Method and apparatus for adjusting throttle pedal characteristics

Abstract

The present application provides a method and device for adjusting the characteristics of an accelerator pedal, which can be applied to intelligent vehicles in the field of autonomous driving. The method includes: when a user adjusts a target driving mode, receiving the vehicle speed, accelerator pedal opening, and acceleration information input by the user, where at least one of the vehicle speed, the accelerator pedal opening, or the acceleration information satisfies a preset constraint relationship; and adjusting the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the accelerator pedal opening, and the acceleration information. The method in the embodiments of the present application facilitates the user to efficiently perform personalized settings for the driving mode.

Description

[0001] This application is a divisional application. The application number of the original application is 201910881052.7, and the application date of the original application is September 18, 2019. The entire content of the original application is incorporated herein by reference. Technical Field

[0002] This application relates to the field of automobiles, and more specifically, to a method and device for adjusting the characteristics of an accelerator pedal. Background Art

[0003] With the continuous development of the automotive field, the driving experience of automobiles has received more and more attention in order to meet the personalized driving needs of different drivers.

[0004] Currently, whether it is a traditional automobile or an electric vehicle, most vehicles provide drivers with selectable driving modes. Common driving modes generally include: sport mode, economic mode (ECO), normal mode, etc. High-end brand automobiles also provide a professional mode, and drivers can adjust the professional mode according to their personal preferences. However, currently, the adjustment efficiency of the professional mode is generally low, and at the same time, it is not convenient for drivers to operate.

[0005] Therefore, how to conveniently and efficiently perform personalized settings for driving modes has become a technical problem that urgently needs to be solved. Summary of the Invention

[0006] This application provides a method and device for adjusting the characteristics of an accelerator pedal, which facilitates users to efficiently perform personalized settings for driving modes.

[0007] In a first aspect, a method for adjusting the characteristics of an accelerator pedal is provided. The method includes:

[0008] When a user adjusts a target driving mode, receiving the vehicle speed, accelerator pedal opening, and acceleration information input by the user, where at least one of the vehicle speed, the accelerator pedal opening, or the acceleration information satisfies a preset constraint relationship; and adjusting the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the accelerator pedal opening, and the acceleration information.

[0009] In the embodiments of the present application, the user can input the vehicle speed, the throttle pedal opening, and the acceleration information, without the need to adjust the throttle pedal opening during the vehicle driving based on the current real-time speed and the current output torque of the vehicle to achieve the adjustment of the throttle pedal curve. Therefore, the method in the embodiments of the present application does not limit that the user can only input the vehicle speed, the throttle pedal opening, and the acceleration information during the vehicle driving. Moreover, the input vehicle speed, throttle pedal opening, or acceleration information satisfying the preset constraint relationship can ensure the rationality of the data, facilitating the user to efficiently perform personalized settings for the driving mode.

[0010] For example, the user can input the vehicle speed, the throttle pedal opening, and the acceleration information through an input device when the vehicle is stationary (non-driving state), or the user can also input the vehicle speed, the throttle pedal opening, and the acceleration information through an input device during the vehicle driving.

[0011] It should be understood that the acceleration information may be the acceleration intensity information input by the user that can be used to represent the acceleration intensity. For example, the acceleration information may be the acceleration intensity level; or the acceleration information may also be the acceleration information of the vehicle or the output torque of the vehicle.

[0012] Optionally, the above input device may be a terminal device. For example, the input device may be a mobile or portable terminal device such as a mobile phone or a laptop computer; or the input device may also be other relatively fixed terminal devices such as a desktop computer. The embodiments of the present application do not limit this.

[0013] Optionally, the above input device may also be an in-vehicle device. For example, the input device may be an in-vehicle human-machine interaction device; or the input device may also be a device integrated in other in-vehicle devices. The embodiments of the present application do not limit this.

[0014] The user can use various existing input methods to input the vehicle speed, the throttle pedal opening, and the acceleration information on the above input device. For example, the user can use various methods such as voice input, physical button input, touch screen input, or handwriting input to input the vehicle speed, the throttle pedal opening, and the acceleration information on the above input device. The embodiments of the present application do not limit this.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: receiving a flag input by a user, where the flag is used to indicate adjusting the throttle pedal characteristic curve; wherein, adjusting the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening, and the acceleration information includes: when the flag is received, adjusting the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening, and the acceleration information.

[0016] Optionally, the flag can be used to indicate that the user has a need to adjust the throttle pedal characteristic curve (in the professional mode).

[0017] In combination with the first aspect, in certain implementations of the first aspect, adjusting the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening, and the acceleration information includes: determining N target accelerations according to the vehicle speed, the throttle pedal opening, and the acceleration information, where each of the N target accelerations corresponds to a vehicle speed and a throttle pedal opening, and N is an integer greater than or equal to 1; adjusting the throttle pedal characteristic curve Pedal MAP according to the N target accelerations.

[0018] In combination with the first aspect, in certain implementations of the first aspect, determining N target accelerations according to the vehicle speed, the throttle pedal opening, and the acceleration information includes: performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening, and the acceleration information to obtain N sets of data, where the N sets of data include the vehicle speed, the throttle pedal opening, and the acceleration information; determining the N target accelerations according to the N sets of data, where each of the N target accelerations corresponds to the vehicle speed and the throttle pedal opening in a set of the N sets of data.

[0019] In the embodiments of the present application, performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening, and the acceleration information can avoid sudden changes in the throttle pedal characteristic curve due to too large a change rate of the data set by the user, thereby avoiding the problem of decreased acceleration smoothness caused by sudden changes in the acceleration information at different vehicle speeds during the vehicle acceleration process.

[0020] It should be noted that when the acceleration information input by the user is the output torque of the vehicle, after performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening, and the acceleration information, N sets of data can be obtained. At this time, an updated throttle pedal characteristic curve can be obtained according to the N sets of data, and no other processing needs to be performed on the N sets of data.

[0021] In the case where the acceleration information input by the user is the acceleration information of the vehicle, after performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening, and the acceleration information, N groups of data can be obtained. At this time, after converting the acceleration information in the N groups of data into output torque, an updated throttle pedal characteristic curve can be obtained based on the N groups of data, without the need to perform other processing on the N groups of data.

[0022] Combined with the first aspect, in some implementation manners of the first aspect, the adjusting the throttle pedal characteristic curve according to the N target accelerations includes: determining N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, curb weight, and / or tire radius; adjusting the throttle pedal characteristic curve according to the N output torques.

[0023] Optionally, the baseline torque can be understood as the steady-state torque of the vehicle at a specific vehicle speed, the curb weight is the total mass of the vehicle, and the tire radius is the tire radius of the vehicle.

[0024] Combined with the first aspect, in some implementation manners of the first aspect, the determining the N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, curb weight, and / or tire radius includes:

[0025] Determining the N output torques corresponding to the N target accelerations according to the following formula:

[0026] T(v,k) = a(v,k) * r * m + T(v)

[0027] where a(v,k) is the target acceleration, the vehicle speed v and the throttle pedal opening k correspond to a(v,k), r is the tire radius, m is the curb weight, T(v) is the baseline torque corresponding to the vehicle speed v, and T(v,k) is the output torque corresponding to the vehicle speed v and the throttle pedal opening k.

[0028] Combined with the first aspect, in some implementation manners of the first aspect, the receiving the vehicle speed, throttle pedal opening, and acceleration information input by the user includes: receiving multiple groups of parameter data input by the user, each group of parameter data including vehicle speed, throttle pedal opening, and acceleration information, and the constraint relationship is used to limit at least one of the vehicle speed, the throttle pedal opening, or the acceleration information in each group of parameter data to satisfy a preset value range.

[0029] In combination with the first aspect, in some implementations of the first aspect, receiving the vehicle speed, accelerator pedal opening, and acceleration information input by the user includes: receiving multiple sets of parameter data input by the user, each set of parameter data including vehicle speed, accelerator pedal opening, and acceleration information, and the constraint relationship is used to define that each of the multiple sets of parameter data satisfies a preset relative relationship.

[0030] In combination with the first aspect, in some implementations of the first aspect, the vehicle speed, accelerator pedal opening, and acceleration information included in each set of parameter data among the multiple sets of parameter data are different from each other.

[0031] Optionally, the vehicle speed, accelerator pedal opening, and acceleration information included in one set of parameter data among the multiple sets of parameter data may be all different from the vehicle speed, accelerator pedal opening, and acceleration information included in another set of parameter data among the multiple sets of parameter data.

[0032] In combination with the first aspect, in some implementations of the first aspect, at least one parameter among the vehicle speed, accelerator pedal opening, and acceleration information included in each set of parameter data among the multiple sets of parameter data is different.

[0033] In the embodiments of the present application, the user can input multiple sets of parameter data simultaneously, where the vehicle speed, accelerator pedal opening, and acceleration information included in each set of parameter data among the multiple sets of parameter data are different from each other, or at least one parameter among the vehicle speed, accelerator pedal opening, and acceleration information included in each set of parameter data among the multiple sets of parameter data is different. That is to say, the user can adjust the accelerator pedal characteristic curve in multiple dimensions (among vehicle speed, accelerator pedal opening, and acceleration information) simultaneously. Therefore, the method in the embodiments of the present application can improve the adjustment efficiency of the user for the driving mode.

