CN114735016A

CN114735016A - Vehicle control method and device

Info

Publication number: CN114735016A
Application number: CN202110020485.0A
Authority: CN
Inventors: 张勇; 谢勇波; 王文明; 朱田; 易慧斌; 彭之川; 刘修扬; 李政颖; 张智腾; 刘光伟; 朱泽敏; 吴炳瑶
Original assignee: Changsha CRRC Zhiyu New Energy Technology Co Ltd
Current assignee: Changsha CRRC Zhiyu New Energy Technology Co Ltd
Priority date: 2021-01-07
Filing date: 2021-01-07
Publication date: 2022-07-12

Abstract

One or more embodiments of the present specification provide a vehicle control method and apparatus, including: acquiring road driving data, wherein the road driving data comprises road image data and vehicle speed data; determining the position of a lane line according to the road image data, and respectively determining the distance between a front wheel and a rear wheel of the vehicle and the lane line; determining direction adjusting parameters according to the vehicle speed data and the distances between the front wheels and the lane lines and between the rear wheels and the lane lines; determining a vehicle speed adjusting parameter according to the vehicle speed data; and controlling the vehicle to run according to the target track according to the direction adjusting parameter and the vehicle speed adjusting parameter. The embodiment can realize the accurate control of the automatic driving system to the transverse direction and the longitudinal direction of the vehicle.

Description

Vehicle control method and device

Technical Field

One or more embodiments of the present disclosure relate to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus.

Background

The autonomous vehicle mainly depends on an autonomous driving system for driving the vehicle according to a target trajectory, and the autonomous driving system may be divided into a lateral control system for controlling a steering wheel of the vehicle and a longitudinal control system for controlling a vehicle speed. With the increase of the vehicle running time, the transverse control system and the longitudinal control system have control deviation due to vehicle structural body abrasion (such as gap change between steering shaft teeth, brake friction plate abrasion and brake idle stroke change) and the like, so that the running actual track deviates from the target track.

Disclosure of Invention

In view of the above, an object of one or more embodiments of the present disclosure is to provide a vehicle control method and apparatus to solve the problem of control deviation of an automatic driving system.

In view of the above object, one or more embodiments of the present specification provide a vehicle control method including:

acquiring road driving data, wherein the road driving data comprises road image data and vehicle speed data;

determining the position of a lane line according to the road image data, and respectively determining the distance between a front wheel and a rear wheel of a vehicle and the lane line;

determining direction adjusting parameters according to the vehicle speed data and the distances between the front wheels and the lane lines and between the rear wheels and the lane lines;

determining a vehicle speed adjusting parameter according to the vehicle speed data;

and controlling the vehicle to run according to the target track according to the direction adjusting parameter and the vehicle speed adjusting parameter.

Optionally, determining a direction adjustment parameter according to the vehicle speed data and the distances between the front wheels and the rear wheels of the vehicle and the lane line, including:

determining the displacement error of the front wheel and the rear wheel of the vehicle according to the distance between the front wheel and the lane line of the vehicle and the distance between the rear wheel and the lane line of the vehicle;

determining a speed component along the driving direction of the vehicle according to the vehicle speed data;

and determining the direction adjusting parameter according to the displacement error and the speed component.

Optionally, the calculation method of the direction adjustment parameter includes:

wherein A is₀For adjusting the parameter, λ, for direction₁For transverse correction of empirical parameters, L is the vehicle wheelbase, K is the stability factor, Δ is the displacement error, V_xIs the component of velocity in the direction of travel of the vehicle, θ₀The yaw angle of the vehicle, δ is the front wheel angle, and t is the time from the start of the adjustment of the vehicle to the end of the adjustment.

Optionally, the vehicle speed data includes a maximum braking deceleration, and the determining a vehicle speed adjusting parameter according to the vehicle speed data includes:

a speed regulation parameter for regulating the speed of the vehicle is determined on the basis of the maximum braking deceleration measured during driving and a preset maximum braking deceleration.

Optionally, the determining a speed adjustment parameter for adjusting the vehicle speed according to the maximum braking deceleration measured during the driving process and a preset maximum braking deceleration includes:

the method comprises the following steps of running on a road surface with a known friction coefficient, braking according to braking torques of different vehicle speeds, and measuring the maximum braking deceleration in the running process under different vehicle speeds;

inquiring the maximum braking deceleration corresponding to the same friction coefficient and vehicle speed condition in a preset standard database;

determining speed adjusting parameters corresponding to different speed conditions according to the measured maximum braking deceleration and the preset maximum braking deceleration;

a speed weighted average of the speed adjustment parameters for each vehicle speed condition is calculated.

Optionally, the calculation method of the speed adjustment parameter includes:

wherein, F_λFor adjusting the parameter, λ₂As longitudinal braking conversion factor, a₁For maximum braking deceleration measured during travel, a₀Is a preset maximum braking deceleration.

Optionally, the vehicle speed data includes acceleration time, and the determining of the vehicle speed adjustment parameter according to the vehicle speed data includes:

and determining an acceleration adjusting parameter for adjusting the acceleration of the vehicle according to the measured acceleration time and the preset acceleration time in the driving process.

Optionally, the determining an acceleration adjustment parameter for adjusting the acceleration of the vehicle according to the acceleration time measured in the driving process and the preset acceleration time includes:

under a windless scene, driving on a road surface with a known friction coefficient, and measuring the acceleration time of a wheel accelerated to a preset speed in the acceleration process of different accelerations;

inquiring the corresponding acceleration time under the same scene, friction coefficient and acceleration condition in a preset standard database;

determining acceleration adjusting parameters corresponding to different acceleration conditions according to the measured acceleration time and the preset acceleration time;

and calculating the weighted average value of the acceleration adjusting parameters of the acceleration conditions.

Optionally, the calculation method of the acceleration adjustment parameter includes:

wherein, a_λFor adjusting parameters for acceleration, λ₃For longitudinal acceleration conversion coefficient, t₁For acceleration times measured during driving, t₀Is a preset acceleration time.

An embodiment of the present specification further provides a vehicle control apparatus, including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring road driving data, and the road driving data comprises road image data and vehicle speed data;

the distance determining module is used for determining the position of a lane line according to the road image data and respectively determining the distance between a front wheel and a rear wheel of a vehicle and the lane line;

the direction determining module is used for determining direction adjusting parameters according to the vehicle speed data and the distances between the front wheels and the rear wheels of the vehicle and the lane lines;

the vehicle speed determining module is used for determining vehicle speed adjusting parameters according to the vehicle speed data;

and the control module is used for controlling the vehicle to run according to the target track according to the direction adjusting parameter and the vehicle speed adjusting parameter.

As can be seen from the foregoing, in the vehicle control method and apparatus provided in one or more embodiments of the present disclosure, the road driving data is obtained, the position of the lane line is determined according to the road image data, the distances between the front wheels and the lane line and between the rear wheels and the lane line are respectively determined, the direction adjustment parameter is determined according to the vehicle speed data and the distances between the front wheels and the lane line and between the rear wheels and the lane line, the vehicle speed adjustment parameter is determined according to the vehicle speed data, and the vehicle is controlled to drive according to the target track according to the direction adjustment parameter and the vehicle speed adjustment parameter. The method of the embodiment can realize the accurate control of the automatic driving system to the transverse direction and the longitudinal direction of the vehicle, and avoid the error caused by the change of the vehicle body structure to the vehicle running.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.

FIG. 1 is a schematic flow chart of a method according to one or more embodiments of the present disclosure;

FIG. 2 is a block diagram of an autopilot system according to one or more embodiments of the present disclosure;

FIG. 3 is a schematic diagram of an apparatus according to one or more embodiments of the present disclosure;

fig. 4 is a schematic structural diagram of an electronic device according to one or more embodiments of the present disclosure.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1, one or more embodiments herein provide a vehicle control method including:

s101: acquiring road driving data, wherein the road driving data comprises road image data and vehicle speed data;

referring to fig. 2, the vehicle control method of the embodiment is applied to an autonomous vehicle, and the autonomous vehicle is controlled by an autonomous driving system so that the vehicle travels according to a target track. The automatic driving system comprises a data acquisition unit, a transverse control system and a longitudinal control system; the data acquisition unit comprises but is not limited to an image acquisition unit, a state acquisition unit and the like, and can be used for acquiring road image data; the state acquisition unit includes, but is not limited to, a speed sensor, an inertial sensor, a positioning unit, etc., and may be utilized to acquire a current speed, a current acceleration, a front wheel turning angle, a geographic position, etc. The present embodiment is merely exemplary and not limited to the specific embodiments.

S102: determining the position of a lane line according to the road image data, and respectively determining the distance between a front wheel and a rear wheel of the vehicle and the lane line;

in this embodiment, the image acquisition unit is used to acquire road image data. The image acquisition unit can be arranged above the vehicle and is used for acquiring road images along the driving direction, and the position of a lane line can be determined through the road images; the device can also be arranged at a position close to the wheel and used for acquiring a wheel road image, the position of the wheel relative to the lane line can be determined through the wheel road image, and the distance between the wheel and the lane line can be determined.

