CN113460161B - Vehicle steering control method and device - Google Patents
Vehicle steering control method and device Download PDFInfo
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- CN113460161B CN113460161B CN202110738127.3A CN202110738127A CN113460161B CN 113460161 B CN113460161 B CN 113460161B CN 202110738127 A CN202110738127 A CN 202110738127A CN 113460161 B CN113460161 B CN 113460161B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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Abstract
The invention discloses a vehicle steering control method and a vehicle steering control device, wherein first target information of a target vehicle is obtained, a decision control signal is generated based on the first target information, and when the signal value of the decision control signal is the first signal value, whether second target information meets a preset steering limit value condition or not is determined, wherein the preset steering limit value condition is used for limiting the steering angle of the target vehicle within a preset range; if not, acquiring third target information of the target vehicle as target input data, inputting the target input data into a preset steering safety prediction model, and acquiring an output result, wherein the output result comprises the steps of limiting the steering angle of the target vehicle within the preset range and not limiting the steering angle of the target vehicle. The scheme can restrict the violation and unreasonable lane change behaviors of the driver and inhibit the violation and unreasonable lane change of the driver.
Description
Technical Field
The invention relates to the technical field of automobile safe steering, in particular to a vehicle steering control method and device.
Background
With the increasing number of vehicles, the problem of traffic jam is serious, and part of the reasons for causing the traffic jam are caused by that drivers do not obey the traffic rules and change lanes unreasonably. The unreasonable turning lane change which does not comply with the traffic rules not only disturbs and destroys the normal traffic order to cause traffic jam, but also has potential safety hazard and is easy to cause traffic accidents. The driver must therefore be regulated to drive the vehicle while at the same time constraining the driver's undesirable driving behavior.
Therefore, how to scientifically control the steering of the vehicle to improve the traffic safety is a technical problem which needs to be solved urgently at the present stage.
Disclosure of Invention
The invention discloses a vehicle steering control method and device, which are used for improving the safety of a vehicle in a driving process.
The embodiment of the invention provides the following scheme:
in a first aspect, an embodiment of the present invention provides a vehicle steering control method, including the following steps:
acquiring first target information of a target vehicle, and generating a decision control signal based on the first target information, wherein when a signal value of the decision control signal is a first signal value, the decision control signal indicates that a steering angle limiting function of the target vehicle is activated, and when the signal value of the decision control signal is a second signal value, the decision control signal indicates that the steering angle limiting function is not activated;
acquiring second target information of the target vehicle, and determining whether the second target information meets a preset steering limit condition when a signal value of the decision control signal is the first signal value, wherein the preset steering limit condition is used for limiting a steering angle of the target vehicle within a preset range;
if not, when the lane line closest to the target vehicle is a dotted line, acquiring third target information of the target vehicle as target input data, inputting the target input data into a preset steering safety prediction model, and acquiring an output result, wherein the output result comprises the step of limiting the steering angle of the target vehicle within the preset range and the step of not limiting the steering angle of the target vehicle.
In one possible embodiment, the obtaining first target information of the target vehicle includes:
acquiring an auxiliary driving state of the target vehicle, a fault state of the target vehicle and fault states of other vehicles at a preset distance from the target vehicle;
generating a decision control signal based on the first target information, comprising:
generating a diagnosis monitoring signal based on the driving assistance state, the fault state of the target vehicle and the fault state of the other vehicle, wherein when the signal value of the diagnosis monitoring signal is a third signal value, the current state of the target vehicle is indicated to be in a state of activating the steering angle limit function, and when the signal value of the diagnosis monitoring signal is a fourth signal value, the current state of the target vehicle is indicated to be not in a state of activating the steering angle limit function;
generating the decision control signal based on the diagnostic monitoring signal.
In one possible embodiment, the first target signal comprises a steering wheel angle and a steering angular velocity of the target vehicle, and the generating the decision control signal based on the diagnostic monitor signal comprises:
and when the signal value of the diagnosis monitoring signal is the third signal value, the steering wheel angle meets a preset steering angle range, the steering angular speed meets a preset steering angular speed, and a decision control signal with the signal value of the first signal value is generated.
In one possible embodiment, the obtaining second target information of the target vehicle includes:
acquiring a steering wheel corner of the target vehicle, a minimum distance between the target vehicle and an adjacent lane line, a lane line state closest to the target vehicle, a minimum distance between the target vehicle and a front vehicle, a minimum distance between the target vehicle and a rear vehicle, a speed difference between the target vehicle and the front vehicle, and a speed difference between the target vehicle and the rear vehicle;
the preset steering limit condition is a first limit condition or a second limit condition;
the first limiting condition is as follows: the steering wheel angle of the target vehicle is larger than a first angle, the minimum distance between the target vehicle and an adjacent lane line is smaller than a first distance, the state of the lane line closest to the target vehicle is a broken line, the minimum distance between the target vehicle and a front vehicle is smaller than a second distance or the minimum distance between the target vehicle and a rear vehicle is smaller than a third distance, and the speed difference between the target vehicle and the front vehicle is larger than a first speed or the speed difference between the target vehicle and the rear vehicle is smaller than a second speed;
the second limiting condition is as follows: the turning angle of the steering wheel of the target vehicle is larger than a second angle, the minimum distance between the target vehicle and the adjacent lane line is smaller than a fourth distance, and the lane line closest to the target vehicle is in a non-dotted line state.
In a possible embodiment, the preset steering safety prediction model is trained by:
acquiring a training sample set, wherein each training sample corresponds to label information, and for each training sample, the training sample comprises a minimum distance between a sample vehicle and an adjacent lane line, a minimum distance between the sample vehicle and a front vehicle, a minimum distance between the sample vehicle and a rear vehicle, a speed difference between the sample vehicle and the front vehicle, and a speed difference between the sample vehicle and the rear vehicle;
constructing an initial steering safety prediction model;
and training the initial steering safety prediction model based on the training sample set and the label information corresponding to each training sample to obtain a trained preset steering safety prediction model.
