CN112298188A - Driving assistance method, system, computer device, and storage medium - Google Patents
Driving assistance method, system, computer device, and storage medium Download PDFInfo
- Publication number
- CN112298188A CN112298188A CN201910670172.2A CN201910670172A CN112298188A CN 112298188 A CN112298188 A CN 112298188A CN 201910670172 A CN201910670172 A CN 201910670172A CN 112298188 A CN112298188 A CN 112298188A
- Authority
- CN
- China
- Prior art keywords
- adhesion
- road surface
- adhesion coefficient
- track
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W40/064—Degree of grip
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
Abstract
The application relates to a driving assistance method, a driving assistance system, a computer device and a storage medium. The method comprises the following steps: acquiring an adhesion coefficient set of a road surface within a preset range of a vehicle; judging whether the difference value of the adhesion force of the left wheel and the adhesion force of the right wheel on the first running track of the vehicle is larger than a preset threshold value or not according to the adhesion coefficient set; and if the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is larger than a preset threshold value, performing driving planning according to the adhesion coefficient set. The vehicle can avoid uneven road surface, reduce running length of uneven road surface or brake scientifically.
Description
Technical Field
The present application relates to the field of driving assistance technologies, and in particular, to a driving assistance method, a driving assistance system, a computer device, and a storage medium.
Background
With the continuous development of automobile technology, automobiles become indispensable transportation means for people's life. The driving road conditions of the automobile are complex and variable, and the condition that the driving road surface is uneven often occurs, for example, one side of wheels on two sides of the automobile drives on a normal road surface, and the other side of the wheels drives on a snow or ice road surface, at the moment, if the automobile turns or takes braking measures blindly, the automobile body may rotate, slip or roll over, and traffic accidents are easy to occur.
However, at present, no solution specially for the unevenness of the running road surface of the automobile exists, and how to control the automobile to avoid the unevenness of the running road surface, reduce the unevenness of the running road surface or how to brake scientifically when the running road surface is uneven becomes a technical problem to be solved urgently.
Disclosure of Invention
In view of the above, it is necessary to provide a driving assistance method, a driving assistance system, a computer device, and a storage medium for solving the above-described technical problems.
A driving assistance method, the method comprising:
acquiring an adhesion coefficient set of a road surface within a preset range of a vehicle;
judging whether the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first running track of the vehicle is larger than a preset threshold value or not according to the adhesion coefficient set;
and if the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is larger than the preset threshold value, performing driving planning according to the adhesion coefficient set.
In one embodiment, the set of adhesion coefficients includes an adhesion coefficient of at least one position of the road surface within the preset range;
the method for acquiring the adhesion coefficient set of the road surface within the preset range of the vehicle comprises the following steps:
acquiring an image of the road surface within the preset range;
analyzing the image to obtain a road surface mode of the position;
acquiring an adhesion coefficient corresponding to the road surface mode of the position;
taking the set of the adhesion coefficient of each position as the set of the adhesion coefficients of the road surface in the preset range; or the like, or, alternatively,
acquiring an adhesion coefficient set of the road surface within the preset range from a server; or the like, or, alternatively,
and acquiring the adhesion coefficient set of the road surface within the preset range from other vehicles.
In one embodiment, the obtaining of the adhesion coefficient corresponding to the road surface pattern of the position includes:
searching a corresponding relation between a preset road surface mode and an adhesion coefficient, and determining a target adhesion coefficient corresponding to the road surface mode at the position;
and taking the target adhesion coefficient as the adhesion coefficient of the position.
In one embodiment, the determining whether a difference between an adhesion force of a left wheel and an adhesion force of a right wheel on a first driving track of the vehicle is greater than a preset threshold according to the adhesion coefficient set includes:
predicting a running track of the vehicle according to the current steering angle of the vehicle; wherein the travel track of the vehicle includes a travel track of the left wheel and a travel track of the right wheel;
finding out a first adhesion coefficient set corresponding to the driving track of the left wheel and a second adhesion coefficient set corresponding to the driving track of the right wheel from the adhesion coefficient set;
and judging whether the difference value between the adhesive force on the running track of the left wheel and the adhesive force on the running track of the right wheel is greater than the preset threshold value or not according to the first adhesion coefficient set and the second adhesion coefficient set.
In one embodiment, each position in the travel track of the left wheel corresponds to each position in the travel track of the right wheel in a one-to-one manner;
the determining whether a difference between the adhesion force on the travel track of the left wheel and the adhesion force on the travel track of the right wheel is greater than the preset threshold according to the first adhesion coefficient set and the second adhesion coefficient set includes:
determining a difference between the adhesion coefficient of each position of the left wheel and the adhesion coefficient of each position of the corresponding right wheel;
and judging whether the difference value between the adhesive force on the running track of the left wheel and the adhesive force on the running track of the right wheel is greater than the preset threshold value or not according to the difference value of each position.
In one embodiment, the finding out a first adhesion coefficient set corresponding to the driving track of the left wheel and a second adhesion coefficient set corresponding to the driving track of the right wheel from the adhesion coefficient sets includes:
dividing the running track of the left wheel according to a preset length to obtain at least one first road section, and dividing the running track of the right wheel to obtain at least one second road section;
traversing the at least one first road section to obtain an attachment coefficient set corresponding to the at least one first road section, and traversing the at least one second road section to obtain an attachment coefficient set corresponding to the at least one second road section;
taking a set composed of a set of adhesion coefficients of each first road segment in the travel locus of the left wheel as the first adhesion coefficient set, and taking a set composed of a set of adhesion coefficients of each second road segment in the travel locus of the right wheel as the second adhesion coefficient set.
In one embodiment, if the difference between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is greater than the preset threshold, performing driving planning according to the adhesion coefficient set includes:
if the difference value between the adhesion force on the running track of the left wheel and the adhesion force on the running track of the right wheel is larger than the preset threshold value, acquiring an adhesion coefficient set of a target road surface; wherein the target road surface represents a road surface other than the running track of the left wheel and other than the running track of the right wheel in the direction;
and planning the driving according to the adhesion coefficient set of the target road surface.
In one embodiment, the performing driving planning according to the adhesion coefficient set of the target road surface includes:
and determining a second running track enabling the difference value of the adhesive force of the left wheel and the adhesive force of the right wheel to be smaller than or equal to the preset threshold value according to the adhesion coefficient set of the target road surface, and controlling the vehicle to run according to the second running track.
In one embodiment, the controlling the vehicle to travel according to the second travel track further includes:
detecting whether the second driving track meets a preset traffic rule or not;
and if the second driving track accords with the preset traffic rule, executing the step of controlling the vehicle to drive according to the second driving track.