In some modes, the image acquisition unit can select a camera for use, at least one camera is installed at the top of the vehicle and used for acquiring road images, and at least one camera is installed at the position close to the four wheels and used for acquiring wheel road images of the four wheels respectively. For example, a wheel road image of the left front wheel is acquired, the position of the left front wheel relative to the lane line is determined, the front wheel distance between the left front wheel and the lane line is determined, a wheel road image of the left rear wheel is acquired, the position of the left rear wheel relative to the lane line is determined, and the rear wheel distance between the left rear wheel and the lane line is determined. The specific configuration and installation position of the image capturing unit are not particularly limited.

S103: determining direction adjusting parameters according to the speed data and the distances between the front wheels and the lane lines of the vehicle and between the rear wheels and the lane lines of the vehicle;

s104: determining a vehicle speed adjusting parameter according to the vehicle speed data;

in this embodiment, after the vehicle speed data is obtained and the distances between the front wheels and the lane lines of the vehicle and the rear wheels of the vehicle are determined, the direction adjustment parameters of the lateral control system may be determined according to the vehicle speed data, the distances between the front wheels and the lane lines of the vehicle and the distances between the rear wheels and the lane lines of the vehicle. And determining a vehicle speed adjusting parameter of the longitudinal control system according to the acquired vehicle speed data.

S105: and controlling the vehicle to run according to the target track according to the direction adjusting parameter and the vehicle speed adjusting parameter.

In this embodiment, after the direction adjustment parameter and the vehicle speed adjustment parameter are determined, the lateral control system controls and adjusts the direction of the vehicle according to the direction adjustment parameter, and the longitudinal control system controls and adjusts the speed and the acceleration of the vehicle according to the vehicle speed adjustment parameter, so that the automatically-driven vehicle finally runs according to a predetermined target track.

The vehicle control method provided by the embodiment comprises the steps of acquiring road driving data, wherein the road driving data comprises road image data and vehicle speed data; determining the position of a lane line according to the road image data, and respectively determining the distance between a front wheel and a rear wheel of the vehicle and the lane line; determining direction adjusting parameters according to the speed data and the distances between the front wheels and the lane lines of the vehicle and between the rear wheels and the lane lines of the vehicle; determining a vehicle speed adjusting parameter according to the vehicle speed data; and controlling the vehicle to run according to the target track according to the direction adjusting parameter and the vehicle speed adjusting parameter. According to the method, the road image data and the vehicle speed data are acquired in real time in the vehicle driving process, the direction adjusting parameter and the vehicle speed adjusting parameter are determined according to the road image data and the vehicle speed data, the vehicle is controlled to drive according to the two parameters, and automatic and accurate control of the automatically driven vehicle can be achieved.

In some embodiments, determining the direction adjustment parameter based on the vehicle speed data and the distances between the front and rear wheels of the vehicle and the lane line includes:

determining a speed component in a vehicle traveling direction based on the vehicle speed data;

and determining a direction adjusting parameter according to the displacement error and the speed component.

In this embodiment, the position of the left front wheel with respect to the lane line is determined from the acquired wheel road image of the left (or right) front wheel, the front wheel distance between the left front wheel and the lane line is determined, the wheel road image of the left (or right) rear wheel is acquired, the position of the left rear wheel with respect to the lane line is determined, the rear wheel distance between the left rear wheel and the lane line is determined, and then the displacement error of the vehicle is determined from the front wheel distance and the rear wheel distance. The method comprises the steps of determining the current speed of a vehicle according to acquired vehicle speed data, determining the speed component of the current speed in the vehicle running direction according to the current speed, then determining direction adjusting parameters according to displacement errors and the speed component in the vehicle running direction, performing transverse control according to the direction adjusting parameters, correcting transverse tracking errors, and ensuring transverse control accuracy.

In some embodiments, the method for calculating the direction adjustment parameter specifically includes:

wherein A is₀For adjusting the parameter, λ, for direction₁The transverse correction empirical parameters are determined by combining the steering wheel and the wheel steering angle transmission ratio and are known values; l is the vehicle wheelbase in meters (m), K is the stability factor, Δ is the displacement error, V_xIs a component of velocity in the direction of travel of the vehicle (x direction), θ₀The yaw angle of the vehicle is delta, the front wheel corner is delta, the left is set to be positive, and t is the time from the beginning to the end of the adjustment of the vehicle, and the unit is second.

Vehicle steady state yaw rate ω_λComprises the following steps:

the steady-state turning radius of the vehicle is as follows:

the stability factor K is:

wherein m is the vehicle mass in kilograms (kg), k₁The front wheel side deflection stiffness is expressed in the unit of N/rad, k₂The rear wheel side is deviated and rigidDegree, a being the distance from the vehicle's center of mass to the front axle in meters (m), and b being the distance from the vehicle's center of mass to the rear axle, are known parameters.

In some forms, the lateral control system makes lateral control adjustments to the autonomous vehicle by: acquiring a road image and a wheel road image by using an image acquisition unit, determining the position of a lane line on a road, and determining the positions of front wheels and rear wheels of a vehicle relative to the lane line; the direction of the vehicle is controlled, so that the front wheels and the rear wheels on the same side of the vehicle are both positioned on a lane line, and the vehicle keeps running in the state; in the driving process, acquiring wheel road images in real time, determining the positions of front wheels and rear wheels of a vehicle relative to a lane line, determining the distance between the front wheels of the vehicle and the lane line and the distance between the rear wheels of the vehicle and the lane line, and further determining a displacement error; the direction adjusting parameters are determined according to the displacement errors and the acquired vehicle speed data, the transverse control system adjusts and controls the vehicle running direction according to the direction adjusting parameters, and the vehicle direction is adjusted and controlled according to the adjusting process until the direction adjusting parameters are smaller than a preset direction adjusting threshold (the direction adjusting threshold is 0.01 degrees, for example), so that the vehicle can always keep an accurate running direction, and the deviation of the vehicle running direction caused by the change of a vehicle body structure is avoided.

In some embodiments, the vehicle speed data includes a maximum braking deceleration and the vehicle speed adjustment parameter is determined based on the vehicle speed data, including:

In the embodiment, the speed adjusting parameter is determined through the maximum braking deceleration measured in the actual running process and the preset maximum braking deceleration, so that the braking loss of a friction plate and the like can be compensated and corrected, and the speed control precision of the vehicle is improved.

In some embodiments, the speed adjustment parameter is calculated by:

wherein, F_λFor adjusting the parameter, λ₂Is a longitudinal braking conversion coefficient and is a known value; a is₁For maximum braking deceleration measured during travel, a₀Is a preset maximum braking deceleration.

In some aspects, the longitudinal control system performs longitudinal speed control adjustment of the autonomous vehicle by: driving on a road surface with a known friction coefficient, braking according to a braking torque of 10 kilometers per hour of the vehicle speed, measuring the maximum braking deceleration in the driving process, inquiring the maximum braking deceleration corresponding to the same friction coefficient condition and the vehicle speed condition in a preset standard database, and calculating according to a formula (6) to obtain a speed adjusting parameter; on the road surface, braking according to braking torques of different vehicle speeds (for example, 20 kilometers per hour, 30 kilometers per hour … … and 90 kilometers per hour), respectively, measuring the maximum braking deceleration in the form process under different vehicle speed conditions, inquiring the same friction coefficient in a standard database and the maximum braking deceleration corresponding to the corresponding vehicle speed conditions, and calculating to obtain speed adjusting parameters corresponding to the vehicle speed conditions; and then, calculating a speed weighted average value of the speed adjusting parameters under each vehicle speed condition, and controlling the braking torque by the longitudinal control system according to the finally calculated speed weighted average value.

In the running process, braking torque braking is carried out according to a specific vehicle speed condition, the maximum braking deceleration in the running process is measured, the maximum braking deceleration corresponding to the vehicle speed condition in the standard database is inquired, when the difference value between the measured maximum braking deceleration and the inquired maximum braking deceleration is smaller than a preset speed threshold value, the vehicle can always keep accurate running speed, and deviation of the running speed of the vehicle caused by vehicle body structure change is avoided.

In some embodiments, the vehicle speed data includes acceleration time, and the vehicle speed adjustment parameter is determined based on the vehicle speed data, including:

In this embodiment, the acceleration adjustment parameter is determined by the acceleration time measured in the actual driving process and the preset acceleration time, so that the control accuracy of the vehicle acceleration can be improved.

In some modes, the acceleration adjusting parameter is calculated by the following method:

wherein, a_λFor adjusting parameters for acceleration, λ₃The longitudinal acceleration conversion coefficient is a known value; t is t₁For acceleration times measured during driving, t₀Is a preset acceleration time.

In some aspects, the longitudinal control system performs longitudinal acceleration control adjustment of the autonomous vehicle by: in a windless scene, driving on a road surface with a known friction coefficient, and acquiring acceleration time of a wheel accelerated to 50 kilometers per hour in an acceleration process of a certain acceleration (for example, an accelerator opening value is 10%); inquiring corresponding acceleration time under the same scene, friction coefficient and acceleration condition in a standard database, and calculating to obtain an acceleration control parameter according to a formula (7); on the road surface, in the acceleration process of different accelerations, acquiring the acceleration time of the wheels accelerated to 50 kilometers per hour, inquiring a standard database to obtain the acceleration time respectively corresponding to the corresponding conditions, and calculating the acceleration adjusting parameters corresponding to the acceleration time; and then, calculating the weighted average value of the acceleration regulating parameters under each acceleration condition, and controlling the vehicle acceleration by the longitudinal control system according to the finally calculated weighted average value of the acceleration.

