CN119099593A - Vehicle control method, device, equipment, storage medium and program product - Google Patents
Vehicle control method, device, equipment, storage medium and program product Download PDFInfo
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- CN119099593A CN119099593A CN202411476222.0A CN202411476222A CN119099593A CN 119099593 A CN119099593 A CN 119099593A CN 202411476222 A CN202411476222 A CN 202411476222A CN 119099593 A CN119099593 A CN 119099593A
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- 238000007499 fusion processing Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
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- 238000012549 training Methods 0.000 description 12
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Classifications
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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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
-
- 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
- B60W30/18109—Braking
-
- 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
- B60W30/18145—Cornering
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to the technical field of vehicle control, and discloses a vehicle control method, a device, equipment, a storage medium and a program product. The method comprises the steps of obtaining state information of a vehicle and environment information sent by a wind pressure sensor of the vehicle, determining a torque adjustment value according to the state information and the environment information of the vehicle, adjusting current torque of the vehicle according to the torque adjustment value, determining a first target torque, and controlling the vehicle to run based on the first target torque. According to the invention, the running condition of the vehicle can be estimated in real time by acquiring the state information of the vehicle and the environment information sent by the wind pressure sensor of the vehicle, and the torque can be automatically adjusted according to the information, so that the vehicle is ensured to keep the optimal running state in a complex environment. When the vehicle is faced with emergency such as crosswind, the torque can be quickly responded, so that the stability of the vehicle is kept, and the risk of off-route is reduced.
Description
Technical Field
The present invention relates to the field of vehicle control technology, and in particular, to a vehicle control method, apparatus, computer device, storage medium, and program product.
Background
In modern transportation systems, automobiles have been one of the main vehicles, and their driving safety has been the focus of attention. Particularly in complex and changeable road environments, such as mountain overpass sections, large-area open-area highways and traffic intersections in urban high-rise building groups, driving conditions are often more severe. These special road segments not only test the driving skill and reaction speed of the driver, but also face challenges of natural environmental factors, wherein the influence of crosswind is particularly remarkable.
In order to cope with the safety challenges brought by the crosswind, part of high-end navigation systems are provided with early warning functions for special road sections, and the road sections in front of the drivers, which can be in danger of the crosswind, can be informed in advance, so that the drivers can be ready in advance.
Even if the navigation system gives an early warning, the driver still needs to deal with the situation by depending on his own driving experience and reaction speed, which often makes it difficult to ensure sufficient safety and accuracy in an emergency situation.
Disclosure of Invention
In view of the above, the present invention provides a control method, apparatus, computer device, storage medium and program product for a vehicle to solve the problem that even if a navigation system gives an early warning, a driver still needs to rely on his own driving experience and reaction speed to deal with, which often makes it difficult to ensure sufficient safety and accuracy in an emergency situation.
In a first aspect, the invention provides a control method of a vehicle, which comprises the steps of obtaining state information of the vehicle and environment information sent by a wind pressure sensor of the vehicle, determining a torque adjustment value according to the state information and the environment information of the vehicle, adjusting current torque of the vehicle according to the torque adjustment value, determining a first target torque, and controlling the vehicle to run based on the first target torque.
According to the vehicle control method, the running condition of the vehicle can be estimated in real time by acquiring the state information of the vehicle and the environment information sent by the wind pressure sensor of the vehicle, and the torque can be automatically adjusted according to the information, so that the vehicle is ensured to keep the optimal running state in a complex environment. When the vehicle is faced with emergency such as crosswind, the torque can be quickly responded, so that the stability of the vehicle is kept, and the risk of off-route is reduced.
In an alternative embodiment, determining the torque adjustment value according to the state information and the environment information of the vehicle comprises the steps of carrying out fusion processing on the state information and the environment information of the vehicle to generate target state information, inputting the target state information into a pre-trained torque calculation model to determine a second target torque, and determining the torque adjustment value based on the second target torque and the current torque of the vehicle.
