CN110936956B - Vehicle driving method and device and vehicle driving data processing method and device - Google Patents
Vehicle driving method and device and vehicle driving data processing method and device Download PDFInfo
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- CN110936956B CN110936956B CN201811099827.7A CN201811099827A CN110936956B CN 110936956 B CN110936956 B CN 110936956B CN 201811099827 A CN201811099827 A CN 201811099827A CN 110936956 B CN110936956 B CN 110936956B
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- 238000004590 computer program Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The present invention relates to a driving method of a vehicle, the driving method including: acquiring a reference running track of a reference vehicle and reference running data running along the reference running track; acquiring a running track of a target vehicle; if the running track of the target vehicle is matched with the reference running track of the reference vehicle, driving force of wheels of the target vehicle is distributed according to the reference running data so as to drive the target vehicle to run. The driving method can directly control the vehicle to run according to the running track of the target vehicle and the reference running data of the reference vehicle, so that the target vehicle can stably pass through dangerous working conditions; and the step of detecting the sliding condition of the target vehicle and performing subsequent adjustment to overcome the sliding condition is omitted, so that the whole control time is saved, the control precision is improved, and the control stability of the target vehicle is improved. The invention also relates to a driving device of a vehicle, a computer device and a computer-readable storage medium.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to a driving method and apparatus for a vehicle, a processing method and apparatus for vehicle travel data, a computer device, and a computer-readable storage medium.
Background
The anti-slip control system is a system capable of preventing the vehicle from losing the stability of the driving direction, the dynamic property and the steering capability due to excessive slip or excessive slip between wheels and the ground when the vehicle is braked, started and accelerated, and ensuring that the vehicle is in a controllable state when the vehicle is braked and driven so as to ensure the driving safety.
Currently, many vehicles are shipped with an antilock smart brake system (antilock brake system, ABS), an electronic brake force distribution system (Electronic Brakeforce Distribution, EBD), a traction control system (Traction Control System, TCS), and a body electronic stability system (Electronic Stability Program, ESP). When the vehicle runs in a deviation or dangerous working condition, the auxiliary system can actively intervene in the running mode to try to correct the running track of the vehicle so as to enable the vehicle to stably pass through the dangerous working condition.
However, in a road condition where the friction coefficient is extremely low, the auxiliary system such as ESP may sometimes fail, so that the control accuracy of the anti-slip control system is reduced under a turning condition, and the control stability of the vehicle is reduced.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle driving method and apparatus, a vehicle travel data processing method and apparatus, a computer device, and a computer-readable storage medium, which have high control accuracy, in order to solve the problem of the decrease in control accuracy of the vehicle under a turning condition.
A driving method of a vehicle, the driving method comprising:
acquiring a reference running track of a reference vehicle and reference running data of the reference vehicle running along the reference running track;
acquiring a running track of a target vehicle;
and if the running track of the target vehicle is matched with the reference running track of the reference vehicle, distributing the driving force of the wheels of the target vehicle according to the reference running data so as to drive the target vehicle to run.
A method of processing vehicle travel data, the method comprising:
acquiring a pavement image;
dividing the pavement image into a plurality of pavement subareas so as to obtain pavement subarea distribution;
acquiring a reference running track of a reference vehicle and positioning information of the reference vehicle, and determining running subarea distribution of the reference vehicle according to the reference running track and the positioning information;
Acquiring real-time road condition information corresponding to the distribution of the running subareas of the reference vehicle, and distributing the driving force of the wheels of the reference vehicle according to the real-time road condition information so as to drive the reference vehicle to run; and
and outputting the road surface image, the road surface subarea distribution, the reference running track, the positioning information, the running subarea distribution, the real-time road condition information and the wheel driving force distribution information.
A driving device of a vehicle, the driving device comprising:
the first acquisition module is used for acquiring a reference running track and reference running data of the reference vehicle running along the reference running track;
the second acquisition module is used for acquiring the running track of the target vehicle;
and the driving module is used for distributing the driving force of the wheels of the target vehicle according to the reference driving data to drive the target vehicle to run if the driving track of the target vehicle is matched with the reference driving track of the reference vehicle.
A processing apparatus of vehicle travel data, the processing apparatus comprising:
the third acquisition module is used for acquiring the road surface image;
the segmentation module is used for segmenting the pavement image into a plurality of pavement subareas so as to obtain pavement subarea distribution;
A fourth acquisition module, configured to acquire a reference running track of a reference vehicle and positioning information of the reference vehicle, and determine a running sub-area distribution according to the reference running track and the positioning information;
the distribution module is used for acquiring real-time road condition information corresponding to the distribution of the running subareas of the reference vehicle and distributing the driving force of the wheels of the reference vehicle according to the real-time road condition information so as to drive the reference vehicle to run; and
the output module is used for outputting the road surface image, road surface subarea distribution, reference running track, positioning information, running subarea distribution, real-time road condition information and wheel driving force distribution information.
A computer device comprising a memory storing a computer program and a processor implementing the steps of any one of the methods described above when the processor executes the computer program.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the preceding claims.