[0034] The second aspect provides a method for adjusting the accelerator pedal characteristic, including:

[0035] Receive an instruction for adjusting a target driving mode input by a user, and in response to the instruction, present a driving mode adjustment user interface on a display device, where the driving mode adjustment user interface includes a first input window; receive first parameter information input by the user in the first input window, where the first parameter information is any one of vehicle speed, throttle pedal opening, or acceleration information; in response to the first parameter information input by the user, present a second input window in the driving mode adjustment user interface; receive second parameter information input by the user in the second input window, where the second parameter information is any one of vehicle speed, throttle pedal opening, and acceleration information that is different from the first parameter information; display third parameter information in the second input window according to a preset constraint relationship, where the third parameter information is a parameter of vehicle speed, throttle pedal opening, and acceleration information that is different from the first parameter information and the second parameter information; and adjust a throttle pedal characteristic curve Pedal MAP of the target driving mode according to the first parameter information, the second parameter information, and the third parameter information.

[0036] In an embodiment of the present application, a user can input vehicle speed, throttle pedal opening, and acceleration information through an input device, and does not need to adjust the throttle pedal opening based on the current real-time speed and current output torque of the vehicle during the driving of the vehicle to implement the adjustment of the throttle pedal curve. Therefore, the method in the embodiment of the present application does not limit that the user can only input vehicle speed, throttle pedal opening, and acceleration information during the driving of the vehicle. Moreover, the input vehicle speed, throttle pedal opening, or acceleration information satisfying the preset constraint relationship can ensure the rationality of the data, facilitating the user to efficiently perform personalized settings for the driving mode.

[0037] For example, the user can input vehicle speed, throttle pedal opening, and acceleration information through the input device when the vehicle is stationary (non-driving state), or the user can also input vehicle speed, throttle pedal opening, and acceleration information through the input device during the driving of the vehicle.

[0038] It should be understood that the acceleration information may be acceleration intensity information input by the user that can be used to represent the acceleration intensity. For example, the acceleration information may be an acceleration intensity level; or the acceleration information may also be the acceleration information of the vehicle or the output torque of the vehicle.

[0039] Optionally, the above input device may be a terminal device. For example, the input device may be a mobile or portable terminal device such as a mobile phone or a laptop computer; or the input device may also be other relatively fixed terminal devices such as a desktop computer, and the embodiment of the present application does not limit this.

[0040] Optionally, the above input device may also be a vehicle-mounted device. For example, the input device may be a vehicle-mounted human-machine interaction device; or, the input device may also be a device integrated in other vehicle-mounted devices, and the embodiments of the present application do not limit this.

[0041] The user can use various existing input methods to input vehicle speed, accelerator pedal opening, and acceleration information on the above input device. For example, the user can use various methods such as voice input, physical button input, touch screen input, or handwriting input to input vehicle speed, accelerator pedal opening, and acceleration information on the above input device, and the embodiments of the present application do not limit this.

[0042] Combined with the second aspect, in some implementation manners of the second aspect, the first input window presents a plurality of candidate first parameter information, and the candidate first parameter information is any one of vehicle speed, accelerator pedal opening, or acceleration information. The receiving of the first parameter information input by the user in the first input window includes: receiving the first parameter information selected by the user from the plurality of candidate first input information presented in the first input window.

[0043] For example, the first input window presents a plurality of vehicle speeds. At this time, the vehicle speed selected by the user from the plurality of vehicle speeds presented in the first input window can be received.

[0044] Optionally, the first input window may also present a plurality of accelerator pedal openings. Or, the first input window may also present a plurality of acceleration information.

[0045] Combined with the second aspect, in some implementation manners of the second aspect, the second input window presents a plurality of candidate second parameter information, and the candidate second parameter information is any one of vehicle speed, accelerator pedal opening, and acceleration information that is different from the first parameter information. The receiving of the second parameter information input by the user in the second input window includes: receiving the second parameter information selected by the user from the plurality of candidate second input information presented in the second input window.

[0046] Optionally, when the first parameter information is vehicle speed, the second parameter information may be accelerator pedal opening or acceleration information.

[0047] For example, the second input window presents a plurality of accelerator pedal openings. At this time, the accelerator pedal opening selected by the user from the plurality of accelerator pedal openings presented in the second input window can be received.

[0048] In combination with the second aspect, in some implementations of the second aspect, the first input window presents a first input box, and receiving the first parameter information input by the user in the first input window includes: receiving the first parameter information input by the user in the first input box presented in the first input window.

[0049] For example, it is possible to receive the vehicle speed input by the user in the first input box presented in the first input window.

[0050] Optionally, it is also possible to receive the throttle pedal opening input by the user in the first input box presented in the first input window. Alternatively, it is also possible to receive the acceleration information input by the user in the first input box presented in the first input window.

[0051] In combination with the second aspect, in some implementations of the second aspect, the second input window presents a second input box, and receiving the second parameter information input by the user in the second input window includes: receiving the second parameter information input by the user in the second input box presented in the second input window.

[0052] Optionally, when the first parameter information is the vehicle speed, the second parameter information may be the throttle pedal opening or the acceleration information.

[0053] For example, it is possible to receive the throttle pedal opening input by the user in the second input box presented in the second input window.

[0054] In a third aspect, there is provided a device for adjusting the throttle pedal characteristics. The device includes an input device and a controller: The input device is configured to receive the vehicle speed, the throttle pedal opening, and the acceleration information input by the user when the user adjusts the target driving mode, and at least one of the vehicle speed, the throttle pedal opening, or the acceleration information satisfies a preset constraint relationship; The controller is configured to adjust the throttle pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the throttle pedal opening, and the acceleration information.

[0055] In the embodiments of the present application, the user can input the vehicle speed, the throttle pedal opening, and the acceleration information, and there is no need to adjust the throttle pedal opening based on the current real-time speed and the current output torque of the vehicle during the driving of the vehicle to achieve the adjustment of the throttle pedal curve. Therefore, the method in the embodiments of the present application does not limit that the user can only input the vehicle speed, the throttle pedal opening, and the acceleration information during the driving of the vehicle. Moreover, the input vehicle speed, throttle pedal opening, or acceleration information satisfying the preset constraint relationship can ensure the rationality of the data and facilitate the user to efficiently perform personalized settings for the driving mode.

[0056] For example, when the vehicle is stationary (not in a driving state), the user can input the vehicle speed, the throttle pedal opening, and the acceleration information through an input device. Alternatively, when the vehicle is in motion, the user can also input the vehicle speed, the throttle pedal opening, and the acceleration information through the input device.

[0057] It should be understood that the acceleration information may be acceleration intensity information input by the user that can be used to represent the acceleration intensity. For example, the acceleration information may be an acceleration intensity level; alternatively, the acceleration information may also be the acceleration information of the vehicle or the output torque of the vehicle.

[0058] Optionally, the above input device may be a terminal device. For example, the input device may be a mobile or portable terminal device such as a mobile phone or a laptop computer; alternatively, the input device may also be other relatively fixed terminal devices such as a desktop computer. The embodiments of the present application are not limited thereto.

[0059] Optionally, the above input device may also be a vehicle-mounted device. For example, the input device may be a vehicle-mounted human-machine interaction device; alternatively, the input device may also be a device integrated in other vehicle-mounted devices. The embodiments of the present application are not limited thereto.

[0060] The user can use various existing input methods to input the vehicle speed, the throttle pedal opening, and the acceleration information on the above input device. For example, the user can use various methods such as voice input, physical button input, touch screen input, or handwriting input to input the vehicle speed, the throttle pedal opening, and the acceleration information on the above input device. The embodiments of the present application are not limited thereto.

[0061] In combination with the third aspect, in some implementation manners of the third aspect, the input device is further configured to: receive a flag bit input by the user, where the flag bit is used to indicate adjusting the throttle pedal characteristic curve; wherein, the controller is specifically configured to: when receiving the flag bit, adjust the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening, and the acceleration information.

[0062] Optionally, the flag bit may be used to indicate that the user has a need to adjust the throttle pedal characteristic curve (in the professional mode).

[0063] In combination with the third aspect, in some implementation manners of the third aspect, the controller is specifically configured to: determine N target accelerations according to the vehicle speed, the throttle pedal opening, and the acceleration information, where each of the N target accelerations corresponds to a vehicle speed and a throttle pedal opening, and N is an integer greater than or equal to 1; and adjust the throttle pedal characteristic curve Pedal MAP according to the N target accelerations.

[0064] In combination with the third aspect, in some implementation manners of the third aspect, the controller is specifically configured to: perform interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening degree, and the acceleration information to obtain N groups of data, where the N groups of data include the vehicle speed, the throttle pedal opening degree, and the acceleration information; determine the N target accelerations according to the N groups of data, and each target acceleration in the N target accelerations corresponds to the vehicle speed and the throttle pedal opening degree in a group of data in the N groups of data.

[0065] In the embodiments of the present application, performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening degree, and the acceleration information can avoid sudden changes in the throttle pedal characteristic curve due to excessive change rates of the data set by the user, thereby avoiding the problem of decreased acceleration smoothness caused by sudden changes in the acceleration information at different vehicle speeds during the vehicle acceleration process.

[0066] It should be noted that when the acceleration information input by the user is the output torque of the vehicle, N groups of data can be obtained after performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening degree, and the acceleration information. At this time, an updated throttle pedal characteristic curve can be obtained according to the N groups of data, and no other processing needs to be performed on the N groups of data.

[0067] When the acceleration information input by the user is the acceleration information of the vehicle, N groups of data can be obtained after performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening degree, and the acceleration information. At this time, after converting the acceleration information in the N groups of data into output torque, an updated throttle pedal characteristic curve can be obtained according to the N groups of data, and no other processing needs to be performed on the N groups of data.

[0068] In combination with the third aspect, in some implementation manners of the third aspect, the controller is specifically configured to: determine the N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, curb mass, and / or tire radius; adjust the throttle pedal characteristic curve according to the N output torques.

[0069] Optionally, the baseline torque can be understood as the steady-state torque of the vehicle at a specific vehicle speed, the curb mass is the total mass of the vehicle, and the tire radius is the tire radius of the vehicle.

[0070] In combination with the third aspect, in some implementation manners of the third aspect, the controller is specifically configured to:

[0071] Determine the N output torques corresponding to the N target accelerations according to the following formula:

[0072] T(v, k) = a(v, k) * r * m + T(v)

[0073] Wherein, a(v, k) is the target acceleration, the vehicle speed v and the throttle pedal opening k correspond to a(v, k), r is the tire radius, m is the curb weight, T(v) is the baseline torque corresponding to the vehicle speed v, and T(v, k) is the output torque corresponding to the vehicle speed v and the throttle pedal opening k.

[0074] In combination with the third aspect, in some implementation manners of the third aspect, the input device is specifically configured to: receive multiple sets of parameter data input by the user, each set of parameter data includes a vehicle speed, a throttle pedal opening, and acceleration information, and the constraint relationship is used to limit at least one of the vehicle speed, the throttle pedal opening, or the acceleration information in each set of parameter data to satisfy a preset value range.

[0075] In combination with the third aspect, in some implementation manners of the third aspect, the input device is specifically configured to: receive multiple sets of parameter data input by the user, each set of parameter data includes a vehicle speed, a throttle pedal opening, and acceleration information, and the constraint relationship is used to limit that each group among the multiple sets of parameter data satisfies a preset relative relationship.

[0076] In combination with the third aspect, in some implementation manners of the third aspect, the vehicle speed, the throttle pedal opening, and the acceleration information included in each set of parameter data among the multiple sets of parameter data are different from each other.

[0077] Optionally, the vehicle speed, the throttle pedal opening, and the acceleration information included in a set of parameter data among the multiple sets of parameter data may be all different from the vehicle speed, the throttle pedal opening, and the acceleration information included in another set of parameter data among the multiple sets of parameter data.

[0078] In combination with the third aspect, in some implementation manners of the third aspect, at least one parameter among the vehicle speed, the throttle pedal opening, and the acceleration information included in each set of parameter data among the multiple sets of parameter data is different.

[0079] In the embodiments of the present application, the user can input multiple sets of parameter data simultaneously. Among them, the vehicle speed, the throttle pedal opening, and the acceleration information included in each set of parameter data among the multiple sets of parameter data are different from each other, or at least one parameter among the vehicle speed, the throttle pedal opening, and the acceleration information included in each set of parameter data among the multiple sets of parameter data is different. That is to say, the user can adjust the throttle pedal characteristic curve in multiple dimensions (among the vehicle speed, the throttle pedal opening, and the acceleration information) simultaneously. Therefore, the method in the embodiments of the present application helps to improve the adjustment efficiency of the user for the driving mode.

[0080] Fourthly, a device for adjusting the throttle pedal characteristics is provided. The device includes an input device and a controller: The input device is configured to receive an instruction for adjusting a target driving mode input by a user, and in response to the instruction, present a driving mode adjustment user interface on a display device. The driving mode adjustment user interface includes a first input window; The input device is configured to receive first parameter information input by the user in the first input window, where the first parameter information is any one of vehicle speed, throttle pedal opening, or acceleration information; In response to the first parameter information input by the user, the input device is configured to present a second input window in the driving mode adjustment user interface; The input device is configured to receive second parameter information input by the user in the second input window, where the second parameter information is any one of vehicle speed, throttle pedal opening, and acceleration information different from the first parameter information; The input device is configured to display third parameter information in the second input window according to a preset constraint relationship, where the three-parameter information is a parameter of vehicle speed, throttle pedal opening, and acceleration information different from the first parameter information and the second parameter information; The controller is configured to adjust the throttle pedal characteristic curve Pedal MAP of the target driving mode according to the first parameter information, the second parameter information, and the third parameter information.

[0081] In the embodiment of the present application, the user can input vehicle speed, throttle pedal opening, and acceleration information through the input device, without the need to adjust the throttle pedal opening during the vehicle driving based on the current real-time speed and current output torque of the vehicle to achieve the adjustment of the throttle pedal curve. Therefore, the method in the embodiment of the present application does not limit that the user can only input vehicle speed, throttle pedal opening, and acceleration information during the vehicle driving. Moreover, the input vehicle speed, throttle pedal opening, or acceleration information satisfying the preset constraint relationship can ensure the rationality of the data, facilitating the user to efficiently perform personalized settings for the driving mode.

[0082] For example, the user can input vehicle speed, throttle pedal opening, and acceleration information through the input device when the vehicle is stationary (non-driving state), or the user can also input vehicle speed, throttle pedal opening, and acceleration information through the input device during the vehicle driving.

[0083] It should be understood that the acceleration information may be acceleration intensity information input by the user that can be used to represent the acceleration intensity. For example, the acceleration information may be an acceleration intensity level; or the acceleration information may also be the acceleration information of the vehicle or the output torque of the vehicle.

[0084] Optionally, the above input device may be a terminal device. For example, the input device may be a mobile or portable terminal device such as a mobile phone or a laptop computer; or, the input device may also be other relatively fixed terminal devices such as a desktop computer. The embodiments of the present application do not limit this.

[0085] Optionally, the above input device may also be a vehicle-mounted device. For example, the input device may be a vehicle-mounted human-machine interaction device; or, the input device may also be a device integrated in other vehicle-mounted devices. The embodiments of the present application do not limit this.

[0086] The user can use various existing input methods to input vehicle speed, throttle pedal opening, and acceleration information on the above input device. For example, the user can use various methods such as voice input, physical button input, touch screen input, or handwriting input to input vehicle speed, throttle pedal opening, and acceleration information on the above input device. The embodiments of the present application do not limit this.

[0087] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the first input window presents multiple pieces of candidate first parameter information, and the candidate first parameter information is any one of vehicle speed, throttle pedal opening, or acceleration information. The input device is specifically configured to: receive the first parameter information selected by the user from the multiple pieces of candidate first input information presented in the first input window.

[0088] For example, the first input window presents multiple vehicle speeds. At this time, the vehicle speed selected by the user from the multiple vehicle speeds presented in the first input window can be received.

[0089] Optionally, the first input window may also present multiple throttle pedal openings. Or, the first input window may also present multiple pieces of acceleration information.

[0090] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the second input window presents multiple pieces of candidate second parameter information, and the candidate second parameter information is any one of vehicle speed, throttle pedal opening, and acceleration information that is different from the first parameter information. The input device is specifically configured to: receive the second parameter information selected by the user from the multiple pieces of candidate second input information presented in the second input window.

[0091] Optionally, when the first parameter information is vehicle speed, the second parameter information may be throttle pedal opening or acceleration information.

[0092] For example, the second input window presents multiple throttle pedal openings. At this time, the throttle pedal opening selected by the user from the multiple throttle pedal openings presented in the second input window can be received.

[0093] In combination with the fourth aspect, in certain implementation manners of the fourth aspect, the first input window presents a first input box, and the input device is specifically configured to: receive the first parameter information input by the user in the first input box presented in the first input window.

[0094] For example, it may receive the vehicle speed input by the user in the first input box presented in the first input window.

[0095] Optionally, it may also receive the opening degree of the accelerator pedal input by the user in the first input box presented in the first input window. Alternatively, it may also receive the acceleration information input by the user in the first input box presented in the first input window.

[0096] In combination with the fourth aspect, in certain implementation manners of the fourth aspect, the second input window presents a second input box, and the input device is specifically configured to: receive the second parameter information input by the user in the second input box presented in the second input window.

[0097] Optionally, when the first parameter information is the vehicle speed, the second parameter information may be the opening degree of the accelerator pedal or the acceleration information.

[0098] For example, it may receive the opening degree of the accelerator pedal input by the user in the second input box presented in the second input window.

[0099] In a fifth aspect, there is provided a device for adjusting the characteristics of an accelerator pedal. The device includes a storage medium and a central processing unit. The storage medium may be a non-volatile storage medium. A computer-executable program is stored in the storage medium. The central processing unit is connected to the non-volatile storage medium and executes the computer-executable program to implement the method in the first aspect or any possible implementation manner of the first aspect, or the method in the second aspect or any possible implementation manner of the second aspect.

[0100] In a sixth aspect, there is provided a chip. The chip includes a processor and a data interface. The processor reads instructions stored on a memory through the data interface and executes the method in the first aspect or any possible implementation manner of the first aspect, or the method in the second aspect or any possible implementation manner of the second aspect.

[0101] Optionally, as an implementation manner, the chip may further include a memory. Instructions are stored in the memory. The processor is configured to execute the instructions stored on the memory. When the instructions are executed, the processor is configured to execute the method in the first aspect or any possible implementation manner of the first aspect, or the method in the second aspect or any possible implementation manner of the second aspect.

[0102] In a seventh aspect, a computer-readable storage medium is provided, and the computer-readable medium stores program code for a device to execute. The program code includes instructions for executing the method in the first aspect or any possible implementation manner of the first aspect, or the method in the second aspect or any possible implementation manner of the second aspect.

[0103] In an eighth aspect, a vehicle is provided, and the vehicle includes the device for adjusting the throttle pedal characteristics described in the above third aspect to the fifth aspect.

[0104] In the embodiments of the present application, the user can input the vehicle speed, the throttle pedal opening, and the acceleration information, without the need to adjust the throttle pedal opening during the driving of the vehicle based on the current real-time speed and the current output torque of the vehicle to implement the adjustment of the throttle pedal curve. Therefore, the method in the embodiments of the present application does not limit that the user can only input the vehicle speed, the throttle pedal opening, and the acceleration information during the driving of the vehicle. Moreover, the input vehicle speed, throttle pedal opening, and acceleration information satisfying the preset constraint relationship can ensure the rationality of the data, facilitating the user to efficiently perform personalized settings for the driving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Figure 1 is a schematic structural diagram of an autonomous vehicle provided by an embodiment of the present application.

[0106] Figure 2 is a schematic structural diagram of a computer system provided by an embodiment of the present application.

[0107] Figure 3 is a schematic structural diagram of a neural network processor provided by an embodiment of the present application.

[0108] Figure 4 is an application schematic diagram of a cloud-side instruction autonomous vehicle provided by an embodiment of the present application.

[0109] Figure 5 is a schematic block diagram of a method for adjusting throttle pedal characteristics provided by an embodiment of the present application.

[0110] Figure 6 is a system architecture diagram applicable to the method for adjusting throttle pedal characteristics provided by an embodiment of the present application.

[0111] Figure 7 is a schematic flowchart of a method for adjusting throttle pedal characteristics provided by an embodiment of the present application.

[0112] Figure 8 is a schematic block diagram of a driving mode adjustment user interface in an embodiment of the present application.

[0113] Figure 9 It is a schematic block diagram of vehicle control in an embodiment of the present application.

[0114] Figure 10 It is a schematic structural diagram of a device for adjusting the characteristics of an accelerator pedal provided in an embodiment of the present application.

[0115] Figure 11 It is a schematic structural diagram of another device for adjusting the characteristics of an accelerator pedal provided in an embodiment of the present application.

[0116] Figure 12 It is a schematic structural diagram of yet another device for adjusting the characteristics of an accelerator pedal provided in an embodiment of the present application.

[0117] Figure 13 It is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.

[0118] Figure 14 It is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.

[0119] Figure 15 It is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.

[0120] Figure 16 It is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.

[0121] Figure 17 It is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application. Detailed implementation manners

[0122] Next, the technical solutions in the present application will be described with reference to the accompanying drawings.

[0123] The technical solutions of the embodiments of the present application can be applied to various vehicles. The vehicle can specifically be an internal combustion locomotive, an intelligent electric vehicle, or a hybrid vehicle. Alternatively, the vehicle can also be a vehicle of other power types, etc. The embodiments of the present application do not limit this.

[0124] The vehicles in the embodiments of the present application can be configured with multiple selectable driving modes, specifically including one or more of multiple driving modes such as a sport mode, an economy mode, a standard mode, a snow mode, and a climbing mode. It can also include an autonomous driving mode, that is, the vehicles in the embodiments of the present application can be autonomous driving vehicles, and the autonomous driving vehicles can switch between the autonomous driving mode and the above-mentioned multiple (driver-driven vehicle) driving models. Among them, the autonomous driving mode can be a fully autonomous driving mode, or it can also be a partially autonomous driving mode. The embodiments of the present application do not limit this.

[0125] Figure 1 is a functional block diagram of vehicle 100 provided by an embodiment of the present application.

[0126] In one embodiment, vehicle 100 may be configured to operate in a fully or partially autonomous driving mode.

[0127] For example, vehicle 100 may control itself while in the autonomous driving mode, and may determine the current state of the vehicle and its surrounding environment through manual operation, determine the possible behaviors of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the possibility of the other vehicle performing the possible behaviors, and control vehicle 100 based on the determined information. When vehicle 100 is in the autonomous driving mode, vehicle 100 may be set to operate without interacting with a person.

[0128] Vehicle 100 may include various subsystems, such as a propulsion system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, as well as a power source 110, a computer system 112, and a user interface 116.

[0129] Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of vehicle 100 may be interconnected by wire or wirelessly.

[0130] The propulsion system 102 may include components that provide powered movement for vehicle 100. In one embodiment, the propulsion system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels / tires 121. The engine 118 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, for example, a hybrid engine composed of a gasoline engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy.

[0131] Examples of the energy source 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source 119 may also provide energy for other systems of vehicle 100.

[0132] The transmission 120 may transmit the mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft.

[0133] In one embodiment, the transmission 120 may further include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 121.

[0134] The sensor system 104 may include several sensors that sense information about the environment around the vehicle 100.

[0135] For example, the sensor system 104 may include a positioning system 122 (the positioning system can be a GPS system, a Beidou system, or other positioning systems), an inertial measurement unit (IMU) 124, a radar 126, a lidar 128, and a camera 130. The sensor system 104 may also include sensors for monitoring the internal systems of the vehicle 100 (e.g., in-vehicle air quality monitor, fuel gauge, engine oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). Such detection and identification are key functions for the safe operation of the autonomous vehicle 100.

[0136] The positioning system 122 can be used to estimate the geographical location of the vehicle 100. The IMU 124 is used to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration. In one embodiment, the IMU 124 can be a combination of an accelerometer and a gyroscope.

[0137] The radar 126 can use radio signals to sense objects within the surrounding environment of the vehicle 100. In some embodiments, in addition to sensing objects, the radar 126 can also be used to sense the speed and / or forward direction of the objects.

[0138] The lidar 128 can use lasers to sense objects in the environment where the vehicle 100 is located. In some embodiments, the lidar 128 can include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0139] The camera 130 can be used to capture multiple images of the surrounding environment of the vehicle 100. The camera 130 can be a static camera or a video camera.

[0140] The control system 106 controls the operation of the vehicle 100 and its components. The control system 106 can include various elements, including a steering system 132, a throttle 134, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a route control system 142, and an obstacle avoidance system 144.

[0141] The steering system 132 is operable to adjust the forward direction of the vehicle 100. For example, in one embodiment, it can be a steering wheel system.

[0142] The throttle 134 is used to control the operating speed of the engine 118 and thus control the speed of the vehicle 100.

[0143] The braking unit 136 is used to control the deceleration of the vehicle 100. The braking unit 136 can use friction to slow down the wheels 121. In other embodiments, the braking unit 136 can convert the kinetic energy of the wheels 121 into electric current. The braking unit 136 can also take other forms to slow down the rotational speed of the wheels 121 so as to control the speed of the vehicle 100.

[0144] The computer vision system 140 can operate to process and analyze the images captured by the camera 130 in order to identify objects and / or features in the surrounding environment of the vehicle 100. The objects and / or features may include traffic signals, road boundaries, and obstacles. The computer vision system 140 can use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 140 can be used to map the environment, track objects, estimate the speed of objects, and so on.

[0145] The route control system 142 is used to determine the driving route of the vehicle 100. In some embodiments, the route control system 142 can combine data from the sensors 138, GPS 122, and one or more pre - determined maps to determine the driving route for the vehicle 100.

[0146] The obstacle avoidance system 144 is used to identify, evaluate, and avoid or otherwise cross potential obstacles in the environment of the vehicle 100.

[0147] Of course, in one example, the control system 106 can additionally or alternatively include components other than those shown and described. Or some of the above - shown components can also be reduced.

[0148] The vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users through the peripheral device 108. The peripheral device 108 may include a wireless communication system 146, an on - vehicle computer 148, a microphone 150, and / or a speaker 152.

[0149] In some embodiments, the peripheral device 108 provides a means for the user of the vehicle 100 to interact with the user interface 116. For example, the on - vehicle computer 148 can provide information to the user of the vehicle 100. The user interface 116 can also operate the on - vehicle computer 148 to receive user input. The on - vehicle computer 148 can be operated through a touch screen. In other cases, the peripheral device 108 can provide a means for the vehicle 100 to communicate with other devices located inside the vehicle. For example, the microphone 150 can receive audio (such as voice commands or other audio inputs) from the user of the vehicle 100. Similarly, the speaker 152 can output audio to the user of the vehicle 100.

[0150] The wireless communication system 146 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 146 can use 3G cellular communication such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication such as LTE. Or 5G cellular communication. The wireless communication system 146 can communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system 146 can communicate directly with devices using an infrared link, Bluetooth, or ZigBee. For other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 146 can include one or more dedicated short range communications (DSRC) devices, which can include public and / or private data communications between vehicles and / or roadside stations.

[0151] The power source 110 can supply power to various components of the vehicle 100. In one embodiment, the power source 110 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such a battery can be configured to supply power to various components of the vehicle 100. In some embodiments, the power source 110 and the energy source 119 can be implemented together, as in some all-electric vehicles.

[0152] Some or all of the functions of the vehicle 100 are controlled by the computer system 112. The computer system 112 can include at least one processor 113 that executes instructions 115 stored in a non-transitory computer-readable medium such as, for example, the data storage device 114. The computer system 112 can also be multiple computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner.

[0153] The processor 113 can be any conventional processor, such as a commercially available CPU. Optionally, the processor can be a dedicated device such as an ASIC or other hardware-based processor. Although Figure 1The functional diagram shows the processor, memory, and other elements of computer 110 in the same block, but those of ordinary skill in the art should understand that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored within the same physical enclosure. For example, the memory may be a hard drive or other storage medium located within an enclosure different from computer 110. Thus, a reference to a processor or computer will be understood to include a reference to a collection of processors or computers or memories that may or may not operate in parallel. Instead of using a single processor to perform the steps described herein, some components, such as the steering component and the deceleration component, may each have their own processor that only performs calculations related to component-specific functions.

[0154] In various aspects described herein, the processor may be located remote from the vehicle and communicate wirelessly with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle while others are executed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0155] In some embodiments, data storage device 114 may contain instructions 115 (e.g., program logic) that may be executed by processor 113 to perform various functions of vehicle 100, including those functions described above. Data storage device 114 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of propulsion system 102, sensor system 104, control system 106, and peripheral devices 108.

[0156] In addition to instructions 115, data storage device 114 may also store data, such as road maps, route information, the location, direction, speed of the vehicle, and other such vehicle data, as well as other information. Such information may be used by vehicle 100 and computer system 112 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0157] User interface 116, for providing information to or receiving information from a user of vehicle 100. Optionally, user interface 116 may include one or more input / output devices within the collection of peripheral devices 108, such as wireless communication system 146, vehicle-to-vehicle computer 148, microphone 150, and speaker 152.

[0158] The computer system 112 can control the functions of the vehicle 100 based on inputs received from various subsystems (e.g., the propulsion system 102, the sensor system 104, and the control system 106) as well as from the user interface 116. For example, the computer system 112 can utilize inputs from the control system 106 to control the steering unit 132 to avoid obstacles detected by the sensor system 104 and the obstacle avoidance system 144. In some embodiments, the computer system 112 can operate to provide control over many aspects of the vehicle 100 and its subsystems.

[0159] Optionally, one or more of the above components can be separately mounted or associated with the vehicle 100. For example, the data storage device 114 can exist partially or completely separately from the vehicle 100. The above components can be communicatively coupled together in a wired and / or wireless manner.

[0160] Optionally, the above components are just an example. In actual applications, the components in each of the above modules may be added or deleted according to actual needs. Figure 1 It should not be construed as a limitation to the embodiments of the present application.

[0161] An autonomous vehicle traveling on a road, such as the vehicle 100 above, can identify objects within its surrounding environment to determine adjustments to its current speed. The objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, distance from the vehicle, etc., can be used to determine the speed adjustment that the autonomous vehicle is to make.

[0162] Optionally, the autonomous vehicle 100 or a computing device associated with the autonomous vehicle 100 (such as Figure 1 the computer system 112, the computer vision system 140, the data storage device 114) can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each of the identified objects depends on the behavior of the others, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 100 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered to determine the speed of the vehicle 100, such as the lateral position of the vehicle 100 on the road being traveled, the curvature of the road, the proximity of static and dynamic objects, etc.

[0163] In addition to providing instructions to adjust the speed of an autonomous vehicle, the computing device can also provide instructions to modify the steering angle of vehicle 100 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from an object near the autonomous vehicle (e.g., a sedan in an adjacent lane on the road).

[0164] The above-mentioned vehicle 100 can be a sedan, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, a recreational vehicle, a playground vehicle, construction equipment, a tram, a golf cart, a train, a trolley, etc., and the embodiments of the present application do not make special limitations.

[0165] Figure 2 It is a schematic diagram of an autonomous driving system provided by an embodiment of the present application.

[0166] As Figure 2 The autonomous driving system shown includes a computer system 101. Among them, the computer system 101 includes a processor 103, and the processor 103 is coupled to a system bus 105. The processor 103 can be one or more processors, and each processor can include one or more processor cores. A display adapter 107, the display adapter can drive a display 109, and the display 109 is coupled to the system bus 105. The system bus 105 is coupled to an input / output (I / O) bus 113 through a bus bridge 111. An I / O interface 115 is coupled to the I / O bus. The I / O interface 115 communicates with a variety of I / O devices, such as an input device 117 (e.g., a keyboard, a mouse, a touch screen, etc.), a media tray 121 (e.g., a CD-ROM, a multimedia interface, etc.). A transceiver 123 (which can send and / or receive radio communication signals), a camera 155 (which can capture still and dynamic digital video images) and an external USB interface 125. Among them, optionally, the interface connected to the I / O interface 115 can be a USB interface.

[0167] Among them, the processor 103 can be any conventional processor, including a reduced instruction set computer (RISC) processor, a complex instruction set computer (CISC) processor, or a combination of the above. Optionally, the processor can be a dedicated device such as an application specific integrated circuit (ASIC). Optionally, the processor 103 can be a neural network processor or a combination of a neural network processor and the above conventional processors.

[0168] Optionally, in various embodiments described herein, the computer system 101 may be located remotely from the autonomous vehicle and may communicate wirelessly with the autonomous vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the autonomous vehicle, and others are executed by a remote processor, including taking actions required to perform a single maneuver.

[0169] The computer 101 may communicate with the software deployment server 149 via the network interface 129. The network interface 129 is a hardware network interface, such as a network card. The network 127 may be an external network, such as the Internet, or an internal network, such as Ethernet or a virtual private network (VPN). Optionally, the network 127 may also be a wireless network, such as a WiFi network, a cellular network, etc.

[0170] The hard disk drive interface is coupled to the system bus 105. The hardware drive interface is connected to the hard disk drive. The system memory 135 is coupled to the system bus 105. Data running in the system memory 135 may include the operating system 137 and the application program 143 of the computer 101.

[0171] The operating system includes a parser 139 (shell) and a kernel 141 (kernel). The shell 139 is an interface between the user and the kernel of the operating system. The shell is the outermost layer of the operating system. The shell manages the interaction between the user and the operating system: waits for the user's input, interprets the user's input to the operating system, and processes various output results of the operating system.

[0172] The kernel 141 consists of those parts of the operating system that manage memory, files, peripherals, and system resources. Interacting directly with the hardware, the operating system kernel typically runs processes and provides inter-process communication, provides CPU time slice management, interrupts, memory management, IO management, and so on.

[0173] The application program 143 includes programs related to controlling the autonomous driving of the vehicle, such as programs for managing the interaction between the autonomous vehicle and road obstacles, programs for controlling the route or speed of the autonomous vehicle, and programs for controlling the interaction between the autonomous vehicle and other autonomous vehicles on the road. The application program 143 also exists on the system of the deploying server 149. In one embodiment, when the application program 147 needs to be executed, the computer system 101 may download the application program 143 from the deploying server 149.

[0174] For example, the application program 141 may also be a program for controlling the autonomous vehicle to avoid collisions with other vehicles and safely pass through intersections.

[0175] The sensor 153 is associated with the computer system 101. The sensor 153 is used to detect the environment around the computer 101. For example, the sensor 153 can detect animals, vehicles, obstacles, crosswalks, etc. Further, the sensor can also detect the environment around the above-mentioned animals, vehicles, obstacles, crosswalks and other objects, such as: the environment around an animal, for example, other animals that appear around the animal, weather conditions, the brightness of the surrounding environment, etc. Optionally, if the computer 101 is located in an autonomous vehicle, the sensor can be a camera, an infrared sensor, a chemical detector, a microphone, etc.

[0176] Exemplarily, the sensor 153 can predict the driving trajectory of other vehicles according to the detected surrounding road conditions and other vehicle conditions.

[0177] For example, if there is no intersection ahead on the road where the other vehicle is located, the sensor 153 can determine the predicted driving trajectory of the other vehicle according to the detected lane where the other vehicle is currently located.

[0178] For example, if there is an intersection ahead on the lane where the other vehicle is located, the sensor 153 can determine the predicted driving trajectory of the other vehicle according to the detected lane where the other vehicle is currently located and the lane-changing signal light condition of the other vehicle.

[0179] For example, the sensor 153 can input the current position information of the other vehicle through a pre-trained neural network to obtain the predicted driving trajectory of the other vehicle. The pre-trained neural network can be based on a large number of training sample data. For example, the training data can include the detected current driving information of the vehicle and the driving information of the other vehicle after a preset time period. The sensor 153 can train a target model based on the training data. The target model can be used to determine the predicted driving information of the vehicle according to the current driving information of the vehicle. The sensor 153 processes the input current driving information of the vehicle, and compares the output predicted driving information with the actual driving information of the vehicle after a preset time period until the difference between the predicted driving information output by the sensor 153 and the actual driving information of the vehicle is less than a certain threshold, thereby completing the training of the target model.

[0180] Figure 3 A chip hardware structure provided by an embodiment of the present application. The chip includes a neural network processor 20. The chip can be arranged in the sensor 153 as shown in Figure 2 to complete the determination of the predicted driving trajectory of other vehicles. The algorithms of each layer in the pre-trained neural network can be implemented in the chip as shown in Figure 3

[0181] The method for adjusting the throttle pedal characteristics in the embodiment of the present application can also be in such as​Figure 3 It is implemented in the chip shown, where the chip can be the same chip as the one that implements the above-mentioned pre-trained neural network, or the chip can also be a different chip from the one that implements the above-mentioned pre-trained neural network. The embodiments of the present application do not limit this.

[0182] In some implementations, the operation circuit 203 includes multiple processing units (process engines, PEs) inside. In some implementations, the operation circuit 203 is a two-dimensional systolic array. The operation circuit 203 can also be a one-dimensional systolic array or other electronic circuits that can perform mathematical operations such as multiplication and addition. In some implementations, the operation circuit 203 is a general matrix processor.

[0183] For example, assume there is an input matrix A, a weight matrix B, and an output matrix C. The operation circuit fetches the corresponding data of matrix B from the weight memory 202 and caches it on each PE in the operation circuit. The operation circuit fetches the data of matrix A from the input memory 201 and performs matrix operations with matrix B, and the partial results or final results of the obtained matrix are stored in the accumulator 208.

[0184] The vector calculation unit 207 can further process the output of the operation circuit, such as vector multiplication, vector addition, exponential operation, logarithmic operation, size comparison, etc. For example, the vector calculation unit 207 can be used for network calculations in non-convolutional / non-FC layers of a neural network, such as pooling, batch normalization, local response normalization, etc.

[0185] In some implementations, the vector calculation unit 207 can store the processed output vector in the unified buffer 206. For example, the vector calculation unit 207 can apply a non-linear function to the output of the operation circuit 203, such as a vector of accumulated values, to generate activation values. In some implementations, the vector calculation unit 207 generates normalized values, combined values, or both. In some implementations, the processed output vector can be used as the activation input to the operation circuit 203, for example, for use in subsequent layers in a neural network.

[0186] The unified memory 206 is used to store input data and output data.

[0187] The weight data directly transfers the input data in the external memory to the input memory 201 and / or the unified memory 206 through the direct memory access controller (DMAC) 205, stores the weight data in the external memory into the weight memory 202, and stores the data in the unified memory 206 into the external memory.

[0188] The bus interface unit (BIU) 210 is used to interact between the main CPU, the DMAC, and the instruction fetch memory 209 through the bus.

[0189] The instruction fetch buffer 509 connected to the controller 204 is used to store the instructions used by the controller 504.

[0190] The controller 204 is used to call the instructions cached in the instruction fetch memory 209 to control the working process of the arithmetic accelerator.

[0191] Generally, the unified memory 206, the input memory 201, the weight memory 202, and the instruction fetch memory 209 are all on-chip memories, and the external memory is the memory outside the NPU. The external memory can be a double data rate synchronous dynamic random access memory (DDR SDRAM), a high bandwidth memory (HBM), or other readable and writable memories.

[0192] The computer system 112 can also receive information from other computer systems or transfer information to other computer systems. Alternatively, the sensor data collected from the sensor system 104 of the vehicle 100 can be transferred to another computer for processing this data.

[0193] For example, as Figure 4 shown, the data from the computer system 312 can be transmitted via the network to the server 320 on the cloud side for further processing. The network and the intermediate nodes can include various configurations and protocols, including the Internet, the World Wide Web, the intranet, the virtual private network, the wide area network, the local area network, the private network using the proprietary communication protocols of one or more companies, Ethernet, WiFi, and HTTP, and various combinations of the foregoing. This communication can be performed by any device capable of transmitting data to other computers and receiving data from other computers, such as a modem and a wireless interface.

[0194] In one example, server 320 may include a server having multiple computers, such as a load-balancing server farm, which exchanges information with different nodes of the network for the purpose of receiving, processing, and transmitting data from computer system 312. The server may be configured similarly to computer system 312, having a processor 330, memory 340, instructions 350, and data 360.

[0195] Exemplarily, the data 360 of the server 320 may include information related to the road conditions around the autonomous driving vehicle. For example, the server 320 may receive, detect, store, update, and transmit information related to the road conditions of the autonomous driving vehicle.

[0196] For example, relevant information about the road conditions around the autonomous driving vehicle includes the position information and motion parameter information of other vehicles that have intersections with the predicted driving path of the autonomous driving vehicle, such as the current position information of other vehicles, the speed information of other vehicles, the predicted driving trajectory information of other vehicles, etc.

[0197] At present, no matter whether it is a traditional car or an electric car, most vehicles provide drivers with selectable driving modes. Common driving modes generally include: sport mode (sport), economic mode (ECO), normal mode (normal), snow mode and climbing mode, etc. The differences between different modes are mainly reflected in the accelerator pedal characteristic curve, gear shift control, steering control, suspension control, air conditioning control, etc. Among them, the accelerator pedal characteristic curve (pedal map) has the greatest and most direct impact on the driver.

[0198] The accelerator pedal characteristic curve is a curve that describes the relationship between the accelerator pedal opening, vehicle speed and required target torque. The curve is solidified in the controller in the form of a table. Generally speaking, different driving modes are configured with different accelerator pedal characteristic curves. When the driver selects a different driving mode, a different accelerator pedal characteristic curve is selected. During vehicle driving, the controller can query the accelerator pedal characteristic curve to obtain a target output torque based on the accelerator pedal opening and current vehicle speed pressed by the driver, and the power system outputs power according to this target output torque.

[0199] In order to meet the personalized driving needs of different drivers, some cars also provide professional modes (or also called personalized modes), and drivers can adjust the professional modes according to their personal preferences. However, the adjustment efficiency of professional modes is generally low, and it is not convenient for drivers to operate.

[0200] For example, during the vehicle's travel, at the current real-time vehicle speed, the driver can (with their foot) adjust the displacement (or angle) of the throttle pedal opening to change the throttle pedal opening corresponding to the current real-time vehicle speed and the current output torque in the throttle pedal characteristic curve (pedal map) of the current driving mode (i.e., the current throttle pedal opening). It can be seen that this method can only change one point in the throttle pedal characteristic curve in one dimension each time, with low adjustment efficiency. Moreover, adjustments need to be made during driving, which is somewhat dangerous.

[0201] Again, for example, the driver can adjust the parsed value of the throttle pedal opening by changing the transfer function preset in the vehicle, thereby achieving the adjustment of the throttle pedal characteristic curve. However, the degree of adjustment of the throttle pedal characteristic curve by this method is very limited. The driver can only select the pre-set transfer function and cannot fully achieve the personalized adjustment of the driving mode by the driver, and the degree of adjustment of the driving mode is very limited.

[0202] Therefore, this application proposes a method for adjusting the throttle pedal characteristics to facilitate users to efficiently perform personalized settings for the driving mode.

[0203] Figure 5 FIG. is a schematic block diagram of a method 500 for adjusting the throttle pedal characteristics according to an embodiment of this application. This method 500 can be executed by an input device and a controller in the vehicle.

[0204] Among them, the controller can be the vehicle's vehicle controller, and the input device can be the in-vehicle human-machine interaction device in the vehicle; alternatively, this input device can also be a device integrated in other in-vehicle devices in the vehicle, and this application embodiment does not limit this.

[0205] Optionally, the input device can also be a user terminal device. For example, the input device can be a mobile or portable terminal device such as a mobile phone or a laptop computer; alternatively, this input device can also be other relatively fixed terminal devices such as a desktop computer, and this application embodiment does not limit this.

[0206] It should be understood that Figure 5 shows the steps or operations of method 500, but these steps or operations are only examples. This application embodiment can also perform other operations or Figure 5 the deformations of each operation of method 500 in, or not all steps need to be executed, or these steps can be executed in other orders.

[0207] S510, when the user adjusts the target driving mode, receive the vehicle speed, throttle pedal opening, and acceleration information input by the user.

[0208] Wherein, at least one of the vehicle speed, the throttle pedal opening, or the acceleration information satisfies a preset constraint relationship.

[0209] Optionally, the user may refer to the driver of the vehicle, and the target driving mode may refer to the professional mode. For example, when the professional mode does not meet the driving needs of the user, the user may use Figure 5 the method 500 in to adjust the throttle pedal characteristic curve Pedal MAP of the professional mode.

[0210] It should be understood that the acceleration information may be acceleration intensity information input by the user that can be used to represent the acceleration intensity. For example, the acceleration information may be an acceleration intensity level; alternatively, the acceleration information may also be the acceleration information of the vehicle or the output torque of the vehicle.

[0211] In the embodiments of the present application, a vehicle speed and its corresponding throttle pedal opening and acceleration information may be referred to as a set of parameter data.

[0212] In the above S510, a set of parameter data or multiple sets of parameter data input by the user may be received, and each set of parameter data includes the corresponding vehicle speed, throttle pedal opening, and acceleration information.

[0213] Optionally, the constraint relationship may be used to limit that at least one of the vehicle speed, the throttle pedal opening, or the acceleration information in each set of parameter data satisfies a preset value range;

[0214] Optionally, in the case where the user inputs multiple sets of parameter data, the constraint relationship may also be used to limit that there is a preset relative relationship between each set of the multiple sets of parameter data.

[0215] The user may use various existing input methods to input the vehicle speed, the throttle pedal opening, and the acceleration information on the above input device. For example, the user may use various methods such as voice input, physical button input, touch screen input, or handwriting input to input the vehicle speed, the throttle pedal opening, and the acceleration information on the above input device, and the embodiments of the present application do not limit this.

[0216] Optionally, the user may input the vehicle speed, the throttle pedal opening, and the acceleration information in the following several ways.

[0217] It should be understood that the following several input methods are only examples and not limitations, and the embodiments of the present application do not limit the specific input methods.

[0218] Method 1:

[0219] Optionally, the user may use an input device with a visual interface to input the data by making selections on the visual interface. Among them, the input device may be a mobile device or a vehicle-mounted device.

[0220] In a possible implementation, the user may input vehicle speed, accelerator pedal opening, and acceleration information through Figure 8 the user interface shown.

[0221] It should be understood that Figure 8 the styles and layouts of the various modules (or windows) in Figure 8 are only defined by way of example, and

[0222] such as Figure 8 shown, the left side of the user interface ( Figure 8 807 in Figure 8 ) presents multiple different vehicle speeds. When the user inputs data, they can first select the vehicle speed to be set on the left side of the user interface ( Figure 8 807 in

[0223] For example, as Figure 8 shown, the user interface presents multiple different vehicle speeds. The user can first select the vehicle speed to be set, such as 100 km / h, on the left side of the user interface ( Figure 8 807 in Figure 8 ), and correspondingly, an input window for the accelerator pedal opening and acceleration information (

[0224] After setting the accelerator pedal opening and acceleration information corresponding to the vehicle speed of 100 km / h, the user can continue to set the accelerator pedal opening and acceleration information corresponding to other vehicle speeds.

[0225] It should be noted that the vehicle speed, accelerator pedal opening, and acceleration information input by the user can satisfy a preset constraint relationship, and the constraint relationship can be used to limit that the options (values) selectable by the user are all reasonable values (or within a reasonable range).

[0226] Optionally, the constraint relationship may include an intra-group constraint relationship within each group of vehicle speed, accelerator pedal opening, and acceleration information, or may include an inter-group constraint relationship between each group of vehicle speed, accelerator pedal opening, and acceleration information.

[0227] Among them, the intra-group constraint relationship can be used to limit that at least one of the vehicle speed, the accelerator pedal opening, or the acceleration information in each group satisfies a preset value range, and the intra-group constraint relationship can ensure that the vehicle speed, the accelerator pedal opening, and the acceleration information in each group of vehicle speed, accelerator pedal opening, and acceleration information are all within a reasonable range.

[0228] For example, after the user selects a vehicle speed of 100 km / h and selects the acceleration information corresponding to an accelerator pedal opening of 20% through slider A, the value range of slider A can be limited to between 1 and 5. When selecting the acceleration information corresponding to an accelerator pedal opening of 60% through slider B, the value range of slider B can be limited to between 3 and 8. When selecting the acceleration information corresponding to an accelerator pedal opening of 90% through slider C, the value range of slider C can be limited to between 5 and 10.

[0229] The inter-group constraint relationship can be used to limit that each group among the multiple groups of parameter data satisfies a preset relative relationship.

[0230] For example, after the user selects a vehicle speed of 100 km / h and the acceleration information corresponding to an accelerator pedal opening of 20% selected through slider A is 3, the inter-group constraint relationship can limit that: the acceleration information corresponding to an accelerator pedal opening of 60% selected through slider B is greater than 3.

[0231] Correspondingly, the inter-group constraint relationship can limit that: the acceleration information corresponding to an accelerator pedal opening of 90% selected through slider C is greater than the acceleration information selected through slider B above.

[0232] Optionally, the constraint relationship can be preset in the input device to ensure that the options (values) selected by the user are all reasonable values (or within a reasonable range).

[0233] After the user completes the setting of the accelerator pedal opening and acceleration information corresponding to each vehicle speed, the user can click the "Setting Completed" button to save the input vehicle speed, accelerator pedal opening, and acceleration information.

[0234] In another possible implementation, such as Figure 13As shown, when the user inputs vehicle speed, throttle pedal opening, and acceleration information, the user can first select the throttle pedal opening to be set in the user interface. Subsequently, an input window for vehicle speed and acceleration information will pop up in the user interface. At this time, the user can select each vehicle speed and its corresponding acceleration information in the popped-up input window. The specific input process is similar to that of the Figure 8 embodiment shown above and will not be elaborated here.

[0235] In another possible implementation, as Figure 14 shown, when the user inputs vehicle speed, throttle pedal opening, and acceleration information, the user can first select the acceleration information to be set in the user interface. Subsequently, an input window for vehicle speed and throttle pedal opening will pop up in the user interface. At this time, the user can select each vehicle speed and its corresponding vehicle speed and throttle pedal opening in the popped-up input window. The specific input process is similar to that of the Figure 8 embodiment shown above and will not be elaborated here.

[0236] Method 2:

[0237] Optionally, the user can use an input device with a visual interface to input the data by entering numbers on the visual interface. Among them, the input device can be a mobile device or an in-vehicle device.

[0238] In one possible implementation, the user can input vehicle speed, throttle pedal opening, and acceleration information through the Figure 15 user interface shown.

[0239] It should be understood that Figure 15 the styles and layouts of the various modules (or windows) in Figure 11 are only limited by way of example, and the

[0240] user interface shown can include more or fewer modules (or windows). Figure 15 For example, as Figure 15 shown, a first input box is presented on the left side of the user interface ( Figure 15 1507 in Figure 15 ). The user can first input the vehicle speed of 100 km / h to be set in the first input box in the user interface. Correspondingly, an input window for throttle pedal opening and acceleration information will pop up in the user interface ( Figure 15Among them (1508), the input window presents multiple second input boxes. At this time, the user can input the throttle pedal opening of 20% and its corresponding acceleration information in one of the second input boxes in the input window, input the throttle pedal opening of 60% and its corresponding acceleration information in another second input box in the input window, and input the throttle pedal opening of 90% and its corresponding acceleration information in yet another second input box in the input window. After inputting the throttle pedal opening and its corresponding acceleration information for each, the setting of the throttle pedal opening and acceleration information corresponding to a vehicle speed of 100 km / h is completed through the "Confirm" button.

[0241] After completing the setting of the throttle pedal opening and acceleration information corresponding to a vehicle speed of 100 km / h, the user can continue to set the throttle pedal opening and acceleration information corresponding to other vehicle speeds.

[0242] It should be noted that the vehicle speed, throttle pedal opening, and acceleration information input by the user can satisfy a preset constraint relationship, and the constraint relationship can be used to limit that the values input by the user are all reasonable values (or within a reasonable range).

[0243] Optionally, the constraint relationship can include an intra-group constraint relationship within each group of vehicle speed, throttle pedal opening, and acceleration information, or can also include an inter-group constraint relationship between each group of vehicle speed, throttle pedal opening, and acceleration information.

[0244] Among them, the intra-group constraint relationship can be used to limit that at least one of the vehicle speed, the throttle pedal opening, or the acceleration information in each group satisfies a preset value range, and the intra-group constraint relationship can ensure that the vehicle speed, throttle pedal opening, and acceleration information in each group of vehicle speed, throttle pedal opening, and acceleration information are all within a reasonable range.

[0245] For example, after the user inputs a vehicle speed of 100 km / h, when inputting the acceleration information corresponding to a throttle pedal opening of 20% in an input box in the setting window, the value range of this acceleration information can be limited to between 1 and 5. When inputting the acceleration information corresponding to a throttle pedal opening of 60% in an input box in the setting window, the value range of this acceleration information can be limited to between 3 and 8. When inputting the acceleration information corresponding to a throttle pedal opening of 90% in an input box in the setting window, the value range of this acceleration information can be limited to between 5 and 10.

[0246] The inter-group constraint relationship can be used to limit that each group among the multiple groups of parameter data satisfies a preset relative relationship.

[0247] For example, after the user inputs a vehicle speed of 100 km / h and then inputs an acceleration information of 3 corresponding to a throttle pedal opening of 20% in a second input box in the input window, the inter-group constraint relationship can be defined as follows: the acceleration information corresponding to a throttle pedal opening of 60% input in another second input box in the setting window is greater than 3.

[0248] Correspondingly, the inter-group constraint relationship can be defined as follows: the acceleration information corresponding to a throttle pedal opening of 90% input in yet another second input box in the setting window is greater than the acceleration information corresponding to the input throttle pedal opening of 60%.

[0249] Optionally, the constraint relationship can be preset in the input device to ensure that the options (values) selected by the user are all reasonable values (or within a reasonable range).

[0250] After the user completes the settings of the throttle pedal opening and acceleration information corresponding to each vehicle speed, the user can click the "Setting Completed" button to save the input vehicle speed, throttle pedal opening, and acceleration information.

[0251] In another possible implementation, as Figure 16 shown, when the user inputs data, the user can first input the throttle pedal opening to be set in the user interface, and then an input window for vehicle speed and acceleration information will pop up in the user interface. At this time, the user can input each vehicle speed and its corresponding acceleration information in the popped-up input window. The specific input process is similar to the Figure 15 embodiment shown above and will not be elaborated here.

[0252] In another possible implementation, as Figure 17 shown, when the user inputs data, the user can first input the acceleration information to be set in the user interface, and then an input window for vehicle speed and throttle pedal opening will pop up in the user interface. At this time, the user can input each vehicle speed and its corresponding vehicle speed and throttle pedal opening in the popped-up input window. The specific input process is similar to the Figure 15 embodiment shown above and will not be elaborated here.

[0253] Method 3:

[0254] Optionally, the user can use an input device with voice recognition function to input the data by voice. Wherein, the input device can be a mobile device or an in-vehicle device.

[0255] For example, the user can first input the vehicle speed to be set, which is 100 km / h, by voice. Correspondingly, the input device will prompt the user to input the throttle pedal opening and acceleration information by voice. At this time, the user can, according to the voice prompt of the input device, input the throttle pedal opening of 20% and its corresponding acceleration information by voice, input the throttle pedal opening of 60% and its corresponding acceleration information by voice according to the voice prompt of the input device, and input the throttle pedal opening of 90% and its corresponding acceleration information by voice according to the voice prompt of the input device. After inputting each throttle pedal opening and its corresponding acceleration information, the user can, according to the voice prompt of the input device, complete the setting of the throttle pedal opening and acceleration information corresponding to the vehicle speed of 100 km / h by voice.

[0256] After completing the setting of the throttle pedal opening and acceleration information corresponding to the vehicle speed of 100 km / h, the user can continue to set the throttle pedal opening and acceleration information corresponding to other vehicle speeds.

[0257] It should be noted that the vehicle speed, throttle pedal opening, and acceleration information input by the user can satisfy a preset constraint relationship, and the constraint relationship can be used to limit that the values input by the user are all reasonable values (or within a reasonable range).

[0258] Optionally, the constraint relationship can include an intra-group constraint relationship within each group of vehicle speed, throttle pedal opening, and acceleration information, or can include an inter-group constraint relationship between each group of vehicle speed, throttle pedal opening, and acceleration information.

[0259] Among them, the intra-group constraint relationship can be used to limit that at least one of the vehicle speed, the throttle pedal opening, or the acceleration information in each group satisfies a preset value range, and the intra-group constraint relationship can ensure that the vehicle speed, throttle pedal opening, and acceleration information in each group of vehicle speed, throttle pedal opening, and acceleration information are all within a reasonable range.

[0260] For example, after the user inputs a vehicle speed of 100 km / h by voice, the user can, according to the voice prompt of the input device, input a throttle pedal opening of 20% and its corresponding acceleration information by voice. The value range of this acceleration information can be limited to between 1 and 5. When the value input by the user exceeds this value range, the input device can issue a voice prompt; according to the voice prompt of the input device, input a throttle pedal opening of 60% and its corresponding acceleration information by voice. The value range of this acceleration information can be limited to between 3 and 8. When the value input by the user exceeds this value range, the input device can issue a voice prompt; according to the voice prompt of the input device, input a throttle pedal opening of 90% and its corresponding acceleration information by voice. The value range of this acceleration information can be limited to between 5 and 10. When the value input by the user exceeds this value range, the input device can issue a voice prompt.

