CN117382611A - Vehicle control method, device, vehicle and storage medium - Google Patents
Vehicle control method, device, vehicle and storage medium Download PDFInfo
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- CN117382611A CN117382611A CN202311632430.0A CN202311632430A CN117382611A CN 117382611 A CN117382611 A CN 117382611A CN 202311632430 A CN202311632430 A CN 202311632430A CN 117382611 A CN117382611 A CN 117382611A
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- 238000012937 correction Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 6
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- 230000000875 corresponding effect Effects 0.000 description 15
- 230000001276 controlling effect Effects 0.000 description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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Abstract
The application relates to a vehicle control method, comprising: acquiring state information of the own vehicle, wherein the state information is used for judging whether to activate a high-speed avoidance state of the own vehicle; if the state information meets the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the self-vehicle is activated, and the auxiliary driving system and the electronic stabilizing system are controlled to execute a corresponding high-speed avoidance strategy; and if the state information does not meet the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the own vehicle is not activated. Through the mode, the high-speed avoidance operation of the vehicle can be realized based on the auxiliary driving system and the electronic stabilizing system, and the running stability of the vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a vehicle control method, a device, a vehicle, and a storage medium.
Background
With the rapid development of the automobile industry, the intelligent degree of automobiles is higher and higher. The advanced auxiliary driving system, the electronic stabilizing system and the like of the current vehicle are more and more mature, the vehicle type configuration of the advanced auxiliary system and the electronic stabilizing system of the vehicle is more and more matched, and the requirement of the stabilizing system of the vehicle based on the vehicle type configuration at high speed is more and more important.
In the process of designing and implementing the present application, the inventors found that at least the following problems exist: when the vehicle runs at a high speed, overtaking or overtaking often occurs, and due to the fact that the air flow rate of two workshops running at the high speed is high, the pressure is low, certain pressure can be generated on the other side of the vehicle body, the vehicle generates yaw, and the steering stability of the vehicle is reduced.
Disclosure of Invention
An object of the present invention is to provide a vehicle control method, device, vehicle and storage medium, which can solve the above technical problems, and can implement a high-speed avoidance operation of the vehicle based on an auxiliary driving system and an electronic stability system, and improve the running stability of the vehicle.
To solve the above technical problem, in a first aspect, the present application provides a vehicle control method, including:
acquiring state information of a self-vehicle, wherein the state information is used for judging whether to activate a high-speed avoidance state of the self-vehicle;
if the state information meets the enabling condition of the high-speed avoidance state, activating the high-speed avoidance state of the self-vehicle, and controlling an auxiliary driving system and an electronic stabilizing system to execute a corresponding high-speed avoidance strategy;
and if the state information does not meet the enabling condition of the high-speed avoidance state, not activating the high-speed avoidance state of the self-vehicle.
In an embodiment, the state information includes an auxiliary driving system state, an electronic stability system state, a vehicle starting state, a vehicle communication state, and a vehicle speed, and the state information satisfies an enabling condition of the high-speed avoidance state, including:
the auxiliary driving system works normally;
the electronic stable system works normally;
the vehicle is in a starting state;
the communication function of the vehicle is normal;
the speed of the bicycle is greater than a first preset speed.
In an embodiment, the controlling the auxiliary driving system and the electronic stability system to execute the corresponding high-speed avoidance strategy includes:
controlling the auxiliary driving system to acquire sensor data of the vehicle;
if the sensor data meet the preset conditions, obtaining a first target pressure for adjusting the braking pressure of the unilateral wheel according to the sensor data;
and if the first target pressure is larger than a preset pressure value, controlling the electronic stabilizing system to adjust the braking pressure of the unilateral wheel according to the first target pressure.
In an embodiment, the sensor data includes vehicle-mounted camera data and/or vehicle-mounted radar data, and the sensor data satisfies a preset condition, including:
if the own vehicle exists in the same-direction adjacent lane of the lane where the own vehicle is located and the speed difference between the own vehicle and the other vehicle is larger than a preset difference value, the sensor data meets the preset condition.
In one embodiment, the outputting a first target pressure for adjusting the one-sided wheel brake pressure includes:
obtaining a second target pressure according to the speed of the own vehicle and the speed difference between the own vehicle and the other vehicle;
obtaining a yaw angle correction factor according to the yaw acceleration of the vehicle;
a first target pressure according to the second target pressure and the yaw angle correction factor;
and outputting a first target pressure for adjusting the braking pressure of a single-side wheel, wherein the single-side wheel is a wheel which is far away from one side of the vehicle.
