CN112758103B

CN112758103B - Vehicle control method and device

Info

Publication number: CN112758103B
Application number: CN202110101155.4A
Authority: CN
Inventors: 吕传龙; 马俊彦; 郑艺强; 郭姣; 关书伟
Original assignee: Beijing Rockwell Technology Co Ltd
Current assignee: Beijing Rockwell Technology Co Ltd
Priority date: 2021-01-26
Filing date: 2021-01-26
Publication date: 2022-06-17
Anticipated expiration: 2041-01-26
Also published as: CN112758103A

Abstract

The embodiment of the disclosure discloses a vehicle control method and device, relates to the technical field of vehicle control, and mainly aims to adjust the running state of a vehicle to be suitable for a special road so as to ensure that the vehicle runs stably on the special road. The main technical scheme of the embodiment of the disclosure comprises the following steps: when the vehicle is determined to run on a special road, determining a vehicle control adjustment strategy according to the current running data of the vehicle; generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle; controlling the vehicle to travel based on the target control strategy.

Description

Vehicle control method and device

Technical Field

The embodiment of the disclosure relates to the technical field of vehicle control, in particular to a vehicle control method and device.

Background

With the development of information and control technology, automatic driving technology is increasingly being applied to vehicles, so that the vehicles have an automatic driving function. The automatic driving technology can not only reduce the driving risk of the vehicle, but also reduce the degree of participation of the user in driving.

When the vehicle is in automatic driving control, firstly, a driving path is planned according to road information collected by sensing equipment such as a radar, a camera, an inertia measurement unit and a global positioning system, and then the vehicle is controlled according to power output and steering wheel steering determined by the driving path.

When the vehicle runs on a road with a good road surface (such as an asphalt pavement), the vehicle can smoothly run according to the determined power output and steering wheel of the vehicle and the running path planned by the vehicle controller. However, when the vehicle is traveling on a road with poor road surface, such as a continuous deceleration strip road surface, a road surface in a renovating stage, etc., due to abnormal conditions such as potholes, deceleration strips, etc., after the vehicle is controlled to travel according to the power output and direction wheel plan determined by the planned travel path, a large deviation occurs between the actual travel path and the planned travel path of the vehicle, at this time, a controller of the vehicle needs to re-plan the power output and direction wheel steering according to the newly detected road surface condition in order to compensate the deviation, at this time, in order to adjust the vehicle travel direction, the direction wheel steering of the vehicle inevitably has continuous and large adjustment, so that the vehicle has a large swing state such as snaking, etc., and the comfort of passengers riding the vehicle is affected.

Disclosure of Invention

In view of this, embodiments of the present disclosure provide a vehicle control method and apparatus, and a main object of the present disclosure is to adjust a driving state of a vehicle to be suitable for a special road, so as to ensure that the vehicle runs smoothly on the special road. The main technical scheme comprises:

in a first aspect, an embodiment of the present disclosure provides a vehicle control method, including:

when the vehicle is determined to run on a special road, determining a vehicle control adjustment strategy according to the current running data of the vehicle;

generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle;

controlling the vehicle to travel based on the target control strategy.

In a second aspect, an embodiment of the present disclosure provides a vehicle control apparatus including:

the vehicle control adjustment method comprises a determining unit, a judging unit and a control unit, wherein the determining unit is used for determining a vehicle control adjustment strategy according to current driving data of a vehicle when the vehicle is determined to drive on a special road;

the generating unit is used for generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle;

and the control unit is used for controlling the vehicle to run based on the target control strategy.

In a third aspect, an embodiment of the present disclosure provides a vehicle control system including: a controller; the controller executes the vehicle control method of the first aspect when operating.

In a fourth aspect, embodiments of the present disclosure provide a vehicle, a vehicle control system of the third aspect, and at least one running device;

each of the running devices is configured to execute an action corresponding to control under control of the vehicle control system.

