Search

CN-117429503-B - Vehicle running control method and device, electronic equipment and vehicle

CN117429503BCN 117429503 BCN117429503 BCN 117429503BCN-117429503-B

Abstract

The invention relates to a vehicle running control method, a device, electronic equipment and a vehicle, wherein the method comprises the steps of obtaining actual load information of the vehicle, compensating an indicated running angle in an initiated running instruction according to the corresponding relation between preset load information and a deviation angle value and the actual load information to obtain a target running angle, wherein the deviation angle value is used for representing the influence degree of the value of a load factor on a relative zero degree value of a steering system of the vehicle, and controlling the vehicle to run according to the target running angle so that the actual running angle of the vehicle is identical with the indicated running angle, thereby reducing the error between the actual running angle and the indicated running angle caused by the change of the load state of the vehicle and achieving the purpose of accurately controlling the running of the vehicle.

Inventors

  • LI HONGLE

Assignees

  • 北汽福田汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20220712

Claims (7)

  1. 1. A vehicle travel control method characterized by comprising: Acquiring actual load information of the vehicle; Compensating the indicated running angle in the initiated running instruction according to the corresponding relation between the preset load information and the deviation angle value and the actual load information to obtain a target running angle, wherein the deviation angle value is used for representing the influence degree of the value of the load factor on the relative zero degree value of the steering system of the vehicle; Controlling the vehicle to run according to the target running angle so that the actual running angle of the vehicle is the same as the indicated running angle; The deviation angle value is also used for representing the influence degree of the value of a non-load factor on the relative zero degree value of the steering system of the vehicle, the corresponding relation is constructed by acquiring historical load information of the vehicle, which does not have turning intention in the historical driving process, and a first deviation angle corresponding to the historical load information, and acquiring a second deviation angle calibrated for the vehicle, determining the deviation angle value according to the first deviation angle and the second deviation angle, constructing the corresponding relation according to the deviation angle value and the historical load information corresponding to the first deviation angle, and acquiring at least a preset driving mileage interval of the vehicle corresponding to the moment in the historical load information and the first deviation angle corresponding to the historical load information acquired in two adjacent times, wherein the non-load factor comprises at least one of a vehicle manufacturing material factor, a vehicle manufacturing process factor and a steering structure factor.
  2. 2. The method according to claim 1, wherein compensating the indicated driving angle in the initiated driving instruction according to the corresponding relation between the preset load information and the deviation angle value and the actual load information to obtain the target driving angle includes: determining a target deviation angle value corresponding to the actual load information according to the corresponding relation between preset load information and the deviation angle value and the actual load information; And compensating the indicated running angle in the initiated running instruction according to the target deviation angle value to obtain a target running angle.
  3. 3. The method of claim 1, wherein the travel command comprises a steering travel command, the indicating a travel angle comprises indicating a steering angle, and the obtaining actual load information of the vehicle comprises: and acquiring actual load information of the vehicle under the condition that the turning intention of the vehicle is detected.
  4. 4. A method according to claim 3, characterized in that the method further comprises: Acquiring driving information of the vehicle, wherein the driving information comprises at least one of steering angle information of a steering wheel, state information of a steering lamp and front image information of the vehicle; And determining whether the vehicle has a turning intention according to the running information.
  5. 5. A vehicle running control apparatus for implementing the vehicle running control method according to any one of claims 1 to 4.
  6. 6. An electronic device, comprising: A memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-4.
  7. 7. A vehicle comprising the electronic device of claim 6.

Description

Vehicle running control method and device, electronic equipment and vehicle Technical Field The disclosure relates to the field of vehicles, and in particular relates to a vehicle running control method and device, electronic equipment and a vehicle. Background For the vehicle in the automatic driving mode, if the error of the running angle of the vehicle is larger, the risk of traffic accidents caused by automatic driving is further increased, particularly, the steering running of the vehicle is increased, and as the automobile steer-by-wire system of the vehicle cancels the mechanical connection between the steering wheel and the steering wheel, the steering is realized completely by electric energy, and various limitations of the traditional steering system are eliminated, but the automobile steer-by-wire system is much more complex than the traditional mechanical steering system, and the requirement on control precision is higher. In the related art, the calibrated fixed value is used for compensating the running angle of the vehicle in the running process so as to enable the actual running angle of the vehicle to be consistent with the indicated running angle in the running instruction, however, the calibrated fixed value cannot cope with the influence of the state change of the vehicle on the running angle, so that the error between the actual running angle of the vehicle and the indicated running angle in the running instruction is increased, and the accident risk is increased. Disclosure of Invention In order to overcome the problems in the related art, the present disclosure provides a vehicle driving control method, a device, an electronic apparatus, and a vehicle. In order to achieve the above object, in a first aspect, the present disclosure provides a vehicle running control method including: Acquiring actual load information of the vehicle; Compensating the indicated running angle in the initiated running instruction according to the corresponding relation between the preset load information and the deviation angle value and the actual load information to obtain a target running angle, wherein the deviation angle value is used for representing the influence degree of the value of the load factor on the relative zero degree value of the steering system of the vehicle; and controlling the vehicle to steer according to the target running angle so that the actual running angle of the vehicle is the same as the indicated running angle. Optionally, the compensating the indicated running angle in the initiated running instruction according to the corresponding relation between the preset load information and the deviation angle value and the actual load information to obtain the target running angle includes: determining a target deviation angle value corresponding to the actual load information according to the corresponding relation between preset load information and the deviation angle value and the actual load information; And compensating the indicated running angle in the initiated running instruction according to the target deviation angle value to obtain a target running angle. Optionally, the deviation angle value is further used for characterizing the influence degree of the value of the non-load factor on the relative zero degree value of the steering system of the vehicle, and the corresponding relation is constructed by the following ways: acquiring historical load information of the vehicle without turning intention in the historical driving process and a first deviation angle corresponding to the historical load information, and acquiring a second deviation angle calibrated for the vehicle; determining the deviation angle value according to the first deviation angle and the second deviation angle; and constructing the corresponding relation according to the deviation angle value and the historical load information corresponding to the first deviation angle. Optionally, in the historical load information acquired in two adjacent times and the first deviation angle corresponding to the historical load information, the acquired vehicle mileage corresponding to the moment is at least spaced by a preset mileage. Optionally, the driving instruction includes a steering driving instruction, the indicated driving angle includes an indicated steering angle, and the acquiring actual load information of the vehicle includes: and acquiring actual load information of the vehicle under the condition that the turning intention of the vehicle is detected. Optionally, the method further comprises: Acquiring driving information of the vehicle, wherein the driving information comprises at least one of steering angle information of a steering wheel, state information of a steering lamp and front image information of the vehicle; And determining whether the vehicle has a turning intention according to the running information. Optionally, the non-load bearing factors include at least one of vehicle manufact