CN116872933A - Vehicle control method and device and electronic equipment - Google Patents
Vehicle control method and device and electronic equipment Download PDFInfo
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- CN116872933A CN116872933A CN202310964242.1A CN202310964242A CN116872933A CN 116872933 A CN116872933 A CN 116872933A CN 202310964242 A CN202310964242 A CN 202310964242A CN 116872933 A CN116872933 A CN 116872933A
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- 230000001133 acceleration Effects 0.000 claims abstract description 98
- 230000002441 reversible effect Effects 0.000 claims abstract description 21
- 238000013507 mapping Methods 0.000 claims abstract description 12
- 238000004590 computer program Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 abstract description 19
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- 238000013461 design Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W40/10—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 vehicle motion
- B60W40/107—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Automation & Control Theory (AREA)
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- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A vehicle control method, a device and an electronic device, wherein the method comprises the following steps: in a lane changing scene of the intelligent vehicle, determining the current speed and steering wheel rotation angle of the intelligent vehicle, determining the speed difference between the current speed and the target speed, determining the target parameter corresponding to the current speed based on the mapping relation between the preset speed and the preset steering wheel rotation angle, determining the vehicle distance value corresponding to the intelligent vehicle, inputting the vehicle distance value, the speed difference and the target parameter into a preset acceleration formula, outputting the reverse acceleration corresponding to the intelligent vehicle, and controlling the intelligent vehicle to run according to the reverse acceleration. By the method, the acceleration of the intelligent vehicle is restrained by reducing the target parameter in the lane changing process of the intelligent vehicle, so that the intelligent vehicle runs according to the reverse acceleration, the intelligent vehicle is prevented from falling into an understeer state and a rapid change state of the transverse speed, and the safety of the intelligent vehicle in the lane changing process is ensured.
Description
Technical Field
The present application relates to the field of intelligent driving technologies, and in particular, to a vehicle control method, a device, and an electronic device.
Background
The automatic lane changing auxiliary system (Automatic Lane Change Assist, abbreviated as ALCA) is used for realizing automatic lane changing in the running process of the intelligent vehicle.
In order to ensure normal running of the intelligent vehicle, lane changing time is regulated in the lane changing process of the intelligent vehicle, the intelligent vehicle needs to control steering wheel steering so that the running direction of the intelligent vehicle is changed in order to complete lane changing in the lane changing time, at the moment, the rotating angle of the wheels of the intelligent vehicle is called as the wheel angle, meanwhile, the wheels rub with the ground, lateral deviation resistance opposite to the running direction of the wheels can be generated, and the speed of the intelligent vehicle is reduced by the lateral deviation resistance.
When the self-adaptive cruise system (Adaptive Cruise Control, abbreviated as ACC) detects that the speed of the intelligent vehicle is reduced, the self-adaptive cruise system controls the speed of the intelligent vehicle to return to the set speed, so that the intelligent vehicle generates acceleration, the steering speed of the wheels of the intelligent vehicle is increased, the cornering resistance is increased, the intelligent vehicle needs to further control the steering wheel to turn in a steering way in a specified time to ensure that the steering angle of the steering wheel is increased so as to maintain the track needing to travel, and the steering angle of the wheels cannot be increased along with the increase of the steering angle of the steering wheel at the moment, so that the lane changing time of the intelligent vehicle is prolonged, and the transverse speed of the intelligent vehicle is also changed, therefore, the safety of the intelligent vehicle in the driving lane changing is low.
Disclosure of Invention
The application provides a vehicle control method, a vehicle control device and electronic equipment, which prevent an intelligent vehicle from being in an understeer state by reducing the acceleration of the intelligent vehicle, thereby improving the safety and comfort of the intelligent vehicle in the lane changing process.