In one possible embodiment, the determining whether the second target information satisfies a preset steering limit condition, and after the outputting results in limiting the steering angle of the target vehicle within the preset range, the method further includes:
and sending the preset range to a steering system of the target vehicle so that the steering system controls the steering angle of the target vehicle within the preset range.
In one possible embodiment, after transmitting the preset range to a steering system of the target vehicle, the method further comprises:
determining the state of a lane line of the target vehicle closest to the target vehicle;
when the lane line state is a dotted line, generating first voice reminding information;
and generating second voice reminding information when the lane line state is a non-dotted line.
In a second aspect, an embodiment of the present invention provides a vehicle steering control apparatus, including:
the system comprises a first processing module, a second processing module and a control module, wherein the first processing module is used for acquiring first target information of a target vehicle and generating a decision control signal based on the first target information, wherein when the signal value of the decision control signal is a first signal value, the decision control signal indicates that the steering angle limiting function of the target vehicle is activated, and when the signal value of the decision control signal is a second signal value, the decision control signal indicates that the steering angle limiting function is not activated;
the second processing module is used for acquiring second target information of the target vehicle and determining whether the second target information meets a preset steering limit value condition when the signal value of the decision control signal is the first signal value, wherein the preset steering limit value condition is used for limiting the steering angle of the target vehicle within a preset range;
and the third processing module is used for acquiring third target information of the target vehicle as target input data when the second target information does not meet the preset steering limit value condition and a lane line closest to the target vehicle is a broken line, inputting the target input data into a preset steering safety prediction model, and acquiring an output result, wherein the output result comprises the steps of limiting the steering angle of the target vehicle in the preset range and not limiting the steering angle of the target vehicle.
In one possible embodiment, the first processing module includes:
the first acquisition module is used for acquiring the auxiliary driving state of the target vehicle, the fault state of the target vehicle and the fault states of other vehicles which are a preset distance away from the target vehicle;
a first generating module, configured to generate a decision control signal based on the first target information;
a second generation module, configured to generate a diagnosis monitoring signal based on the driving assistance state, the fault state of the target vehicle, and the fault state of the other vehicle, where when a signal value of the diagnosis monitoring signal is a third signal value, it indicates that the current state of the target vehicle is in a state where the steering angle limit function is activated, and when a signal value of the diagnosis monitoring signal is a fourth signal value, it indicates that the current state of the target vehicle is not in a state where the steering angle limit function is activated;
generating the decision control signal based on the diagnostic monitoring signal.
In a possible embodiment, the first generating module includes:
and the third generating module is used for generating a decision control signal with the signal value as the first signal value when the signal value of the diagnosis monitoring signal is the third signal value, the steering wheel angle meets a preset steering angle range, and the steering angular speed meets a preset steering angular speed.
In a possible embodiment, the second processing module includes:
a second obtaining module, configured to obtain a steering wheel angle of the target vehicle, a minimum distance between the target vehicle and an adjacent lane line, a lane line state closest to the target vehicle, a minimum distance between the target vehicle and a preceding vehicle, a minimum distance between the target vehicle and a following vehicle, a speed difference between the target vehicle and the preceding vehicle, and a speed difference between the target vehicle and the following vehicle;
the first preset module is used for presetting a steering limit value condition as a first limit condition or a second limit condition;
the first limiting condition is as follows: the steering wheel angle of the target vehicle is larger than a first angle, the minimum distance between the target vehicle and an adjacent lane line is smaller than a first distance, the state of the lane line closest to the target vehicle is a broken line, the minimum distance between the target vehicle and a front vehicle is smaller than a second distance or the minimum distance between the target vehicle and a rear vehicle is smaller than a third distance, and the speed difference between the target vehicle and the front vehicle is larger than a first speed or the speed difference between the target vehicle and the rear vehicle is smaller than a second speed;
the second limiting condition is as follows: the turning angle of the steering wheel of the target vehicle is larger than a second angle, the minimum distance between the target vehicle and the adjacent lane line is smaller than a fourth distance, and the lane line closest to the target vehicle is in a non-dotted line state.
In a possible embodiment, the third processing module includes:
the third acquisition module is used for acquiring a training sample set, each training sample corresponds to label information, and for each training sample, the training sample comprises a minimum distance between a sample vehicle and an adjacent lane line, a minimum distance between the sample vehicle and a front vehicle, a minimum distance between the sample vehicle and a rear vehicle, a speed difference between the sample vehicle and the front vehicle, and a speed difference between the sample vehicle and the rear vehicle;
the first construction module is used for constructing an initial steering safety prediction model;
and training the initial steering safety prediction model based on the training sample set and the label information corresponding to each training sample to obtain a trained preset steering safety prediction model.
In a possible embodiment, the third processing module further includes:
and the first sending module is used for sending the preset range to a steering system of the target vehicle so that the steering system controls the steering angle of the target vehicle within the preset range.
In a possible embodiment, the first sending module includes:
the first determination module is used for determining the state of the lane line closest to the target vehicle;
the fourth generation module is used for generating first voice reminding information when the lane line state is a dotted line;
and the fifth generating module is used for generating second voice reminding information when the lane line state is a non-dotted line.
In a third aspect, an embodiment of the present invention provides a vehicle steering control apparatus, including a memory, a processor, and a computer program stored on the memory and operable on the processor, where the processor implements the steps of the method in the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method described in the first aspect.