In one embodiment, the method further comprises:
and if the fact that a second running track enabling the difference value of the adhesion force of the left wheel and the adhesion force of the right wheel to be smaller than or equal to the preset threshold value does not exist according to the adhesion coefficient set of the target road surface is determined, controlling the vehicle to run at a reduced speed according to the target speed, and/or giving a warning.
In one embodiment, the method further comprises:
and searching a corresponding relation between a preset road surface mode and the running speed, and determining a target speed corresponding to the road surface mode of the first running track.
A driving assistance system, the system comprising:
the acquisition module is used for acquiring an adhesion coefficient set of a road surface within a preset range of a vehicle;
the judging module is used for judging whether the difference value of the adhesive force of the left wheel and the adhesive force of the right wheel on the first running track of the vehicle is larger than a preset threshold value or not according to the adhesion coefficient set;
and the planning module is used for planning driving according to the adhesion coefficient set if the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is greater than the preset threshold value.
A computer device comprising a memory storing a computer program and a processor implementing the steps of any of the methods described above when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the above.
The driving assisting method, the driving assisting system, the computer device and the storage medium are characterized in that an adhesion coefficient set of a road surface within a preset range of the vehicle is obtained, then whether the road surface on a first driving track of the vehicle is uniform or not is judged according to the adhesion coefficient set, and if the road surface on the first driving track is not uniform, driving planning is carried out according to the adhesion coefficient set. The adhesion coefficient can reflect the uneven state of the road surface, and the driving planning is carried out according to the uneven state of the road surface, so that the vehicle can avoid the uneven road surface, the driving length of the uneven road surface is reduced, or the braking is scientifically carried out.
Drawings
FIG. 1 is a flow diagram illustrating a method for assisting driving in one embodiment;
FIG. 2 is a schematic flow chart illustrating a refinement step of step S200 in one embodiment;
FIG. 3 is a schematic flow chart illustrating the refinement step of step S230 in one embodiment;
FIG. 4 is a schematic flow chart illustrating the step of refining step S220 in one embodiment;
FIG. 5 is a schematic flow chart of the refinement step of step S300 in one embodiment;
FIG. 6 is a block diagram showing the structure of a driving assistance system according to an embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that the terms "first," "second," and the like as used in this application may be used herein to describe various conditional relationships, but these conditional relationships are not limited by these terms. These terms are only used to distinguish one conditional relationship from another.
In one embodiment, as shown in fig. 1, there is provided a driving assist method including the steps of:
and S100, acquiring an adhesion coefficient set of the road surface within a preset range of the vehicle.
The preset range is a range having a certain distance from the vehicle, for example, a range within 100 m of a square circle with the vehicle as a reference. The road surface within the preset range refers to a road surface on which the vehicle is about to pass or may pass, and refers to a road surface on which the vehicle is about to pass in front of the vehicle during forward movement of the vehicle and refers to a road surface on which the vehicle is about to pass behind the vehicle when the vehicle is reversed, in consideration of various running conditions that may exist in the vehicle.
The adhesion coefficient generally refers to the ratio of the adhesion force to the normal (perpendicular to the road surface) pressure of the wheel, and the magnitude of the adhesion coefficient is determined by the mode of the road surface and the tire. The adhesion coefficient set is a set of adhesion coefficients corresponding to each position of the road surface within a predetermined range. In the embodiment of the invention, the adhesion coefficient refers to the ratio of the adhesion of the road surface which is about to pass or possibly passes by the vehicle to the normal pressure of the wheels.
And step S200, judging whether the difference value of the adhesion force of the left wheel and the adhesion force of the right wheel on the first running track of the vehicle is larger than a preset threshold value or not according to the adhesion coefficient set.
The first driving track refers to a predicted driving track obtained according to the current driving track of the vehicle, and the driving track can be planned by a navigation system or obtained by other customized modes.
Specifically, as shown in step S100, the adhesion coefficient is a ratio of the adhesion force to the normal (perpendicular to the road surface) pressure of the wheel. The adhesion force is mainly related to the road surface pattern on which the vehicle runs and the tire properties thereof, and therefore, in the case where the vehicle tires are similar, it can be judged whether the difference between the adhesion force of the left wheel and the adhesion force of the right wheel on the first running track of the vehicle is greater than a preset threshold value or not, based on the adhesion coefficient. When the vehicle runs on the first running track, because a certain distance exists between the left wheel and the right wheel of the vehicle, the left wheel and the right wheel can run on the same running track but on two completely different road surface modes, so that the adhesion coefficients of the left wheel and the right wheel are inconsistent. Therefore, it is possible to determine whether the difference between the adhesion force of the left wheel and the adhesion force of the right wheel on the first travel track is greater than a preset threshold value according to the magnitude of the adhesion coefficient. The difference between the left wheel adhesion and the right wheel adhesion may be an absolute value of the difference between the two wheel adhesion, or may be a square of the difference between the two wheel adhesion, and the like, and is not particularly limited herein. Alternatively, the above determination also includes the case where the left and right wheels travel on two completely different road surface patterns, but the adhesion coefficients thereof are the same.
And step S300, if the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is larger than a preset threshold value, performing driving planning according to the adhesion coefficient set.
Specifically, when the difference between the adhesion of the left wheel and the adhesion of the right wheel on the first driving track is greater than the preset threshold, if the vehicle body is turned blindly or a braking measure is taken, the vehicle body may rotate, slip or roll over, and therefore, when the difference between the adhesion of the left wheel and the adhesion of the right wheel on the driving track is greater than the preset threshold, driving planning may be performed according to the adhesion coefficient, so that the vehicle may avoid as smoothly as possible, reduce the driving of a road surface on which the difference between the adhesion of the left wheel and the adhesion of the right wheel is greater than the preset threshold, or perform braking scientifically.
According to the driving assistance method, an adhesion coefficient set of a road surface within a preset range of a vehicle is obtained, then, whether the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on a first driving track of the vehicle is larger than a preset threshold value or not is judged according to the adhesion coefficient set, and if the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is larger than the preset threshold value, driving planning is carried out according to the adhesion coefficient set. The adhesion coefficient can reflect the magnitude state of the difference between the adhesion of the left wheel and the adhesion of the right wheel on the driving track, and the driving planning is carried out according to the magnitude state of the difference between the adhesion of the left wheel and the adhesion of the right wheel on the driving track, so that the vehicle can avoid an uneven road surface, the driving length of the uneven road surface is reduced, or the braking is scientifically carried out.