According to the vehicle control method, the state information of the vehicle and the environment information are fused, so that more comprehensive and accurate target state information can be generated. The information fusion technology utilizes information acquired by a plurality of sensors, and performs analysis and comprehensive processing through a computer technology, so that a more reliable decision result is obtained. And, based on the second target torque and the current torque of the vehicle, a torque adjustment value can be determined, and the driving or braking system of the vehicle can be adjusted in real time, so that the steering stability and the running safety of the vehicle can be significantly improved. Potential safety hazards can be actively identified by acquiring and analyzing vehicle state information and environment information in real time, and corresponding torque adjustment measures are adopted to avoid risks.
In an alternative embodiment, the environment information comprises wind speed information and wind direction information, the state information of the vehicle comprises current speed information of the vehicle and offset information of an offset lane line of the vehicle, determining a torque adjustment value according to the state information and the environment information of the vehicle comprises determining lateral force of the lateral wind to the vehicle based on the wind speed information and the wind direction information, detecting whether the lateral force of the lateral wind to the vehicle meets preset lateral force or not, determining current capability information of the vehicle based on the offset information of the offset lane line of the vehicle and the current speed information of the vehicle, wherein the current capability information is used for representing that the vehicle keeps an original lane for running, detecting whether the current capability information meets the preset capability information or not, and determining the torque adjustment value according to the state information and the environment information of the vehicle if the lateral force of the lateral wind to the vehicle meets the preset lateral force and/or the current capability information meets the preset capability information.
According to the vehicle control method, the lateral force of the lateral wind on the vehicle can be accurately calculated through the wind speed information and the wind direction information, and the influence of the lateral wind on the stability of the vehicle is estimated. When the lateral force of the lateral wind on the vehicle accords with the preset lateral force and/or the current capability information accords with the preset capability information, determining a torque adjustment value according to the state information and the environment information of the vehicle so as to reduce the influence of the lateral wind on the stability of the vehicle and improve the driving safety.
In an alternative embodiment, the vehicle is controlled to run based on the first target torque, and the method comprises the steps of adjusting the direction and the magnitude of the torque of the steering wheel of the vehicle based on the first target torque, and controlling the vehicle adjusting direction according to the adjusted direction and magnitude of the torque of the steering wheel.
According to the vehicle control method, through accurate adjustment of the steering wheel torque, the steering angle and the steering speed of the vehicle can be controlled more accurately, and therefore accurate control of the running track of the vehicle is achieved. The accuracy is particularly important in high-speed driving, emergency obstacle avoidance or driving in a narrow space, and the safety and stability of driving can be obviously improved.
In an alternative embodiment, the number and positions of the wind pressure sensors respectively provided at both sides of the vehicle are the same.
According to the vehicle control method, the wind pressure sensors with the same number and positions are arranged on the two sides of the vehicle, so that more comprehensive and accurate wind pressure data can be obtained. Because the number and the positions of the sensors are the same, measurement errors caused by uneven sensor distribution can be eliminated, and the accuracy and the reliability of data are improved.
The invention provides a control device of a vehicle, wherein wind pressure sensors are respectively arranged on two sides of the vehicle, the device comprises an acquisition module, a first determination module, a second determination module and a control module, wherein the acquisition module is used for acquiring state information of the vehicle and environment information sent by the wind pressure sensors of the vehicle, the first determination module is used for determining a torque adjustment value according to the state information and the environment information of the vehicle, the second determination module is used for adjusting the current torque of the vehicle according to the torque adjustment value to determine a first target torque, and the control module is used for controlling the vehicle to run based on the first target torque.
In an alternative implementation mode, the first determining module comprises a fusion processing unit, a first determining unit and a second determining unit, wherein the fusion processing unit is used for carrying out fusion processing on state information of a vehicle and environment information to generate target state information, the first determining unit is used for inputting the target state information into a pre-trained torque calculation model to determine second target torque, and the second determining unit is used for determining a torque adjustment value based on the second target torque and current torque of the vehicle.
In a third aspect, the present invention provides a computer device comprising a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to thereby perform the method of controlling a vehicle according to the first aspect or any of its corresponding embodiments.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the control method of the vehicle of the first aspect or any one of its corresponding embodiments.