In the running process, in the acceleration process of specific acceleration, the acceleration time of the vehicle accelerated to 50 kilometers per hour is determined, the acceleration time under the corresponding acceleration condition in the standard database is inquired, when the difference value between the measured acceleration time and the inquired acceleration time is smaller than a preset acceleration threshold value, the vehicle can always keep accurate acceleration running, and deviation of the vehicle acceleration caused by vehicle body structure change is avoided.

In the aspect of transverse control, in the vehicle control method provided by the embodiment, a transverse driving error is determined according to road image data and vehicle speed data by acquiring the road image data and the vehicle speed data, a direction adjusting parameter for adjusting the transverse driving error is determined, and a transverse control system performs transverse control on the vehicle according to the direction adjusting parameter, so that the accurate control of the driving direction of the vehicle can be realized; in the aspect of longitudinal control, by acquiring vehicle speed data, determining a braking torque error and an acceleration error according to the vehicle speed data, determining a speed adjusting parameter for adjusting the braking torque error and an acceleration adjusting parameter for adjusting the acceleration error, and performing longitudinal control on a vehicle by a longitudinal control system according to the speed adjusting parameter and the acceleration adjusting parameter, the running speed and the acceleration of the vehicle can be accurately controlled.

It should be noted that the method of one or more embodiments of the present disclosure may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the multiple devices may perform only one or more steps of the method of one or more embodiments of the present description, and the multiple devices may interact with each other to complete the method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

As shown in fig. 3, an embodiment of the present specification further provides a vehicle control apparatus including:

the acquisition module is used for acquiring road driving data; the road driving data comprises road image data and vehicle speed data;

the distance determining module is used for determining the position of the lane line according to the road image data and respectively determining the distance between the front wheel and the lane line and the distance between the rear wheel and the lane line;

the direction determining module is used for determining direction adjusting parameters according to the vehicle speed data and the distances between the front wheels and the lane lines of the vehicle and between the rear wheels and the lane lines of the vehicle;

For convenience of description, the above devices are described as being divided into various modules by functions, which are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.

The apparatus in the foregoing embodiment is used for implementing the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Fig. 4 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.

The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and the output devices may include a display, speaker, vibrator, indicator light, etc.

The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).

Bus 1050 includes a path that transfers information between various components of the device, such as processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.

It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.

Computer-readable media of the present embodiments, 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.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the embodiments discussed.

It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A vehicle control method characterized by comprising:

2. The method of claim 1, wherein determining a direction adjustment parameter based on the vehicle speed data and distances between front and rear wheels of the vehicle and the lane line comprises:

determining a speed component in the vehicle driving direction according to the vehicle speed data;

3. The method of claim 2, wherein the direction adjustment parameter is calculated by:

wherein A is₀For adjusting the parameter, λ, for direction₁For transverse correction of empirical parameters, L is the vehicle wheelbase, K is the stability factor, Δ is the displacement error, V_xIs the component of velocity in the direction of travel of the vehicle, θ₀The yaw angle of the vehicle, δ the front wheel angle, and t the time from the start of the adjustment of the vehicle to the end of the adjustment.

4. The method of claim 1, wherein the vehicle speed data includes a maximum braking deceleration, and determining a vehicle speed adjustment parameter based on the vehicle speed data includes:

5. The method according to claim 4, wherein determining a speed adjustment parameter for adjusting the vehicle speed based on the maximum braking deceleration measured during driving and a preset maximum braking deceleration comprises:

6. The method of claim 4, wherein the speed adjustment parameter is calculated by:

wherein, F_λFor adjusting the parameter, λ₂For longitudinal brake conversion factor, a₁For maximum braking deceleration measured during travel, a₀Is a preset maximum braking deceleration.

7. The method of claim 1, wherein the vehicle speed data includes an acceleration time, and determining a vehicle speed adjustment parameter based on the vehicle speed data includes:

8. The method of claim 7, wherein determining an acceleration adjustment parameter for adjusting the acceleration of the vehicle based on the measured acceleration time during the driving and a preset acceleration time comprises:

9. The method of claim 7, wherein the acceleration adjustment parameter is calculated by:

10. A vehicle control apparatus, characterized by comprising: