CN119239570A - Vehicle driving control method, device, electronic equipment and medium - Google Patents
Vehicle driving control method, device, electronic equipment and medium Download PDFInfo
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- CN119239570A CN119239570A CN202411484193.2A CN202411484193A CN119239570A CN 119239570 A CN119239570 A CN 119239570A CN 202411484193 A CN202411484193 A CN 202411484193A CN 119239570 A CN119239570 A CN 119239570A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present application relates to the field of vehicle control, and in particular, to a vehicle driving control method, device, electronic apparatus, and medium. The vehicle driving control method comprises the steps of responding to the influence of crosswind on a vehicle, judging whether the current vehicle lateral offset distance reaches a lateral offset distance threshold value, determining a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relation of the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle under the condition that the current vehicle lateral offset distance reaches the lateral offset distance threshold value, determining a termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold value and the wheel wheelbase, and controlling the vehicle to run according to the steering wheel reverse deflection angle, and controlling the vehicle to return to running when the vehicle running distance reaches the termination distance. The application can realize self-adaptive rapid and accurate adjustment of the vehicle after the vehicle is affected by the crosswind, does not need the participation of a driver, and improves the driving safety.
Description
Technical Field
The present application relates to the field of vehicle control, and in particular, to a vehicle driving control method, device, electronic apparatus, and medium.
Background
The accident of the vehicle is mainly caused by the influence of the crosswind, and the vehicle is high in speed or in the vicinity of the vehicle, the running track of the vehicle is deviated under the action of the sudden strong wind, and the accident is caused by untimely response of a driver or the vehicle. Relatively, the probability of a crosswind accident on a highway is high. The current main method for coping with the influence of crosswind is to concentrate on the attention of a driver, quickly correct the driving direction and reduce the vehicle speed at the same time to avoid accidents, but the time required by the driver from identification, judgment, processing and vehicle execution in the whole process is long, which is often the main reason of the accidents.
In view of this, the present application has been made.
Disclosure of Invention
The application aims to provide a vehicle driving control method, a device, electronic equipment and a medium, which are used for solving the problems of long processing time and easy occurrence of accidents caused by the influence of a driver operation on crosswind in the prior art.
In order to achieve the above purpose, the present application adopts the following technical scheme:
In a first aspect, the present application provides a vehicle driving control method, including:
Responding to the influence of the crosswind on the vehicle, and judging whether the current vehicle lateral offset distance reaches a lateral offset distance threshold value or not;
under the condition that the current vehicle lateral offset distance reaches a lateral offset distance threshold value, determining a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relation of the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle;
determining a termination distance according to the steering wheel reverse deflection angle, the transverse offset distance threshold and the wheel wheelbase;
And controlling the vehicle to run according to the steering wheel reverse deflection angle, and controlling the vehicle to run back when the running distance of the vehicle reaches the termination distance.
As a further preferable technical solution, before the responding vehicle is affected by the crosswind, determining whether the current vehicle lateral offset distance reaches the lateral offset distance threshold value, the method further includes:
and detecting whether the vehicle is affected by crosswind or not according to the transverse acceleration of the vehicle, the current speed, the curvature radius of the lane, the detection data of the safety air bag detection module, the transverse offset distance threshold value and the preset driver reaction time.
As a further preferable technical solution, the determining whether the vehicle is affected by the crosswind according to the lateral acceleration of the vehicle, the current vehicle speed, the radius of curvature of the lane, the detection data of the airbag detection module, the lateral offset distance threshold value and the preset driver reaction time includes:
judging whether the vehicle is in a fierce driving mode or not according to the transverse acceleration of the vehicle, the current speed and the curvature radius of the lane;
determining whether a vehicle collides according to detection data of the airbag detection module;
Judging whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, the lateral offset distance threshold value and the preset driver reaction time;
in the case where the vehicle is not in the hard driving mode, the vehicle is not involved in a collision, and the lateral acceleration of the vehicle exceeds the limit, it is determined that the vehicle is affected by the crosswind.
As a further preferable technical solution, the determining whether the vehicle is in the aggressive driving mode according to the lateral acceleration of the vehicle, the current vehicle speed and the radius of curvature of the lane includes:
Determining the turning transverse acceleration of the vehicle according to the current speed and the curvature radius of the lane;
And judging whether the vehicle is in a fierce driving mode or not according to the vehicle lateral acceleration and the vehicle turning lateral acceleration.
As a further preferable technical solution, the determining whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, the lateral offset distance threshold value and the preset driver reaction time includes:
determining a vehicle lateral acceleration threshold according to the lateral offset distance threshold and a preset driver reaction time;
and judging whether the vehicle transverse acceleration exceeds the limit according to the vehicle transverse acceleration and the vehicle transverse acceleration threshold value.
As a further preferable technical solution, before the responding vehicle is affected by the crosswind, determining whether the current vehicle lateral offset distance reaches the lateral offset distance threshold value, the method further includes:
and determining a transverse offset distance threshold according to the width of the lane, the width of the vehicle, the position of the center line of the vehicle and the offset direction of the vehicle.
As a further preferable technical solution, the determining the termination distance according to the steering wheel reverse yaw angle, the lateral offset distance threshold, and the wheel base includes:
determining a turning radius according to the steering wheel reverse deflection angle and the wheel wheelbase;
and determining a termination distance according to the turning radius and the transverse offset distance threshold.
In a second aspect, the present application provides a vehicle driving control apparatus including:
the judging module is used for responding to the influence of the cross wind on the vehicle and judging whether the current transverse offset distance of the vehicle reaches a transverse offset distance threshold value or not;
the steering wheel reverse deflection angle determining module is used for determining a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle transverse deflection distance according to the mapping relation of the vehicle speed, the vehicle transverse deflection distance and the steering wheel reverse deflection angle under the condition that the current vehicle transverse deflection distance reaches a transverse deflection distance threshold value;
The termination distance determining module is used for determining a termination distance according to the steering wheel reverse deflection angle, the transverse offset distance threshold and the wheel wheelbase;
and the control running module is used for controlling the vehicle to run according to the steering wheel reverse deflection angle, and controlling the vehicle to run back when the running distance of the vehicle reaches the termination distance.
In a third aspect, the present application provides an electronic device, comprising:
at least one processor, and a memory communicatively coupled to at least one of the processors;
Wherein the memory stores instructions executable by at least one of the processors, the instructions being executable by at least one of the processors to enable at least one of the processors to perform the method described above.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon computer instructions for causing a computer to perform the above-described method.
Compared with the prior art, the application has the beneficial effects that:
The vehicle driving control method comprises the steps of responding to the influence of crosswind on a vehicle, judging whether the current vehicle lateral offset distance reaches a lateral offset distance threshold, determining a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relation of the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle under the condition that the current vehicle lateral offset distance reaches the lateral offset distance threshold, determining a termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and a wheel wheelbase, controlling the vehicle to run according to the steering wheel reverse deflection angle, and controlling the vehicle to return to running when the vehicle running distance reaches the termination distance. According to the method, after the vehicle is affected by the cross wind, the steering wheel reverse deflection angle is obtained based on the current vehicle transverse deflection distance, the transverse deflection distance threshold value and a specific mapping relation, the steering wheel reverse deflection angle and the wheel wheelbase are combined to determine the termination distance, and finally the vehicle is controlled to travel according to the steering wheel reverse deflection angle and return to the termination distance, so that the whole process is free of operation of a driver, the adjustment can be performed adaptively, the adjustment is rapid, the time for returning the vehicle from the influence of the cross wind to the return travel is extremely short, the time for returning the vehicle from the influence of the cross wind can be reduced to a millisecond level, and the driving safety is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 application, 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 vehicle driving control method provided by the application;
Fig. 2 is a schematic structural view of a vehicle driving control device provided by the present application;
fig. 3 is a schematic structural diagram of an electronic device provided by the present application.
Detailed Description
Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
As mentioned in the background art, the prior art has the problems that the time for manual operation is long and accidents are easy to cause by a driver due to the influence of cross wind in the running process of the vehicle. In contrast, the method adopts a mode of determining the reverse deflection angle of the steering wheel based on the current transverse deflection distance of the vehicle, the transverse deflection distance threshold and the specific mapping relation, further judging the termination distance, controlling the vehicle to travel the termination distance according to the reverse deflection angle of the steering wheel and then returning to the normal position, and realizing self-adaptive adjustment in the whole process, thereby having short time consumption and improving the safety. The present application will be described in further detail with reference to examples.
Example 1
Fig. 1 is a flowchart of a vehicle driving control method provided in the present embodiment, which is suitable for driving control during running of a vehicle. The method may be performed by a vehicle driving control device, which may be configured by software and/or hardware, and is generally integrated in an electronic apparatus, where the electronic apparatus may be a vehicle controller or a vehicle body controller, and for understanding convenience, each step in the control method of this embodiment uses the vehicle controller as an execution body.
As shown in fig. 1, the present embodiment provides a vehicle driving control method, including the steps of:
S110, judging whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold value or not in response to the influence of the lateral wind on the vehicle.
The current vehicle transverse offset distance refers to the transverse distance from the beginning of the vehicle affected by transverse wind to the current data acquisition time, and the transverse direction refers to the direction perpendicular to the lane line. The period of data acquisition in this embodiment is typically no more than 20ms. By "lateral offset distance threshold" is meant the maximum value of the lateral offset distance that a vehicle can take, above which the probability of an accident is greatly increased, thus requiring timely intervention to reduce the lateral offset distance of the vehicle.
In an alternative embodiment, before the responding vehicle is affected by the crosswind, determining whether the current vehicle lateral offset distance reaches the lateral offset distance threshold further comprises:
and determining a transverse offset distance threshold according to the width of the lane, the width of the vehicle, the position of the center line of the vehicle and the offset direction of the vehicle.
The present embodiment provides a manner of determining the lateral offset distance threshold, that is, determining the lateral offset distance threshold by the lane width, the vehicle width, the position of the vehicle center line, and the vehicle offset direction. The width of the lane can be obtained according to the type of the lane, and the width of different types of lanes is standard, for example, the width of the lanes of highways and national roads is 3.75m, and the width of the lanes can also be obtained by adopting images shot by cameras in front of vehicles through image conversion and calculation. The vehicle width is the vehicle width and can be obtained from a vehicle configuration table. The position of the vehicle center line is a position of the vehicle center line (a straight line perpendicular to the axle direction and equally dividing the axle) on the lane, and is, for example, located at the center of the lane, 10cm to the left of the center of the lane, 10cm to the right of the center of the lane, or the like. The vehicle shift direction refers to whether the vehicle shifts to the left or right with respect to normal running straight ahead.
In some examples, if the lane width is 3.75m, the vehicle width is 2m, the center line of the vehicle is the center of the lane, and the vehicle offset direction is offset to the right, the lateral offset distance threshold is (3.75-2)/2=0.875 m. If the width of the lane is 3.75m, the width of the vehicle is 2m, the center line of the vehicle is positioned at the position 10cm far to the left in the center of the lane, and the vehicle offset direction is offset to the right, the threshold value of the lateral offset distance is (3.75-2)/2+0.1=0.975 m.
In an alternative embodiment, before the responding vehicle is affected by the crosswind, determining whether the current vehicle lateral offset distance reaches the lateral offset distance threshold further comprises:
and detecting whether the vehicle is affected by crosswind or not according to the transverse acceleration of the vehicle, the current speed, the curvature radius of the lane, the detection data of the safety air bag detection module, the transverse offset distance threshold value and the preset driver reaction time.
"Vehicle lateral acceleration" refers to the acceleration of the vehicle in a direction perpendicular to the axle at the current acquisition time. The 'lane curvature radius' can be obtained through a GPS or navigation map, or can be obtained through calculation according to an image shot by a vehicle front-view camera, or a known minimum curvature radius of an expressway is adopted to be 250m. The "detection data of the airbag detection module" may also be understood as detection data of the airbag ECU, which includes data of whether or not the vehicle collides, from which it can be known whether or not the vehicle collides. The "preset driver reaction time" refers to a reaction time of the preset driver after the vehicle is found to be affected by the crosswind, and may be set according to an empirical value, for example, 1.5s. According to the method, whether the vehicle is affected by crosswind or not is detected by adopting the specific parameters, the parameters are easy and objective to obtain, and compared with a mode of only relying on subjective feeling of a driver, the obtained detection result is accurate and reliable.
Whether the vehicle is affected by the crosswind can be detected in the above manner, or information that the vehicle is affected by the crosswind can be input to the vehicle-mounted large screen based on the driver, and the vehicle-mounted large screen outputs the information to the vehicle driving control device.
In an alternative embodiment, the determining whether the vehicle is affected by the crosswind according to the lateral acceleration of the vehicle, the current vehicle speed, the radius of curvature of the lane, the detection data of the airbag detection module, the lateral offset distance threshold value, and the preset driver reaction time includes:
judging whether the vehicle is in a fierce driving mode or not according to the transverse acceleration of the vehicle, the current speed and the curvature radius of the lane;
determining whether a vehicle collides according to detection data of the airbag detection module;
Judging whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, the lateral offset distance threshold value and the preset driver reaction time;
in the case where the vehicle is not in the hard driving mode, the vehicle is not involved in a collision, and the lateral acceleration of the vehicle exceeds the limit, it is determined that the vehicle is affected by the crosswind.
In the present embodiment, whether the vehicle is in the hard driving mode, whether a collision occurs, and whether the vehicle lateral acceleration exceeds a threshold is determined by a specific method, and when the vehicle is not in the hard driving mode, the vehicle is not collided, and the vehicle lateral acceleration exceeds a threshold, the vehicle is determined to be affected by the lateral wind, and when the vehicle is not in the hard driving mode, the vehicle is not collided, and the vehicle lateral acceleration does not occur at the same time or all of them do not occur, the vehicle is determined to be not affected by the lateral wind, for example, the vehicle is determined to be in the hard driving mode, the vehicle is not collided, and the vehicle lateral acceleration exceeds a threshold, and the vehicle is considered to be unaffected by the lateral wind.
In an alternative embodiment, the determining whether the vehicle is in the aggressive driving mode according to the lateral acceleration of the vehicle, the current speed of the vehicle and the radius of curvature of the lane includes:
Determining the turning transverse acceleration of the vehicle according to the current speed and the curvature radius of the lane;
And judging whether the vehicle is in a fierce driving mode or not according to the vehicle lateral acceleration and the vehicle turning lateral acceleration.
"Vehicle turning lateral acceleration" refers to acceleration perpendicular to the axle direction when the vehicle turns. The vehicle can generate transverse acceleration during normal turning or violent driving, the transverse acceleration of the vehicle turning is firstly determined according to the current vehicle speed and the curvature radius of a lane, whether the vehicle is in a violent driving mode is further judged according to the transverse acceleration of the vehicle and the transverse acceleration of the vehicle turning, if the transverse acceleration of the vehicle is larger than the transverse acceleration of the vehicle turning, the vehicle is not in the violent driving mode, if the transverse acceleration of the vehicle is smaller than or equal to the transverse acceleration of the vehicle turning, the vehicle is in the normal driving mode such as normal turning.
Alternatively, the vehicle turning lateral acceleration a may be calculated using the following formula: Wherein For the current vehicle speed, R 1 is the lane radius of curvature. In some examples, if the current vehicle speed is 120km/h (53.6 m/s) and the lane radius of curvature is 250m, the vehicle cornering lateral acceleration a=53.6 2/250=11.5m/s2.
In an alternative embodiment, the determining whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, the lateral offset distance threshold value and the preset driver reaction time includes:
determining a vehicle lateral acceleration threshold according to the lateral offset distance threshold and a preset driver reaction time;
and judging whether the vehicle transverse acceleration exceeds the limit according to the vehicle transverse acceleration and the vehicle transverse acceleration threshold value.
The "vehicle lateral acceleration threshold value" refers to a maximum value of lateral acceleration that the vehicle can produce in a case where the vehicle is not affected by a crosswind or is affected by a less strong wind force but the driver can handle, exceeding the maximum value indicates that the vehicle may be affected by a crosswind. According to the embodiment, firstly, a vehicle transverse acceleration threshold is determined according to a transverse offset distance threshold and a preset driver reaction time, and then whether the vehicle transverse acceleration exceeds the threshold is judged according to the vehicle transverse acceleration and the vehicle transverse acceleration threshold, if the vehicle transverse acceleration is larger than the vehicle transverse acceleration threshold, the vehicle transverse acceleration is indicated to be out of limit, and if the vehicle transverse acceleration is smaller than or equal to the vehicle transverse acceleration threshold, the vehicle transverse acceleration is indicated to be out of limit.
Optionally, the vehicle lateral acceleration thresholdThe following formula can be used for calculation: Wherein, the method comprises the steps of, wherein, 1 As the lateral offset distance threshold value,For the current vehicle speed,For a preset driver reaction time. In some examples, if the lateral offset distance threshold is 0.875m, the current vehicle speed is 120km/h (53.6 m/s), the preset driver reaction time is 1.5s, the vehicle lateral acceleration threshold=2*0.875/1.52=0.78m/s2。
And S120, when the current vehicle lateral offset distance reaches a lateral offset distance threshold, determining a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relation of the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle.
When the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, the vehicle cannot be timely adjusted to the normal running direction through the rapid response of the driver, and the steering wheel rotation angle needs to be automatically adjusted in an intervening mode. It should be appreciated that if the current vehicle lateral offset distance does not reach the lateral offset distance threshold, then steps S120 and thereafter need not be performed. "steering wheel reverse yaw angle" refers to the angle of rotation of the steering wheel opposite the direction of vehicle offset for correcting the lateral offset that occurs in the vehicle.
The mapping relation can be calibrated in advance, and the calibration method comprises the steps of controlling the steering wheel of the vehicle to apply specific steering wheel torque to return to the right according to the reverse direction of the transverse acceleration under the condition that the vehicle is not turned over under the condition of different vehicle speeds and different transverse offset distances, controlling the steering wheel to reversely rotate until the transverse offset distance of the vehicle is 0, and obtaining the steering wheel reverse deflection angle which is obtained through calibration. Different steering wheel torques can calibrate different steering wheel reverse deflection angles (comfort is affected, the larger the torque is, the larger the steering wheel reverse deflection angle is, a user can feel more abrupt, frightening is caused, and the like). The magnitude of the steering wheel reverse deflection angle affects the time and the termination distance of vehicle offset compensation, and the smaller the steering wheel reverse deflection angle is, the larger the time and the termination distance of the offset compensation are, but the time is superior to the time for a driver to manually control the steering wheel to finish the vehicle offset compensation. The map may be stored in the vehicle driving control device, and may be called when in use.
S130, determining a termination distance according to the steering wheel reverse deflection angle, the transverse offset distance threshold and the wheel wheelbase.
In an alternative embodiment, the determining the termination distance according to the steering wheel reverse yaw angle, the lateral offset distance threshold, and the wheel base includes:
determining a turning radius according to the steering wheel reverse deflection angle and the wheel wheelbase;
and determining a termination distance according to the turning radius and the transverse offset distance threshold.
In the embodiment, the turning radius is determined according to the steering wheel reverse deflection angle and the wheel wheelbase, and the termination distance is determined by combining the turning radius. "turning radius" refers to the radius that the vehicle will correspond to when returning at the reverse yaw angle of the steering wheel. "termination distance" refers to the distance the vehicle travels from beginning reverse yaw to returning.
Optionally, turning radiusThe following formula can be used for calculation:, As the wheel base of the vehicle, the wheel, Is the reverse steering angle.
Optionally, the termination distanceThe following formula can be used for calculation: Wherein In order to correct the central angle in the process of centering,, 1 Is a lateral offset distance threshold.
And S140, controlling the vehicle to run according to the steering wheel reverse deflection angle, and controlling the vehicle to run back when the vehicle running distance reaches the termination distance.
The steering wheel reverse deflection angle and the termination distance are obtained through the S120 and the S130, and when the driving distance of the vehicle according to the steering wheel reverse deflection angle reaches the termination distance, the vehicle is represented to return to the normal driving direction, and the vehicle is controlled to return to the normal driving direction. It is understood that controlling the vehicle to return to running means controlling the steering wheel to return to running and then continuing.
The vehicle driving control method comprises the steps of responding to the influence of crosswind on a vehicle, judging whether the current vehicle lateral offset distance reaches a lateral offset distance threshold value, determining a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relation of the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle under the condition that the current vehicle lateral offset distance reaches the lateral offset distance threshold value, determining a termination distance according to the steering wheel reverse deflection angle, controlling the vehicle to run according to the steering wheel reverse deflection angle, and controlling the vehicle to return to running when the vehicle running distance reaches the termination distance. According to the method, after the vehicle is affected by the cross wind, the steering wheel reverse deflection angle is obtained based on the current vehicle transverse deflection distance, the transverse deflection distance threshold value and a specific mapping relation, the steering wheel reverse deflection angle and the wheel wheelbase are combined to determine the termination distance, and finally the vehicle is controlled to travel according to the steering wheel reverse deflection angle and return to the termination distance, so that the whole process is free of operation of a driver, the adjustment can be performed adaptively, the adjustment is rapid, the time for returning the vehicle from the influence of the cross wind to the return travel is extremely short, the time for returning the vehicle from the influence of the cross wind can be reduced to a millisecond level, and the driving safety is greatly improved.
Example 2
As shown in fig. 2, the present embodiment provides a vehicle driving control apparatus including:
A judging module 201, configured to judge whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold in response to the vehicle being affected by the cross wind;
The steering wheel reverse deflection angle determining module 202 is configured to determine a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to a mapping relationship between the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle when the current vehicle lateral offset distance reaches a lateral offset distance threshold;
a termination distance determining module 203, configured to determine a termination distance according to the steering wheel reverse yaw angle, the lateral offset distance threshold, and a wheel base;
And the control running module 204 is used for controlling the vehicle to run according to the steering wheel reverse deflection angle, and controlling the vehicle to run back when the running distance of the vehicle reaches the termination distance.
The device is used for executing the method, and therefore has at least the functional module and the beneficial effects corresponding to the method.
Example 3
As shown in fig. 3, the present embodiment provides an electronic device, including:
at least one processor, and
A memory communicatively coupled to at least one of the processors, wherein,
The memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the method described above. At least one processor in the electronic device is capable of performing the above-described method and thus has at least the same advantages as the above-described method.
Optionally, the electronic device further includes an interface for connecting the components, including a high-speed interface and a low-speed interface. The various components are interconnected 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 electronic device, including instructions stored in or on memory to display graphical information of a GUI (GRAPHICAL USER INTERFACE ) on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors may be used with multiple memories, and/or multiple buses may be used with multiple memories, if desired. Also, multiple electronic devices (e.g., as a server array, a set of blade servers, or a multi-processor system) may be connected, with each device providing some of the necessary operations. One processor 301 is illustrated in fig. 3.
The memory 302 is a computer-readable storage medium, and may be used to store a software program, a computer-executable program, and a module, such as program instructions/modules corresponding to a vehicle driving control method in an embodiment of the present application (for example, a determination module in a vehicle driving control apparatus, a steering wheel reverse yaw angle determination module, a termination distance determination module, and a control running module). The processor 301 executes various functional applications of the apparatus and data processing, namely, implements the above-described vehicle driving control method by running software programs, instructions, and modules stored in the memory 302.
The memory 302 may mainly 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 terminal, etc. In addition, memory 302 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 302 may further include memory located remotely from processor 301, which may be connected to the 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 electronic device may further comprise input means 303 and output means 304. The processor 301, memory 302, input device 303, and output device 304 may be connected by a bus or other means, for example in fig. 3.
The input means 303 may receive input digital or character information, and the output means 304 may include a display device, an auxiliary lighting means (e.g., LED), a tactile feedback means (e.g., vibration motor), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device may be a touch screen.
Example 4
The present embodiment provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the above-described method. The computer instructions on the computer-readable storage medium are for causing a computer to perform the above method and thus have at least the same advantages as the above method.
Any combination of one or more computer readable media may be employed in the present application. The medium may be a computer readable signal medium or a computer readable storage medium. The medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of a medium (a non-exhaustive list) include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF (Radio Frequency) and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution disclosed in the present application can be achieved, and are not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (10)
Priority Applications (1)
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| CN101332796A (en) * | 2007-06-28 | 2008-12-31 | 日产自动车株式会社 | Lane deviation prevention controller and control method and vehicle control system |
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