CN116588192A - Vehicle control method and device, electronic equipment, storage medium and vehicle - Google Patents
Vehicle control method and device, electronic equipment, storage medium and vehicle Download PDFInfo
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- CN116588192A CN116588192A CN202310761998.6A CN202310761998A CN116588192A CN 116588192 A CN116588192 A CN 116588192A CN 202310761998 A CN202310761998 A CN 202310761998A CN 116588192 A CN116588192 A CN 116588192A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000011217 control strategy Methods 0.000 claims abstract description 44
- 238000004422 calculation algorithm Methods 0.000 claims description 33
- 238000004590 computer program Methods 0.000 claims description 8
- 230000009347 mechanical transmission Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000004044 response Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
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- 230000015556 catabolic process Effects 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present disclosure relates to a method and apparatus for controlling a vehicle, an electronic device, a storage medium, and a vehicle; acquiring a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode; when the steering wheel angle is larger than or equal to a preset angle threshold value, controlling the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode; the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in a lifting mode, and potential safety hazards are reduced.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method, device, electronic apparatus, storage medium, and vehicle.
Background
The electric power steering system (Electric Power Steering System, EPS) can be used for steering control of a vehicle, facilitating steering operations by a user. In the related art, under the condition that the steering wheel turns, the EPS can be used for carrying out the power assisted degradation of the steering, so that the condition that the tail end of the rack is impacted is avoided, and the potential safety hazard is reduced.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a method, an apparatus, an electronic device, a storage medium and a vehicle for controlling a vehicle, which are used for reducing potential safety hazards caused by steering of a steering wheel.
According to a first aspect of embodiments of the present disclosure, there is provided a method of vehicle control, the method comprising:
acquiring a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode;
when the steering wheel angle is larger than or equal to a preset angle threshold value, controlling the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode.
Optionally, the preset control strategy includes a preset proportional integral PI algorithm; the controlling the steering wheel of the vehicle to rotate to the target angle range through a preset control strategy according to the steering wheel angle and a preset target angle comprises:
according to the steering wheel angle and the preset target angle, calculating to obtain the target torque of the steering wheel through the preset proportional integral PI algorithm;
and controlling the steering wheel to rotate to the target angle range according to the target torque.
Optionally, the preset proportional-integral PI algorithm includes a proportional coefficient and an integral coefficient; the preset proportional-integral PI algorithm is predetermined by:
parameter setting is carried out according to the steering load when the vehicle is in the lifting mode, so that the proportional coefficient and the integral coefficient are obtained;
and determining the preset proportional integral PI algorithm according to the proportional coefficient and the integral coefficient.
Optionally, the controlling the vehicle steering wheel to rotate to the target angle range through a preset control strategy according to the steering wheel angle and a preset target angle includes:
and responding to the received control instruction of a user, and controlling the steering wheel of the vehicle to rotate to the target angle range through the preset control strategy according to the steering wheel angle and the preset target angle.
Optionally, the method further comprises:
acquiring a torque signal of the steering wheel;
and stopping controlling the rotation of the steering wheel under the condition that the torque signal is greater than or equal to a preset torque threshold value.
Optionally, the vehicle is in the lift mode is determined by:
acquiring the running speed and the ground clearance of the vehicle;
and determining that the vehicle is in the lifting mode under the condition that the running speed is smaller than or equal to a preset speed threshold value and the ground clearance is larger than or equal to a preset height threshold value.
According to a second aspect of embodiments of the present disclosure, there is provided an apparatus for vehicle control, the apparatus comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is configured to acquire a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode;
the first control module is configured to control the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle under the condition that the steering wheel angle is greater than or equal to a preset angle threshold; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode.
Optionally, the preset control strategy includes a preset proportional integral PI algorithm; the apparatus further comprises:
the second control module is configured to calculate the target torque of the steering wheel through the preset proportional integral PI algorithm according to the steering wheel angle and the preset target angle; and controlling the steering wheel to rotate to the target angle range according to the target torque.
Optionally, the preset proportional-integral PI algorithm includes a proportional coefficient and an integral coefficient; the preset proportional-integral PI algorithm is predetermined by: parameter setting is carried out according to the steering load when the vehicle is in the lifting mode, so that the proportional coefficient and the integral coefficient are obtained; and determining the preset proportional integral PI algorithm according to the proportional coefficient and the integral coefficient.
Optionally, the apparatus further includes:
and the third control module is configured to control the steering wheel of the vehicle to rotate to the target angle range through the preset control strategy according to the steering wheel angle and the preset target angle in response to receiving a control instruction of a user.
Optionally, the apparatus further comprises:
a second acquisition module configured to acquire a torque signal of the steering wheel;
and the fourth control module is configured to stop controlling the rotation of the steering wheel under the condition that the torque signal is greater than or equal to a preset torque threshold value.
Optionally, the vehicle is in the lift mode is determined by: acquiring the running speed and the ground clearance of the vehicle; and determining that the vehicle is in the lifting mode under the condition that the running speed is smaller than or equal to a preset speed threshold value and the ground clearance is larger than or equal to a preset height threshold value.
According to a third aspect of embodiments of the present disclosure, there is provided an electronic device comprising a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of vehicle control provided by the first aspect of the present disclosure.
According to a fourth aspect of embodiments of the present disclosure, there is provided a storage medium storing program instructions capable of implementing the steps of the method of vehicle control provided by the first aspect of the present disclosure.
According to a fifth aspect of embodiments of the present disclosure, there is provided a vehicle comprising the electronic device provided by the third aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: acquiring a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode; when the steering wheel angle is larger than or equal to a preset angle threshold value, controlling the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode; the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in a lifting mode, and potential safety hazards are reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flowchart illustrating a method of vehicle control, according to an exemplary embodiment.
FIG. 2 is a flowchart illustrating another method of vehicle control, according to an exemplary embodiment.
Fig. 3 is a schematic diagram of an electric power steering system, according to an exemplary embodiment.
Fig. 4 is a block diagram showing a structure of an apparatus for vehicle control according to an exemplary embodiment.
Fig. 5 is a block diagram of an electronic device, according to an example embodiment.
Fig. 6 is a block diagram of a vehicle according to an exemplary embodiment.
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 disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The present disclosure is applied to a scene of controlling a steering wheel of a vehicle. The electric power steering system (Electric Power Steering System, EPS) can be used for steering control of a vehicle, facilitating steering operations by a user. In the related art, under the condition that the steering wheel turns, the EPS can be used for carrying out the power assisted degradation of the steering, so that the condition that the tail end of the rack is impacted is avoided, and the potential safety hazard is reduced.
In the case of protecting the end of the rack by the EPS, if the steering wheel angle approaches the end of the rack, the EPS may control the assist motor to generate a torque to the steering wheel opposite to the steering direction of the steering wheel, the magnitude of the torque being determined according to a steering load when the vehicle is in contact with the ground, the steering load when the vehicle is in contact with the ground being related to a friction force of the vehicle with the ground, a tire rotation load, and a steering gear rotation load; while the vehicle is in the lift mode, the vehicle is not in contact with the ground, and the diverter load is independent of the friction of the vehicle with the ground. If the torque is used in the lifting mode, the steering wheel can be caused to rotate rapidly, the steering mechanism and the wheels are driven to rotate rapidly, and potential safety hazards are formed for people around the vehicle.
In order to solve the above problems, the present disclosure provides a method, an apparatus, an electronic device, a storage medium, and a vehicle for controlling a vehicle; acquiring a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode; when the steering wheel angle is larger than or equal to a preset angle threshold value, controlling the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode; the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in a lifting mode, and potential safety hazards are reduced.
The following detailed description of specific embodiments of the present disclosure refers to the accompanying drawings.
FIG. 1 is a flowchart illustrating a method of vehicle control, as shown in FIG. 1, according to an exemplary embodiment, including the following steps.
S101, when the vehicle is in a lifting mode, acquiring the steering wheel angle of the vehicle.
In some embodiments, it may be determined whether the vehicle is in lift mode by: acquiring the running speed and the ground clearance of the vehicle; and under the condition that the running speed is smaller than or equal to a preset speed threshold value and the ground clearance is larger than or equal to a preset height threshold value, determining that the vehicle is in the lifting mode.
By way of example, the preset speed threshold may be in the range of 0km/h-5km/h, e.g. 0km/h, 1km/h, 3km/h or 5km/h, etc. The steering wheel angle may be an angle obtained by a sensor, which may be an angle sensor. The ground clearance may be a height obtained by a ground clearance sensor. Thus, the current state of the vehicle can be accurately judged through the sensor, and the accuracy of the acquired data is improved.
It should be noted that, whether the vehicle is in the lifting mode may also be determined by the suspension system or the central control system of the vehicle, and the specific details of the above method may be referred to the related patent, which is not repeated here.
S102, controlling the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle under the condition that the steering wheel angle is larger than or equal to a preset angle threshold.
Wherein the target angle range is a range predetermined based on the preset target angle; the preset control strategy is predetermined based on steering load of the vehicle while in the lift mode.
According to the scheme, the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in the lifting mode, and potential safety hazards are reduced.
In some embodiments, the preset control strategy may be a preset proportional integral PI algorithm, and the controlling the steering wheel of the vehicle to rotate to the target angle range according to the steering wheel angle and the preset target angle by the preset control strategy may be as follows: according to the steering wheel angle and the preset target angle, calculating to obtain the target torque of the steering wheel through the preset proportional integral PI algorithm; and controlling the steering wheel to rotate to the target angle range according to the target torque.
The target torque of the steering wheel is obtained through calculation according to the steering wheel angle and the preset target angle through the preset proportional integral PI algorithm; controlling the steering wheel to rotate to the target angular range according to the target torque may include the following:
in a first mode, a difference value between the steering wheel angle and the preset target angle is determined, and when the difference value is smaller than or equal to a preset difference value threshold value, the difference value can be used as input of the preset proportional-integral PI algorithm to obtain a first target torque of the steering wheel output by the preset proportional-integral PI algorithm, the first target torque is output to a steering power-assisted motor, and the steering power-assisted motor can control the steering wheel to rotate through a mechanical transmission mechanism according to the first target torque. In this way, the steering wheel can be controlled by the steering mechanism according to the target torque, and the safety of the vehicle can be ensured.
And determining a difference value between the steering wheel angle and the preset target angle, wherein the preset difference value can be used as the input of the preset proportional-integral PI algorithm under the condition that the difference value is larger than a preset difference value threshold value, so as to obtain a second target torque of the steering wheel output by the preset proportional-integral PI algorithm, and the second target torque is output to a steering power-assisted motor, and the steering power-assisted motor controls the steering wheel to rotate through a mechanical transmission mechanism according to the second target torque. Therefore, under the condition that the difference value between the steering wheel angle and the preset target angle is large, the target torque can be obtained according to the preset difference value threshold value, and the influence of the large difference value on the safety of the vehicle is avoided.
In other embodiments, the steering wheel may be controlled to rotate to a target steering wheel angle in accordance with the target torque; stopping control of the steering wheel rotation if the target steering wheel angle is within the target angle range; and if the target steering wheel angle is out of the target angle range, continuing to control the steering wheel to rotate until the target steering wheel angle of the steering wheel is in the target angle range. Thus, the rotation of the steering wheel can be controlled according to the real-time angle, and the accuracy is higher.
In some embodiments, the above-described preset proportional-integral PI algorithm may be determined by: parameter setting is carried out according to the steering load when the vehicle is in the lifting mode, so that the proportional coefficient and the integral coefficient are obtained; and determining the preset proportional integral PI algorithm according to the proportional coefficient and the integral coefficient.
For example, the preset proportional-integral PI algorithm may be set according to the steering load and a preset angular velocity threshold when the vehicle is in the lifting mode, to obtain a proportional coefficient and an integral coefficient. Therefore, when the vehicle is in a lifting mode and the steering wheel angle is overlarge, the steering wheel of the vehicle is controlled to rotate to a target angle range at a rotating speed which does not exceed a preset angular speed threshold value, and the tail end of the rack of the vehicle is protected, and meanwhile, the steering wheel and the tires are prevented from causing potential safety hazards to personnel in or around the vehicle due to the fact that the rotating speed is too high.
In other embodiments, the controlling the rotation of the steering wheel of the vehicle to the target angle range by the preset control strategy according to the steering wheel angle and the preset target angle may further include the following steps: and in response to receiving a control instruction of a user, controlling the steering wheel of the vehicle to rotate to the target angle range through the preset control strategy according to the steering wheel angle and the preset target angle.
In some embodiments, the user may determine whether to perform steering wheel control via a prompt; and under the condition that the user determines to control the steering wheel through the prompt information, the control instruction is obtained. The control instruction can be an instruction sent by a terminal and/or a vehicle central control system; the prompt may include a voice prompt and/or a text prompt; the prompt message may be a message sent by the terminal and/or a vehicle central control system.
It will be appreciated that in the event that the user determines from the prompt that steering wheel control is not being performed, control of the steering wheel rotation is stopped. Therefore, steering wheel control can be performed according to the requirements of users, and the working efficiency is improved.
In other embodiments, a torque signal for the steering wheel may be obtained; and stopping controlling the rotation of the steering wheel under the condition that the torque signal is greater than or equal to a preset torque threshold value. For example, it may be determined that there is a user actively intervening in steering wheel rotation or an external force acting on the vehicle steering system and stopping controlling the steering wheel if the torque signal is greater than or equal to a preset torque threshold. Therefore, the influence of personnel on the vehicle can be avoided, and the safety of the vehicle is ensured.
FIG. 2 is a flowchart illustrating another method of vehicle control, according to an exemplary embodiment. Referring to fig. 2, the method includes the steps of:
s201, when the vehicle is in a lifting mode, the steering wheel angle of the vehicle is acquired.
S202, determining whether the steering wheel angle is larger than a preset angle threshold.
Executing S203 in case that the steering wheel angle is greater than the preset angle threshold;
in case the steering wheel angle is less than or equal to the preset angle threshold, S210 is performed.
S203, in response to receiving a control instruction of a user, determining whether steering wheel control is performed.
In the case where it is determined to perform steering wheel control according to the control instruction of the user, S204 is performed;
in a case where it is determined that steering wheel control is not performed according to a control instruction of the user, S210 is performed.
S204, determining a difference value between the steering wheel angle and a preset target angle.
S205, determining whether the difference is smaller than or equal to a preset difference threshold.
In case the difference is less than or equal to the preset difference threshold, performing S206;
in the case where the difference is greater than the preset difference threshold, S207 is performed.
S206, determining a first target torque of the steering wheel through a preset proportional integral PI algorithm according to the difference value; and outputting the first target torque to a steering assist motor, which controls the steering wheel to rotate through a mechanical transmission mechanism according to the first target torque.
S207, determining a second target torque of the steering wheel through a preset proportional integral PI algorithm according to the preset difference threshold; and outputting the second target torque to a steering assist motor, which controls the steering wheel to rotate through a mechanical transmission mechanism according to the second target torque.
S208, acquiring a target steering wheel angle of the vehicle.
S209, determining whether the target steering wheel angle is in a target angle range.
In the case where the target steering wheel angle is within the target angle range, S210 is performed;
if the target steering wheel angle is out of the target angle range, the routine returns to S204.
And S210, stopping the rotation control of the steering wheel.
According to the scheme, the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in the lifting mode, and potential safety hazards are reduced.
Fig. 3 is a block diagram illustrating a configuration of an electric power steering system 300, according to an exemplary embodiment. Referring to fig. 3, the electric power steering system 300 includes: a mechanical transmission 310 and a sensor 320, the sensor 320 being coupled to the mechanical transmission 310; an electric power steering controller 330, the electric power steering controller 330 being connected to the sensor 320; the electric power steering controller 330 includes an acquisition module 331, a judgment module 332, and a control module 333; a steering assist motor 340, the steering assist motor 340 being connected to the electric power steering controller 330.
The electric power steering system may control the steering wheel to rotate to a target angular range with the vehicle in a lift mode. The mechanical transmission 310 may include steering wheels, steering axles, steering wheels, and the like. The steering shaft of the mechanical transmission mechanism 310 can twist under the action of the moment of force to realize the steering of the vehicle under the condition that the user applies the acting force to the steering wheel. The mechanical transmission mechanism 310 can receive the torque output by the steering power-assisted motor 340, and drives the steering wheel through the speed reducing mechanism to realize steering power assistance.
The sensor 320 is used to acquire steering wheel angle. The electric power steering controller 330 is configured to calculate a difference between the steering wheel angle and a preset target angle when the steering wheel angle is greater than the preset target angle, obtain a target torque according to the difference through a preset proportional integral PI algorithm, and output a target torque signal of the target torque. The steering assist motor 340 is configured to receive the target torque signal and generate the target torque for the steering wheel to rotate the steering wheel to the target angular range.
According to the scheme, the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in the lifting mode, and potential safety hazards are reduced.
Fig. 4 is a block diagram illustrating a vehicle control apparatus 400 according to an exemplary embodiment. Referring to fig. 4, the apparatus includes a first acquisition module 410 and a first control module 420;
the first obtaining module 410 is configured to obtain a steering wheel angle of the vehicle when the vehicle is in a lifting mode;
the first control module 420 is configured to control the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle when the steering wheel angle is greater than or equal to a preset angle threshold; the preset control strategy is predetermined based on steering load of the vehicle while in the lift mode.
According to the technical scheme, the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in the lifting mode, and potential safety hazards are reduced.
Optionally, the preset control strategy includes a preset proportional integral PI algorithm; the apparatus further comprises:
the second control module is configured to calculate the target torque of the steering wheel through the preset proportional integral PI algorithm according to the steering wheel angle and the preset target angle; and controlling the steering wheel to rotate to the target angle range according to the target torque.
Optionally, the preset proportional-integral PI algorithm includes a proportional coefficient and an integral coefficient; the preset proportional-integral PI algorithm is predetermined by: parameter setting is carried out according to the steering load when the vehicle is in the lifting mode, so that the proportional coefficient and the integral coefficient are obtained; and determining the preset proportional integral PI algorithm according to the proportional coefficient and the integral coefficient.
Optionally, the apparatus further comprises:
and the third control module is configured to control the steering wheel of the vehicle to rotate to the target angle range through the preset control strategy according to the steering wheel angle and the preset target angle in response to receiving a control instruction of a user.
Optionally, the apparatus further comprises:
a second acquisition module configured to acquire a torque signal of the steering wheel;
and a fourth control module configured to stop control of the steering wheel rotation if the torque signal is greater than or equal to a preset torque threshold.
Optionally, the vehicle is in the lift mode is determined by: acquiring the running speed and the ground clearance of the vehicle; and under the condition that the running speed is smaller than or equal to a preset speed threshold value and the ground clearance is larger than or equal to a preset height threshold value, determining that the vehicle is in the lifting mode.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of vehicle control provided by the present disclosure.
In summary, the present disclosure provides a method, an apparatus, an electronic device, a storage medium, and a vehicle for controlling a vehicle; acquiring a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode; when the steering wheel angle is larger than or equal to a preset angle threshold value, controlling the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode; the steering wheel of the vehicle is controlled to be in the target angle range through the preset control strategy, so that the steering wheel can be controlled to be in a stable state under the condition that the vehicle is in a lifting mode, and potential safety hazards are reduced.
Fig. 5 is a block diagram illustrating a configuration of an electronic device 500, according to an example embodiment. For example, electronic device 500 may be provided as a server. Referring to fig. 5, electronic device 500 includes a processing component 522 that further includes one or more processors and memory resources represented by memory 532 for storing instructions, such as applications, executable by processing component 522. The application programs stored in the memory 532 may include one or more modules each corresponding to a set of instructions. Further, the processing component 522 is configured to execute instructions to perform the method of vehicle control described above.
The electronic device 500 may also include a power component 526 configured to perform power management of the electronic device 500, a wired or wireless network interface 550 configured to connect the electronic device 500 to a network, and an input/output interface 558. The electronic device 500 may operate an operating system based on storage 532.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned method of vehicle control when executed by the programmable apparatus.
Fig. 6 is a block diagram of a vehicle 600, which may include an electronic device 500, according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 6, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and memory 652, the processor 651 may execute instructions 653 stored in the memory 652.
The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.
The memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices 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 or optical disk.
In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 652 may be used by computing platform 650.
In an embodiment of the present disclosure, the processor 651 may execute instructions 653 to perform all or part of the steps of the method of vehicle control described above.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A method of vehicle control, the method comprising:
acquiring a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode;
when the steering wheel angle is larger than or equal to a preset angle threshold value, controlling the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode.
2. The method of claim 1, wherein the preset control strategy comprises a preset proportional integral PI algorithm; the controlling the steering wheel of the vehicle to rotate to the target angle range through a preset control strategy according to the steering wheel angle and a preset target angle comprises:
according to the steering wheel angle and the preset target angle, calculating to obtain the target torque of the steering wheel through the preset proportional integral PI algorithm;
and controlling the steering wheel to rotate to the target angle range according to the target torque.
3. The method of claim 2, wherein the preset proportional-integral PI algorithm comprises a proportional coefficient and an integral coefficient; the preset proportional-integral PI algorithm is predetermined by:
parameter setting is carried out according to the steering load when the vehicle is in the lifting mode, so that the proportional coefficient and the integral coefficient are obtained;
and determining the preset proportional integral PI algorithm according to the proportional coefficient and the integral coefficient.
4. The method of claim 1, wherein controlling the rotation of the vehicle steering wheel to a target angular range by a preset control strategy according to the steering wheel angle and a preset target angle comprises:
and responding to the received control instruction of a user, and controlling the steering wheel of the vehicle to rotate to the target angle range through the preset control strategy according to the steering wheel angle and the preset target angle.
5. The method according to claim 1, wherein the method further comprises:
acquiring a torque signal of the steering wheel;
and stopping controlling the rotation of the steering wheel under the condition that the torque signal is greater than or equal to a preset torque threshold value.
6. The method according to any one of claims 1-5, wherein the vehicle is in a lifting mode is determined by:
acquiring the running speed and the ground clearance of the vehicle;
and determining that the vehicle is in the lifting mode under the condition that the running speed is smaller than or equal to a preset speed threshold value and the ground clearance is larger than or equal to a preset height threshold value.
7. An apparatus for vehicle control, the apparatus comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is configured to acquire a steering wheel angle of a vehicle under the condition that the vehicle is in a lifting mode;
the control module is configured to control the steering wheel of the vehicle to rotate to a target angle range through a preset control strategy according to the steering wheel angle and a preset target angle under the condition that the steering wheel angle is greater than or equal to a preset angle threshold; the preset control strategy is determined in advance according to the steering load of the vehicle in the lifting mode.
8. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-6.
9. A storage medium storing program instructions capable of implementing the method of any one of claims 1-6.
10. A vehicle comprising the electronic device of claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310761998.6A CN116588192A (en) | 2023-06-26 | 2023-06-26 | Vehicle control method and device, electronic equipment, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310761998.6A CN116588192A (en) | 2023-06-26 | 2023-06-26 | Vehicle control method and device, electronic equipment, storage medium and vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN116588192A true CN116588192A (en) | 2023-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310761998.6A Pending CN116588192A (en) | 2023-06-26 | 2023-06-26 | Vehicle control method and device, electronic equipment, storage medium and vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN116588192A (en) |
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2023
- 2023-06-26 CN CN202310761998.6A patent/CN116588192A/en active Pending
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