In a first aspect, the present application provides a vehicle control method, the method comprising:
in a lane changing scene of an intelligent vehicle, determining the current speed of the intelligent vehicle and the steering wheel angle;
determining a vehicle speed difference value between the current vehicle speed and a target vehicle speed, and determining a target parameter corresponding to the current vehicle speed based on a mapping relation between a preset vehicle speed and a preset steering wheel angle;
determining a vehicle distance value corresponding to the intelligent vehicle, inputting the vehicle distance value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and outputting reverse acceleration corresponding to the intelligent vehicle;
and controlling the intelligent vehicle to run according to the reverse acceleration.
According to the method, the target parameters are determined based on the current speed of the intelligent vehicle and the steering wheel rotation angle, the reverse acceleration is calculated based on the preset acceleration formula, and the speed of the intelligent vehicle is controlled through the direction acceleration, so that the intelligent vehicle is prevented from being in an understeer state, and the safety of the intelligent vehicle in the lane changing process is improved.
In one possible design, the determining the vehicle speed difference between the current vehicle speed and the target vehicle speed includes:
acquiring sensing information of the intelligent vehicle, and detecting whether front vehicle information exists in the sensing information;
if yes, extracting the front vehicle speed of the front vehicle from the front vehicle information, and taking the front vehicle speed as a target vehicle speed;
if not, determining the set vehicle speed of the intelligent vehicle, and taking the set vehicle speed as a target vehicle speed.
By the method, the vehicle server detects whether the front vehicle exists in the sensing information, and collision between the intelligent vehicle and the front vehicle is avoided, so that safety in the running process of the intelligent vehicle can be improved.
In one possible design, the determining the target parameter corresponding to the current vehicle speed based on the mapping relationship between the preset vehicle speed and the preset steering wheel angle includes:
determining a preset vehicle speed range corresponding to the current vehicle speed and a preset steering wheel angle range corresponding to the steering wheel angle;
calculating a first parameter range corresponding to the steering wheel angle in the preset vehicle speed range, calculating a first proportional parameter of the current vehicle speed occupying the preset vehicle speed range, and calculating a target parameter based on the first proportional parameter and the first parameter range; or alternatively
And calculating a second parameter range corresponding to the current vehicle speed in the preset steering wheel angle range, calculating a second proportion parameter of the steering wheel angle occupying the preset steering wheel angle range, and calculating a target parameter based on the second proportion parameter and the second parameter range.
By adopting the method, the target parameters are calculated in different modes, so that the values of the target parameters are more accurate, and the reverse acceleration of the intelligent vehicle is facilitated to be obtained.
In one possible design, the determining the vehicle distance value corresponding to the intelligent vehicle includes:
when the sensing information contains the front vehicle information, determining first position information corresponding to the front vehicle and second position information of the intelligent vehicle from the sensing information;
calculating a first distance difference between the first position information and the second position information;
and determining a second distance difference value between the first distance difference value and a preset distance value, and taking the second distance difference value as a vehicle distance value.
By the method, the parameter that the distance between the front vehicles exceeds the preset distance value is determined, so that the vehicle distance value corresponding to the intelligent vehicle is determined, the probability of collision between the intelligent vehicle and the front vehicles is reduced, and the safety of the intelligent vehicle in the running process is improved.
In one possible design, before determining the current speed of the intelligent vehicle and the steering wheel angle, the method further comprises:
obtaining a current acceleration of the intelligent vehicle;
detecting whether the current acceleration is consistent with a preset acceleration or not;
and responding to the fact that the current acceleration is inconsistent with the preset acceleration, adjusting the current acceleration to the preset acceleration, and controlling the intelligent vehicle to run based on the preset acceleration.
By the method, the intelligent vehicle runs at the preset acceleration, the intelligent vehicle is prevented from being in an understeer state, and the safety of the intelligent vehicle is improved.
In one possible design, the controlling the intelligent vehicle to travel based on the preset acceleration includes:
detecting whether information of finishing lane changing of the intelligent vehicle is received or not;
if yes, controlling the intelligent vehicle to run;
and if not, controlling the intelligent vehicle to run based on the preset acceleration.
By the method, the intelligent vehicle can only run at the preset acceleration when the lane change is not completed, the intelligent vehicle is ensured not to be in an understeer state, and the safety of the intelligent vehicle is improved.
In a second aspect, the present application provides a vehicle control apparatus, the apparatus comprising:
the determining module is used for determining the current speed and steering wheel angle of the intelligent vehicle in the lane changing scene of the intelligent vehicle;
the parameter module is used for determining a vehicle speed difference value between the current vehicle speed and a target vehicle speed and determining a target parameter corresponding to the current vehicle speed based on a mapping relation between a preset vehicle speed and a preset steering wheel corner;
the output module is used for determining a vehicle distance value corresponding to the intelligent vehicle, inputting the vehicle distance value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and outputting reverse acceleration corresponding to the intelligent vehicle;
and the driving module is used for controlling the intelligent vehicle to drive according to the reverse acceleration.
In one possible design, the determining module is specifically configured to obtain a current acceleration of the intelligent vehicle, detect whether the current acceleration is consistent with a preset acceleration, adjust the current acceleration to the preset acceleration in response to the current acceleration not being consistent with the preset acceleration, and control the intelligent vehicle to travel based on the preset acceleration.
In one possible design, the determining module is further configured to detect whether information about completion of lane change of the intelligent vehicle is received, if yes, control the intelligent vehicle to travel, and if not, control the intelligent vehicle to travel based on the preset acceleration.
In one possible design, the parameter module is specifically configured to obtain sensing information of the intelligent vehicle, detect whether there is front vehicle information in the sensing information, if so, extract a front vehicle speed of the front vehicle from the front vehicle information, and take the front vehicle speed as a target vehicle speed, and if not, determine a set vehicle speed of the intelligent vehicle, and take the set vehicle speed as the target vehicle speed.
In one possible design, the parameter module is further configured to determine a preset vehicle speed range corresponding to the current vehicle speed and a preset steering wheel angle range corresponding to the steering wheel angle, calculate a first parameter range corresponding to the steering wheel angle in the preset vehicle speed range, calculate a first proportion parameter of the current vehicle speed occupying the preset vehicle speed range, calculate a target parameter based on the first proportion parameter and the first parameter range, or calculate a second parameter range corresponding to the current vehicle speed in the preset steering wheel angle range, calculate a second proportion parameter of the steering wheel angle occupying the preset steering wheel angle range, and calculate the target parameter based on the second proportion parameter and the second parameter range.
In one possible design, the output module is specifically configured to determine, when the front vehicle information exists in the sensing information, first position information corresponding to the front vehicle from the sensing information, determine second position information of the intelligent vehicle, calculate a first distance difference between the first position information and the second position information, determine a second distance difference between the first distance difference and a preset distance value, and use the second distance difference as a vehicle distance value.
In a third aspect, the present application provides an electronic device, comprising:
a memory for storing a computer program;
and the processor is used for realizing the steps of the vehicle control method when executing the computer program stored in the memory.
In a fourth aspect, a computer readable storage medium has a computer program stored therein, which when executed by a processor, implements a vehicle control method step as described above.
The technical effects of each of the first to fourth aspects and the technical effects that may be achieved by each aspect are referred to above for the technical effects that may be achieved by the first aspect or the various possible aspects of the first aspect, and are not repeated here.
Drawings
FIG. 1 is a flow chart of steps of a vehicle control method according to the present application;
FIG. 2 is a schematic diagram of a track during lane change of an intelligent vehicle according to the present application;
FIG. 3 is a schematic diagram of a driving state of an intelligent vehicle in a lane change process according to the present application;
FIG. 4 is a schematic diagram of a vehicle control apparatus according to the present application;
fig. 5 is a schematic structural diagram of an electronic device according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings. The specific method of operation in the method embodiment may also be applied to the device embodiment or the system embodiment. In the description of the present application, "a plurality of" means "at least two". "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. A is connected with B, and can be represented as follows: both cases of direct connection of A and B and connection of A and B through C. In addition, in the description of the present application, the words "first," "second," and the like are used merely for distinguishing between the descriptions and not be construed as indicating or implying a relative importance or order.
