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CN-121989921-A - Vehicle control method, storage medium and vehicle

CN121989921ACN 121989921 ACN121989921 ACN 121989921ACN-121989921-A

Abstract

The disclosure provides a vehicle control method, a storage medium and a vehicle, wherein the method comprises the steps of obtaining an obstacle recognition result, calculating to obtain the minimum space allowance between the outer contour of the vehicle and a target point on the obstacle in the vertical direction, comparing the minimum space allowance in the vertical direction with a safety threshold, judging that scratch risks exist when the minimum space allowance in the vertical direction is smaller than the safety threshold, controlling a suspension system of the vehicle to deform to lift the body of the vehicle in response to the scratch risks, and controlling the vehicle to move after the suspension system is deformed. Therefore, the ground clearance and the inclined posture of the vehicle are changed through deformation of the suspension system, the passing outline of the vehicle is dynamically optimized, and the problems that the passing performance of the vehicle is limited and the vehicle is easily scratched when passing through a narrow space are solved.

Inventors

  • GAO GUOWEI
  • LIAN ZHIYUAN
  • ZHANG QIAN
  • SHU JIE
  • ZHOU DEXIANG

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20260107

Claims (10)

  1. 1.A vehicle control method characterized by comprising: Obtaining an obstacle recognition result, and calculating to obtain the minimum space allowance between the outer contour of the vehicle and a target point on the obstacle in the vertical direction, wherein the target point on the obstacle is the highest point of the part of the obstacle positioned in the orthographic projection of the outer contour on the ground; Comparing the minimum space allowance with a safety threshold, and judging that scratch risk exists when the minimum space allowance is smaller than the safety threshold; controlling a suspension system of the vehicle to deform to lift a body of the vehicle in response to the risk of scratching, and And controlling the vehicle to move after the suspension system is deformed.
  2. 2. The method of claim 1, wherein said controlling the suspension system of the vehicle to deform comprises: And controlling the vehicle and wheels of the vehicle to remain stationary, and sending deformation instructions to the suspension system to control the suspension system to deform in a state that the vehicle and the wheels of the vehicle remain stationary.
  3. 3. The method of claim 1, wherein said controlling the suspension system of the vehicle to deform comprises: determining an orientation of the obstacle relative to the vehicle; calculating a target height for lifting the vehicle body, and And controlling a suspension system close to one side of the obstacle to deform so as to lift one side of the vehicle body close to the obstacle to the target height.
  4. 4. A method according to claim 3, wherein controlling the movement of the vehicle after the suspension system has completed its deformation comprises: Continuously monitoring the change in height of the obstacle and updating the minimum space margin, and And when the updated minimum space allowance is smaller than the pre-updated minimum space allowance, recalculating the target height, and continuously lifting the vehicle body according to the recalculated target height.
  5. 5. A method according to claim 3, wherein said determining the position of the obstacle relative to the vehicle comprises: Acquiring point cloud data acquired by a radar on the vehicle and image information acquired by a looking-around camera; Creating a contour model of the current vehicle environment according to the point cloud data and the image information, wherein the contour model comprises an outer contour model of the vehicle and a model of the obstacle, and And acquiring the position of the obstacle relative to the vehicle according to the contour model.
  6. 6. A method according to claim 3, wherein said calculating a target height for said vehicle body lift comprises: and calculating the target height according to the difference value between the safety threshold and the minimum space allowance.
  7. 7. The method of claim 1, wherein the controlling the vehicle movement comprises: Controlling a four-wheel steering system of the vehicle to perform the same-directional and same-angle deflection, and And controlling a driving system of the vehicle to output torque so that the vehicle moves at a speed lower than a preset threshold value.
  8. 8. The method according to any one of claims 1 to 7, further comprising: When it is determined that the vehicle has completely passed the obstacle, the vehicle and the wheels of the vehicle are controlled to remain stationary, and the suspension system is controlled to return to a pre-deformation state so that the lifted side of the vehicle body is lowered to be flush with the non-lifted side.
  9. 9. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method according to any of claims 1 to 8.
  10. 10. A vehicle, characterized by comprising: A memory for storing a computer program; A processor for calling and running the computer program from the memory, causing the vehicle to perform the method of any one of claims 1 to 8.

Description

Vehicle control method, storage medium and vehicle Technical Field The disclosure relates to the technical field of vehicle control, in particular to a vehicle control method, a storage medium and a vehicle. Background With the increasing density of urban vehicles, parking and passing through narrow roadways has become a routine problem for drivers. Especially in old urban areas, mechanical parking lots, roadside narrow parking spaces and other scenes, static geometrical space conflicts (i.e. interference between fixed contours of vehicles and obstacles such as roadway boundaries) become main bottlenecks for limiting the trafficability of vehicles. In order to solve the problem, a four-wheel steering system and a panoramic looking around early warning system are mounted on a vehicle in the related art, and the vehicle can pass through a narrow space by intelligently controlling steering angle distribution of front wheels and rear wheels of the vehicle and surrounding environment information of the vehicle, which is acquired by a plurality of cameras. However, the four-wheel steering system and the panoramic looking around early warning system in the related art can only optimize the motion trail of the vehicle, the assistance to the vehicle is limited, and the vehicle still cannot pass through in more narrow scenes. Disclosure of Invention In view of the above, embodiments of the present disclosure are directed to providing a vehicle control method, a storage medium, and a vehicle, so as to solve the problem of the trafficability limitation caused by interference between a static profile of a vehicle and a roadway boundary in the related art. According to the vehicle control method, an obstacle identification result is obtained, the minimum space allowance in the vertical direction between the outer contour of a vehicle and a target point on the obstacle is calculated, wherein the target point on the obstacle is the highest point of the part of the obstacle, which is located in the orthographic projection of the outer contour on the ground, the minimum vertical space allowance is compared with a safety threshold, when the minimum vertical space allowance is smaller than the safety threshold, the risk of scratching is judged, the suspension system of the vehicle is controlled to deform to lift the body of the vehicle in response to the risk of scratching, and the movement of the vehicle is controlled after the suspension system is deformed. In the vehicle control method provided in the first aspect of the present disclosure, the suspension system of the vehicle is controlled to deform, so as to lift the vehicle body of the vehicle, change the contour of the vehicle body, and control the vehicle to move in a state of maintaining the lifting posture, so that the vehicle can realize the posture of actively adjusting the vehicle in the process of passing through a narrow roadway or other obstacles, and the vehicle has the capability of converting the static contour into the dynamic contour, thereby enabling the vehicle to safely pass through the narrow roadway which is conventionally considered to be unable to pass through, and expanding the practical use boundary of the vehicle. In addition, the risk judgment, real-time operation and accurate execution can be completed by the intelligent system on board the vehicle, so that not only can the scratch accident be avoided, but also the user can be liberated from the complicated limit operation and mind pressure. In combination with the first aspect, in some implementations, the controlling the suspension system of the vehicle to deform includes controlling the vehicle and wheels of the vehicle to remain stationary, and sending a deformation instruction to the suspension system to control the suspension system to deform while the vehicle and the wheels of the vehicle remain stationary. Based on the above implementation manner, in the vehicle control method provided by the present disclosure, before the suspension system is controlled to generate deformation, the vehicle is controlled and the wheels of the vehicle are always kept in a static state, so that not only can the process of controlling the movement of the vehicle to avoid an obstacle be performed more stably and accurately, but also the accident that the suspension system scratches the vehicle even more seriously due to unexpected conditions such as displacement of the vehicle or rotation of the wheels in the deformation process can be avoided. In combination with the first aspect, in some implementations, the controlling the deformation of the suspension system of the vehicle includes determining an orientation of the obstacle relative to the vehicle, calculating a target height for lifting the vehicle body, and controlling the deformation of the suspension system on a side of the obstacle to lift the vehicle body on the side of the obstacle. Based on the implementation manner, in the vehicle control metho