CN118358600A

CN118358600A - Control method, device and intelligent driving equipment

Info

Publication number: CN118358600A
Application number: CN202310073720.XA
Authority: CN
Inventors: 张泽宇; 罗琦; 王新宇; 陈永尚; 蔡恒奕
Original assignee: Huawei Technologies Co Ltd
Current assignee: Shenzhen Yinwang Intelligent Technology Co Ltd
Priority date: 2023-01-13
Filing date: 2023-01-13
Publication date: 2024-07-19
Also published as: EP4650243A1; EP4650243A4; WO2024148897A1

Abstract

Control method, device and intelligent driving equipment, wherein the method comprises the following steps: when the intelligent driving equipment does not meet the automatic driving condition and a non-driver actively exits from automatic driving transverse control, the transverse control degradation state is increased, and the real-time operation parameters and the driving road information of the intelligent driving equipment are obtained; and controlling the steering wheel of the intelligent driving equipment at least according to the real-time operation parameters and the driving road information. The control method can be applied to intelligent driving equipment such as new energy vehicles and electric vehicles, when the intelligent driving equipment exits from automatic driving transverse control, a differential scheme of slowly decreasing torque is designed, the steering wheel is controlled to slowly return through the slowly decreasing torque, and the control right of the intelligent driving equipment is gradually returned to a driver, so that the intelligent driving equipment rushes out of a lane when the driver is not over the takeover and the steering wheel is not controlled to return, and the safety and the reliability of the intelligent driving equipment are improved.

Description

Control method and device and intelligent driving equipment

Technical Field

The present application relates to the field of intelligent driving, and more particularly, to a control method, apparatus, and intelligent driving device.

Background

With the rapid development of the automobile industry, a plurality of auxiliary driving and automatic driving technologies are generated, so that driving pressure can be reduced, and safety and passing efficiency can be improved. The vehicle in the autopilot state works with the lateral control in the loop and the longitudinal control in the loop, and when the autopilot exit condition is triggered, the vehicle can alarm and directly exit or delay exiting the lateral control and the longitudinal control. Under the current technical background, after the transverse control is exited, timeliness of taking over by a driver is not fully considered, and safety and reliability indexes of a vehicle are not fully considered when a non-driver actively exits from automatic driving under different scenes. For example, in a curve scenario, when a non-driver is actively exiting from autopilot, the lateral control is directly exited and the steering wheel is quickly returned to normal, leaving the driver with a very short reaction time, typically about 200 to 500 milliseconds. The driver takes over the vehicle untimely, which may cause the vehicle to rush out of the lane, seriously threatening the driving safety.

Disclosure of Invention

The application provides a control method, a control device and intelligent driving equipment, which can control the steering wheel to slowly return when the intelligent driving equipment is in the transverse control of the automatic driving which is actively withdrawn by a non-driver, and can prevent the steering wheel from being controlled to return to cause the intelligent driving equipment to rush out of a lane when the driver is not in charge.

In a first aspect, a control method is provided, which may be performed by an intelligent driving device; or may be executed by a computing platform of the intelligent driving apparatus; or may also be implemented by a chip or circuit for an intelligent driving apparatus, to which the present application is not particularly limited.

The intelligent driving device related to the application can comprise an on-road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, an entertainment device or the like. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad concept, may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, an aerocar, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a earth mover, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an amusement device, a toy vehicle, etc., and the type of the vehicle according to the embodiments of the present application is not particularly limited. For another example, the intelligent driving device may be an aircraft, or a ship.

The method comprises the following steps: when the intelligent driving equipment exits from automatic driving transverse control, acquiring real-time operation parameters and driving road information of the intelligent driving equipment; and controlling the steering wheel of the intelligent driving equipment at least according to the real-time operation parameters and the driving road information.

In the technical scheme, when the intelligent driving device exits from automatic driving transverse control, the steering wheel can be controlled to slowly return, and the control right of the intelligent driving device is gradually returned to the driver, so that the intelligent driving device can be prevented from rushing out of a lane due to the fact that the steering wheel is not controlled to return when the driver is not over the takeover, and the safety and the reliability of the intelligent driving device are improved.

For example, the real-time operating parameters may include a real-time speed of the intelligent driving device; the driving road information may include a curvature of a current driving road of the intelligent driving apparatus.

With reference to the first aspect, in certain implementation manners of the first aspect, the real-time operation parameter includes real-time speed of the intelligent driving device and torque information of the steering wheel, the driving road information indicates curvature of a driving road of the intelligent driving device, and controlling the steering wheel of the intelligent driving device according to the real-time operation parameter and the driving road information includes: determining a torque slow-release coefficient and a torque slow-release time parameter according to the real-time speed and the curvature of the running road of the intelligent driving equipment, wherein the torque slow-release coefficient is related to the initial torque of the steering wheel, and the torque slow-release time parameter is related to the time required for the torque of the steering wheel to be reduced to a preset torque threshold; determining a slow-release torque according to the torque information, the torque slow-release coefficient and the torque slow-release time parameter; the steering wheel is controlled according to the slow-release torque.

Illustratively, the faster the intelligent driving device is, the smaller the initial torque of the steering wheel associated with the torque slow-release coefficient is, and the shorter the duration required for the torque of the steering wheel associated with the torque slow-release time parameter to be reduced to the preset torque threshold value is; the larger the curvature of the road on which the intelligent driving device runs, the larger the initial torque of the steering wheel associated with the torque slow-release coefficient, and the longer the torque of the steering wheel associated with the torque slow-release time parameter is reduced to the preset torque threshold value.

The preset torque threshold may be, for example, 0, or may be another value.

In the technical scheme, under different driving scenes, the steering wheel can be controlled to return at different speeds and/or time durations, the self-adaptability of the control method to the driving scenes and the intelligence of the intelligent driving equipment are improved, and the safety of the intelligent driving equipment under different scenes is improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes: acquiring first rotation angle information of the steering wheel; the determining the slow-release torque according to the torque information, the torque slow-release coefficient and the torque slow-release time parameter comprises the following steps: and determining the slow-release torque according to the first rotation angle information, the torque slow-release coefficient and the torque slow-release time parameter.

