CN112109731A

CN112109731A - Vehicle control method, device, electronic equipment, storage medium and vehicle

Info

Publication number: CN112109731A
Application number: CN202011031909.5A
Authority: CN
Inventors: 王衍
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2020-12-22
Anticipated expiration: 2040-09-27
Also published as: CN112109731B

Abstract

The application discloses a vehicle control method, a vehicle control device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of artificial intelligence such as computer vision, intelligent traffic, automatic driving and automatic parking. The specific implementation scheme is as follows: under the condition that the distance between the main vehicle and the first barrier is smaller than the preset safety distance, planning a driving strategy of the main vehicle within a preset time period; and adjusting the rotation moment of a vehicle control mechanism according to the running strategy, wherein the vehicle control mechanism is used for controlling the main vehicle to execute the running strategy. According to the embodiment of the application, the rotating torque of the vehicle control mechanism is adjusted, so that the driver can be prompted to make correct running control over the main vehicle through the vehicle control mechanism by utilizing the rotation difficulty degree of the rotating torque, the driver is guided to operate, and man-machine driving is achieved.

Description

Vehicle control method, device, electronic equipment, storage medium and vehicle

Technical Field

The present disclosure relates to the field of artificial intelligence technologies such as computer vision, intelligent transportation, automatic driving, and automatic parking, and in particular, to a vehicle control method, apparatus, electronic device, storage medium, and vehicle.

Background

The first mode is passive early warning, and only prompts the driver of possible dangers without intervening in driving. The second is to drive the vehicle instead of the driver and make a driving plan by itself according to the driver's instruction. The first way does not directly prevent dangerous driving behavior, since it does not interfere with the driving behavior of the driver. The second mode intervenes in the driving behavior of the vehicle, but cannot coexist with the self-driving behavior of the driver, and when the driver interrupts the automatic driving behavior, the vehicle cannot actively intervene in the driving behavior of the vehicle. The man-machine driving can not be realized.

Disclosure of Invention

The application provides a vehicle control method, a vehicle control device, electronic equipment, a storage medium and a vehicle.

According to an aspect of the present application, there is provided a vehicle control method including:

under the condition that the distance between the main vehicle and the first barrier is smaller than the preset safety distance, planning a driving strategy of the main vehicle within a preset time period;

and adjusting the rotation moment of a vehicle control mechanism according to the running strategy, wherein the vehicle control mechanism is used for controlling the main vehicle to execute the running strategy.

According to another aspect of the present application, there is provided a vehicle control apparatus including:

the planning module is used for planning a driving strategy of the main vehicle in a preset time period under the condition that the distance between the main vehicle and the first barrier is smaller than the preset safety distance;

and the adjusting module is used for adjusting the rotating moment of the vehicle operating mechanism according to the driving strategy, and the vehicle operating mechanism is used for controlling the main vehicle to execute the driving strategy.

According to another aspect of the present application, an electronic device is provided, and functions of the electronic device may be implemented by hardware, or may be implemented by software that performs responses by hardware. The hardware or software includes one or more modules corresponding to the above-described functions.

In one possible design, the electronic device includes a processor and a memory, the memory is used for storing a program for supporting the electronic device to execute the vehicle control method, and the processor is configured to execute the program stored in the memory. The electronic device may also include a communication interface for communicating with other devices or a communication network.

According to another aspect of the present application, there is provided a non-transitory computer-readable storage medium storing computer instructions for storing an electronic device and computer software instructions for the electronic device, including a program for executing the vehicle control method described above.

According to another aspect of the present application, there is provided a vehicle including:

the vehicle control mechanism is used for controlling the vehicle to run;

the first controller is connected with the vehicle operating mechanism and is used for adjusting the rotating torque of the vehicle operating mechanism; and

and the processor is connected with the first controller and used for planning a driving strategy of the vehicle within a preset time period under the condition that the distance between the vehicle and the first obstacle is detected to be smaller than a preset safety distance, and controlling the first controller to adjust the rotating torque of the vehicle control mechanism according to the driving strategy.

According to the embodiment of the application, the rotating torque of the vehicle control mechanism can be adjusted according to the driving strategy, and the change of the rotation difficulty degree of the rotating torque can play a role in prompting a driver to control the driving of the main vehicle through the vehicle control mechanism, so that operation guidance can be formed for the driver, and man-machine driving is realized.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is a schematic flow chart of an implementation of a vehicle control method according to an embodiment of the application;

FIG. 2 is a schematic flow chart of an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 3 is a schematic flow chart of an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 4 is a schematic flow chart of an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 5 is a schematic flow chart of an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 6 is a schematic flow chart of an implementation of a vehicle control method according to another embodiment of the present application;

FIG. 7 is a schematic flow chart of an implementation of a vehicle control method according to another embodiment of the present application;

fig. 8 is a schematic structural diagram of a vehicle control apparatus according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

fig. 10 is a block diagram of an electronic device for implementing the vehicle control method according to the embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

According to an embodiment of the present application, as shown in fig. 1, there is provided a vehicle control method including:

s10: and under the condition that the distance between the main vehicle and the first barrier is detected to be smaller than the preset safety distance, planning the driving strategy of the main vehicle in a preset time period.

The first obstacle may include other vehicles, pedestrians, or other static objects (e.g., houses, road infrastructure, road signs, etc.) in the host vehicle surroundings.

The preset safe distance can be understood as a distance for avoiding traffic safety accidents such as collision of the main vehicle with obstacles in the surrounding environment.