In the prior art, when the ACC of the intelligent vehicle detects that the vehicle speed decreases, the ACC controls the intelligent vehicle to generate acceleration so that the vehicle speed of the intelligent vehicle returns to the set vehicle speed, so that the steering speed of the wheels of the intelligent vehicle increases, the cornering resistance becomes larger, and since the intelligent vehicle needs to complete lane changing in a specified time, the intelligent vehicle needs to further control steering so that the steering wheel angle becomes larger to maintain the track required to travel, and since the intelligent vehicle is in an under-steering state at this time, the steering wheel angle cannot be increased along with the increase of the steering angle of the wheels, so that the lane changing time of the intelligent vehicle becomes longer, and the transverse speed of the intelligent vehicle also changes, and therefore, the safety of the intelligent vehicle in driving the lane changing is low.
In order to solve the above-described problems, embodiments of the present application provide a vehicle control method for improving safety of an intelligent vehicle during lane change and controlling a lateral speed of the intelligent vehicle, thereby improving comfort of the intelligent vehicle during driving. The method and the device according to the embodiments of the present application are based on the same technical concept, and because the principles of the problems solved by the method and the device are similar, the embodiments of the device and the method can be referred to each other, and the repetition is not repeated.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the application provides a vehicle control method, which can improve the safety of an intelligent vehicle in a lane changing process, and the implementation flow of the method is as follows:
step S1: in a lane changing scene of the intelligent vehicle, determining the current speed of the intelligent vehicle and the steering wheel angle.
Referring to fig. 2, in fig. 2, the intelligent vehicle needs to travel to an adjacent lane according to a preset track, in order to prevent the intelligent vehicle from falling into an understeer state, when the ALCA is in a working state, determining the current acceleration of the intelligent vehicle, detecting whether the current acceleration is consistent with the preset acceleration, and if the current acceleration is consistent with the preset acceleration, traveling the intelligent vehicle with the current acceleration; if the current acceleration is inconsistent with the preset acceleration, the current acceleration is adjusted to be the preset acceleration, and the intelligent vehicle is controlled to run based on the preset acceleration.
Further, the intelligent vehicle detects whether the information of the lane changing completion of the intelligent vehicle is received, and when the intelligent vehicle detects the lane changing completion, the intelligent vehicle adjusts and runs based on the actual road conditions; and when the intelligent vehicle detects that the lane change is not completed, controlling the intelligent vehicle to run according to the preset acceleration.
In addition, in the scene of lane changing of the intelligent vehicle, the intelligent vehicle can steer, so that the current vehicle speed and the steering wheel corner can be determined, the current vehicle speed can be obtained by a vehicle speed sensor, the steering wheel corner can be obtained by a steering system sensor, and the steering wheel corner can also be a pinion corner.
Step S2: determining a vehicle speed difference value between the current vehicle speed and the target vehicle speed, and determining a target parameter corresponding to the current vehicle speed based on a mapping relation between the preset vehicle speed and the preset steering wheel angle.
After determining the current speed of the intelligent vehicle and the steering wheel angle, the acceleration of the intelligent vehicle during lane changing needs to be set out based on a preset acceleration formula, so that a vehicle speed difference between the current speed and a target speed needs to be calculated, and then a target parameter corresponding to the current speed is determined based on a mapping relation between the preset speed and the preset steering wheel angle, wherein the mapping relation is shown in the following table 1:
TABLE 1
In the above table 1, the preset vehicle speed is 0km/h-25km/h, the preset steering wheel angle is 0 ° -6 °, after the preset vehicle speed and the preset steering wheel angle are determined, a preset parameter can be determined from the table 1 based on the preset vehicle speed and the preset steering wheel angle, the preset vehicle speed and the preset steering wheel angle in the above table 1 are merely used as examples, and the preset vehicle speed and the preset steering wheel angle can be adjusted based on actual vehicle conditions, which are not described in detail herein.
