Vehicle control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, equipment and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining the longitudinal acceleration data and vertical acceleration data of a vehicle when the vehicle is in a self-adaptive crawling condition; determining a user driving style according to the longitudinal acceleration data, and determining a road bumping level according to the vertical acceleration data; determining a target creeping speed according to the accelerator data and the brake data of the vehicle; and determining an increment torque function based on the target creeping speed, the road bumping level and the user driving style, and controlling the vehicle according to the increment torque function so as to maintain the creeping speed of the vehicle at the target creeping speed. The target crawling speed is determined according to the accelerator and brake data of the vehicle, and the incremental torque function is constructed based on the target crawling speed to control the vehicle, so that the crawling speed of the vehicle can meet the actual crawling requirement of a user as much as possible, the user operation is simplified, and the driving experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to vehicle control methods, devices, equipment and storage media. Background Art

[0002] At present, the automatic following function of assisted driving will be unavailable in some cases, such as low-end models without assisted driving function, high-end vehicle radar failure, low navigation accuracy, etc. In this case, the vehicle's creeping speed will be set to a fixed value, and the driver needs to actively operate the accelerator and brake to follow the vehicle, with a high pedal-stepping frequency, resulting in a poor overall driving experience. Summary of the Invention

[0003] The main purpose of this application is to provide a vehicle control method, device, equipment and storage medium, aiming to solve the technical problem that when the automatic following function of the related technology fails, the vehicle creep force can no longer be reasonably adjusted, resulting in a poor vehicle driving experience.

[0004] To achieve the above objectives, the present application proposes a vehicle control method, the method comprising:

[0005] When the vehicle is in an adaptive creep state, obtaining longitudinal acceleration data and vertical acceleration data of the vehicle;

[0006] determining a user's driving style based on the longitudinal acceleration data, and determining a road bumpiness level based on the vertical acceleration data;

[0007] determining a target creeping speed according to throttle data and brake data of the vehicle;

[0008] An incremental torque function is determined based on the target creep speed, the road roughness level, and the user's driving style, and the vehicle is controlled according to the incremental torque function to maintain the creep speed of the vehicle at the target creep speed.

[0009] Optionally, determining the target creeping speed according to the throttle data and brake data of the vehicle includes:

[0010] Determining a reference vehicle speed based on throttle data and brake data of the vehicle;

[0011] Obtaining a maximum creeping vehicle speed corresponding to the road bumpiness level;

[0012] A target creep vehicle speed is determined based on the reference vehicle speed and the maximum creep vehicle speed.

[0013] Optionally, determining the reference vehicle speed according to the throttle data and brake data of the vehicle includes:

[0014] Integrating the throttle data to obtain a throttle integral amount;

[0015] Integrating the braking data to obtain a braking integral amount;

[0016] Performing a weighted summation on the throttle integral and the brake integral to generate a vehicle speed adjustment value;

[0017] The current creeping vehicle speed is adjusted according to the vehicle speed adjustment value to generate a reference vehicle speed.

[0018] Optionally, adjusting the current creeping vehicle speed according to the vehicle speed adjustment value to generate a reference vehicle speed includes:

[0019] comparing the vehicle speed adjustment value with a vehicle speed hysteresis;

[0020] If the vehicle speed adjustment value is greater than the vehicle speed hysteresis, the current creeping vehicle speed is adjusted according to the vehicle speed adjustment value to generate a reference vehicle speed.

[0021] Optionally, determining the user's driving style according to the longitudinal acceleration data includes:

[0022] determining a longitudinal acceleration standard deviation and a longitudinal acceleration absolute sum value based on the longitudinal acceleration data;

[0023] Classify according to the longitudinal acceleration standard deviation and the longitudinal acceleration absolute sum value, and determine the classification probability corresponding to each preset style category;

[0024] A user driving style is selected from a preset style category based on the classification probability.

[0025] Optionally, determining the road bumpiness level according to the vertical acceleration data includes:

[0026] Determining a vertical acceleration standard deviation, a vertical acceleration maximum value, an absolute sum of vertical angular velocities, and a vertical acceleration duration based on the vertical acceleration data;

[0027] Performing a weighted summation of the vertical acceleration standard deviation, the vertical acceleration maximum value, the vertical angular velocity absolute sum, and the vertical acceleration duration according to preset weights to generate a comprehensive road surface score;

[0028] Comparing the road surface comprehensive score with a preset score range to determine a target score range;

[0029] A road bumpiness level is determined according to the target scoring range.