In one embodiment, after activating the high speed avoidance state of the own vehicle, the method further comprises:
and responding to the trigger of the exit condition of the high-speed avoidance state, exiting the high-speed avoidance state of the self-vehicle, and stopping executing the corresponding high-speed avoidance strategy.
In an embodiment, the exit condition of the high-speed avoidance state includes at least one of:
the longitudinal distance between the own vehicle and the other vehicle is greater than a preset distance;
receiving a braking instruction of a brake pedal;
activating CDD (compact digital) functions;
the VDC function is activated;
activating a TCS function;
activating an AEB function;
an auxiliary driving system fault;
failure of the electronic stability system;
the descending amplitude of the vehicle speed of the vehicle is larger than a second preset vehicle speed;
the activation time of the high-speed avoidance state is longer than a preset duration.
In a second aspect, the present application also provides a vehicle control apparatus including: at least one memory storing one or more computer-executable instructions and at least one processor invoking the one or more computer-executable instructions to perform the vehicle control method according to the first aspect.
In a third aspect, the present application also provides a vehicle comprising the vehicle control device as described in the second aspect.
In a fourth aspect, the present application also provides a computer storage medium storing one or more computer-executable instructions that when executed implement the vehicle control method according to the first aspect.
According to the vehicle control method, the device, the vehicle and the storage medium, through acquiring the state information of the own vehicle, the state information is used for judging whether to activate the high-speed avoidance state of the own vehicle; if the state information meets the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the self-vehicle is activated, and the auxiliary driving system and the electronic stabilizing system are controlled to execute a corresponding high-speed avoidance strategy; and if the state information does not meet the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the own vehicle is not activated. Through the mode, the high-speed avoidance operation of the vehicle can be realized based on the auxiliary driving system and the electronic stabilizing system, and the running stability of the vehicle is improved.
The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification, so that the foregoing and other objects, features and advantages of the present application can be more clearly understood, and the following detailed description of the preferred embodiments will be given with reference to the accompanying drawings.
Drawings
Fig. 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present application.
Fig. 2 is a schematic view of a scene interaction of a vehicle control method according to an embodiment of the present application.
Fig. 3 is a schematic structural view of an in-vehicle control device according to an embodiment of the present application.
Detailed Description
In order to further describe the technical means and effects adopted by the present application to achieve the preset application purpose, the following detailed description refers to the specific implementation, method, step, structure, feature and effect of the vehicle control method, device, vehicle and storage medium according to the present application with reference to the accompanying drawings and preferred embodiments.
The foregoing and other technical aspects, features and advantages of the present application will become more apparent from the following detailed description of the preferred embodiments with reference to the accompanying drawings. While the present application may be susceptible to further details of embodiments and their technical means and effects for attaining the intended purpose, the drawings are merely to provide a further understanding of the invention and are not to be construed as limiting the invention.
Fig. 1 is a flow chart illustrating a vehicle control method according to an exemplary embodiment.
Referring to fig. 1, the vehicle control method of the present embodiment includes:
step S1, acquiring state information of the own vehicle, wherein the state information is used for judging whether to activate a high-speed avoidance state of the own vehicle.
The state information comprises an auxiliary driving system state, an electronic stable system state, a vehicle starting state, a vehicle communication state and a vehicle speed. It should be noted that the driving assistance system (ADAS, advanced Driver Assistance System) is an integrated active safety control system, which uses various sensors, such as radar, cameras, etc., to sense the surrounding environment of the vehicle and perform identification, detection and tracking of static and dynamic objects. Meanwhile, the ADAS system also receives satellite signals through a Global Positioning System (GPS) receiver, and calculates longitude and latitude coordinates, speed, time and other information of the vehicle. All the data information is combined with the navigation map data to perform comprehensive calculation, so that possible dangers are judged for the driver in advance and corresponding precautions are taken. An electronic stability system (ESC, electronic Stability Control) is an active safety system for improving vehicle stability and handling. The working principle is that the motion state of the vehicle, such as speed, direction, angular speed and the like, is detected by a sensor, and then the data is analyzed by an Electronic Control Unit (ECU) to judge whether the vehicle is in a runaway state or not. If the system determines that the vehicle is about to run away, it will fine tune the vehicle's braking system via the actuator to reduce vehicle slip and assist the driver in regaining control of the vehicle. The working mode enables the ESC to automatically intervene to prevent the vehicle from being out of control under the condition that the driver does not respond timely or can not make a correct response, thereby improving the driving safety. The method and the system realize a High-Speed Avoidance strategy (HSA) based on the auxiliary driving system and the electronic stability system, so that the vehicle can be subjected to vehicle body pre-control in High-Speed overtaking or overtaking to improve the stability of the vehicle body.