After determining the current vehicle speed and the steering wheel angle, the target parameters can be determined based on the mapping table, and the specific process of determining the target parameters is as follows:
the vehicle server determines a preset vehicle speed range corresponding to the current vehicle speed and a preset steering wheel angle range corresponding to the steering wheel angle, a first parameter range corresponding to the steering wheel angle in the preset vehicle speed range can be calculated, then a first parameter of the current vehicle speed occupying the preset vehicle speed range is calculated, and a target parameter is calculated based on the first parameter and the first parameter range.
Such as: the current vehicle speed is 30km/h, the steering wheel rotation angle is 3 degrees, the preset vehicle speed range is [25km/h,50km/h ], the preset steering wheel rotation angle range is [2 degrees, 4 degrees ], the corresponding parameters of 3 degrees in [25km/h-50km/h ] are [0.94,0.92], the 30km/h occupies 1/5 of the preset vehicle speed range, and the corresponding target parameter of the 30km/h is calculated to be 0.936.
Optionally, in the embodiment of the present application, the vehicle server may further calculate a second parameter range corresponding to the current vehicle speed within a preset steering wheel angle range, calculate a second proportion parameter of the steering wheel angle occupying the preset steering wheel angle range, and calculate the target parameter based on the second proportion parameter and the second parameter range.
Such as: the current vehicle speed is 30km/h, the steering wheel angle is 3 degrees, the preset vehicle speed range is [25km/h,50km/h ], the preset steering wheel angle range is [2 degrees, 4 degrees ], the parameters corresponding to the 30km/h being [2 degrees, 4 degrees ] are [0.946,0.926], the 3 degrees occupy 1/2 of the preset steering wheel angle range, and the target parameters corresponding to the 3 degrees are calculated to be 0.936.
Because the intelligent vehicle needs to consider the front vehicle of the road to which the lane change belongs when the lane change is performed, in order to improve the safety of the intelligent vehicle in the lane change process, a vehicle server is required to acquire sensing information of the intelligent vehicle and is used for detecting whether the front vehicle information exists in the sensing information, the front vehicle is detected by a sensor of the intelligent vehicle within a preset range, when the vehicle server determines that the front vehicle information exists, the front vehicle exists in front of the intelligent vehicle, and in order to prevent rear-end collision accidents, the vehicle server needs to extract the front vehicle speed of the front vehicle from the front vehicle information and takes the front vehicle speed as a target vehicle speed; when the vehicle server determines that the front vehicle information does not exist, it determines that the front vehicle does not exist in front of the intelligent vehicle, and determines a set vehicle speed of the intelligent vehicle, wherein the set vehicle speed can be set based on the actual running condition of the intelligent vehicle, and the set vehicle speed is taken as a target vehicle speed.
By the method, the target parameters are determined based on the current speed of the intelligent vehicle and the steering wheel angle, so that the acceleration of the intelligent vehicle in the lane changing process is reduced.
Step S3: and determining a vehicle distance value corresponding to the intelligent vehicle, inputting the vehicle distance value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and outputting reverse acceleration corresponding to the intelligent vehicle.
When the vehicle server detects that the front vehicle information exists in the sensing information, determining first position information corresponding to the front vehicle from the sensing information, acquiring second position information of the intelligent vehicle from the vehicle sensor, calculating a first distance difference value between the first position information and the second position information, calculating a second distance difference value between the first distance difference value and a preset distance value, and taking the second distance difference value as a vehicle distance value.
The preset acceleration formula in the above is as follows:
At＝K1*D+K2*Vt
in the above formula, K1 is a constant, K2 is a target parameter, D is a vehicle distance value, vt is a vehicle speed difference value, and At is an acceleration.
Since the target parameter, the vehicle distance value and the vehicle speed difference value have been determined as described above, the target parameter, the vehicle distance value and the vehicle speed difference value are brought into the above-described formula, and the acceleration is calculated and taken as the reverse acceleration.
Step S4: and controlling the intelligent vehicle to run according to the reverse acceleration.
After the reverse acceleration is determined, the intelligent vehicle is controlled to run according to the reverse acceleration.