[0030] Optionally, before obtaining the longitudinal acceleration data and vertical acceleration data of the vehicle when the vehicle is in the adaptive creep state, the method further includes:

[0031] Acquire driving data of the vehicle within a preset time period, the driving data including throttle opening and vehicle speed data, the preset time period being a period corresponding to a preset time length forward from the current moment;

[0032] determining an average vehicle speed based on the vehicle speed data;

[0033] If the average vehicle speed is less than a preset vehicle speed threshold, and the throttle opening is less than or equal to a preset opening threshold, it is determined that the vehicle enters adaptive creep.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle control device, which includes:

[0035] An acquisition module, used for acquiring longitudinal acceleration data and vertical acceleration data of the vehicle when the vehicle is in an adaptive creeping state;

[0036] a determination module, configured to determine a user's driving style based on the longitudinal acceleration data, and to determine a road bumpiness level based on the vertical acceleration data;

[0037] a decision module, configured to determine a target creeping speed based on throttle data and brake data of the vehicle;

[0038] A control module is configured to determine an incremental torque function based on the target creeping speed, the road roughness level, and the user's driving style, and to control the vehicle according to the incremental torque function so as to maintain the creeping speed of the vehicle at the target creeping speed.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the vehicle control method described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle control method described above.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] Since the target creeping speed is determined according to the vehicle's throttle and brake data, and the incremental torque function is constructed based on the target creeping speed to control the vehicle, it is ensured that the vehicle's creeping speed can meet the user's actual creeping needs as much as possible, simplifying user operations and improving the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 A flow chart of the first embodiment of the vehicle control method of the present application is provided;

[0047] Figure 2 A flow chart of the second embodiment of the vehicle control method of the present application is provided;

[0048] Figure 3 This is a schematic diagram of a vehicle creep control completion process according to an embodiment of the present application;

[0049] Figure 4 This is a schematic diagram of the module structure of the vehicle control device according to an embodiment of the present application;

[0050] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle control method in the embodiment of the present application.

[0051] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0053] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0054] Based on this, the embodiment of the present application provides a vehicle control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle control method of the present application.

[0055] In this embodiment, the vehicle control method includes steps S10 to S40:

[0056] Step S10: When the vehicle is in the adaptive creep state, the longitudinal acceleration data and the vertical acceleration data of the vehicle are acquired.

[0057] It should be noted that the executing entity of this embodiment can be the vehicle itself or a vehicle control device arranged in the vehicle. The vehicle control device can be a controller arranged in the vehicle, such as an ECU controller, or other devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the vehicle control method of this application is explained using the vehicle control device as an example.

[0058] It should be noted that if the vehicle's adaptive creep function is enabled, it can be determined that the vehicle is in adaptive creep. The adaptive creep function can be automatically activated when the vehicle's assisted driving automatic following function is unavailable, the vehicle is traveling at a low speed (i.e., creeping), and the throttle opening is low. Of course, the adaptive creep function can also be enabled by the user (e.g., the vehicle driver), and this embodiment does not limit this.

[0059] In actual use, if the vehicle is in an adaptive creeping state, it means that the automatic following function of the assisted driving is not available at this time. In order to avoid the poor effect of a fixed creeping speed, it is necessary to ensure that the creeping speed matches the user's actual needs. At this time, the user's actual creeping needs can be estimated based on the vehicle's longitudinal acceleration data and vertical acceleration data. Therefore, the longitudinal acceleration data and vertical acceleration data can be obtained.

[0060] The longitudinal acceleration data may be the acceleration data of the vehicle in the direction of travel, and the vertical acceleration data may be the acceleration data of the vehicle in the vertical direction, i.e., the direction perpendicular to the horizontal plane. The acceleration data may be acquired using a gyroscope installed in the vehicle or by other means, and this embodiment is not limited thereto.

[0061] In a specific implementation, in order to ensure that the adaptive creeping function can be reasonably and automatically started, before step S10 in this embodiment, the following steps may be further included:

[0062] Acquiring driving data of the vehicle within a preset time period, wherein the driving data includes throttle opening and vehicle speed data;

[0063] determining an average vehicle speed based on the vehicle speed data;

[0064] If the average vehicle speed is less than a preset vehicle speed threshold, and the throttle opening is less than or equal to a preset opening threshold, it is determined that the vehicle enters adaptive creep.