Illustratively, determining a torque-down gradient from the torque information, the torque-release coefficient, and the torque-release time parameter; and determining the slow-release torque according to the torque down gradient and the initial torque of the steering wheel.

Further, the torque-down gradient is adjusted according to the first rotation angle information. For example, when the steering wheel angle change rate is large, the torque down gradient is reduced, namely the down speed of the slow-release torque is reduced; when the steering wheel angle change rate is smaller, the torque down gradient is regulated, namely the down speed of the slow-release torque is improved.

In the technical scheme, in the process of controlling the steering wheel to rotate, the steering wheel-based rotation angle information is used as negative feedback of the slow-release torque, so that the smoothness of torque slow release in the steering wheel return process is improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the determining a torque slow release coefficient and a torque slow release time parameter according to the real-time speed and a curvature of a road on which the intelligent driving device runs includes: when the real-time speed is in a first preset interval and the curvature of the running road of the intelligent driving equipment is a first curvature, determining the torque slow-release coefficient as a first coefficient, and determining the torque slow-release time parameter as a first time parameter; or when the real-time speed is in a second preset interval and the curvature of the running road of the intelligent driving equipment is the first curvature, determining the torque slow-release coefficient as a second coefficient and the torque slow-release time parameter as a second time parameter; the maximum value of the first preset interval is smaller than or equal to the minimum value of the second preset interval, the initial torque corresponding to the first coefficient is larger than the initial torque corresponding to the second coefficient, and the time period required for the torque corresponding to the first time parameter to be reduced to the preset torque threshold is longer than the time period required for the torque corresponding to the second time parameter to be reduced to the preset torque threshold.

With reference to the first aspect, in certain implementation manners of the first aspect, the determining a torque slow release coefficient and a torque slow release time parameter according to the real-time speed and a curvature of a road on which the intelligent driving device runs includes: when the real-time speed is in a third preset interval and the curvature of the running road of the intelligent driving equipment is the second curvature, determining the torque slow-release coefficient as a third coefficient, wherein the torque slow-release time parameter is a third time parameter; or when the real-time speed is in the third preset interval and the curvature of the running road of the intelligent driving equipment is the third curvature, determining the torque slow-release coefficient as a fourth coefficient, wherein the torque slow-release time parameter is a fourth time parameter; the second curvature is smaller than the third curvature, the initial torque corresponding to the third coefficient is smaller than the initial torque corresponding to the fourth coefficient, and the time required for the torque corresponding to the third time parameter to be reduced to the preset torque threshold is smaller than the time required for the torque corresponding to the fourth time parameter to be reduced to the preset torque threshold.

With reference to the first aspect, in certain implementation manners of the first aspect, the controlling the steering wheel of the intelligent driving apparatus includes: in the torque control mode, the steering wheel is controlled.

In the technical scheme, when the intelligent driving device exits from automatic driving transverse control, the steering wheel is controlled to rotate in the torque control mode, so that a driver can quickly switch to transverse control on the intelligent driving device according to control of the driver when taking over the intelligent driving device, and the driver can take over the intelligent driving device conveniently.

With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes: when detecting that the driver takes over the operation of the intelligent driving device, acquiring second corner information of the steering wheel; and transversely controlling the intelligent driving equipment according to the second corner information.

For example, when the torque of the steering wheel is detected to be greater than or equal to a preset torque threshold value and the duration time is greater than or equal to a preset duration time threshold value, it is determined that the driver takes over the intelligent driving device.

The preset torque threshold may be 2.4 newton meters (n·m), for example, or may take other values as well; the preset duration threshold may be 0.5 seconds, or may take other values.

In the technical scheme, after the driver takes over the intelligent driving device, the control right of the steering wheel can be given back to the driver.

In a second aspect, there is provided a control apparatus including an acquisition unit and a processing unit, wherein the acquisition unit is configured to: when the intelligent driving equipment exits from automatic driving transverse control, acquiring real-time operation parameters and driving road information of the intelligent driving equipment; the processing unit is used for: and controlling the steering wheel of the intelligent driving equipment at least according to the real-time operation parameters and the driving road information.

With reference to the second aspect, in certain implementations of the second aspect, the real-time operation parameter includes a real-time speed of the intelligent driving apparatus and torque information of the steering wheel, the driving road information indicating a curvature of a driving road of the intelligent driving apparatus, and the processing unit is configured to: determining a torque slow-release coefficient and a torque slow-release time parameter according to the real-time speed and the curvature of the running road of the intelligent driving equipment, wherein the torque slow-release coefficient is related to the initial torque of the steering wheel, and the torque slow-release time parameter is related to the time required for the torque of the steering wheel to be reduced to the preset torque threshold; determining a slow-release torque according to the torque information, the torque slow-release coefficient and the torque slow-release time parameter; the steering wheel is controlled according to the slow-release torque.

With reference to the second aspect, in certain implementations of the second aspect, the obtaining unit is further configured to: acquiring first rotation angle information of the steering wheel; the processing unit is used for: and determining the slow-release torque according to the first rotation angle information, the torque slow-release coefficient and the torque slow-release time parameter.

With reference to the second aspect, in certain implementations of the second aspect, the processing unit is configured to: when the real-time speed is in a first preset interval and the curvature of the running road of the intelligent driving equipment is a first curvature, determining the torque slow-release coefficient as a first coefficient, and determining the torque slow-release time parameter as a first time parameter; or when the real-time speed is in a second preset interval and the curvature of the running road of the intelligent driving equipment is the first curvature, determining the torque slow-release coefficient as a second coefficient and the torque slow-release time parameter as a second time parameter; the maximum value of the first preset interval is smaller than or equal to the minimum value of the second preset interval, the initial torque corresponding to the first coefficient is larger than the initial torque corresponding to the second coefficient, and the time period required for the torque corresponding to the first time parameter to be reduced to the preset torque threshold is longer than the time period required for the torque corresponding to the second time parameter to be reduced to the preset torque threshold.

With reference to the second aspect, in certain implementations of the second aspect, the processing unit is configured to: when the real-time speed is in a third preset interval and the curvature of the running road of the intelligent driving equipment is the second curvature, determining the torque slow-release coefficient as a third coefficient, wherein the torque slow-release time parameter is a third time parameter; or when the real-time speed is in the third preset interval and the curvature of the running road of the intelligent driving equipment is the third curvature, determining the torque slow-release coefficient as a fourth coefficient, wherein the torque slow-release time parameter is a fourth time parameter; the second curvature is smaller than the third curvature, the initial torque corresponding to the third coefficient is smaller than the initial torque corresponding to the fourth coefficient, and the time required for the torque corresponding to the third time parameter to be reduced to the preset torque threshold is smaller than the time required for the torque corresponding to the fourth time parameter to be reduced to the preset torque threshold.

With reference to the second aspect, in certain implementations of the second aspect, the processing unit is configured to: in the torque control mode, the steering wheel is controlled.

With reference to the second aspect, in certain implementations of the second aspect, the obtaining unit is further configured to: when detecting that the driver takes over the operation of the intelligent driving device, acquiring second corner information of the steering wheel; the processing unit is further configured to: and transversely controlling the intelligent driving equipment according to the second corner information.

In a third aspect, there is provided a control apparatus comprising: a memory for storing a computer program; a processor for executing the computer program stored in the memory to cause the apparatus to perform the method as in any one of the possible implementations of the first aspect.

In a fourth aspect, there is provided an intelligent driving apparatus comprising an arrangement as in any one of the possible implementations of the second or third aspects.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the intelligent driving apparatus is a vehicle.

In a fifth aspect, a computer program product is provided, said computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method of any one of the possible implementations of the first aspect.

It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, where the first storage medium may be packaged together with the processor or may be packaged separately from the processor.

In a sixth aspect, a computer readable medium is provided, which stores instructions that, when executed by a processor, cause the processor to implement a method according to any one of the possible implementations of the first aspect.

In a seventh aspect, a chip is provided, the chip comprising circuitry for performing the method of any one of the possible implementations of the first aspect.

Drawings

FIG. 1 is a functional schematic block diagram of an intelligent driving apparatus provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a system architecture required for implementing a control method according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of a control method provided by an embodiment of the present application;

FIG. 4 is a schematic flow chart of a control method provided by an embodiment of the present application;

fig. 5 is a schematic diagram of a driving scenario provided by an embodiment of the present application;

FIG. 6 is a schematic block diagram of a control device provided by an embodiment of the present application;

fig. 7 is a schematic block diagram of a control device according to an embodiment of the present application.

Detailed Description

In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is an association relationship describing an association object, and means that there may be three relationships, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In the present application, "at least one" means one or more, and "a plurality" means two or more. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

In the embodiment of the application, prefix words such as "first" and "second" are adopted, and only for distinguishing different description objects, no limitation is imposed on the position, sequence, priority, quantity or content of the described objects. The use of ordinal words and the like in embodiments of the present application to distinguish between the prefix words used to describe an object does not limit the described object, and statements of the described object are to be read in the claims or in the context of the embodiments and should not constitute unnecessary limitations due to the use of such prefix words.

As described above, when the non-driver is actively withdrawing from autopilot, the lateral control is withdrawn directly, the steering wheel is quickly returned, and the reaction time left for the driver to take over the vehicle is very short, typically about 200-500 milliseconds. The driver takes over the vehicle untimely, which may cause the vehicle to rush out of the lane, seriously threatening the driving safety.

In view of this, the embodiment of the application provides a control method, a device and an intelligent driving device, when a non-driver actively exits from automatic driving, the control mode of an electric power steering system (electric power steering, EPS) system is switched from a corner control mode to a torque control mode, and simultaneously, the torque drop gradient and duration are controlled according to the real-time running parameters of the vehicle and the environmental information around the vehicle. When the driver is detected to take over the vehicle, the vehicle control right is returned to the driver, so that the safety and reliability of the vehicle are improved when the non-driver actively exits from automatic driving.

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 is a functional block diagram of an intelligent driving apparatus 100 according to an embodiment of the present application. The intelligent driving device 100 may include a perception system 120 and a computing platform 150, wherein the perception system 120 may include one or more sensors that sense information regarding the environment surrounding the intelligent driving device 100. For example, the perception system 120 may include a positioning system, which may be a global positioning system (global positioning system, GPS), a beidou system or other positioning system, an inertial measurement unit (inertial measurement unit, IMU). As another example, the perception system 120 may also include one or more of a lidar, millimeter wave radar, ultrasonic radar, and camera device.

Some or all of the functions of the intelligent driving apparatus 100 may be controlled by the computing platform 150. Computing platform 150 may include one or more processors, such as processors 151 through 15n (n is a positive integer), which is a circuit with instruction processing capability, and in one implementation, may be a circuit with instruction reading and execution capability, such as a central processing unit (central processing unit, CPU), microprocessor, graphics processor (graphics processing unit, GPU) (which may be understood as a microprocessor), or digital instruction processor (DIGITAL SIGNAL processor, DSP), etc.; in another implementation, the processor may perform a function through a logical relationship of hardware circuitry that is fixed or reconfigurable, e.g., a hardware circuitry implemented as an application-specific integrated circuit (ASIC) or a programmable logic device (programmable logic device, PLD), e.g., a field programmable gate array (field programmable GATE ARRAY, FPGA). In the reconfigurable hardware circuit, the processor loads the configuration document, and the process of implementing the configuration of the hardware circuit may be understood as a process of loading instructions by the processor to implement the functions of some or all of the above units. Furthermore, a hardware circuit designed for artificial intelligence may be also be considered as an ASIC, such as a neural network processing unit (neural network processing unit, NPU), tensor processing unit (tensor processing unit, TPU), deep learning processing unit (DEEP LEARNING processing unit, DPU), etc. In addition, computing platform 150 may also include a memory for storing instructions that some or all of processors 151 through 15n may call and execute to implement corresponding functions.

The intelligent driving apparatus 100 may include an advanced driving assistance system (ADVANCED DRIVING ASSISTANT SYSTEM, ADAS) that acquires information from around the intelligent driving apparatus using various sensors (including, but not limited to, laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) on the intelligent driving apparatus and analyzes and processes the acquired information to implement functions such as obstacle sensing, target recognition, intelligent driving apparatus positioning, path planning, user monitoring/reminding, etc., thereby improving safety, automation degree, and comfort of driving of the intelligent driving apparatus.

Logically, an ADAS system generally comprises three main functional modules: the sensing module senses the surrounding environment of the vehicle body through a sensor, and inputs corresponding real-time data to a decision layer processing center, and the sensing module mainly comprises a vehicle-mounted camera, an ultrasonic radar, a millimeter wave radar, a laser radar and the like; the decision module makes corresponding decisions by using a computing device and an algorithm according to the information acquired by the sensing module; the execution module takes corresponding actions such as driving, lane changing, steering, braking, warning and the like after receiving the decision instruction from the decision module.

Under different levels of autopilot (L0-L5), the ADAS may implement different levels of autopilot assistance based on information obtained by artificial intelligence algorithms and multiple sensors, the above-described levels of autopilot (L0-L5) being based on a hierarchical standard of the society of automotive engineers (society of automotive engineers, SAE). Wherein, the L0 level is non-automation; level L1 is driving support; the L2 level is partially automated; the L3 level is conditional automation; the L4 stage is highly automated; the L5 stage is fully automatic. The L1-L3 level road condition monitoring and reacting tasks are completed by the user and the system together, and the user is required to take over the dynamic driving task. The L4 and L5 levels may allow the user to fully transition to the passenger's role. Currently, the functions that can be implemented by ADAS mainly include, but are not limited to: adaptive cruise, automatic emergency braking, automatic parking, blind spot monitoring, front crossroad traffic warning/braking, rear crossroad traffic warning/braking, front vehicle collision early warning, lane departure early warning, lane keeping assistance, rear vehicle collision early warning, traffic sign recognition, traffic jam assistance, highway assistance and the like. It should be understood that: the various functions described above may have specific modes under different autopilot levels (L0-L5), the higher the autopilot level, the more intelligent the corresponding mode, and the higher the accuracy of the required sensing and regulation algorithm.

Fig. 2 is a schematic diagram of a system architecture required for implementing a control method according to an embodiment of the present application. As shown in fig. 2, the system includes a scene recognition module 210, a lateral control degradation module 220, a slow release torque calculation module 230, and an EPS control module 240. The scene recognition module 210 may include one or more cameras in the sensing system 120 shown in fig. 1, or one or more radar sensors, for acquiring driving road information of the intelligent driving device, real-time operation parameters (such as driving speed, steering wheel angle, EPS torque) of the intelligent driving device, and the like, where the scene recognition module 210 determines a specific scene when the intelligent driving device exits from automatic driving according to the real-time operation parameters of the intelligent driving device and the driving road information; the lateral control degradation module 220 may be one or more processors in the computing platform 150 shown in fig. 1 for adjusting the lateral control mode according to the autopilot scenario and mode. For example, in the event that the non-driver is actively exiting autopilot, the lateral control degradation module 220 switches the lateral control mode from the corner control mode to the torque control mode. The steering angle control mode refers to a mode in which the steering angle is used as a control instruction for the EPS system; the torque control mode refers to a mode that uses steering torque as a control command for the EPS system. Further, the slow release torque calculation module 230 and the EPS control module 240 perform slow release torque calculation and steering wheel control according to the lateral control mode determined by the lateral control degradation module 220. Specifically, the slow-release torque calculation module 230 may be one or more processors in the calculation platform 150 shown in fig. 1, and is configured to determine a torque slow-release coefficient and a torque slow-release time parameter according to real-time operation parameters and driving road information of the intelligent driving device, further determine slow-release torque by combining EPS torque, steering wheel angle, torque slow-release coefficient, and torque slow-release time parameter, and input the calculated slow-release torque to the EPS control module 240. The EPS control module 240 controls steering wheel return based on the slow release torque.

It should be understood that the above modules are only an example, and in practical applications, the above modules may be added or deleted according to actual needs. For example, in the system architecture shown in fig. 2, the slow release torque calculation module 230 and the EPS control module 240 may be combined into one module.

Fig. 3 shows a schematic flow chart of a control method provided by an embodiment of the present application. The method may be applied to the intelligent driving apparatus shown in fig. 1, or the method may be performed by the system shown in fig. 2. Illustratively, the method is described below as being performed by a computing platform of an intelligent driving device, the method 300 may include:

S301, when the intelligent driving device exits from automatic driving transverse control, acquiring real-time operation parameters and driving road information of the intelligent driving device.

By way of example, the real-time operating parameters may include the real-time operating parameters of the above embodiments, which may include, for example, real-time speed of the intelligent driving device, steering wheel torque.

The driving road information may be an image of a driving road, or may also be laser point cloud data of the driving road, or may also be high-precision map information of the driving road, or may also be other information; the curvature of the current driving road of the intelligent driving apparatus can be determined according to the driving road information.

In some possible implementations, the intelligent driving device exiting the autopilot lateral control is not exiting the driver active control. Illustratively, the intelligent driving apparatus turns on the automatic driving function, for example, in an intelligent driving navigation assistance (navigation cruise assistant, NCA) or intelligent cruise assistance (INTEGRATED CRUISE ASSISTANT, ICA) function, before the intelligent driving apparatus exits the automatic driving lateral control, further, the intelligent driving apparatus exits the NCA or ICA function due to non-driver factors during driving, at which time the intelligent driving apparatus may be in an adaptive cruise control (adaptive cruise control, ACC) function, or the automatic driving function may be completely turned off.

It should be appreciated that the ACC has no lateral control interface and that the lateral control of ICA/NCA uses a full speed corner interface.

S302, controlling the steering wheel of the intelligent driving device according to the real-time operation parameters and the driving road information.

In some possible implementations, the real-time operating parameters include real-time speed of the intelligent driving device and torque information of the steering wheel; determining a torque slow-release coefficient and a torque slow-release time parameter according to the real-time speed and the driving road information of the intelligent driving equipment, wherein the torque slow-release coefficient is related to the initial torque of the steering wheel, and the torque slow-release time parameter is related to the time required for the torque of the steering wheel to be reduced to a preset torque threshold; determining a slow-release torque according to the torque information, the torque slow-release coefficient and the torque slow-release time parameter; the steering wheel is controlled according to the slow-release torque.

The preset torque threshold may be, for example, 0, or may be another value.

For example, the torque information is the current steering wheel torque fed back by the EPS, and the basic sustained-release torque may be determined according to the current steering wheel torque and the torque sustained-release coefficient:

epsMoterTorqSave1 ＝ epsMoterTorq * epsTransParamTq * epsTransParam； (1)

Wherein epsMoterTorqSave is a basic slow-release torque, EPSTRANSPARAM is a fixed parameter, epsMoterTorq is a current steering wheel torque, and EPSTRANSPARAMTQ is a torque slow-release coefficient.

Illustratively EPSTRANSPARAM may take 0.3, or alternatively 0.25.

The basic sustained-release torque can be understood as the starting torque of the steering wheel when the intelligent driving device exits the automatic driving lateral control. The larger EPSTRANSPARAMTQ, the greater the base sustained-release torque.

Then, determining a torque down gradient according to the basic slow-release torque and the torque slow-release time parameter:

epsGradient ＝ epsMoterTorqSave1 / epsHoldTime； (2)

wherein EPSGRADIENT is torque down gradient, epsHoldTime is torque slow-release time parameter.

Further, the slow-release torque is determined according to the basic slow-release torque and the torque drop gradient, and the slow-release torque can be a steering torque command input to the EPS control module 240 to control the torque of the steering wheel to become the slow-release torque:

epsMoterTorqSave 2＝ epsMoterTorqSave 1– epsGradient* dt； (3)

Wherein epsMoterTorqSave is the sustained-release torque, dt is the time interval for inputting instructions to the EPS control module 240.

Still further, a value epsMoterTorqSave 2 is given to epsMoterTorqSave 1, and the equation (2) and the equation (3) are repeatedly performed to control the torque of the steering wheel to gradually decrease.

Illustratively, the torque slow-release coefficient may take any one of values 1.0 to 2.5, the smaller the value, the smaller the corresponding base slow-release torque; the torque slow-release time parameter can take any one value of 1.0-2.0, and the smaller the value is, the shorter the corresponding torque is reduced to 0. It should be understood that the torque release coefficient and the torque release time parameter may take other values. It will be appreciated that the torque-slow-release coefficient and the torque-slow-release time parameter together determine the torque-down gradient.

Illustratively, when the real-time speed of the intelligent driving apparatus is within a first preset interval, for example, 0-40 km/h (kilometers per hour, kph) as shown in table 1, and the curvature of the road on which the intelligent driving apparatus is traveling is a first curvature (for example, the curvature of the road is > 0.01), determining a torque slow-release coefficient as a first coefficient, and the torque slow-release time parameter as a first time parameter; or when the real-time speed of the intelligent driving device is in a second preset interval, for example, 41-70kph shown in table 1, and the curvature of the driving road of the intelligent driving device is the first curvature, determining that the torque slow-release coefficient is a second coefficient and the torque slow-release time parameter is a second time parameter; when the maximum value of the first preset interval is smaller than or equal to the minimum value of the second preset interval, the initial torque corresponding to the first coefficient is larger than the initial torque corresponding to the second coefficient, and the time period required for the torque corresponding to the first time parameter to be reduced to be larger than the time period required for the torque corresponding to the second time parameter to be reduced to be equal to the preset torque threshold. Illustratively, the relationship between the torque release coefficient, torque release time parameter and road curvature, real-time speed is shown in table 1.

TABLE 1 Torque Release coefficient and one example of a Torque Release time parameter

Real-time speed (kph)	Road curvature	Torque slow release coefficient	Torque slow-release time parameter
				0-40	＞0.01	2.5	2.0
41-70	＞0.01	2.0	1.5
				71-90	＞0.01	1.5	1.2
90 Or more	＞0.01	1.0	1.0

Illustratively, when the real-time speed of the intelligent driving apparatus is in a third preset interval (for example, 0-40kph shown in table 1), and the curvature of the road on which the intelligent driving apparatus is traveling is the second curvature (for example, the curvature of the road is 0.004), determining that the torque slow-release coefficient is a third coefficient, and the torque slow-release time parameter is a third time parameter; or when the real-time speed of the intelligent driving device is in a third preset interval, and the curvature of the driving road of the intelligent driving device is a third curvature (for example, the curvature of the road is 0.007), determining that the torque slow-release coefficient is a fourth coefficient and the torque slow-release time parameter is a fourth time parameter; and when the second curvature is smaller than the third curvature, the initial torque corresponding to the third coefficient is smaller than the initial torque corresponding to the fourth coefficient, and the time required for the torque corresponding to the third time parameter to drop to the preset torque threshold is smaller than the time required for the torque corresponding to the fourth time parameter to drop to the preset torque threshold. Illustratively, the relationship between the torque release coefficient, torque release time parameter and road curvature, real-time speed is shown in table 2.

TABLE 2 Torque Release coefficient and yet another example of a torque release time parameter

Real-time speed (kph)	Road curvature	Torque slow release coefficient	Torque slow-release time parameter
				0-40	＜0.005	2.0	1.7
0-40	0.005～0.01	2.25	1.85
				0-40	＞0.01	2.5	2.0

As can be seen from tables 1 and 2, the higher the real-time speed of the intelligent driving device is, the faster the steering wheel return speed is controlled according to the slow-release torque under the condition that the curvature of the road is consistent; in the case where the real-time speeds of the driving apparatuses are identical, the greater the road curvature, the longer the steering wheel return time is controlled according to the slow-release torque.

The slow-release torque is calculated in real time based on the actual torque of the steering wheel. In some possible implementations, first rotation angle information of the steering wheel is acquired in the process of controlling the steering wheel; further, a sustained-release torque is determined according to the first rotational angle information, the actual torque of the steering wheel, the torque sustained-release coefficient and the torque sustained-release time parameter.

It will be appreciated that the steering wheel should be monotonically rotated during control of the steering wheel in accordance with the sustained release torque, for example, the steering wheel should be rotated clockwise throughout the control of the steering wheel in accordance with the sustained release torque when the intelligent driving apparatus exits the autopilot lateral control and the steering wheel is rotated counterclockwise 360 degrees.

Further, in the process of controlling the steering wheel, the gradient of the torque drop (for example EPSGRADIENT above) can be adjusted according to the steering wheel angle information, for example, when the steering wheel angle change rate is large, the gradient of the torque drop is adjusted, that is, the drop speed of the slow-release torque is reduced; when the steering wheel angle change rate is smaller, the torque down gradient is regulated, namely the down speed of the slow-release torque is improved.

In some possible implementations, when the intelligent driving device is in an automatic driving state, the transverse control mode of the EPS system is a steering angle control mode, and when the intelligent driving device exits from automatic driving transverse control, the transverse control mode of the EPS system is controlled to be switched from the steering angle control mode to a torque control mode, and then in the torque control mode, the steering wheel of the intelligent driving device is controlled to rotate.

In some possible implementations, upon detecting that the driver is taking over the intelligent driving device, obtaining second rotation angle information of the steering wheel; and transversely controlling the intelligent driving equipment according to the second corner information.

According to the control method provided by the embodiment of the application, the steering wheel can be controlled to slowly return according to the road information when the intelligent driving device exits from automatic driving transverse control and the real-time parameters of the intelligent driving device, and the steering wheel can be controlled to return at different speeds and/or time durations under different driving scenes so as to improve the safety of the intelligent driving device. Further, in the process of controlling the steering wheel to rotate, the steering wheel rotation angle information is used as negative feedback of the slow-release torque, so that the smoothness of the slow-release torque in the steering wheel return process is improved. In addition, when intelligent driving equipment withdraws from automatic driving transverse control, the steering wheel is controlled to rotate in a torque control mode, so that a driver can quickly switch to transversely control the intelligent driving equipment according to the control of the driver when taking over the intelligent driving equipment, and the driver can take over the intelligent driving equipment conveniently.

Fig. 4 shows a schematic flow chart of a control method provided by an embodiment of the present application. The method may be applied to the intelligent driving apparatus shown in fig. 1, or the method may be performed by the system shown in fig. 2. The method 400 may be understood as an extension of the method 300, the method 400 may be performed in parallel with the method 300, or may be performed after the method 300. Illustratively, the method is described below as being performed by a computing platform of an intelligent driving device, the method 400 may include:

s401, determining that the intelligent driving equipment is not actively exited from automatic driving by the driver.

For example, a specific method for determining that the intelligent driving apparatus is not actively exiting from automatic driving by the driver may refer to the description in S301, and will not be described herein.

S402, switching the EPS control mode from the rotation angle control mode to the torque control mode.

S403, the EPS responds to the control command to control the steering wheel to rotate.

For example, a specific method for controlling the rotation of the steering wheel may refer to the description in the method 300, and will not be described herein.

S404, the driver takes over the intelligent driving device and enters a human driving mode.

For example, after determining that the driver takes over the intelligent driving apparatus, the intelligent driving apparatus is laterally controlled according to the actual rotation angle of the steering wheel.

According to the control method provided by the embodiment of the application, the control right of the intelligent driving equipment is gradually returned to the driver through the torque slow release of the steering wheel, so that the safety and reliability of the intelligent driving equipment are improved when the intelligent driving equipment is not driven to actively exit from automatic driving under different scenes.

By the control method shown in fig. 3 and 4, in the driving scene shown in fig. 5, if the vehicle suddenly exits the automatic driving transverse control, the steering wheel can be slowly returned to the normal position, so that the driver is given enough reaction time to take over the vehicle, and the situation that the vehicle rushes out of the lane due to the rapid return of the steering wheel is avoided.

In various embodiments of the application, where terminology and/or descriptions of the various embodiments are consistent and may be referred to each other, unless specifically indicated as such and where logical conflict, features of different embodiments may be combined to form new embodiments in accordance with their inherent logical relationships.

The method provided by the embodiment of the application is described in detail above with reference to fig. 1 to 5. The apparatus provided by the embodiment of the present application will be described in detail with reference to fig. 6 and 7. It should be understood that the descriptions of the apparatus embodiments and the descriptions of the method embodiments correspond to each other, and thus, descriptions of details not described may be referred to the above method embodiments, which are not repeated herein for brevity.

Fig. 6 shows a schematic block diagram of a control device 2000 provided by an embodiment of the present application, the device 2000 comprising an acquisition unit 2010 and a processing unit 2020.

The apparatus 2000 may include means for performing the methods of fig. 3, 4. And, each unit in the apparatus 2000 is respectively for implementing the corresponding flow of the method embodiment in fig. 3 and fig. 4.

Wherein, when the apparatus 2000 is used to perform the method 300 in fig. 3, the acquiring unit 2010 may be used to perform S301 in the method 300, and the processing unit 2020 may be used to perform S302 in the method 300.

The apparatus 2000 comprises an acquisition unit 2010 and a processing unit 2020, wherein the acquisition unit 2010 is configured to: when the intelligent driving equipment exits from automatic driving transverse control, acquiring real-time operation parameters and driving road information of the intelligent driving equipment; the processing unit is used for: and controlling the steering wheel of the intelligent driving equipment at least according to the real-time operation parameters and the driving road information.

Optionally, the real-time operation parameter includes real-time speed of the intelligent driving apparatus and torque information of the steering wheel, the driving road information indicating curvature of a driving road of the intelligent driving apparatus, and the processing unit 2020 is configured to: determining a torque slow-release coefficient and a torque slow-release time parameter according to the real-time speed and the curvature of the running road of the intelligent driving equipment, wherein the torque slow-release coefficient is related to the initial torque of the steering wheel, and the torque slow-release time parameter is related to the time required for the torque of the steering wheel to be reduced to a preset torque threshold; determining a slow-release torque according to the torque information, the torque slow-release coefficient and the torque slow-release time parameter; the steering wheel is controlled according to the slow-release torque.

Optionally, the acquiring unit 2010 is further configured to: acquiring first rotation angle information of the steering wheel; the processing unit is used for: and determining the slow-release torque according to the first rotation angle information, the torque slow-release coefficient and the torque slow-release time parameter.

Optionally, the processing unit 2020 is configured to: when the real-time speed is in a first preset interval and the curvature of the running road of the intelligent driving equipment is a first curvature, determining the torque slow-release coefficient as a first coefficient, and determining the torque slow-release time parameter as a first time parameter; or when the real-time speed is in a second preset interval and the curvature of the running road of the intelligent driving equipment is the first curvature, determining the torque slow-release coefficient as a second coefficient and the torque slow-release time parameter as a second time parameter; the maximum value of the first preset interval is smaller than or equal to the minimum value of the second preset interval, the initial torque corresponding to the first coefficient is larger than the initial torque corresponding to the second coefficient, and the time period required for the torque corresponding to the first time parameter to be reduced to the preset torque threshold is longer than the time period required for the torque corresponding to the second time parameter to be reduced to the preset torque threshold.

Optionally, the processing unit 2020 is configured to: when the real-time speed is in a third preset interval and the curvature of the running road of the intelligent driving equipment is the second curvature, determining the torque slow-release coefficient as a third coefficient, wherein the torque slow-release time parameter is a third time parameter; or when the real-time speed is in the third preset interval and the curvature of the running road of the intelligent driving equipment is the third curvature, determining the torque slow-release coefficient as a fourth coefficient, wherein the torque slow-release time parameter is a fourth time parameter; the second curvature is smaller than the third curvature, the initial torque corresponding to the third coefficient is smaller than the initial torque corresponding to the fourth coefficient, and the time required for the torque corresponding to the third time parameter to be reduced to the preset torque threshold is smaller than the time required for the torque corresponding to the fourth time parameter to be reduced to the preset torque threshold.

Optionally, the processing unit 2020 is configured to: in the torque control mode, the steering wheel is controlled.

Optionally, the acquiring unit 2010 is further configured to: when detecting that the driver takes over the operation of the intelligent driving device, acquiring second corner information of the steering wheel; the processing unit 2020 is also configured to: and transversely controlling the intelligent driving equipment according to the second corner information.

Illustratively, the acquisition unit 2010 and the processing unit 2020 may be provided in the intelligent driving apparatus 100 shown in fig. 1, and more specifically, the acquisition unit 2010 and the processing unit 2020 may be provided in the computing platform 150 shown in fig. 1. Illustratively, the acquisition unit 2010 and the processing unit 2020 may also be disposed in the system shown in fig. 2, and more specifically, the acquisition unit 2010 may be disposed in the sustained release torque calculation module 230 and the processing unit 2020 may be disposed in the EPS control module 240.

It should be understood that the division of the units in the above apparatus is only a division of a logic function, and may be fully or partially integrated into one physical entity or may be physically separated. Furthermore, units in the apparatus may be implemented in the form of processor-invoked software; the device comprises, for example, a processor, which is connected to a memory, in which instructions are stored, the processor calling the instructions stored in the memory to implement any of the above methods or to implement the functions of the units of the device, wherein the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is an internal memory of the device or an external memory of the device. Or the units in the device may be implemented in the form of hardware circuits, where some or all of the functions of the units may be implemented by a design of hardware circuits, and where the hardware circuits may be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are implemented by designing the logic relationships of the elements in the circuit; for another example, in another implementation, the hardware circuit may be implemented by a PLD, for example, an FPGA, which may include a large number of logic gates, and the connection relationship between the logic gates is configured by a configuration file, so as to implement the functions of some or all of the above units. All units of the above device may be realized in the form of processor calling software, or in the form of hardware circuits, or in part in the form of processor calling software, and in the rest in the form of hardware circuits.

Each unit in the above apparatus may be one or more processors (or processing circuits) configured to implement the above methods, for example: CPU, GPU, NPU, TPU, DPU, microprocessors, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

Furthermore, the units in the above apparatus may be integrated together in whole or in part, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the methods above or for implementing the functions of the units of the apparatus, where the at least one processor may be of different types, including, for example, a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, and the like.

In a specific implementation, the operations performed by the acquiring unit 2010 and the processing unit 2020 may be performed by one processor or may be performed by different processors. In a specific implementation, the one or more processors may be processors disposed in the computing platform 150 shown in fig. 1; or the above-described device 2000 may be a chip provided in the intelligent driving apparatus 100.

Fig. 7 is a schematic block diagram of a control device provided in an embodiment of the present application. The control apparatus 2100 illustrated in fig. 7 may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected through an internal connection path, the memory 2130 is used for storing instructions, and the processor 2110 is used for executing the instructions stored in the memory 2130, so as to implement the control method in each embodiment. Alternatively, the memory 2130 may be coupled to the processor 2110 through an interface or may be integrated with the processor 2110.

It should be noted that the transceiver 2120 may include, but is not limited to, a transceiver device such as an input/output interface (i/o interface) to enable communication between the device 2100 and other devices or communication networks.

The memory 2130 may be a Read Only Memory (ROM), a static storage device, a dynamic storage device or a random access memory (random access memory, RAM).

The transceiver 2120 enables communication between the apparatus 2100 and other devices or communication networks using a transceiving apparatus such as, but not limited to, a transceiver to receive/transmit data/information for implementing the control method in the above-described embodiments.

In a particular implementation, the apparatus 2100 may be disposed in the computing platform 150 shown in FIG. 1.

The embodiment of the application also provides intelligent driving equipment, which comprises the device 2000 or the device 2100.

In some possible implementations, the intelligent driving device may be a vehicle.

Embodiments of the present application also provide a computer program product comprising computer program code for causing a computer to carry out the methods of the above embodiments of the present application when the computer program code is run on a computer.

Embodiments of the present application also provide a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods of the above embodiments of the present application.

The embodiment of the application also provides a chip which comprises a circuit and is used for executing the method in each embodiment of the application.

In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The method disclosed in connection with the embodiments of the present application may be directly embodied as a hardware processor executing or may be executed by a combination of hardware and software modules in the processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or power-on erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method. To avoid repetition, a detailed description is not provided herein.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., 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 an indirect coupling or communication connection via some interfaces, devices or units, 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 of the present application 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 foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method, characterized by comprising:

When intelligent driving equipment exits automatic driving transverse control, acquiring real-time operation parameters and driving road information of the intelligent driving equipment;

And controlling the steering wheel of the intelligent driving equipment at least according to the real-time operation parameters and the driving road information.

2. The method of claim 1, wherein the real-time operating parameters include real-time speed of the intelligent driving apparatus and torque information of the steering wheel, the travel path information indicating a curvature of a travel path of the intelligent driving apparatus, the controlling the steering wheel of the intelligent driving apparatus based at least on the real-time operating parameters and the travel path information comprising:

Determining a torque slow-release coefficient and a torque slow-release time parameter according to the real-time speed and the curvature of a driving road of the intelligent driving equipment, wherein the torque slow-release coefficient is related to the initial torque of the steering wheel, and the torque slow-release time parameter is related to the length of time required for the torque of the steering wheel to be reduced to a preset torque threshold;

Determining a slow-release torque according to the torque information, the torque slow-release coefficient and the torque slow-release time parameter;

And controlling the steering wheel according to the slow-release torque.

3. The method according to claim 2, wherein the method further comprises:

acquiring first rotation angle information of the steering wheel;

the determining the slow-release torque according to the torque information, the torque slow-release coefficient and the torque slow-release time parameter comprises the following steps:

And determining the slow-release torque according to the first rotation angle information, the torque slow-release coefficient and the torque slow-release time parameter.

4. A method according to claim 2 or 3, wherein said determining a torque release coefficient and a torque release time parameter from said real-time speed and a curvature of a road on which said intelligent driving device is traveling comprises:

when the real-time speed is in a first preset interval and the curvature of the running road of the intelligent driving equipment is a first curvature, determining the torque slow-release coefficient as a first coefficient, and determining the torque slow-release time parameter as a first time parameter; or alternatively

When the real-time speed is in a second preset interval and the curvature of the intelligent driving equipment driving road is the first curvature, determining that the torque slow-release coefficient is a second coefficient and the torque slow-release time parameter is a second time parameter;

The maximum value of the first preset interval is smaller than or equal to the minimum value of the second preset interval, the initial torque corresponding to the first coefficient is larger than the initial torque corresponding to the second coefficient, and the time required for the torque corresponding to the first time parameter to be reduced to the preset torque threshold is longer than the time required for the torque corresponding to the second time parameter to be reduced to the preset torque threshold.

5. A method according to claim 2 or 3, wherein said determining a torque release coefficient and a torque release time parameter from said real-time speed and a curvature of a road on which said intelligent driving device is traveling comprises:

When the real-time speed is in a third preset interval and the curvature of the intelligent driving equipment driving road is a second curvature, determining that the torque slow-release coefficient is a third coefficient and the torque slow-release time parameter is a third time parameter; or alternatively

When the real-time speed is in the third preset interval and the curvature of the intelligent driving equipment driving road is the third curvature, determining that the torque slow-release coefficient is a fourth coefficient and the torque slow-release time parameter is a fourth time parameter;

The second curvature is smaller than the third curvature, the initial torque corresponding to the third coefficient is smaller than the initial torque corresponding to the fourth coefficient, and the time required for the torque corresponding to the third time parameter to drop to the preset torque threshold is smaller than the time required for the torque corresponding to the fourth time parameter to drop to the preset torque threshold.

6. The method according to any one of claims 1 to 5, characterized in that the controlling the steering wheel of the intelligent driving apparatus comprises:

in the torque control mode, the steering wheel is controlled.

7. The method according to any one of claims 1 to 6, further comprising:

when the driver is detected to take over the operation of the intelligent driving equipment, second corner information of the steering wheel is obtained;

And transversely controlling the intelligent driving equipment according to the second corner information.

8. A control device is characterized by comprising an acquisition unit and a processing unit, wherein,

The acquisition unit is used for: when intelligent driving equipment exits automatic driving transverse control, acquiring real-time operation parameters and driving road information of the intelligent driving equipment;

The processing unit is used for: and controlling the steering wheel of the intelligent driving equipment at least according to the real-time operation parameters and the driving road information.

9. The apparatus of claim 8, wherein the real-time operating parameters include real-time speed of the intelligent driving device and torque information of the steering wheel, the travel path information indicating a curvature of a travel path of the intelligent driving device, the processing unit to:

And controlling the steering wheel according to the slow-release torque.

10. The apparatus of claim 9, wherein the acquisition unit is further configured to:

acquiring first rotation angle information of the steering wheel;

the processing unit is used for:

11. The apparatus according to claim 9 or 10, wherein the processing unit is configured to:

12. The apparatus according to claim 9 or 10, wherein the processing unit is configured to:

13. The apparatus according to any one of claims 7to 12, wherein the processing unit is configured to:

in the torque control mode, the steering wheel is controlled.

14. The apparatus according to any one of claims 7 to 13, wherein the acquisition unit is further configured to:

the processing unit is further configured to: and transversely controlling the intelligent driving equipment according to the second corner information.

15. A control apparatus, characterized by comprising:

A memory for storing a computer program;

A processor for executing a computer program stored in the memory to cause the apparatus to perform the method of any one of claims 1 to 7.

16. Intelligent driving apparatus, characterized by comprising a device according to any of claims 8 to 15.

17. A computer readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to implement the method of any of claims 1 to 7.

18. A chip, characterized in that it comprises a circuit for performing the method according to any of claims 1 to 7.