According to the vehicle control method and the vehicle control device, when the vehicle is determined to run on the special road, the vehicle control adjustment strategy is determined according to the current running data of the vehicle. And generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle. And finally, controlling the vehicle to run based on the target control strategy. It can be seen that the target control strategy for controlling the vehicle to run according to the embodiment of the disclosure is obtained by combining the vehicle control adjustment strategy obtained based on the vehicle running data and the vehicle control strategy currently planned by the controller of the vehicle, so that the vehicle can be controlled to run substantially along the planned running path, and the running state of the vehicle can be adjusted to be suitable for the special road, so as to ensure that the vehicle runs smoothly on the special road.

The foregoing description is only an overview of the embodiments of the present disclosure, and in order to make the technical means of the embodiments of the present disclosure more clearly understood, the embodiments of the present disclosure may be implemented in accordance with the content of the description, and in order to make the foregoing and other objects, features, and advantages of the embodiments of the present disclosure more clearly understood, the following detailed description of the embodiments of the present disclosure is given.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the embodiments of the present disclosure. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 illustrates a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

FIG. 2 illustrates a flow chart of another vehicle control method provided by embodiments of the present disclosure;

fig. 3 shows a block diagram of a vehicle control apparatus provided by an embodiment of the present disclosure;

fig. 4 is a block diagram showing the composition of another vehicle control apparatus provided by the embodiment of the present disclosure;

fig. 5 shows a block diagram of a vehicle according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In actual use, the road condition on which the vehicle travels varies depending on the travel route selected by the user, that is, the vehicle may travel on a road with a good road surface or on a special road with a bad road surface such as a speed bump, a pothole, and ice and snow. At present, when a vehicle runs on a special road, a great deviation occurs between an actual running path of the vehicle and a running path planned by a vehicle controller, at the moment, the controller of the vehicle needs to plan power output and steering of a steering wheel again according to the newly detected road condition in order to compensate the deviation, at the moment, in order to adjust the running direction of the vehicle, continuous and large-amplitude adjustment must occur in the steering of the steering wheel of the vehicle, so that the vehicle has a large-amplitude swing state such as snakelike shaking, the vehicle cannot stably pass through the special road, and the comfort of passengers riding the vehicle is further influenced. In order to ensure that the vehicle can adjust the running state of the vehicle to be suitable for the special road when the vehicle passes through the special road, the embodiment of the disclosure provides a vehicle control method, so that the vehicle can run on the special road surface smoothly substantially along the running path planned by the controller of the vehicle.

In a first aspect, an embodiment of the present disclosure provides a vehicle control method, as shown in fig. 1, the method mainly includes:

101. and when the vehicle is determined to run on the special road, determining a vehicle control adjustment strategy according to the current running data of the vehicle.

When the vehicle runs, whether the vehicle runs on the special road or not needs to be determined, so that when the vehicle is determined to run on the special road, the running state of the vehicle can be adjusted to be suitable for the special road in time. A method of determining whether a vehicle is traveling on a particular road will now be described, the method including at least two of:

the method comprises the steps of acquiring at least one road condition identification data which is generated when a vehicle runs and is related to road condition identification; judging whether the various road condition identification data meet the respective corresponding road condition identification conditions; and if the N road condition identification data are judged to meet the corresponding road condition identification conditions, determining that the vehicle runs on the special road, wherein N is an integer greater than or equal to 1.

The road condition identification data is acquired by a sensor arranged in the vehicle, and can represent whether the vehicle runs on a special road or not, and the special road is a special road of which road type. Such as an icy or snowy road, a rough road, or a repair road. The specific type of the traffic identification data is not specifically limited in this embodiment, and optionally, the traffic identification data is at least one of the following: vehicle wheel speed data, vehicle driving road surface image data, vehicle yaw angle data, and vehicle acceleration data.

And each road condition identification data has a corresponding road condition identification condition, and the road condition identification condition can determine whether the vehicle runs on a special road or not and on which type of road and special road. The road condition identification condition may include several sub-conditions, and each sub-condition may correspond to a different specific road type. The road condition identification condition corresponding to the wheel speed data of the vehicle is a preset frequency range, the road condition identification condition corresponding to the image data of the running road surface of the vehicle is a preset image characteristic, the road condition identification condition corresponding to the yaw angle data of the vehicle is a preset yaw angle change range, and the road condition identification condition corresponding to the acceleration data of the vehicle is a preset acceleration change range.

When the road condition identification data is the wheel speed data of the vehicle, the corresponding road condition identification condition is a preset frequency range, and if the frequency change range of the wheel speed of the vehicle in a preset time period is determined to be consistent with the preset frequency range based on the wheel speed data of the vehicle, the wheel speed data of the vehicle is determined to be consistent with the corresponding road condition identification condition. Specifically, under the condition of the road surfaces (such as fixed road surfaces of deserts, snowfields, mud fields, mountain roads and the like) as much as possible, a signal curve of the wheel speed sensor is collected, analysis is carried out according to the output frequency of the wheel speed sensor, a spectrum analysis method based on a Fourier neural network weight is trained by a recursive least square method, the characteristic of each road surface is determined by training the spectrum based on the Fourier neural network weight by the recursive least square method, the amplitude spectrum and the phase spectrum of the signal are obtained according to the weight, and the preset frequency range of each special road is set according to the characteristic.

And when the road condition identification data is the image data of the driving road surface of the vehicle, the corresponding road condition identification condition is the preset image characteristic, and if the image characteristic extracted based on the image data of the driving road surface of the vehicle is consistent with the preset image characteristic, the image data of the driving road surface of the vehicle is determined to be consistent with the corresponding road condition identification condition.

And when the road condition identification data is the vehicle yaw angle data, the corresponding road condition identification condition is a preset yaw angle change range, and if the yaw angle change range of the vehicle yaw angle data in a preset time period is determined to be consistent with the preset yaw angle change range based on the vehicle yaw angle data, the vehicle wheel speed data is determined to be consistent with the corresponding road condition identification condition.

And when the road condition identification data is vehicle acceleration data, the corresponding road condition identification condition is a preset acceleration change range, and if the change range of the vehicle acceleration in a preset time period is determined to be consistent with the preset acceleration change range based on the vehicle acceleration data, the vehicle acceleration is determined to meet the corresponding road condition identification condition.

And secondly, if a special road instruction input by a user is received, determining that the vehicle runs on the special road.

When the vehicle enters a special road to run, a user of the vehicle can input a special road instruction to the vehicle according to the subjective judgment of the user on the road type. When a special road instruction input by a user is received, the vehicle is indicated to run on the special road. It should be noted that the special road type may be carried in the special road command input by the user. Illustratively, the special road command input by the user carries information that the special road is an ice and snow road.

After determining that the vehicle enters the special road, in order to ensure that the running of the vehicle can be kept as smooth as possible and the passengers can be comfortable as much as possible, a vehicle control adjustment strategy needs to be determined according to the current running data of the vehicle, so that the vehicle can run along a planned path planned by a controller of the vehicle substantially based on the vehicle control adjustment strategy. The following describes a specific process for determining a vehicle control adjustment strategy according to current driving data of a vehicle, where the process includes the following steps:

step one, driving parameters corresponding to the road type of the special road are extracted from the driving data.

The method of extracting the driving parameters corresponding to the road type of the specific road from the driving data includes at least two methods:

in practical application, different types of driving parameters have different trust coefficients under different road types, and the driving parameter with the highest trust coefficient can be used as a main basis for determining a vehicle adjustment strategy under a current special road, and is extracted for subsequent determination of the vehicle adjustment strategy.

Alternatively, different road types are assigned their respective driving parameters, wherein one road type may correspond to one or more driving parameters. And extracting the driving parameters corresponding to the road type of the special road from the driving data for subsequent vehicle adjustment strategy determination.

And step two, determining the vehicle control adjustment strategy based on the extracted driving parameters.