[0065] It should be noted that the preset time period can be a time period corresponding to the preset time length forward from the current moment, wherein the preset time length can be set in advance by the administrator of the vehicle control equipment. For example: if the preset time length is set to 5 seconds, the preset time period is a time period 5 seconds forward from the current moment.

[0066] It can be understood that if the average vehicle speed is less than the preset vehicle speed threshold and the vehicle's throttle opening is less than or equal to the preset opening threshold, it means that the user is only using a very small throttle opening to control the vehicle operation and the vehicle speed is extremely low. Therefore, it can be determined that the vehicle is creeping and that the vehicle can enter adaptive creeping. At this time, the adaptive creeping function can be automatically turned on.

[0067] For example, assuming that the preset time period is δ, and within the preset time period, the driving data is collected using the data sampling frequency f, then the number of collected data is N = δ / f. At this time, the average vehicle speed can be:

[0068]

[0069] If vavg<V thresshold , and within the preset period, the throttle opening is less than or equal to θ thresshold , it can be determined that the vehicle can enter adaptive creep.

[0070] Among them, V thresshold is the preset vehicle speed threshold, and θ thresshold To preset the opening threshold, both can be set in advance by the manager of the vehicle control equipment.

[0071] In order to avoid affecting the user's normal driving, it is possible to thresshold Or the throttle opening is greater than θ thresshold , the adaptive creep function will be automatically exited. At this time, the adaptive creep function can be turned off.

[0072] Step S20: determining the user's driving style based on the longitudinal acceleration data, and determining the road bumpiness level based on the vertical acceleration data.

[0073] It should be noted that the user's driving style may include a variety of different styles such as aggressive, normal, and gentle. If necessary, more styles may be set. This is not limited in this embodiment. The user's driving style is used to reflect the degree of speed mutation that the user can accept when controlling the vehicle to accelerate or decelerate. The more aggressive the user's driving style is, the higher the degree of speed mutation that the user can accept. Conversely, the softer the user's driving style is, the lower the degree of speed mutation that the user can accept.

[0074] The road bumpiness level is used to characterize the degree of bumpiness of the road on which the vehicle is traveling. The higher the road bumpiness level, the higher the degree of bumpiness of the road at that time.

[0075] In a specific implementation, in order to reasonably classify the user's driving style, the step of determining the user's driving style based on the longitudinal acceleration data in this embodiment may include:

[0076] determining a longitudinal acceleration standard deviation and a longitudinal acceleration absolute sum value based on the longitudinal acceleration data;

[0077] Classify according to the longitudinal acceleration standard deviation and the longitudinal acceleration absolute sum value, and determine the classification probability corresponding to each preset style category;

[0078] A user driving style is selected from a preset style category based on the classification probability.

[0079] It should be noted that a preset style classification model can be used to classify according to the standard deviation of longitudinal acceleration and the absolute sum of longitudinal acceleration to determine the classification probability corresponding to each preset style category. After that, the preset style category corresponding to the maximum value of each classification probability can be selected as the user's driving style.

[0080] The preset style classification model may be a classification model set based on a Bayesian probabilistic classification scheme.

[0081] For ease of understanding, the following describes the model settings and the technologies involved:

[0082] Bayes' Theorem:

[0083]

[0084] P(c|s, I): The posterior probability that a driving style belongs to category c (e.g., aggressive, normal, or gentle) given the longitudinal acceleration standard deviation s and the absolute value I. This is the ultimate probability we want to calculate, indicating how likely it is that a user's driving style belongs to a particular category given these feature data.

[0085] --P(s, I|c) is the joint probability density function for category (c). This is the joint probability of observing the acceleration standard deviation s and the absolute integral I given the driving style belongs to category c. It reflects the likelihood of these characteristics occurring under a specific driving pattern. For example, a customer with an aggressive driving style may have a higher acceleration standard deviation and a larger absolute integral.

[0086] --P(c) is the prior probability. This is the prior probability that the driving style belongs to category c, that is, the probability that the driving style belongs to this category in the absence of any observational data. The prior probability can be set based on historical data or domain knowledge. For example, if most customers have an aggressive driving style, then P(aggressive) may be higher.

