CN111717205A - Vehicle control method, device, electronic equipment and computer readable storage medium - Google Patents

Vehicle control method, device, electronic equipment and computer readable storage medium Download PDF

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Publication number
CN111717205A
CN111717205A CN202010467566.0A CN202010467566A CN111717205A CN 111717205 A CN111717205 A CN 111717205A CN 202010467566 A CN202010467566 A CN 202010467566A CN 111717205 A CN111717205 A CN 111717205A
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vehicle
steering angle
target
target site
calculating
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CN202010467566.0A
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CN111717205B (en
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荆赫男
李日浩
胡小双
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Chongqing Wutong Chelian Technology Co ltd
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Beijing Wutong Chelian Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

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

Abstract

The application discloses a vehicle control method, a vehicle control device, electronic equipment and a computer readable storage medium, and belongs to the technical field of automatic control. The method comprises the following steps: acquiring a gradient value of a target field where a vehicle is located; calculating a target steering angle corresponding to the gradient value based on the gradient value of the target field, wherein the target steering angle is the steering angle corresponding to the tire of the vehicle when the vehicle is kept stopped; and determining an initial steering angle of a tire of the vehicle, and adjusting the initial steering angle according to the target steering angle so as to control the vehicle to stop at a target site. According to the vehicle control method, the initial steering angle of the tire of the vehicle is adjusted based on the target steering angle corresponding to the gradient value of the target site, so that the adjustment of the initial steering angle of the tire of the vehicle is more accurate, the reliability of vehicle control is improved, the vehicle cannot slide when parked in the target site, and the safety factor of parking the vehicle in the target site is improved to a certain extent.

Description

Vehicle control method, device, electronic equipment and computer readable storage medium
Technical Field
The embodiment of the application relates to the technical field of automatic control, in particular to a vehicle control method, a vehicle control device, electronic equipment and a computer-readable storage medium.
Background
With the continuous development of automatic control technology, the performance of vehicles is also continuously updated. Due to the large difference of the landforms in different areas, the parking environment of the vehicle also has large difference, for example, in a mountain city, the vehicle needs to be parked in a place with a slope, such as a slope. Therefore, a vehicle control method is required so that the vehicle can be stably stopped on a slope.
In the related art, there are two ways to stop the vehicle on a slope as follows. In the first mode, the vehicle is kept from slipping down by the hand brake of the vehicle when the vehicle is parked on a slope. In the second way, a barrier is placed at the tire of the vehicle, and the vehicle is blocked by the barrier, so that the vehicle is prevented from sliding downwards.
However, the first method may cause the manual brake to be pulled incompletely, resulting in the vehicle being in danger of slipping. In the second mode, the obstacle may not be enough to block the vehicle, and the vehicle may slide, so that the reliability of vehicle control is low, and the safety factor of slope parking is reduced.
Disclosure of Invention
The embodiment of the application provides a vehicle control method and device, electronic equipment and a computer-readable storage medium, which can be used for solving the problems in the related art. The technical scheme is as follows:
in one aspect, an embodiment of the present application provides a vehicle control method, including:
acquiring a gradient value of a target field where a vehicle is located;
calculating a target steering angle corresponding to the gradient value based on the gradient value of the target field, wherein the target steering angle refers to a steering angle corresponding to a tire of the vehicle when the vehicle keeps stopping;
and determining an initial steering angle of the tire of the vehicle, and adjusting the initial steering angle according to the target steering angle so as to control the vehicle to stop at the target site.
In a possible implementation manner, the calculating a target steering angle corresponding to the gradient value based on the gradient value of the target field includes:
calculating a first gravity parallel to the target site based on the gravity of the vehicle and the slope value of the target site;
and calculating the target steering angle according to the first gravity.
In one possible implementation, the calculating a first gravity parallel to the target site based on the gravity of the vehicle and the slope value of the target site includes:
based on the gravity of the vehicle and the gradient value of the target site, a first gravity G parallel to the target site is calculated according to the following formula1：
G1＝G*sinα
Wherein G is the gravity of the vehicle, and alpha is the gradient value of the target site.
In one possible implementation, the calculating the target steering angle according to the first gravity includes:
calculating the target steering angle beta according to the first gravity according to the following formula:
Figure BDA0002513175520000021
wherein C is a torque constant, G1Is the first gravitational force.
In one possible implementation manner, the adjusting the initial steering angle according to the target steering angle to control the vehicle to stop at the target site includes:
responding to that the direction of the target steering angle and the direction of the initial steering angle meet the reference requirement, calculating a difference value between the target steering angle and the initial steering angle, and adjusting the initial steering angle of the vehicle according to the difference value;
and in response to the direction of the target steering angle and the direction of the initial steering angle not meeting the reference requirement, calculating a sum value between the target steering angle and the initial steering angle, and adjusting the initial steering angle of the vehicle according to the sum value.
In one possible implementation manner, the obtaining of the gradient value of the target site where the vehicle is located includes:
determining a component of the gravitational acceleration of the vehicle on the target site in response to the time at which the vehicle is stopped at the target site satisfying a reference time;
and calculating the gradient value of the target field based on the component of the gravity acceleration of the vehicle on the target field.
In another aspect, there is provided a vehicle control apparatus including:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring a gradient value of a target field where a vehicle is located;
the calculation module is used for calculating a target steering angle corresponding to the gradient value based on the gradient value of the target field, wherein the target steering angle refers to the steering angle corresponding to the tire of the vehicle when the vehicle keeps stopping;
a determination module for determining an initial steering angle of a tire of the vehicle;
and the adjusting module is used for adjusting the initial steering angle according to the target steering angle so as to control the vehicle to stop at the target site.
In one possible implementation manner, the calculation module is used for calculating a first gravity parallel to the target field based on the gravity of the vehicle and the gradient value of the target field;
and calculating the target steering angle according to the first gravity.
In one possible implementation manner, the calculation module is used for calculating a first gravity G parallel to the target field according to the following formula based on the gravity of the vehicle and the gradient value of the target field1：
G1＝G*sinα
Wherein G is the gravity of the vehicle, and alpha is the gradient value of the target site.
In a possible implementation manner, the calculating module is configured to calculate the target steering angle β according to the following formula according to the first gravity:
Figure BDA0002513175520000031
wherein C is a torque constant, G1Is the first gravitational force.
In one possible implementation manner, the adjusting module is configured to calculate a difference between the target steering angle and the initial steering angle in response to that the direction of the target steering angle and the direction of the initial steering angle meet a reference requirement, and adjust the initial steering angle of the vehicle according to the difference;
and in response to the direction of the target steering angle and the direction of the initial steering angle not meeting the reference requirement, calculating a sum value between the target steering angle and the initial steering angle, and adjusting the initial steering angle of the vehicle according to the sum value.
In one possible implementation, the obtaining module is configured to determine a component of the gravitational acceleration of the vehicle on the target site in response to a time at which the vehicle is stopped at the target site satisfying a reference time;
and calculating the gradient value of the target field based on the component of the gravity acceleration of the vehicle on the target field.
In another aspect, an electronic device is provided, which includes a processor and a memory, where at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor to implement any one of the vehicle control methods described above.
In another aspect, a computer-readable storage medium is provided, in which at least one program code is stored, the at least one program code being loaded and executed by a processor to implement any of the above-mentioned vehicle control methods.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
according to the technical scheme provided by the embodiment of the application, the initial steering angle of the tire of the vehicle is adjusted based on the target steering angle corresponding to the gradient value of the target field, so that the vehicle is controlled to stop on the target field. Because the adjustment of the initial steering angle of the tire of the vehicle is the target steering angle corresponding to the gradient value based on the target field, the adjustment of the initial steering angle of the tire of the vehicle is more accurate, the reliability of vehicle control is improved, the vehicle cannot slide when parked in the target field, and the safety factor of parking the vehicle in the target field is improved to a certain extent.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an implementation environment of a vehicle control method according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a component of gravitational acceleration of a vehicle at a target site according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a server according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application, and referring to fig. 1, the implementation environment includes: an electronic device 101 and a server 102.
The electronic device 101 may be installed and operated in a vehicle, or may be other types of electronic devices such as a remote control, and is connected to the vehicle in a remote communication manner, which is not limited in the embodiment of the present application. The electronic device 101 obtains a gradient value of a target field where the vehicle is located, and calculates a target steering angle corresponding to the gradient value based on the gradient value of the target field, and the electronic device 101 is further configured to obtain an initial steering angle of a tire of the vehicle, and adjust the initial steering angle according to the target steering angle to control the vehicle to stop at the target field. The electronic device 101 transmits an acquisition request to the server 102, and receives the gravity of the vehicle returned by the server 102.
The electronic device 101 may be generally referred to as one of a plurality of electronic devices, and the embodiment is only illustrated by the electronic device 101. Those skilled in the art will appreciate that the number of electronic devices 101 described above may be greater or fewer. For example, the number of the electronic devices 101 may be only one, or the number of the electronic devices 101 may be tens or hundreds, or more, and the number of the electronic devices and the device types are not limited in the embodiment of the present application.
The server 102 may be one server, may be multiple servers, and may be at least one of a cloud computing platform and a virtualization center. The server 102 may communicate with the electronic device 101 over a wired network or a wireless network. The server 102 receives the acquisition request transmitted by the electronic device 101, and transmits the gravity of the vehicle to the electronic device 101 based on the acquisition request. Alternatively, the number of the servers 102 may be more or less, and the embodiment of the present application is not limited thereto. Of course, the server 102 may also include other functional servers to provide more comprehensive and diverse services.
Based on the above implementation environment, the embodiment of the present application provides a vehicle control method, which may be executed by the electronic device 101 in fig. 1, taking a flowchart of the vehicle control method provided in the embodiment of the present application shown in fig. 2 as an example. As shown in fig. 2, the method comprises the steps of:
in step 201, a grade value of a target site where a vehicle is located is acquired.
In the embodiment of the present application, the electronic device may be installed and operated in a vehicle, and the electronic device may also be other types of electronic devices such as a remote control. The electronic device is used for controlling the vehicle, and the device type of the electronic device is not limited in the embodiment of the application.
In a possible implementation manner, the target site may be a site with a slope, and is a site where a vehicle is to be parked, and the size of the slope value of the target site is not limited in the embodiment of the present application. Since the vehicle may pass through a field having a slope during the driving process, in order to make the electronic device determine the target field where the vehicle is to be parked more intelligently so as to obtain the slope value of the target field, the electronic device obtains the slope value of the target field only when the time when the vehicle stops at the target field satisfies the reference time. The reference time may be 30 seconds or 1 minute, and the time length of the reference time is not limited in the embodiment of the present application.
In a possible implementation manner, the electronic device may acquire the gradient value of the target site where the vehicle is located through the following steps 2011 to 2012.
In step 2011, in response to the time when the vehicle stops at the target site satisfying the reference time, a component of the gravitational acceleration of the vehicle on the target site is determined.
In one possible implementation, the target site may be a two-dimensional site or a three-dimensional site. When the target site is a two-dimensional site, the components of the gravitational acceleration of the vehicle on the target site are a first component and a second component, wherein the first component is an X-axis component, and the second component is a Y-axis component. When the target site is a three-dimensional site, the components of the gravitational acceleration of the vehicle on the target site are a first component, a second component and a third component, wherein the first component is an X-axis component, the second component is a Y-axis component, and the third component is a Z-axis component.
Step 2012, calculating a grade value of the target site based on a component of the gravitational acceleration of the vehicle on the target site.
In one possible implementation manner, the electronic device calculates the gradient value of the target site based on the component of the gravitational acceleration of the vehicle on the target site, which is acquired in step 2011.
In one possible implementation, if the target site is a two-dimensional site, the gradient value α of the target site is calculated according to the following formula (1) based on the component of the gravitational acceleration of the vehicle on the target site:
Figure BDA0002513175520000061
in the above formula (1), AXIs the first component, i.e. the X-axis component, AyIs the second component, i.e., the Y-axis component.
In one possible implementation, if the target site is a three-dimensional site, the gradient value α of the target site is calculated according to the following formula (2) based on the component of the gravitational acceleration of the vehicle on the target site:
Figure BDA0002513175520000062
in the above formula (2), AXIs the first component, i.e., the X-axis component; a. theyIs the second component, i.e., the Y-axis component; a. theZThe third component, i.e., the Z-axis component.
For example, taking the target site as a two-dimensional site, as shown in fig. 3, a schematic diagram of a component of a gravitational acceleration of a vehicle in the target site is provided in the embodiment of the present application. From the left diagram in fig. 3, the first component can be seen
Figure BDA0002513175520000071
Second component
Figure BDA0002513175520000072
From the right diagram in fig. 3, it can be seen that the first component is aXD sin α, the second component being AYIn the embodiment of the present application, the g is the gravitational acceleration of the vehicle at the target site, which is generally 9.8m/s ^2, and the gravitational acceleration may be other values, which is not limited in the embodiment of the present applicationThe gradient value of the target site
Figure BDA0002513175520000073
So that the slope value of the target site is known to be 30 degrees.
In one possible implementation manner, the vehicle is further provided with a corrector, and the corrector is used for correcting the slope value of the target field obtained by the calculation to obtain a corrected slope value, and the corrected slope value is used as the slope value of the target field. The process can enable the calculated gradient value of the target field to be more accurate.
The correction process of the slope value of the target field obtained by calculation by the corrector is as follows: the correction instrument stores a measured gradient value obtained by calculation when the vehicle stays in other fields with gradient values and an actual gradient value of the field with the gradient value; calculating a correction function between the measured gradient value and the actual gradient value by adopting a regression analysis method; and substituting the calculated gradient value of the target field into the correction function, and calculating to obtain the corrected gradient value of the target field. Of course, other correction methods may be adopted to correct the slope value of the target site, which is not limited in the embodiment of the present application.
It should be noted that, the above-mentioned calculation process of the slope value using only the target site as the two-dimensional site is exemplified, and when the target site is the three-dimensional site, the calculation process of the slope value is similar to the calculation process of the slope value of the two-dimensional site, and is not described herein again.
In step 202, a target steering angle corresponding to a gradient value of the target site is calculated based on the gradient value, and the target steering angle corresponds to a tire of the vehicle when the vehicle is kept stopped.
In this embodiment of the application, the process of calculating the target steering angle corresponding to the gradient value based on the gradient value of the target field acquired in step 201 may include the following steps 2021 to 2022.
Step 2021, calculating a first gravity parallel to the target site based on the gravity of the vehicle and the slope value of the target site.
In one possible implementation, the electronic device needs to acquire the weight of the vehicle first. The process of acquiring the gravity of the vehicle by the electronic device can be realized by the following two methods:
the first implementation method is that the gravity of the vehicle is stored in the storage space of the electronic device, and the electronic device can directly acquire the gravity of the vehicle.
And the electronic equipment sends an acquisition request to the server, the acquisition request carries the identification of the vehicle, and the server returns the gravity of the vehicle to the electronic equipment.
In a possible implementation manner, the identifier may be a production lot of the vehicle, and may also be a number of the vehicle, and the identifier of the vehicle is not limited in the embodiment of the present application. And the server receives the acquisition request sent by the electronic equipment, and analyzes the acquisition request to obtain the identification of the vehicle. The storage space of the server stores the gravity of the vehicle corresponding to various vehicle identifications. The server acquires the gravity of the vehicle corresponding to the identification from the storage space of the vehicle based on the identification of the vehicle. The server sends the gravity of the vehicle to the electronic equipment, so that the electronic equipment obtains the gravity of the vehicle.
In one possible implementation, based on the gravity of the vehicle and the gradient value of the target site, the first gravity G parallel to the target site is calculated according to the following formula (3)1：
G1＝G*sinα (3)
In the above formula (3), G is the gravity of the vehicle and is the gradient value of the target site.
Step 2022, calculating a target steering angle based on the first gravity.
In one possible implementation manner, based on the first gravity calculated in the above step 2021, the target steering angle β is calculated according to the following formula (4):
Figure BDA0002513175520000081
in the above formula (4), C isTorque constant, G1Is the first gravitational force.
For example, the first gravity G is calculated by substituting the above formula (3) with the gravity of the vehicle being 1500 kg and the slope value of the target site being 30 degrees11500 × sin30 ° -750 kg. Taking the torque constant as 300N/m as an example, the target steering angle is calculated by substituting the above equation (4)
Figure BDA0002513175520000082
It should be noted that the torque constant may be determined based on experience, or may be adjusted according to an implementation environment, and a value of the torque constant is not limited in the embodiment of the present application.
It should be noted that the direction of the target steering angle is the left by default, that is, the angle between the tire and the left ground surface is 60 degrees, and may also be expressed as the angle between the tire and the right ground surface is 120 degrees, and the value of the target steering angle is related to the direction.
In step 203, an initial steering angle of a tire of the vehicle is determined, and the initial steering angle is adjusted according to the target steering angle so as to control the vehicle to stop at the target site.
In the embodiment of the present application, when the time when the vehicle stops at the target site exceeds the reference time, the electronic device automatically acquires the initial steering angle of the tire at the time when the vehicle stops. For example, the initial steering angle of the tire of the vehicle may be 30 degrees, that is, the angle between the tire and the left ground surface of the tire is 30 degrees, of course, the initial steering angle of the tire of the vehicle may also be larger or smaller, and the size of the initial steering angle is not limited in the embodiments of the present application.
In one possible implementation, the initial steering angle is adjusted based on the target steering angle to control the vehicle to stop at the target site, and the adjustment process may be performed in two cases.
In case one, in response to the direction of the target steering angle and the direction of the initial steering angle satisfying the reference requirement, a difference between the target steering angle and the initial steering angle is calculated, and the initial steering angle is adjusted according to the difference.
In one possible implementation, the direction in response to the target steering angle and the direction of the initial steering angle satisfy the reference requirement, i.e., the direction of the target steering angle and the direction of the initial steering angle are the same direction, for example, the direction of the target steering angle and the direction of the initial steering angle are both angles between the tire and the left ground, or the direction of the target steering angle and the direction of the initial steering angle are both angles between the tire and the right ground. And calculating the difference value between the two values, and controlling the steering wheel of the vehicle according to the difference value so as to adjust the initial steering angle of the tires of the vehicle.
Illustratively, the initial steering angle of the tires of the vehicle is 30 degrees between the tires and the left ground, the target steering angle is 60 degrees between the tires and the left ground, the difference between the two is calculated to obtain 30 degrees, the steering wheel of the vehicle is controlled, and the tires of the vehicle are adjusted to the right by 30 degrees, so that the angle between the adjusted tires of the vehicle and the left ground is 60 degrees.
In a possible implementation, the tires of the vehicle may also be adjusted directly according to the target steering angle without calculating the difference between the target steering angle and the initial steering angle, so that the adjusted angle between the initial and left ground surfaces is 60 degrees.
And in the second case, in response to the condition that the direction of the target steering angle and the direction of the initial steering angle do not meet the reference requirement, calculating a sum value between the target steering angle and the initial steering angle, and adjusting the initial steering angle according to the sum value.
In one possible implementation, in response to the direction of the target steering angle and the direction of the initial steering angle not satisfying the reference requirement, that is, the direction of the target steering angle and the direction of the initial steering angle are not the same direction, for example, the target steering angle is an angle between the tire and the left ground, and the initial steering angle is an angle between the tire and the right ground; alternatively, the target steering angle is the angle between the tire and the right ground, and the initial steering angle is the angle between the tire and the left ground. Calculating a sum between the two values, and controlling a steering wheel of the vehicle according to the sum to adjust an initial steering angle of tires of the vehicle.
Illustratively, the initial steering angle of the tires of the vehicle is 30 degrees between the tires and the right ground, and the target steering angle is 60 degrees between the tires and the left ground. And according to the sum value between the two calculation, the sum value is 90 degrees, the steering wheel of the vehicle is controlled, and the tire of the vehicle is adjusted to the left by 90 degrees, so that the angle between the tire of the adjusted vehicle and the left ground is 60 degrees.
In a possible implementation, the tires of the vehicle may also be adjusted directly according to the target steering angle without calculating the sum of the target steering angle and the initial steering angle, so that the adjusted angle between the initial and left ground surfaces is 60 degrees.
The method adjusts the initial steering angle of the tires of the vehicle based on the target steering angle corresponding to the gradient value of the target field so as to control the vehicle to stop on the target field. Because the adjustment of the initial steering angle of the tire of the vehicle is the target steering angle corresponding to the gradient value based on the target field, the adjustment of the initial steering angle of the tire of the vehicle is more accurate, the reliability of vehicle control is improved, the vehicle cannot slide when parked in the target field, and the safety factor of parking the vehicle in the target field is improved to a certain extent.
Fig. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application, and as shown in fig. 4, the device includes:
an obtaining module 401, configured to obtain a gradient value of a target site where a vehicle is located;
a calculating module 402, configured to calculate a target steering angle corresponding to a slope value of the target field, where the target steering angle is a steering angle corresponding to a tire of the vehicle when the vehicle is kept stopped;
a determination module 403 for determining an initial steering angle of a tire of the vehicle;
and an adjusting module 404, configured to adjust the initial steering angle according to the target steering angle, so as to control the vehicle to stop at the target site.
In a possible implementation manner, the calculating module 402 is configured to calculate a first gravity parallel to the target site based on the gravity of the vehicle and the slope value of the target site;
and calculating the target steering angle according to the first gravity.
In one possible implementation manner, the calculating module 402 is configured to calculate a first gravity G parallel to the target site according to the following formula based on the gravity of the vehicle and the gradient value of the target site1：
G1＝G*sinα
Wherein G is the gravity of the vehicle, and alpha is the gradient value of the target site.
In a possible implementation manner, the calculating module 402 is configured to calculate the target steering angle β according to the following formula according to the first gravity:
Figure BDA0002513175520000111
wherein C is a torque constant, G1Is the first gravitational force.
In one possible implementation, the adjusting module 403 is configured to, in response to that the direction of the target steering angle and the direction of the initial steering angle meet a reference requirement, calculate a difference between the target steering angle and the initial steering angle, and adjust the initial steering angle of the vehicle according to the difference;
and in response to the direction of the target steering angle and the direction of the initial steering angle not meeting the reference requirement, calculating a sum value between the target steering angle and the initial steering angle, and adjusting the initial steering angle of the vehicle according to the sum value.
In a possible implementation manner, the obtaining module 401 is configured to determine a component of the gravitational acceleration of the vehicle on the target site in response to a time that the vehicle stops at the target site satisfying a reference time;
and calculating the gradient value of the target field based on the component of the gravity acceleration of the vehicle on the target field.
The device adjusts the initial steering angle of the tires of the vehicle based on the target steering angle corresponding to the gradient value of the target field so as to control the vehicle to stop on the target field. Because the adjustment of the initial steering angle of the tire of the vehicle is the target steering angle corresponding to the gradient value based on the target field, the adjustment of the initial steering angle of the tire of the vehicle is more accurate, the reliability of vehicle control is improved, the vehicle cannot slide when parked in the target field, and the safety factor of parking the vehicle in the target field is improved to a certain extent.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 500 may be: smart phones, tablet computers, MP3(Moving Picture Experts Group Audio Layer III, Moving Picture Experts compression standard Audio Layer 3) players, MP4(Moving Picture Experts Group Audio Layer IV, Moving Picture Experts compression standard Audio Layer 4) players. The electronic device 500 may also be referred to by other names such as user equipment, portable electronic device, and the like.
In general, the electronic device 500 includes: one or more processors 501 and one or more memories 502.
The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 501 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.
Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store at least one program code for execution by processor 501 to implement the vehicle control method provided by method embodiments herein.
In some embodiments, the electronic device 500 may further optionally include: a peripheral interface 503 and at least one peripheral. The processor 501, memory 502 and peripheral interface 503 may be connected by a bus or signal lines. Each peripheral may be connected to the peripheral interface 503 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 504, display screen 505, camera 506, audio circuitry 507, positioning components 508, and power supply 509.
The peripheral interface 503 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 501 and the memory 502. In some embodiments, the processor 501, memory 502, and peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 501, the memory 502, and the peripheral interface 503 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 504 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 504 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 504 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 504 may communicate with other electronic devices via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 504 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 505 is a touch display screen, the display screen 505 also has the ability to capture touch signals on or over the surface of the display screen 505. The touch signal may be input to the processor 501 as a control signal for processing. At this point, the display screen 505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 505 may be one, providing the front panel of the electronic device 500; in other embodiments, the display screens 505 may be at least two, respectively disposed on different surfaces of the electronic device 500 or in a folded design; in still other embodiments, the display 505 may be a flexible display disposed on a curved surface or on a folded surface of the electronic device 500. Even more, the display screen 505 can be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 505 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.
The camera assembly 506 is used to capture images or video. Optionally, camera assembly 506 includes a front camera and a rear camera. Generally, a front camera is disposed on a front panel of an electronic apparatus, and a rear camera is disposed on a rear surface of the electronic apparatus. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 506 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
Audio circuitry 507 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 501 for processing, or inputting the electric signals to the radio frequency circuit 504 to realize voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and disposed at different locations of the electronic device 500. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 507 may also include a headphone jack.
The positioning component 508 is used to locate the current geographic location of the electronic device 500 for navigation or LBS (location based Service). The positioning component 508 may be a positioning component based on the GPS (global positioning System) in the united states, the beidou System in china, the graves System in russia, or the galileo System in the european union.
The power supply 509 is used to power the various components in the electronic device 500. The power source 509 may be alternating current, direct current, disposable or rechargeable. When power supply 509 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the electronic device 500 also includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: acceleration sensor 511, gyro sensor 512, pressure sensor 513, fingerprint sensor 514, optical sensor 515, and proximity sensor 516.
The acceleration sensor 511 may detect the magnitude of acceleration on three coordinate axes of a coordinate system established with the electronic device 500. For example, the acceleration sensor 511 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 501 may control the display screen 505 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 511. The acceleration sensor 511 may also be used for acquisition of motion data of a game or a user.
The gyro sensor 512 may detect a body direction and a rotation angle of the electronic device 500, and the gyro sensor 512 may cooperate with the acceleration sensor 511 to acquire a 3D motion of the user on the electronic device 500. The processor 501 may implement the following functions according to the data collected by the gyro sensor 512: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
The pressure sensor 513 may be disposed on a side bezel of the electronic device 500 and/or underneath the display screen 505. When the pressure sensor 513 is disposed on the side frame of the electronic device 500, the holding signal of the user to the electronic device 500 can be detected, and the processor 501 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 513. When the pressure sensor 513 is disposed at the lower layer of the display screen 505, the processor 501 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 505. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.
The fingerprint sensor 514 is used for collecting a fingerprint of the user, and the processor 501 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 514, or the fingerprint sensor 514 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 501 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 514 may be disposed on the front, back, or side of the electronic device 500. When a physical button or vendor Logo is provided on the electronic device 500, the fingerprint sensor 514 may be integrated with the physical button or vendor Logo.
The optical sensor 515 is used to collect the ambient light intensity. In one embodiment, the processor 501 may control the display brightness of the display screen 505 based on the ambient light intensity collected by the optical sensor 515. Specifically, when the ambient light intensity is high, the display brightness of the display screen 505 is increased; when the ambient light intensity is low, the display brightness of the display screen 505 is reduced. In another embodiment, processor 501 may also dynamically adjust the shooting parameters of camera head assembly 506 based on the ambient light intensity collected by optical sensor 515.
A proximity sensor 516, also known as a distance sensor, is typically disposed on the front panel of the electronic device 500. The proximity sensor 516 is used to capture the distance between the user and the front of the electronic device 500. In one embodiment, when the proximity sensor 516 detects that the distance between the user and the front surface of the electronic device 500 gradually decreases, the processor 501 controls the display screen 505 to switch from the bright screen state to the dark screen state; when the proximity sensor 516 detects that the distance between the user and the front surface of the electronic device 500 becomes gradually larger, the processor 501 controls the display screen 505 to switch from the breath screen state to the bright screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 5 is not intended to be limiting of the electronic device 500 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
Fig. 6 is a schematic structural diagram of a server according to an embodiment of the present application, where the server 600 may generate a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 601 and one or more memories 602, where at least one program code is stored in the one or more memories 602, and is loaded and executed by the one or more processors 601 to implement the vehicle control method according to the foregoing method embodiments. Of course, the server 600 may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input and output, and the server 600 may also include other components for implementing the functions of the device, which is not described herein again.
In an exemplary embodiment, there is also provided a computer-readable storage medium having at least one program code stored therein, the at least one program code being loaded into and executed by a processor of a computer device to implement any of the vehicle control methods described above.
Alternatively, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
It should be understood that reference to "a plurality" herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The above description is only exemplary of the present application and is not intended to limit the present application, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A vehicle control method, characterized by comprising:
acquiring a gradient value of a target field where a vehicle is located;
calculating a target steering angle corresponding to the gradient value based on the gradient value of the target field, wherein the target steering angle refers to a steering angle corresponding to a tire of the vehicle when the vehicle keeps stopped;
determining an initial steering angle of a tire of the vehicle, and adjusting the initial steering angle according to the target steering angle so as to control the vehicle to stop at the target site.
2. The method of claim 1, wherein calculating a target steering angle corresponding to the grade value based on the grade value of the target site comprises:
calculating a first gravity parallel to the target site based on the gravity of the vehicle and the slope value of the target site;
and calculating the target steering angle according to the first gravity.
3. The method of claim 2, wherein the calculating a first gravitational force parallel to the target site based on the gravitational force of the vehicle and the grade value of the target site comprises:
calculating a first gravity G parallel to the target site according to the following formula based on the gravity of the vehicle and the gradient value of the target site1：
G1＝G*sinα
Wherein G is the gravity of the vehicle, and alpha is the gradient value of the target site.
4. The method of claim 2 or 3, wherein said calculating the target steering angle from the first gravitational force comprises:
calculating the target steering angle beta according to the following formula according to the first gravity:
Figure FDA0002513175510000011
wherein C is a torque constant, and G is1Is the first gravitational force.
5. The method of any one of claims 1 to 3, wherein the adjusting the initial steering angle according to the target steering angle to control the vehicle to stop at the target site comprises:
in response to the direction of the target steering angle and the direction of the initial steering angle meeting a reference requirement, calculating a difference value between the target steering angle and the initial steering angle, and adjusting the initial steering angle of the vehicle according to the difference value;
and in response to the direction of the target steering angle and the direction of the initial steering angle not meeting the reference requirement, calculating a sum value between the target steering angle and the initial steering angle, and adjusting the initial steering angle of the vehicle according to the sum value.
6. The method according to any one of claims 1 to 3, wherein the obtaining of the grade value of the target site where the vehicle is located comprises:
determining a component of gravitational acceleration of the vehicle on the target site in response to the time the vehicle is stopped at the target site satisfying a reference time;
calculating a grade value of the target site based on a component of the gravitational acceleration of the vehicle on the target site.
7. A vehicle control apparatus, characterized in that the apparatus comprises:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring a gradient value of a target field where a vehicle is located;
the calculation module is used for calculating a target steering angle corresponding to the gradient value based on the gradient value of the target field, wherein the target steering angle refers to a steering angle corresponding to a tire of the vehicle when the vehicle keeps stopped;
a determination module for determining an initial steering angle of a tire of the vehicle;
and the adjusting module is used for adjusting the initial steering angle according to the target steering angle so as to control the vehicle to stop at the target site.
8. The apparatus of claim 7, wherein the calculating module is configured to calculate a first gravity parallel to the target site based on the gravity of the vehicle and the slope value of the target site;
and calculating the target steering angle according to the first gravity.
9. An electronic device, characterized in that the electronic device comprises a processor and a memory, in which at least one program code is stored, which is loaded and executed by the processor, to implement the vehicle control method according to any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that at least one program code is stored therein, which is loaded and executed by a processor, to implement the vehicle control method according to any one of claims 1 to 6.
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