The preset time period is understood to be a time period after the detection that the distance between the host vehicle and the first obstacle is smaller than the preset safety distance, which time period at least ensures that the host vehicle makes timely adjustments to the driving behavior.

Planning a driving strategy of the host vehicle within a preset time period may include: planning a travel track of the host vehicle, planning a travel speed of the host vehicle, planning an action mode of a vehicle control mechanism of the host vehicle, and the like.

S20: and adjusting the rotation moment of a vehicle control mechanism according to the running strategy, wherein the vehicle control mechanism is used for controlling the main vehicle to execute the running strategy.

A vehicle control unit is understood to be a hardware device that controls the vehicle to perform driving behavior adjustments. For example, the vehicle operating mechanism may include an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and the like.

Adjusting the turning moment of the vehicle operating mechanism can be understood as adjusting the difficulty of turning control of the vehicle operating mechanism, i.e. the magnitude of the resisting force. For example, when the rotational resistance of the brake pedal is reduced, the driver can more easily depress the brake pedal, and can more quickly depress the brake pedal to the target position. When the rotational resistance of the brake pedal increases, it becomes more difficult for the driver to depress the brake pedal, so that the vehicle cannot be braked. As another example, when the rotation resistance of the accelerator pedal increases, it becomes more difficult for the driver to depress the accelerator pedal, so that the vehicle cannot be instantaneously accelerated. When the rotation resistance of the accelerator pedal is reduced, the driver can more easily depress the accelerator pedal, and can more quickly depress the accelerator pedal to the target position. For another example, when the resistance to left rotation of the steering wheel is reduced, it is easier for the driver to rotate the steering wheel counterclockwise to the left. When the right-turn resistance of the steering wheel increases, the driver can turn the steering wheel clockwise to the right with more difficulty.

It should be noted that the timing of detecting the safe distance between the host vehicle and the first obstacle may be any time during the driving of the host vehicle. For example, when the host vehicle is traveling forward, when the host vehicle is turning, when the host vehicle is merging, when the host vehicle is parked, and the like.

In the embodiment, by adjusting the rotating torque of the vehicle control mechanism, the driver can be prompted to carry out correct running control on the main vehicle through the vehicle control mechanism by utilizing the rotating difficulty degree of the rotating torque, operation guidance is formed for the driver, and man-machine driving is realized. Meanwhile, the driving safety can be further improved, the driving difficulty of the driver is reduced, and the driving skill of the driver is rapidly enhanced.

In one embodiment, as shown in fig. 2, the vehicle control method includes steps S10 and S20 in the above embodiment. Wherein step S20: adjusting the turning torque of the vehicle operating mechanism according to the driving strategy, further comprising:

s211: in the case where the first obstacle is located ahead of the host vehicle and the driving maneuver is to avoid a collision with the first obstacle, it is determined that the vehicle operating mechanism includes a brake pedal.

Determining that the vehicle operating mechanism comprises a brake pedal may be understood as requiring at least control of the brake pedal to adjust the current driving behaviour of the host vehicle in order to prevent collision of the host vehicle with the first obstacle.

S212: the turning moment of the brake pedal is reduced according to the distance and the relative speed between the host vehicle and the first obstacle.

When the distance between the main vehicle and the first obstacle is smaller and the relative speed is higher, the more the rotating moment of the brake pedal needs to be reduced, so that the driver can brake the main vehicle through the brake pedal more timely, and the collision between the main vehicle and the first obstacle is avoided.

In this embodiment, when the vehicle in front of the main vehicle suddenly brakes, it is difficult to quickly press the brake pedal to a position where collision between the two vehicles can be prevented because the driver is in a hurry or has a slow response. Therefore, when the possibility that the main vehicle collides with the first obstacle in front is predicted, the operation that the driver needs to press the brake pedal can be effectively guided by reducing the rotating moment of the brake pedal, so that the driver can more easily press the brake pedal, and the brake pedal can be timely and effectively pressed to a position where the main vehicle can be prevented from colliding with the first obstacle.

In one example, step S10: when the distance between the main vehicle and the first obstacle is detected to be smaller than the preset safe distance, a specific implementation mode of planning a driving strategy of the main vehicle in a preset time period can adopt any front vehicle collision early warning calculation method in the prior art, and is not limited specifically here.

In one example, a real-time distance between the host vehicle and a first obstacle in front may be detected by a perception subsystem (e.g., an image capture device or sensor) on the host vehicle. And when the real-time distance between the main vehicle and the first obstacle is detected to be smaller than the preset safe distance, determining the driving strategy of the main vehicle to avoid collision with the first obstacle. The relative position between the host vehicle and the first obstacle is then determined by a positioning subsystem (e.g., global positioning system) on the host vehicle. When it is determined that the first obstacle is located in front of the host vehicle, it is determined that the vehicle operating mechanism that adjusts the driving behavior of the host vehicle to avoid a collision is a brake pedal. At this time, real-time distance data between the host vehicle and the first obstacle is transmitted to the force sense rendering controller of the brake pedal. And the force sense rendering controller calculates the rotation torque to be adjusted of the brake pedal according to the real-time distance data.

In one example, the force sense rendering controller calculates a rigidity parameter, a damping parameter and an inertia parameter which are required to be adapted by a servo motor corresponding to a brake pedal according to the current running speed of the host vehicle and the real-time distance between the host vehicle and the first obstacle. And calculating the rotating moment of the brake pedal by using the variable impedance model according to the rigidity parameter, the damping parameter and the inertia parameter which need to be adapted to the servo motor and the current rotating angle of the brake pedal, so that the servo motor corresponding to the brake pedal adjusts the impedance force of the brake pedal according to the calculated rotating moment.

In one example, the variable impedance model may be:

where k denotes stiffness of the servo motor, d denotes damping of the servo motor, t denotes inertia of the servo motor, F denotes a rotational moment, and x denotes a rotational angle of the brake pedal.

In one embodiment, the range of operation of the brake pedal may also be adjusted in order to improve the safety of the driver. The action range can be understood as the maximum limit position that the brake pedal can be stepped on, namely, the action safety domain of the brake pedal. By limiting the position, the situation that the driver or passengers are thrown out of the automobile due to the fact that the driver excessively steps on the brake pedal to cause sudden braking of the automobile at an emergency can be avoided. The maximum position at which the brake pedal can be depressed may be limited in such a manner that, when the brake pedal is depressed to the maximum limit position, the rotational resistance of the brake pedal is increased so that the driver cannot depress the brake pedal downward.

In one example, when it is determined that the first obstacle is located in front of the host vehicle, the vehicle operating mechanism that adjusts the driving behavior of the host vehicle to avoid the collision is determined to be a brake pedal. At this time, real-time distance data between the host vehicle and the first obstacle is transmitted to the force sense rendering controller of the brake pedal. And the force sense rendering controller calculates the action range of the brake pedal according to the real-time distance data.

In one example, the force sense rendering controller calculates a rigidity parameter, a damping parameter and an inertia parameter which are required to be adapted by a servo motor corresponding to a brake pedal according to the current running speed of the host vehicle and the real-time distance between the host vehicle and the first obstacle. And calculating the maximum position and the rotation range of the rotation action of the brake pedal by using the safety domain model according to the rigidity parameter, the damping parameter and the inertia parameter which need to be adapted to the servo motor and the current rotation angle of the brake pedal, so that the servo motor corresponding to the brake pedal controls the action range of the brake pedal.

In one example, the security domain model may be:

where kw denotes the stiffness of the servo motor, k denotes the stiffness of the servo motor, d denotes the damping of the servo motor, t denotes the inertia of the servo motor, F denotes the rotational moment when the brake pedal is rotated to the maximum limit position, and x denotes the rotational angle of the brake pedal.

In one embodiment, as shown in fig. 3, when the above steps S211 and S212 are performed, the vehicle control method further includes:

s213: and increasing the rotation torque of the accelerator pedal under the condition that the pressure applied to the accelerator pedal is detected.

In the embodiment, the rotation moment of the accelerator pedal is increased, so that the accelerator pedal is difficult to press, and the situation that the main vehicle is accelerated to collide with the first obstacle when the accelerator pedal is mistakenly pressed as the brake pedal when the driver is tensed is prevented. Effectively improved when the vehicle appears dangerous, driver's personal safety.

In one example, whether the accelerator pedal is depressed may be detected by a position feedback encoder of the accelerator pedal. When the accelerator pedal is detected to be stepped on, a signal is sent to a servo motor corresponding to the accelerator pedal in time, so that the servo motor can adjust the rotation torque of the accelerator pedal in time.

In one example, whether the brake pedal is depressed may be detected by a position feedback encoder of the brake pedal. When the brake pedal is detected to be stepped on, a signal is sent to the servo motor corresponding to the brake pedal in time, so that the servo motor can adjust the rotation torque of the brake pedal. The brake pedal can still continue to rotate downwards under the action of the current pressure of the foot of the driver, so that the driver is prompted and guided to continue to step on the brake pedal, and the vehicle speed is reduced more timely.

In one example, the vehicle control method further includes:

controlling steering wheel and/or seat vibration if a first time exceeds a threshold time, wherein the first time is a maintenance time when a distance between the host vehicle and the first obstacle is less than a preset safety distance;

and/or controlling the steering wheel and/or the seat to vibrate in the case that the distance between the main vehicle and the first obstacle is smaller than a preset safety distance.

In this embodiment, by controlling the steering wheel and/or seat vibration, the driver may be effectively prompted to adjust the current driving behavior, such as adjusting the direction of the steering wheel. Thereby effectively solving the vehicle collision accident caused by the lack of concentration of driver energy.

In one example, the vibration of the steering wheel and/or seat vibrations may be controlled by a vibration motor. The amplitude and frequency of the vibration of the steering wheel and/or seat can be adjusted as desired.

In one example, the vibration of the steering wheel and/or seat may be divided into four levels. The vibration amplitude is small, the vibration frequency is low, the primary early warning is achieved, the user perception is weak, the potential danger is small, and the emergency degree is low. Vibration amplitude is little, and vibration frequency is high, for the second grade early warning, and user perception strengthens this moment, and potential danger is little, triggers when emergency degree is high. Vibration amplitude is big, and vibration frequency is low, for tertiary early warning, and user perception strengthens this moment, and the potential danger is big, triggers when emergency degree is high. Vibration amplitude is big, and vibration frequency is high, for the level four early warning, and the potential danger is big, triggers when emergency degree is high.

In one embodiment, as shown in fig. 4, the vehicle control method includes steps S10 and S20 in the above embodiment. Wherein step S20: adjusting the turning torque of the vehicle operating mechanism according to the driving strategy, further comprising:

s221: in a case where the first obstacle is located on a side of the host vehicle and the driving maneuver is to avoid a collision with the first obstacle, it is determined that the vehicle operating mechanism includes a steering wheel.