[0087] --P(s, I) is the marginal probability of features s and I, that is, the total probability of observing the acceleration standard deviation s and the absolute value integral I regardless of the driving style category. It plays a normalization role and ensures that the sum of the posterior probabilities is 1.

[0088] And P(s,I)=∑ c P(s,I|c)·P(c)

[0089] Based on this, the preset style classification model is built as follows:

[0090] Assume that the preset style categories (c) are divided into three categories: fierce, normal and mild. The (S long ) and (I long ) are distributed according to the normal distribution function and the Laplace function The formula is as follows:

[0091]

[0092] It's S long (i) The mean and variance of the normal distribution. The normal distribution has a clear mean and variance, which can well describe the central tendency and fluctuation range of the data.

[0093] isI long (i) The location and scale parameters of the Laplace distribution. Since the absolute value integral takes into account the cumulative changes in acceleration, it may be affected by sudden acceleration or deceleration, resulting in outliers or heavy tails in the data. The Laplace distribution is more suitable for describing this situation.

[0094] And assuming that the probabilities are independent of each other, the joint probability density function is:

[0095]

[0096] In actual use, based on the Bayesian theorem, classification is performed through the posterior probability P(c|s, I), and the preset style category (intense, normal or mild) with the largest posterior probability is selected as the user's driving style.

[0097] For example, data is collected within n*δ time, and a longitudinal acceleration data sequence of a customer vehicle in creep mode is collected to obtain longitudinal acceleration data. Then, the longitudinal acceleration standard deviation and the absolute sum of longitudinal acceleration are calculated based on the longitudinal acceleration data.

[0098] Among them, the standard deviation of longitudinal acceleration is used to reflect the degree of change of longitudinal acceleration; the absolute sum of longitudinal acceleration is used to reflect the total change of longitudinal acceleration;

[0099] The calculation formula for the standard deviation of longitudinal acceleration can be:

[0100]

[0101] The calculation formula for the absolute sum of longitudinal acceleration can be:

[0102]

[0103] Among them, a long (t) is the longitudinal acceleration at time t, is the average value of longitudinal acceleration, N is the total number of collected data points;

[0104] S long and I long When the preset style classification model is brought in for analysis, the preset style classification model will output the posterior probability corresponding to each preset style category, that is, the classification probability. At this time, the preset style category with the largest classification probability can be used as the user's driving style.

[0105] In a specific implementation, in order to reasonably determine the road bumpiness level, the step of determining the road bumpiness level according to the vertical acceleration data in this embodiment may include:

[0106] Determining a vertical acceleration standard deviation, a vertical acceleration maximum value, an absolute sum of vertical angular velocities, and a vertical acceleration duration based on the vertical acceleration data;

[0107] Performing a weighted summation of the vertical acceleration standard deviation, the vertical acceleration maximum value, the vertical angular velocity absolute sum, and the vertical acceleration duration according to preset weights to generate a comprehensive road surface score;

[0108] Comparing the road surface comprehensive score with a preset score range to determine a target score range;

[0109] A road bumpiness level is determined according to the target scoring range.

[0110] It should be noted that the degree of road bumpiness can be understood based on the standard deviation and maximum vertical acceleration, while the sum of the absolute values ​​of the vertical acceleration can represent the vibration intensity per unit time, and the duration of vertical acceleration is the duration during which the absolute value of the vertical acceleration integral exceeds a certain limit.

[0111] Based on this, the comprehensive road surface score can be characterized as follows:

[0112]

[0113] Among them, S is the comprehensive score of the road surface, The weights can be preset and can be set in advance by the administrator of the vehicle control equipment, and

[0114]

[0115]

[0116] Where N is the number of vertical acceleration data points collected, It can be the average value of vertical acceleration, a vert (t) is the vertical acceleration at time t, and D is the preset threshold.

[0117] In a specific implementation, after obtaining the comprehensive road surface score, the comprehensive road surface score and each preset score interval can be compared, and the preset score interval to which the comprehensive road surface score belongs can be used as the target score interval. Then, the bumpiness level corresponding to the target score interval can be used as the road bumpiness level.

[0118] Among them, each preset scoring range corresponds to a different level of bumpy driving.