Such as: in a diagram a, the acceleration of the intelligent vehicle changes from a1 to a2 in a time period t1-t2 of lane change, and in order to prevent the intelligent vehicle from being in an understeer state, the acceleration is changed from a2 to a1 again, the lane change of the intelligent vehicle is completed, and the intelligent vehicle continues to run according to a 1.
In the graph b, the speed of the intelligent vehicle is reduced from v1 to v2 in the lane change time of t3-t4, then the speed is increased from v2 to v1, the intelligent vehicle decelerates at constant acceleration in lane change, and the speed is increased to v1 before lane change after lane change is completed.
Based on the method, the ALCA continuously transmits a preset acceleration in the lane changing process of the intelligent vehicle, so that the intelligent vehicle runs according to the preset acceleration until the lane changing of the intelligent vehicle is completed, or a target parameter is determined, and the reverse acceleration of the intelligent vehicle is determined based on the target parameter so as to reduce acceleration fluctuation caused by cornering resistance, thereby ensuring that the intelligent vehicle is more stable in the lane changing process, and further improving the safety and comfort of the intelligent vehicle in the lane changing process.
Based on the same inventive concept, there is also provided a vehicle control apparatus for implementing a function of a vehicle control method according to an embodiment of the present application, with reference to fig. 4, the apparatus includes:
the determining module 401 is configured to determine, in a lane changing scenario of the intelligent vehicle, a current vehicle speed and a steering wheel angle of the intelligent vehicle;
a parameter module 402, configured to determine a vehicle speed difference between the current vehicle speed and a target vehicle speed, and determine a target parameter corresponding to the current vehicle speed based on a mapping relationship between a preset vehicle speed and a preset steering wheel angle;
the output module 403 is configured to determine a vehicle distance value corresponding to the intelligent vehicle, input the vehicle distance value, the vehicle speed difference value, and the target parameter into a preset acceleration formula, and output a reverse acceleration corresponding to the intelligent vehicle;
and the driving module 404 is used for controlling the intelligent vehicle to drive according to the reverse acceleration.
In one possible design, the determining module 401 is specifically configured to obtain a current acceleration of the intelligent vehicle, detect whether the current acceleration is consistent with a preset acceleration, adjust the current acceleration to the preset acceleration in response to the current acceleration not being consistent with the preset acceleration, and control the intelligent vehicle to run based on the preset acceleration.
In one possible design, the determining module 401 is further configured to detect whether information about completion of lane change of the intelligent vehicle is received, if yes, control the intelligent vehicle to run, and if not, control the intelligent vehicle to run based on the preset acceleration.
In one possible design, the parameter module 402 is specifically configured to obtain sensing information of the intelligent vehicle, detect whether there is front vehicle information in the sensing information, if yes, extract a front vehicle speed of the front vehicle from the front vehicle information, and take the front vehicle speed as a target vehicle speed, and if no, determine a set vehicle speed of the intelligent vehicle, and take the set vehicle speed as the target vehicle speed.
In one possible design, the parameter module 402 is further configured to determine a preset vehicle speed range corresponding to the current vehicle speed and a preset steering wheel angle range corresponding to the steering wheel angle, calculate a first parameter range corresponding to the steering wheel angle in the preset vehicle speed range, calculate a first proportion parameter of the current vehicle speed occupying the preset vehicle speed range, calculate a target parameter based on the first proportion parameter and the first parameter range, or calculate a second proportion parameter of the current vehicle speed in the preset steering wheel angle range, calculate a second proportion parameter of the steering wheel angle occupying the preset steering wheel angle range, and calculate the target parameter based on the second proportion parameter and the second parameter range.
In one possible design, the output module 403 is specifically configured to determine, when the front vehicle information exists in the sensing information, first position information corresponding to the front vehicle from the sensing information, determine second position information of the intelligent vehicle, calculate a first distance difference between the first position information and the second position information, determine a second distance difference between the first distance difference and a preset distance value, and use the second distance difference as a vehicle distance value.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device may implement the function of the foregoing vehicle control apparatus, and referring to fig. 5, the electronic device includes:
the embodiment of the present application is not limited to a specific connection medium between the processor 501 and the memory 502, and the processor 501 and the memory 502 are exemplified in fig. 5 by a connection between the processor 501 and the memory 502 through the bus 500. The connection between the other components of bus 500 is shown in bold lines in fig. 5, and is merely illustrative and not limiting. Bus 500 may be divided into an address bus, a data bus, a control bus, etc., and is represented by only one thick line in fig. 5 for ease of illustration, but does not represent only one bus or one type of bus. Alternatively, the processor 501 may be referred to as a controller, and the names are not limited.
In an embodiment of the present application, the memory 502 stores instructions executable by the at least one processor 501, and the at least one processor 501 may perform a vehicle control method as discussed above by executing the instructions stored in the memory 502. The processor 501 may implement the functions of the various modules in the apparatus shown in fig. 4.
The processor 501 is a control center of the device, and various interfaces and lines can be used to connect various parts of the entire control device, and by executing or executing instructions stored in the memory 502 and invoking data stored in the memory 502, various functions of the device and processing data can be performed to monitor the device as a whole.
In one possible design, processor 501 may include one or more processing units, and processor 501 may integrate an application processor and a modem processor, where the application processor primarily processes operating systems, user interfaces, application programs, and the like, and the modem processor primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 501. In some embodiments, processor 501 and memory 502 may be implemented on the same chip, or they may be implemented separately on separate chips in some embodiments.
The processor 501 may be a general purpose processor such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and may implement or perform the methods, steps and logic blocks disclosed in embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a vehicle control method disclosed in connection with the embodiments of the present application may be directly embodied as a hardware processor executing or may be executed by a combination of hardware and software modules in the processor.
The memory 502, as a non-volatile computer readable storage medium, may be used to store non-volatile software programs, non-volatile computer executable programs, and modules. The Memory 502 may include at least one type of storage medium, and may include, for example, flash Memory, hard disk, multimedia card, card Memory, random access Memory (Random Access Memory, RAM), static random access Memory (Static Random Access Memory, SRAM), programmable Read-Only Memory (Programmable Read Only Memory, PROM), read-Only Memory (ROM), charged erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory), magnetic Memory, magnetic disk, optical disk, and the like. Memory 502 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 502 in embodiments of the present application may also be circuitry or any other device capable of performing storage functions for storing program instructions and/or data.
By programming the processor 501, the code corresponding to a vehicle control method described in the foregoing embodiments may be cured into the chip, thereby enabling the chip to perform a vehicle control step of the embodiment shown in fig. 1 at run-time. How to design and program the processor 501 is a technique well known to those skilled in the art, and will not be described in detail herein.
Based on the same inventive concept, embodiments of the present application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform a vehicle control method as previously discussed.
In some possible embodiments, the application provides that aspects of a vehicle control method can also be implemented in the form of a program product comprising program code for causing a control apparatus to carry out the steps of a vehicle control method according to the various exemplary embodiments of the application as described in the specification, when the program product is run on a device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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 the like) 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 the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A vehicle control method characterized by comprising:
in a lane changing scene of an intelligent vehicle, determining the current speed of the intelligent vehicle and the steering wheel angle;
determining a vehicle speed difference value between the current vehicle speed and a target vehicle speed, and determining a target parameter corresponding to the current vehicle speed based on a mapping relation between a preset vehicle speed and a preset steering wheel angle;
determining a vehicle distance value corresponding to the intelligent vehicle, inputting the vehicle distance value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and outputting reverse acceleration corresponding to the intelligent vehicle;
and controlling the intelligent vehicle to run according to the reverse acceleration.
2. The method of claim 1, wherein said determining a vehicle speed difference between said current vehicle speed and a target vehicle speed comprises:
acquiring sensing information of the intelligent vehicle, and detecting whether front vehicle information exists in the sensing information;
if yes, extracting the front vehicle speed of the front vehicle from the front vehicle information, and taking the front vehicle speed as a target vehicle speed;
if not, determining the set vehicle speed of the intelligent vehicle, and taking the set vehicle speed as a target vehicle speed.
3. The method of claim 1, wherein determining the target parameter corresponding to the current vehicle speed based on a mapping relationship between a preset vehicle speed and a preset steering wheel angle comprises:
determining a preset vehicle speed range corresponding to the current vehicle speed and a preset steering wheel angle range corresponding to the steering wheel angle;
calculating a first parameter range corresponding to the steering wheel angle in the preset vehicle speed range, calculating a first proportional parameter of the current vehicle speed occupying the preset vehicle speed range, and calculating a target parameter based on the first proportional parameter and the first parameter range; or alternatively
And calculating a second parameter range corresponding to the current vehicle speed in the preset steering wheel angle range, calculating a second proportion parameter of the steering wheel angle occupying the preset steering wheel angle range, and calculating a target parameter based on the second proportion parameter and the second parameter range.
4. The method of claim 2, wherein the determining the vehicle spacing value corresponding to the intelligent vehicle comprises:
when the sensing information contains the front vehicle information, determining first position information corresponding to the front vehicle and second position information of the intelligent vehicle from the sensing information;
calculating a first distance difference between the first position information and the second position information;
and determining a second distance difference value between the first distance difference value and a preset distance value, and taking the second distance difference value as a vehicle distance value.
5. The method of claim 1, further comprising, prior to determining the current speed of the intelligent vehicle and the steering wheel angle:
obtaining a current acceleration of the intelligent vehicle;
detecting whether the current acceleration is consistent with a preset acceleration or not;
and responding to the fact that the current acceleration is inconsistent with the preset acceleration, adjusting the current acceleration to the preset acceleration, and controlling the intelligent vehicle to run based on the preset acceleration.
6. The method of claim 5, wherein the controlling the intelligent vehicle to travel based on the preset acceleration comprises:
detecting whether information of finishing lane changing of the intelligent vehicle is received or not;
if yes, controlling the intelligent vehicle to run;
and if not, controlling the intelligent vehicle to run based on the preset acceleration.
7. A vehicle control apparatus characterized by comprising:
the determining module is used for determining the current speed and steering wheel angle of the intelligent vehicle in the lane changing scene of the intelligent vehicle;
the parameter module is used for determining a vehicle speed difference value between the current vehicle speed and a target vehicle speed and determining a target parameter corresponding to the current vehicle speed based on a mapping relation between a preset vehicle speed and a preset steering wheel corner;
the output module is used for determining a vehicle distance value corresponding to the intelligent vehicle, inputting the vehicle distance value, the vehicle speed difference value and the target parameter into a preset acceleration formula, and outputting reverse acceleration corresponding to the intelligent vehicle;
and the driving module is used for controlling the intelligent vehicle to drive according to the reverse acceleration.
8. The apparatus of claim 7, wherein the output module is specifically configured to obtain sensing information of the intelligent vehicle, detect whether there is front vehicle information in the sensing information, if so, extract a front vehicle speed of the front vehicle from the front vehicle information, and take the front vehicle speed as a target vehicle speed, and if not, determine a set vehicle speed of the intelligent vehicle, and take the set vehicle speed as the target vehicle speed.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for carrying out the method steps of any one of claims 1-6 when executing a computer program stored on said memory.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310964242.1A CN116872933A (en) | 2023-08-01 | 2023-08-01 | Vehicle control method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310964242.1A CN116872933A (en) | 2023-08-01 | 2023-08-01 | Vehicle control method and device and electronic equipment |
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| Publication Number | Publication Date |
|---|---|
| CN116872933A true CN116872933A (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310964242.1A Pending CN116872933A (en) | 2023-08-01 | 2023-08-01 | Vehicle control method and device and electronic equipment |
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| Country | Link |
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| CN (1) | CN116872933A (en) |
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2023
- 2023-08-01 CN CN202310964242.1A patent/CN116872933A/en active Pending
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