CN-121989959-A - Vehicle control method and device, vehicle and storage medium

CN121989959ACN 121989959 ACN121989959 ACN 121989959ACN-121989959-A

Abstract

The application relates to a vehicle control method, a device, a vehicle and a storage medium, wherein the method comprises the steps of detecting whether a wading road section exists in a target driving path, inputting surrounding environment sensing data of the vehicle, a vehicle track, driving parameters and vehicle body parameters corresponding to the target driving path into a pre-constructed splash influence judging model under the condition that the wading road section exists, estimating influence degree of splash on other traffic participants when the vehicle passes through the wading road section, obtaining influence factors causing splash based on the influence degree, constructing a corresponding cost function by using the influence factors, calculating a planning track of the vehicle by using the cost function, and controlling the vehicle to drive along the planning track. Therefore, the technical problems that in the related art, influence of splash on other surrounding traffic participants is ignored, effective influence avoidance is difficult to realize, and the method is difficult to be applied to a complex traffic environment are solved.

Inventors

YIN CHAOFAN
ZHANG ZHIDE
LIN YUZHOU
Die Jian

Assignees

广州汽车集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260303

Claims (10)

1. A control method of a vehicle, characterized by comprising the steps of: Detecting whether a wading road section exists in a target driving path; when the wading road section is detected to exist, surrounding environment sensing data of a vehicle, a vehicle track, a running parameter and a vehicle body parameter corresponding to the target running path are input into a pre-built splash influence judging model so as to estimate the influence degree of splash on other traffic participants when the vehicle passes through the wading road section; Obtaining influence factors causing the splash based on the influence degree, constructing a corresponding cost function by using the influence factors, and calculating a planning track of the vehicle by using the cost function; and controlling the vehicle to run along the planned track.
2. The method according to claim 1, wherein the method further comprises: calculating the minimum value of the cost function; calculating a planned track of the vehicle according to the minimum value; And controlling the vehicle to run along the planned track when the influence degree corresponding to the planned track is smaller than or equal to a preset threshold value.
3. The method according to claim 2, wherein the method further comprises: When the influence degree corresponding to the planned track is greater than the preset threshold, repeating the following steps until the influence degree is less than or equal to the preset threshold: inputting the planned track into the splash influence judging model to obtain a new influence degree; And obtaining a new influence factor causing the splash by utilizing the new influence degree, matching a corresponding cost function by utilizing the new influence factor, and calculating a new planning track of the vehicle by utilizing the cost function corresponding to the new influence factor.
4. The method according to claim 1, wherein the inputting the vehicle-based surrounding environment sensing data, the vehicle trajectory, the driving parameters, and the vehicle body parameters corresponding to the target driving path into the pre-constructed splash impact judgment model to estimate the impact degree of the splash on other traffic participants when the vehicle passes through the wading road section includes: Extracting wading area data and wading depth data of the wading road section from the surrounding environment perception data; Combining the surrounding environment perception data and the driving parameters to obtain relative motion parameters between the vehicle and the other traffic participants; predicting the relative positions of wheels of the vehicle and a water accumulation area when the vehicle passes through the wading road section based on the wading area data; based on the relative position, identifying boundary identification points and target wading wheels meeting a preset transverse distance condition on the boundary of the ponding region; Calculating the transverse distance between the target wading wheel and the boundary identification point when the vehicle passes through the wading road section by utilizing the boundary identification point; And inputting the wading area data, the wading depth data, the relative motion parameters, the wading transverse horizontal distance and the running parameters into the splash impact judgment model so as to obtain the impact degree.
5. The method of claim 1, further comprising, after estimating the extent to which the vehicle splashes water while passing through the wading segment, on other traffic participants: acquiring a current control mode of the vehicle; When the current control mode is a preset manual control mode, generating a splash early warning prompt until the influence degree is smaller than or equal to a preset threshold value, or the vehicle passes through the wading road section; and when the current control mode is a preset automatic control mode, controlling the vehicle to run according to the planned path.
6. The method as recited in claim 1, further comprising: acquiring the adjustment times of a user on a steering wheel and/or a brake pedal of a vehicle when the vehicle passes through the wading road section; When the adjustment times are greater than a preset times threshold, uploading wading perception data and wading running parameters of the vehicle when the vehicle passes through the wading road section to a server; and receiving the updating parameters sent by the server, and updating the splash influence judgment model by using the updating parameters.
7. A control device for a vehicle, comprising: The detection module is used for detecting whether a wading road section exists in the target driving path; The estimating module is used for inputting surrounding environment sensing data of the vehicle, a vehicle track corresponding to the target driving path, driving parameters and vehicle body parameters into a pre-constructed splash influence judging model under the condition that the wading road section is detected to exist, so as to estimate the influence degree of splash on other traffic participants when the vehicle passes through the wading road section; the calculation module is used for obtaining influence factors causing the splash based on the influence degree, constructing a corresponding cost function by utilizing the influence factors, and calculating a planning track of the vehicle by utilizing the cost function; And the control module is used for controlling the vehicle to run along the planned track.
8. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of controlling a vehicle as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for realizing the control method of a vehicle according to any one of claims 1-6.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed, is adapted to carry out the control method of a vehicle according to any one of claims 1-6.

Description

Vehicle control method and device, vehicle and storage medium Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus, a vehicle, and a storage medium. Background In the related art, in order to reduce the influence of splashing when a vehicle passes through a puddle or a water accumulation section, a splashing threshold value at which splashing occurs may be analyzed, and then a path planning of the vehicle may be performed according to the analysis result so as to avoid the puddle or the water accumulation section. However, in the related art, the influence of splash on other surrounding traffic participants is ignored, effective influence avoidance is difficult to realize, avoidance control is also performed on scenes which cannot be influenced, the passing efficiency is reduced, the conventional path planning precision is low, the influence degree is difficult to effectively reduce in a complex traffic environment, and improvement is needed. Disclosure of Invention The application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, which are used for solving the technical problems that in the related technology, influence of splashed water on other surrounding traffic participants is ignored, effective influence avoidance is difficult to realize, and the vehicle control method, the device, the vehicle and the storage medium are difficult to be suitable for a complex traffic environment. An embodiment of the first aspect of the application provides a control method of a vehicle, which comprises the following steps of detecting whether a wading road section exists in a target running path, inputting surrounding environment sensing data of the vehicle, a vehicle track, running parameters and vehicle body parameters corresponding to the target running path into a pre-built splash influence judgment model to estimate influence degree of splash on other traffic participants when the vehicle passes through the wading road section, obtaining influence factors causing the splash based on the influence degree, constructing a corresponding cost function by using the influence factors, calculating a planning track of the vehicle by using the cost function, and controlling the vehicle to run along the planning track. According to the technical means, the embodiment of the application can jointly estimate the influence degree of splashed water generated when the vehicle passes through the wading road section by combining the surrounding environment sensing data, the vehicle track, the running parameters and the vehicle body parameters, further analyze the influence degree, comprehensively control the vehicle according to the influence degree and the splash influence factors which cause the corresponding influence degree, and further control and regulate the vehicle more pertinently by considering the influence of splashed water on other traffic participants, so that the application is applicable to complex traffic environment, and effectively reduces the influence on other traffic participants when the vehicle passes through the influence path. Optionally, in one embodiment of the present application, the method further includes calculating a minimum value of the cost function, calculating a planned track of the vehicle according to the minimum value, and controlling the vehicle to travel along the planned track when an influence degree corresponding to the planned track is less than or equal to a preset threshold value. According to the technical means, the embodiment of the application can carry out track planning through the minimum value of the cost function, and after confirming that the influence degree reaches a certain threshold, the vehicle can effectively reduce the influence on other traffic participants by driving according to the track. Optionally, in one embodiment of the present application, when the influence degree corresponding to the planned trajectory is greater than the preset threshold, repeating the following steps until the influence degree is less than or equal to the preset threshold, inputting the planned trajectory into the splash influence judgment model to obtain a new influence degree, obtaining a new influence factor causing the splash by using the new influence degree, matching a corresponding cost function by using the new influence factor, and calculating a new planned trajectory of the vehicle by using a cost function corresponding to the new influence factor. According to the technical means, the embodiment of the application can match the corresponding target cost function according to the influence degree updated in real time, so that the planning track is continuously adjusted through the newly matched target cost function, and the vehicle can pass through the wading road section with the minimum influence degree. Optionally, in one embodim