In a fifth aspect, the present invention provides a computer program product comprising computer instructions for causing a computer to perform the method of controlling a vehicle of the first aspect or any of its corresponding embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a control method of a vehicle according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a configuration position of a wind speed sensor of a vehicle according to an embodiment of the invention;
FIG. 3 is a block diagram of a control system of a vehicle according to an embodiment of the invention;
fig. 4 is a block diagram of a control device of a vehicle according to an embodiment of the present invention;
Fig. 5 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Based on the related art, in the modern transportation system, an automobile is one of the main transportation means, and the driving safety thereof has been the focus of attention. Particularly in complex and changeable road environments, such as mountain overpass sections, large-area open-area highways and traffic intersections in urban high-rise building groups, driving conditions are often more severe. These special road segments not only test the driving skill and reaction speed of the driver, but also face challenges of natural environmental factors, wherein the influence of crosswind is particularly remarkable.
In order to cope with the safety challenges brought by the crosswind, part of high-end navigation systems are provided with early warning functions for special road sections, and the road sections in front of the drivers, which can be in danger of the crosswind, can be informed in advance, so that the drivers can be ready in advance.
Even if the navigation system gives an early warning, the driver still needs to deal with the situation by depending on his own driving experience and reaction speed, which often makes it difficult to ensure sufficient safety and accuracy in an emergency situation.
Based on the method, the running condition of the vehicle can be estimated in real time by acquiring the state information of the vehicle and the environment information sent by the wind pressure sensor of the vehicle, and the torque can be automatically adjusted according to the information, so that the vehicle can be ensured to keep the optimal running state in a complex environment. When the vehicle is faced with emergency such as crosswind, the torque can be quickly responded, so that the stability of the vehicle is kept, and the risk of off-route is reduced.
According to an embodiment of the present invention, there is provided a method embodiment of vehicle control, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order other than that shown or described herein.
In this embodiment, a method for controlling a vehicle is provided, which may be used in a computer device, such as a computer, a server, etc., and fig. 1 is a schematic flow chart of a method for controlling a vehicle according to an embodiment of the present invention, as shown in fig. 1, the flow chart includes the following steps:
Step S101, acquiring state information of a vehicle and environmental information transmitted by a wind pressure sensor of the vehicle.
The state information of the vehicle may characterize a current operating state of the vehicle. The state information of the vehicle may include a current speed, an acceleration, a steering angle, a braking state, a gear state, etc., which are not particularly limited herein. The wind pressure sensor is used for measuring the wind pressure (i.e. the force or pressure of wind) of the surrounding environment of the vehicle, and the environmental information transmitted by the wind pressure sensor of the vehicle may include temperature, humidity, road surface condition, wind speed, wind pressure, etc., which is not particularly limited herein. Specifically, state information of a vehicle is collected through a sensor network (such as a speed sensor, an acceleration sensor, a steering sensor, etc.) of the vehicle, and at the same time, real-time wind pressure data is acquired from a wind pressure sensor.
Step S102, determining a torque adjustment value according to the state information and the environment information of the vehicle.
And calculating a proper torque adjustment value through an algorithm or a model by combining the current speed, acceleration, steering angle and other information of the vehicle and wind pressure data. The torque adjustment value can adjust the influence of wind resistance on the running of the vehicle, in particular to the rotation direction of wheels in the running process of the vehicle. Specifically, the real-time calculation may be performed using a machine learning model or a predefined algorithm, etc., which is not particularly limited herein and may be implemented as such by those skilled in the art.
Step S103, adjusting the current torque of the vehicle according to the torque adjustment value, and determining a first target torque.
The first target torque is used to characterize a torque that adjusts an effect of wind resistance on vehicle travel. Specifically, the calculated torque adjustment value is applied to the current torque of the vehicle to obtain a new torque value, i.e., the first target torque. This value will be the basis for the following vehicle travel control.
Step S104, the vehicle is controlled to travel based on the first target torque.
The running state of the vehicle, including acceleration, deceleration, steering, etc., is adjusted according to the first target torque to ensure that the vehicle can run smoothly and safely.