[0119] For example, the bumpiness levels include mild bumpiness, moderate bumpiness, and severe bumpiness, and the corresponding intervals are (-∞, S1], (S1, S2], (S2, +∞) respectively. At this time, if S≤S1, the road bumpiness level is mild bumpiness; if S1<S≤S2, the road bumpiness level is moderate bumpiness; if S>S2, the road bumpiness level is severe bumpiness.

[0120] Step S30: determining a target creeping speed according to the throttle data and brake data of the vehicle.

[0121] In actual use, the user's operation of the vehicle's throttle and brake can actually reflect the user's demand for the actual creeping speed. Based on this, the vehicle's throttle data and brake data can be obtained, and estimates can be made to determine the target creeping speed that the user actually needs when controlling the vehicle to creep.

[0122] Step S40: determining an incremental torque function based on the target creeping speed, the road bumpiness level, and the user's driving style, and controlling the vehicle according to the incremental torque function to maintain the creeping speed of the vehicle at the target creeping speed.

[0123] It should be noted that after determining the target creeping speed, road bumpiness level and user driving style, an incremental torque function can be constructed to control the vehicle to travel at the target creeping speed based on the target creeping speed, road bumpiness level and user driving style. Afterwards, the torque of the drive motor in the vehicle can be controlled according to the incremental torque function to ensure that the creeping speed of the vehicle is maintained at the target creeping speed, so that the creeping speed of the vehicle meets the actual creeping needs of the user, avoids frequent control by the user, and thus improves the user's actual operating experience.

[0124] In actual use, the incremental torque function can be constructed based on the PID control algorithm. On this basis, the Kp, Ki, and Kd parameters of the PID control algorithm can be determined according to the road bump level and the user's driving style. The difference between the target creeping speed and the current actual speed of the vehicle is determined, and the incremental torque function is constructed based on this. At this time, the incremental torque function can be represented as:

[0125]

[0126] Where, e(t) = V target -v(t),V target is the target creeping speed, and v(t) is the actual speed of the vehicle at the current moment.

[0127] In actual handling, for users with aggressive driving styles or with low road roughness, appropriately increasing the P term (Kp) can speed up the system's response, allowing for quicker speed adjustments and reducing changes in the following vehicle's distance. The I term (Ki) can be appropriately reduced to prevent rapid accumulation of integrals that could lead to system instability. The D term (Kd) can also be appropriately increased to help suppress oscillations and improve stability.

[0128] For customers with a gentle driving style or in situations where the road surface is bumpy, reduce the P item and rely mainly on the I item for smooth adjustments to reduce torque mutations and improve comfort. Appropriately increase the I item to ensure that the system gradually adjusts under long-term errors, and appropriately lower the D item to reduce additional adjustments caused by the error change rate.

[0129] Based on this, for ease of understanding, the following examples are given:

[0130] The setting of Kp can be shown in Table 1 below:

[0131] Table 1

[0132]

[0133] The setting of Ki can be shown in Table 2 below:

[0134] Table 2

[0135]

[0136] Among them, α and β can be calibration values ​​pre-set by the administrator of the vehicle control equipment. The setting of Kd is similar to that of Kp and will not be repeated here. The above examples are only for illustrative purposes and do not specifically limit this solution.

[0137] This embodiment provides a vehicle control method. Since the target creeping speed is determined based on the vehicle's throttle and brake data, and an incremental torque function is constructed based on the target creeping speed to control the vehicle, it ensures that the vehicle's creeping speed can meet the user's actual creeping needs as much as possible, simplifies user operations, and improves the driving experience.

[0138] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 , step S30 includes steps S301 to S303:

[0139] Step S301: Determine a reference vehicle speed based on the throttle data and brake data of the vehicle.

[0140] In actual use, the speed estimated directly based on the vehicle's throttle data and brake data may be too fast. When using this speed to drive on some bumpy roads, the bumpiness in the car will be too high. To avoid this phenomenon, the estimated speed can be used as a reference speed instead of the target creeping speed.

[0141] In a specific implementation, in order to reasonably estimate the reference vehicle speed, step S301 in this embodiment may include:

[0142] Integrating the throttle data to obtain a throttle integral amount;

[0143] Integrating the braking data to obtain a braking integral amount;

[0144] Performing a weighted summation on the throttle integral and the brake integral to generate a vehicle speed adjustment value;

[0145] The current creeping vehicle speed is adjusted according to the vehicle speed adjustment value to generate a reference vehicle speed.