In one embodiment, the set of adhesion coefficients includes the adhesion coefficient of at least one position of the road surface within a preset range, which is the refinement step of step S100; in step S100, acquiring an adhesion coefficient set of a road surface within a preset range of a vehicle includes three ways:
optionally, in the first mode, an image of a road surface within a preset range is acquired; analyzing the image to obtain a road surface mode of the position; acquiring an adhesion coefficient corresponding to a road surface mode of a position; and taking the set of the adhesion coefficients of each position as the set of the adhesion coefficients of the road surface within the preset range.
Specifically, an image of a road surface within a preset range of the vehicle is obtained through a front camera of the vehicle. And detecting the road surface state by adopting computer vision, pattern recognition and other modes according to the image of the road surface to obtain the road surface pattern. Wherein, the pavement modes are classified into asphalt, snow, sand, ice and the like.
There is a correspondence between the road surface pattern and the adhesion coefficient, which is shown in equation (1):
C(x,y)＝F(Pattern(x,y)) (1)
wherein C (x, y) represents the adhesion coefficient, Pattern (x, y) represents the road surface Pattern, and F represents the functional relationship between the road surface Pattern and the adhesion coefficient.
Optionally, the acquiring of the adhesion coefficient corresponding to the road surface pattern of the position specifically includes:
searching a corresponding relation between a preset road surface mode and an adhesion coefficient, and determining a target adhesion coefficient corresponding to the road surface mode of the position; the target adhesion coefficient is taken as the adhesion coefficient of the position.
After the road surface mode of the vehicle running track is obtained by the method, the road surface mode is searched in the preset corresponding relation table of the road surface mode and the adhesion coefficient according to the corresponding road surface mode, and further, the corresponding adhesion coefficient is found according to the corresponding relation. For example, the method obtains three road surface modes, which are a road surface mode a, a road surface mode B and a road surface mode C, where the corresponding relationship found by the road surface mode a is Fa, the corresponding relationship found by the road surface mode B is Fb, the corresponding relationship found by the road surface mode C is Fc, the corresponding adhesion coefficient i is obtained from the road surface mode a and the corresponding relationship Fa, the corresponding adhesion coefficient j is obtained from the road surface mode B and the corresponding relationship Fb, and the corresponding adhesion coefficient k is obtained from the road surface mode C and the corresponding relationship Fc.
Finally, the adhesion coefficients corresponding to each position form a set, and the set is used as an adhesion coefficient set of the road surface in a preset range. For example, an adhesion coefficient set { adhesion coefficient i, adhesion coefficient j, adhesion coefficient k } is composed of an adhesion coefficient i, adhesion coefficient j, and adhesion coefficient k.
Optionally, in a second mode, the set of adhesion coefficients of the road surface within the preset range is obtained from the server.
The server refers to various servers storing relevant road adhesion coefficients, such as an online map.
Specifically, the vehicle sends an adhesion coefficient acquisition request to the server, and requests the server to send an adhesion coefficient within a preset range of the vehicle. Alternatively, the server may detect the adhesion coefficient of the road surface by a detection device. For example, a server (e.g., an online map) may obtain road adhesion coefficient detection results from a surveillance camera and send the adhesion coefficients to the vehicle via a mobile network, Wi-Fi, bluetooth, or the like.
Alternatively, in a third mode, an adhesion coefficient set of a road surface within a preset range is acquired from other vehicles.
Specifically, the other vehicle obtains the adhesion coefficient of the road surface from its own Electronic Stability Program (ESP), wheel sensors, and wheel positions, and the host vehicle communicates with the other vehicle by means of a mobile network, Wi-Fi, bluetooth, or the like, and obtains the adhesion coefficient of the relevant road surface from the other vehicle.
In the above embodiment, an image of a road surface within a preset range is obtained, and then the image is analyzed to obtain a road surface pattern of a position, further, an adhesion coefficient corresponding to the road surface pattern of the position is obtained, and finally, a set of the adhesion coefficients of each position is used as an adhesion coefficient set of the road surface within the preset range; or acquiring an adhesion coefficient set of the road surface within a preset range from the server; or acquiring an adhesion coefficient set of the road surface within a preset range from other vehicles. The obtained adhesion coefficient can be used as a judgment basis for judging whether the subsequent road surface is uniform or not and a basis for vehicle driving planning.
In one embodiment, as shown in fig. 2, the step of refining the step S200, determining whether a difference between an adhesion force of a left wheel and an adhesion force of a right wheel on a first driving track of the vehicle is greater than a preset threshold according to the adhesion coefficient set, includes:
step S210, predicting the running track of the vehicle according to the current steering angle of the vehicle; wherein the driving track of the vehicle comprises a driving track of a left wheel and a driving track of a right wheel.
The steering angle is an angle formed by a position to which a front wheel of the vehicle turns left or right and a center line when the front wheel does not deflect.
Specifically, from the current steering angle of the vehicle, the travel locus of the vehicle including the position to be passed by the left wheel (travel locus of the left wheel) and the position to be passed by the right wheel (travel locus of the right wheel) can be predicted.
In step S220, a first adhesion coefficient set corresponding to the driving track of the left wheel and a second adhesion coefficient set corresponding to the driving track of the right wheel are found from the adhesion coefficient sets.
The adhesion coefficient set refers to a set of adhesion coefficients corresponding to each position of the road surface within a preset range. The first adhesion coefficient set represents a set of adhesion coefficients corresponding to each position of the travel locus of the left wheel, the second adhesion coefficient set represents a set of adhesion coefficients corresponding to each position of the travel locus of the right wheel, and the first adhesion coefficient set and the second adhesion coefficient set are both included in the adhesion coefficient set in step S100.
Specifically, after the driving tracks of the left wheel and the right wheel are predicted in step S210, the positions of the left wheel and the right wheel in the driving tracks can be further obtained, and a corresponding series of adhesion coefficients can be obtained according to the positions of the left wheel in the driving tracks, where the series of adhesion coefficients is the first adhesion coefficient set. Similarly, a corresponding series of adhesion coefficients, which is the second set of adhesion coefficients, can be obtained according to the position of the right wheel in the driving track.
Step S230, determining whether a difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel is greater than a preset threshold according to the first adhesion coefficient set and the second adhesion coefficient set.
