of detecting whether the operation of clicking the operation interface by the driver of the vehicle is received, the method further includes:
if the operation of clicking the operation interface by a driver is detected and received, and when an obstructive guiding force is applied to the steering wheel when the driver clicks the control screen, the steering wheel is controlled not to generate an offset aiming at the guiding force, so that the condition that the vehicle deviates from a lane due to misoperation of the driver is avoided.
In a second aspect, the disclosed embodiments provide a device for vehicle trajectory maintenance, the device being applied in a vehicle, the device at least comprising: an operation interface for receiving the operation of a user and a correcting actuator for applying a torsion moment to a steering wheel; the device further comprises:
the detection module is used for detecting whether preset operation capable of triggering track keeping action is received or not;
the computing module is used for computing a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under a preset operation when the preset operation of triggering track keeping is received;
and the control module is used for controlling the aligning actuator to apply aligning force corresponding to the recovery parameter to the steering wheel.
According to a specific implementation manner of the embodiment of the disclosure, the device further comprises a touch sensing module arranged on one side of the operation interface close to the driving position, and the touch sensing module is used for sensing hand shielding information when a driver operates the operation interface;
the detection module comprises:
the first detection unit is used for detecting whether the touch sensing module senses a hand shielding signal of a driver;
a second detection unit for detecting whether a click operation applied to the operation interface is received or not if the touch sensing module senses a hand shielding signal of a driver
According to a specific implementation manner of the embodiment of the disclosure, the device further comprises a steering wheel torque sensor for collecting torque force information borne by a steering wheel of the vehicle.
In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of vehicle trajectory maintenance of the first aspect or any implementation of the first aspect.
In a fourth aspect, the disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method for vehicle trajectory preservation in the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the method of vehicle trajectory maintenance in the first aspect or any of the implementations of the first aspect.
The method for maintaining the vehicle running track is applied to a vehicle, wherein the vehicle at least comprises an operation interface used for receiving user operation and a correcting actuator used for applying torsion torque to a steering wheel of the vehicle; the method comprises the following steps: detecting whether a preset operation capable of triggering a track keeping action is received; if a preset operation of triggering track maintenance is received, calculating a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under the preset operation; and controlling the aligning actuator to apply aligning force corresponding to the recovery parameter to a steering wheel. By the method, the safety of a driver in operating an operation interface in the driving process of the vehicle is improved, and the stability of the vehicle in the driving process is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for maintaining a vehicle running track according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating another method for maintaining a vehicle trajectory according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating another method for maintaining a vehicle trajectory according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart illustrating another method for maintaining a vehicle trajectory according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a device for maintaining a vehicle running track according to an embodiment of the present disclosure;
FIG. 6 is a schematic connection diagram of a device for maintaining a vehicle running track according to an embodiment of the present disclosure;
fig. 7 is a schematic view of an electronic device provided in an embodiment of the disclosure.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a method for keeping a vehicle running track. The method for maintaining the vehicle running track provided by the embodiment can be executed by a computing device, the computing device can be implemented as software, or implemented as a combination of software and hardware, and the computing device can be integrated in a server, a terminal device and the like.
Referring to fig. 1, a method for maintaining a vehicle running track is provided in an embodiment of the present disclosure, and the method is applied to a vehicle, where the vehicle includes at least an operation interface for receiving a user operation and a aligning actuator for applying a torsion torque to a steering wheel of the vehicle;
the method comprises the following steps:
s101, detecting whether a preset operation capable of triggering a track keeping action is received or not;
the execution of the track keeping action of the embodiment of the invention needs to be started under a specific condition, in particular to the operation that a driver needs to be detected to click an operation interface. Therefore, in order to detect that the action of clicking the operation interface is initiated by a driver, in the embodiment of the invention, a touch sensing module is arranged on one side of the operation interface close to the driving position, and the touch sensing module is used for sensing hand shielding information of the driver when the driver operates the operation interface. The touch sensing module can be implemented by sensing hand shielding information of a driver through infrared rays, temperature sensing, image recognition, radio waves and the like. The arrangement can ensure that when the operation interface is detected to receive the clicking operation, if the touch sensing module also feeds back and senses the hand shielding information of the driver at the moment, the operation of clicking the operation interface can be judged to come from the driver.
Therefore, when detecting whether a preset operation capable of triggering track keeping is received, it is required to ensure that a hand shielding signal which is fed back by the touch sensing module and senses a driver is received, and a click operation which is fed back by the operation interface and acts on the operation interface is received. If both are satisfied, it is determined that the operation of the trajectory holding is triggered.
Of course, the preset operation of triggering the track hold may further include: detecting whether a driver is in a call state or not, wherein the time length of the driver in the call state exceeds the set time length; or detecting whether a driver operates the steering wheel with only one hand, and the duration of the one-hand operation of the steering wheel exceeds a set duration; or whether the driver twists the head and upper body to the rear seat; and so on. These may be set as preset operations that trigger trace holding.
S102, if a preset operation of triggering track maintenance is received, calculating a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under the preset operation;
the preset operation of triggering the track holding is described as an example of the operation of the driver on the operation interface. In this situation, the driver may apply an excessive torque to the steering wheel that is not required by the driver in the intended driving route, which may cause the vehicle to deviate from the original lane. In this case, in order to more clearly define the situation that may be caused by each stage, the process of the driver operating the operation interface is divided into three time periods: the first time point is the time when the hands of the driver leave the steering wheel to trigger the touch sensing module, the second time point is the time when the clicking operation acted on the operation interface by the driver is received, and the third time point is the time when the driver removes the hands and does not trigger the touch sensing module any more.
During the time period between the first time point and the second time point, the driver leaves the steering wheel, the operation interface is prepared, the time period applies a torsion force to the steering wheel, the torsion force may not be large, the time period lasts for a short time, and the return parameter of the return force applied to the steering wheel by the return actuator can be controlled according to the time length of the time period, the magnitude of the torsion force and the time length of the torsion force to make the steering wheel generate deviation.
In the time period between the second time point and the third time point, the driver does not trigger the touch sensing module any more from the continuous operation of the operation interface to the stop operation of the operation interface and the hand is away, the time duration of the time period can be long or short, the driver can operate the operation interface for a long time or only for a short time, and therefore, the return actuator needs to control the return parameter of the return force which needs to be applied to the steering wheel by the return actuator according to the time duration of the time duration, the magnitude of the torsion and the acting time of the torsion, so that the steering wheel can be deflected.
And S103, controlling the aligning actuator to apply aligning force corresponding to the recovery parameter to the steering wheel.
And controlling the aligning actuator to apply aligning force corresponding to the restoring parameter to the steering wheel according to the calculated restoring parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator. The magnitude of the applied aligning force can help the steering wheel align, even offset the offset of the vehicle under the continuous action of the torque force.
The method for keeping the vehicle running track of the embodiment of the disclosure comprises the following steps: detecting whether a preset operation capable of triggering a track keeping action is received; if a preset operation of triggering track maintenance is received, calculating a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under the preset operation; and controlling the aligning actuator to apply aligning force corresponding to the recovery parameter to a steering wheel. By the method, the safety of a driver in operating an operation interface in the driving process of the vehicle is improved, and the stability of the vehicle in the driving process is guaranteed.
According to another specific implementation manner of the disclosed embodiment, referring to fig. 2, the vehicle further comprises a steering wheel torque sensor for collecting torque information borne by a steering wheel of the vehicle;
after the step of detecting whether an operation of clicking the operation interface by a driver of the vehicle is received, the method further includes:
step S201, if the operation of clicking an operation interface by a driver is detected to be received, detecting whether a first torque applied to a steering wheel by the driver is received by a steering wheel torque sensor in a first preset time period, wherein the first torque is smaller than or equal to the preset torque, and the first preset time period is a time period from the touch sensing module receiving a sensing signal to the operation interface receiving a clicking signal;
the step S102 includes:
step S202, if the steering wheel torque sensor is detected to receive a first torque force which is smaller than a preset torque force and is applied to the steering wheel by a driver in a first preset time period, calculating the duration time of the first torque force and a first offset generated on the vehicle;
step S203, calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the first torsion and the first offset generated to the vehicle.
The first preset time period in this embodiment is the time period from the first time point to the second time point in the previous embodiment, that is, the time period from the time when the touch sensing module receives the sensing signal to the time when the operation interface receives the click signal. Whether a first torque force applied to the steering wheel by a driver is received by the steering wheel torque sensor in the time period is detected, and the first torque force is smaller than or equal to a preset torque force. The preset torque can be set as required, and the purpose of setting the first torque to be less than or equal to the preset torque is to prevent that, in some special cases, although the driver triggers the preset operation of track keeping, for example, as described above, the driver does not leave the steering wheel with his hand, triggers the touch sensing module, and operates the operation interface, at the same time, the driver does need to control the steering wheel to steer at a certain angle, so that a larger torque is applied to the steering wheel, which will not be considered as the operation of track keeping. Therefore, only when it is detected that the driver is in the preset operation of triggering the track-keeping and the first torque force is applied to the steering wheel and the magnitude of the first torque force is smaller than or equal to the preset torque force, it can be determined that the first torque force applied to the steering wheel by the driver is applied unconsciously by the driver, and the deviation of the vehicle caused by this situation is unexpected and expected.
When detecting that a driver applies a first torsion force to the steering wheel and the first torsion force is smaller than or equal to the magnitude of a preset torsion force, calculating a recovery parameter of the aligning force required to be applied to the steering wheel by the aligning actuator according to the duration of the first torsion force and a first offset generated to the vehicle, wherein the recovery parameter comprises the magnitude and the duration of the aligning force.
In another parallel scheme, when detecting that a driver applies a first torsion force to a steering wheel and the first torsion force is smaller than or equal to the magnitude of a preset torsion force, further judging whether the first offset is larger than or equal to a displacement threshold value; and if the first offset is larger than or equal to a displacement threshold, calculating the magnitude and the duration of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the first torsion and the first offset generated to the vehicle.
The difference between the two is that when it is detected that the driver applies a first torque force to the steering wheel and the first torque force is smaller than or equal to the magnitude of the preset torque force, the first condition is that the steering wheel is corrected regardless of the magnitude of the offset generated by the vehicle at the moment, and the second condition is that the steering wheel is corrected only when the offset generated by the vehicle is larger than or equal to the displacement threshold value, otherwise the driver is left free from the offset caused by the misoperation to the vehicle. And the displacement threshold may be designed according to the actual width and length of the vehicle.
According to another specific implementation manner of the embodiment of the present disclosure, referring to fig. 3, after the step of detecting whether the operation of the driver of the vehicle clicking the operation interface is received, the method further includes:
step S301, if the operation of clicking the operation interface by a driver is detected, detecting whether a second torque force applied to the steering wheel by the driver is received by the steering wheel torque sensor in a second preset time period, wherein the second torque force is less than or equal to the preset torque force, and the second preset time period is a time period from the point signal received by the operation interface to the disconnection of the induction signal of the touch induction module;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
step S302, if the steering wheel torque sensor is detected to receive a second torque force applied to the steering wheel by a driver in a second preset time period, wherein the second torque force is smaller than or equal to a preset torque force, calculating the duration of the second torque force and a second offset generated on the vehicle;
step S303, calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the second torsion and the second offset generated to the vehicle.
The second preset time period in the embodiment of the present invention is a time period from the second time point to the third time point in the above embodiment, that is, a time period from when the operation interface receives the click signal to when the sensing signal of the touch sensing module is turned off. Similarly, whether a second torque force applied to the steering wheel by a driver is received by the steering wheel torque sensor in a second preset time period is detected, and whether the second torque force is smaller than or equal to a preset torque force is judged. If the steering wheel torque sensor is detected to receive a second torsion force applied to the steering wheel by a driver in a second preset time period, and the second torsion force is smaller than or equal to the preset torsion force, calculating the duration of the second torsion force and a second offset generated by the vehicle, and calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the second torsion force and the second offset generated by the vehicle, wherein the recovery parameter comprises the duration and the magnitude of the aligning force.