[0146] In actual use, the throttle data can be integrated to obtain the throttle integral amount, which can be represented as:

[0147]

[0148] Among them, I throlle is the throttle integral, θthrollte (t) is the throttle opening at time t (also known as the degree of accelerator pedal depression), T throlle is the duration of the user controlling the throttle, and △t is the total duration of the acquisition.

[0149] Similar to the throttle integral, the brake integral can be represented as:

[0150]

[0151] Among them, I brake is the braking integral, θ brake (t) is the brake opening degree at time t (also known as the degree of brake pedal depression), T brake is the duration of user-controlled braking, and △t is the total time of collection.

[0152] In actual use, the preset weight value can be used to perform weighted summation on the brake integral to generate a speed adjustment value. The speed adjustment value can be expressed as:

[0153] V change =ω1*I brake +ω2*I throlle

[0154] Among them, ω1 and ω2 are preset weight values, which can be set in advance by the administrator of the vehicle speed control device, and ω1+ω2=1, V change Adjust the value for vehicle speed.

[0155] In actual use, the speed adjustment value can be added to the current creep speed, and the obtained sum can be used as the reference speed. At this time, the following can be obtained:

[0156] V refer =V current +V change =V current +ω1*I brake +ω2*I throlle

[0157] Among them, V refer is the reference speed, V current The current creep speed.

[0158] In a specific implementation, in order to prevent the creeping speed from being continuously adjusted, which may cause vehicle oscillation, the step of adjusting the current creeping speed according to the speed adjustment value to generate a reference speed in this embodiment may include:

[0159] comparing the vehicle speed adjustment value with a vehicle speed hysteresis;

[0160] If the vehicle speed adjustment value is greater than the vehicle speed hysteresis, the current creeping vehicle speed is adjusted according to the vehicle speed adjustment value to generate a reference vehicle speed.

[0161] It should be noted that the speed hysteresis can be pre-set by the administrator of the vehicle control device. If the speed adjustment value is greater than the speed hysteresis value, it means that a large amount of adjustment is required. Therefore, the current creeping speed can be adjusted according to the speed adjustment value to generate a reference speed.

[0162] If the vehicle speed adjustment value is less than or equal to the vehicle speed hysteresis, it means that the overall adjustment amount is relatively small at this time. At this time, no adjustment is required, but the current creeping speed is used as the reference speed.

[0163] The setting of the reference speed at this time can be represented as:

[0164]

[0165]

[0166] Step S302: Obtain the maximum creeping speed corresponding to the road bumpiness level.

[0167] It should be noted that when the road bumpiness level is different, the maximum available creeping speed needs to be limited to ensure the user's actual driving experience and avoid excessive bumpiness in the car. Based on this, the manager of the vehicle control equipment can pre-set the corresponding maximum creeping speed for each road bumpiness level and store it in a level speed mapping table. At this time, the corresponding maximum creeping speed can be found in the level speed mapping table according to the road bumpiness level.

[0168] For example, assuming that the road bump levels include mild bumps, moderate bumps, and severe bumps, the maximum creeping speed corresponding to mild bumps is unlimited, that is, the maximum speed Vmax, and the maximum creeping speed corresponding to moderate bumps is V S1 , the maximum creeping speed corresponding to severe bumps is V S2 , where V S2 <V S1 <Vmax.

[0169] Step S303: Determine a target creeping vehicle speed based on the reference vehicle speed and the maximum creeping vehicle speed.

[0170] In actual use, the minimum value between the reference vehicle speed and the maximum creeping vehicle speed can be used as the target creeping vehicle speed.

[0171] For ease of understanding, now combined Figure 3 This is for illustration only, but not for limitation. Figure 3 This is a schematic diagram of the vehicle creep control completion flow in this embodiment.

[0172] like Figure 3 As shown, the adaptive creep mode state machine determination module first calculates the average vehicle speed based on the vehicle speed. When the average vehicle speed is less than a preset speed threshold and the throttle opening is less than or equal to the preset opening threshold, the vehicle is determined to be eligible for adaptive creep mode, and the adaptive creep mode function is activated and entered. The desired creep speed calculation module then estimates a reference vehicle speed based on the throttle and brake signals. This reference speed is compared with the maximum creep speed corresponding to the road surface roughness level determined by the road surface condition determination module. This limits the maximum creep speed, taking the minimum between the reference speed and the maximum creep speed as the target speed. Finally, the Kp, Ki, and Kd parameters are determined based on the user's driving style output by the driving style determination module and the road surface roughness level. The torque increment PID control module then constructs an incremental torque function based on the target speed and the Kp, Ki, and Kd parameters. The vehicle's INV control module then controls the vehicle's drive motor based on the incremental torque function to maintain the vehicle's creep speed at the target creep speed.

[0173] This embodiment provides a vehicle control method. Since the road bumpiness level is taken into comprehensive consideration when determining the target creeping speed, the creeping speed is further restricted to ensure that the target creeping speed is ultimately used for creeping and the vehicle's bumpiness will not be too severe.

[0174] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0175] This application also provides a vehicle control device, please refer to Figure 4 , the vehicle control device includes:

[0176] An acquisition module 10 is used to acquire longitudinal acceleration data and vertical acceleration data of the vehicle when the vehicle is in an adaptive creeping state;

[0177] a determination module 20 for determining a user's driving style based on the longitudinal acceleration data, and determining a road bumpiness level based on the vertical acceleration data;

[0178] a decision module 30, configured to determine a target creeping speed based on the throttle data and the brake data of the vehicle;

[0179] The control module 40 is used to determine an incremental torque function based on the target creeping speed, the road bumpiness level and the user's driving style, and control the vehicle according to the incremental torque function to maintain the creeping speed of the vehicle at the target creeping speed.

[0180] The vehicle control device provided in this application, utilizing the vehicle control method of the aforementioned embodiment, can resolve the technical issue in related technologies where, when the automatic following function fails, the vehicle's creep force cannot be properly adjusted, resulting in a poor driving experience. Compared to the prior art, the beneficial effects of the vehicle control device provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiment. Other technical features of the vehicle control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0181] The present application provides a vehicle control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle control method in the above-mentioned embodiment one.

[0182] Reference below Figure 5 , which shows a schematic diagram of the structure of a vehicle control device suitable for implementing the embodiments of the present application. The vehicle control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The vehicle control device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0183] like Figure 5As shown, the vehicle control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory 1002 or programs loaded from a storage device 1003 into a random access memory 1004. Various programs and data required for the operation of the vehicle control device are also stored in the random access memory 1004. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0184] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are performed.

[0185] The vehicle control device provided in this application, utilizing the vehicle control method of the aforementioned embodiment, can resolve the technical issue in related technologies where, when the automatic following function fails, the vehicle's creep force cannot be properly adjusted, resulting in a poor driving experience. Compared to the prior art, the beneficial effects of the vehicle control device provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiment. Other technical features of this vehicle control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0186] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0187] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0188] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, and the computer-readable program instructions are used to execute the vehicle control method in the above-mentioned embodiment.

[0189] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0190] The computer-readable storage medium may be included in the vehicle control device, or may exist independently without being assembled into the vehicle control device.

[0191] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle control device, the vehicle control device: obtains the longitudinal acceleration data and vertical acceleration data of the vehicle when the vehicle is in adaptive creeping; determines the user's driving style based on the longitudinal acceleration data, and determines the road bumpiness level based on the vertical acceleration data; determines the target creeping speed based on the throttle data and brake data of the vehicle; determines the incremental torque function based on the target creeping speed, the road bumpiness level and the user driving style, and controls the vehicle according to the incremental torque function to maintain the creeping speed of the vehicle at the target creeping speed.

[0192] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0193] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0194] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0195] The computer-readable storage medium provided in this application is a computer-readable storage medium storing computer-readable program instructions (i.e., a computer program) for executing the aforementioned vehicle control method. This computer-readable storage medium can address the technical issue in related art where, when the automatic following function fails, the vehicle's creep force cannot be properly adjusted, resulting in a poor driving experience. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiments, and are not further elaborated here.

[0196] The present application also provides a computer program product, comprising a computer program, which implements the steps of the vehicle control method as described above when the computer program is executed by a processor.

