CN-116373871-B - Vehicle control method, electronic device, and storage medium

CN116373871BCN 116373871 BCN116373871 BCN 116373871BCN-116373871-B

Abstract

The invention discloses a vehicle control method, electronic equipment and a storage medium. The vehicle control method comprises the steps of obtaining a lateral offset and a lateral acceleration of a vehicle, determining a curve state of the vehicle according to the lateral offset and/or the lateral acceleration, wherein the curve state at least comprises an inward curve state or an outward curve state, and controlling the vehicle based on the curve state. According to the invention, the curve state of the vehicle is determined according to the transverse offset and/or the transverse acceleration, and the vehicle is controlled based on the curve state, so that the curve state is introduced into a vehicle control algorithm, and the condition that the vehicle is overtuned or deviates from a lane is avoided.

Inventors

YI ZHONGQING
HUANG WEI
DI SHUSHENG

Assignees

东风汽车有限公司东风日产乘用车公司

Dates

Publication Date: 20260505
Application Date: 20230524

Claims (8)

1. A vehicle control method characterized by comprising: acquiring the lateral offset and the lateral acceleration of the vehicle; determining a curve state of the vehicle according to the lateral offset and/or the lateral acceleration, wherein the curve state at least comprises an inward curve state or an outward curve state; controlling the vehicle based on the curve state; The vehicle control method based on the curve state specifically comprises the following steps: monitoring whether the hand torque of the driver meets the switching condition of the driving mode; Under the condition that the driver hand torque meets the switching conditions of the automatic driving mode and the man-machine co-driving mode, determining the automatic driving control duty ratio at the current moment according to the automatic driving control duty ratio at the previous moment, the whole vehicle aligning torque, the curve state and the driver hand torque every preset time period, and switching the driving mode according to the automatic driving control duty ratio at the current moment; The determining the automatic driving control right duty ratio at the current moment according to the automatic driving control right duty ratio at the previous moment, the whole vehicle correcting moment, the curve state and the driver hand moment specifically comprises the following steps: calculating the whole vehicle aligning moment at the previous moment; the automatic driving control right duty ratio at the current moment is calculated as follows: wherein: Q t is the automatic driving control duty ratio at the current moment, Q t-1 is the automatic driving control duty ratio at the previous moment, and T re,t-1 is the vehicle aligning torque at the previous moment; Wherein η 1 is a lateral acceleration weight coefficient, G t-1 is a lateral acceleration of the vehicle at the previous time, and G max is a maximum allowable lateral acceleration; η 2,t-1 is the inside and outside curve state coefficient calculated and determined according to the curve state at the previous moment; Wherein k 1 is the descending slope of the automatic driving control right, k 2 is the ascending slope of the automatic driving control right, t Tm≥Tm1 is the duration meeting Tm not less than Tm1, tm is the driver hand torque, tm1 is the first steering wheel hand torque threshold, t m1 is the first time threshold, t Tm≤Tm2 is the duration meeting Tm not more than Tm2, tm2 is the second steering wheel hand torque threshold, t m2 is the second time threshold, Q t-1 is the automatic driving control right duty ratio at the last moment, Q min is the automatic driving minimum control right, Δt is the preset duration.
2. The vehicle control method according to claim 1, wherein the lateral acceleration at the time of turning left of the vehicle is positive, the lateral acceleration at the time of turning right of the vehicle is negative, the vehicle is located on the left side of the lane center line, the lateral offset is positive, the vehicle is located on the right side of the lane center line, the lateral offset is negative, and the curve state of the vehicle is determined based on the lateral offset and/or the lateral acceleration, specifically comprising: If the lateral offset is positive and the absolute value of the lateral offset is greater than the offset curve threshold, and the lateral acceleration is positive and the absolute value of the lateral acceleration is greater than the acceleration curve threshold, then the curve is judged to be an inside curve state, or And if the transverse offset is negative, the absolute value of the transverse offset is larger than the offset curve threshold, the transverse acceleration is negative, and the absolute value of the transverse acceleration is larger than the acceleration curve threshold, judging as an inward curve state.
3. The vehicle control method according to claim 1, wherein the lateral acceleration at the time of turning left of the vehicle is positive, the lateral acceleration at the time of turning right of the vehicle is negative, the vehicle is located on the left side of the lane center line, the lateral offset is positive, the vehicle is located on the right side of the lane center line, the lateral offset is negative, and the curve state of the vehicle is determined based on the lateral offset and/or the lateral acceleration, specifically comprising: If the lateral offset is positive and the absolute value of the lateral offset is greater than the offset curve threshold, and the lateral acceleration is negative and the absolute value of the lateral acceleration is greater than the acceleration curve threshold, determining an out-of-curve state, or And if the transverse offset is a negative number, the absolute value of the transverse offset is larger than the offset curve threshold value, the transverse acceleration is a positive number, and the absolute value of the transverse acceleration is larger than the acceleration curve threshold value, judging as an outward bending state.
4. The vehicle control method according to claim 1, wherein the lateral acceleration is positive when the vehicle turns left, the lateral acceleration is negative when the vehicle turns right, the vehicle is located on the left side of the lane center line, the lateral offset is positive, the vehicle is located on the right side of the lane center line, the lateral offset is negative, the curve state further includes a center over-curve state, and the curve state of the vehicle is determined based on the lateral offset and/or the lateral acceleration, specifically including: And if the absolute value of the transverse offset is smaller than or equal to the offset curve threshold value and the absolute value of the transverse acceleration is larger than the acceleration curve threshold value, judging a centering over-bending state.
5. The vehicle control method according to claim 1, characterized in that the lateral acceleration at the time of turning left of the vehicle is positive, the lateral acceleration at the time of turning right of the vehicle is negative, the vehicle is located on the left side of the lane center line, the lateral offset is positive, the vehicle is located on the right side of the lane center line, the lateral offset is negative, the curve state further includes a straight-going state, and the curve state of the vehicle is determined based on the lateral offset and/or the lateral acceleration, specifically including: and if the absolute value of the transverse acceleration is smaller than or equal to the threshold value of the acceleration curve, judging that the vehicle is in a straight running state.
6. The method for controlling a vehicle according to claim 1, wherein the calculating the previous moment of the vehicle aligning torque specifically includes calculating the previous moment of the vehicle aligning torque to be T re,t-1 =T tire_re,t-1 +T Lat_re,t-1 , wherein T re,t-1 is the previous moment of the vehicle aligning torque, T tire_re,t-1 is the aligning torque generated by the tire rotation angle at the previous moment, and T Lat_re,t-1 is the aligning torque generated by the lateral force at the previous moment.
7. An electronic device, comprising: at least one processor, and A memory communicatively coupled to at least one of the processors, wherein, The memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the vehicle control method of any one of claims 1 to 6.
8. A storage medium storing computer instructions which, when executed by a computer, are adapted to carry out all the steps of the vehicle control method according to any one of claims 1 to 6.

Description

Vehicle control method, electronic device, and storage medium Technical Field The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method, an electronic device, and a storage medium. Background The existing vehicle auxiliary function can realize auxiliary driving of the vehicle. Such as Lane Keeping Assist (LKA), which is one of intelligent driving assist systems that control a steering system to assist a vehicle in keeping running in its own lane. The quality of LKA performance is important to the sense of driver security and safety of customers. The driving modes of the LKA function generally include two modes of automatic driving and man-machine co-driving. Under normal conditions, the LKA is activated to be in an automatic driving mode, and when the driver meets the obstacle avoidance requirement, the driver can partially take over the vehicle on the premise that the LKA does not exit, namely, the man-machine co-driving mode. However, the conventional vehicle control method does not take into consideration the curve state, and the conventional vehicle control method adopts the same control logic regardless of the curve state of the vehicle. However, as shown in FIG. 1, the vehicle initiates the LKA function. In the curve 10', vehicle control will be affected due to the difference in the direction of the correction torque of the inside and outside curve and the control torque of the electric power steering system (Electronic Power Steering, EPS). Specifically, for an inturned driver manual intervention steering wheel (Override), the steering output torque is T tire＝TEPS_A+Tm+Tre, wherein T tire is the total torque of a tire, T EPS_A is the control torque of an electric power steering system, T m is the hand torque of the driver, and T re is the alignment torque of the whole vehicle. The vehicle 11 'has large rudder retention force of the inner bend Override, needs to overcome the aligning moment 12' and the LKA control moment 13', and meanwhile, as shown by an inner bend lane track line 14', the rotating speed of the steering wheel is faster when the automatic driving control right of the inner bend Override is increased, and the steering wheel is easy to overshoot. For the camber Override, the steering output torque is T tire＝TEPS_A+Tm-Tre. The vehicle 15 'has small steering retention force at the out-turned overlay, the direction of the aligning torque 16' is opposite to that of the LKA control torque 17', and meanwhile, the steering torque at the wheel end is insufficient to overcome the aligning torque when the out-turned overlay automatic driving control right is increased as shown by an out-turned vehicle track line 18', so that the vehicle easily deviates from a lane. Therefore, the prior art cannot identify the inside and outside bending factors, so that the situation that the vehicle is out of alignment or deviates from the lane easily occurs during auxiliary driving. Disclosure of Invention Accordingly, it is necessary to provide a vehicle control method, an electronic device, and a storage medium for solving the technical problem that the vehicle is likely to overshoot or deviate from a lane when driving assistance because the inside and outside bending factors cannot be identified in the prior art. The invention provides a driving control right distribution method, which comprises the following steps: acquiring the lateral offset and the lateral acceleration of the vehicle; determining a curve state of the vehicle according to the lateral offset and/or the lateral acceleration, wherein the curve state at least comprises an inward curve state or an outward curve state; based on the curve state, the vehicle is controlled. Further, the method includes the steps that when the vehicle turns left, the lateral acceleration is positive, when the vehicle turns right, the lateral acceleration is negative, the vehicle is located on the left side of the lane center line, the lateral offset is positive, the vehicle is located on the right side of the lane center line, the lateral offset is negative, and the curve state of the vehicle is determined according to the lateral offset and/or the lateral acceleration, and the method specifically comprises the following steps: If the lateral offset is positive and the absolute value of the lateral offset is greater than the offset curve threshold, and the lateral acceleration is positive and the absolute value of the lateral acceleration is greater than the acceleration curve threshold, then the curve is judged to be an inside curve state, or And if the transverse offset is negative, the absolute value of the transverse offset is larger than the offset curve threshold, the transverse acceleration is negative, and the absolute value of the transverse acceleration is larger than the acceleration curve threshold, judging as an inward curve state. Further, the method includes the steps that when the vehicle turns