CN116767186B - Vehicle control method, device, computer equipment and readable storage medium - Google Patents
Vehicle control method, device, computer equipment and readable storage medium Download PDFInfo
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Abstract
The application provides a vehicle control method, a device, computer equipment and a readable storage medium, wherein a future track point corresponding to a future moment is predicted based on current state information of a vehicle and control parameters corresponding to the future moment; receiving lane line information; determining a track point deviation between the future track point and a lane line based on the lane line information; judging whether the track point deviation exceeds a deviation threshold value or not; and if the track point deviation exceeds the deviation threshold value, executing safe running control on the vehicle. By adopting the method, the vehicle is prevented from keeping the current running state under the condition of deviating from the lane line, so that potential safety hazards are avoided.
Description
Technical Field
The present invention relates to the field of vehicle control, and in particular, to a vehicle control method, apparatus, computer device, and readable storage medium.
Background
It was found in the study that when the vehicle is controlled to travel along the lane line, the vehicle may deviate from the lane line during the traveling process due to external environmental influence, interference of obstacles, or control errors of the vehicle control system. If the vehicle keeps running in the current running state under the condition of deviating from the lane line, the vehicle may not reach the target position, or a potential safety hazard may occur in the running process. Therefore, how to avoid the vehicle from keeping the current driving state when deviating from the lane line, and thus, the occurrence of potential safety hazard becomes a problem to be solved urgently.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a vehicle control method, apparatus, computer device and readable storage medium, so as to avoid the vehicle from keeping the current driving state in the case of deviating from the lane, and thereby avoid the potential safety hazard.
In a first aspect, an embodiment of the present application provides a vehicle control method, including:
Predicting a future track point corresponding to a future moment based on current state information of the vehicle and control parameters corresponding to the future moment;
Receiving lane line information;
Determining a track point deviation between the future track point and a lane line based on the lane line information;
judging whether the track point deviation exceeds a deviation threshold value or not;
And if the track point deviation exceeds the deviation threshold value, executing safe running control on the vehicle.
Optionally, the control parameter includes at least one of steering wheel angle, throttle size, and brake size.
Optionally, the current state information of the vehicle includes at least one of a current position, a distance of the current position from a lane line, and an angle of a current vehicle orientation from the lane line.
Optionally, the predicting the future track point corresponding to the future time based on the current state information of the vehicle and the control parameter corresponding to the future time includes:
and predicting the future track point corresponding to the future moment by utilizing a vehicle kinematic model based on the current state information and the control parameter corresponding to the future moment.
Optionally, the determining, based on the lane line information, a deviation of the future track point from a track point between lane lines includes:
the track point deviation of the future track point from the lane line is determined based on the position and orientation of the future track point, the position and orientation of the lane line, and the size of the vehicle.
Optionally, the method further comprises:
based on control parameters corresponding to a plurality of historical moments, determining historical estimated track points corresponding to the vehicle at each historical moment by utilizing a vehicle kinematic model;
generating a historical estimated driving track based on the historical estimated track points corresponding to each historical moment;
receiving a real running track in a history interval formed by the plurality of history moments;
And adjusting the current control parameters of the vehicle based on the historical estimated running track and the real running track.
Optionally, the method further comprises:
Adjusting the current control parameters of the vehicle based on the deviation between the historical estimated travel track and the real travel track so that the historical estimated travel track is substantially close to the real travel track;
Judging whether the current state information of the vehicle exceeds a preset threshold value under the current control parameters;
And if the vehicle speed exceeds the preset speed, executing the safe driving control on the vehicle.
In a second aspect, an embodiment of the present application provides a vehicle control apparatus, including:
the future track point prediction module is used for predicting a future track point corresponding to the future moment based on the current state information of the vehicle and the control parameter corresponding to the future moment;
the lane line information receiving module is used for receiving lane line information;
the track point deviation determining module is used for determining track point deviation between the future track point and the lane line based on the lane line information;
the first judging module is used for judging whether the track point deviation exceeds a deviation threshold value or not;
and the first safe driving control module is used for executing safe driving control on the vehicle if the track point deviation exceeds the deviation threshold value.
Optionally, the control parameter includes at least one of steering wheel angle, throttle size, and brake size.
Optionally, the current state information of the vehicle includes at least one of a current position, a distance of the current position from a lane line, and an angle of a current vehicle orientation from the lane line.
Optionally, the future track point prediction module is configured to predict a future track point corresponding to a future time based on current state information of the vehicle and control parameters corresponding to the future time, and specifically is configured to:
and predicting the future track point corresponding to the future moment by utilizing a vehicle kinematic model based on the current state information and the control parameter corresponding to the future moment.
Optionally, the track point deviation determining module is specifically configured to, when configured to determine the track point deviation between the future track point and the lane line based on the lane line information:
the track point deviation of the future track point from the lane line is determined based on the position and orientation of the future track point, the position and orientation of the lane line, and the size of the vehicle.
Optionally, the apparatus further comprises:
The historical estimated track point determining module is used for determining historical estimated track points corresponding to the vehicle at each historical moment by utilizing a vehicle kinematic model based on control parameters corresponding to a plurality of historical moments;
the historical estimated driving track generation module is used for generating a historical estimated driving track based on the historical estimated track points corresponding to each historical moment;
the real running track receiving module is used for receiving the real running track in the history interval formed by the plurality of history moments;
And the first current control parameter adjustment module is used for adjusting the current control parameters of the vehicle based on the historical estimated running track and the real running track.
Optionally, the apparatus further comprises:
the second current control parameter adjustment module is used for adjusting the current control parameters of the vehicle based on the deviation between the historical estimated running track and the real running track so that the historical estimated running track is basically close to the real running track;
the second judging module is used for judging whether the current state information of the vehicle exceeds a preset threshold value under the current control parameters;
and the second safe running control module is used for executing the safe running control on the vehicle if the second safe running control module exceeds the second safe running control module.
In a third aspect, an embodiment of the present application provides a computer apparatus, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the computer device is running, the machine readable instructions when executed by the processor performing the steps of the vehicle control method as described in any of the alternative embodiments of the first aspect above.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle control method described in any of the alternative embodiments of the first aspect.
The technical scheme provided by the application comprises the following beneficial effects:
The method judges the degree of the vehicle deviating from the lane line in the running process based on the deviation of the track point between the track point of the vehicle at the future moment and the lane line, and then executes safe running control on the vehicle when the degree of the vehicle deviating from the lane line exceeds the expected degree so as to avoid the vehicle from keeping the current running state under the condition of deviating from the lane line, thereby avoiding potential safety hazards.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling a vehicle according to a first embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for adjusting vehicle control parameters according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a second vehicle control method according to a first embodiment of the invention;
fig. 4 is a schematic structural view of a vehicle control device according to a second embodiment of the present invention;
Fig. 5 is a schematic structural view showing a second vehicle control apparatus according to a second embodiment of the present invention;
Fig. 6 is a schematic structural view showing a third vehicle control apparatus according to a second embodiment of the present invention;
Fig. 7 is a schematic structural diagram of a computer device according to a third embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Example 1
In order to facilitate understanding of the present application, a first embodiment of the present application will be described in detail with reference to a flowchart of a vehicle control method according to the first embodiment of the present application shown in fig. 1.
Referring to fig. 1, fig. 1 shows a flowchart of a vehicle control method according to a first embodiment of the present invention, where the method includes steps S101 to S105:
s101: and predicting a future track point corresponding to the future moment based on the current state information of the vehicle and the control parameter corresponding to the future moment.
Specifically, current state information of the vehicle is received from the vehicle chassis, and Control parameters corresponding to a future time of the vehicle are received from a pnc (PLANNING AND Control) module of the vehicle.
The control parameters corresponding to the future time of the vehicle are solved by using an MPC (Model Predictive Control ) controller according to the angle deviation and the transverse deviation from the current position of the vehicle to one or more target positions preset in a vehicle control system.
The future time may be one or more, and when the future time is one, the respective future track point is one, and when the future time is a plurality, the respective future track point is a plurality, that is, each future time corresponds to a respective future track point.
S102: lane line information is received.
Specifically, lane line information is received from a perception module of the vehicle, and the lane line is the center line of a lane where the vehicle is located when the vehicle is running.
S103: and determining the deviation of the future track point and the track point between the lane lines based on the lane line information.
In particular, the track point deviation is used to describe the degree of deviation between the position of the vehicle at the future time and the lane line. When the future track points are one, the obtained corresponding track point deviation is one; and when the future time is multiple, the obtained corresponding track point deviation is multiple.
S104: and judging whether the track point deviation exceeds a deviation threshold value.
Specifically, whether the deviation of the track points exceeds a deviation threshold value is judged, and whether the deviation degree between the position of the vehicle at the future moment and the lane line exceeds a specified degree is determined according to the judgment result.
When the track point deviation is one, only judging whether the track point deviation exceeds a deviation threshold value or not; when the track point deviation is multiple, whether each track point deviation exceeds the deviation threshold value or whether the sum value of the track point deviations exceeds the deviation threshold value or whether the average value of the track point deviations exceeds the deviation threshold value or whether the maximum value of the track point deviations exceeds the deviation threshold value or whether the minimum value of the track point deviations exceeds the deviation threshold value can be judged respectively.
S105: and if the track point deviation exceeds the deviation threshold value, executing safe running control on the vehicle.
Specifically, when the deviation of the track point is one, if the deviation exceeds the deviation threshold, it is indicated that the degree of deviation between the position of the vehicle at the future time and the lane line exceeds a specified degree, and in order to ensure the running safety of the vehicle, it is necessary to perform safe running control on the vehicle. If the deviation of the track points does not exceed the deviation threshold value, the safety running control of the vehicle is not required.
When the track point deviation is multiple, if each track point deviation exceeds the deviation threshold, or the sum value of the track point deviations exceeds the deviation threshold, or the average value of the track point deviations exceeds the deviation threshold, or the maximum value of the track point deviations exceeds the deviation threshold, or the minimum value of the track point deviations exceeds the deviation threshold, safety running control is executed on the vehicle.
Methods of safe driving control include, but are not limited to, deceleration and stopping.
In one possible embodiment, the control parameter includes at least one of steering wheel angle, throttle size, and brake size.
In one possible embodiment, the current state information of the vehicle includes at least one of a current position, a distance of the current position from a lane line, and an angle of a current vehicle orientation from the lane line.
In one possible embodiment, the predicting the future track point corresponding to the future time based on the current state information of the vehicle and the control parameter corresponding to the future time includes:
and predicting the future track point corresponding to the future moment by utilizing a vehicle kinematic model based on the current state information and the control parameter corresponding to the future moment.
Specifically, current state information of the vehicle and control parameters corresponding to future time are input into a vehicle kinematic model, and a future track point corresponding to the future time is obtained.
In a possible embodiment, the determining, based on the lane line information, a deviation of the future trajectory point from a trajectory point between lane lines includes:
the track point deviation of the future track point from the lane line is determined based on the position and orientation of the future track point, the position and orientation of the lane line, and the size of the vehicle.
Specifically, the trajectory point deviation P is determined using the following expression:
Wherein, L 1 is the distance from the vehicle center point to the vehicle head, B is the direction of the vehicle, L 2 is the vertical distance from the future track point to the lane line, and L 3 is the width of the lane to which the lane line belongs. When the track point deviation is determined, the vehicle center point is considered to be the track point position.
It is worth noting that the application considers the size of the vehicle, does not consider the vehicle as particles to calculate the track point deviation, and can realize accurate control of vehicles with different sizes based on the influence of the size on the track point deviation, thereby improving the effectiveness and accuracy in controlling the vehicles with different sizes.
In a possible implementation manner, referring to fig. 2, fig. 2 shows a flowchart of a method for adjusting a vehicle control parameter according to an embodiment of the present invention, where the method further includes steps S201 to S204:
S201: based on control parameters corresponding to a plurality of historical moments, a vehicle kinematic model is utilized to determine historical estimated track points corresponding to the vehicle at each historical moment. In order to ensure the accuracy of the obtained historical estimated track points, a Kalman filtering algorithm may be used to filter the historical estimated track points obtained by using a vehicle kinematic model.
Specifically, control parameters corresponding to a plurality of historical moments are used as input and are input into a vehicle kinematic model to obtain historical estimated track points corresponding to the vehicle at each historical moment. The control parameters include at least one of steering wheel angle, throttle size, and brake size.
S202: and generating a historical estimated running track based on the historical estimated track points corresponding to each historical moment.
Specifically, curve fitting is performed on the history estimation track points corresponding to each history moment to generate a history estimation running track.
S203: and receiving the real running track in the history interval formed by the plurality of history moments.
Specifically, a true travel track within a history interval constituted by a plurality of history moments is received from a positioning module of a vehicle.
S204: and adjusting the current control parameters of the vehicle based on the historical estimated running track and the real running track.
Specifically, the historical estimated running track and the real running track are displayed in a display interface of a vehicle control system, and current control parameters of the vehicle are adjusted so that the historical estimated running track and the real running track displayed in the display interface are basically close.
In a possible implementation manner, referring to fig. 3, fig. 3 shows a flowchart of a second vehicle control method according to an embodiment of the present invention, where the method further includes steps S301 to S303:
S301: and adjusting the current control parameters of the vehicle based on the deviation between the historical estimated travel track and the real travel track so that the historical estimated travel track is substantially close to the real travel track.
Specifically, substantially close means that the sum value of distances between track points satisfying the vehicle at each of the historic times in the historic estimated travel track and track points of the vehicle at the same historic times in the real travel track is minimum.
S302: and judging whether the current state information of the vehicle exceeds a preset threshold value under the current control parameters.
Specifically, whether the current state information of the vehicle exceeds a preset threshold value under the current control parameters is judged, and whether the safe driving control is required to be executed on the vehicle is determined according to a judging result.
S303: and if the vehicle speed exceeds the preset speed, executing the safe driving control on the vehicle.
Specifically, if exceeded, the need to perform safe driving control on the vehicle is indicated, including but not limited to deceleration and parking. If the vehicle speed is not exceeded, the safe running control is not performed on the vehicle.
Example two
Referring to fig. 4, fig. 4 is a schematic structural diagram of a vehicle control device according to a second embodiment of the present invention, where the device includes:
A future track point prediction module 401, configured to predict a future track point corresponding to a future time based on current state information of a vehicle and control parameters corresponding to the future time;
A lane line information receiving module 402, configured to receive lane line information;
a track point deviation determining module 403, configured to determine a track point deviation between the future track point and a lane line based on the lane line information;
a first determining module 404, configured to determine whether the deviation of the track point exceeds a deviation threshold;
the first safe driving control module 405 is configured to execute safe driving control on the vehicle if the deviation of the track point exceeds the deviation threshold.
In one possible embodiment, the control parameter includes at least one of steering wheel angle, throttle size, and brake size.
In one possible embodiment, the current state information of the vehicle includes at least one of a current position, a distance of the current position from a lane line, and an angle of a current vehicle orientation from the lane line.
In a possible embodiment, the future track point prediction module is configured to predict a future track point corresponding to a future time point based on current state information of the vehicle and control parameters corresponding to the future time point, and is specifically configured to:
and predicting the future track point corresponding to the future moment by utilizing a vehicle kinematic model based on the current state information and the control parameter corresponding to the future moment.
Optionally, the track point deviation determining module is specifically configured to, when configured to determine the track point deviation between the future track point and the lane line based on the lane line information:
the track point deviation of the future track point from the lane line is determined based on the position and orientation of the future track point, the position and orientation of the lane line, and the size of the vehicle.
In one possible embodiment, referring to fig. 5, fig. 5 shows a schematic structural diagram of a second vehicle control device according to a second embodiment of the present invention, where the device further includes:
a historical estimated track point determining module 501, configured to determine, based on control parameters corresponding to a plurality of historical moments, a historical estimated track point corresponding to each of the historical moments by using a vehicle kinematic model;
A historical estimated travel track generation module 502, configured to generate a historical estimated travel track based on the historical estimated track points corresponding to each historical time;
A real running track receiving module 503, configured to receive a real running track in a history interval formed by the plurality of history moments;
A first current control parameter adjustment module 504, configured to adjust a current control parameter of the vehicle based on the historical estimated travel track and the actual travel track.
In one possible embodiment, referring to fig. 6, fig. 6 shows a schematic structural diagram of a third vehicle control device according to a second embodiment of the present invention, where the device further includes:
A second current control parameter adjustment module 601, configured to adjust the current control parameter of the vehicle based on a deviation between the historical estimated running track and the real running track, so that the historical estimated running track is substantially close to the real running track;
a second determining module 602, configured to determine whether the current state information of the vehicle exceeds a preset threshold under the current control parameter;
and a second safe driving control module 603, configured to execute the safe driving control on the vehicle if the first safe driving control module exceeds the second safe driving control module.
Example III
Based on the same application concept, referring to fig. 7, fig. 7 shows a schematic structural diagram of a computer device provided in a third embodiment of the present application, where, as shown in fig. 7, a computer device 700 provided in the third embodiment of the present application includes:
a processor 701, a memory 702 and a bus 703, said memory 702 storing machine readable instructions executable by said processor 701, said processor 701 and said memory 702 communicating via said bus 703 when said computer device 700 is run, said machine readable instructions being executed by said processor 701 to perform the steps of a vehicle control method as described in the first embodiment.
Example IV
Based on the same application concept, the embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, performs the steps of a vehicle control method according to any one of the above embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
The computer program product for controlling a vehicle provided by the embodiment of the present invention includes a computer readable storage medium storing program codes, where the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
The vehicle control device provided by the embodiment of the invention can be specific hardware on equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned. It will be clear to those skilled in the art that, for convenience and brevity, the specific operation of the system, apparatus and unit described above may refer to the corresponding process in the above method embodiment, which is not described in detail herein.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Accordingly, the scope of the invention is to be protected by the following claims.
Claims (9)
1. A vehicle control method, characterized in that the method comprises:
Predicting a future track point corresponding to a future moment based on current state information of the vehicle and control parameters corresponding to the future moment;
Receiving lane line information;
Determining a track point deviation between the future track point and a lane line based on the lane line information;
judging whether the track point deviation exceeds a deviation threshold, wherein when the track point deviation is one, only judging whether the track point deviation exceeds the deviation threshold; when the track point deviation is multiple, judging whether each track point deviation exceeds a deviation threshold value, judging whether the sum value of the track point deviations exceeds the deviation threshold value, judging whether the average value of the track point deviations exceeds the deviation threshold value, judging whether the maximum value of the track point deviations exceeds the deviation threshold value, or judging whether the minimum value of the track point deviations exceeds the deviation threshold value;
If the track point deviation exceeds the deviation threshold value, executing safe running control on the vehicle;
the method further comprises the steps of:
based on control parameters corresponding to a plurality of historical moments, determining historical estimated track points corresponding to the vehicle at each historical moment by utilizing a vehicle kinematic model;
generating a historical estimated driving track based on the historical estimated track points corresponding to each historical moment;
receiving a real running track in a history interval formed by the plurality of history moments;
Based on the historical estimated running track and the real running track, current control parameters of the vehicle are adjusted;
The step of adjusting the current control parameters of the vehicle based on the historical estimated running track and the real running track comprises the following steps:
displaying the historical estimated running track and the real running track in a display interface of a vehicle control system;
and adjusting the current control parameters of the vehicle so that the historical estimated running track and the real running track displayed in the display interface are basically approximate.
2. The method of claim 1, wherein the control parameter comprises at least one of steering wheel angle, throttle magnitude, and brake magnitude.
3. The method of claim 1, wherein the current status information of the vehicle includes at least one of a current location, a distance of the current location from a lane line, and an angle of a current vehicle orientation from the lane line.
4. The method of claim 1, wherein predicting the future track point corresponding to the future time based on the current state information of the vehicle and the control parameter corresponding to the future time comprises:
and predicting the future track point corresponding to the future moment by utilizing a vehicle kinematic model based on the current state information and the control parameter corresponding to the future moment.
5. The method of claim 1, wherein the determining the future track point to track point deviation from a lane line based on the lane line information comprises:
the track point deviation of the future track point from the lane line is determined based on the position and orientation of the future track point, the position and orientation of the lane line, and the size of the vehicle.
6. The method according to claim 1, wherein the method further comprises:
Adjusting the current control parameters of the vehicle based on the deviation between the historical estimated travel track and the real travel track so that the historical estimated travel track is substantially close to the real travel track;
Judging whether the current state information of the vehicle exceeds a preset threshold value under the current control parameters;
And if the vehicle speed exceeds the preset speed, executing the safe driving control on the vehicle.
7. A vehicle control apparatus, characterized in that the apparatus comprises:
the future track point prediction module is used for predicting a future track point corresponding to the future moment based on the current state information of the vehicle and the control parameter corresponding to the future moment;
the lane line information receiving module is used for receiving lane line information;
the track point deviation determining module is used for determining track point deviation between the future track point and the lane line based on the lane line information;
The first judging module is used for judging whether the track point deviation exceeds a deviation threshold value, wherein when the track point deviation is one, only judging whether the track point deviation exceeds the deviation threshold value; when the track point deviation is multiple, judging whether each track point deviation exceeds a deviation threshold value, judging whether the sum value of the track point deviations exceeds the deviation threshold value, judging whether the average value of the track point deviations exceeds the deviation threshold value, judging whether the maximum value of the track point deviations exceeds the deviation threshold value, or judging whether the minimum value of the track point deviations exceeds the deviation threshold value;
the safe driving control module is used for executing safe driving control on the vehicle if the track point deviation exceeds the deviation threshold value;
The historical estimated track point determining module is used for determining historical estimated track points corresponding to the vehicle at each historical moment by utilizing a vehicle kinematic model based on control parameters corresponding to a plurality of historical moments;
the historical estimated driving track generation module is used for generating a historical estimated driving track based on the historical estimated track points corresponding to each historical moment;
the real running track receiving module is used for receiving the real running track in the history interval formed by the plurality of history moments;
the first current control parameter adjustment module is used for adjusting the current control parameters of the vehicle based on the historical estimated running track and the real running track;
The step of adjusting the current control parameters of the vehicle based on the historical estimated running track and the real running track comprises the following steps:
displaying the historical estimated running track and the real running track in a display interface of a vehicle control system;
and adjusting the current control parameters of the vehicle so that the historical estimated running track and the real running track displayed in the display interface are basically approximate.
8. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the vehicle control method according to any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle control method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310883100.2A CN116767186B (en) | 2023-07-18 | 2023-07-18 | Vehicle control method, device, computer equipment and readable storage medium |
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