The driving method and device of the vehicle, the processing method and device of the vehicle driving data, the computer equipment and the computer readable storage medium are used for acquiring the reference driving track of the reference vehicle and the reference driving data collected in the driving process, so that when the driving track of the target vehicle is matched with the reference driving track of the reference vehicle, namely, the target vehicle is identical or similar to the driving road condition of the reference vehicle, the target vehicle can distribute the driving force of the wheels of the target vehicle according to the reference driving data of the reference vehicle so as to drive the target vehicle to drive. Particularly, under the turning working condition, the driving method and device of the vehicle, the processing method and device of the vehicle running data, the computer equipment and the computer readable storage medium can directly control the vehicle to run according to the running track of the target vehicle and the reference running data of the reference vehicle, so that the target vehicle can stably pass through the dangerous working condition; and the step of detecting the sliding condition of the target vehicle and performing subsequent adjustment to overcome the sliding condition is omitted, so that the whole control time is saved, the control precision is improved, and the control stability of the target vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of an application scenario of a driving method of a vehicle according to an embodiment;
FIG. 2 is a flow chart illustrating a method for processing vehicle driving data according to an embodiment;
FIG. 3 is a flow chart of a driving method of a vehicle according to an embodiment;
FIG. 4 is a flow chart of a method of driving a vehicle according to another embodiment;
FIG. 5 is a flow chart of a method of driving a vehicle according to another embodiment;
FIG. 6 is a graph showing the relationship between the sum of the reference vehicle track and the preset offset value according to one embodiment;
FIG. 7 is a flow chart of a method of driving a vehicle according to another embodiment;
FIG. 8 is a flow chart of a method of driving a vehicle according to another embodiment;
FIG. 9 is a block diagram showing a driving apparatus of a vehicle in an embodiment;
fig. 10 is an internal structural view of the computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The driving method of the vehicle provided in the embodiment of the present application may be a driving device of the vehicle related to the following embodiment. Alternatively, the driving means may be implemented by software, hardware or a combination of software and hardware. Alternatively, the driving device may be a part of the device integrated in the electronic apparatus, or may be a separate electronic apparatus. The following method embodiments are described by taking the execution subject as an electronic device as an example.
Referring to fig. 1, in an embodiment, the driving method of a vehicle provided in the embodiment of the present application may be applied to the application scenario architecture schematic diagram provided in fig. 1. Terms referred to in the following description of the present application include: the wheel driving force distribution system is a system in which engine output torque is distributed to driving wheels of a vehicle in different proportions according to different running road surface conditions. Specifically, the wheel drive force distribution modes include, but are not limited to, a front drive mode, a rear drive mode, and an all-wheel drive mode. The driving system of the vehicle mentioned in the present application is identical to the expression of the above-described wheel driving force distribution system, and differs only in that the two are different expressions.
The application scenario architecture shown in fig. 1 may include a reference vehicle 100 and a target vehicle 200. When the reference vehicle 100 travels through a certain road, the reference travel track and the reference travel data along the reference travel track are collected and shared with the target vehicle 200 directly or indirectly through a server or the like. Accordingly, the target vehicle 200 acquires the reference travel locus transmitted by the reference vehicle 100 and the reference travel data traveling along the reference travel locus, and acquires its own travel locus. Wherein the reference running data may include wheel driving force distribution information further including a wheel driving force distribution manner. If the travel locus of the target vehicle 200 matches the reference travel locus of the reference vehicle 100, the target vehicle 200 distributes the driving force of the wheels of the target vehicle 200 in the above-described wheel driving force distribution manner to drive the target vehicle 200 to travel.
As one embodiment, the vehicle may change its driving style when turning. Specifically, the target vehicle 200 may store in advance the wheel drive force distribution patterns in the reference travel data of the reference vehicle 100, wherein the wheel drive force distribution patterns include the wheel drive force distribution patterns of the reference vehicle 100 at the position where the drive pattern change occurs. Therefore, when the target vehicle 200 travels to a position where the drive pattern of the reference vehicle 100 changes, the target vehicle 200 reads the wheel drive force distribution pattern of the reference vehicle 100 at the position and distributes the drive force of the wheels of the target vehicle 200 in accordance with the wheel drive force distribution pattern to drive the target vehicle 200 to travel.
Referring to fig. 2, another embodiment of the present application provides a method for processing vehicle driving data, and the embodiment is illustrated by applying the method to the reference vehicle 100 in fig. 1. The processing method specifically comprises the following steps:
s102, obtaining a pavement image;
s104, dividing the pavement image into a plurality of pavement subareas so as to obtain pavement subarea distribution;
s106, acquiring a reference running track of a reference vehicle and positioning information of the reference vehicle, and determining running subarea distribution of the reference vehicle according to the reference running track and the positioning information;
S108, acquiring real-time road condition information corresponding to the distribution of the running subareas of the reference vehicle, and distributing the driving force of the wheels of the reference vehicle according to the real-time road condition information so as to drive the reference vehicle to run;
and S110, outputting the road surface image, road surface subarea distribution, reference running track, positioning information, running subarea distribution, real-time road condition information and wheel driving force distribution information.
