CN-121849141-B - Vehicle control method and vehicle

CN121849141BCN 121849141 BCN121849141 BCN 121849141BCN-121849141-B

Abstract

The disclosure provides a vehicle control method and a vehicle, and relates to the technical field of unmanned driving. The method includes determining predicted roll information and real-time roll information of the vehicle, respectively, based on track information of key points in the planned track and current state information of the vehicle. And under the condition that the predicted rolling information or the real-time rolling information meets the first preset condition, controlling the speed of the vehicle according to the predicted safe speed corresponding to the predicted rolling information and the current safe speed corresponding to the real-time rolling information. The method and the device realize double roll risk assessment on the current running working condition of the vehicle and the working condition of the key road section in front of the planned track by combining the predicted roll information and the real-time roll information, effectively avoid the problem of response lag existing in single real-time control, and greatly improve the real-time performance and the reliability of the roll control of the vehicle.

Inventors

ZHANG ZHIDA
CHEN HUIYONG
ZHOU LIYAN
LIU YUNFU
WEN LONG
CHENG YUNYING
FU ZHIYING

Assignees

易控智驾科技股份有限公司
新疆易控智驾技术服务有限公司

Dates

Publication Date: 20260512
Application Date: 20260317

Claims (10)

1. A vehicle control method characterized by comprising: Determining predicted roll information and real-time roll information of the vehicle based on track information of key points in the planned track and current state information of the vehicle, wherein the predicted roll information comprises predicted roll indexes associated with current speed of the vehicle and the track information of the key points; under the condition that the predicted rolling information or the real-time rolling information is larger than a first preset rolling index threshold value, speed control is carried out on the vehicle according to the predicted safe speed corresponding to the predicted rolling information and the current safe speed corresponding to the real-time rolling information; the method further comprises the steps of: Determining a steering roll index associated with a steering angle of the vehicle based on current state information of the vehicle; under the condition that the steering roll index meets a second preset condition, limiting the steering angle of the vehicle according to a safe steering angle corresponding to the steering roll index, wherein the safe steering angle comprises a safe steering angle which is generated by taking the steering roll index not exceeding a second preset roll index threshold as a constraint and combining the current state information of the vehicle and the association relation between the steering roll index and the steering angle of the vehicle and is adapted to the running working condition of the vehicle; The association relation between the steering roll index and the steering angle of the vehicle is represented by the current motion state information of the vehicle, the road gradient information and the vehicle structural parameters.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises, The predicted safe speed corresponding to the predicted roll information includes: Taking the predicted roll index not exceeding a first preset roll index threshold as constraint, and combining the track information of the key points and the safety speed of the adaptive key point running working condition generated by the association relation between the predicted roll index and the vehicle running speed; Wherein, the association relation between the predicted roll index and the vehicle running speed is represented by road curvature information, road gradient information and vehicle structural parameters of key points; the current safe speed corresponding to the real-time roll information comprises: taking the real-time roll index not exceeding a first preset roll index threshold as constraint, and combining the current state information of the vehicle and the safety speed of the adaptive vehicle, which is generated by the association relation between the real-time roll index and the vehicle running speed, and adapting the current running working condition of the vehicle; The association relation between the real-time roll index and the vehicle running speed is represented by the current motion state information of the vehicle, the road gradient information and the vehicle structural parameters.
3. The method of claim 2, wherein the predicted roll index is determined by: inputting predicted lateral acceleration and road gradient information at a key point into a roll index model constructed based on vehicle structural parameters to obtain the predicted roll index, wherein the predicted lateral acceleration is determined based on the longitudinal speed of the vehicle and the road curvature at the key point; the real-time roll index is determined by: Inputting current lateral acceleration of a vehicle and road gradient information of a current position into a roll index model constructed based on vehicle structural parameters to obtain the real-time roll index, wherein the current lateral acceleration is determined based on longitudinal speed, yaw rate and lateral speed change rate of the vehicle; The roll index model is used for representing the mapping relation between the load transfer rate and the lateral acceleration of the tires on the left side and the right side of the vehicle, and the roll index output by the roll index model is positively correlated with the input lateral acceleration and road gradient information.
4. A method according to any one of claims 1 to 3, wherein said speed controlling the vehicle according to the predicted safe speed corresponding to the predicted roll information and the current safe speed corresponding to the real-time roll information comprises: Determining a current safe speed of the vehicle according to the real-time roll information, and determining a predicted safe speed of the vehicle according to the predicted roll information; controlling the expected speed of the vehicle to be the minimum value of the current safe speed and the predicted safe speed under the condition that the current speed of the vehicle is detected to be continuously greater than a first safe speed threshold value within a preset frame number; The first safe speed threshold value is determined by a preset first safe speed offset value which is forward offset on the basis of the minimum value.
5. The method of claim 4, wherein said determining the current safe speed of the vehicle from the real-time roll information comprises: acquiring road gradient information, a lateral speed change rate and a yaw rate of the current position of the vehicle based on the current state information of the vehicle; inputting road gradient information, a lateral speed change rate, a yaw rate and a pre-configured real-time roll index safety value of a current position into a pre-configured real-time roll stability constraint equation to obtain the current safety speed; The real-time roll stability constraint equation is obtained by substituting the current lateral acceleration which is characterized based on the longitudinal speed, the yaw rate and the lateral speed change rate of the vehicle into a roll index model, and then adjusting the roll index model by taking the longitudinal speed of the vehicle as a dependent variable, wherein the roll index model is used for representing the mapping relationship between the load transfer rate and the lateral acceleration of the tires on the left side and the right side of the vehicle, the current safety speed is shown by adjusting the dependent variable of the rear roll index model, and the current safety speed is positively related to a real-time roll index safety value and negatively related to road gradient information, the lateral speed change rate and the yaw rate; the determining a predicted safe speed of the vehicle from the predicted roll information includes: Acquiring road curvature and road gradient information at the key points based on the track information of the key points; inputting the road curvature, road gradient information and a preconfigured predicted roll index safety value of the key points into a preconfigured predicted roll stability constraint equation to obtain the predicted safety speed; The predicted roll stability constraint equation is obtained by substituting predicted lateral acceleration, which is characterized based on the longitudinal speed of the vehicle and the road curvature at a key point, into a roll index model, and then adjusting the roll index model by using the longitudinal speed of the vehicle as a dependent variable, wherein the roll index model is used for representing the mapping relationship between the load transfer rate and the lateral acceleration of tires on the left side and the right side of the vehicle, the predicted safety speed is shown by adjusting the dependent variable of the rear roll index model, the predicted safety speed is positively related to a predicted roll index safety value and is negatively related to the road curvature and road gradient information, and the predicted roll index safety value meets the constraint condition that the first preset roll index threshold value is not exceeded.
6. The method according to claim 4, wherein the method further comprises: If the current speed of the vehicle is smaller than a second safe speed threshold value or smaller than a preset second safe speed offset, exiting the control of the expected speed before reaching the next key point; Wherein the second safe speed threshold is determined by reversely shifting a preset second safe speed shift amount on the basis of the minimum value.
7. The method according to claim 1, wherein the number of the key points is a plurality, the plurality of key points are continuously distributed along the planned track in the driving direction of the vehicle, the road curvature corresponding to each key point is greater than a preset curvature threshold, and the distance between adjacent key points is smaller than a preset interval threshold; The method for respectively determining the predicted roll information and the real-time roll information of the vehicle based on the track information of the key points in the planned track and the current state information of the vehicle comprises the following steps: Based on the track information of the plurality of key points in the planned track and the current state information of the vehicle, a plurality of pieces of predicted roll information corresponding to the different key points and real-time roll information corresponding to the current position of the vehicle are respectively determined.
8. The method of claim 1, wherein the steering roll index is determined by: Inputting steering lateral acceleration of a vehicle and road gradient information of a current position into a roll index model constructed based on vehicle structural parameters to obtain the steering roll index, wherein the steering lateral acceleration is determined based on longitudinal speed, yaw rate gain and current steering angle of the vehicle; The roll index model is used for representing the mapping relation between the load transfer rate and the lateral acceleration of the tires on the left side and the right side of the vehicle, and the roll index output by the roll index model is positively correlated with the input lateral acceleration and road gradient information.
9. The method according to claim 8, wherein the steering angle limitation of the vehicle according to the safe steering angle corresponding to the steering roll index in the case where the steering roll index satisfies a second preset condition includes: Acquiring road gradient information, longitudinal speed and yaw rate gain of the current position of the vehicle based on the current state information of the vehicle under the condition that the steering roll index is larger than a second preset roll index threshold value; Inputting road gradient information, longitudinal speed, yaw rate gain and a pre-configured steering roll index safety value of the current position into a pre-configured steering roll stability constraint equation to obtain a safety steering angle; The steering roll stability constraint equation is obtained by substituting steering lateral acceleration represented based on longitudinal speed, yaw rate gain and steering angle of the vehicle into a roll index model, and then adjusting the roll index model by using the steering angle of the vehicle as a dependent variable, wherein the roll index model is used for representing the mapping relationship between the load transfer rate and the lateral acceleration of tires on the left side and the right side of the vehicle, the safe steering angle is shown by adjusting the dependent variable of the rear roll index model, the current safe steering angle is positively related to a steering roll index safety value and is negatively related to road gradient information, longitudinal speed and yaw rate gain, and the steering roll index safety value meets constraint conditions not exceeding a second preset roll index threshold.
10. A vehicle, characterized by comprising: Processor, and A memory for storing executable instructions of the processor; Wherein the processor is configured to perform the method of any one of claims 1 to 9 via execution of the executable instructions.

Description

Vehicle control method and vehicle Technical Field The disclosure relates to the technical field of unmanned aerial vehicle, in particular to a vehicle control method and a vehicle. Background The operation environment of the unmanned vehicle is generally complex, and a large number of adverse factors such as inclination, pothole pavement, soft ground and the like exist, so that the unmanned vehicle is extremely easy to roll in the driving process. In order to reduce the risk of occurrence of a roll accident, the roll risk of the vehicle can be evaluated and controlled according to the current running state of the vehicle in the related art. However, this approach has a strong hysteresis, and it is difficult to pre-judge and pre-control the risk of front upcoming roll in advance during high speed travel of the unmanned vehicle. Disclosure of Invention To overcome the problems in the related art, the present disclosure provides a vehicle control method and a vehicle. According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method including: Determining predicted roll information and real-time roll information of the vehicle respectively based on track information of key points in the planned track and current state information of the vehicle; and under the condition that the predicted rolling information or the real-time rolling information meets a first preset condition, controlling the speed of the vehicle according to the predicted safe speed corresponding to the predicted rolling information and the current safe speed corresponding to the real-time rolling information. In some embodiments, the predicted roll information includes a predicted roll index associated with a current speed of the vehicle and track information for a key point; The predicted roll information or the real-time roll information satisfying a first preset condition includes: the predicted roll index or the real-time roll index is greater than a first preset roll index threshold; the predicted safe speed corresponding to the predicted roll information includes: Taking the predicted roll index not exceeding a first preset roll index threshold as constraint, and combining the track information of the key points and the safety speed of the adaptive key point running working condition generated by the association relation between the predicted roll index and the vehicle running speed; Wherein, the association relation between the predicted roll index and the vehicle running speed is represented by road curvature information, road gradient information and vehicle structural parameters of key points; the current safe speed corresponding to the real-time roll information comprises: taking the real-time roll index not exceeding a first preset roll index threshold as constraint, and combining the current state information of the vehicle and the safety speed of the adaptive vehicle, which is generated by the association relation between the real-time roll index and the vehicle running speed, and adapting the current running working condition of the vehicle; The association relation between the real-time roll index and the vehicle running speed is represented by the current motion state information of the vehicle, the road gradient information and the vehicle structural parameters. In some embodiments, the predicted roll index is determined by: inputting predicted lateral acceleration and road gradient information at a key point into a roll index model constructed based on vehicle structural parameters to obtain the predicted roll index, wherein the predicted lateral acceleration is determined based on the longitudinal speed of the vehicle and the road curvature at the key point; the real-time roll index is determined by: Inputting current lateral acceleration of a vehicle and road gradient information of a current position into a roll index model constructed based on vehicle structural parameters to obtain the real-time roll index, wherein the current lateral acceleration is determined based on longitudinal speed, yaw rate and lateral speed change rate of the vehicle; The roll index model is used for representing the mapping relation between the load transfer rate and the lateral acceleration of the tires on the left side and the right side of the vehicle, and the roll index output by the roll index model is positively correlated with the input lateral acceleration and road gradient information. In some embodiments, the speed control of the vehicle according to the predicted safe speed corresponding to the predicted roll information and the current safe speed corresponding to the real-time roll information includes: Determining a current safe speed of the vehicle according to the real-time roll information, and determining a predicted safe speed of the vehicle according to the predicted roll information; controlling the expected speed of the vehicle to be the minimum value of the current safe sp