The vehicle steering control method and the vehicle steering control device have the following advantages that:
the vehicle steering control method comprises the steps of obtaining first target information of a target vehicle, generating a decision control signal based on the first target information, wherein when the signal value of the decision control signal is a first signal value, the decision control signal indicates that a steering angle limiting function of the target vehicle is activated, and when the signal value of the decision control signal is a second signal value, the decision control signal indicates that the steering angle limiting function is not activated; acquiring second target information of the target vehicle, and determining whether the second target information meets a preset steering limit condition when the signal value of the decision control signal is the first signal value, wherein the preset steering limit condition is used for limiting the steering angle of the target vehicle within a preset range; if not, when the lane line closest to the target vehicle is a dotted line, acquiring third target information of the target vehicle as target input data, inputting the target input data into a preset steering safety prediction model, and acquiring an output result, wherein the output result comprises the step of limiting the steering angle of the target vehicle within the preset range and the step of not limiting the steering angle of the target vehicle. According to the scheme, the method and the device can restrain the behaviors of violation of regulations and unreasonable lane changing of the driver, restrain the violation of regulations and unreasonable lane changing of the driver, are particularly suitable for restraining the lane changing of fault-free vehicles in the purposes of solid line lane changing and lane grabbing of an overhead/expressway on an abnormal road, prevent the vehicles from changing lanes illegally, adding plugs and blocking and colliding, reduce the probability of traffic accidents, improve the reliability and safety of lane changing during vehicle running, and improve the safety of driving and the friendliness of the road.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of a method for controlling steering of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an intelligent controller provided by an embodiment of the present disclosure;
FIG. 3 is a flow chart of a steering control flow provided by an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a vehicle steering control device provided in an embodiment of the present disclosure.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the embodiments of the present specification are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present specification are detailed descriptions of the technical solutions of the embodiments of the present specification, and are not limitations of the technical solutions of the present specification, and the technical features of the embodiments and embodiments of the present specification may be combined with each other without conflict.
The embodiment can be applied to an intelligent controller of an automobile and used for controlling the steering of the automobile.
An embodiment of the present invention provides a vehicle steering control method, as shown in fig. 1, which is a flowchart of the vehicle steering control method provided in an embodiment of the present specification, and the method includes the following steps:
step S11: acquiring first target information of a target vehicle, and generating a decision control signal based on the first target information, wherein when a signal value of the decision control signal is a first signal value, the decision control signal indicates that a steering angle limiting function of the target vehicle is activated, and when the signal value of the decision control signal is a second signal value, the decision control signal indicates that the steering angle limiting function is not activated;
in this embodiment, the target vehicle may be a vehicle currently driven by a user, and the target vehicle may be provided with various sensors, such as a steering angular velocity sensor, a steering wheel angle sensor, a vehicle speed sensor, a radar, and the like, for collecting various information on the target vehicle. In addition, the target vehicle may also communicate with a vehicle-road coordination system, and may send the vehicle information of the target vehicle collected by the sensor to the vehicle-road coordination system, or may acquire the vehicle information of another vehicle from the vehicle-road coordination system. The first target information may include vehicle information of the target vehicle, vehicle information of other vehicles located near the target vehicle, and road information of a road on which the target vehicle is located.
It should be noted that the steering angle limiting function in the embodiment of the present specification may be used to restrict a trouble-free vehicle from making a solid lane change on an abnormal road and/or making a lane change for a lane-preemption purpose. In the event of a vehicle malfunction or other dangerous situation, there is a possibility that the risk of the target vehicle may be increased if the steering angle limiting function is activated. Therefore, in the embodiments of the present specification, in order to ensure vehicle safety when the steering angle limiting function is turned on by the target vehicle, the decision control signal is generated based on the first target information. If the signal value of the decision control signal is the first signal value, it indicates that the steering angle limiting function can be activated, and if the signal value of the decision control signal is the second signal value, it indicates that there is a risk that the steering angle limiting function is activated at this time, and therefore, the activation of the steering angle limiting function is prohibited. The first signal value and the second signal value may be set according to actual needs, and in this embodiment of the present specification, the first signal value is 1, and the second signal value is 0.
In a specific implementation process, the acquiring first target information of a target vehicle includes: acquiring an auxiliary driving state of the target vehicle, a fault state of the target vehicle and fault states of other vehicles at a preset distance from the target vehicle; generating a decision control signal based on the first target information, comprising: generating a diagnosis monitoring signal based on the driving assistance state, the fault state of the target vehicle and the fault state of the other vehicle, wherein when the signal value of the diagnosis monitoring signal is a third signal value, the current state of the target vehicle is indicated to be in a state of activating the steering angle limit function, and when the signal value of the diagnosis monitoring signal is a fourth signal value, the current state of the target vehicle is indicated to be not in a state of activating the steering angle limit function; generating the decision control signal based on the diagnostic monitoring signal.
Specifically, the failure state of the target vehicle includes a non-failure state and a failure-present state, wherein the failure-present state may include a tire air pressure failure, a brake failure, and the like. The other vehicles may be vehicles within a preset range from the target vehicle, for example, vehicles within 10m or 15m from the target vehicle, and the fault states of the other vehicles may include a no-fault state and a fault state, wherein the fault state may include a fault affecting normal running of the vehicle, for example, whether the minimum distance between the target vehicle and an adjacent running vehicle is safe or not, and the fault state of the other vehicles is characterized by the presence of the target vehicle and the adjacent running vehicle when the minimum distance between the target vehicle and the adjacent running vehicle is less than 2 m. The driving assist may include automatic driving, auto cruise driving, and the like, and the driving assist state may include a driving assist activated state and an inactivated state.
Generating a third signal value of the diagnosis monitoring signal when the auxiliary driving state of the target vehicle is an inactivated state, the fault state of the target vehicle is a no-fault state, and the fault states of other vehicles are no-fault states; in the embodiment of the present specification, a fourth signal value of the diagnostic monitor signal is generated when the driving assistance state of the target vehicle is an active state, the failure state of the target vehicle is a state in which a failure exists, or the failure state of another vehicle is a state in which a failure exists.
In an embodiment of the invention, after the diagnostic monitoring signal is generated, a decision control signal is further generated. The signal value of the decision control signal generated based on the diagnostic monitor signal may be the first signal value or the second signal value. Next, the decision control signals for generating the first signal value and the second signal value will be described.
First, a decision control signal for generating a first signal value will be explained.
In a specific embodiment, the first target signal includes a steering wheel angle and a steering angular velocity of the target vehicle, and the generating the decision control signal based on the diagnostic monitor signal includes: and when the signal value of the diagnosis monitoring signal is the third signal value, the steering wheel angle meets a preset steering angle range, the steering angular speed meets a preset steering angular speed, and a decision control signal with the signal value of the first signal value is generated.
Specifically, when the third signal value of the diagnostic monitoring signal is generated, that is, the target vehicle is not currently in fault and the assistant driving system is not activated, the steering wheel angle and the steering angular speed of the target vehicle are further obtained and are respectively matched with a preset angle range and a preset steering angular speed, wherein the preset angle range and the preset steering angular speed can be set according to actual needs, in the embodiment of the present specification, the preset angle range can be less than 90 °, and the preset steering angular speed can be less than 30 rad/s. And when the steering wheel angle of the target vehicle meets the preset steering angle range and the steering angular speed meets the preset steering angular speed, generating a decision control signal with a signal value as a first signal value so as to activate the steering angle limiting function of the target vehicle.
Next, a decision control signal for generating a second signal value will be explained.
In the embodiment of the present specification, the decision control signal for generating the second signal value may include, but is not limited to, the following cases:
(1) when the diagnosis monitoring signal is a fourth signal value, generating a decision control signal of a second signal value;
(2) when the diagnosis monitoring signal is a third signal value, and the steering wheel angle of the target vehicle is more than or equal to 90 degrees and the vehicle speed is more than or equal to 20km/h, generating a decision control signal of a second signal value;
(3) when the diagnosis monitoring signal is a third signal value and the steering angular speed of the target vehicle is more than or equal to 30rad/s, generating a decision control signal of a second signal value;
(4) when the diagnosis monitoring signal is a third signal value and the road where the target vehicle is located is a non-overhead and non-highway section, generating a decision control signal of a second signal value;
(5) and when the diagnosis monitoring signal is the third signal value and a traffic accident occurs in front of the target vehicle, generating a decision control signal of the second signal value.
It should be noted that, when generating the decision control signal, it is necessary to correspondingly obtain the target vehicle information and the road information of the road where the target vehicle is located under the different conditions, and determine the generation condition of the decision control signal under each condition based on the vehicle information and the road information, so as to determine the final signal value of the decision control signal, where the specific range of the parameter may be set according to the actual need, and the listed parameter range is only exemplified and not limited.
In step S12, when the steering angle limiting function is activated when the decision control signal is the first signal value, it may be further determined whether to limit the steering angle of the target vehicle according to the second target information.
Specifically, the second target information of the target vehicle amount may include vehicle information of the target vehicle, vehicle information of other vehicles located near the target vehicle, and road information of a road on which the target vehicle is located.
In an embodiment of the present invention, the acquiring the second target information of the target vehicle may specifically include:
the method comprises the steps of obtaining a steering wheel angle of the target vehicle, a minimum distance between the target vehicle and an adjacent lane line, a lane line state closest to the target vehicle, a minimum distance between the target vehicle and a front vehicle, a minimum distance between the target vehicle and a rear vehicle, a speed difference between the target vehicle and the front vehicle, and a speed difference between the target vehicle and the rear vehicle.
The preset steering limit condition is a first limit condition or a second limit condition;
the first limiting condition is as follows: the steering wheel angle of the target vehicle is larger than a first angle, the minimum distance between the target vehicle and an adjacent lane line is smaller than a first distance, the state of the lane line closest to the target vehicle is a broken line, the minimum distance between the target vehicle and a front vehicle is smaller than a second distance or the minimum distance between the target vehicle and a rear vehicle is smaller than a third distance, and the speed difference between the target vehicle and the front vehicle is larger than a first speed or the speed difference between the target vehicle and the rear vehicle is smaller than a second speed;
the second limiting condition is as follows: the turning angle of the steering wheel of the target vehicle is larger than a second angle, the minimum distance between the target vehicle and the adjacent lane line is smaller than a fourth distance, and the lane line closest to the target vehicle is in a non-dotted line state.
In the embodiment of the present invention, specific values of the first angle, the second angle, the first distance, the second distance, the third distance, the fourth distance, the first speed, and the second speed, which are related in the first limiting condition and the second limiting condition, may be configured according to actual needs, and are not limited herein.
For convenience of explanation, in the embodiment of the present invention, the first angle and the second angle are 0 °, the first distance and the fourth distance are 2cm, the second distance is 2m, the third distance is 1m, and the first speed and the second speed are 10 km/h. When the second target information of the target vehicle meets the first limiting condition or the second limiting condition, it is indicated that there is a driving risk when steering lane changing is currently performed, and at the moment, the steering angle of the target vehicle is limited within a preset range. In the embodiment of the present invention, the preset range may be configured to have a steering angle of 0 °, that is, to prohibit the target vehicle from steering.
Further, if the second target information does not satisfy the preset steering restriction condition, it may be determined whether to restrict the steering of the target vehicle according to step S13.
Specifically, when the lane line closest to the target vehicle is a non-broken line, the steering lane change of the target vehicle is directly limited, that is, the steering angle of the target vehicle is limited within a preset range. When the lane line closest to the target vehicle is a broken line, whether the currently executed steering lane change is safe, that is, whether the steering angle of the target vehicle is limited is further determined based on a preset steering safety prediction model. If the steering angle of the target vehicle is not limited based on the safety prediction model, the vehicle steering control method may be re-entered to perform logic control on the target vehicle.
The third target information may include vehicle information of the target vehicle, vehicle information of other vehicles located near the target vehicle, and road information of a road on which the target vehicle is located. Specifically, the third target information may include: the minimum distance between the target vehicle and the adjacent lane line, the minimum distance between the target vehicle and the front vehicle, the minimum distance between the target vehicle and the rear vehicle, the speed difference between the target vehicle and the front vehicle, and the speed difference between the target vehicle and the rear vehicle.
The preset steering safety prediction model is obtained by training in the following mode: acquiring a training sample set, wherein each training sample corresponds to label information, and for each training sample, the training sample comprises a minimum distance between a sample vehicle and an adjacent lane line, a minimum distance between the sample vehicle and a front vehicle, a minimum distance between the sample vehicle and a rear vehicle, a speed difference between the sample vehicle and the front vehicle, and a speed difference between the sample vehicle and the rear vehicle; constructing an initial steering safety prediction model; and training the initial steering safety prediction model based on the training sample set and the label information corresponding to each training sample to obtain a trained preset steering safety prediction model.
Specifically, the training process of the preset steering safety prediction model is as follows:
a. a training sample set is obtained, and for each sample vehicle, a minimum distance dmin between the sample vehicle and an adjacent lane line, a speed difference between the sample vehicle (sample vehicle speed V) and a front vehicle (front vehicle speed V1), a speed difference between the sample vehicle (sample vehicle speed V) and a rear vehicle (rear vehicle speed V2), a minimum distance d1 between the sample vehicle and the front vehicle, a minimum distance d2 between the sample vehicle and the rear vehicle, an input variable X of a neural network, and X is (X1, X2, X3, X4, X5), where X1 is the minimum distance between the sample vehicle and the adjacent lane line, X2 is the speed difference between the sample vehicle and the front vehicle, X3 is the speed difference between the sample vehicle and the rear vehicle, X4 is the minimum distance between the sample vehicle and the front vehicle, and X5 is the minimum distance between the sample vehicle and the rear vehicle are selected.
b. An initial steering safety prediction model is constructed, in the embodiment of the invention, the initial steering safety model is a neural network with an input layer node of 5, a hidden layer node of 1 and an output layer node of 1; the predicted output result is 1, which represents no safety risk; the predicted output result is 0, which represents the occurrence of a traffic accident; setting the weight value W of the neural network prediction model to be (W1, W2, W3, W4 and W5), and setting the threshold value P to be Pj(p1, p2, p3, p4, p5), predicted output value
Wherein XTIs a transposed matrix variable.
c. Setting weight, threshold updating model, ejTo predict the error value, the learning rate is η, and the weight value wj+i＝wj+η*yj*ej(ii) a Threshold value pj+i＝pj+ejAnd i is a natural number which is sequentially increased.
d. Setting weight initial value W0Set the initial threshold value P to (3, -0.015,0.015,0.2,0.2)0Set the prediction error value e (-0.02, 0.1, -0.1, -0.15, -0.3)j(-0.01, 0.01, -0.01, -0.01, -0.01); setting the maximum number of iterations to 150000; the learning rate is 0.1; it should be noted that the selection of the above parameters can be set according to actual needs, and the selection is only exemplary and not limited herein.
e. Obtaining N training samples through a vehicle-road cooperative system, wherein the N samples [ Xn, Yn ] are randomly obtained and belong to N, and when Yn is 1, no safety risk exists; yn is 0, which represents the occurrence of a traffic accident. In the embodiment of the invention, the ratio of the traffic accident-free vehicle road to the traffic accident sample amount can be 2:3, and the trained steering safety prediction model is obtained as the preset steering safety prediction model by training the model and continuously correcting the weight and the threshold.
In the embodiment of the invention, if the safety prediction value output by the preset steering safety prediction model is 1, the current steering safety is indicated, and the steering angle of the target vehicle can not be limited. If the safety prediction value output by the preset steering safety prediction model is 0, it indicates that the current steering is dangerous, and the steering angle of the target vehicle needs to be limited within a preset range.
It should be noted that, after the preset steering safety prediction model outputs the safety prediction value, the steering angle of the target vehicle may be controlled within a preset time, for example, within 100ms after the decision control signal is received, the steering angle of the target vehicle is limited within a preset range or is not limited.
Specifically, the method further includes, after determining whether the second target information satisfies a preset steering limit condition and the output results in limiting the steering angle of the target vehicle within the preset range:
and sending the preset range to a steering system of the target vehicle so that the steering system controls the steering angle of the target vehicle within the preset range. The preset range can be a fixed value of 0 degrees or a threshold value, the vehicle keeps going straight by the fixed value of 0 degrees, and the target vehicle is kept to run in the current lane range in the threshold value. If the target vehicle is closer to the right lane line, the value of the right steering angle is positive, and the value of the left steering angle is negative; if the target vehicle is closer to the left lane line, the left steering angle value is positive, and the right steering angle value is negative.
In an embodiment of the present specification, after transmitting the preset range to a steering system of the target vehicle, the method further includes: determining the state of a lane line of the target vehicle closest to the target vehicle; when the lane line state is a dotted line, generating first voice reminding information; the first voice reminding information sends corresponding voice through the vehicle-mounted voice system, namely that a vehicle lane change inhibiting system is activated and dangerous lane change is not allowed; and when the lane line state is a non-dotted line, generating second voice reminding information, and sending corresponding voice through the vehicle-mounted voice system by the second voice reminding information, wherein the vehicle lane change inhibiting system is activated and the illegal lane change is not allowed. The triggering time of the voice prompt may be within a preset time length after the preset range is sent to the steering system, for example, within 100 ms.
In a specific implementation process, the vehicle steering control method provided by the embodiment of the invention can be implemented in an intelligent controller of an automobile selectively, as shown in fig. 2, the intelligent controller comprises a sensing module and a vehicle control unit, and the sensing module acquires vehicle information such as steering angular velocity, steering wheel angle, vehicle speed, distance between the vehicle and an adjacent vehicle, and road information such as road grade, traffic marking, traffic condition and the like through a steering angular velocity sensor, a steering wheel angle sensor, a vehicle speed sensor, a radar, the vehicle control unit and a vehicle path cooperative system; the information acquired by the sensing module is subjected to signal interaction with a finished automobile control unit through a CAN bus, a vehicle road cooperative system is subjected to signal interaction with the finished automobile control unit, the vehicle road cooperative system acquires a state signal of a vehicle from the finished automobile control unit, the finished automobile control unit acquires a road condition signal and a state signal of other vehicles from the vehicle road cooperative system, the finished automobile control unit performs logic judgment according to the acquired information, and sends an instruction to a steering system or a vehicle-mounted voice system of the automobile so as to control the vehicle to remind a driver of driving the automobile in a standard mode.
The intelligent controller comprises a diagnosis monitoring module, a decision control unit, a steering angle limit module and a voice reminding module, wherein the diagnosis monitoring module is used for sending out a diagnosis monitoring signal, the decision control unit is used for sending out a decision control signal, and the steering angle limit module is used for receiving the decision control signal and limiting the steering angle of a target vehicle within a preset range.
In the specific implementation process, the specific conditions of the decision control signal sent by the decision control unit are as follows:
(1) if the decision control unit receives a fourth signal value (0) sent by the diagnosis monitoring module, sending the second signal value (0) to the steering angle limit module;
(2) if the decision control unit receives a third signal value (1) sent by the diagnosis monitoring module, the steering wheel rotating angle is larger than or equal to 90 degrees, and the vehicle speed is larger than or equal to 20km/h, a second signal value (0) is sent to the steering angle limit module;
(3) if the decision control unit receives a third signal value (1) sent by the diagnosis and diagnosis monitoring module and the steering angle speed is larger than or equal to 30rad/s, sending a second signal value (0) to the steering angle limit module;
(4) if the decision control unit receives a third signal value (1) sent by the diagnosis monitoring module, and judges whether the current vehicle driving road is a non-overhead and non-highway section according to the road grade signal, a second signal value (0) is sent to the steering angle limit module;
(5) if the decision control unit receives the third signal value (1) sent by the diagnosis monitoring module and a traffic accident occurs in front of the vehicle, the decision control unit sends a second signal value (0) to the steering angle limit module;
(6) and if the decision control unit receives a third signal value (1) sent by the diagnosis monitoring module, the steering wheel angle is less than 90 degrees, the steering angle speed is less than 30rad/s, and the current vehicle runs on an overhead or high-speed road section and no traffic accident exists in front of the vehicle, the decision control unit sends the first signal value (1) to the steering angle limit module.
After the steering angle limiting module is activated, the decision control unit does not limit the steering angle of the target vehicle according to the state of the lane line obtained by the sensing module, wherein the lane line is a non-dotted line;
the lane lines are dotted lines, the decision control unit obtains the minimum distance between a target vehicle and the adjacent lane lines, the speed difference between the sample vehicle and a front vehicle, the speed difference between the sample vehicle and a rear vehicle and the minimum distance between the sample vehicle and the front vehicle according to the sensing module, the minimum distance between the sample vehicle and the rear vehicle is used as target input data, the target input data are input into a steering safety prediction model preset in the decision control unit, an output result is obtained, and the output result comprises the fact that the steering angle of the target vehicle is limited within a preset range and the steering angle of the target vehicle is not limited.
The steering angle of the target vehicle is limited within a preset range, the decision control unit sends a signal to the voice reminding module, and voice prompt is sent to a driver through the vehicle-mounted voice system.
In order to better understand the vehicle steering control method according to the embodiment of the present invention, as shown in fig. 3, taking the intelligent controller in fig. 2 as an example, a steering control flow of the target vehicle executed by the intelligent controller is described, specifically as follows:
after the target vehicle is electrified, the whole vehicle control unit in the target vehicle intelligent controller sends a signal to the CAN bus, whether the signal is lost due to signal failure is obtained through the CAN bus,
if not, judging whether to activate an auxiliary driving system or not;
if not, judging whether the target vehicle has a fault;
if not, judging whether other vehicles have faults or not;
if any one of the judgment processes is yes, generating a fourth signal value of the diagnosis monitoring signal; if all the signals are the third signal values, generating diagnosis monitoring signals, and sequentially judging based on the following procedures;
judging whether the steering wheel angle is more than or equal to 90 degrees;
if not, judging whether the steering angular speed is more than or equal to 30 rad/s;
if not, judging whether the road grade is an elevated or high-speed road section;
if yes, judging whether a traffic accident occurs in front of the target vehicle or not, and if not, sending a decision control signal of a first signal value to activate the steering angle limiting function of the target vehicle;
if the steering wheel angle is not satisfied to be more than or equal to 90 degrees, the steering angular speed is not satisfied to be more than or equal to 30rad/s, the road grade is not any of an overhead or highway section, and a traffic accident occurs in front of the target vehicle, the preset steering limit value is determined not to be satisfied, and the steering angle of the target vehicle is not limited.
After the steering wheel is judged to be at an angle of more than or equal to 90 degrees, whether the vehicle speed is more than or equal to 20Km/h can be judged. If so, the decision control signal activates the steering angle limiting function of the target vehicle based on other satisfying conditions; if not, judging whether the steering angular speed is more than or equal to 30rad/s, and entering the sequential judging process.
When no traffic accident happens in front of the target vehicle, the decision control unit sends enabling information 1, the vehicle lane change inhibition system is activated (namely the steering angle limitation function of the target vehicle is activated), whether the vehicle is in a forward gear is judged through the gear signal,
if not, the steering angle limit module is not activated or quitted;
if yes, the steering angle limit module is activated, whether the vehicle steers is judged, and if not, the steering angle limit module is not activated or quitted;
if so, judging whether the distance between the vehicle and the lane line is less than 2cm, and if not, sending a steering angle limit value infinity, namely not limiting the steering angle of the target vehicle;
if the minimum distance between the vehicle and the front vehicle is less than 1m, if not, whether the safe predicted value is 0, and if not, transmitting the infinite steering angle limit value;
if the minimum distance between the target vehicle and the rear vehicle is less than 2m, whether the speed of the target vehicle is reduced by the speed of the front vehicle to be less than 10Km/h or not is judged, if not, the speed of the target vehicle is reduced by the speed of the rear vehicle to be less than 10Km/h, and if so, a steering angle limit value is sent to be 0; if not, transmitting a steering angle limit value infinity;
judging whether the nearest lane line is a broken line or not through lane line information, if not, sending a steering angle limit value of 0, sending the steering angle limit value of 0 to a steering system within 100ms, and controlling the steering system without allowing the change value of the steering angle of the vehicle to exceed the steering angle limit value; the voice system is activated, whether the nearest lane line is a dotted line is judged, if yes, the control unit sends a signal 0 to the voice reminding module, the voice reminding module is used for reminding that the vehicle lane change restraining system is activated and the lane change against regulations is not allowed, and if the nearest lane line is a non-dotted line, the control unit sends a signal 1 to the voice reminding module, and the voice reminding module is used for reminding that the vehicle lane change restraining system is activated and the dangerous lane change is not allowed.
And if the target vehicle is in the state of the closest lane line, whether the type of the closest lane line is a dotted line or not, if the type of the closest lane line is not the dotted line, the steering angle of the target vehicle is not limited, if the type of the closest lane line is the dotted line, the dotted line enters a preset steering safety prediction model, an output result is obtained, and the output result comprises the steps of limiting the steering angle of the target vehicle in the preset range and not limiting the steering angle of the target vehicle.
Based on the same inventive concept as the vehicle steering control method, the embodiment of the present specification provides a vehicle steering control apparatus, as shown in fig. 4, the apparatus including:
a first processing module 21, configured to obtain first target information of a target vehicle, and generate a decision control signal based on the first target information, where when a signal value of the decision control signal is a first signal value, it indicates that a steering angle limiting function of the target vehicle is activated, and when the signal value of the decision control signal is a second signal value, it indicates that the steering angle limiting function is not activated;
a second processing module 22, configured to obtain second target information of the target vehicle, and determine whether the second target information meets a preset steering limit condition when a signal value of the decision control signal is the first signal value, where the preset steering limit condition is used to limit a steering angle of the target vehicle within a preset range;
the third processing module 23 is configured to, when the second target information does not satisfy the preset steering limit condition, obtain, as target input data, third target information of the target vehicle when a lane line closest to the target vehicle is a broken line, input the target input data into a preset steering safety prediction model, and obtain an output result, where the output result includes limiting a steering angle of the target vehicle within the preset range and not limiting the steering angle of the target vehicle.
In a possible embodiment, the first processing module 21 comprises:
the first acquisition module is used for acquiring the auxiliary driving state of the target vehicle, the fault state of the target vehicle and the fault states of other vehicles which are a preset distance away from the target vehicle;
a first generating module, configured to generate a decision control signal based on the first target information;
a second generation module, configured to generate a diagnosis monitoring signal based on the driving assistance state, the fault state of the target vehicle, and the fault state of the other vehicle, where when a signal value of the diagnosis monitoring signal is a third signal value, it indicates that the current state of the target vehicle is in a state where the steering angle limit function is activated, and when a signal value of the diagnosis monitoring signal is a fourth signal value, it indicates that the current state of the target vehicle is not in a state where the steering angle limit function is activated;
generating the decision control signal based on the diagnostic monitoring signal.
In a possible embodiment, the first generating module includes:
and the third generating module is used for generating a decision control signal with the signal value as the first signal value when the signal value of the diagnosis monitoring signal is the third signal value, the steering wheel angle meets a preset steering angle range, and the steering angular speed meets a preset steering angular speed.
In a possible embodiment, the second processing module 22 comprises:
a second obtaining module, configured to obtain a steering wheel angle of the target vehicle, a minimum distance between the target vehicle and an adjacent lane line, a lane line state closest to the target vehicle, a minimum distance between the target vehicle and a preceding vehicle, a minimum distance between the target vehicle and a following vehicle, a speed difference between the target vehicle and the preceding vehicle, and a speed difference between the target vehicle and the following vehicle;
the first preset module is used for presetting a steering limit value condition as a first limit condition or a second limit condition;
the first limiting condition is as follows: the steering wheel angle of the target vehicle is larger than a first angle (0 degrees), the minimum distance between the target vehicle and an adjacent lane line is smaller than a first distance (2cm), the state of the lane line closest to the target vehicle is a broken line, the minimum distance between the target vehicle and a front vehicle is smaller than a second distance (2m) or the minimum distance between the target vehicle and a rear vehicle is smaller than a third distance (1m), and the speed difference between the target vehicle and the front vehicle is larger than a first speed (10km/h) or the speed difference between the target vehicle and the rear vehicle is smaller than a second speed (10 km/h);
the second limiting condition is as follows: the steering wheel angle of the target vehicle is larger than a second angle (0 degrees), the minimum distance between the target vehicle and the adjacent lane line is smaller than a fourth distance (2cm), and the state of the lane line closest to the target vehicle is a non-dotted line.
In a possible embodiment, the third processing module 23 comprises:
the third acquisition module is used for acquiring a training sample set, each training sample corresponds to label information, and for each training sample, the training sample comprises a minimum distance between a sample vehicle and an adjacent lane line, a minimum distance between the sample vehicle and a front vehicle, a minimum distance between the sample vehicle and a rear vehicle, a speed difference between the sample vehicle and the front vehicle, and a speed difference between the sample vehicle and the rear vehicle;
the first construction module is used for constructing an initial steering safety prediction model;
and training the initial steering safety prediction model based on the training sample set and the label information corresponding to each training sample to obtain a trained preset steering safety prediction model.
In a possible embodiment, the third processing module 23 further includes:
and the first sending module is used for sending the preset range to a steering system of the target vehicle so that the steering system controls the steering angle of the target vehicle within the preset range.
In a possible embodiment, the first sending module includes:
the first determination module is used for determining the state of the lane line closest to the target vehicle;
the fourth generation module is used for generating first voice reminding information when the lane line state is a dotted line;
and the fifth generating module is used for generating second voice reminding information when the lane line state is a non-dotted line.
Based on the same inventive concept as the vehicle steering control method in the foregoing embodiment, an embodiment of the present specification further provides a vehicle steering control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the foregoing method when executing the program.
Based on the same inventive concept as the vehicle steering control method in the foregoing embodiments, the present specification embodiment also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steps of the foregoing method.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present specification have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all changes and modifications that fall within the scope of the specification.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present specification without departing from the spirit and scope of the specification. Thus, if such modifications and variations of the present specification fall within the scope of the claims of the present specification and their equivalents, the specification is intended to include such modifications and variations.
Claims (10)
1. A vehicle steering control method characterized by comprising the steps of:
acquiring first target information of a target vehicle, and generating a decision control signal based on the first target information, wherein when a signal value of the decision control signal is a first signal value, the decision control signal indicates that a steering angle limiting function of the target vehicle is activated, and when a signal value of the decision control signal is a second signal value, the decision control signal indicates that the steering angle limiting function is not activated, and the first target information comprises a steering wheel angle and a steering angle speed of the target vehicle;
acquiring second target information of the target vehicle, and determining whether the second target information meets a preset steering limit condition when a signal value of the decision control signal is the first signal value, wherein the preset steering limit condition is used for limiting a steering angle of the target vehicle within a preset range;
the acquiring of the second target information of the target vehicle includes:
acquiring a steering wheel corner of the target vehicle, a minimum distance between the target vehicle and an adjacent lane line, a lane line state closest to the target vehicle, a minimum distance between the target vehicle and a front vehicle, a minimum distance between the target vehicle and a rear vehicle, a speed difference between the target vehicle and the front vehicle, and a speed difference between the target vehicle and the rear vehicle;
if not, when a lane line closest to the target vehicle is a dotted line, acquiring third target information of the target vehicle as target input data, inputting the target input data into a preset steering safety prediction model, and acquiring an output result, wherein the output result comprises limiting a steering angle of the target vehicle in a preset range and not limiting the steering angle of the target vehicle, and the third target information comprises vehicle information of the target vehicle, vehicle information of other vehicles near the target vehicle, and road information of a road where the target vehicle is located.
2. The method of claim 1, wherein the obtaining first target information of a target vehicle comprises:
acquiring an auxiliary driving state of the target vehicle, a fault state of the target vehicle and fault states of other vehicles at a preset distance from the target vehicle;
generating a decision control signal based on the first target information, comprising:
generating a diagnosis monitoring signal based on the driving assistance state, the fault state of the target vehicle and the fault state of the other vehicle, wherein when the signal value of the diagnosis monitoring signal is a third signal value, the current state of the target vehicle is indicated to be in a state of activating the steering angle limit function, and when the signal value of the diagnosis monitoring signal is a fourth signal value, the current state of the target vehicle is indicated to be not in a state of activating the steering angle limit function;
generating the decision control signal based on the diagnostic monitoring signal.
3. The method of claim 2, wherein generating the decision control signal based on the diagnostic monitoring signal comprises:
and when the signal value of the diagnosis monitoring signal is the third signal value, the steering wheel angle meets a preset steering angle range, the steering angular speed meets a preset steering angular speed, and a decision control signal with the signal value of the first signal value is generated.
4. The method of claim 1,
the preset steering limit condition is a first limit condition or a second limit condition;
the first limiting condition is as follows: the steering wheel angle of the target vehicle is larger than a first angle, the minimum distance between the target vehicle and an adjacent lane line is smaller than a first distance, the state of the lane line closest to the target vehicle is a broken line, the minimum distance between the target vehicle and a front vehicle is smaller than a second distance or the minimum distance between the target vehicle and a rear vehicle is smaller than a third distance, and the speed difference between the target vehicle and the front vehicle is larger than a first speed or the speed difference between the target vehicle and the rear vehicle is smaller than a second speed;
the second limiting condition is as follows: the turning angle of the steering wheel of the target vehicle is larger than a second angle, the minimum distance between the target vehicle and the adjacent lane line is smaller than a fourth distance, and the lane line closest to the target vehicle is in a non-dotted line state.
5. The method of claim 1, wherein the preset steering safety prediction model is trained by:
acquiring a training sample set, wherein each training sample corresponds to label information, and for each training sample, the training sample comprises a minimum distance between a sample vehicle and an adjacent lane line, a minimum distance between the sample vehicle and a front vehicle, a minimum distance between the sample vehicle and a rear vehicle, a speed difference between the sample vehicle and the front vehicle, and a speed difference between the sample vehicle and the rear vehicle;
constructing an initial steering safety prediction model;
and training the initial steering safety prediction model based on the training sample set and the label information corresponding to each training sample to obtain a trained preset steering safety prediction model.
6. The method according to claim 1, wherein the determining whether the second target information satisfies a preset steering limit condition, and after the outputting results in limiting the steering angle of the target vehicle within the preset range, the method further comprises:
and sending the preset range to a steering system of the target vehicle so that the steering system controls the steering angle of the target vehicle within the preset range.
7. The method of claim 6, wherein after sending the preset range to a steering system of the target vehicle, the method further comprises:
determining the state of a lane line of the target vehicle closest to the target vehicle;
when the lane line state is a dotted line, generating first voice reminding information;
and generating second voice reminding information when the lane line state is a non-dotted line.
8. A vehicle steering control apparatus, characterized by comprising:
the system comprises a first processing module, a second processing module and a decision control module, wherein the first processing module is used for acquiring first target information of a target vehicle and generating a decision control signal based on the first target information, when the signal value of the decision control signal is a first signal value, the decision control signal indicates that a steering angle limiting function of the target vehicle is activated, and when the signal value of the decision control signal is a second signal value, the decision control signal indicates that the steering angle limiting function is not activated, and the first target information comprises a steering wheel angle and a steering angle speed of the target vehicle;
the second processing module is used for acquiring second target information of the target vehicle and determining whether the second target information meets a preset steering limit value condition when the signal value of the decision control signal is the first signal value, wherein the preset steering limit value condition is used for limiting the steering angle of the target vehicle within a preset range;
the second processing module further comprises:
a second obtaining module, configured to obtain a steering wheel angle of the target vehicle, a minimum distance between the target vehicle and an adjacent lane line, a lane line state closest to the target vehicle, a minimum distance between the target vehicle and a preceding vehicle, a minimum distance between the target vehicle and a following vehicle, a speed difference between the target vehicle and the preceding vehicle, and a speed difference between the target vehicle and the following vehicle; and a third processing module, configured to, when the second target information does not satisfy the preset steering limit condition, and when a lane line closest to the target vehicle is a broken line, obtain third target information of the target vehicle as target input data, input the target input data into a preset steering safety prediction model, and obtain an output result, where the output result includes limiting a steering angle of the target vehicle within the preset range and not limiting the steering angle of the target vehicle, and the third target information includes vehicle information of the target vehicle, vehicle information of another vehicle located near the target vehicle, and road information of a road where the target vehicle is located.
9. A vehicle steering control apparatus comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the steps of the method of any one of claims 1 to 7 when the program is executed.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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