Specifically, the reference vehicle may capture a surrounding road surface image using a sensor (e.g., an imaging device) mounted on the vehicle, divide the road surface image into grid-like (e.g., a plurality of 10 or 15 square centimeter small square grid cells) by an image division technique, obtain a plurality of road surface sub-areas, and distribute as the road surface sub-areas. Then, the reference vehicle reuses a sensor and/or a control unit (such as an ESP control unit) to acquire the reference running track and positioning information of the reference vehicle, and determines the distribution of the running subareas where four wheels of the reference vehicle run according to the road subareas where the reference running track passes. The reference vehicle then also uses sensors and/or a control unit (e.g., an ESP control unit) to collect real-time road condition information, such as slip coefficients, while traveling. The slip coefficient may be a slip coefficient generated by two wheels on the same axle and the ground when the reference vehicle passes through a curve. And finally, distributing the driving force of the wheels according to the real-time road condition information by the reference vehicle so as to drive the reference vehicle to run.
It is understood that the road surface sub-area distribution includes a plurality of road surface sub-areas obtained by dividing the road surface image, and the running sub-area distribution includes a road surface sub-area through which the reference running track passes, that is, each cell through which the projection of the reference running track of the reference vehicle in the road surface image passes.
Further, the reference vehicle may share the reference travel track and the reference travel data to other vehicles through the cloud or the internet of vehicles as a reference. The reference driving data includes one or more of road surface image, road surface sub-area distribution, positioning information, driving sub-area distribution, real-time road condition information, and wheel driving force distribution information.
In the above-described vehicle travel data processing method, the reference vehicle collects travel information such as the reference travel locus and the reference travel data in real time while traveling, and transmits the travel information to a server or other vehicles such as a target vehicle. The other vehicles acquire the running information of the reference vehicle, and realize accurate distribution of the driving force of the wheels of the target vehicle according to the running information of the reference vehicle. The vehicle running can be controlled directly according to the running track of the target vehicle and according to the reference running data of the reference vehicle, so that the target vehicle can stably pass through dangerous working conditions; and the step of detecting the sliding of the target vehicle and performing subsequent adjustment to overcome the sliding is omitted, so that the whole control time is saved, the control precision is improved, and the control stability of the target vehicle is improved.
Referring to fig. 3, an embodiment of the present application provides a driving method of a vehicle, and the embodiment is exemplified by the method applied to the target vehicle 200 in fig. 1. Specifically, the driving method includes the steps of:
s202, acquiring a reference running track of a reference vehicle and reference running data of the reference vehicle running along the reference running track;
s204, acquiring a running track of a target vehicle; and
s206, if the running track of the target vehicle is matched with the reference running track of the reference vehicle, distributing the driving force of the wheels of the target vehicle according to the reference running data so as to drive the target vehicle to run.
Specifically, in S202, taking a target vehicle having four wheels as an example, in most cases, the target vehicle is driven to travel using only the front driver during travel. When the target vehicle encounters a situation where the traveling direction needs to be changed, the front driver driving mode needs to be changed to the all-wheel driving mode, so that the target vehicle is driven to steer and travel.
In the running process of the target vehicle, the reference running track of the reference vehicle and corresponding reference running data can be acquired in real time and used as a reference. When the target vehicle travels on a certain road on which the reference vehicle travels, the target vehicle may receive the reference travel locus collected when the reference vehicle travels on the road, and the reference travel data that travels along the reference travel locus. It should be clear that there may be a plurality of reference vehicles, and thus, there are a plurality of sets of reference travel tracks of the reference vehicles and corresponding numbers of reference travel data that travel along the reference travel tracks. The target vehicle may select the most appropriate reference travel locus of the reference vehicle and the reference travel data that travels along the reference travel locus according to the actual travel condition.
In S204, the target vehicle acquires its own travel track. Alternatively, the target vehicle may utilize various sensors and/or a vehicle control unit (e.g., an ESP control unit) to obtain the travel track of the target vehicle.
In S206, when the travel locus of the target vehicle matches the reference travel locus of the reference vehicle, the target vehicle allocates the driving force of the wheels of the target vehicle based on the acquired reference travel data of the reference vehicle. Wherein the reference travel data includes a wheel driving force distribution manner generated by the reference vehicle when the slip condition of the reference vehicle occurs. For example, the reference running data may include a running position where the reference vehicle is located when the reference vehicle is shifted from the front-drive mode to the all-wheel drive mode, and a corresponding wheel driving force distribution mode, i.e., the all-wheel drive mode, generated at the running position by the reference vehicle.
And the target vehicle compares the running track of the target vehicle with the reference running track of the reference vehicle to obtain a running track matching result. And if the running track matching result shows that the running track of the target vehicle is matched with the reference running track of the reference vehicle, the target vehicle acquires a wheel driving force distribution mode of the reference vehicle and distributes driving force of wheels of the target vehicle according to the wheel driving force distribution mode of the reference vehicle, so that the steering and running of the target vehicle are driven.
According to the vehicle driving method, the reference running track of the reference vehicle and the reference running data collected during running are acquired, so that when the running track of the target vehicle is matched with the reference running track of the reference vehicle, namely, the target vehicle is identical or similar to the running road condition of the reference vehicle, the target vehicle can distribute the driving force of the wheels of the target vehicle according to the reference running data of the reference vehicle so as to drive the target vehicle to run. Particularly, under the turning working condition, the driving method of the vehicle can directly control the vehicle to run according to the running track of the target vehicle and the reference running data of the reference vehicle, so that the target vehicle can stably pass through the dangerous working condition; and the step of detecting the sliding condition of the target vehicle and performing subsequent adjustment to overcome the sliding condition is omitted, so that the whole control time is saved, the control precision is improved, and the control stability of the target vehicle is improved.