Specifically, the adhesion coefficient refers to the ratio of the adhesion force to the normal (perpendicular to the road surface) pressure of the wheel, and generally, the adhesion coefficient of the same vehicle is mainly determined by the adhesion force, and the larger the adhesion force, the larger the adhesion coefficient. The adhesion force is mainly related to a road surface mode of the vehicle, so that whether the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first running track of the vehicle is larger than a preset threshold value or not can be judged according to the adhesion coefficient. Alternatively, when the vehicle travels on the first travel track, the left and right wheels may travel on two completely different road surface patterns, although the left and right wheels are on the same travel track, due to a certain distance between the left and right wheels, which may cause the adhesion coefficients of the left and right wheels to be different. Therefore, it is possible to determine whether the difference between the adhesion force of the left wheel and the adhesion force of the right wheel on the first travel track is greater than a preset threshold value according to the magnitude of the adhesion coefficient. The difference between the left wheel adhesion and the right wheel adhesion may be an absolute value of the difference between the two wheel adhesion, or may be a square of the difference between the two wheel adhesion, and the like, and is not particularly limited herein. Alternatively, the above determination also includes the case where the left and right wheels travel on two completely different road surface patterns, but the adhesion coefficients thereof are the same.
Alternatively, the travel path of the left wheel is a set of a plurality of positions in a road section with a certain length, and accordingly, the first adhesion coefficient set is a set of adhesion coefficients of the left wheel at the plurality of positions. Similarly, the second adhesion coefficient set is also a set of adhesion coefficients of the right wheel at a plurality of positions.
Alternatively, the first adhesion coefficient of the left wheel may refer not only to the left front wheel, but also to the combined adhesion coefficient of the adhesion coefficients of all the wheels on the left side, and similarly, the first adhesion coefficient of the right wheel may also be the combined adhesion coefficient of the adhesion coefficients of all the wheels on the right side. For example, when there are two wheels on the left side, the first adhesion coefficient of the left wheel is the weighted sum or the mean square sum of the adhesion coefficients of the two wheels on the left side, and when there are multiple wheels on the left side, the first adhesion coefficient of the left wheel is the weighted sum or the mean square sum of the adhesion coefficients of the multiple wheels on the left side, and the second adhesion coefficient of the right wheel is consistent with the first adhesion coefficient of the left wheel in the obtaining manner, which is not described herein again.
In the above embodiment, the driving track of the vehicle is predicted according to the current steering angle of the vehicle, where the driving track of the vehicle includes the driving track of the left wheel and the driving track of the right wheel, then, the first adhesion coefficient set corresponding to the driving track of the left wheel and the second adhesion coefficient set corresponding to the driving track of the right wheel are found out from the adhesion coefficient sets, and further, whether the difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel is greater than the preset threshold value is determined according to the first adhesion coefficient set and the second adhesion coefficient set. Whether the difference value of the adhesive force of the left wheel and the adhesive force of the right wheel is larger than a preset threshold value or not is judged, and a judgment basis is provided for judging whether a follow-up vehicle turns or brakes.
In one embodiment, as shown in fig. 3, as a refinement step of step S230, each position in the travel track of the left wheel corresponds to each position in the travel track of the right wheel one by one, wherein step S230 determines whether a difference between the adhesion force on the travel track of the left wheel and the adhesion force on the travel track of the right wheel is greater than a preset threshold according to the first adhesion coefficient set and the second adhesion coefficient set, and includes:
in step S231, a difference between the adhesion coefficient of each position of the left wheel and the adhesion coefficient of each position of the corresponding right wheel is determined.
Wherein each position in the path of travel of the left wheel corresponds to each position in the path of travel of the right wheel, and at a certain moment the left wheel has a specific position in its path of travel, and correspondingly at the same moment the right wheel also has a specific position in its path of travel, which position corresponds to the position of the left wheel.
Step S232, according to the difference at each position, determine whether the difference between the adhesion on the driving track of the left wheel and the adhesion on the driving track of the right wheel is greater than a preset threshold.
Specifically, the difference value at each position is determined in step S231, the difference values at each position form a set in a section of road, a weighted sum can be obtained from the difference values of the adhesion coefficients at each position in the set, if the weighted sum is less than or equal to a preset threshold, it is determined that the difference value between the adhesion force on the running track of the left wheel and the adhesion force on the running track of the right wheel in the section of road is less than or equal to the preset threshold, and if the weighted sum is greater than the preset threshold, it is determined that the difference value between the adhesion force on the running track of the left wheel and the adhesion force on the running track of the right wheel in the section of road is greater than the preset threshold.
First, the difference between the adhesion coefficient of each position of the left wheel and the adhesion coefficient of each position of the corresponding right wheel is determined, the differences of a plurality of positions form a set, and the weighted sum is obtained as shown in formula (2):
S＝∑(an*Mn) (n＝1、2、……) (2)
where S is the weighted sum of the adhesion coefficient differences, an is the weighting coefficient S ═ an ═ 1, and Mn is the adhesion coefficient.
Further, when the weighted sum S of the adhesion coefficient differences is less than or equal to a preset threshold, it is considered that the difference between the adhesion force on the travel track of the left wheel and the adhesion force on the travel track of the right wheel in the road segment is less than or equal to the preset threshold, and when the weighted sum S of the adhesion coefficient differences is greater than the preset threshold, it is considered that the adhesion force on the travel track of the left wheel and the adhesion force on the travel track of the right wheel in the road segment are greater than the preset threshold.
In addition, there are various ways to determine whether the difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel in the road segment is greater than a preset threshold value according to the adhesion coefficient. Here, how to determine whether the difference between the adhesion force on the travel track of the left wheel and the adhesion force on the travel track of the right wheel in the road segment is greater than the preset threshold value using the first adhesion coefficient and the second adhesion coefficient will be described only in a manner of weighting and summing the adhesion coefficient differences. Optionally, whether the difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel in the road segment is greater than the preset threshold value may also be determined in the form of a mean square error between the first adhesion coefficient and the second adhesion coefficient, which is not described herein again.
In the above embodiment, the difference between the adhesion coefficient of each position of the left wheel and the adhesion coefficient of each position of the corresponding right wheel is determined, and then, according to the difference between each position, whether the difference between the adhesion force on the travel track of the left wheel and the adhesion force on the travel track of the right wheel is greater than the preset threshold value is determined. The method and the device can be used for judging whether the road surface is uniform or not, and provide a judgment basis for judging whether the follow-up vehicle adopts steering or braking.
In one embodiment, as shown in fig. 4, for the step of refining in step S220, finding out a first adhesion coefficient set corresponding to the driving track of the left wheel and a second adhesion coefficient set corresponding to the driving track of the right wheel from the adhesion coefficient sets, includes:
step S221, dividing the driving track of the left wheel according to a preset length to obtain at least one first road section, and dividing the driving track of the right wheel to obtain at least one second road section.