For example, a car is traveling on a highway and suddenly encounters a crosswind. At this time, the state information of the vehicle includes that the current speed is 120 km/h, the acceleration is zero (uniform running), and the steering angle is zero (straight running). The wind pressure sensor detects a sudden increase in the wind pressure of the crosswind. After acquiring this information, the system starts processing. According to the difference value between wind pressures at two sides of the vehicle, the system (such as a vehicle-mounted computer) recognizes that the vehicle can deviate by lateral wind (such as left deviation or right deviation) and cannot keep the current straight running state, and the system generates a certain reverse torque, so that the electronic power-assisted steering system of the vehicle can control the vehicle to still keep the expected stable running direction under the condition that lateral wind exists, and the driver is not required to participate in adjusting the steering wheel.
According to the vehicle control method, the running condition of the vehicle can be estimated in real time by acquiring the state information of the vehicle and the environment information sent by the wind pressure sensor of the vehicle, and the torque can be automatically adjusted according to the information, so that the vehicle is ensured to keep the optimal running state in a complex environment. When the vehicle is faced with emergency such as crosswind, the torque can be quickly responded, so that the stability of the vehicle is kept, and the risk of off-route is reduced.
In an alternative embodiment, the step 102 includes:
And a1, fusing the state information of the vehicle with the environment information to generate target state information.
The fusion process may characterize the integration of information from different sources, here vehicle state information and environmental information, together to form a more comprehensive, accurate set of information. The target state information can represent information after fusion processing, combines the influence of the state of the vehicle and the external environment, and provides more accurate input for subsequent torque calculation. In particular, data fusion techniques (e.g., kalman filtering, bayesian networks, etc.) may be used to integrate vehicle state information with environmental information to form target state information that includes more comprehensive information.
And a2, inputting the target state information into a pre-trained torque calculation model, and determining a second target torque.
The second target torque can represent a torque value output by a pre-trained torque calculation model, and is calculated by taking the current torque information of the vehicle as input according to the fusion processing after the current torque of the vehicle is adjusted in consideration of the influence of the vehicle state and the external environment through a pre-trained torque calculation model (such as a neural network model, a regression model and the like).
And a step a3 of determining a torque adjustment value based on the second target torque and the current torque of the vehicle.
By comparing the second target torque with the current torque of the vehicle, a difference between them, i.e., a torque adjustment value, is calculated. This value is used to direct the vehicle's powertrain to adjust the output to achieve the second target torque.
According to the vehicle control method, the state information of the vehicle and the environment information are fused, so that more comprehensive and accurate target state information can be generated. The information fusion technology utilizes information acquired by a plurality of sensors, and performs analysis and comprehensive processing through a computer technology, so that a more reliable decision result is obtained. And, based on the second target torque and the current torque of the vehicle, a torque adjustment value can be determined, and the driving or braking system of the vehicle can be adjusted in real time, so that the steering stability and the running safety of the vehicle can be significantly improved. Potential safety hazards can be actively identified by acquiring and analyzing vehicle state information and environment information in real time, and corresponding torque adjustment measures are adopted to avoid risks.
In one possible embodiment, constructing a pre-trained torque calculation model includes:
And b1, acquiring an initial training data set, wherein the initial training data set comprises historical wind speed information, historical wind direction information, historical vehicle speed information and historical vehicle offset information.
The initial training data set may include, but is not particularly limited to, historical wind speed information, historical wind direction information, historical vehicle speed information, historical vehicle offset information, and the like. Specifically, the initial training data set may be obtained by directly obtaining from a database.
And b2, inputting the initial training data set into a generator so that the generator generates a plurality of sample data by using a preset noise distribution, and fixing the generator.
The purpose of the fixed generator is to prevent the generator from updating the sample image data. After the computer device acquires the training set of image data, the training set of image data may be input to a generator such that the generator generates a plurality of sample image data using a pre-set noise profile.
And b3, constructing a condition generation countermeasure network model of the discriminators and a loss function of the condition generation countermeasure network model based on the generator and the discriminators.
Since the condition generation countermeasure network model of the multi-discriminant is composed of the generator and the plurality of discriminants, the condition generation countermeasure network model of the multi-discriminant can be constructed by the generator and the plurality of discriminants, and then the loss function of the countermeasure network model can be determined by the generator and the plurality of discriminants.