Referring to fig. 4, in one embodiment, the specific process of matching the driving data of the target vehicle with the reference driving data of the reference vehicle to accurately drive the target vehicle to travel is involved. Wherein, S206 specifically includes the following steps:
S2062 of mapping the travel locus of the target vehicle into a road surface sub-area distribution of the reference vehicle;
s2064, if it is determined that the travel locus of the target vehicle matches the reference travel locus of the reference vehicle in the travel sub-region distribution, distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle to drive the target vehicle to travel.
Specifically, the target vehicle invokes the road surface sub-area distribution and the running sub-area distribution of the reference vehicle, maps the running track of the target vehicle into the road surface sub-area distribution of the reference vehicle by using a sensor (such as a camera system), and judges whether the running track of the target vehicle is consistent with the reference running track of the reference vehicle. If the judgment result is consistent, the driving system of the target vehicle stores the wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle in advance. Further, the target vehicle may select to distribute the driving force of the wheels of the target vehicle in accordance with the wheel driving force distribution manner of the reference vehicle, thereby driving the steering and running of the target vehicle. Particularly, when the target vehicle runs to a position where the driving mode of the reference vehicle changes when the turning road condition is met, the target vehicle distributes driving force of wheels of the target vehicle according to the wheel driving force distribution mode of the reference vehicle, so that steering and running of the target vehicle are driven.
In one embodiment, the road condition of the target vehicle is similar to the road condition of the reference vehicle, i.e., the target vehicle and the reference vehicle are not traveling on the same road. If the travel locus of the target vehicle can be matched with the reference travel locus of the reference vehicle, the drive system of the target vehicle stores in advance the wheel drive force distribution manner in the wheel drive force distribution information of the reference vehicle. Further, the target vehicle may select to distribute the driving force of the wheels of the target vehicle in accordance with the wheel driving force distribution manner of the reference vehicle, thereby driving the steering and running of the target vehicle. Particularly, when the target vehicle runs to a position where the driving mode of the reference vehicle changes when the turning road condition is met, the target vehicle distributes driving force of wheels of the target vehicle according to the wheel driving force distribution mode of the reference vehicle, so that steering and running of the target vehicle are driven.
Referring to fig. 5 and 6, in one embodiment, matching the driving data of the target vehicle with the driving data of the reference vehicle is involved to further accurately drive the target vehicle to run. S206 further comprises the steps of:
s2061, acquiring positioning information of a target vehicle;
S2063 of mapping the travel locus of the target vehicle into the road surface sub-area distribution of the reference vehicle when the positioning information of the target vehicle coincides with the positioning information of the reference vehicle;
s2065, if the track deviation difference between the travel track of the target vehicle and the reference travel track of the reference vehicle is within the preset deviation value, distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle so as to drive the target vehicle to travel.
Specifically, the target vehicle acquires positioning information of the target vehicle, invokes positioning information of the reference vehicle, compares the positioning information with the positioning information of the reference vehicle, and maps a running track of the target vehicle to the road surface subarea distribution of the reference vehicle if the positioning information of the target vehicle is consistent with the positioning information of the reference vehicle. Then, whether the running track of the target vehicle and the reference running track of the reference vehicle are matched is judged, more specifically, an offset value can be preset, and if the track offset difference between the running track of the target vehicle and the reference running track of the reference vehicle is within the preset offset value, that is, the running track of the target vehicle is within the range of the reference running track + -preset offset value of the reference vehicle, the driving system of the target vehicle stores the wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle in advance. Further, the target vehicle may select to distribute the driving force of the wheels of the target vehicle in accordance with the wheel driving force distribution manner of the reference vehicle, thereby driving the steering and running of the target vehicle. Particularly, when the target vehicle runs to a position where the driving mode of the reference vehicle changes when the turning road condition is met, the target vehicle distributes driving force of wheels of the target vehicle according to the wheel driving force distribution mode of the reference vehicle, so that steering and running of the target vehicle are driven.
Referring to fig. 7, in one embodiment, the target vehicle is informed in advance of wheel driving force distribution by setting a preset threshold value. Wherein S2065 specifically includes:
s2065a of acquiring a real-time position in the positioning information of the target vehicle;
s2065b, when the distance between the real-time position of the target vehicle and the position of the reference vehicle at which the wheel driving force distribution change occurs meets a preset threshold value, and the track deviation difference between the travel track of the target vehicle and the reference travel track of the reference vehicle is within a preset deviation value, pre-storing the wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle;
s2065c, when the target vehicle runs to a position where the reference vehicle has a wheel driving force distribution change, distributing driving forces of wheels of the target vehicle according to the wheel driving force distribution manner of the reference vehicle to drive the target vehicle to run.
Specifically, the target vehicle acquires a real-time position in the own positioning information, and determines a position interval between the real-time position of the target vehicle and a position of the reference vehicle at which the wheel driving force distribution occurs. Further, in the target vehicle, a threshold value may be set in advance, the preset threshold value being a preset position interval threshold value. When the position interval between the position where the target vehicle travels and the position where the reference vehicle generates the wheel driving force distribution satisfies the preset threshold value and the track deviation difference between the travel track of the target vehicle and the reference travel track of the reference vehicle is within the preset deviation value, the driving system of the target vehicle prestores the wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle. Further, the target vehicle may select to distribute the driving force of the wheels of the target vehicle in accordance with the wheel driving force distribution manner of the reference vehicle, thereby driving the steering and running of the target vehicle. Particularly, when the target vehicle runs to a position where the driving mode of the reference vehicle changes when the turning road condition is met, the target vehicle distributes driving force of wheels of the target vehicle according to the wheel driving force distribution mode of the reference vehicle, so that steering and running of the target vehicle are driven.
In one embodiment, the present invention relates to a specific process of driving a target vehicle further accurately according to real-time road condition information of the target vehicle, and in particular, to countermeasures when the target vehicle encounters a cornering condition. Wherein, S206 further comprises the following steps:
s206a, acquiring real-time road condition information of the target vehicle;
s206b, comparing the real-time road condition information of the target vehicle with the real-time road condition information of the reference vehicle;
and S206c, when the real-time road condition information of the target vehicle is matched with the real-time road condition information of the reference vehicle, controlling the target vehicle to change a front driving mode into an all-wheel driving mode, and distributing the driving force of the wheels of the target vehicle to drive the target vehicle to run.
Specifically, the target vehicle acquires real-time road condition information of the target vehicle, and invokes real-time road condition information of the reference vehicle, and compares the real-time road condition information with the real-time road condition information of the reference vehicle. If the real-time road condition information of the target vehicle is matched with the real-time road condition information of the reference vehicle, the driving system of the target vehicle prestores a wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle. Further, the target vehicle may select to distribute the driving force of the wheels of the target vehicle in accordance with the wheel driving force distribution manner of the reference vehicle, thereby driving the steering and running of the target vehicle. Particularly, when the target vehicle runs to a position where the driving mode of the reference vehicle changes when the turning road condition is met, the target vehicle distributes driving force of wheels of the target vehicle according to the wheel driving force distribution mode of the reference vehicle, so that steering and running of the target vehicle are driven.
Referring to fig. 8, in one embodiment, how to process the abnormal road surface information, specifically, step S206 includes:
s206', obtaining abnormal road surface information of the road surface on which the target vehicle runs;
s206 "if the abnormal road surface information of the road surface on which the target vehicle is traveling matches the abnormal road surface information of the road surface on which the reference vehicle is traveling, distributing the driving force of the wheels of the target vehicle according to the abnormal road surface information of the road surface on which the target vehicle is traveling and the reference traveling data, so as to drive the target vehicle to travel.
In some embodiments, the abnormal road surface information refers to information of an uneven condition of the road surface. Alternatively, the abnormal road surface information includes an abnormal road surface caused by factors such as pits, a deceleration hill, expansion joints, manhole covers, water, snow, or curves. The target vehicle may acquire abnormal road surface information through the sensor, the reference traveling data of the reference vehicle further includes abnormal road surface information of the reference vehicle during traveling, and a wheel driving force distribution manner generated when the reference vehicle bypasses or passes the abnormal road surface, and transmit the information to the target vehicle. If the abnormal road surface information acquired by the target vehicle is consistent with the abnormal road surface information of the reference vehicle, the driving system of the target vehicle stores the wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle in advance. Further, the target vehicle may select to distribute the driving force of the wheels of the target vehicle in accordance with the wheel driving force distribution manner of the reference vehicle, thereby driving the steering and running of the target vehicle. Particularly, when the target vehicle runs to a position where the driving mode of the reference vehicle changes when the turning road condition is met, the target vehicle distributes driving force of wheels of the target vehicle according to the wheel driving force distribution mode of the reference vehicle, so that steering and running of the target vehicle are driven.
In one embodiment, this relates to a specific process of boundary condition verification of reference travel data. Wherein S206 further includes:
s206d, verifying boundary conditions of the reference driving data sent by the reference vehicle, and judging whether the boundary conditions meet preset conditions or not;
and S206e, if the boundary condition meets the preset condition, distributing driving force of wheels of the target vehicle according to the reference driving data so as to drive the target vehicle to drive.
Specifically, the boundary condition refers to a condition for determining whether the reference travel data can be referred to as a target vehicle travel. Alternatively, the boundary conditions may include time conditions, for example, snow on the road may melt after a period of time, and the reference travel data is not accurate for the target vehicle. Since the road information may change with the lapse of time, in order to secure the accuracy of the reference travel data, the time condition of the reference travel data may be set in advance to be 4 hours. If the time difference between the running data of the target vehicle and the reference running data of the reference vehicle is 4 hours or more, the target vehicle does not distribute the driving force of the wheels of the target vehicle according to the reference running data.
In the embodiment, by setting the boundary condition and verifying the boundary condition, not only can the driving force of the wheels of the target vehicle be more accurately distributed, but also the safe running of the target vehicle can be ensured.
It should be understood that, although the steps in the flowcharts of fig. 2-8 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2-8 may include multiple sub-steps or phases that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed need to be sequential, but may be performed in turn or alternately with at least a portion of the sub-steps or phases of other steps or other steps.
Referring to fig. 9, in one embodiment, there is provided a driving apparatus of a vehicle, the driving apparatus including:
a first obtaining module 410, configured to obtain a reference travel track of a reference vehicle and reference travel data of the reference vehicle traveling along the reference travel track;
A second obtaining module 420, configured to obtain a driving track of the target vehicle;
and a driving module 430, configured to allocate driving force of wheels of the target vehicle according to the reference driving data to drive the target vehicle to travel if the driving track of the target vehicle matches the reference driving track of the reference vehicle.
The driving device of the vehicle described above, by acquiring the reference travel locus of the reference vehicle and the reference travel data collected during travel, allows the target vehicle to distribute the driving force of the wheels of the target vehicle according to the reference travel data of the reference vehicle to drive the target vehicle to travel when the travel locus of the target vehicle matches the reference travel locus of the reference vehicle, that is, when the travel road conditions of the target vehicle and the reference vehicle are the same or similar. Particularly, under the turning working condition, the driving device of the vehicle can directly control the vehicle to run according to the running track of the target vehicle and the reference running data of the reference vehicle, so that the target vehicle can stably pass through the dangerous working condition; and the step of detecting the sliding condition of the target vehicle and performing subsequent adjustment to overcome the sliding condition is omitted, so that the whole control time is saved, the control precision is improved, and the control stability of the target vehicle is improved.
In one embodiment, the reference travel data includes: one or more of road surface images, road surface subarea distribution, positioning information, running subarea distribution, real-time road condition information and wheel driving force distribution information generated in the process that the reference vehicle runs along the reference running track; the road surface subarea distribution comprises a plurality of road surface subareas obtained by dividing the road surface image; the driving subarea distribution comprises a road surface subarea through which the reference driving track passes.
In one embodiment, the driving module 430 is further configured to map the driving trajectory of the target vehicle into a road sub-area distribution of the reference vehicle; and if the running track of the target vehicle is matched with the reference running track of the reference vehicle in the running subarea distribution, distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle so as to drive the target vehicle to run.
In one embodiment, the driving module 430 is further configured to obtain positioning information of the target vehicle; mapping the running track of the target vehicle into the road surface subarea distribution of the reference vehicle when the positioning information of the target vehicle is consistent with the positioning information of the reference vehicle; and if the track deviation difference between the running track of the target vehicle and the reference running track of the reference vehicle is within a preset deviation value, distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle so as to drive the target vehicle to run.
In one embodiment, the driving module 430 is further configured to obtain a real-time position in the positioning information of the target vehicle; when the distance between the real-time position of the target vehicle and the position of the reference vehicle, at which the wheel driving force distribution change occurs, meets a preset threshold value, and the track deviation difference between the running track of the target vehicle and the reference running track of the reference vehicle is within a preset deviation value, the wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle is prestored; when the target vehicle runs to a position where the wheel driving force distribution change of the reference vehicle occurs, the driving force of the wheels of the target vehicle is distributed according to the wheel driving force distribution mode of the reference vehicle so as to drive the target vehicle to run.
In one embodiment, the driving module 430 is further configured to obtain real-time road condition information of the target vehicle; comparing the real-time road condition information of the target vehicle with the real-time road condition information of the reference vehicle; when the real-time road condition information of the target vehicle is matched with the real-time road condition information of the reference vehicle, controlling the target vehicle to change a front driving mode into an all-wheel driving mode, and distributing the driving force of wheels of the target vehicle to drive the target vehicle to run.
In one embodiment, the driving module 430 is further configured to obtain abnormal road surface information of a road surface on which the target vehicle is traveling; and if the abnormal road surface information of the road surface on which the target vehicle runs is matched with the abnormal road surface information of the road surface on which the reference vehicle passes, distributing the driving force of the wheels of the target vehicle according to the abnormal road surface information of the road surface on which the target vehicle runs and the reference running data so as to drive the target vehicle to run.
In one embodiment, the driving module 430 is further configured to perform boundary condition verification on the reference driving data sent by the reference vehicle, and determine whether the boundary condition meets a preset condition; and if the boundary condition meets the preset condition, distributing driving force of wheels of the target vehicle according to the reference driving data so as to drive the target vehicle to drive.
The specific limitation regarding the driving device of the vehicle may be referred to the limitation of the driving method of the vehicle hereinabove, and will not be repeated here. The respective modules in the driving apparatus of the vehicle described above may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, there is provided a processing device of vehicle travel data, the processing device including:
the third acquisition module is used for acquiring the road surface image;
the segmentation module is used for segmenting the pavement image into a plurality of pavement subareas so as to obtain pavement subarea distribution;
a fourth acquisition module, configured to acquire a reference running track of a reference vehicle and positioning information of the reference vehicle, and determine a running sub-area distribution according to the reference running track and the positioning information;
the distribution module is used for acquiring real-time road condition information corresponding to the distribution of the running subareas of the reference vehicle and distributing the driving force of the wheels of the reference vehicle according to the real-time road condition information so as to drive the reference vehicle to run; and
the output module is used for outputting the road surface image, road surface subarea distribution, reference running track, positioning information, running subarea distribution, real-time road condition information and wheel driving force distribution information.