And S2, if the state information meets the enabling condition of the high-speed avoidance state, activating the high-speed avoidance state of the self-vehicle, and controlling the auxiliary driving system and the electronic stabilizing system to execute a corresponding high-speed avoidance strategy.
In an embodiment, the state information satisfies an enabling condition of the high-speed avoidance state, including:
the auxiliary driving system works normally;
the electronic stable system works normally;
the vehicle is in a starting state;
the communication function of the vehicle is normal;
the speed of the bicycle is greater than a first preset speed.
Here, before the own vehicle enters the high-speed avoidance state, it is necessary to ensure that both the auxiliary driving system and the electronic stability system can normally and stably operate. Meanwhile, the vehicle should be in a start state, i.e., an engine start of the fuel vehicle or a motor start of the electric car. In addition, the communication function of the vehicle is normal, so that the normal communication among all modules in the vehicle is ensured. And finally, the speed of the self-vehicle is greater than the first preset speed, namely the self-vehicle is in a high-speed state. The probability of the vehicle generating yaw is higher when the vehicle overtakes or is overtaken at a high speed. The first preset vehicle speed may be, for example, 60kph to 80kph.
In an embodiment, controlling the auxiliary driving system and the electronic stability system to execute the corresponding high-speed avoidance strategy includes:
controlling the auxiliary driving system to acquire sensor data of the vehicle;
if the sensor data meet the preset conditions, obtaining a first target pressure for adjusting the braking pressure of the single-side wheel according to the sensor data;
and if the first target pressure is greater than the preset pressure value, controlling the electronic stabilizing system to adjust the braking pressure of the unilateral wheel according to the first target pressure.
As shown in fig. 2, if the sensor data satisfies the preset condition, after the auxiliary driving system of the own vehicle is available and the high-speed avoidance state is activated, the auxiliary driving system generates a first target pressure according to the sensor data so as to adjust the braking pressure of the wheels on one side of the own vehicle. If the first target pressure is larger than a preset pressure value, the auxiliary driving system outputs a wheel end braking pressure request to the electronic stabilizing system. Correspondingly, after the electronic steady large system of the self-vehicle is available and the high-speed avoidance state is activated, the electronic steady system receives a wheel end braking pressure request, adjusts the braking pressure of the unilateral wheel according to the first target pressure, and feeds back the wheel end model pressure after pressurization is executed.
In an embodiment, the sensor data includes vehicle-mounted camera data and/or vehicle-mounted radar data, and the sensor data satisfies a preset condition, including:
if the own vehicle exists in the same-direction adjacent lane of the lane where the own vehicle is located and the speed difference between the own vehicle and the other vehicle is larger than a preset difference value, the sensor data meets the preset condition.
After the high-speed avoidance state is activated, the auxiliary driving system judges whether the own vehicle exists in the same-direction adjacent lane of the lane where the own vehicle exists according to sensor data such as a camera or a radar sensor, if the own vehicle exists in the same-direction adjacent lane of the lane where the own vehicle exists, and if the speed difference between the own vehicle and the own vehicle is larger than a preset difference value, a wheel end braking pressure request can be output, and meanwhile, a first target pressure is generated according to the sensor data. It can be appreciated that if there is another vehicle in the left lane of the own vehicle lane and the difference between the speeds of the two vehicles is greater than the preset difference, a high-speed overtaking situation may exist, and a brake pressure request for the right wheel of the own vehicle needs to be output in advance; if there is another vehicle in the right lane of the own vehicle lane and the difference between the speeds of the two vehicles is greater than the preset difference, there may be a high-speed overtaking situation in which a brake pressure request for the left wheel of the own vehicle needs to be output in advance to prevent the deflection of the vehicle body when the own vehicle overtakes or is overtaken.
In one embodiment, outputting a first target pressure for adjusting a one-sided wheel brake pressure includes:
obtaining a second target pressure according to the speed of the own vehicle and the speed difference between the own vehicle and the other vehicle;
obtaining a yaw angle correction factor according to the yaw acceleration of the vehicle;
a first target pressure according to the second target pressure and the yaw angle correction factor;
and outputting a first target pressure for adjusting the braking pressure of the unilateral wheel, wherein the unilateral wheel is a wheel which is far away from the other vehicle side of the vehicle.
Here, the auxiliary driving system performs a lookup table according to the current own vehicle speed and the speed difference between the own vehicle and the other vehicle to obtain the second target pressure PTar1. The vehicle speed and the vehicle speed difference are positively correlated with the second target pressure, and the comparison table can be calibrated through actual tests. Then, the yaw rate correction Factor-yawrate is obtained by looking up a table based on the yaw acceleration of the own vehicle. The value range of the yaw angle correction factor is 0-1, the yaw acceleration is positively correlated with the yaw angle correction factor, and the comparison table can be calibrated through an actual test. Finally, the first target pressure PTar is obtained from the second target pressure PTar1 and the yaw rate correction Factor-yawrate:
PTar＝PTar1*Factor-yawrate
if the first target pressure is greater than a preset pressure value, such as 0.5bar. The auxiliary driving system outputs a wheel end braking pressure request to the electronic stabilizing system. The electronic stability system responds to the wheel end braking pressure request and outputs a first target pressure to the corresponding wheel of the bicycle.
In one embodiment, after activating the high speed avoidance state of the own vehicle, the method further comprises:
and responding to the trigger of the exit condition of the high-speed avoidance state, exiting the high-speed avoidance state of the own vehicle, and stopping executing the corresponding high-speed avoidance strategy.
Here, the exit condition of the high-speed avoidance state includes at least one of:
the longitudinal distance between the own vehicle and the other vehicle is greater than a preset distance;
receiving a braking instruction of a brake pedal;
activating CDD (compact digital) functions;
the VDC function is activated;
activating a TCS function;
activating an AEB function;
an auxiliary driving system fault;
failure of the electronic stability system;
the descending amplitude of the vehicle speed of the vehicle is larger than a second preset vehicle speed;
the activation time of the high-speed avoidance state is longer than a preset duration.
It should be noted that, the longitudinal distance between the own vehicle and the other vehicle is greater than the preset distance, which indicates that the overtaking or overtaking process is completed, and the vehicle can exit from the high-speed avoidance state. If the driver presses the brake pedal, the driver needs to exit the high-speed avoidance state in order to ensure the safety of the vehicle. CDD (Controller Deceleration Parking) is a driving assist function that decelerates the vehicle to a stopped state mainly in accordance with the needs of the driver. Specifically, when the driver is ready to park, the CDD function may be activated by operating a corresponding button or switch. Once activated, the system automatically brakes to slow the vehicle to a stop. VDC (Vehicle Dynamics Controller) functions are to prevent and mitigate the tendency of the vehicle to oversteer and understeer, increasing the ability to seek and emergency avoidance. The control target is to make the actual yaw rate and the active yaw rate calculated value approximate to the yaw rate calculated by steering so as to ensure the stability of the vehicle. TCS (Traction Control System) is primarily responsible for traction control during driving to prevent the vehicle from losing traction on slippery or complex road conditions. The AEB (Autonomous Emergency Braking, automatic emergency braking) function can identify forward obstacles and automatically brake to avoid or mitigate the impact of a collision.
It can be appreciated that the vehicle control method of the present application is mainly implemented by the driving assistance system and the electronic stability system, and if either one of them fails, the vehicle control method also needs to exit the high-speed avoidance state. If the descending amplitude of the vehicle speed of the vehicle is larger than the second preset vehicle speed, for example, the second preset vehicle speed takes a value of 10 kph-30 kph, which indicates that the probability of the vehicle body deflecting when the vehicle overtakes or is overtaken is lower in the process of decelerating the vehicle, and the vehicle can also exit from the high-speed avoidance state. In addition, if the activation time of the high-speed avoidance state is longer than a preset time, such as 20S, the high-speed avoidance state should be exited, so that the safety of the vehicle is ensured.
And S3, if the state information does not meet the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the self-vehicle is not activated.
Here, any one of the state information does not satisfy the enabling condition of the high-speed avoidance state, and the high-speed avoidance state cannot be activated.
According to the vehicle control method, the state information of the self-vehicle is obtained, and the state information is used for judging whether the high-speed avoidance state of the self-vehicle is activated or not; if the state information meets the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the self-vehicle is activated, and the auxiliary driving system and the electronic stabilizing system are controlled to execute a corresponding high-speed avoidance strategy; and if the state information does not meet the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the own vehicle is not activated. Through the mode, the high-speed avoidance operation of the vehicle can be realized based on the auxiliary driving system and the electronic stabilizing system, and the running stability of the vehicle is improved.