The second offset may be calculated in consideration of two aspects: the first is that no matter how large the second offset is, as long as the second torque is detected to be less than or equal to the preset torque, the aligning actuator is controlled to apply aligning force to the steering wheel. And secondly, when the second offset is larger than the displacement threshold, the aligning actuator is controlled to apply torque to the steering wheel. Thirdly, the magnitude and time of the aligning force applied to the steering wheel by the second offset amount control aligning actuator are controlled, and when the second offset amount exceeds a displacement threshold value, the aligning force is continuously applied to the steering wheel besides the steering wheel needs to be aligned so as to offset the offset generated by the vehicle.
According to another specific implementation manner of the embodiment of the present disclosure, referring to fig. 4, the method further includes:
step S401, detecting whether the touch sensing module senses a hand shielding signal of a driver;
step S402, if the hand shielding signal of a driver is detected to be sensed by the touch sensing module, judging whether the driving speed of the vehicle exceeds a driving threshold value;
and step S403, if the driving speed of the vehicle exceeds the driving threshold value, locking the operation interface.
The disclosed embodiments further define that operation of the operator interface by the driver is prohibited when the driving speed of the vehicle exceeds the driving threshold. Specifically, when the driver triggers the touch sensing module, the driver determines that the driver may prepare to operate the operation interface, the driving speed of the current vehicle is detected, and if the driving speed of the current vehicle exceeds a driving threshold, the operation interface is locked, so that the driver cannot operate the operation interface. By the method of the embodiment of the disclosure, the situation that a driver operates an operation interface when driving at a high speed and applies unconscious torque to the steering wheel is prevented, so that the vehicle deviates from the original driving route in the process of fast driving, and the driving danger is increased.
In another embodiment, after the step of detecting whether the operation of clicking the operation interface by the driver of the vehicle is received, if the operation of clicking the operation interface by the driver is detected to be received, and when an obstructive guiding force is applied to the steering wheel when the driver clicks the control screen, the steering wheel is controlled not to generate an offset aiming at the guiding force, so as to avoid the deviation of the vehicle from the lane caused by misoperation of the driver.
In correspondence with the above method embodiment, referring to fig. 5 and 6, the disclosed embodiment further provides a vehicle operation track maintaining device 50, which is applied to a vehicle, and at least comprises: an operation interface for receiving the operation of a user and a correcting actuator for applying a torsion moment to a steering wheel; the device further comprises:
a detection module 501, configured to detect whether a preset operation capable of triggering a track keeping action is received;
a calculating module 502, configured to calculate a recovery parameter of a aligning force that needs to be applied to the steering wheel by the aligning actuator under a preset operation when the preset operation of triggering track holding is received;
a control module 503, configured to control the aligning actuator to apply the aligning force corresponding to the restoring parameter to the steering wheel.
In addition, the vehicle further comprises a touch sensing module arranged on one side, close to the driving position, of the operation interface, and the touch sensing module is used for sensing hand shielding information of the driver when the operation interface is operated.
The device also includes a steering wheel torque sensor that collects torque information experienced by a steering wheel of the vehicle.
These hardware of the vehicle may include a variety of different implementations depending on the different designs of the vehicle electrical systems. For example, the touch-sensitive module is not directly connected to the in-vehicle entertainment system, but communicates with the in-vehicle entertainment system via the vehicle CAN bus. In addition, the hardware can be operated on the LKA-MCU or an independent MCU without using the vehicle-mounted entertainment system as a core processing module, and is not limited specifically herein.
The apparatus shown in fig. 5 may correspondingly execute the content in the above method embodiment, and details of the part not described in detail in this embodiment refer to the content described in the above method embodiment, which is not described again here.
Referring to fig. 7, an embodiment of the present disclosure also provides an electronic device 70, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of vehicle trajectory maintenance of the preceding method embodiment.
The disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method of vehicle trajectory preservation in the aforementioned method embodiments.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of vehicle trajectory preservation in the aforementioned method embodiments.
Referring now to FIG. 7, a schematic diagram of an electronic device 70 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 7, the electronic device 70 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 701 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage means 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the electronic apparatus 70 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Generally, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, or the like; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 70 to communicate wirelessly or by wire with other devices to exchange data. While the figures illustrate an electronic device 70 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication means 709, or may be installed from the storage means 708, or may be installed from the ROM 702. The computer program, when executed by the processing device 701, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising the at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.
Alternatively, the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from the at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (7)

1. A method for maintaining a vehicle running track is characterized by being applied to a vehicle, wherein the vehicle at least comprises an operation interface used for receiving user operation and a correcting actuator used for applying torsion torque to a steering wheel of the vehicle;
the method comprises the following steps:
detecting whether a preset operation capable of triggering a track keeping action is received;
if a preset operation of triggering track maintenance is received, calculating a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under the preset operation;
controlling the aligning actuator to apply aligning force corresponding to the restoring parameter to the steering wheel;
the step of detecting whether a preset operation of triggering track maintenance is received comprises:
detecting whether an operation that a driver of the vehicle clicks the operation interface is received;
the vehicle further comprises a steering wheel torque sensor for collecting torque information borne by a steering wheel of the vehicle;
after the step of detecting whether an operation of clicking an operation interface by a driver of the vehicle is received, the method further includes:
if the operation of clicking an operation interface by a driver of the vehicle is detected, detecting whether a first torque applied to a steering wheel by the driver is received by a steering wheel torque sensor within a first preset time period, wherein the first torque is smaller than or equal to the preset torque, the first preset time period is a time period from the touch sensing module receiving a sensing signal to the operation interface receiving a clicking signal, and the touch sensing module is arranged on one side of the operation interface close to a driving position;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a first torque applied to the steering wheel by a driver in a first preset time period, and the first torque is smaller than or equal to a preset torque, calculating the duration of the first torque and a first offset generated on the vehicle;
and calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the first torsion and the first offset generated to the vehicle.
2. The method for maintaining the vehicle running track according to claim 1, wherein the touch sensing module is used for sensing hand shielding information of the driver when operating the operation interface;
the step of detecting whether the operation of clicking the operation interface by the driver is received comprises the following steps:
detecting whether the touch sensing module senses a hand shielding signal of a driver;
and if the touch sensing module senses a hand shielding signal of a driver, detecting whether a click operation acting on the operation interface is received.
3. The vehicle trajectory maintenance method of claim 1, wherein the vehicle further comprises a steering wheel torque sensor for collecting torque information on a steering wheel of the vehicle;
after the step of detecting whether an operation of clicking the operation interface by a driver of the vehicle is received, the method further includes:
if the operation of clicking an operation interface by a driver is detected, detecting whether a first torque applied to a steering wheel by the driver is received by the steering wheel torque sensor within a first preset time period, wherein the first torque is smaller than or equal to the preset torque, and the first preset time period is a time period from the touch sensing module receiving a sensing signal to the operation interface receiving a clicking signal;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a first torque applied to the steering wheel by a driver in a first preset time period, and the first torque is smaller than or equal to a preset torque, calculating the duration of the first torque and a first offset generated on the vehicle;
judging whether the first offset is larger than or equal to a displacement threshold value;
and if the first offset is larger than or equal to a displacement threshold, calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the first torque and the first offset generated to the vehicle.
4. The vehicle trajectory maintenance method according to claim 1, wherein after the step of detecting whether an operation of a driver of the vehicle clicking the operation interface is received, the method further comprises:
if the operation of clicking the operation interface by a driver is detected, detecting whether a second torsion applied to the steering wheel by the driver is received by the steering wheel torque sensor in a second preset time period, wherein the second torsion is smaller than or equal to the preset torsion, and the second preset time period is a time period from the point signal received by the operation interface to the disconnection of the induction signal of the touch induction module;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a second torque force applied to the steering wheel by a driver in a second preset time period, and the second torque force is smaller than or equal to a preset torque force, calculating the duration of the second torque force and a second offset generated on the vehicle;
and calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the second torsion and a second offset generated to the vehicle.
5. The vehicle trajectory maintenance method according to claim 1, wherein after the step of detecting whether an operation of a driver of the vehicle clicking the operation interface is received, the method further comprises:
if the operation of clicking the operation interface by a driver is detected, detecting whether a second torsion applied to the steering wheel by the driver is received by the steering wheel torque sensor in a second preset time period, wherein the second torsion is smaller than or equal to the preset torsion, and the second preset time period is a time period from the point signal received by the operation interface to the disconnection of the induction signal of the touch induction module;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a second torque force applied to the steering wheel by a driver in a second preset time period, and the second torque force is smaller than a preset torque force, calculating the duration of the second torque force and a second offset generated on the vehicle;
judging whether the second offset is greater than or equal to a displacement threshold value;
and if the second offset is larger than or equal to a displacement threshold, calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the second torque and the second offset generated to the vehicle.
6. A vehicle operation track keeping device is characterized in that the device is applied to a vehicle and at least comprises: an operation interface for receiving the operation of a user and a correcting actuator for applying a torsion moment to a steering wheel; the device further comprises:
the detection module is used for detecting whether preset operation capable of triggering track keeping action is received or not;
the computing module is used for computing a recovery parameter of a aligning force which needs to be applied to the steering wheel by the aligning actuator under a preset operation when the preset operation of triggering track keeping is received;
the control module is used for controlling the aligning actuator to apply aligning force corresponding to the recovery parameters to a steering wheel; wherein
The step of detecting whether a preset operation of triggering track maintenance is received comprises:
detecting whether an operation that a driver of the vehicle clicks the operation interface is received;
the vehicle further comprises a steering wheel torque sensor for collecting torque information borne by a steering wheel of the vehicle;
after the step of detecting whether the operation of clicking the operation interface by a driver of the vehicle is received, if the operation of clicking the operation interface by the driver of the vehicle is detected, detecting whether a first torsion force applied to a steering wheel by the driver is received by a steering wheel torque sensor within a first preset time period, wherein the first torsion force is smaller than or equal to the preset torsion force, the first preset time period is a time period from the time when a sensing signal is received by a touch sensing module to the time when the operation interface receives a clicking signal, and the touch sensing module is arranged on one side, close to a driving position, of the operation interface;
the step of calculating a recovery parameter of the aligning force that the aligning actuator needs to apply to the steering wheel under the preset operation includes:
if the steering wheel torque sensor is detected to receive a first torque applied to the steering wheel by a driver in a first preset time period, and the first torque is smaller than or equal to a preset torque, calculating the duration of the first torque and a first offset generated on the vehicle;
and calculating a recovery parameter of the aligning force which needs to be applied to the steering wheel by the aligning actuator according to the duration of the first torsion and the first offset generated to the vehicle.
7. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of vehicle trajectory maintenance of any of the preceding claims 1-5.
CN201911145170.8A 2019-11-21 2019-11-21 Vehicle running track keeping method and device and electronic equipment Active CN110979456B (en)

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JP2000006687A (en) * 1998-06-25 2000-01-11 Yazaki Corp Onboard equipment switch safety operation system
CN103510781B (en) * 2013-10-16 2017-01-11 观致汽车有限公司 Vehicle window control device and method
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CN107444491B (en) * 2017-08-10 2023-12-05 泗洪县正心医疗技术有限公司 Motor vehicle track control method and motor vehicle navigation coordinate system establishment method
CN109835332A (en) * 2017-11-24 2019-06-04 上海航天汽车机电股份有限公司 Vehicle and its vehicle of application keep householder method and auxiliary system
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