In one embodiment, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 10. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of driving a vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program:
acquiring a reference running track of a reference vehicle and reference running data running along the reference running track;
acquiring a running track of a target vehicle;
and if the running track of the target vehicle is matched with the reference running track of the reference vehicle, distributing the driving force of the wheels of the target vehicle according to the reference running data so as to drive the target vehicle to run.
The above-described computer apparatus, by acquiring the reference travel locus of the reference vehicle and the reference travel data collected during travel, allows the target vehicle to distribute the driving force of the wheels of the target vehicle according to the reference travel data of the reference vehicle to drive the target vehicle to travel when the travel locus of the target vehicle matches the reference travel locus of the reference vehicle, that is, when the target vehicle is the same or similar to the travel road condition of the reference vehicle. Particularly, under the turning working condition, the computer equipment can be used for controlling the vehicle to run according to the running track of the target vehicle and the reference running data of the reference vehicle, so that the target vehicle can stably pass through the dangerous working condition; and the step of detecting the sliding condition of the target vehicle and performing subsequent adjustment to overcome the sliding condition is omitted, so that the whole control time is saved, the control precision is improved, and the control stability of the target vehicle is improved.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a reference running track of a reference vehicle and reference running data of the reference vehicle running along the reference running track;
acquiring a running track of a target vehicle;
and if the running track of the target vehicle is matched with the reference running track of the reference vehicle, distributing the driving force of the wheels of the target vehicle according to the reference running data so as to drive the target vehicle to run.
The above-described computer-readable storage medium, by acquiring the reference travel locus of the reference vehicle and the reference travel data collected during travel, allows the target vehicle to distribute the driving force of the wheels of the target vehicle according to the reference travel data of the reference vehicle to drive the target vehicle to travel when the travel locus of the target vehicle matches the reference travel locus of the reference vehicle, that is, when the target vehicle is identical or similar to the travel road condition of the reference vehicle. Particularly, under the turning working condition, the computer readable storage medium can be used for controlling the vehicle to run according to the running track of the target vehicle and the reference running data of the reference vehicle, so that the target vehicle can stably pass through the dangerous working condition; and the step of detecting the sliding condition of the target vehicle and performing subsequent adjustment to overcome the sliding condition is omitted, so that the whole control time is saved, the control precision is improved, and the control stability of the target vehicle is improved.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (11)
1. A driving method of a vehicle, characterized by comprising:
acquiring a reference running track of a reference vehicle and reference running data of the reference vehicle running along the reference running track;
acquiring a running track of a target vehicle;
if the running track of the target vehicle is matched with the reference running track of the reference vehicle, distributing the driving force of the wheels of the target vehicle according to the reference running data so as to drive the target vehicle to run;
Wherein the reference travel data includes:
one or more of road surface images, road surface subarea distribution, positioning information, running subarea distribution, real-time road condition information and wheel driving force distribution information generated in the process that the reference vehicle runs along the reference running track;
the road surface subarea distribution comprises a plurality of road surface subareas obtained by dividing the road surface image; the running subarea distribution comprises road surface subareas through which the reference running tracks pass;
wherein if the running track of the target vehicle matches the reference running track of the reference vehicle, the step of distributing the driving force of the wheels of the target vehicle according to the reference running data to drive the target vehicle to run includes:
mapping the running track of the target vehicle into the road surface subarea distribution of the reference vehicle;
and if the running track of the target vehicle is judged to be matched with the reference running track of the reference vehicle in the running sub-area distribution, distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle so as to drive the target vehicle to run.
2. The driving method of a vehicle according to claim 1, wherein the step of distributing driving forces of wheels of the target vehicle according to the reference travel data to drive the target vehicle to travel if the travel locus of the target vehicle matches the reference travel locus of the reference vehicle further comprises:
acquiring positioning information of a target vehicle;
mapping the running track of the target vehicle into the road surface subarea distribution of the reference vehicle when the positioning information of the target vehicle is consistent with the positioning information of the reference vehicle;
and if the track deviation difference between the running track of the target vehicle and the reference running track of the reference vehicle is within a preset deviation value, distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle so as to drive the target vehicle to run.
3. The driving method of a vehicle according to claim 2, wherein the step of distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle to drive the target vehicle to travel if the track deviation of the travel track of the target vehicle from the reference travel track of the reference vehicle is within a preset deviation value includes:
Acquiring a real-time position in positioning information of the target vehicle;
when the distance between the real-time position of the target vehicle and the position of the reference vehicle, at which the wheel driving force distribution change occurs, meets a preset threshold value, and the track deviation difference between the running track of the target vehicle and the reference running track of the reference vehicle is within a preset deviation value, the wheel driving force distribution mode in the wheel driving force distribution information of the reference vehicle is prestored;
when the target vehicle runs to a position where the wheel driving force distribution change of the reference vehicle occurs, the driving force of the wheels of the target vehicle is distributed according to the wheel driving force distribution mode of the reference vehicle so as to drive the target vehicle to run.
4. The driving method of a vehicle according to claim 1, wherein the step of distributing driving forces of wheels of the target vehicle according to the reference travel data to drive the target vehicle to travel if the travel locus of the target vehicle matches the reference travel locus of the reference vehicle includes:
acquiring real-time road condition information of the target vehicle;
comparing the real-time road condition information of the target vehicle with the real-time road condition information of the reference vehicle;
When the real-time road condition information of the target vehicle is matched with the real-time road condition information of the reference vehicle, controlling the target vehicle to change a front driving mode into an all-wheel driving mode, and distributing the driving force of wheels of the target vehicle to drive the target vehicle to run.
5. The driving method of a vehicle according to any one of claims 1 to 4, characterized in that the step of distributing the driving force of the wheels of the target vehicle according to the reference running data to drive the target vehicle to run includes:
acquiring abnormal road surface information of a road surface on which the target vehicle runs;
and if the abnormal road surface information of the road surface on which the target vehicle runs is matched with the abnormal road surface information of the road surface on which the reference vehicle passes, distributing the driving force of the wheels of the target vehicle according to the abnormal road surface information of the road surface on which the target vehicle runs and the reference running data so as to drive the target vehicle to run.
6. The driving method of the vehicle according to claim 1, characterized in that the step of distributing the driving force of the wheels of the target vehicle according to the reference running data to drive the target vehicle to run further comprises:
Performing boundary condition verification on the reference driving data sent by the reference vehicle, and judging whether the boundary condition meets a preset condition or not;
and if the boundary condition meets the preset condition, distributing driving force of wheels of the target vehicle according to the reference driving data so as to drive the target vehicle to drive.
7. A method of processing vehicle travel data, the method comprising:
acquiring a pavement image;
dividing the pavement image into a plurality of pavement subareas so as to obtain pavement subarea distribution;
acquiring a reference running track of a reference vehicle and positioning information of the reference vehicle, and determining running subarea distribution of the reference vehicle according to the reference running track and the positioning information;
acquiring real-time road condition information corresponding to the distribution of the running subareas of the reference vehicle, and distributing the driving force of the wheels of the reference vehicle according to the real-time road condition information so as to drive the reference vehicle to run; and
and outputting the road surface image, the road surface subarea distribution, the reference running track, the positioning information, the running subarea distribution, the real-time road condition information and the wheel driving force distribution information.
8. A driving device of a vehicle, characterized in that the driving device comprises:
the first acquisition module is used for acquiring a reference running track of a reference vehicle and reference running data of the reference vehicle running along the reference running track;
the second acquisition module is used for acquiring the running track of the target vehicle;
the driving module is used for distributing driving force of wheels of the target vehicle according to the reference driving data to drive the target vehicle to run if the running track of the target vehicle is matched with the reference running track of the reference vehicle;
wherein the reference travel data includes:
one or more of road surface images, road surface subarea distribution, positioning information, running subarea distribution, real-time road condition information and wheel driving force distribution information generated in the process that the reference vehicle runs along the reference running track;
the road surface subarea distribution comprises a plurality of road surface subareas obtained by dividing the road surface image; the running subarea distribution comprises road surface subareas through which the reference running tracks pass;
wherein if the running track of the target vehicle matches the reference running track of the reference vehicle, the step of distributing the driving force of the wheels of the target vehicle according to the reference running data to drive the target vehicle to run includes:
Mapping the running track of the target vehicle into the road surface subarea distribution of the reference vehicle;
and if the running track of the target vehicle is judged to be matched with the reference running track of the reference vehicle in the running sub-area distribution, distributing the driving force of the wheels of the target vehicle according to the wheel driving force distribution information of the reference vehicle so as to drive the target vehicle to run.
9. A processing device of vehicle travel data, characterized by comprising:
the third acquisition module is used for acquiring the road surface image;
the segmentation module is used for segmenting the pavement image into a plurality of pavement subareas so as to obtain pavement subarea distribution;
a fourth acquisition module, configured to acquire a reference running track of a reference vehicle and positioning information of the reference vehicle, and determine a running sub-area distribution according to the reference running track and the positioning information;
the distribution module is used for acquiring real-time road condition information corresponding to the distribution of the running subareas of the reference vehicle and distributing the driving force of the wheels of the reference vehicle according to the real-time road condition information so as to drive the reference vehicle to run; and
the output module is used for outputting the road surface image, road surface subarea distribution, reference running track, positioning information, running subarea distribution, real-time road condition information and wheel driving force distribution information.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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| JP2013086632A (en) * | 2011-10-17 | 2013-05-13 | Toyota Motor Corp | Vehicle control device |
| DE102015223504A1 (en) * | 2015-11-27 | 2017-06-01 | Robert Bosch Gmbh | Method and device for operating a motor vehicle |
| DE102015225238B4 (en) * | 2015-12-15 | 2017-09-28 | Volkswagen Aktiengesellschaft | Method and system for automatically controlling a follower vehicle with a scout vehicle |
| US10185329B2 (en) * | 2016-10-24 | 2019-01-22 | GM Global Technology Operations LLC | Methods and systems for vehicle-to-vehicle communication |
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