The constructing a loss function for generating the countermeasure network model in the step b3 includes:
Where L (G, D k) is a loss function, x is an input feature, z is an input noise vector of G, E represents a desired magnitude, dk is a cGAN discriminator, G is a generator, G is falsified data, D k is a main discriminator in the model of the present invention, and other discriminators are auxiliary discriminators.
And b4, training the condition generation countermeasure network model based on the loss function, the sample data and the initial training data set to obtain a trained condition generation countermeasure network model.
In the training of the discriminant group, log (1-D k (G (x, z))) is minimized when the generator is trained, wherein D k (G (x, z)) is maximized to represent that the generated data of the generator is regarded as real data, log (1-D k (G (x, z))) is maximized when the discriminant group is trained, and D k (G (x, z)) is minimized to represent that the generated image of the generator is regarded as real data.
In training the generator, the objective is to minimize the conditions of the multiple discriminants to generate a loss function of the countermeasure network model, where the generated countermeasure network model expects D k (G (x, z)) in the loss function of the generated countermeasure network model to be as large as possible, and D k (G (z)) is the largest to represent the generated real data to be generated by the generator. In training the discriminators, the goal is to maximize the loss function of the generated countermeasure network model, where the condition generation of the multi-discriminators is expected to be as large as possible in D k (G (x, z)) in the loss function of the countermeasure network model by the condition generation of the multi-discriminators, and D k (G (z)) is the smallest to represent the generation of the real data by the generator.
In an alternative embodiment, the environmental information includes wind speed information and wind direction information, the status information of the vehicle includes current speed information of the vehicle and offset information of the vehicle offset lane line, and the step S102 includes:
and c1, determining the lateral force of the lateral wind to the vehicle based on the wind speed information and the wind direction information.
Wind speed information and wind direction information are obtained by sensors on the vehicle (such as wind direction sensors) and are used to describe the condition of the wind in the external environment. The wind speed information may represent a flow velocity of wind, and the wind direction information may refer to a direction of wind. Lateral forces may characterize forces in the horizontal direction due to the action of a crosswind on the vehicle, which may cause the vehicle to deviate from its original lane. Specifically, based on wind speed and direction information, the lateral force of the lateral wind on the vehicle is calculated through a physical model or a machine learning algorithm. The estimation may be performed using a simple physical formula (e.g., bernoulli's equation), prediction based on a machine learning model of a large amount of data, etc., and is not particularly limited herein and may be implemented by those skilled in the art.
The ultrasonic wind speed sensor mainly measures wind speed by using an ultrasonic time difference method. As the propagation velocity of sound in the air will be superimposed with the airflow velocity in the wind direction. If the direction of propagation of the ultrasonic wave is the same as the direction of the wind, the speed thereof is increased, but if the direction of propagation of the ultrasonic wave is opposite to the direction of the wind, the speed thereof is considerably slower. Therefore, under fixed detection conditions, the speed of ultrasonic wave propagation in the air may correspond to the wind speed function. The accurate wind speed and wind direction can be obtained through calculation.
And c2, detecting whether the lateral force of the lateral wind on the vehicle accords with the preset lateral force.
The preset lateral force may characterize a determination as to whether the current crosswind impact on the vehicle is within an acceptable range. The preset lateral force may be N1, N2, or the like, which is not specifically limited herein. Specifically, the calculated lateral force is compared with a preset lateral force. Numerical comparison can be directly performed, and methods such as fuzzy logic, probability evaluation and the like can also be used.
And c3, determining current capability information of the vehicle based on the offset information of the vehicle offset lane line and the current speed information of the vehicle, wherein the current capability information is used for representing that the vehicle keeps an original lane for running.
The current capability information may characterize an ability of the vehicle to remain traveling in the original lane under current conditions based on the offset information of the vehicle from the lane line and the current vehicle speed information. The current vehicle speed information may characterize a current traveling vehicle speed of the vehicle. Specifically, the current vehicle speed information of the vehicle may be obtained by a vehicle speed sensor configured by the vehicle, or may be obtained by other means, which is not particularly limited herein.
More specifically, the ability of the vehicle to keep the lane is evaluated in combination with the offset information of the vehicle from the lane line and the current vehicle speed information. The evaluation may be performed using control theory, machine learning model, or expert system, etc.
In one possible implementation, a reasonable offset threshold is set based on vehicle type, road conditions, traffic regulations, and the like. When the vehicle offset exceeds this threshold, the ability of the vehicle to remain in the lane is considered challenging. A reasonable vehicle speed range is set according to factors such as road speed limit and vehicle performance. At high speeds, the sensitivity of the vehicle to offset may be higher, thus requiring more stringent evaluation criteria. And comparing the offset information acquired in real time with a set offset threshold value. If the offset exceeds the threshold, the vehicle is deemed to have insufficient ability to remain in the lane. The dynamic evaluation method is to set a dynamic evaluation model by considering the influence of the vehicle speed on the offset. For example, an offset threshold may be set that is related to vehicle speed, with the higher the vehicle speed, the smaller the allowable offset. And the comprehensive evaluation method is to use a machine learning algorithm or a control theory and other methods to carry out comprehensive evaluation by combining the offset information and the vehicle speed information. The method can more accurately reflect the lane keeping capability of the vehicle under different conditions. For example, a vehicle is driven on a highway, the current speed is 120km/h, and the offset of the vehicle relative to the lane line is detected by a sensor to be S1 m. The offset threshold is S2 meters according to the set evaluation criteria. Where S1 is less than S2, then the vehicle may maintain lane capability. However, the allowable offset amount at the time of high-speed running should be more strict, and the ability of the vehicle to keep the lane may be affected in consideration of the high vehicle speed, although the current offset amount has not exceeded the threshold value. At this time, the vehicle control system may automatically adjust the electric power steering system (Electronic Power Steering, EPS) or the like to reduce the offset of the vehicle and keep the lane stable.
And step c4, detecting whether the current capability information accords with the preset capability information.
And comparing the evaluated current capability information with preset capability information.
And c5, if the lateral force of the lateral wind on the vehicle accords with the preset lateral force and/or the current capability information accords with the preset capability information, determining a torque adjustment value according to the state information and the environment information of the vehicle.
If the crosswind influence or vehicle capacity is within an acceptable range, a torque adjustment value is calculated based on the vehicle state and environmental information.
According to the vehicle control method, the lateral force of the lateral wind on the vehicle can be accurately calculated through the wind speed information and the wind direction information, and the influence of the lateral wind on the stability of the vehicle is estimated. When the lateral force of the lateral wind on the vehicle accords with the preset lateral force and/or the current capability information accords with the preset capability information, determining a torque adjustment value according to the state information and the environment information of the vehicle so as to reduce the influence of the lateral wind on the stability of the vehicle and improve the driving safety.
In one possible embodiment, detecting whether the lateral force of the crosswind on the vehicle meets the preset lateral force may be used as the first condition, and detecting whether the current capability information meets the preset capability information may be used as the second condition. In this case, it is possible to detect whether the first condition is satisfied, and if the first condition is not satisfied, it is not necessary to detect the second condition.
In an alternative embodiment, the step S104 includes:
and d1, adjusting the direction and the magnitude of the torque of the steering wheel of the vehicle based on the first target torque.
The torque of the steering wheel refers to the torque generated by the force applied to the steering wheel by the vehicle's master, and determines the steering angle and steering speed of the front wheels (or steering wheels) of the vehicle. A vehicle control system (e.g., an EPS electronic power steering system) may adjust the steering wheel torque to match the first target torque based on the value of the first target torque. This includes determining the direction (clockwise or counter-clockwise) and magnitude (absolute value of torque) of the torque. Specifically, the main controller (such as a driving computer) can directly send out instructions to the EPS, and the torque of the steering wheel is adjusted. The actual torque of the steering wheel may also be monitored by the sensor and compared to the first target torque, and then the output of the EPS adjusted until the actual torque matches the first target torque. The first target torque may also be automatically adjusted based on the dynamic response of the vehicle and the road conditions, and the steering wheel torque adjusted accordingly. For example, the first target torque is 10Nm in the clockwise direction, and the master controller adjusts the EPS to cause the steering wheel to generate a torque of 10Nm in the clockwise direction.
And d2, controlling the adjustment direction of the vehicle according to the direction and the magnitude of the torque of the adjusted steering wheel.
The torque of the steering wheel is transmitted to the front wheels (or steering wheels) of the vehicle through the steering mechanism, so that the front wheels of the vehicle generate corresponding steering angles and steering speeds, and the running direction of the vehicle is changed.
According to the vehicle control method, through accurate adjustment of the steering wheel torque, the steering angle and the steering speed of the vehicle can be controlled more accurately, and therefore accurate control of the running track of the vehicle is achieved. The accuracy is particularly important in high-speed driving, emergency obstacle avoidance or driving in a narrow space, and the safety and stability of driving can be obviously improved.
In an alternative embodiment, the number and positions of the wind pressure sensors respectively provided at both sides of the vehicle are the same.
As shown in fig. 2, three wind pressure sensors are respectively disposed on both sides of the vehicle, and the positions of the wind pressure sensors are the same.
According to the vehicle control method, the wind pressure sensors with the same number and positions are arranged on the two sides of the vehicle, so that more comprehensive and accurate wind pressure data can be obtained. Because the number and the positions of the sensors are the same, measurement errors caused by uneven sensor distribution can be eliminated, and the accuracy and the reliability of data are improved.
In an alternative embodiment, as shown in connection with FIG. 3, the present invention provides a control system for a vehicle, the system comprising a wind pressure sensor, a vehicle speed sensor, a master controller, and a steering control system, wherein the steering control system comprises a vehicle steering wheel;
The main controller acquires vehicle speed information of a vehicle sent by a vehicle speed sensor, attitude information of the vehicle by a vehicle attitude sensor and environment information sent by a wind pressure sensor of the vehicle. The master controller determines a torque adjustment value according to the state information and the environment information of the vehicle. And the master controller adjusts the current torque of the vehicle according to the torque adjustment value to determine a first target torque. The first target torque is then sent to a steering control system, wherein the steering control system controls a steering wheel of the vehicle via the first target torque to control the vehicle to travel.
The present embodiment also provides a vehicle control device, which is used to implement the foregoing embodiments and the preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The embodiment provides a control device of a vehicle, as shown in fig. 4, comprising an acquisition module 401 for acquiring state information of the vehicle and environment information sent by a wind pressure sensor of the vehicle, a first determination module 402 for determining a torque adjustment value according to the state information and the environment information of the vehicle, a second determination module 403 for adjusting the current torque of the vehicle according to the torque adjustment value to determine a first target torque, and a control module 404 for controlling the vehicle to run based on the first target torque.
In an alternative embodiment, the second determining module 403 includes a fusion processing unit configured to perform fusion processing on the state information of the vehicle and the environmental information to generate target state information, a first determining unit configured to input the target state information to a pre-trained torque calculation model to determine a second target torque, and a second determining unit configured to determine a torque adjustment value based on the second target torque and the current torque of the vehicle.
Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.
The control device of the vehicle in this embodiment is presented in the form of a functional unit, where the functional unit refers to an ASIC (Application SPECIFIC INTEGRATED Circuit) Circuit, a processor and a memory that execute one or more software or firmware programs, and/or other devices that can provide the above functions.
The embodiment of the invention also provides computer equipment, which is provided with the control device of the vehicle shown in the figure 4.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, and as shown in fig. 5, the computer device includes one or more processors 10, a memory 20, and interfaces for connecting components, including a high-speed interface and a low-speed interface. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 5.
The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform a method for implementing the embodiments described above.
The memory 20 may include a storage program area that may store an operating system, application programs required for at least one function, and a storage data area that may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 20 may comprise volatile memory, such as random access memory, or nonvolatile memory, such as flash memory, hard disk or solid state disk, or the memory 20 may comprise a combination of the above types of memory.
The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium may be a magnetic disk, an optical disk, a read-only memory, a random-access memory, a flash memory, a hard disk, a solid state disk, or the like, and further, the storage medium may further include a combination of the above types of memories. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Portions of the present invention may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or aspects in accordance with the present invention by way of operation of the computer. Those skilled in the art will appreciate that the existence of computer program instructions in a computer-readable medium includes, but is not limited to, source files, executable files, installation package files, and the like, and accordingly, the manner in which computer program instructions are executed by a computer includes, but is not limited to, the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled programs, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed programs. Herein, a computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by a computer.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
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