The purpose of determining the vehicle control adjustment strategy is to enable the vehicle to travel substantially along a planned path planned by a controller of the vehicle based on the vehicle control adjustment strategy. The process of determining the vehicle control adjustment strategy is related to the driving parameters extracted in the step one, and the process comprises the following steps:

firstly, if the extracted driving parameters comprise a vehicle yaw angle, inputting the vehicle yaw angle into a vehicle model corresponding to a special road type to obtain a target vehicle yaw angle; and inputting the target vehicle yaw angle into a first preset vehicle control model to obtain wheels needing to be braked by the vehicle, and determining the wheels needing to be braked by the vehicle as the vehicle control adjustment strategy.

The vehicle yaw angle refers to an angle of rotation of a vehicle around a vertical axis in a vehicle body coordinate system, and when the angle exceeds a certain threshold value, the vehicle can sideslip, drift, tire wear and the like. This threshold is also different for different vehicles and for the same vehicle under different types of roads. Therefore, when the vehicle yaw angle is included in the extracted driving parameters, the vehicle yaw angle needs to be input to a vehicle model corresponding to a specific road type to obtain a target vehicle yaw angle using the vehicle model. The vehicle model is a pre-calibrated vehicle model corresponding to a particular road type that defines the physical limits of vehicle instability on that type of particular road. The specific type of the vehicle model is not particularly limited in this embodiment, and may be a neural network model. The vehicle model receives a vehicle yaw angle from a steering wheel angle sensor, and calculates a target vehicle yaw angle of the vehicle at the vehicle speed and the steering wheel angle in combination with a vehicle speed signal.

The determined target vehicle yaw angle is a vehicle yaw angle which meets the current special road and the current driving requirement of the vehicle, and the target vehicle yaw angle needs to be input into a first preset vehicle control model, so that the first preset vehicle control model determines wheels needing to be braked by the vehicle based on the target vehicle yaw angle, and the phenomena of sideslip, tail flicking and the like of the vehicle on the current special road are avoided. It should be noted that the first preset vehicle control model is also a vehicle control model which is calibrated in advance and corresponds to a special road type, and defines a physical limit of vehicle body instability on the special road of the type. The first preset vehicle control model compares a target vehicle yaw angle with a vehicle yaw angle detected by a vehicle body sensor as a reference, determines whether the target vehicle yaw angle is excessive or insufficient, and then determines which side of the tire is pressurized for correction, thereby determining a wheel of the vehicle which needs to be braked. The purpose of determining the wheels of the vehicle that need to be braked is to balance the drastic changes in the yaw angle of the vehicle body and maintain a stable and comfortable driving feel of the vehicle body.

Secondly, if the extracted running parameters comprise a vehicle speed, a vehicle acceleration and an obstacle position, determining a target acceleration of the vehicle based on the vehicle speed, the vehicle acceleration and the obstacle position; inputting the target acceleration, the vehicle speed and the current vehicle torque into a second preset vehicle control model to obtain a target torque and a target braking force of the vehicle, and determining the target torque and the target braking force of the vehicle as the vehicle control adjustment strategy.

Once the position of the obstacle is determined, a deceleration process is inevitably generated while the detour track is planned, and according to the current speed and the distance between the vehicle and the obstacle, reasonable target acceleration required by the vehicle during detour can be planned according to acceleration information.

After the target acceleration is determined, inputting the target acceleration, the vehicle speed and the current vehicle torque into a second preset vehicle control model to obtain the target torque and the target braking force of the vehicle. It should be noted that the second preset vehicle control model is a vehicle control model which is calibrated in advance and corresponds to a specific road type, and is used for calculating the torque and the braking force of the vehicle. The specific type of the second preset vehicle control model is not specifically limited in this embodiment, and optionally, the second preset vehicle control model is a neural network model, which is preset to be deployed in the vehicle.

Thirdly, if the extracted driving parameters comprise a map related to the current driving position of the vehicle, extracting road information from the map; and inputting the road information into a preset vehicle dynamics model to obtain the target speed and the steering angle of the vehicle, and determining the target speed and the steering angle of the vehicle as the vehicle control adjustment strategy.

The map related to the current driving position of the vehicle is a map according to which the vehicle drives, and may be a high-precision map, and the map includes road information, which may include a road track, a road length, a road width, and a road curvature.

After the road information is extracted, the road information is directly input into a preset vehicle dynamics model, and the target speed and the steering angle of the vehicle passing through the road section can be obtained. It should be noted that the predetermined vehicle dynamics model is pre-calibrated, and has a target speed and a steering angle corresponding to the input determined after the corresponding input.

Whether the three methods are used alone or in combination of two or three methods is related to the extracted driving parameters.

102. And generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle.

The process of generating the target control strategy is essentially: modifying vehicle control parameters in a vehicle control strategy currently planned by the controller based on the vehicle control parameters in the vehicle control adjustment strategy; and determining the modified vehicle control strategy as the target control strategy.

The vehicle control strategy currently planned by the vehicle controller is determined based on the planned driving path, which is suitable for the vehicle to drive on a road with good road surface, but not suitable for the vehicle to drive on a special road, so that the vehicle control adjustment strategy needs to be modified based on the vehicle control adjustment strategy. The process of this modification is essentially: and modifying the vehicle control parameters in the vehicle control strategy currently planned by the controller, which are different from the vehicle control adjustment strategy, into parameters in the vehicle control adjustment strategy, and adding the unique vehicle control parameters in the vehicle control adjustment strategy into the vehicle control strategy currently planned by the controller, so as to form a target control strategy.

103. Controlling the vehicle to travel based on the target control strategy.

Due to the combination of the target control strategy and the vehicle control adjustment strategy as well as the vehicle control strategy currently planned by the controller of the vehicle, the target control strategy can control the vehicle to generally travel along the planned travel path, so that the travel state of the vehicle is adjusted to be suitable for the special road, and the vehicle can be ensured to smoothly travel on the special road.

When the vehicle is controlled to run based on the target control strategy, the operation process of the corresponding vehicle running device is actually controlled based on various vehicle control parameters in the target control strategy.

According to the vehicle control method provided by the embodiment of the disclosure, when the vehicle is determined to run on the special road, the vehicle control adjustment strategy is determined according to the current running data of the vehicle. And generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle. And finally, controlling the vehicle to run based on the target control strategy. It can be seen that the target control strategy for controlling the vehicle to run according to the embodiment of the disclosure is obtained by combining the vehicle control adjustment strategy obtained based on the vehicle running data and the vehicle control strategy currently planned by the controller of the vehicle, so that the vehicle can be controlled to run substantially along the planned running path, and the running state of the vehicle can be adjusted to be suitable for the special road, so as to ensure that the vehicle runs smoothly on the special road.

In a second aspect, according to the method of the first aspect, another embodiment of the present disclosure further provides a vehicle control method, as shown in fig. 2, the method mainly includes:

201. and acquiring at least one road condition identification data which is generated when the vehicle runs and is related to road condition identification.

202. Judging whether the various road condition identification data meet the respective corresponding road condition identification conditions, if so, executing 203; otherwise, step 201 is performed.

203. Determining that the vehicle is traveling on a particular road.

204. And extracting the running parameters corresponding to the road type of the special road from the current running data of the vehicle.

205. Determining the vehicle control adjustment strategy based on the extracted driving parameters.

206. And generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle.

207. Controlling the vehicle to travel based on the target control strategy.

In a third aspect, according to the method shown in fig. 1 or fig. 2, another embodiment of the present disclosure also provides a vehicle control apparatus, as shown in fig. 3, which mainly includes:

the determining unit 31 is used for determining a vehicle control adjustment strategy according to the current driving data of the vehicle when the vehicle is determined to drive on the special road;

a generating unit 32, configured to generate a target control strategy for controlling vehicle driving according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle;

a control unit 33 for controlling the vehicle to run based on the target control strategy.