[0197] The computer program product provided in this application can resolve the technical problem in related technologies where, when the automatic following function fails, the vehicle's creep force cannot be properly adjusted, resulting in a poor driving experience. Compared to the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the vehicle control method provided in the above-mentioned embodiments, and are not further elaborated here.

[0198] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle control method comprises: When the vehicle is in an adaptive creep state, obtaining longitudinal acceleration data and vertical acceleration data of the vehicle; determining a user's driving style based on the longitudinal acceleration data, and determining a road bumpiness level based on the vertical acceleration data; determining a target creeping speed according to throttle data and brake data of the vehicle; An incremental torque function is determined based on the target creep speed, the road roughness level, and the user's driving style, and the vehicle is controlled according to the incremental torque function to maintain the creep speed of the vehicle at the target creep speed.

2. The vehicle control method according to claim 1, wherein: The determining of the target creeping speed according to the throttle data and the brake data of the vehicle includes: Determining a reference vehicle speed based on throttle data and brake data of the vehicle; Obtaining a maximum creeping vehicle speed corresponding to the road bumpiness level; A target creep vehicle speed is determined based on the reference vehicle speed and the maximum creep vehicle speed.

3. The vehicle control method according to claim 2, wherein: The determining of the reference vehicle speed according to the throttle data and the brake data of the vehicle includes: Integrating the throttle data to obtain a throttle integral amount; Integrating the braking data to obtain a braking integral amount; Performing a weighted summation on the throttle integral and the brake integral to generate a vehicle speed adjustment value; The current creeping vehicle speed is adjusted according to the vehicle speed adjustment value to generate a reference vehicle speed.

4. The vehicle control method according to claim 3, wherein: The step of adjusting the current creeping vehicle speed according to the vehicle speed adjustment value to generate a reference vehicle speed includes: comparing the vehicle speed adjustment value with a vehicle speed hysteresis; If the vehicle speed adjustment value is greater than the vehicle speed hysteresis, the current creeping vehicle speed is adjusted according to the vehicle speed adjustment value to generate a reference vehicle speed.

5. The vehicle control method according to claim 1, wherein: The determining the user's driving style according to the longitudinal acceleration data includes: determining a longitudinal acceleration standard deviation and a longitudinal acceleration absolute sum value based on the longitudinal acceleration data; Classify according to the longitudinal acceleration standard deviation and the longitudinal acceleration absolute sum value, and determine the classification probability corresponding to each preset style category; A user driving style is selected from a preset style category based on the classification probability.

6. The vehicle control method according to claim 1, wherein: Determining the road bumpiness level according to the vertical acceleration data includes: Determining a vertical acceleration standard deviation, a vertical acceleration maximum value, an absolute sum of vertical angular velocities, and a vertical acceleration duration based on the vertical acceleration data; Performing a weighted summation of the vertical acceleration standard deviation, the vertical acceleration maximum value, the vertical angular velocity absolute sum, and the vertical acceleration duration according to preset weights to generate a comprehensive road surface score; Comparing the road surface comprehensive score with a preset score range to determine a target score range; A road bumpiness level is determined according to the target scoring range.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: Before obtaining the longitudinal acceleration data and the vertical acceleration data of the vehicle when the vehicle is in the adaptive creeping state, the method further includes: Acquire driving data of the vehicle within a preset time period, the driving data including throttle opening and vehicle speed data, the preset time period being a period corresponding to a preset time length forward from the current moment; determining an average vehicle speed based on the vehicle speed data; If the average vehicle speed is less than a preset vehicle speed threshold, and the throttle opening is less than or equal to a preset opening threshold, it is determined that the vehicle enters adaptive creep.

8. A vehicle control device, characterized in that: The vehicle control device comprises: An acquisition module, used for acquiring longitudinal acceleration data and vertical acceleration data of the vehicle when the vehicle is in an adaptive creeping state; a determination module, configured to determine a user's driving style based on the longitudinal acceleration data, and determine a road bumpiness level based on the vertical acceleration data; a decision module, configured to determine a target creeping speed based on throttle data and brake data of the vehicle; A control module is configured to determine an incremental torque function based on the target creeping speed, the road roughness level, and the user's driving style, and to control the vehicle according to the incremental torque function so as to maintain the creeping speed of the vehicle at the target creeping speed.

9. A vehicle control device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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