Determining that the vehicle steering mechanism comprises a steering wheel may be understood as requiring at least control of the steering wheel to adjust the current driving behaviour of the host vehicle in order to prevent the host vehicle from colliding with the first obstacle. For example, when it is detected that the host vehicle is about to collide with a right vehicle, it is necessary to turn the steering wheel leftward in time in order to avoid the collision.

S222: and respectively adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the relative position of the main vehicle and the first barrier.

The clockwise turning moment of the steering wheel is understood to be the turning moment when the steering wheel is turned to the right. The counterclockwise rotational force of the steering wheel can be understood as a rotational moment when the steering wheel turns left.

The clockwise and counterclockwise turning moments of the steering wheel should be adjusted in opposite directions. For example, when it is determined that the host vehicle needs to move leftward, the counterclockwise rotation moment of the steering wheel is reduced, so that the steering wheel is more easily rotated counterclockwise. And the clockwise rotating moment of the steering wheel is increased, so that the steering wheel is more difficult to rotate clockwise, and the phenomenon that the driver mistakenly operates and moves towards the direction close to the first obstacle on the side to cause vehicle collision is further prevented.

In this embodiment, because the clockwise turning moment and the anticlockwise turning moment of steering wheel have been adjusted respectively, consequently can be when the guide driver is quick timely makes the correct steering wheel operation, can also avoid the emergence that driver maloperation steering wheel caused the incident.

In one embodiment, as shown in fig. 5, in order to avoid the collision of the host vehicle with other obstacles in the surrounding environment while avoiding the first obstacle, the vehicle control method may further include, when performing the above steps S221 and S222:

s223: it is determined that the vehicle operating mechanism further includes an accelerator pedal and/or a brake pedal.

S224: and adjusting the rotation moment of an accelerator pedal and/or a brake pedal according to the relative position of the main vehicle and the first obstacle, the relative position of the main vehicle and the second obstacle in the preset range and the current speed of the main vehicle.

The second obstacle within the preset range may be one or more. The preset range can be selected and adjusted according to the requirements of the main vehicle.

In this embodiment, when the turning moment of the steering wheel is adjusted, the turning moment of the accelerator pedal and/or the brake pedal is also adjusted, so that the driver can be prompted to be guided to avoid the first obstacle on the side and pay attention to the distance from other obstacles in the surrounding environment, the driver can make more accurate driving behavior adjustment, and the situation that the driver controls the main vehicle to avoid the first obstacle but does not pay attention to the surrounding environment and collides with other obstacles is avoided.

In one example, a real-time distance between the host vehicle and a first obstacle to the side may be detected by a perception subsystem (e.g., an image capture device or sensor) on the host vehicle. And when the real-time distance between the main vehicle and the first obstacle is detected to be smaller than the preset safe distance, determining the driving strategy of the main vehicle to avoid collision with the first obstacle. The relative position between the host vehicle and the first obstacle is then determined by a positioning subsystem (e.g., global positioning system) on the host vehicle. When it is determined that the first obstacle is located on the side of the host vehicle, a vehicle operating mechanism that adjusts the driving behavior of the host vehicle to avoid a collision is determined to be a steering wheel. At this time, real-time distance data between the host vehicle and the first obstacle is transmitted to the force sense rendering controller of the steering wheel. And the force sense rendering controller calculates the rotation torque to be adjusted of the steering wheel according to the real-time distance data.

In one example, the force sense rendering controller calculates a rigidity parameter, a damping parameter and an inertia parameter which are required to be adapted by a servo motor corresponding to the steering wheel according to the current running speed of the main vehicle and the real-time distance between the main vehicle and the first obstacle. And calculating the rotating moment of the steering wheel by using the variable impedance model according to the rigid parameter, the damping parameter, the inertia parameter and the current rotating angle of the steering wheel, which need to be adapted by the servo motor, so that the servo motor corresponding to the steering wheel can adjust the impedance force of the steering wheel according to the calculated rotating moment.

In one example, the variable impedance model may be:

where k denotes stiffness of the servo motor, d denotes damping of the servo motor, t denotes inertia of the servo motor, F denotes a rotational moment, and x denotes a rotational angle of the steering wheel.

In one embodiment, the range of motion of the steering wheel may also be adjusted in order to improve the safety of the driver. The action range can be understood as the maximum limit position of the steering wheel which can be turned left and right, namely the action safety domain of the steering wheel. By defining the position, it is possible to avoid the occurrence of an abnormal traveling trajectory of the host vehicle colliding with other obstacles due to excessive turning of the steering wheel by the driver in an emergency. The maximum position at which the steering wheel can be rotated may be limited in such a manner that, when the steering wheel is rotated to the maximum limit position, the rotation resistance of the steering wheel is increased so that the driver cannot continue to rotate the steering wheel.

In one example, when it is determined that the first obstacle is located on the side of the host vehicle, the vehicle operating mechanism that adjusts the driving behavior of the host vehicle to avoid the collision is determined to be the steering wheel. At this time, real-time distance data between the host vehicle and the first obstacle is transmitted to the force sense rendering controller of the steering wheel. And the force sense rendering controller calculates the action range of the steering wheel according to the real-time distance data.

In one example, the force sense rendering controller calculates a rigidity parameter, a damping parameter and an inertia parameter which are required to be adapted by a servo motor corresponding to the steering wheel according to the current running speed of the host vehicle and the real-time distance between the host vehicle and the first obstacle. And calculating the maximum position and the rotation range of the rotation action of the steering wheel by using the safety domain model according to the rigidity parameter, the damping parameter, the inertia parameter and the current rotation angle of the steering wheel, which need to be adapted by the servo motor, so that the servo motor corresponding to the steering wheel controls the action range of the steering wheel.

In one example, the security domain model may be:

wherein k is_wDenotes stiffness of the servo motor, k denotes stiffness of the servo motor, d denotes damping of the servo motor, t denotes inertia of the servo motor, F denotes a rotational moment when the brake pedal is rotated to a maximum limit position, and x denotes a rotational angle of the steering wheel.

In one example, the vehicle control method further includes:

In one embodiment, as shown in fig. 6, the vehicle control method includes steps S10 and S20 in the above embodiment. Wherein step S20: adjusting the turning torque of the vehicle operating mechanism according to the driving strategy, further comprising:

s231: in a case where the first obstacle is located to a side of the host vehicle and the driving maneuver is to keep the host vehicle driving in the planned lane, it is determined that the vehicle operating mechanism includes a steering wheel.

S232: and adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the distance between the main vehicle and the lane line of the planned lane.

The planned lane may include a straight lane, a curve, and the like.

In this embodiment, because the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel are respectively adjusted, the driver can be guided to quickly and timely make correct steering wheel operation, and meanwhile, the situation that the driver mistakenly operates the steering wheel to cause safety accidents can be avoided.

In one embodiment, in order to avoid the collision of the host vehicle with another obstacle in the surrounding environment while avoiding the first obstacle, the vehicle control method may further include:

it is determined that the vehicle operating mechanism further includes an accelerator pedal and/or a brake pedal.

And adjusting the rotation moment of an accelerator pedal and/or a brake pedal according to the relative position of the main vehicle and the first obstacle, the relative position of the main vehicle and the second obstacle in the preset range and the current speed of the main vehicle.

In the embodiment, when the turning moment of the steering wheel is adjusted, the turning moment of the accelerator pedal and/or the brake pedal is also adjusted, so that the driver can be prompted to be guided to adjust the running position in the specified lane and pay attention to the distance to other obstacles in the surrounding environment, the driver can be prompted to make more accurate driving behavior adjustment, and the situation that the driver collides with other obstacles without paying attention to the surrounding environment when the position of the main vehicle in the lane is adjusted is avoided.

In one example, the real-time distance between the host vehicle and the lane lines on either side of the planned lane may be detected by a perception subsystem (e.g., an image capture device or sensor) on the host vehicle. And when the real-time distance between the main vehicle and the lane line on any side is detected to be smaller than the preset safe distance, determining the driving strategy of the main vehicle as keeping the main vehicle driving in the lane. The relative position between the host vehicle and the two side lane lines is then determined by a positioning subsystem (e.g., global positioning system) on the host vehicle. When it is determined that the host vehicle is approaching a lane line on one side, a vehicle operating mechanism that adjusts the driving behavior of the host vehicle to avoid a collision is determined as a steering wheel. At this time, real-time distance data between the host vehicle and the lane line is transmitted to the force sense rendering controller of the steering wheel. And the force sense rendering controller calculates the rotation torque to be adjusted of the steering wheel according to the real-time distance data.

In one example, the force sense rendering controller calculates a rigidity parameter, a damping parameter and an inertia parameter which are required to be adapted to a servo motor corresponding to the steering wheel according to the real-time distance between the main vehicle and the lane line. And calculating the rotating moment of the steering wheel by using the variable impedance model according to the rigid parameter, the damping parameter, the inertia parameter and the current rotating angle of the steering wheel, which need to be adapted by the servo motor, so that the servo motor corresponding to the steering wheel can adjust the impedance force of the steering wheel according to the calculated rotating moment.

In one example, the variable impedance model may be:

In one embodiment, the operating range of the steering wheel may be adjusted so that the vehicle can accurately travel in a predetermined lane line. The action range can be understood as the maximum limit position of the steering wheel which can be turned left and right, namely the action safety domain of the steering wheel. By defining this position, it is possible to avoid occurrence of abnormal driving of the host vehicle out of the prescribed lane. The maximum position at which the steering wheel can be rotated may be limited in such a manner that, when the steering wheel is rotated to the maximum limit position, the rotation resistance of the steering wheel is increased so that the driver cannot continue to rotate the steering wheel.

In one example, the vehicle steering mechanism that adjusts the host vehicle driving behavior to avoid a collision is the steering wheel. At this time, real-time distance data between the host vehicle and the lane line is transmitted to the force sense rendering controller of the steering wheel. And the force sense rendering controller calculates the action range of the steering wheel according to the real-time distance data.

In one example, the force sense rendering controller calculates a rigidity parameter, a damping parameter and an inertia parameter which are required to be adapted to a servo motor corresponding to the steering wheel according to the real-time distance between the main vehicle and the lane line. And calculating the maximum position and the rotation range of the rotation action of the steering wheel by using the safety domain model according to the rigidity parameter, the damping parameter, the inertia parameter and the current rotation angle of the steering wheel, which need to be adapted by the servo motor, so that the servo motor corresponding to the steering wheel controls the action range of the steering wheel.

In one example, the security domain model may be:

In one example, the vehicle control method further includes:

In one embodiment, whether the steering wheel is rotated may be detected by a position feedback encoder of the steering wheel. When the steering wheel is detected to be rotated, signals are sent to the servo motor corresponding to the steering wheel in time, so that the servo motor can adjust the rotating torque of the steering wheel in time.

In one embodiment, as shown in fig. 7, the vehicle control method includes steps S10 and S20 in the above embodiment. Wherein step S20: adjusting the turning torque of the vehicle operating mechanism according to the driving strategy, further comprising:

s241: in a case where the first obstacle is located within a preset range of the host vehicle and the driving strategy is parking assist, it is determined that the vehicle manipulation mechanism includes at least a steering wheel.

Determining that the vehicle steering mechanism comprises a steering wheel may be understood as requiring at least control of the steering wheel to adjust the current driving behavior of the host vehicle while parking.

S242: and adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the planned driving track of the main vehicle based on the parking space and the relative position of the main vehicle and the first obstacle.

In the embodiment, the driver can be guided to make accurate steering wheel steering according to the driving track of parking by adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel, so that the driver can independently and smoothly complete the parking operation of any parking space.

In one example, the method for determining the driving trajectory of the host vehicle based on the parking space plan and the relative position of the host vehicle and the first obstacle may adopt any method in the prior art, and is not particularly limited herein. For example, the vehicle state and the parking space information can be sensed in real time through an Advanced Driving Assistance System (ADAS), and an optimal parking trajectory can be planned in real time.

In one example, the driving track planning of the host vehicle and the rotation resistance adjustment of the steering wheel can be calculated by using a virtual clamp model adopting an artificial potential field method path planning algorithm. The virtual clamp model is a virtual operation pipeline and can form operation force guide for a driver.

In one embodiment, for a situation where the parking space operation is complicated and good cooperation of a steering wheel, a brake pedal and an accelerator pedal is required to complete parking accurately, the vehicle control method further includes:

And adjusting the rotation moment of an accelerator pedal and/or a brake pedal according to the driving track of the main vehicle planned based on the parking space and the relative position of the main vehicle and the first obstacle.

In the embodiment, when the rotation torque of the steering wheel is adjusted, the rotation torque of the accelerator pedal and/or the brake pedal is also adjusted, so that the driver can be prompted to realize parking more quickly and accurately without colliding with the first surrounding obstacles.

In one embodiment, the vehicle control method further includes:

s30: the range of motion of the vehicle operating mechanism is determined based on the distance between the host vehicle and the first obstacle.

In the present embodiment, by adjusting the operable range of the vehicle manipulation mechanism, it is possible to prevent a risk of sudden change in the driving behavior of the vehicle caused by an abnormal operation or a malfunction of the driver.

In one embodiment, the vehicle control method further includes:

s40: controlling steering wheel and/or seat vibration if a first time exceeds a threshold time, wherein the first time is a maintenance time when a distance between the host vehicle and the first obstacle is less than a preset safety distance;

In the embodiment, the driver can be effectively prompted to adjust the current driving behavior by controlling the vibration of the steering wheel and/or the seat, so that the vehicle collision accident caused by the lack of concentration of the driver can be effectively solved.

In one example, the control of the amplitude and frequency of the vibration of the steering wheel and/or the seat can be realized by controlling the vibration motor corresponding to the steering wheel and/or the seat through a vibration force model.

In one embodiment, the vehicle control method further includes:

whether the driver is in a fatigue state is detected through a face recognition mode.

And when the eye closing duration or the yawning frequency of the driver is detected to exceed the early warning threshold, controlling the steering wheel and/or the seat to vibrate.

In the embodiment, the driver can be effectively awakened by controlling the vibration of the steering wheel and/or the seat, so that the driver can adjust the current driving behavior in time, and the vehicle collision accident caused by the lack of concentration of the driver can be effectively solved.

According to an embodiment of the present application, as shown in fig. 8, there is provided a vehicle control apparatus 100 including:

the planning module 10 is used for planning a driving strategy of the host vehicle within a preset time period under the condition that the distance between the host vehicle and the first barrier is detected to be smaller than a preset safety distance;

and the adjusting module 20 is used for adjusting the rotating moment of a vehicle control mechanism according to the driving strategy, and the vehicle control mechanism is used for controlling the main vehicle to execute the driving strategy.

In one embodiment, the adjustment module includes:

a first determination submodule for determining that the vehicle operating mechanism includes a brake pedal in a case where the first obstacle is located ahead of the host vehicle and the driving strategy is to avoid a collision with the first obstacle;

and the first adjusting submodule is used for reducing the rotating moment of the brake pedal according to the distance and the relative speed between the main vehicle and the first obstacle.

In one embodiment, the adjustment module further comprises:

and the second adjusting submodule is used for increasing the rotation torque of the accelerator pedal under the condition that the accelerator pedal is detected to be pressed.

In one embodiment, the adjustment module includes:

a second determination submodule for determining that the vehicle operating mechanism includes a steering wheel, in a case where the first obstacle is located on a side of the host vehicle and the driving maneuver is to avoid a collision with the first obstacle;

and the third adjusting submodule is used for respectively adjusting the clockwise rotating moment and the anticlockwise rotating moment of the steering wheel according to the relative position of the main vehicle and the first barrier.

In one embodiment, the adjustment module further comprises:

a third determination submodule for determining that the vehicle operating mechanism further includes an accelerator pedal and/or a brake pedal;

and the fourth adjusting submodule is used for adjusting the rotation moment of the accelerator pedal and/or the brake pedal according to the relative position of the main vehicle and the first obstacle, the relative position of the main vehicle and the second obstacle in the preset range and the current speed of the main vehicle.

In one embodiment, the adjustment module includes:

a fourth determination submodule for determining that the vehicle operating mechanism includes a steering wheel, in a case where the first obstacle is located to the side of the host vehicle and the travel strategy is to keep the host vehicle traveling in the planned lane;

and the fifth adjusting submodule is used for adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the distance between the main vehicle and the lane line of the planned lane.

In one embodiment, the adjustment module includes:

a fifth determining submodule for determining that the vehicle operating mechanism includes at least a steering wheel, in a case where the first obstacle is located within a preset range of the host vehicle and the driving strategy is parking assist;

and the sixth adjusting submodule is used for adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the driving track of the main vehicle planned based on the parking space and the relative position of the main vehicle and the first obstacle.

In one embodiment, the vehicle control apparatus further includes:

the determination module is used for determining the movable action range of the vehicle operating mechanism according to the distance between the main vehicle and the first obstacle.

In one embodiment, the vehicle control apparatus further includes:

the control module is used for controlling the steering wheel and/or the seat to vibrate under the condition that the first time exceeds the threshold time, wherein the first time is the maintaining time when the distance between the main vehicle and the first obstacle is less than the preset safe distance.

The functions of the vehicle control device can refer to the embodiments of the vehicle control method, and are not described herein again.

According to an embodiment of the present application, as shown in fig. 9, there is provided a vehicle 200 including a vehicle operating mechanism 210, a first controller 220, and a processor 230.

Vehicle operator 210 may be understood to be any mechanical structure for controlling the travel of a vehicle. For example, the vehicle operating mechanism 210 may include a brake pedal for controlling braking and deceleration of the vehicle, an accelerator pedal for controlling acceleration or deceleration of the vehicle, a steering wheel for controlling a driving direction of the vehicle, and the like.

The first controller 220 is connected to the vehicle operating mechanism 210 for adjusting the turning torque of the vehicle operating mechanism 210.

The first controller 220 may employ any mechanism as long as it can achieve the turning moment adjustment of the vehicle operating mechanism 210. For example, the first controller 220 may include an electric motor, the output of which regulates the turning torque of the vehicle operating mechanism 210. For another example, the first controller 220 may include a motor and a transmission mechanism, an output end of the motor is connected to the transmission mechanism, and the transmission mechanism transmits power output by the motor to the vehicle operating mechanism 210, so as to control the rotation torque of the vehicle operating mechanism 210.

The processor 230 is connected to the first controller 220, and is configured to plan a driving strategy of the vehicle within a preset time period when it is detected that the distance between the vehicle and the first obstacle is smaller than a preset safe distance, and control the first controller 220 to adjust the turning torque of the vehicle operating mechanism 210 according to the driving strategy.

In the present embodiment, since the vehicle operating mechanism 210 of the vehicle 200 is connected to the first controller 220 for controlling the rotational torque, and the processor 230 is connected to the first controller 220, by adjusting the rotational torque of the vehicle operating mechanism 210, it is possible to prompt the driver to perform correct driving control on the vehicle through the vehicle operating mechanism 210 by using the degree of difficulty in the rotation of the rotational torque, and to provide operation guidance to the driver, thereby achieving man-machine operation. Meanwhile, the driving safety can be further improved, the driving difficulty of the driver is reduced, and the driving skill of the driver is rapidly enhanced.

In one example, the host vehicle in each of the above embodiments may employ the vehicle 200 in the embodiment of the present application.

In one embodiment, the vehicle operating mechanism 210 of the vehicle 200 may include at least one of a brake pedal, an accelerator pedal, and a steering wheel.

In one embodiment, the first controller 220 includes a servo motor. The servo motor is used for controlling the rotation torque of a brake pedal, an accelerator pedal and a steering wheel.

In one example, a servo motor may be connected to each of the brake pedal, the accelerator pedal, and the steering wheel, so as to control the rotation torque of the brake pedal, the accelerator pedal, and the steering wheel.

In one embodiment, the vehicle 200 may further include a second controller for controlling the vibration of the vehicle operating mechanism 210. The second controller may adopt any structure in the related art as long as it can control the vibration of the vehicle operating mechanism 210.

In one example, the second controller includes a vibration motor, and in the case where the vehicle operating mechanism includes a steering wheel, the vibration motor is connected to the steering wheel to control vibration of the steering wheel.

In one example, when the steering wheel is used as the vehicle steering mechanism 210, a vibration motor, a first servo motor, and a first position feedback encoder are provided on the steering wheel. The vibration motor is used for controlling the vibration of the steering wheel. The first servo motor is used for controlling the rotating torque of the steering wheel. The first position feedback encoder is used for detecting whether the steering wheel rotates. The first position feedback encoder is connected with the first servo motor and used for feeding back a detection result to the first servo motor so that the first servo motor can adjust the rotating torque of the steering wheel in time.

In one example, when a brake pedal is used as the vehicle steering mechanism 210, a second servo motor and a second position feedback encoder are provided on the brake pedal. The second servo motor is used for controlling the rotation torque of the brake pedal. The second position feedback encoder is used for detecting whether the brake pedal is pressed. And the second position feedback encoder is connected with the second servo motor and used for feeding back the detection result to the second servo motor so that the second servo motor can adjust the rotating torque of the brake pedal in time.

In one example, when an accelerator pedal is used as the vehicle operating mechanism 210, a third servomotor and a third position feedback encoder are provided on the accelerator pedal. The third servo motor is used for controlling the rotation torque of the accelerator pedal. The third position feedback encoder is used for detecting whether the accelerator pedal is pressed. And the third position feedback encoder is connected with the third servo motor and used for feeding back the detection result to the third servo motor so that the third servo motor can adjust the rotating torque of the brake pedal in time.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

As shown in fig. 10, is a block diagram of an electronic device of a vehicle control method according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 10, the electronic apparatus includes: one or more processors 1001, memory 1002, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 10 illustrates an example of one processor 1001.

The memory 1002 is a non-transitory computer readable storage medium provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the vehicle control methods provided herein. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the vehicle control method provided by the present application.

The memory 1002, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the planning module 10 and the adjustment module 20 shown in fig. 8) corresponding to the vehicle control method in the embodiments of the present application. The processor 1001 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 1002, that is, implements the vehicle control method in the above-described method embodiment.

The memory 1002 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device of the vehicle control method, and the like. Further, the memory 1002 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1002 may optionally include memory located remotely from the processor 1001, which may be connected to the vehicle control method electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the vehicle control method may further include: an input device 1003 and an output device 1004. The processor 1001, the memory 1002, the input device 1003, and the output device 1004 may be connected by a bus or other means, and the bus connection is exemplified in fig. 10.

The input device 1003 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic equipment of the vehicle control method, such as an input device of a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 1004 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and Virtual Private Server (VPS) service. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and Virtual Private Server (VPS) service. The server may also be a server of a distributed system, or a server incorporating a blockchain.

According to the technical scheme of the embodiment of the application, the hand action can be effectively recognized, for example, the spaced handwriting action is recognized, the corresponding text information is obtained, and the control instruction corresponding to the text information is obtained, so that the vehicle control mode is enriched, the use scene of vehicle control is enriched, and a foundation is laid for simplifying the user operation and improving the user experience.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method comprising:

under the condition that the distance between the main vehicle and the first barrier is smaller than a preset safety distance, planning a driving strategy of the main vehicle within a preset time period;

2. The method of claim 1, wherein said adjusting a turning torque of a vehicle operating mechanism according to said driving strategy comprises:

determining that the vehicle operating mechanism includes a brake pedal in a case where the first obstacle is located forward of the host vehicle and the driving maneuver is to avoid a collision with the first obstacle;

reducing the turning moment of the brake pedal according to the distance and the relative speed between the main vehicle and the first obstacle.

3. The method of claim 2, wherein said adjusting a turning torque of a vehicle operating mechanism according to said driving strategy further comprises:

and increasing the rotation torque of the accelerator pedal under the condition that the pressure applied to the accelerator pedal is detected.

4. The method of claim 1, wherein said adjusting a turning torque of a vehicle operating mechanism according to said driving strategy comprises:

determining that the vehicle operating mechanism includes a steering wheel in a case where the first obstacle is located to a side of the host vehicle and the driving maneuver is to avoid a collision with the first obstacle;

and respectively adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the relative position of the main vehicle and the first barrier.

5. The method of claim 4, wherein said adjusting a turning torque of a vehicle operating mechanism according to said driving strategy further comprises:

determining that the vehicle operating mechanism further comprises an accelerator pedal and/or a brake pedal;

and adjusting the rotation moment of the accelerator pedal and/or the brake pedal according to the relative position of the host vehicle and the first obstacle, the relative position of the host vehicle and a second obstacle in a preset range and the current speed of the host vehicle.

6. The method of claim 1, wherein said adjusting a turning torque of a vehicle operating mechanism according to said driving strategy comprises:

determining that the vehicle operating mechanism includes a steering wheel if the first obstacle is located to the side of the host vehicle and the driving maneuver is to keep the host vehicle driving in a planned lane;

and adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the distance between the main vehicle and the lane line of the planned lane.

7. The method of claim 1, wherein said adjusting a turning torque of a vehicle operating mechanism according to said driving strategy comprises:

determining that the vehicle operating mechanism includes a steering wheel if the first obstacle is located within a preset range of the host vehicle and the driving strategy is parking assist;

and adjusting the clockwise rotation moment and the anticlockwise rotation moment of the steering wheel according to the driving track of the main vehicle based on parking space planning and the relative position of the main vehicle and the first barrier.

8. The method of any of claims 1 to 7, further comprising:

determining a movable range of the vehicle manipulation mechanism according to a distance between the host vehicle and the first obstacle.

9. The method of any of claims 1 to 7, further comprising:

controlling steering wheel and/or seat vibration if a first time exceeds a threshold time, wherein the first time is a maintenance time when a distance between the host vehicle and the first obstacle is less than a preset safe distance;

and/or controlling steering wheel and/or seat vibration in case the distance between the main vehicle and the first obstacle is smaller than a preset safety distance.

10. A vehicle control apparatus comprising:

the planning module is used for planning a driving strategy of the main vehicle in a preset time period under the condition that the distance between the main vehicle and the first barrier is smaller than a preset safety distance;

and the adjusting module is used for adjusting the rotating moment of a vehicle control mechanism according to the driving strategy, and the vehicle control mechanism is used for controlling the main vehicle to execute the driving strategy.

11. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 9.

12. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 9.

13. A vehicle, comprising:

the vehicle operating mechanism is used for controlling the vehicle to run;

and the processor is connected with the first controller and used for planning a driving strategy of the vehicle within a preset time period under the condition that the distance between the vehicle and the first obstacle is detected to be smaller than a preset safe distance, and controlling the first controller to adjust the rotating torque of the vehicle control mechanism according to the driving strategy.

14. The vehicle of claim 13, wherein the vehicle operating mechanism includes at least one of a brake pedal, an accelerator pedal, and a steering wheel.

15. The vehicle of claim 13, wherein the first controller comprises a servo motor.

16. The vehicle of claim 13, further comprising a second controller coupled to the vehicle operating mechanism for controlling the vehicle operating mechanism to vibrate.

17. The vehicle of claim 16, wherein the second controller includes a vibration motor coupled to a steering wheel in the case where the vehicle operating mechanism includes the steering wheel.