The embodiment of the disclosure provides a vehicle control device, which determines a vehicle control adjustment strategy according to current running data of a vehicle when the vehicle is determined to run on a special road. And generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle. And finally, controlling the vehicle to run based on the target control strategy. It can be seen that the target control strategy for controlling the vehicle to run according to the embodiment of the disclosure is obtained by combining the vehicle control adjustment strategy obtained based on the vehicle running data and the vehicle control strategy currently planned by the controller of the vehicle, so that the vehicle can be controlled to run substantially along the planned running path, and the running state of the vehicle can be adjusted to be suitable for the special road, so as to ensure that the vehicle runs smoothly on the special road.

In some embodiments, as shown in fig. 4, the determining unit 31 includes:

an extracting module 311, configured to extract a driving parameter corresponding to a road type of the special road from the driving data;

a determination module 312 for determining the vehicle control adjustment strategy based on the extracted driving parameters.

In some embodiments, as shown in fig. 4, the determining module 312 is configured to, if the extracted driving parameters include a vehicle yaw angle, input the vehicle yaw angle into a vehicle model corresponding to the special road type, so as to obtain a target vehicle yaw angle; and inputting the target vehicle yaw angle into a first preset vehicle control model to obtain wheels needing to be braked by the vehicle, and determining the wheels needing to be braked by the vehicle as the vehicle control adjustment strategy.

In some embodiments, as shown in fig. 4, the determining module 312 is configured to determine a target acceleration of the vehicle based on the vehicle speed, the vehicle acceleration and the obstacle position if the extracted driving parameters include the vehicle speed, the vehicle acceleration and the obstacle position; inputting the target acceleration, the vehicle speed and the current vehicle torque into a second preset vehicle control model to obtain a target torque and a target braking force of the vehicle, and determining the target torque and the target braking force of the vehicle as the vehicle control adjustment strategy.

In some embodiments, as shown in fig. 4, the determining module 312 is configured to extract road information from a map related to a current driving position of the vehicle if the extracted driving parameters include the map; and inputting the road information into a preset vehicle dynamics model to obtain the target speed and the steering angle of the vehicle, and determining the target speed and the steering angle of the vehicle as the vehicle control adjustment strategy.

In some embodiments, as shown in fig. 4, a control unit 33 is configured to modify the vehicle control parameters in the vehicle control strategy currently planned by the controller based on the vehicle control parameters in the vehicle control adjustment strategy; and determining the modified vehicle control strategy as the target control strategy.

In some embodiments, as shown in fig. 4, the apparatus further comprises:

a first determining unit 34, configured to obtain at least one road condition identification data related to road condition identification generated when the vehicle is running; judging whether the various road condition identification data meet the respective corresponding road condition identification conditions; and if the N road condition identification data are judged to meet the corresponding road condition identification conditions, determining that the vehicle runs on the special road, wherein N is an integer greater than or equal to 1.

Specifically, the traffic identification data is at least one of the following data: vehicle wheel speed data, vehicle driving road surface image data, vehicle yaw angle data and vehicle acceleration data; the road condition identification condition corresponding to the vehicle wheel speed data is a preset frequency range, the road condition identification condition corresponding to the vehicle driving road surface image data is a preset image characteristic, the road condition identification condition corresponding to the vehicle yaw angle data is a preset yaw angle change range, and the road condition identification condition corresponding to the vehicle acceleration data is a preset acceleration change range.

In some embodiments, as shown in fig. 4, the apparatus further comprises:

and the second judging unit 35 is configured to determine that the vehicle runs on the special road if the special road instruction input by the user is received.

The vehicle control device provided by the embodiment of the third aspect may be configured to execute the vehicle control method provided by the embodiment of the first aspect or the second aspect, and the related meanings and specific implementations may refer to the related descriptions in the embodiment of the first aspect or the second aspect, and will not be described in detail here.

In a fourth aspect, an embodiment of the present disclosure provides a vehicle control system including: a controller; the controller executes the vehicle control method of the first aspect or the second aspect when operating.

The vehicle control system provided by the embodiment of the disclosure determines the vehicle control adjustment strategy according to the current running data of the vehicle when the vehicle is determined to run on the special road. And generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle. And finally, controlling the vehicle to run based on the target control strategy. It can be seen that the target control strategy for controlling the vehicle to run according to the embodiment of the disclosure is obtained by combining the vehicle control adjustment strategy obtained based on the vehicle running data and the vehicle control strategy currently planned by the controller of the vehicle, so that the vehicle can be controlled to run substantially along the planned running path, and the running state of the vehicle can be adjusted to be suitable for the special road, so as to ensure that the vehicle runs smoothly on the special road.

In a fifth aspect, an embodiment of the present disclosure provides a vehicle, as shown in fig. 5, including: the vehicle control system 41 and at least one running device 42 of the fourth aspect;

each of the traveling devices 42 is configured to perform an action corresponding to control under the control of the vehicle control system 41.

Specifically, the running device may include, but is not limited to, a driving motor, wheels, brakes, and the like. The running equipment is operated under the control of the vehicle control system to ensure that the vehicle runs along the running path planned by the controller of the vehicle so as to adjust the running state of the vehicle to be suitable for a special road

The embodiment of the disclosure provides a vehicle, when a vehicle control system determines that the vehicle runs on a special road, the vehicle control adjustment strategy is determined according to the current running data of the vehicle. And generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle. And finally, controlling the vehicle to run based on the target control strategy. It can be seen that the target control strategy for controlling the vehicle to run according to the embodiment of the disclosure is obtained by combining the vehicle control adjustment strategy obtained based on the vehicle running data and the vehicle control strategy currently planned by the controller of the vehicle, so that the vehicle can be controlled to run substantially along the planned running path, and the running state of the vehicle can be adjusted to be suitable for the special road, so as to ensure that the vehicle runs smoothly on the special road.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A vehicle control method, characterized by comprising:

generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle, wherein the vehicle control strategy currently planned by the controller of the vehicle is determined based on a planned running path, and the target control strategy is used for controlling the vehicle to run along the planned running path so as to adjust the running state of the vehicle to be suitable for the special road;

controlling the vehicle to travel based on the target control strategy;

generating a target control strategy for controlling the vehicle to run according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle, wherein the target control strategy comprises the following steps:

and modifying the vehicle control parameters in the vehicle control strategy planned currently by the controller, which are different from the vehicle control adjustment strategy, into parameters in the vehicle control adjustment strategy, and adding the unique vehicle control parameters in the vehicle control adjustment strategy into the vehicle control strategy planned currently by the controller to form the target control strategy.

2. The method of claim 1, wherein determining a vehicle control adjustment strategy based on the current driving data of the vehicle comprises:

extracting a driving parameter corresponding to the road type of the special road from the driving data;

determining the vehicle control adjustment strategy based on the extracted driving parameters.

3. The method of claim 2, wherein determining the vehicle control adjustment strategy based on the extracted driving parameters comprises:

if the extracted driving parameters comprise a vehicle yaw angle, inputting the vehicle yaw angle into a vehicle model corresponding to the special road type to obtain a target vehicle yaw angle;

and inputting the target vehicle yaw angle into a first preset vehicle control model to obtain wheels needing to be braked by the vehicle, and determining the wheels needing to be braked by the vehicle as the vehicle control adjustment strategy.

4. The method of claim 2, wherein determining the vehicle control adjustment strategy based on the extracted driving parameters comprises:

if the extracted driving parameters comprise vehicle speed, vehicle acceleration and obstacle position, determining target acceleration of the vehicle based on the vehicle speed, the vehicle acceleration and the obstacle position;

inputting the target acceleration, the vehicle speed and the current torque of the vehicle into a second preset vehicle control model to obtain a target torque and a target braking force of the vehicle, and determining the target torque and the target braking force of the vehicle as the vehicle control adjustment strategy.

5. The method of claim 2, wherein determining the vehicle control adjustment strategy based on the extracted driving parameters comprises:

if the extracted driving parameters comprise a map related to the current driving position of the vehicle, extracting road information from the map;

and inputting the road information into a preset vehicle dynamics model to obtain the target speed and the steering angle of the vehicle, and determining the target speed and the steering angle of the vehicle as the vehicle control adjustment strategy.

6. The method according to any one of claims 1-5, further comprising:

acquiring at least one road condition identification data which is generated when the vehicle runs and is related to road condition identification;

judging whether the various road condition identification data meet the respective corresponding road condition identification conditions;

and if the N road condition identification data are judged to meet the corresponding road condition identification conditions, determining that the vehicle runs on the special road, wherein N is an integer greater than or equal to 1.

7. The method according to claim 6, wherein the traffic identification data is at least one of: vehicle wheel speed data, vehicle driving road surface image data, vehicle yaw angle data and vehicle acceleration data; the road condition identification condition corresponding to the wheel speed data of the vehicle is a preset frequency range, the road condition identification condition corresponding to the image data of the running road surface of the vehicle is a preset image characteristic, the road condition identification condition corresponding to the yaw angle data of the vehicle is a preset yaw angle change range, and the road condition identification condition corresponding to the acceleration data of the vehicle is a preset acceleration change range.

8. The method according to any one of claims 1-5, further comprising:

and if a special road instruction input by a user is received, determining that the vehicle runs on the special road.

9. A vehicle control apparatus, characterized in that the apparatus comprises:

the vehicle control adjustment control system comprises a determining unit, a control unit and a control unit, wherein the determining unit is used for determining a vehicle control adjustment strategy according to current driving data of a vehicle when the vehicle is determined to drive on a special road;

a generating unit, configured to generate a target control strategy for controlling a vehicle to travel according to the vehicle control adjustment strategy and a vehicle control strategy currently planned by a controller of the vehicle, wherein the vehicle control strategy currently planned by the controller of the vehicle is determined based on a planned travel path thereof, and the target control strategy is used for controlling the vehicle to travel along the planned travel path so as to adjust a travel state of the vehicle to be suitable for the special road;

a control unit configured to control the vehicle to travel based on the target control strategy;

the generating unit is specifically configured to modify a vehicle control parameter that is different from the vehicle control adjustment policy in the vehicle control policy currently planned by the controller into a parameter in the vehicle control adjustment policy, and add a vehicle control parameter unique to the vehicle control adjustment policy to the vehicle control policy currently planned by the controller, so as to form the target control policy.

10. The apparatus of claim 9, wherein the determining unit comprises:

the extraction module is used for extracting driving parameters corresponding to the road type of the special road from the driving data;

a determination module to determine the vehicle control adjustment strategy based on the extracted driving parameters.

11. The device according to claim 10, wherein the determining module is configured to, if the extracted driving parameters include a vehicle yaw angle, input the vehicle yaw angle into a vehicle model corresponding to the specific road type to obtain a target vehicle yaw angle; and inputting the target vehicle yaw angle into a first preset vehicle control model to obtain wheels needing to be braked by the vehicle, and determining the wheels needing to be braked by the vehicle as the vehicle control adjustment strategy.

12. The apparatus of claim 10, wherein the determining module is configured to determine a target acceleration of the vehicle based on the vehicle speed, the vehicle acceleration, and an obstacle position if the extracted driving parameters include the vehicle speed, the vehicle acceleration, and the obstacle position; inputting the target acceleration, the vehicle speed and the current torque of the vehicle into a second preset vehicle control model to obtain a target torque and a target braking force of the vehicle, and determining the target torque and the target braking force of the vehicle as the vehicle control adjustment strategy.

13. A vehicle control system, characterized by comprising: a controller; the controller, when running, performs the vehicle control method of any one of claims 1 to 8.

14. A vehicle, characterized in that the vehicle comprises: the vehicle control system and at least one traveling apparatus of claim 13;