Specifically, the road section length is set, and the driving track of the left wheel is divided into a plurality of first road sections with fixed lengths according to the preset length, for example, the road to be traveled is 20 meters in length, and the preset length is 5 meters, so that the road with the length of 20 meters can be divided into 4 road sections with fixed lengths of 5 meters. The driving track of the right wheel can be divided in the same manner, and will not be described in detail herein.
Step S222, traversing at least one first road segment to obtain an attachment coefficient set corresponding to the at least one first road segment, and traversing at least one second road segment to obtain an attachment coefficient set corresponding to the at least one second road segment.
In step S223, a set of adhesion coefficient sets for each first road segment in the travel locus of the left wheel is set as a first adhesion coefficient set, and a set of adhesion coefficient sets for each second road segment in the travel locus of the right wheel is set as a second adhesion coefficient set.
Specifically, traversing at least one first road segment, performing traversal scanning on at least one first road segment obtained in step S221, obtaining an adhesion coefficient set corresponding to each first road segment from the adhesion coefficient set in step S100 according to the travel track of the left wheel and each first road segment, and taking the adhesion coefficient set as a first adhesion coefficient set. Similarly, an attachment coefficient set corresponding to each second road segment may be obtained, and the attachment coefficient set is used as the second attachment coefficient set.
In the above embodiment, the driving trajectory of the left wheel is divided according to a preset length to obtain at least one first road segment, the driving trajectory of the right wheel is divided to obtain at least one second road segment, then, the at least one first road segment is traversed to obtain an adhesion coefficient set corresponding to the at least one first road segment, the at least one second road segment is traversed to obtain an adhesion coefficient set corresponding to the at least one second road segment, and finally, the adhesion coefficient set of each first road segment in the driving trajectory of the left wheel is used as a first adhesion coefficient set, and the adhesion coefficient set of each second road segment in the driving trajectory of the right wheel is used as a second adhesion coefficient set. The obtained adhesion coefficient can be used as a judgment basis for judging whether the subsequent road surface is uniform or not and a basis for vehicle driving planning.
In one embodiment, as shown in fig. 5, which is a refinement step of step S300, if a difference between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is greater than a preset threshold, the driving planning according to the adhesion coefficient set includes:
step S310, if the difference value between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel is larger than a preset threshold value, acquiring an adhesion coefficient set of a target road surface; wherein the target road surface indicates other road surfaces in the direction except the travel locus of the left wheel and the travel locus of the right wheel.
Specifically, if the difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel is greater than the preset threshold, the vehicle may slip when continuing to drive on the driving track, and at this time, the driving track of the vehicle needs to be planned so that the vehicle avoids a road surface on which the difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel is greater than the preset threshold, and the driving length of the road surface is reduced (avoiding a road surface on which the difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel is greater than the preset threshold can be regarded as that the driving length of the road surface is zero, which is a special case of reducing the. For the target road surface, an adhesion coefficient set of the target road surface may be acquired from the adhesion coefficient set obtained in step S100 according to the position set of the target road surface.
And step S320, planning the driving according to the adhesion coefficient set of the target road surface.
Specifically, according to the adhesion coefficient set of the target road surface, it is determined whether the difference between the adhesion force on the running track of the left wheel and the adhesion force on the running track of the right wheel on the target road surface is greater than a preset threshold value according to the method described in the above step S200.
Optionally, a second driving track for making the difference between the adhesion force of the left wheel and the adhesion force of the right wheel smaller than or equal to a preset threshold value is determined according to the adhesion coefficient set of the target road surface, and the vehicle is controlled to drive according to the second driving track.
Optionally, before controlling the vehicle to travel according to the second travel track, the method further includes:
detecting whether the second driving track meets a preset traffic rule or not; and if the second driving track accords with the preset traffic rule, executing a step of controlling the vehicle to drive according to the second driving track.
Specifically, the planned second driving track needs to conform to the corresponding traffic rules and has no risk of violation, for example, each position in the second driving track is within the detected lane mark and conforms to the requirements of driving specifications such as straight driving, turning and the like. In addition, when the vehicle runs along the second running track, if lane changing is required, basic lane changing rules and vehicle speed requirements need to be met, and after the camera, the sensor or other detection equipment of the vehicle detects an obstacle, a preset distance is kept between the camera, the sensor or other detection equipment of the vehicle and the obstacle, so that the risk of collision is avoided.
Alternatively, if it is determined that there is no second running track in which the difference between the adhesion force of the left wheel and the adhesion force of the right wheel is less than or equal to a preset threshold value, based on the set of adhesion coefficients of the target road surface, the vehicle is controlled to run at a reduced speed at the target speed, and/or a warning is issued.
Specifically, according to the adhesion coefficient set of the target road surface, determining that a second driving track which enables the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel to be smaller than or equal to a preset threshold value does not exist, and indicating that a scheme which enables the vehicle to drive on a road surface which enables the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel to be smaller than or equal to the preset threshold value does not exist, namely, the road surface which enables the adhesion force of the left wheel and the adhesion force of the right wheel to be larger than the preset threshold value cannot be avoided, and controlling the vehicle to drive in a deceleration
Optionally, a preset corresponding relationship between the road surface pattern and the driving speed is searched, and a target speed corresponding to the road surface pattern of the first driving track is determined.
Specifically, the target speed for controlling the vehicle to decelerate is necessarily related to the vehicle performance, the first adhesion coefficient set and the second adhesion coefficient set, and the target speed is related to the first adhesion coefficient set and the second adhesion coefficient set under the condition that the vehicle performance is constant. The expression for the specific target speed is shown in equation (3):
V_target＝F(|C(xl,yl)–C(xr,yr)|) (3)
where V _ target represents a target speed, C (xl, yl) is a first adhesion coefficient set, C (xr, yr) is a second adhesion coefficient set, and F represents a functional relationship between the target speed and an absolute value of a difference between the first adhesion coefficient and the second adhesion coefficient.
Specifically, the road surface mode is found in a preset road surface mode and driving speed corresponding relation table according to the road surface mode, further, the corresponding driving speed is found according to the preset road surface mode and driving speed corresponding relation, and the driving speed is used as a target speed. For example, the method obtains three road surface modes, which are a road surface mode a, a road surface mode B and a road surface mode C, where the corresponding relationship found by the road surface mode a is Fa, the corresponding relationship found by the road surface mode B is Fb, the corresponding relationship found by the road surface mode C is Fc, the corresponding target speed Va is obtained from the road surface mode a and the corresponding relationship Fa, the corresponding target speed Vb is obtained from the road surface mode B and the corresponding relationship Fb, and the corresponding target speed Vc is obtained from the road surface mode C and the corresponding relationship Fc. The vehicle decelerates at the target speed Va in the case of the road surface pattern a, decelerates at the target speed Vb in the case of the road surface pattern B, and decelerates at the target speed Vc in the case of the road surface pattern C.
In the above embodiment, a second travel track in which the difference between the adhesion force of the left wheel and the adhesion force of the right wheel is smaller than or equal to a preset threshold value is determined according to the set of adhesion coefficients of the target road surface, and the vehicle is controlled to travel at the target speed in a decelerated manner if it is determined that there is no second travel track in which the difference between the adhesion force of the left wheel and the adhesion force of the right wheel is smaller than or equal to the set of adhesion coefficients of the target road surface. The vehicle can avoid uneven road surface, reduce running length of uneven road surface or scientifically brake.
In one embodiment, as shown in fig. 6, there is provided a driving assistance system including: an obtaining module 601, a judging module 602 and a planning module 603, wherein:
an obtaining module 601, configured to obtain an adhesion coefficient set of a road surface within a preset range of a vehicle;
a determining module 602, configured to determine, according to the adhesion coefficient set, whether a difference between an adhesion force of a left wheel and an adhesion force of a right wheel on a first driving track of the vehicle is greater than a preset threshold;
the planning module 603 is configured to perform driving planning according to the adhesion coefficient set if the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track are greater than a preset threshold.
In one embodiment, the obtaining module 601 is further configured to obtain an image of a road surface within a preset range; analyzing the image to obtain a road surface mode of the position; acquiring an adhesion coefficient corresponding to a road surface mode of a position; taking the set of the adhesion coefficient of each position as the set of the adhesion coefficients of the road surface within a preset range; or, acquiring an adhesion coefficient set of the road surface within a preset range from the server; or acquiring the adhesion coefficient set of the road surface within the preset range from other vehicles.
In one embodiment, the obtaining module 601 is further configured to search a corresponding relationship between a preset road surface pattern and an adhesion coefficient, and determine a target adhesion coefficient corresponding to the road surface pattern of the position; the target adhesion coefficient is taken as the adhesion coefficient of the position.
In one embodiment, the determining module 602 is further configured to predict a driving track of the vehicle according to a current steering angle of the vehicle; the driving track of the vehicle comprises a driving track of a left wheel and a driving track of a right wheel; finding out a first adhesion coefficient set corresponding to the driving track of the left wheel and a second adhesion coefficient set corresponding to the driving track of the right wheel from the adhesion coefficient sets; and judging whether the difference value of the adhesive force on the running track of the left wheel and the adhesive force on the running track of the right wheel is greater than a preset threshold value or not according to the first adhesion coefficient set and the second adhesion coefficient set.
In one embodiment, the determining module 602 is further configured to determine a difference between the adhesion coefficient of each position of the left wheel and the adhesion coefficient of each position of the corresponding right wheel; and judging whether the difference value between the adhesive force on the running track of the left wheel and the adhesive force on the running track of the right wheel is larger than a preset threshold value or not according to the difference value of each position.
In one embodiment, the determining module 602 is further configured to divide the driving track of the left wheel according to a preset length to obtain at least one first road segment, and divide the driving track of the right wheel to obtain at least one second road segment; traversing at least one first road section to obtain an attachment coefficient set corresponding to the at least one first road section, and traversing at least one second road section to obtain an attachment coefficient set corresponding to the at least one second road section; and taking a set formed by the adhesion coefficient sets of each first road segment in the running track of the left wheel as a first adhesion coefficient set, and taking a set formed by the adhesion coefficient sets of each second road segment in the running track of the right wheel as a second adhesion coefficient set.
In one embodiment, the planning module 603 is further configured to obtain an adhesion coefficient set of the target road surface if a difference between the adhesion force on the driving track of the left wheel and the adhesion force on the driving track of the right wheel is greater than a preset threshold; wherein the target road surface represents other road surfaces in the direction except the travel track of the left wheel and the travel track of the right wheel; and planning the driving according to the adhesion coefficient set of the target road surface.
In one embodiment, the planning module 603 is further configured to determine a second driving trajectory according to the set of adhesion coefficients of the target road surface, wherein a difference between the adhesion of the left wheel and the adhesion of the right wheel is smaller than or equal to a preset threshold, and control the vehicle to drive according to the second driving trajectory.
In one embodiment, the planning module 603 is further configured to detect whether the second driving trajectory meets a preset traffic rule; and if the second driving track accords with the preset traffic rule, executing a step of controlling the vehicle to drive according to the second driving track.
In one embodiment, the planning module 603 is further configured to execute controlling the vehicle to decelerate at the target speed and/or issue a warning if it is determined, according to the adhesion coefficient set of the target road surface, that there is no second driving track that causes the difference between the adhesion force of the left wheel and the adhesion force of the right wheel to be less than or equal to a preset threshold value.
In one embodiment, the planning module 603 is further configured to find a preset road surface pattern and driving speed correspondence relationship, and determine a target speed corresponding to the road surface pattern of the first driving track.
For specific limitations of the driving assistance system, reference may be made to the above limitations of the driving assistance method, which are not described herein again. The various modules in the driving assistance system can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing driving assistance data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a driving assistance method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method in any of the above embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the steps of the method of any of the above embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (17)
1. A driving assist method, characterized by comprising:
acquiring an adhesion coefficient set of a road surface within a preset range of a vehicle;
judging whether the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first running track of the vehicle is larger than a preset threshold value or not according to the adhesion coefficient set;
and if the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is larger than the preset threshold value, performing driving planning according to the adhesion coefficient set.
2. The method according to claim 1, characterized in that the set of adhesion coefficients comprises the adhesion coefficients of at least one position of the road surface within the preset range;
the method for acquiring the adhesion coefficient set of the road surface within the preset range of the vehicle comprises the following steps:
acquiring an image of the road surface within the preset range;
analyzing the image to obtain a road surface mode of the position;
acquiring an adhesion coefficient corresponding to the road surface mode of the position;
taking the set of the adhesion coefficient of each position as the set of the adhesion coefficients of the road surface in the preset range; or the like, or, alternatively,
acquiring an adhesion coefficient set of the road surface within the preset range from a server; or the like, or, alternatively,
and acquiring the adhesion coefficient set of the road surface within the preset range from other vehicles.
3. The method of claim 2, wherein said obtaining an adhesion coefficient corresponding to a road surface pattern of said location comprises:
searching a corresponding relation between a preset road surface mode and an adhesion coefficient, and determining a target adhesion coefficient corresponding to the road surface mode at the position;
and taking the target adhesion coefficient as the adhesion coefficient of the position.
4. The method according to any one of claims 2 or 3, wherein the determining whether the difference between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track of the vehicle is greater than a preset threshold value according to the set of adhesion coefficients comprises:
predicting a running track of the vehicle according to the current steering angle of the vehicle; wherein the travel track of the vehicle includes a travel track of the left wheel and a travel track of the right wheel;
finding out a first adhesion coefficient set corresponding to the driving track of the left wheel and a second adhesion coefficient set corresponding to the driving track of the right wheel from the adhesion coefficient set;
and judging whether the difference value between the adhesive force on the running track of the left wheel and the adhesive force on the running track of the right wheel is greater than the preset threshold value or not according to the first adhesion coefficient set and the second adhesion coefficient set.
5. The method of claim 4, wherein each position in the travel path of the left wheel corresponds one-to-one with each position in the travel path of the right wheel;
the determining whether a difference between the adhesion force on the travel track of the left wheel and the adhesion force on the travel track of the right wheel is greater than the preset threshold according to the first adhesion coefficient set and the second adhesion coefficient set includes:
determining a difference between the adhesion coefficient of each position of the left wheel and the adhesion coefficient of each position of the corresponding right wheel;
and judging whether the difference value between the adhesive force on the running track of the left wheel and the adhesive force on the running track of the right wheel is greater than the preset threshold value or not according to the difference value at each position.
6. The method of claim 4, wherein said finding a first set of adhesion coefficients corresponding to the travel path of the left wheel and a second set of adhesion coefficients corresponding to the travel path of the right wheel from the set of adhesion coefficients comprises:
dividing the running track of the left wheel according to a preset length to obtain at least one first road section, and dividing the running track of the right wheel to obtain at least one second road section;
traversing the at least one first road section to obtain an attachment coefficient set corresponding to the at least one first road section, and traversing the at least one second road section to obtain an attachment coefficient set corresponding to the at least one second road section;
and taking a set formed by the adhesion coefficient sets of each first road segment in the running track of the left wheel as the first adhesion coefficient set, and taking a set formed by the adhesion coefficient sets of each second road segment in the running track of the right wheel as the second adhesion coefficient set.
7. The method according to claim 5, wherein if the difference between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is greater than the preset threshold, performing driving planning according to the adhesion coefficient set comprises:
if the difference value between the adhesion force on the running track of the left wheel and the adhesion force on the running track of the right wheel is larger than the preset threshold value, acquiring an adhesion coefficient set of a target road surface; wherein the target road surface represents a road surface other than the running track of the left wheel and other than the running track of the right wheel in the direction;
and planning the driving according to the adhesion coefficient set of the target road surface.
8. The method of claim 7, wherein the driving planning according to the set of adhesion coefficients of the target road surface comprises:
and determining a second running track enabling the difference value of the adhesive force of the left wheel and the adhesive force of the right wheel to be smaller than or equal to the preset threshold value according to the adhesion coefficient set of the target road surface, and controlling the vehicle to run according to the second running track.
9. The method of claim 8, wherein said controlling said vehicle to travel according to said second travel trajectory further comprises:
detecting whether the second driving track meets a preset traffic rule or not;
and if the second driving track accords with the preset traffic rule, executing the step of controlling the vehicle to drive according to the second driving track.
10. The method of claim 8, further comprising:
and if the fact that a second running track enabling the difference value of the adhesion force of the left wheel and the adhesion force of the right wheel to be smaller than or equal to the preset threshold value does not exist according to the adhesion coefficient set of the target road surface is determined, controlling the vehicle to run at a reduced speed according to the target speed, and/or giving a warning.
11. The method of claim 10, further comprising:
and searching a corresponding relation between a preset road surface mode and the running speed, and determining a target speed corresponding to the road surface mode of the first running track.
12. A driving assistance system, characterized in that the system comprises:
the acquisition module is used for acquiring an adhesion coefficient set of a road surface within a preset range of a vehicle;
the judging module is used for judging whether the difference value of the adhesive force of the left wheel and the adhesive force of the right wheel on the first running track of the vehicle is larger than a preset threshold value or not according to the adhesion coefficient set;
and the planning module is used for planning driving according to the adhesion coefficient set if the difference value between the adhesion force of the left wheel and the adhesion force of the right wheel on the first driving track is greater than the preset threshold value.
13. The system of claim 12, wherein the set of adhesion coefficients comprises adhesion coefficients for at least one location of the roadway surface within the preset range;
the acquisition module is used for acquiring the image of the road surface within the preset range;
analyzing the image to obtain a road surface mode of the position;
acquiring an adhesion coefficient corresponding to the road surface mode of the position;
taking the set of the adhesion coefficient of each position as the set of the adhesion coefficients of the road surface in the preset range; or the like, or, alternatively,
acquiring an adhesion coefficient set of the road surface within the preset range from a server; or the like, or, alternatively,
acquiring an adhesion coefficient set of the road surface within the preset range from other vehicles;
further optionally, the obtaining module is configured to search a corresponding relationship between a preset road surface pattern and an adhesion coefficient, and determine a target adhesion coefficient corresponding to the road surface pattern at the position;
and taking the target adhesion coefficient as the adhesion coefficient of the position.
14. The system of claim 13, wherein the determining module is configured to predict a driving trajectory of the vehicle according to a current steering angle of the vehicle; wherein the travel track of the vehicle includes a travel track of the left wheel and a travel track of the right wheel;
finding out a first adhesion coefficient set corresponding to the driving track of the left wheel and a second adhesion coefficient set corresponding to the driving track of the right wheel from the adhesion coefficient set;
judging whether the difference value between the adhesive force on the driving track of the left wheel and the adhesive force on the driving track of the right wheel is larger than the preset threshold value or not according to the first adhesion coefficient set and the second adhesion coefficient set;
further optionally, each position in the travel track of the left wheel corresponds to each position in the travel track of the right wheel one to one;
the judging module is used for determining the difference value of the adhesion coefficient of each position of the left wheel and the adhesion coefficient of each position of the corresponding right wheel;
judging whether the difference value between the adhesive force on the driving track of the left wheel and the adhesive force on the driving track of the right wheel is larger than the preset threshold value or not according to the difference value of each position;
further optionally, the determining module is configured to divide the travel track of the left wheel according to a preset length to obtain at least one first road segment, and divide the travel track of the right wheel to obtain at least one second road segment;
traversing the at least one first road section to obtain an attachment coefficient set corresponding to the at least one first road section, and traversing the at least one second road section to obtain an attachment coefficient set corresponding to the at least one second road section;
and taking a set formed by the adhesion coefficient sets of each first road segment in the running track of the left wheel as the first adhesion coefficient set, and taking a set formed by the adhesion coefficient sets of each second road segment in the running track of the right wheel as the second adhesion coefficient set.
15. The system of claim 14, wherein the planning module is configured to obtain an adhesion coefficient set of a target road surface if a difference between an adhesion force on the driving track of the left wheel and an adhesion force on the driving track of the right wheel is greater than the preset threshold; wherein the target road surface represents a road surface other than the running track of the left wheel and other than the running track of the right wheel in the direction;
performing driving planning according to the adhesion coefficient set of the target road surface;
further optionally, the planning module is configured to determine, according to the adhesion coefficient set of the target road surface, a second driving trajectory in which a difference between the adhesion force of the left wheel and the adhesion force of the right wheel is smaller than or equal to the preset threshold, and control the vehicle to drive according to the second driving trajectory;
further optionally, the planning module is configured to detect whether the second driving trajectory meets a preset traffic rule;
if the second driving track accords with the preset traffic rule, executing the step of controlling the vehicle to drive according to the second driving track;
further optionally, the planning module is configured to, if it is determined that there is no second driving track according to the set of adhesion coefficients of the target road surface, where a difference between the adhesion of the left wheel and the adhesion of the right wheel is smaller than or equal to the preset threshold, control the vehicle to decelerate according to a target speed, and/or issue a warning;
further optionally, the planning module is configured to search a preset corresponding relationship between a road surface pattern and a driving speed, and determine a target speed corresponding to the road surface pattern of the first driving track.
16. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 11 when executing the computer program.
17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910670172.2A CN112298188A (en) | 2019-07-24 | 2019-07-24 | Driving assistance method, system, computer device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910670172.2A CN112298188A (en) | 2019-07-24 | 2019-07-24 | Driving assistance method, system, computer device, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112298188A true CN112298188A (en) | 2021-02-02 |
Family
ID=74329672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910670172.2A Pending CN112298188A (en) | 2019-07-24 | 2019-07-24 | Driving assistance method, system, computer device, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112298188A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264597A (en) * | 2021-12-21 | 2022-04-01 | 盐城工学院 | Low-cost road adhesion coefficient determination method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10244204A1 (en) * | 2002-09-23 | 2004-04-08 | Robert Bosch Gmbh | Process and device to adjust braking on at least two wheels in a motor vehicle, detects sudden changes in friction at each wheel separately and acts accordingly |
| CN102320300A (en) * | 2008-12-26 | 2012-01-18 | 株式会社小松制作所 | The tractive force control setup |
| DE102016001424A1 (en) * | 2016-02-05 | 2017-08-10 | Audi Ag | A method for assisting a driver of a motor vehicle when driving the motor vehicle |
| CN107685733A (en) * | 2017-08-14 | 2018-02-13 | 哈尔滨工业大学 | The method of estimation of four motorized wheels electric automobile coefficient of road adhesion |
| CN109131306A (en) * | 2018-08-31 | 2019-01-04 | 北京新能源汽车股份有限公司 | A kind of brake control method of electric car, braking control system and automobile |
-
2019
- 2019-07-24 CN CN201910670172.2A patent/CN112298188A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10244204A1 (en) * | 2002-09-23 | 2004-04-08 | Robert Bosch Gmbh | Process and device to adjust braking on at least two wheels in a motor vehicle, detects sudden changes in friction at each wheel separately and acts accordingly |
| CN102320300A (en) * | 2008-12-26 | 2012-01-18 | 株式会社小松制作所 | The tractive force control setup |
| DE102016001424A1 (en) * | 2016-02-05 | 2017-08-10 | Audi Ag | A method for assisting a driver of a motor vehicle when driving the motor vehicle |
| CN107685733A (en) * | 2017-08-14 | 2018-02-13 | 哈尔滨工业大学 | The method of estimation of four motorized wheels electric automobile coefficient of road adhesion |
| CN109131306A (en) * | 2018-08-31 | 2019-01-04 | 北京新能源汽车股份有限公司 | A kind of brake control method of electric car, braking control system and automobile |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264597A (en) * | 2021-12-21 | 2022-04-01 | 盐城工学院 | Low-cost road adhesion coefficient determination method and system |
| CN114264597B (en) * | 2021-12-21 | 2022-07-22 | 盐城工学院 | Low-cost road adhesion coefficient determination method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9227632B1 (en) | Method of path planning for evasive steering maneuver | |
| US9229453B1 (en) | Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle | |
| US8170739B2 (en) | Path generation algorithm for automated lane centering and lane changing control system | |
| KR101320223B1 (en) | Method and system for assisting a driver when parking or manoeuvring a motor vehicle | |
| CN110352450B (en) | Driving assistance method and driving assistance device | |
| US10703363B2 (en) | In-vehicle traffic assist | |
| KR20190124130A (en) | Apparatus and method for providing safety strategy of vehicle | |
| GB2523232A (en) | Autonomous driving style learning | |
| CN111439263B (en) | Vehicle lane change recognition method and device, electronic equipment and storage medium | |
| CN110622226A (en) | Method and device for predicting operation of travel assistance device | |
| CN109318894B (en) | Vehicle driving assistance system, vehicle driving assistance method, and vehicle | |
| KR20190056977A (en) | Vehicle control device | |
| CN113168512A (en) | Method and control unit for operating an automatic longitudinal and/or transverse guidance function of a vehicle | |
| CN113147762A (en) | Control method and device for adaptive cruise, commercial vehicle and storage medium | |
| CN112356827A (en) | Automatic parking control method and device, computer equipment and storage medium | |
| KR102011663B1 (en) | Apparatus for evaluating lane keeping assist system and method thereof | |
| WO2022113472A1 (en) | Vehicle control device and vehicle control method | |
| CN112703541B (en) | Vehicle behavior prediction method and vehicle behavior prediction device | |
| US20200041304A1 (en) | High resolution virtual wheel speed sensor | |
| CN112298188A (en) | Driving assistance method, system, computer device, and storage medium | |
| CN113272203B (en) | Method for preparing and/or carrying out steering interventions for assisting a driver of a vehicle | |
| CN114466776A (en) | Vehicle control method, vehicle control device, and vehicle control system including the vehicle control device | |
| CN114291071B (en) | Method and system for judging active intervention time of vehicle stability control, readable storage medium and vehicle | |
| US20220176973A1 (en) | Method and device for driver assistance for determining habits of driver | |
| US20230037472A1 (en) | Vehicle control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |