CN111231934B - Vehicle control method and device, storage medium and vehicle - Google Patents
Vehicle control method and device, storage medium and vehicle Download PDFInfo
- Publication number
- CN111231934B CN111231934B CN201811348764.4A CN201811348764A CN111231934B CN 111231934 B CN111231934 B CN 111231934B CN 201811348764 A CN201811348764 A CN 201811348764A CN 111231934 B CN111231934 B CN 111231934B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- steering torque
- determining
- torque
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
Abstract
The disclosure relates to a vehicle control method, a device, a storage medium and a vehicle, wherein when the vehicle has a tire burst, the driving information of the vehicle is acquired; acquiring a steering torque applied to the vehicle; determining a target motion track of the vehicle according to the driving information and the steering torque; correcting the steering torque according to the target motion track; and controlling the vehicle to run according to the target motion track according to the corrected steering torque.
Description
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a method, an apparatus, a storage medium, and a vehicle for vehicle control.
Background
As is known, when a vehicle blows out, the vehicle loses balance, and a large moment is instantaneously applied to a steering wheel by a vehicle body through a steering system, so that the vehicle cannot run according to an original motion trajectory, at this time, the vehicle needs to be controlled to run on a safe lane in time, but a driver is usually in a highly tense state in an actual blowing scene, the problem of insufficient or excessive steering is easily caused in the control of the steering wheel, and the safe running of the vehicle is difficult to be ensured.
When the vehicle has a tire burst, the speed of the vehicle can be obviously reduced, and at the moment, if the steering torque input by a driver through a steering wheel is insufficient, the tire burst vehicle cannot be controlled to drive into other safe lanes in time, so that other vehicles behind the tire burst vehicle and driving on the same lane with the tire burst vehicle can rear-end the tire burst vehicle to cause traffic accidents; if the steering torque that the driver input when excessive, can make the vehicle drive into other lanes rapidly, this can have the risk of colliding with the vehicle that other lanes are being gone, even directly rush out the safety barrier in lane to cause serious traffic accident, so can know, the vehicle is when taking place to blow out, if the steering torque that the driver passes through the steering wheel input is not enough, or when the steering torque of input was excessive, can not effectively control the safe of vehicle and go, constitute very big threat to personal and vehicle safety.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a method, an apparatus, a storage medium, and a vehicle for controlling a vehicle.
According to a first aspect of embodiments of the present disclosure, there is provided a method of vehicle control, the method comprising: when a vehicle has a tire burst, acquiring running information of the vehicle; acquiring a steering torque applied to the vehicle; determining a target motion track of the vehicle according to the running information and the steering torque; correcting the steering torque according to the target motion track; and controlling the vehicle to run according to the target motion track according to the corrected steering torque.
Optionally, the determining the target motion trajectory of the vehicle according to the driving information and the steering torque includes: determining a first motion track of the vehicle according to the running information; the first motion trail comprises a motion trail of the vehicle when the steering torque is not acted when the tire burst happens; determining a second motion track of the vehicle according to the steering torque and the first motion track; the second motion trail comprises a motion trail of the vehicle under the action of the steering torque when a tire burst occurs; acquiring obstacle information in a preset range around the vehicle; and determining the target motion trail according to the obstacle information and the second motion trail.
Optionally, the obstacle information includes a relative speed of the obstacle and the vehicle and a distance of the obstacle and the vehicle; the determining the target motion trajectory according to the obstacle information and the second motion trajectory includes: and determining the target motion track according to the relative speed, the distance and the second motion track.
Optionally, the correcting the steering torque according to the target motion trajectory includes: determining a correction torque for the steering torque according to the target motion track; and correcting the steering torque according to the correction torque.
Optionally, the determining a correction torque for the steering torque according to the target motion trajectory includes: determining a target moment according to the target motion track, wherein the target moment comprises a moment output by the vehicle when the vehicle runs according to the target motion track; and calculating the difference value between the target torque and the steering torque to obtain the correction torque.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for vehicle control, the apparatus comprising: the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the running information of a vehicle when the vehicle has a tire burst; the second acquisition module is used for acquiring steering torque applied to the vehicle; the determining module is used for determining a target motion track of the vehicle according to the running information and the steering torque; the correction module is used for correcting the steering torque according to the target motion track; and the control module is used for controlling the vehicle to run according to the target motion track according to the corrected steering torque.
Optionally, the determining module includes: the first determining submodule is used for determining a first motion track of the vehicle according to the running information; the first motion trail comprises a motion trail of the vehicle when the steering torque is not acted when the tire burst happens; the second determining submodule is used for determining a second motion track of the vehicle according to the steering torque and the first motion track; the second motion trail comprises a motion trail of the vehicle under the action of the steering torque when a tire burst occurs; the acquisition submodule is used for acquiring the obstacle information in the preset range around the vehicle; and the third determining submodule is used for determining the target motion track according to the obstacle information and the second motion track.
Optionally, the obstacle information includes a relative speed of the obstacle and the vehicle and a distance of the obstacle and the vehicle; and the third determining submodule is used for determining the target motion track according to the relative speed, the distance and the second motion track.
Optionally, the correction module includes: the fourth determining submodule is used for determining the correction torque of the steering torque according to the target motion track; and the correction submodule is used for correcting the steering torque according to the correction torque.
Optionally, the fourth determining submodule is configured to determine a target torque according to the target motion trajectory, where the target torque includes a torque output by the vehicle when the vehicle travels according to the target motion trajectory; and calculating the difference value between the target torque and the steering torque to obtain the correction torque.
According to a third aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect of the present disclosure.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a vehicle including the apparatus for vehicle control according to the second aspect of the present disclosure.
By the technical scheme, when the vehicle has a tire burst, the driving information of the vehicle is acquired; acquiring steering torque applied to the vehicle by a user through a steering wheel of the vehicle; determining a target motion track of the vehicle according to the driving information and the steering torque; correcting the steering torque according to the target motion track; and controlling the vehicle to run according to the target motion track according to the corrected steering torque, so that when the tire burst occurs to the vehicle, the steering torque input by a user can be corrected, the vehicle can run according to the target motion track, and the safety factor of the vehicle during the tire burst is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic diagram illustrating an application scenario for vehicle control according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a first method of vehicle control according to an exemplary embodiment;
FIG. 3 is a flow chart illustrating a second method of vehicle control according to an exemplary embodiment;
FIG. 4 is a block diagram illustrating a first vehicle control arrangement according to an exemplary embodiment;
FIG. 5 is a block diagram illustrating a second vehicle controlled apparatus according to an exemplary embodiment;
FIG. 6 is a block diagram illustrating an apparatus for third vehicle control according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
First, an application scenario of the present disclosure will be described, fig. 1 is a schematic view of the application scenario of the present disclosure, and as shown in fig. 1, it is described by taking an example in which a vehicle C is a flat tire vehicle, a tire burst wheel is a left front wheel, A, B is set as two adjacent vehicles (obstacle vehicles which need to be avoided) which run at a constant speed with the vehicle C, a lane 3 is a rightmost lane and has no obstacle, a in fig. 1 represents a relative position of the flat tire vehicle C with the obstacle vehicle a and the obstacle vehicle B at the moment of tire burst, B represents that the flat tire vehicle C collides with the obstacle vehicle a at the position 1 in a case where the user does not apply the steering torque, C represents that the flat tire vehicle C collides with the obstacle vehicle B at the position 2 in a case where the steering torque applied by the user is insufficient, d represents that the flat tire vehicle C collides with a green belt on the right side of the lane 3 in a case where the steering torque applied by the user is excessive, e represents that the steering torque is corrected, the vehicle C safely enters the lane 3 without colliding with the obstacle vehicle and other obstacles, the vehicle C can normally travel on the lane 2 according to the track 2 when the vehicle C is not punctured, the vehicle C can enter the lane 1 along the track 1 when the vehicle is punctured and without the intervention of the driver, in which case the vehicle C may collide with the vehicle a at the position 1 (as in B), so that, in order to avoid the vehicle C steering sharply to the left side when the tire is punctured, the user can apply a steering torque to the vehicle C to the right through the steering wheel, but when the steering torque applied by the user is insufficient, the vehicle C can travel according to the track 3, but this may cause the vehicle C to collide with the vehicle B at the position 2 before entering the lane 3 (as in C, the vehicle B tailors the vehicle C), when the steering torque applied by the user is excessively large, the vehicle C may rush to the green belt (as shown in d) on the right side of the lane 3 according to the track 5, which may also cause traffic accidents, and is not beneficial to the safe driving of the vehicle, that is, when the vehicle is blown out, the steering torque input by the user through the steering wheel is insufficient or excessive, and is not beneficial to the safe driving of the vehicle, thereby posing a great threat to the safety of the human body and the vehicle.
In order to solve the existing problems, the present disclosure provides a method, an apparatus, a storage medium, and a vehicle for controlling a vehicle, wherein when a tire burst occurs in the vehicle, driving information of the vehicle is acquired; acquiring steering torque applied to the vehicle by a user through a steering wheel of the vehicle; determining a target motion track of the vehicle according to the driving information and the steering torque; correcting the steering torque according to the target motion track; and controlling the vehicle to run according to the target motion track according to the corrected steering torque, so that when the tire burst occurs to the vehicle, the steering torque input by a user can be corrected, the vehicle can run according to the target motion track, and the safety factor of the vehicle during the tire burst is improved.
Specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
FIG. 2 is a flow chart illustrating a method of controlling a vehicle, as shown in FIG. 1, including the steps of:
s201, when the vehicle has a tire burst, the running information of the vehicle is acquired.
The driving information may include a position where the vehicle is located when the vehicle blows out, a vehicle speed (a vehicle driving speed and a wheel speed of each wheel) of the vehicle, a vehicle inclination angle (the vehicle inclination angle may include an included angle between a first wheel base and a second wheel base, wherein the first wheel base may include an inclined wheel base between the blown-out wheel and a coaxial non-blown-out wheel, and the second wheel base may include a horizontal wheel base between coaxial wheels where the blowing-out does not occur), and a steering wheel torque position.
In this step, Tire Pressure information of a wheel may be monitored in real time by a vehicle Tire Pressure Monitoring System (TPMS), whether a Tire burst occurs in the vehicle is determined according to the Tire Pressure information, a position where the vehicle is located is obtained by a vehicle radar device, a vehicle speed of the vehicle is obtained by a vehicle Electronic Stability Control (ESC), a vehicle tilt angle is obtained by a vehicle yaw rate sensor, a Steering wheel torque position when the vehicle bursts is obtained by a vehicle Electric Power Steering (EPS), and an initial Steering torque when the vehicle bursts is determined according to the Steering wheel torque position, where the initial Steering torque may include a Steering wheel torque before a user applies the Steering torque when the vehicle bursts.
And S202, acquiring the steering torque applied to the vehicle.
When a tire burst occurs on the vehicle, the vehicle can deviate from an original motion track instantaneously and deviate towards the side of a tire burst wheel, and at the moment, a driver can apply steering torque to the vehicle through a steering wheel so as to control the vehicle to run on a relatively safe motion track.
In one possible implementation, the steering torque may be obtained by the vehicle electric power steering system.
And S203, determining the target motion track of the vehicle according to the running information and the steering torque.
Because the vehicle body is unbalanced after the vehicle has a tire burst, and the steering torque applied to the steering wheel by the driver is felt at the moment, the magnitude of the steering torque to be applied cannot be accurately grasped, if the vehicle is controlled to run only according to the steering torque input by the driver, the vehicle is likely to collide with other vehicles or obstacles, so to avoid collision, the vehicle can simulate and calculate a first motion track (such as track 1 in fig. 1) when the vehicle has a tire burst and the steering torque is not applied and a second motion track (such as track 3 or track 5 in fig. 1) of the vehicle under the action of the steering torque input by the user in advance, and calculate a route closest to the second motion track by combining obstacle information around the vehicle as a target motion track.
In a possible implementation manner, a first motion trajectory of the vehicle may be determined according to the driving information, a second motion trajectory of the vehicle may be determined according to the steering torque and the first motion trajectory, obstacle information in a preset range around the vehicle is obtained, and then the target motion trajectory may be determined according to the obstacle information and the second motion trajectory. Wherein the first motion trajectory may include a motion trajectory of the vehicle without the steering torque acting when a tire burst occurs, such as trajectory 1 in fig. 1; the second motion trajectory may include a motion trajectory of the vehicle under the action of the steering torque when a tire burst occurs, for example, in the case of insufficient steering torque, the second motion trajectory may be as in trajectory 3 of fig. 1, and in the case of excessive steering torque, the second motion trajectory may be as in trajectory 5 of fig. 1; the obstacle may include other vehicles around the vehicle, a road guardrail, a green belt, a pedestrian, or the like, and the obstacle information may include a relative speed of the obstacle to the vehicle and a distance of the obstacle to the vehicle, where the obstacle information may be acquired by an angle radar system on the vehicle, and the target movement trajectory may be determined according to the relative speed, the distance, and the second movement trajectory when the obstacle information is acquired.
And S204, correcting the steering torque according to the target motion track.
In this step, a correction torque for the steering torque may be determined according to the target motion trajectory; and then correcting the steering torque according to the correction torque, wherein when the correction torque of the steering torque is determined according to the target motion track, a target torque can be determined according to the target motion track, then the difference value between the target torque and the steering torque is calculated to obtain the correction torque, and the target torque can comprise the torque output by the vehicle when the vehicle runs according to the target motion track.
When correcting the steering torque according to the correction torque, one possible implementation may be to determine whether the target torque is greater than the steering torque; when the target torque is larger than the steering torque, determining that the steering torque applied by a user is insufficient, adding the correction torque on the basis of the steering torque to obtain a target torque, and controlling the vehicle to output the target torque; when the target torque is smaller than the steering torque, the fact that the steering torque applied by a user is too large is determined, at the moment, the correction torque can be subtracted from the steering torque to obtain the target torque, the vehicle is controlled to output the target torque, and therefore the correction of the steering torque is completed.
And S205, controlling the vehicle to run according to the target motion track according to the corrected steering torque.
In this step, the vehicle may be controlled to output the corrected steering torque (the corrected steering torque is the target torque), so as to control the vehicle to travel according to the target motion trajectory.
By adopting the method, when the tire burst happens to the vehicle, the steering torque input by the user can be corrected, so that the vehicle can run according to the target motion track, and the safety factor of the vehicle in the tire burst process is improved.
FIG. 3 is a flow chart illustrating a method of vehicle control, as shown in FIG. 3, including the steps of:
and S301, acquiring the running information of the vehicle when the vehicle has a tire burst.
The driving information may include a position where the vehicle is located when the vehicle blows out, a vehicle speed (a vehicle driving speed and a wheel speed of each wheel) of the vehicle, a vehicle inclination angle (the vehicle inclination angle may include an included angle between a first wheel base and a second wheel base, wherein the first wheel base may include an inclined wheel base between the blown-out wheel and a coaxial non-blown-out wheel, and the second wheel base may include a horizontal wheel base between the coaxial wheels when the blowing-out does not occur), and a steering wheel torque position.
In this step, the tire pressure information of the wheels can be monitored in real time by the vehicle tire pressure monitoring system, whether the vehicle has a tire burst is determined according to the tire pressure information, the position where the vehicle is located is obtained by the vehicle radar device, the vehicle speed of the vehicle is obtained by the vehicle electronic stability control system, the vehicle inclination angle is obtained by the vehicle yaw rate sensor, the steering wheel torque position when the vehicle has a tire burst is obtained by the vehicle electric power steering system, and the initial steering torque when the vehicle has a tire burst is determined according to the steering wheel torque position, wherein the initial steering torque may include the steering wheel torque before the user applies the steering torque when the vehicle has a tire burst.
And S302, acquiring the steering torque applied to the vehicle.
When a tire burst occurs on the vehicle, the vehicle can deviate from an original motion track instantaneously and deviate towards the side of a tire burst wheel, and at the moment, a driver can apply steering torque to the vehicle through a steering wheel so as to control the vehicle to run on a relatively safe motion track.
In one possible implementation, the steering torque may be obtained by an electric power steering system on the vehicle.
And S303, determining a first motion track of the vehicle according to the running information.
The first motion trajectory may include a motion trajectory of the vehicle without the steering torque acting when a tire burst occurs, such as trajectory 1 in fig. 1.
In a possible implementation manner, a vehicle body size may be obtained first, and then the first motion trajectory is determined through a preset vehicle motion model (such as a kinematic bicycle model) according to the vehicle body size, a wheel linear velocity, a vehicle inclination angle, and a vehicle initial steering moment in the driving information.
It should be noted that the preset vehicle motion model is a vehicle motion model that is established in advance.
S304, determining a second motion track of the vehicle according to the steering torque and the first motion track.
The second motion trajectory may include a motion trajectory of the vehicle under the action of the steering torque when a tire burst occurs, for example, in the case of insufficient steering torque, the second motion trajectory may be as shown in a trajectory 3 in fig. 1, and in the case of excessive steering torque, the second motion trajectory may be as shown in a trajectory 5 in fig. 1.
After the vehicle is blown out, if the user does not input the steering torque, the vehicle will travel according to the first motion track, but when the user inputs the steering torque, the vehicle will travel according to the second motion track, and when the first motion track and the second motion track of the vehicle are calculated according to the preset vehicle motion model, the vehicle body size and the vehicle travel information which are based on the vehicle body size and the vehicle travel information are the same.
And S305, acquiring obstacle information in a preset range around the vehicle.
Wherein the obstacle may include other vehicles around the vehicle, a road guardrail, a green belt, or a pedestrian, and the obstacle information may include a relative speed of the obstacle and the vehicle and a distance of the obstacle and the vehicle, and in one possible implementation, the obstacle information may be acquired by a vehicle radar device.
S306, determining a target motion track according to the relative speed of the obstacle and the vehicle, the distance between the obstacle and the vehicle and the second motion track.
Because the vehicle body is unbalanced after the vehicle has a tire burst, and the steering torque applied to the steering wheel by the driver is felt at the moment, the magnitude of the steering torque to be applied cannot be accurately grasped, if the vehicle is controlled to run only according to the steering torque input by the driver, the vehicle is likely to collide with other vehicles or obstacles, so to avoid collision, the vehicle can simulate and calculate a first motion track (such as track 1 in fig. 1) when the vehicle has a tire burst and the steering torque is not applied, and a second motion track (such as track 3 or track 5 in fig. 1) of the vehicle under the action of the steering torque input by the user in advance, and calculate a route closest to the second motion track by combining obstacle information around the vehicle to be used as a target motion track.
By way of example, continuing with the example of the vehicle B in fig. 1 as an obstacle located within a predetermined range around the flat tire vehicle C, the distance between the obstacle vehicle B and the vehicle C is y2-y1, the relative speed between the obstacle vehicle B and the vehicle C is V2-V1, after step 304 is executed, the second motion track of the vehicle under the action of the steering torque input by the user is determined as track 3, however, if the vehicle is traveling according to the trajectory 3, the obstacle vehicle B in the lane 2 will end up with the vehicle C at the position 2 after the time of (y2-y1)/(V2-V1), and at this time, the second motion trajectory needs to be adjusted to obtain the target motion trajectory, the vehicle C can move out of the lane 2 in the (y2-y1)/(V2-V1), so that the accident that the obstacle vehicle B and the vehicle C collide with each other can be avoided.
It should be further noted that the second motion trajectory is continuously adjusted according to the magnitude of the steering torque input by the user in real time during the tire burst process, and the corresponding target motion trajectory is also adjusted in real time according to the latest acquired obstacle information around the vehicle with the tire burst and the latest calculated second motion trajectory.
And S307, determining a target moment according to the target motion track.
And the target torque comprises the torque output by the vehicle when the vehicle runs according to the target motion track.
In this step, the target moment may be determined by a preset vehicle motion model according to the target motion trajectory.
For example, the preset vehicle motion model is taken as ax + b, which is taken as an example, where x may be an array including a plurality of input variables such as a vehicle body size, a target moment, a vehicle speed, a vehicle inclination angle, and the like of the flat tire vehicle, y is a target motion trajectory of the vehicle, and a and b are respectively known preset model parameters, at this time, the target motion trajectory y is known, and since the vehicle speed, the vehicle inclination angle, and other driving information of the vehicle and the vehicle body size can be obtained in real time by a vehicle detection device, only the target moment is an unknown quantity in the array x, at this time, the target moment may be calculated according to the target motion trajectory and the preset vehicle motion model.
S308, determining the correction torque of the steering torque according to the target torque and the steering torque.
In this step, the difference between the target torque and the steering torque may be calculated to obtain the correction torque, and the magnitude of the correction torque is the magnitude of the absolute value of the difference.
S309, correcting the steering torque according to the correction torque.
In one possible implementation, it may be determined whether the target torque is greater than the steering torque; when the target torque is larger than the steering torque, determining that the steering torque applied by a user is insufficient, adding the correction torque on the basis of the steering torque to obtain a target torque, and controlling the vehicle to output the target torque; when the target torque is smaller than the steering torque, the fact that the steering torque applied by a user is too large is determined, at the moment, the correction torque can be subtracted from the steering torque to obtain the target torque, the vehicle is controlled to output the target torque, and therefore the correction of the steering torque is completed.
And S310, controlling the vehicle to run according to the target motion track according to the corrected steering torque.
In this step, the vehicle may be controlled to output the corrected steering torque (the corrected steering torque is the target torque), so as to control the vehicle to travel according to the target motion trajectory.
In addition, in the process of continuously correcting the steering torque input by the user according to the vehicle control method provided by the disclosure, the tire pressure monitoring system of the vehicle can detect the tire pressure of the wheel in real time, and when the tire pressure is detected to be normal, the correction of the steering torque input by the user is finished, and the original power-assisted state is recovered.
By adopting the method, when the tire burst happens to the vehicle, the steering torque input by the user can be corrected, so that the vehicle can run according to the target motion track, and the safety factor of the vehicle in the tire burst process is improved.
Fig. 4 is a block diagram illustrating an apparatus for controlling a vehicle, according to an exemplary embodiment, as shown in fig. 4, the apparatus including:
the first obtaining module 401 is configured to obtain driving information of a vehicle when the vehicle has a tire burst;
a second obtaining module 402, configured to obtain a steering torque applied to the vehicle;
a determining module 403, configured to determine a target motion trajectory of the vehicle according to the driving information and the steering torque;
a correction module 404, configured to correct the steering torque according to the target motion trajectory;
and the control module 405 is used for controlling the vehicle to run according to the target motion track according to the corrected steering torque.
Alternatively, fig. 5 is a block diagram of a vehicle control device according to the embodiment shown in fig. 4, and as shown in fig. 5, the determining module 403 includes:
a first determining submodule 4031 configured to determine a first motion trajectory of the vehicle according to the travel information; the first motion track comprises the motion track of the vehicle without the action of the steering moment when the tire burst happens;
a second determining submodule 4032, configured to determine a second motion trajectory of the vehicle according to the steering torque and the first motion trajectory; the second motion track comprises a motion track of the vehicle under the action of the steering torque when the tire burst happens;
an obtaining submodule 4033 for obtaining obstacle information in a preset range around the vehicle;
a third determining submodule 4034, configured to determine the target motion trajectory according to the obstacle information and the second motion trajectory.
Optionally, the obstacle information includes a relative speed of the obstacle and the vehicle and a distance of the obstacle and the vehicle; the third determining submodule 4034 is configured to determine the target motion trajectory according to the relative speed, the distance, and the second motion trajectory.
Fig. 6 is a block diagram of a vehicle control apparatus according to the embodiment shown in fig. 4, and as shown in fig. 6, the modification module 404 includes:
a fourth determining submodule 4041, configured to determine a correction torque for the steering torque according to the target motion trajectory;
a correction submodule 4042 configured to correct the steering torque according to the correction torque.
Optionally, the fourth determining submodule 4041 is configured to determine a target torque according to the target motion trajectory, where the target torque includes a torque output by the vehicle when the vehicle travels according to the target motion trajectory; and calculating the difference value between the target torque and the steering torque to obtain the correction torque.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
By adopting the device, when the tire burst happens to the vehicle, the steering torque input by a user can be corrected, so that the vehicle can run according to the target motion track, and the safety factor of the vehicle in the tire burst process is improved.
The present disclosure also provides a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method of vehicle control described above.
The present disclosure also provides a vehicle including the vehicle control device.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of vehicle control, the method comprising: when a vehicle has a tire burst, acquiring running information of the vehicle;
acquiring a steering torque applied to the vehicle;
determining a target motion track of the vehicle according to the driving information and the steering torque;
correcting the steering torque according to the target motion track;
controlling the vehicle to run according to the target motion track according to the corrected steering torque;
the determining the target motion trajectory of the vehicle according to the driving information and the steering torque comprises:
determining a first motion track of the vehicle according to the running information; the first motion trail comprises a motion trail of the vehicle when the steering torque is not acted when the tire burst happens;
determining a second motion track of the vehicle according to the steering torque and the first motion track; the second motion trail comprises a motion trail of the vehicle under the action of the steering torque when a tire burst occurs;
acquiring obstacle information in a preset range around the vehicle;
and determining the target motion trail according to the obstacle information and the second motion trail.
2. The method of claim 1, wherein the obstacle information includes a relative speed of the obstacle to the vehicle and a distance of the obstacle to the vehicle; the determining the target motion trajectory according to the obstacle information and the second motion trajectory includes:
and determining the target motion track according to the relative speed, the distance and the second motion track.
3. The method of claim 1 or 2, wherein the modifying the steering torque according to the target motion profile comprises:
determining a correction torque for the steering torque according to the target motion track;
and correcting the steering torque according to the correction torque.
4. The method of claim 3, wherein the determining a corrective torque for the steering torque based on the target motion profile comprises:
determining a target moment according to the target motion track, wherein the target moment comprises a moment output by the vehicle when the vehicle runs according to the target motion track;
and calculating the difference value between the target torque and the steering torque to obtain the correction torque.
5. An apparatus for vehicle control, characterized in that the apparatus comprises:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the running information of a vehicle when the vehicle has a tire burst;
the second acquisition module is used for acquiring steering torque applied to the vehicle;
the determining module is used for determining a target motion track of the vehicle according to the running information and the steering torque;
the correction module is used for correcting the steering torque according to the target motion track;
the control module is used for controlling the vehicle to run according to the target motion track according to the corrected steering torque;
the determining module comprises:
the first determining submodule is used for determining a first motion track of the vehicle according to the running information; the first motion trail comprises a motion trail of the vehicle when the steering torque is not acted when the tire burst happens;
the second determining submodule is used for determining a second motion track of the vehicle according to the steering torque and the first motion track; the second motion trail comprises a motion trail of the vehicle under the action of the steering torque when a tire burst occurs;
the acquisition submodule is used for acquiring the obstacle information in the preset range around the vehicle;
and the third determining submodule is used for determining the target motion track according to the obstacle information and the second motion track.
6. The apparatus of claim 5, wherein the obstacle information includes a relative speed of the obstacle to the vehicle and a distance of the obstacle to the vehicle; and the third determining submodule is used for determining the target motion track according to the relative speed, the distance and the second motion track.
7. The apparatus of claim 5 or 6, wherein the modification module comprises:
the fourth determining submodule is used for determining the correction torque of the steering torque according to the target motion track;
and the correction submodule is used for correcting the steering torque according to the correction torque.
8. The apparatus according to claim 7, wherein the fourth determination submodule is configured to determine a target torque based on the target motion trajectory, the target torque including a torque output by the vehicle when the vehicle travels according to the target motion trajectory; and calculating the difference value between the target torque and the steering torque to obtain the correction torque.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
10. A vehicle characterized by comprising the apparatus for vehicle control of any one of claims 5 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348764.4A CN111231934B (en) | 2018-11-13 | 2018-11-13 | Vehicle control method and device, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348764.4A CN111231934B (en) | 2018-11-13 | 2018-11-13 | Vehicle control method and device, storage medium and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111231934A CN111231934A (en) | 2020-06-05 |
| CN111231934B true CN111231934B (en) | 2021-07-20 |
Family
ID=70872158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811348764.4A Expired - Fee Related CN111231934B (en) | 2018-11-13 | 2018-11-13 | Vehicle control method and device, storage medium and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111231934B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765384B (en) * | 2012-07-27 | 2015-08-05 | 浙江吉利汽车研究院有限公司杭州分公司 | Urgency for therapy and system after vehicle flat tire |
| CN103723143B (en) * | 2013-11-29 | 2016-06-29 | 天津博信汽车零部件有限公司 | The control method of vehicle zero tire pressure safety traffic and control system |
| CN106467111B (en) * | 2015-08-20 | 2019-06-07 | 比亚迪股份有限公司 | Vehicle body stable control method, system and automobile |
| CN107336707A (en) * | 2016-04-29 | 2017-11-10 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| DE102016217321A1 (en) * | 2016-09-12 | 2018-03-15 | Robert Bosch Gmbh | Method and device for stabilizing a vehicle in the presence of a burst or deflated tire while driving |
| CN107813803A (en) * | 2017-11-29 | 2018-03-20 | 天津所托瑞安汽车科技有限公司 | A kind of automotive tyre explosion safety processing system |
-
2018
- 2018-11-13 CN CN201811348764.4A patent/CN111231934B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN111231934A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5798658B1 (en) | Vehicle lane departure prevention control device | |
| KR101864938B1 (en) | Collision avoidance support device | |
| JP6438516B2 (en) | Vehicle travel control device | |
| KR101987636B1 (en) | Control method for collision avoidance of vehicle and Apparatus for collision avoidance of vehicle implementing the same | |
| US9880556B2 (en) | Test method and system using a highly agile ground vehicle for intelligent vehicle testing | |
| KR101309508B1 (en) | Lane change assist system of vehicle and assisting method for changing lane thereof | |
| JP5947849B2 (en) | Vehicle lane departure prevention control device | |
| JP6184923B2 (en) | Vehicle collision avoidance device | |
| CN104798123A (en) | Driving-assistance device and driving-assistance method | |
| JP7193408B2 (en) | vehicle controller | |
| KR20170080686A (en) | System and method for vehicle path prediction | |
| CN107615092A (en) | Controller of vehicle and control method for vehicle | |
| CN112109707B (en) | Emergency lane keeping auxiliary method for VRU | |
| KR102355735B1 (en) | System and Method for Lane Keep Asistance | |
| US20170131401A1 (en) | Determining a state of a vehicle and assisting a driver in driving the vehicle | |
| CN106945663B (en) | Anti-collision method for turning vehicle | |
| KR102287574B1 (en) | Method and device for operating a vehicle | |
| JP2018525268A (en) | Method for driving a vehicle at least semi-autonomously by position correction, driver assistance system, and vehicle | |
| JP2017140857A (en) | Vehicle control system | |
| JP5565053B2 (en) | Preceding vehicle detection device and collision warning device / collision avoidance device using the same | |
| KR102485394B1 (en) | Vehicle and method of controlling the same | |
| CN111231934B (en) | Vehicle control method and device, storage medium and vehicle | |
| JP6338417B2 (en) | Vehicle lane departure prevention control device | |
| JP2021125022A (en) | Monitoring area setting device | |
| CN110745134A (en) | Method and system for providing steering guidance to a driver of a host vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210720 Termination date: 20211113 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |