CN-114872702-B - Vehicle control method, device, automatic driving apparatus, and storage medium

CN114872702BCN 114872702 BCN114872702 BCN 114872702BCN-114872702-B

Abstract

The application relates to a vehicle control method, a device, an automatic driving apparatus and a storage medium. The method comprises the steps of obtaining vehicle positioning information of a target vehicle during running, inquiring road map information in front of the target vehicle according to the vehicle positioning information, identifying a damping abrupt change road surface in front of the target vehicle according to the road map information, obtaining steering torque compensation information corresponding to the damping abrupt change road surface, and steering the target vehicle on the damping abrupt change road surface according to the steering torque compensation information. By adopting the method, the steering control accuracy of the vehicle can be improved.

Inventors

XU HUANHUAN

Assignees

恒大新能源汽车投资控股集团有限公司

Dates

Publication Date: 20260512
Application Date: 20210121

Claims (9)

1. A vehicle control method characterized by comprising: Acquiring vehicle positioning information of a target vehicle during running, and inquiring road map information in front of the target vehicle according to the vehicle positioning information; Identifying a damping abrupt pavement in front of the target vehicle according to the road map information; Acquiring the relative distance between the target vehicle and the damping abrupt pavement; determining the time from the target vehicle to the abrupt damping pavement according to the current speed and the relative distance of the target vehicle; If the time is smaller than a preset time threshold value, acquiring steering torque compensation information corresponding to the damping abrupt pavement; according to the steering torque compensation information, steering control is carried out on the target vehicle on the damping abrupt pavement; and if the abrupt damping pavement is a gradient pavement, steering control is performed on the target vehicle on the abrupt damping pavement according to the steering torque compensation information, and the method comprises the following steps: Acquiring a current vehicle speed, a vehicle yaw angle and an actual steering wheel torque of the target vehicle when the target vehicle is on the gradient road surface, and acquiring a steering torque compensation direction aiming at the target vehicle; Inputting the gradient, the current vehicle speed, the vehicle yaw angle, the actual torque of the steering wheel and the steering torque compensation direction into a correlation function, determining a corresponding steering torque compensation proportion, and determining the direction of the steering torque compensation proportion according to the steering torque compensation direction to obtain the steering torque compensation information; The correlation function is expressed as: M = T(x) *( Z * N* Y/ v) *100%; Wherein M is a final compensation proportion value, T (x) is a vehicle gradient model function, wherein x is a transverse gradient vector value, Z is a confidence level, N is an actual torque of a steering wheel, Y is a vehicle yaw angle, and v is a current vehicle speed.
2. The method according to claim 1, wherein if the abrupt damping surface is a deceleration strip surface, the identifying the abrupt damping surface in front of the target vehicle based on the road map information includes: acquiring road image information in front of the target vehicle, and identifying the road image information to obtain a first identification result, wherein the first identification result comprises a result of whether a deceleration strip exists in front of the target vehicle in the road image information; The road map information is identified to obtain a second identification result, wherein the second identification result comprises a result of whether deceleration strip coordinate information exists in the road map information or not; Fusing the first identification result and the second identification result to obtain a deceleration strip identification result; And judging that a deceleration strip pavement exists in front of the target vehicle according to the deceleration strip identification result.
3. The method according to claim 2, wherein the determining that there is a deceleration strip road surface in front of the target vehicle based on the deceleration strip recognition result includes: Acquiring a deceleration strip confidence coefficient corresponding to the deceleration strip identification result, wherein the deceleration strip confidence coefficient is used for representing the probability of existence of a deceleration strip road surface in front of the target vehicle; and if the confidence coefficient of the deceleration strip is larger than a preset confidence coefficient threshold value, judging that a deceleration strip pavement exists in front of the target vehicle.
4. The method of claim 3, wherein the first recognition result further includes a lane line confidence, the lane line confidence being used to characterize the existence of a lane line image probability value in the road image information, and the obtaining the deceleration strip confidence corresponding to the deceleration strip recognition result includes: adjusting the confidence coefficient of the lane line according to the second recognition result to obtain an adjusted confidence coefficient; And taking the adjusted confidence coefficient as a deceleration strip confidence coefficient corresponding to the deceleration strip identification result.
5. The method of claim 4, wherein the obtaining steering torque compensation information corresponding to the abrupt damping road surface comprises: acquiring the current speed and the actual torque of a steering wheel when the target vehicle is on the deceleration strip pavement, and acquiring the steering torque compensation direction aiming at the target vehicle; And determining a corresponding steering torque compensation proportion according to the adjusted confidence coefficient, the current vehicle speed, the actual torque of the steering wheel and the steering torque compensation direction, and taking the corresponding steering torque compensation proportion as the steering torque compensation information.
6. The method according to claim 1, wherein if the abrupt damping surface is a gradient surface, the identifying the abrupt damping surface in front of the target vehicle based on the road map information includes: determining the gradient of the road surface in front of the target vehicle according to the road map information; And if the gradient is greater than a preset gradient threshold value, judging that a gradient road surface exists in front of the target vehicle.
7. A vehicle control apparatus, characterized in that the apparatus comprises: the acquisition module is used for acquiring vehicle positioning information of a target vehicle when the target vehicle runs and inquiring road map information in front of the target vehicle according to the vehicle positioning information; The identifying module is used for identifying the damping abrupt pavement in front of the target vehicle according to the road map information; The system comprises a compensation module, a target vehicle, a damping abrupt change road surface, a steering torque compensation module, a control module and a control module, wherein the compensation module is used for acquiring the relative distance between the target vehicle and the damping abrupt change road surface; The control module is used for carrying out steering control on the target vehicle on the damping abrupt pavement according to the steering torque compensation information, wherein if the damping abrupt pavement is a gradient pavement, the steering control on the target vehicle on the damping abrupt pavement according to the steering torque compensation information comprises the steps of obtaining the current vehicle speed, the vehicle yaw angle and the actual steering wheel torque of the target vehicle when the target vehicle is on the gradient pavement, and obtaining the steering torque compensation direction for the target vehicle; The correlation function is expressed as: M = T(x) *( Z * N* Y/ v) *100%; Wherein M is a final compensation proportion value, T (x) is a vehicle gradient model function, wherein x is a transverse gradient vector value, Z is a confidence level, N is an actual torque of a steering wheel, Y is a vehicle yaw angle, and v is a current vehicle speed.
8. An autopilot device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method of any one of claims 1 to 6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Vehicle control method, device, automatic driving apparatus, and storage medium Technical Field The present application relates to the field of autopilot technology, and in particular, to a vehicle control method, apparatus, autopilot device, and storage medium. Background Vehicles in the related art often determine a torque assist amplification factor for performing electronic power steering based on road feel damping feedback acquired in real time. However, when some specific road conditions are met, the phenomenon that the adhesion coefficient between the vehicle and the ground is changed instantaneously due to bumping, so that the torque booster amplification coefficient is not adjusted timely and the vehicle is suddenly turned too much is often caused, and the vehicle is easy to rush out of the lane on the other side due to oversteer. Therefore, there is a problem in the related art that the accuracy of the steering control of the vehicle is not high. Disclosure of Invention In view of the foregoing, it is desirable to provide a vehicle control method, apparatus, automatic driving device, and storage medium capable of improving the accuracy of vehicle steering control. A vehicle control method comprising: Acquiring vehicle positioning information of a target vehicle during running, and inquiring road map information in front of the target vehicle according to the vehicle positioning information; Identifying a damping abrupt pavement in front of the target vehicle according to the road map information; Acquiring steering torque compensation information corresponding to the damping abrupt pavement; And according to the steering torque compensation information, steering control is carried out on the target vehicle on the abrupt damping pavement. In one embodiment, if the abrupt damping pavement is a deceleration strip pavement, the identifying the abrupt damping pavement in front of the target vehicle according to the road map information includes: acquiring road image information in front of the target vehicle, and identifying the road image information to obtain a first identification result, wherein the first identification result comprises a result of whether a deceleration strip exists in front of the target vehicle in the road image information; The road map information is identified to obtain a second identification result, wherein the second identification result comprises a result of whether deceleration strip coordinate information exists in the road map information or not; Fusing the first identification result and the second identification result to obtain a deceleration strip identification result; And judging that a deceleration strip pavement exists in front of the target vehicle according to the deceleration strip identification result. In one embodiment, the determining that a deceleration strip road surface exists in front of the target vehicle according to the deceleration strip identification result includes: Acquiring a deceleration strip confidence coefficient corresponding to the deceleration strip identification result, wherein the deceleration strip confidence coefficient is used for representing the probability of existence of a deceleration strip road surface in front of the target vehicle; and if the confidence coefficient of the deceleration strip is larger than a preset confidence coefficient threshold value, judging that a deceleration strip pavement exists in front of the target vehicle. In one embodiment, the first recognition result further includes a lane line confidence, where the lane line confidence is used to characterize that a lane line image probability value exists in the road image information, and the obtaining the deceleration strip confidence corresponding to the deceleration strip recognition result includes: adjusting the confidence coefficient of the lane line according to the second recognition result to obtain an adjusted confidence coefficient; And taking the adjusted confidence coefficient as a deceleration strip confidence coefficient corresponding to the deceleration strip identification result. In one embodiment, the obtaining steering torque compensation information corresponding to the abrupt damping road surface includes: acquiring the current speed and the actual torque of a steering wheel when the target vehicle is on the deceleration strip pavement, and acquiring the steering torque compensation direction aiming at the target vehicle; And determining a corresponding steering torque compensation proportion according to the adjusted confidence coefficient, the current vehicle speed, the actual torque of the steering wheel and the steering torque compensation direction, and taking the corresponding steering torque compensation proportion as the steering torque compensation information. In one embodiment, if the abrupt damping road surface is a gradient road surface, the identifying the abrupt damping road surface in front of the target vehicle ac