Fig. 3 is a schematic structural view of an in-vehicle control device according to an embodiment of the present application. Referring to fig. 3, the present application further provides a vehicle-mounted control device, including a memory 210 and a processor 220, where the memory 210 stores at least one program instruction, and the processor 220 loads and executes the at least one program instruction to implement the following method:
acquiring state information of the own vehicle, wherein the state information is used for judging whether to activate a high-speed avoidance state of the own vehicle;
if the state information meets the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the self-vehicle is activated, and the auxiliary driving system and the electronic stabilizing system are controlled to execute a corresponding high-speed avoidance strategy;
and if the state information does not meet the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the own vehicle is not activated.
In one embodiment, the state information includes an auxiliary driving system state, an electronic stability system state, a vehicle start state, a vehicle communication state, and a vehicle speed, and the state information satisfies an enabling condition of the high-speed avoidance state, including:
the auxiliary driving system works normally;
the electronic stable system works normally;
the vehicle is in a starting state;
the communication function of the vehicle is normal;
the speed of the bicycle is greater than a first preset speed.
In one embodiment, the processor 220 controls the auxiliary driving system and the electronic stability system to execute a corresponding high-speed avoidance strategy, including:
controlling the auxiliary driving system to acquire sensor data of the vehicle;
if the sensor data meet the preset conditions, obtaining a first target pressure for adjusting the braking pressure of the unilateral wheel according to the sensor data;
and if the first target pressure is larger than a preset pressure value, controlling the electronic stabilizing system to adjust the braking pressure of the unilateral wheel according to the first target pressure.
In an embodiment, the sensor data includes vehicle-mounted camera data and/or vehicle-mounted radar data, and the sensor data satisfies a preset condition, including:
if the own vehicle exists in the same-direction adjacent lane of the lane where the own vehicle is located and the speed difference between the own vehicle and the other vehicle is larger than a preset difference value, the sensor data meets the preset condition.
In one embodiment, outputting a first target pressure for adjusting a one-sided wheel brake pressure includes:
obtaining a second target pressure according to the speed of the own vehicle and the speed difference between the own vehicle and the other vehicle;
obtaining a yaw angle correction factor according to the yaw acceleration of the vehicle;
a first target pressure according to the second target pressure and the yaw angle correction factor;
and outputting a first target pressure for adjusting the braking pressure of the unilateral wheel, wherein the unilateral wheel is a wheel which is far away from the other vehicle side of the vehicle.
In one embodiment, after the processor 220 activates the high speed avoidance state of the own vehicle, the vehicle control method further includes:
and responding to the trigger of the exit condition of the high-speed avoidance state, exiting the high-speed avoidance state of the own vehicle, and stopping executing the corresponding high-speed avoidance strategy.
In one embodiment, the exit condition of the high speed avoidance state includes at least one of:
the longitudinal distance between the own vehicle and the other vehicle is greater than a preset distance;
receiving a braking instruction of a brake pedal;
activating CDD (compact digital) functions;
the VDC function is activated;
activating a TCS function;
activating an AEB function;
an auxiliary driving system fault;
failure of the electronic stability system;
the descending amplitude of the vehicle speed of the vehicle is larger than a second preset vehicle speed;
the activation time of the high-speed avoidance state is longer than a preset duration.
The specific steps of the processor 220 in the vehicle-mounted control device of the present embodiment, which are implemented by calling the executable program code in the memory 210, are referred to in the embodiment shown in fig. 1 and are not described herein.
The vehicle control device of the embodiment of the application comprises a memory and a processor, wherein the memory stores at least one program instruction, and the processor loads and executes the at least one program instruction to realize the following method: the method comprises the steps that through obtaining state information of a self-vehicle, the state information is used for judging whether a high-speed avoidance state of the self-vehicle is activated or not; if the state information meets the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the self-vehicle is activated, and the auxiliary driving system and the electronic stabilizing system are controlled to execute a corresponding high-speed avoidance strategy; and if the state information does not meet the enabling condition of the high-speed avoidance state, the high-speed avoidance state of the own vehicle is not activated. Through the mode, the high-speed avoidance operation of the vehicle can be realized based on the auxiliary driving system and the electronic stabilizing system, and the running stability of the vehicle is improved.
The application also provides a vehicle comprising the vehicle control device.
The present application also provides a computer storage medium storing one or more computer-executable instructions that when executed implement a vehicle control method as described above.
The foregoing description is only a preferred embodiment of the present application, and is not intended to limit the invention to the particular embodiment disclosed, but is not intended to limit the invention to the particular embodiment disclosed, as any and all modifications, equivalent to the above-described embodiment, may be made by those skilled in the art without departing from the scope of the invention.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring state information of a self-vehicle, wherein the state information is used for judging whether to activate a high-speed avoidance state of the self-vehicle;
if the state information meets the enabling condition of the high-speed avoidance state, activating the high-speed avoidance state of the self-vehicle, and controlling an auxiliary driving system and an electronic stabilizing system to execute a corresponding high-speed avoidance strategy;
and if the state information does not meet the enabling condition of the high-speed avoidance state, not activating the high-speed avoidance state of the self-vehicle.
2. The vehicle control method according to claim 1, characterized in that the state information includes an assisted driving system state, an electronic stability system state, a vehicle start state, a vehicle communication state, and a vehicle speed, the state information satisfying an enabling condition of a high-speed avoidance state, including:
the auxiliary driving system works normally;
the electronic stable system works normally;
the vehicle is in a starting state;
the communication function of the vehicle is normal;
the speed of the bicycle is greater than a first preset speed.
3. The vehicle control method according to claim 1, characterized in that the control-assisted driving system and the electronic stability system execute corresponding high-speed avoidance strategies, including:
controlling the auxiliary driving system to acquire sensor data of the vehicle;
if the sensor data meet the preset conditions, obtaining a first target pressure for adjusting the braking pressure of the unilateral wheel according to the sensor data;
and if the first target pressure is larger than a preset pressure value, controlling the electronic stabilizing system to adjust the braking pressure of the unilateral wheel according to the first target pressure.
4. The vehicle control method according to claim 3, characterized in that the sensor data includes in-vehicle camera data and/or in-vehicle radar data, the sensor data satisfying a preset condition, including:
if the own vehicle exists in the same-direction adjacent lane of the lane where the own vehicle is located and the speed difference between the own vehicle and the other vehicle is larger than a preset difference value, the sensor data meets the preset condition.
5. The vehicle control method according to claim 4, characterized in that the outputting a first target pressure for adjusting the one-sided wheel brake pressure includes:
obtaining a second target pressure according to the speed of the own vehicle and the speed difference between the own vehicle and the other vehicle;
obtaining a yaw angle correction factor according to the yaw acceleration of the vehicle;
a first target pressure according to the second target pressure and the yaw angle correction factor;
and outputting a first target pressure for adjusting the braking pressure of a single-side wheel, wherein the single-side wheel is a wheel which is far away from one side of the vehicle.
6. The vehicle control method according to claim 1, characterized in that after the high-speed avoidance state of the own vehicle is activated, the method further comprises:
and responding to the trigger of the exit condition of the high-speed avoidance state, exiting the high-speed avoidance state of the self-vehicle, and stopping executing the corresponding high-speed avoidance strategy.
7. The vehicle control method according to claim 6, characterized in that the exit condition of the high-speed avoidance state includes at least one of:
the longitudinal distance between the own vehicle and the other vehicle is greater than a preset distance;
receiving a braking instruction of a brake pedal;
activating CDD (compact digital) functions;
the VDC function is activated;
activating a TCS function;
activating an AEB function;
an auxiliary driving system fault;
failure of the electronic stability system;
the descending amplitude of the vehicle speed of the vehicle is larger than a second preset vehicle speed;
the activation time of the high-speed avoidance state is longer than a preset duration.
8. A vehicle control apparatus characterized by comprising: at least one memory storing one or more computer-executable instructions and at least one processor invoking the one or more computer-executable instructions to perform the vehicle control method of any of claims 1-7.
9. A vehicle comprising the vehicle control device according to claim 8.
10. A computer storage medium storing one or more computer-executable instructions which when executed implement the vehicle control method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311632430.0A CN117382611A (en) | 2023-11-30 | 2023-11-30 | Vehicle control method, device, vehicle and storage medium |
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| CN202311632430.0A CN117382611A (en) | 2023-11-30 | 2023-11-30 | Vehicle control method, device, vehicle and storage medium |
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| CN117382611A true CN117382611A (en) | 2024-01-12 |
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|---|---|---|---|
| CN202311632430.0A Pending CN117382611A (en) | 2023-11-30 | 2023-11-30 | Vehicle control method, device, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117382611A (en) |
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2023
- 2023-11-30 CN CN202311632430.0A patent/CN117382611A/en active Pending
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