CN116353695A - Auxiliary control method, equipment and storage medium for lane change correction - Google Patents
Auxiliary control method, equipment and storage medium for lane change correction Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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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
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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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 application provides a lane change return auxiliary control method, lane change return auxiliary control equipment and a storage medium, and relates to the technical field of vehicle control. According to the method, after the fact that the vehicle speed is greater than the preset vehicle speed is detected, a correction auxiliary function is activated, running state information of running of the vehicle is obtained, when a driver operates the vehicle to change lanes, lateral movement distance of the current vehicle when the lane change is carried out is obtained according to the running state information, if the lateral movement distance is greater, correction auxiliary torque information is obtained according to the running state information, correction auxiliary torque information is input to a motor end of a steering system, and accordingly, the steering system outputs adaptive correction auxiliary torque, and when the driver operates the lane change of the vehicle in high-speed running, the driver is reminded of timely controlling the vehicle to correct, and collision or scratch with other vehicles on adjacent lanes is avoided.
Description
Technical Field
The present disclosure relates to vehicle control technologies, and in particular, to a lane change return auxiliary control method, apparatus, and storage medium.
Background
Along with social development and technological progress, related functions of a steering system of a modern vehicle are becoming perfect, but in high-speed driving, a driver performs lane change operation, and the driver applies great force to cause long steering time, so that the steering angle of the vehicle is overlarge, the situation that the steering angle exceeds an adjacent lane line occurs, and a larger yaw rate of the vehicle is generated to collide with other vehicles driving on the adjacent lane, and traffic accidents are easy to cause at the moment.
The existing traditional steering system is based on steering behavior of a driver and is used for assisting a steering wheel, but when the vehicle runs at a high speed, the driver has large effort due to insufficient experience of the driver or fatigue, so that the steering angle is overlarge, and the driver cannot be timely reminded, so that the driver cannot be timely assisted in correcting when the lane is changed, the vehicle in the adjacent lane is scratched, and the life safety of the driver and passengers is endangered.
The prior art thus has drawbacks in assisting the driver in returning the steering wheel when the vehicle changes lanes.
Disclosure of Invention
The application provides a lane change correction auxiliary control method, lane change correction auxiliary control equipment and a storage medium, which are used for solving the problem that the aspect of assisting a driver to correct a steering wheel still has defects when a vehicle changes lanes in the prior art.
In a first aspect, the present application provides a lane change correction auxiliary control method, including:
activating a return auxiliary function when the speed of the vehicle is greater than a first preset speed;
after the return auxiliary function is activated, acquiring the lateral movement distance of the vehicle according to the first running state information of the vehicle;
acquiring the distance deviation of the lateral movement distance and the lane width, and judging whether the alignment operation is required according to the distance deviation;
and if the correction operation is determined to be needed, obtaining correction auxiliary torque information according to the second running state information of the vehicle, and outputting the correction auxiliary torque information to a steering system, so that the steering system outputs the correction auxiliary torque according to the correction auxiliary torque information to remind a driver of correction.
In one possible design, the first driving state information includes: at least one of a wheelbase, a steering angle gear ratio, a steering wheel angle or a lateral acceleration of the vehicle; the obtaining the lateral movement distance of the vehicle according to the first driving state information of the vehicle includes:
if the vehicle is in a linear lane change state, acquiring a lateral vehicle speed according to the lateral acceleration of the vehicle, and acquiring the lateral movement distance according to the lateral vehicle speed;
if the vehicle is in a curve changing state, acquiring a wheel corner according to the steering wheel corner speed and the steering angle transmission ratio, acquiring a turning radius according to the wheelbase and the wheel corner, acquiring turning deviations at different moments according to the turning radius at different moments, and processing the turning deviations at different moments to acquire the lateral movement distance.
In one possible design, the second driving state information includes a vehicle speed, a steering wheel angle, and a driver hand torque, and the obtaining the return assist torque information according to the second driving state information of the vehicle includes:
according to the steering wheel angle, obtaining the direction for retrieving positive auxiliary torque;
obtaining the magnitude of the correction auxiliary torque according to the hand torque of the driver and the vehicle speed, wherein the magnitude of the correction auxiliary torque is in direct proportion to the hand torque of the driver when the vehicle speed is unchanged;
and obtaining the correction auxiliary torque information according to the direction and the magnitude of the correction auxiliary torque.
In one possible design, the second driving state information further includes: steering wheel rotational speed and vehicle yaw rate; before the return auxiliary torque information is obtained according to the direction and the magnitude of the return auxiliary torque, the method further comprises:
determining the return speed of the return auxiliary torque according to the steering wheel rotation speed, wherein the steering wheel rotation speed is in a direct proportion relation with the return speed;
determining intervention time of the correcting auxiliary torque according to the yaw rate, wherein the larger the yaw rate is, the earlier the correcting auxiliary torque is intervened;
the obtaining the return auxiliary torque information according to the direction and the magnitude of the return auxiliary torque includes:
and obtaining the correction auxiliary torque information according to the direction, the size, the correction speed and the intervention time of the correction auxiliary torque.
In one possible design, after the outputting of the return assist torque information to the steering system, the method further includes:
closing the return assist function to stop assist return of the vehicle when at least one of the following conditions is satisfied;
when the vehicle speed is smaller than a second preset vehicle speed, the first preset vehicle speed is larger than the second preset vehicle speed;
when the steering wheel turns to pass through the zero position after lane change;
and when the reverse hand torque of the driver is larger than the first preset torque.
In one possible design, the determining whether the return operation is needed according to the distance deviation includes:
if the distance deviation is smaller than a preset deviation value, determining that the correction operation is required;
if the distance deviation is larger than the preset deviation value, the return operation is not performed.
In one possible design, the outputting the return assist torque information to the steering system includes:
judging whether the return auxiliary torque in the return auxiliary torque information is smaller than a second preset torque or not;
if yes, outputting the correcting auxiliary torque information to the steering system;
if not, updating the correction auxiliary torque information through the second preset torque, and outputting the updated correction auxiliary torque information to the steering system; wherein the second preset torque is less than the first preset torque.
In a second aspect, the present application provides a lane change centering auxiliary control device, including:
the activation module is used for activating the alignment auxiliary function when the speed of the vehicle is greater than a first preset speed;
the acquisition module is used for acquiring the lateral movement distance of the vehicle according to the first driving state information of the vehicle after the return auxiliary function is activated;
the processing module is used for acquiring the distance deviation of the lateral movement distance and the lane width and judging whether the correcting operation is required according to the distance deviation;
and the execution module is used for obtaining the correction auxiliary torque information according to the second running state information of the vehicle and outputting the correction auxiliary torque information to the steering system if the correction operation is determined to be needed, so that the steering system outputs the correction auxiliary torque according to the correction auxiliary torque information to remind a driver of correction.
In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
and the processor executes the computer-executed instructions stored in the memory to realize the lane change return auxiliary control method.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for implementing a lane-changing return auxiliary control method when executed by a processor.
According to the lane change correcting auxiliary control method, device and storage medium, the speed of the vehicle is detected to be larger than the preset speed, after the correcting auxiliary function is activated, running state information of running of the vehicle is obtained, when a driver operates the vehicle to change lanes, the lateral moving distance of the current vehicle in lane change is obtained according to the running state information, if the lateral moving distance is larger, positive auxiliary torque information is obtained according to the running state information, the correcting auxiliary torque information is input to the motor end of the steering system, and accordingly the steering system outputs adaptive correcting auxiliary torque, and in high-speed running, the driver is reminded of timely controlling the correcting of the vehicle when the driver operates the lane change of the vehicle, and collision or scratch with other vehicles on adjacent lanes is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a lane change correction auxiliary control method provided in an embodiment of the present application;
fig. 2 is a schematic flow chart diagram II of a lane change correction auxiliary control method provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a cornering offset provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a lane change centering auxiliary control device provided in an embodiment of the present application;
fig. 5 is a schematic hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application, as detailed in the accompanying claims, rather than all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second, third, fourth and the like in the description and in the claims and in the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein.
Along with technological progress, the development of electronic appliances and steering system technologies is also improved, and related functions of a steering system of a modern vehicle are gradually improved, but when the modern vehicle runs at a high speed, due to insufficient driving technology of a driver, the driver has large effort and long steering time, so that the steering angle is overlarge and exceeds the condition of adjacent lane lines, traffic accidents are easily caused, and therefore, in the process of changing lanes of the vehicle at the high speed, the requirement on collision or scratch with the vehicle on the adjacent lane caused by over-limit operation of the driver is met.
The conventional steering system is based on steering behavior of a driver and is used for assisting a steering wheel, but when the vehicle runs at a high speed, the driver has large effort due to insufficient experience of the driver or fatigue of the driver, so that the steering angle is overlarge.
The application provides a lane change correction auxiliary control method, which comprises the steps of acquiring running state information of running of a vehicle after a correction auxiliary function is activated by detecting that the speed of the vehicle is greater than a preset speed, acquiring lateral movement distance of the current vehicle when the vehicle is operated by a driver to change lanes according to the running state information, acquiring positive auxiliary torque information according to the running state information if the lateral movement distance is greater, inputting correction auxiliary torque information to a motor end of a steering system, outputting adaptive correction auxiliary torque through the steering system, and reminding the driver to timely control the correction of the vehicle when the vehicle is operated by the driver to change lanes in high-speed running, so that collision or scratch with other vehicles on adjacent lanes is avoided.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail by adopting specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example 1
Fig. 1 is a schematic flow chart of a lane change correction auxiliary control method according to an embodiment of the present application. As shown in fig. 1, the method includes:
s101, activating a return auxiliary function when the speed of the vehicle is greater than a first preset speed;
the first preset vehicle speed is used for judging whether the vehicle runs at a high speed, and when the vehicle speed of the vehicle is greater than the first preset vehicle speed, the vehicle can be determined to run at the high speed.
The first preset vehicle speed is used as the standard quantity of 60 km/h, and can be also used as the first preset vehicle speed, namely 65 km/h or other vehicle speeds, and the correction auxiliary function is activated only when the speed of the vehicle during running reaches the set speed;
specifically, when the vehicle is running, the running speed of the current vehicle is obtained, whether the running speed of the current vehicle is larger than a calibrated first preset vehicle speed is judged based on the running speed of the current vehicle, when the fact that the running speed of the current vehicle is larger than the calibrated first preset vehicle speed is detected, the alignment auxiliary function is activated, and after the alignment auxiliary function is activated, alignment auxiliary is carried out on the vehicle.
S102, after the return auxiliary function is activated, acquiring the lateral movement distance of the vehicle according to the first running state information of the vehicle;
the first driving state information is used for acquiring a lateral movement distance of the vehicle, wherein the lateral movement distance refers to a distance moved in a lateral direction when the vehicle changes lanes when the vehicle runs along the lanes.
The embodiment can acquire the lateral movement distance during the linear lane change and also acquire the lateral movement distance of the lane change of the curve. Specifically, the lateral movement distance may be acquired based on the first travel state information, and the manner of acquiring the lateral movement distance is not particularly limited in this embodiment.
The method includes the steps of obtaining first driving state information, namely wheelbase, steering angle transmission ratio, steering wheel corner or lateral acceleration of a vehicle after detecting that the current driving speed of the vehicle is greater than a calibrated first preset vehicle speed and activating a correcting auxiliary function, obtaining the lateral vehicle speed when the vehicle transversely changes lanes based on the lateral acceleration in the obtained first driving state information of the vehicle when a driver controls the vehicle to change lanes on a straight line lane, obtaining a lateral movement distance according to the lateral vehicle speed, and obtaining the lateral movement distance based on the wheelbase, the steering wheel corner and the steering angle transmission ratio in the obtained first driving state information of the vehicle when the driver controls the vehicle to change lanes on a curve.
S103, acquiring the distance deviation of the lateral movement distance and the lane width, and judging whether a correcting operation is required according to the distance deviation;
the distance deviation is a difference value between the width of the lane and the lateral movement distance, if the acquired distance deviation is smaller than a preset deviation value, the correction operation is determined to be needed, and if the acquired distance deviation is larger than the preset deviation value, the correction operation is not performed.
In particular, the preset deviation value may be determined according to an empirical value, which is used to indicate that the width of a lane is about to be reached when the vehicle changes lanes. When the distance deviation is smaller than the preset deviation value, the vehicle is indicated to change the lane to reach the width of one lane, and the vehicle is required to be subjected to the correcting operation in time at the moment, so that the lane range beyond the planned change is avoided. When the distance deviation is larger than the preset deviation value, the fact that the width of one lane is not reached yet when the vehicle changes lanes is indicated, and the correcting operation is not needed.
S104, if the correction operation is determined to be needed, obtaining correction auxiliary torque information according to the second running state information of the vehicle, and outputting the correction auxiliary torque information to a steering system, so that the steering system outputs correction auxiliary torque according to the correction auxiliary torque information to remind a driver of correction;
wherein the second driving state information is used for obtaining and retrieving positive assist torque information, such as direction and magnitude of the return assist torque, return speed and intervention timing, etc.
The second driving state information includes information such as a vehicle speed, a steering wheel angle, a driver hand moment, a steering wheel angle speed, a vehicle yaw rate, and the like, wherein the direction and the magnitude of the correction assist torque can be obtained according to the steering wheel angle, the driver hand moment, and the vehicle speed, the correction speed and the intervention timing of the correction assist torque can be obtained according to the steering wheel angle speed and the vehicle yaw rate, and the positive assist torque information is obtained based on the direction, the magnitude, the correction speed, the intervention timing, and the like of the correction assist torque.
The embodiment provides a lane change correcting auxiliary control method, which is characterized in that when the speed of a vehicle is greater than a first preset speed, a correcting auxiliary function is activated, after the correcting auxiliary function is activated, the lateral movement distance of the vehicle is acquired according to first running state information of the vehicle, the distance deviation of the lateral movement distance and the lane width is acquired, whether the correcting operation is required or not is judged according to the distance deviation, if the correcting operation is required, correcting auxiliary torque information is acquired according to second running state information of the vehicle, and correcting auxiliary torque information is output to a steering system, so that the steering system outputs correcting auxiliary torque according to the correcting auxiliary torque information, and the driver is timely reminded of correcting on the premise that the driving safety of the driver is not influenced, so that the driver is prevented from colliding with or rubbing the vehicle on an adjacent lane when the vehicle is controlled to run at a high speed.
Example two
Fig. 2 is a schematic flow chart diagram of a lane change correction auxiliary control method according to an embodiment of the present application. FIG. 3 is a schematic diagram of cornering offset, as shown in combination with FIGS. 2 and 3, the method comprising:
s201, activating a return auxiliary function when the speed of the vehicle is greater than a first preset speed;
step S201 is similar to the implementation manner of step S101, and the description of this embodiment is omitted here.
S202, if the vehicle is in a linear lane change state, acquiring a lateral vehicle speed according to the lateral acceleration of the vehicle, and acquiring the lateral movement distance according to the lateral vehicle speed;
when the current vehicle running speed is detected to be greater than a calibrated first preset vehicle speed, namely when the current vehicle running speed is greater than 60 km/h, the return auxiliary function is activated, lateral acceleration information in first running state information of the vehicle is acquired, when a driver controls the vehicle to be on a straight lane to perform lane changing operation, the lateral acceleration is integrated once based on the lateral acceleration in the acquired first running state information of the vehicle, the lateral vehicle speed of the vehicle in a transverse lane changing state is acquired, and then the lateral vehicle speed is integrated once, so that the lateral movement distance of the vehicle in the straight lane changing state is acquired.
S203, if the vehicle is in a curve changing state, acquiring a wheel corner according to the steering wheel corner and the steering angle transmission ratio, acquiring a turning radius according to the wheelbase and the wheel corner, acquiring turning deviations at different moments according to the turning radius at different moments, and processing the turning deviations at different moments to acquire the lateral movement distance;
when it is detected that the vehicle is in a curve changing state, as shown in fig. 3, the ratio of the steering wheel angle to the steering angle transmission ratio is used as a wheel angle, namely, the wheel angle is obtained, the product of the trigonometric tangent function of the wheel angle and the wheelbase is used as the turning radius, namely, the turning radius is obtained, the turning deviation at different moments is obtained based on the turning radius at different moments, and the turning deviation at different moments is integrated, so that the lateral movement distance of the vehicle in the curve changing state is obtained.
Namely by the following formula:
wherein d is the lateral movement distance, l is the wheelbase, t is the steering wheel angle at different moments, and b is the steering angle transmission ratio.
S204, acquiring the distance deviation of the lateral movement distance and the lane width, and judging whether a correcting operation is required according to the distance deviation;
step S204 is similar to the implementation of step S103, and will not be described here in detail.
S205, if the return operation is determined, the return auxiliary torque information is obtained according to the second running state information of the vehicle;
the second driving state information comprises a vehicle speed, a steering wheel angle and a driver hand torque.
According to the steering wheel angle, the direction of the positive auxiliary torque is obtained, the steering wheel angle is used as a vector to indicate the current steering wheel rotation direction, namely the change direction of the current vehicle when changing lanes, the opposite quantity is obtained according to the steering wheel angle, and the direction of the positive auxiliary torque is indicated based on the obtained opposite quantity so as to correct the current vehicle running direction.
The magnitude of the returning auxiliary torque is obtained according to the hand torque of the driver and the vehicle speed, the magnitude of the returning auxiliary torque is related to the magnitude of the hand torque of the driver, and when the hand torque of the driver is larger, the returning auxiliary torque is larger, and optionally, the returning auxiliary torque and the hand torque of the driver are positively related at a certain vehicle speed.
Further, the magnitude of the correction assist torque is confirmed through an assist torque indicator, wherein as shown in table 1, the assist torque indicator stores a corresponding relationship among the vehicle speed, the hand torque of the driver and the correction assist torque, and indicates that the magnitude of the correction assist torque is in a proportional relationship with the hand torque of the driver when the vehicle speed is unchanged, and the correction assist torque information is obtained according to the direction and the magnitude of the correction assist torque.
TABLE 1
Further, the second driving state information further comprises a steering wheel turning speed and a vehicle yaw rate, and further, a correcting speed of the correcting auxiliary torque is determined according to the steering wheel turning speed, wherein the steering wheel turning speed is in a direct proportion relation with the correcting speed, an intervention time of the correcting auxiliary torque is determined according to the yaw rate, the larger the yaw rate is, the earlier the correcting auxiliary torque is intervened, the correcting auxiliary torque information is obtained according to the direction and the size of the correcting auxiliary torque, and the correcting auxiliary torque information is obtained according to the direction, the size, the correcting speed and the intervention time of the correcting auxiliary torque;
s206, judging whether the return auxiliary torque in the return auxiliary torque information is smaller than a second preset torque or not, wherein the second preset torque is smaller than the first preset torque, if yes, executing S207, and if not, executing S208;
the first preset torque is used as one of judging conditions for exiting the return auxiliary function, and when the reverse hand torque output by the driver through the steering wheel is larger than a preset value, namely the first preset torque, the driver is informed of performing the return operation, and the return auxiliary function is exited.
The second preset torque is used as an output reminding limit value so as to prevent the magnitude of the output correcting auxiliary torque in the correcting auxiliary torque information from exceeding a safety threshold value, avoid collision with vehicles on other lanes caused by the output of the limiting torque of the steering system, and the second preset torque serving as the output limit value is slightly smaller than the first preset torque so as to remind a user of correcting operation.
Specifically, in order to ensure functional safety, when the correction assist torque in the correction assist torque information is detected to be smaller than the second preset torque, the obtained correction assist torque information is output to the steering system, and when the correction assist torque in the correction assist torque information is detected to be larger than or equal to the second preset torque, the correction assist torque information is updated through the second preset torque.
S207, outputting the correction auxiliary torque information to a steering system, so that the steering system outputs the correction auxiliary torque according to the correction auxiliary torque information to remind a driver of correction;
and outputting the obtained correction auxiliary torque information to a motor end of the steering system, wherein the correction auxiliary torque information comprises the direction, the size, the correction speed and the intervention time of the correction auxiliary torque, the motor end of the steering system confirms the output time of the correction auxiliary torque according to the intervention time, the motor end of the steering system outputs the correction auxiliary torque according to the direction, the size and the correction speed of the correction auxiliary torque, the vehicle is controlled to perform correction, and meanwhile the correction auxiliary torque output by the motor output end of the steering system is synchronous with the rotation of a steering wheel, so that a driver is reminded and guided to perform correction operation.
S208, updating the correction auxiliary torque information through the second preset torque, and outputting the updated correction auxiliary torque information to the steering system, so that the steering system outputs the correction auxiliary torque according to the correction auxiliary torque information, and reminds a driver of correction.
Specifically, after the correction auxiliary torque information is obtained, the correction auxiliary torque in the correction auxiliary torque information is further judged to ensure functional safety, and when the correction auxiliary torque in the correction auxiliary torque information is detected to be more than or equal to a second preset torque, updated correction auxiliary torque information is output to a motor end of the steering system, namely the correction auxiliary torque in the correction auxiliary torque information is the second preset torque, so that reminding of functional safety and guiding of a driver to perform correction operation are ensured;
further, when at least one of the following conditions is met, the return auxiliary function is turned off to stop auxiliary return of the vehicle, when the vehicle speed is smaller than a second preset vehicle speed, wherein the first preset vehicle speed is larger than the second preset vehicle speed, when the steering wheel angle turns to pass through a zero position after lane change, and when the reverse hand torque of the driver is larger than the first preset torque;
specifically, when the obtained vehicle speed is smaller than the second preset vehicle speed, the first preset vehicle speed is larger than the second preset vehicle speed, which means that the vehicle does not run at a high speed at this time, the driver can control the steering wheel in time, operate the vehicle to run safely, the vehicle speed is slower, the driver has enough reaction time, and can take effective control action in time, so that collision or scratch with other vehicles on adjacent lanes is avoided.
When the steering wheel angle acquired after the lane change turns over the zero position, the driver is informed of the danger of collision with vehicles on other lanes, the steering wheel acts timely, the vehicles are controlled to return in time on the current lane, and collision or scratch with other vehicles on adjacent lanes is avoided.
When the obtained reverse hand torque of the driver is larger than the first preset torque, the driver is informed of the danger of collision with the vehicles on other lanes, steering wheel control actions are timely taken, and enough reverse hand torque is applied to the steering wheel to control the vehicles to normally run on the current lanes.
Therefore, when the above-described at least one condition is satisfied, the return assist function is turned off.
The embodiment provides a lane change correcting auxiliary control method, which is characterized in that when the speed of a vehicle is greater than a first preset speed, a correcting auxiliary function is activated, after the correcting auxiliary function is activated, the lateral movement distance of the vehicle is acquired according to first running state information of the vehicle, the distance deviation of the lateral movement distance and the lane width is acquired, whether the correcting operation is required or not is judged according to the distance deviation, if the correcting operation is required, correcting auxiliary torque information is acquired according to second running state information of the vehicle, and correcting auxiliary torque information is output to a steering system, so that the steering system outputs correcting auxiliary torque according to the correcting auxiliary torque information, and the driver is timely reminded of correcting on the premise that the driving safety of the driver is not influenced, so that the driver is prevented from colliding with or rubbing the vehicle on an adjacent lane when the vehicle is controlled to run at a high speed.
The embodiment of the invention can divide the functional modules of the electronic device or the main control device according to the method example, for example, each functional module can be divided corresponding to each function, and two or more functions can be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present invention, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.
Fig. 4 is a schematic structural diagram of a lane change correction auxiliary control device according to an embodiment of the present application. As shown in fig. 4, the apparatus 40 includes:
an activating module 401, configured to activate the alignment auxiliary function when the vehicle speed of the vehicle is greater than a first preset vehicle speed;
an obtaining module 402, configured to obtain a lateral movement distance of the vehicle according to first driving state information of the vehicle after the return auxiliary function is activated;
the processing module 403 is configured to obtain a distance deviation between the lateral movement distance and the lane width, and determine whether a return operation is required according to the distance deviation;
and the execution module 404 is configured to obtain, if it is determined that the return operation is required, return auxiliary torque information according to the second running state information of the vehicle, and output the return auxiliary torque information to the steering system, so that the steering system outputs the return auxiliary torque according to the return auxiliary torque information, and reminds the driver of the return.
Further, the obtaining module 402 is specifically configured to: the first driving state information comprises at least one of wheelbase, steering angle transmission ratio, steering wheel angle or lateral acceleration of the vehicle, if the vehicle is in a straight line lane change state, the lateral vehicle speed is obtained according to the lateral acceleration of the vehicle, the lateral movement distance is obtained according to the lateral vehicle speed, if the vehicle is in a curve lane change state, the wheel angle is obtained according to the steering wheel angle speed and the steering angle transmission ratio, the turning radius is obtained according to the wheelbase and the wheel angle, the turning deviation at different moments is obtained according to the turning radius at different moments, the turning deviation at different moments is processed, and the lateral movement distance is obtained.
Further, the obtaining module 402 is specifically configured to: the second driving state information comprises a vehicle speed, a steering wheel angle and a driver hand torque, a direction for retrieving positive auxiliary torque is obtained according to the steering wheel angle, and the magnitude of the positive auxiliary torque is obtained according to the driver hand torque and the vehicle speed, wherein the magnitude of the positive auxiliary torque is in direct proportion to the driver hand torque when the vehicle speed is unchanged, and the positive auxiliary torque information is obtained according to the direction and the magnitude of the positive auxiliary torque.
Further, the obtaining module 402 is specifically configured to: the second running state information further includes: steering wheel rotational speed and vehicle yaw rate; before the correction auxiliary torque information is obtained according to the direction and the magnitude of the correction auxiliary torque, determining the correction speed of the correction auxiliary torque according to the steering wheel angular velocity, wherein the steering wheel angular velocity is in a direct proportion relation with the correction speed, and determining the intervention time of the correction auxiliary torque according to the yaw rate, wherein the larger the yaw rate is, the earlier the correction auxiliary torque is inserted, and the correction auxiliary torque information is obtained according to the direction, the magnitude, the correction speed and the intervention time of the correction auxiliary torque.
Further, the execution module 404 is specifically configured to: and when at least one of the following conditions is met, closing the alignment auxiliary function to stop auxiliary alignment of the vehicle, and when the vehicle speed is smaller than a second preset vehicle speed, wherein the first preset vehicle speed is larger than the second preset vehicle speed, and when the steering wheel angle turns to pass through a zero position after lane change, the reverse hand torque of the driver is larger than the first preset torque.
Further, the processing module 403 is specifically configured to: the step of judging whether the centering operation is needed according to the distance deviation comprises determining to perform the centering operation if the distance deviation is smaller than a preset deviation value, and not performing the centering operation if the distance deviation is larger than the preset deviation value
Further, the execution module 404 is specifically configured to: judging whether the correction auxiliary torque in the correction auxiliary torque information is smaller than a second preset torque or not, if yes, outputting the correction auxiliary torque information to the steering system, if not, updating the correction auxiliary torque information through the second preset torque, and outputting the updated correction auxiliary torque information to the steering system; wherein the second preset torque is less than the first preset torque.
The lane change correction auxiliary control device provided in this embodiment may execute the lane change correction auxiliary control method of the above embodiment, and its implementation principle and technical effect are similar, and this embodiment will not be repeated here.
In a specific implementation of the foregoing apparatus, each module may be implemented as a processor, and the processor may execute computer-executable instructions stored in the memory, so that the processor executes the lane-changing correction auxiliary control method described above.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 5, the electronic device 50 includes: at least one processor 501 and a memory 502. The electronic device 50 further comprises a communication part 503. The processor 501, the memory 502, and the communication unit 503 are connected via a bus 504.
In a specific implementation process, at least one processor 501 executes computer-executed instructions stored in the memory 502, so that at least one processor 501 executes the lane change correction auxiliary control method executed on the electronic device side as described above.
The specific implementation process of the processor 501 may refer to the above-mentioned method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein again.
In the above embodiment, it should be understood that the processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: digital Signal Processor, abbreviated as DSP), application specific integrated circuits (english: application Specific Integrated Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
The memory may comprise high speed RAM memory or may further comprise non-volatile storage NVM, such as at least one disk memory.
The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or one type of bus.
The scheme provided by the embodiment of the invention is introduced aiming at the functions realized by the electronic equipment and the main control equipment. It will be appreciated that the electronic device or the master device, in order to implement the above-described functions, includes corresponding hardware structures and/or software modules that perform the respective functions. The present embodiments can be implemented in hardware or a combination of hardware and computer software in combination with the various exemplary elements and algorithm steps described in connection with the embodiments disclosed in the embodiments of the present invention. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation is not to be considered as beyond the scope of the embodiments of the present invention.
The application also provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when a processor executes the computer execution instructions, the lane change return auxiliary control method is realized.
The computer readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short).
The present application also provides a computer program product comprising: a computer program stored in a readable storage medium, from which at least one processor of an electronic device can read, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any one of the embodiments described above.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. The lane change return auxiliary control method is applied to a vehicle and is characterized by comprising the following steps of:
activating a return auxiliary function when the speed of the vehicle is greater than a first preset speed;
after the return auxiliary function is activated, acquiring the lateral movement distance of the vehicle according to the first running state information of the vehicle;
acquiring the distance deviation of the lateral movement distance and the lane width, and judging whether the alignment operation is required according to the distance deviation;
and if the correction operation is determined to be needed, obtaining correction auxiliary torque information according to the second running state information of the vehicle, and outputting the correction auxiliary torque information to a steering system, so that the steering system outputs the correction auxiliary torque according to the correction auxiliary torque information to remind a driver of correction.
2. The method of claim 1, wherein the first driving state information comprises: at least one of a wheelbase, a steering angle gear ratio, a steering wheel angle or a lateral acceleration of the vehicle; the obtaining the lateral movement distance of the vehicle according to the first driving state information of the vehicle includes:
if the vehicle is in a linear lane change state, acquiring a lateral vehicle speed according to the lateral acceleration of the vehicle, and acquiring the lateral movement distance according to the lateral vehicle speed;
if the vehicle is in a curve changing state, acquiring a wheel corner according to the steering wheel corner speed and the steering angle transmission ratio, acquiring a turning radius according to the wheelbase and the wheel corner, acquiring turning deviations at different moments according to the turning radius at different moments, and processing the turning deviations at different moments to acquire the lateral movement distance.
3. The method of claim 1, wherein the second driving state information includes a vehicle speed, a steering wheel angle, and a driver hand torque, and wherein obtaining the return assist torque information based on the second driving state information of the vehicle includes:
according to the steering wheel angle, obtaining the direction for retrieving positive auxiliary torque;
obtaining the magnitude of the correction auxiliary torque according to the hand torque of the driver and the vehicle speed, wherein the magnitude of the correction auxiliary torque is in direct proportion to the hand torque of the driver when the vehicle speed is unchanged;
and obtaining the correction auxiliary torque information according to the direction and the magnitude of the correction auxiliary torque.
4. A method according to claim 3, wherein the second driving status information further comprises: steering wheel rotational speed and vehicle yaw rate; before the return auxiliary torque information is obtained according to the direction and the magnitude of the return auxiliary torque, the method further comprises:
determining the return speed of the return auxiliary torque according to the steering wheel rotation speed, wherein the steering wheel rotation speed is in a direct proportion relation with the return speed;
determining intervention time of the correcting auxiliary torque according to the yaw rate, wherein the larger the yaw rate is, the earlier the correcting auxiliary torque is intervened;
the obtaining the return auxiliary torque information according to the direction and the magnitude of the return auxiliary torque includes:
and obtaining the correction auxiliary torque information according to the direction, the size, the correction speed and the intervention time of the correction auxiliary torque.
5. The method of claim 1, wherein after the outputting of the return assist torque information to the steering system, the method further comprises:
closing the return assist function to stop assist return of the vehicle when at least one of the following conditions is satisfied;
when the vehicle speed is smaller than a second preset vehicle speed, the first preset vehicle speed is larger than the second preset vehicle speed;
when the steering wheel turns to pass through the zero position after lane change;
and when the reverse hand torque of the driver is larger than the first preset torque.
6. The method of claim 1, wherein the determining whether a return operation is required based on the distance deviation comprises:
if the distance deviation is smaller than a preset deviation value, determining that the correction operation is required;
if the distance deviation is larger than the preset deviation value, the return operation is not performed.
7. The method of claim 5, wherein the outputting the return assist torque information to a steering system comprises:
judging whether the return auxiliary torque in the return auxiliary torque information is smaller than a second preset torque or not;
if yes, outputting the correcting auxiliary torque information to the steering system;
if not, updating the correction auxiliary torque information through the second preset torque, and outputting the updated correction auxiliary torque information to the steering system; wherein the second preset torque is less than the first preset torque.
8. The utility model provides a lane change returns positive auxiliary control device which characterized in that includes:
the activation module is used for activating the alignment auxiliary function when the speed of the vehicle is greater than a first preset speed;
the acquisition module is used for acquiring the lateral movement distance of the vehicle according to the first driving state information of the vehicle after the return auxiliary function is activated;
the processing module is used for acquiring the distance deviation of the lateral movement distance and the lane width and judging whether the correcting operation is required according to the distance deviation;
and the execution module is used for obtaining the correction auxiliary torque information according to the second running state information of the vehicle and outputting the correction auxiliary torque information to the steering system if the correction operation is determined to be needed, so that the steering system outputs the correction auxiliary torque according to the correction auxiliary torque information to remind a driver of correction.
9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 7.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310366028.6A CN116353695A (en) | 2023-03-31 | 2023-03-31 | Auxiliary control method, equipment and storage medium for lane change correction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310366028.6A CN116353695A (en) | 2023-03-31 | 2023-03-31 | Auxiliary control method, equipment and storage medium for lane change correction |
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| CN202310366028.6A Pending CN116353695A (en) | 2023-03-31 | 2023-03-31 | Auxiliary control method, equipment and storage medium for lane change correction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902063A (en) * | 2023-07-17 | 2023-10-20 | 小米汽车科技有限公司 | Steering wheel aligning method and device, vehicle, storage medium and chip |
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2023
- 2023-03-31 CN CN202310366028.6A patent/CN116353695A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902063A (en) * | 2023-07-17 | 2023-10-20 | 小米汽车科技有限公司 | Steering wheel aligning method and device, vehicle, storage medium and chip |
| CN116902063B (en) * | 2023-07-17 | 2024-02-06 | 小米汽车科技有限公司 | Steering wheel aligning method and device, vehicle, storage medium and chip |
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