[0261] The inter-group constraint relationship can be used to limit that each group among the multiple groups of parameter data satisfies a preset relative relationship.

[0262] For example, after the user inputs a vehicle speed of 100 km / h by voice, when the acceleration information corresponding to a throttle pedal opening of 20% input by voice according to the voice prompt of the input device is 3, the inter-group constraint relationship can limit that: the acceleration information corresponding to a throttle pedal opening of 60% input by the user by voice is greater than 3.

[0263] Correspondingly, the inter-group constraint relationship can limit that: the acceleration information corresponding to a throttle pedal opening of 90% input by the user by voice is greater than the acceleration information corresponding to the above-mentioned input throttle pedal opening of 60%.

[0264] Optionally, the constraint relationship can be preset in the input device to ensure that the options (values) selected by the user are all reasonable values (or within a reasonable range).

[0265] After the user completes the setting of the throttle pedal opening and acceleration information corresponding to each vehicle speed, the user can, according to the voice prompt of the input device, confirm and save the input data.

[0266] In another possible implementation manner, when the user inputs data, the user can first input the throttle pedal opening to be set by voice, and then, according to the voice prompt of the input device, the user can input each vehicle speed and its corresponding acceleration information by voice. The specific input process is similar to the embodiment of the above-mentioned method three and will not be elaborated here.

[0267] In another possible implementation, when the user inputs data, the user can first input the acceleration information to be set in the form of voice. Subsequently, according to the voice prompt of the input device, the user can input each vehicle speed and the corresponding vehicle speed and accelerator pedal opening in the form of voice. The specific input process is similar to that of the third embodiment above and will not be elaborated here.

[0268] In the embodiments of the present application, the user can input the vehicle speed, the accelerator pedal opening, and the acceleration information, without adjusting the accelerator pedal opening during the vehicle driving process based on the current real-time vehicle speed and the current output torque of the vehicle to adjust the accelerator pedal curve. Therefore, the method in the embodiments of the present application does not limit that the user can only input the vehicle speed, the accelerator pedal opening, and the acceleration information during the vehicle driving process. Moreover, the input vehicle speed, the accelerator pedal opening, and the acceleration information satisfying the preset constraint relationship can ensure the rationality of the data, facilitating the user to efficiently perform personalized settings for the driving mode.

[0269] For example, the user can input the vehicle speed, the accelerator pedal opening, and the acceleration information through the input device when the vehicle is stationary (non-driving state), or the user can also input the vehicle speed, the accelerator pedal opening, and the acceleration information through the input device during the vehicle driving process.

[0270] In the embodiments of the present application, the user can input multiple sets of vehicle speed, accelerator pedal opening, and acceleration information at the same time, so that the user can adjust multiple sets of data in the accelerator pedal curve at the same time, enabling the user to efficiently perform personalized settings for the driving mode. Therefore, the adjustment efficiency of the driving mode can be improved.

[0271] Optionally, the vehicle speed, the accelerator pedal opening, and the acceleration information included in each set of parameter data in the multiple sets of parameter data are different from each other. Optionally, the vehicle speed, the accelerator pedal opening, and the acceleration information included in one set of parameter data in the multiple sets of parameter data may be different from those included in another set of parameter data in the multiple sets of parameter data.

[0272] Optionally, at least one parameter among the vehicle speed, the accelerator pedal opening, and the acceleration information included in each set of parameter data in the multiple sets of parameter data is different.

[0273] That is to say, the user can input multiple sets of parameter data simultaneously. Among them, the vehicle speeds, accelerator pedal openings, and acceleration information included in each set of parameter data in the multiple sets of parameter data are different from each other, or at least one of the vehicle speeds, accelerator pedal openings, and acceleration information included in each set of parameter data in the multiple sets of parameter data is different. That is to say, the user can adjust the accelerator pedal characteristic curve in multiple dimensions (among vehicle speed, accelerator pedal opening, and acceleration information) simultaneously. Therefore, the method in the embodiments of the present application helps to improve the adjustment efficiency of the user for the driving mode.

[0274] Optionally, the method 500 may further include: receiving a flag bit input by the user, where the flag bit can be used to indicate adjusting the accelerator pedal characteristic curve.

[0275] Further, in the case of receiving the flag bit, the accelerator pedal characteristic curve Pedal MAP may be adjusted according to the vehicle speed, the accelerator pedal opening, and the acceleration information.

[0276] Optionally, the flag bit can be used to indicate that the user has a need to adjust the accelerator pedal characteristic curve (in the professional mode).

[0277] For example, after inputting the data, when the user confirms the completion of the input of the vehicle speed, accelerator pedal opening, and acceleration information through the user interface, the input device can be automatically triggered to send the flag bit to the vehicle; or after confirming the completion of the input of the vehicle speed, accelerator pedal opening, and acceleration information, the user can send the flag bit to the vehicle through the user interface again.

[0278] Correspondingly, after receiving the flag bit, the vehicle can adjust the accelerator pedal characteristic curve according to the vehicle speed, accelerator pedal opening, and acceleration information input by the user.

[0279] S520, adjust the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the accelerator pedal opening, and the acceleration information.

[0280] Optionally, the adjusting the accelerator pedal characteristic curve according to the vehicle speed, the accelerator pedal opening, and the acceleration information may include: determining N target accelerations according to the vehicle speed, the accelerator pedal opening, and the acceleration information, where each of the N target accelerations corresponds to a vehicle speed and an accelerator pedal opening, and N is a positive integer greater than or equal to 1; adjusting the accelerator pedal characteristic curve Pedal MAP according to the N target accelerations.

[0281] Optionally, determining the N target accelerations according to the vehicle speed, the accelerator pedal opening degree, and the acceleration information may include: performing interpolation processing and filtering processing on the vehicle speed, the accelerator pedal opening degree, and the acceleration information to obtain N groups of data, and the N groups of data include the vehicle speed, the accelerator pedal opening degree, and the acceleration information; determining the N target accelerations according to the N groups of data, and each target acceleration among the N target accelerations corresponds to the vehicle speed and the accelerator pedal opening degree in a group of data among the N groups of data.

[0282] Optionally, interpolation processing may be performed on the vehicle speed, the accelerator pedal opening degree, and the acceleration information, so that the vehicle speed, the accelerator pedal opening degree, and the acceleration information can be expanded to obtain N groups of data (the N groups of data may be more than the vehicle speed, the accelerator pedal opening degree, and the acceleration information input by the user).

[0283] For example, linear interpolation may be performed on the vehicle speed, the accelerator pedal opening degree, and the acceleration information.

[0284] Optionally, filtering processing may be performed on the obtained N groups of data.

[0285] For example, a change rate threshold may be set for adjacent data in the N groups of data. When the change rate between adjacent data exceeds the change rate threshold, the data may be restricted according to the change rate threshold.

[0286] In the embodiments of the present application, performing interpolation processing and filtering processing on the vehicle speed, the accelerator pedal opening degree, and the acceleration information can avoid sudden changes in the accelerator pedal characteristic curve due to excessive change rates of the data set by the user, thereby avoiding the problem of a decrease in acceleration smoothness caused by sudden changes in acceleration information at different vehicle speeds during vehicle acceleration.

[0287] It should be noted that when the acceleration information input by the user is the output torque of the vehicle, N groups of data can be obtained after performing interpolation processing and filtering processing on the vehicle speed, the accelerator pedal opening degree, and the acceleration information. At this time, an updated accelerator pedal characteristic curve can be obtained according to the N groups of data, and no other processing needs to be performed on the N groups of data.

[0288] When the acceleration information input by the user is the acceleration information of the vehicle, N groups of data can be obtained after performing interpolation processing and filtering processing on the vehicle speed, the accelerator pedal opening degree, and the acceleration information. At this time, after converting the acceleration information in the N groups of data into output torque, an updated accelerator pedal characteristic curve can be obtained according to the N groups of data, and no other processing needs to be performed on the N groups of data.

[0289] Optionally, when the acceleration information input by the user is acceleration information or the acceleration information of the vehicle, the adjusting the throttle pedal characteristic curve according to the N target accelerations may include: determining N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, curb weight, and / or tire radius; and adjusting the throttle pedal characteristic curve according to the N output torques.

[0290] Among them, the baseline torque can be understood as the steady-state torque of the vehicle at a specific vehicle speed. The curb weight refers to the total mass of the vehicle, and the tire radius refers to the tire radius of the vehicle.

[0291] Optionally, the determining N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, curb weight, and / or tire radius may include:

[0292] Determining the N output torques corresponding to the N target accelerations according to the following formula:

[0293] T(v,k) = a(v,k) * r * m + T(v)

[0294] Wherein, a(v,k) is the target acceleration, the vehicle speed v and the throttle pedal opening k correspond to a(v,k), r is the tire radius, m is the curb weight, T(v) is the baseline torque corresponding to the vehicle speed v, and T(v,k) is the output torque corresponding to the vehicle speed v and the throttle pedal opening k.

[0295] The following combines Figures 6 - 9 to describe in detail the processing flow of the embodiments of the present application.

[0296] Figure 6 is a system architecture diagram applicable to the method for adjusting the throttle pedal characteristic provided by the embodiments of the present application. It should be understood that Figure 6 the shown system architecture is only an example and not a limitation. The system architecture in the embodiments of the present application may further include more or fewer modules (or units).

[0297] Figure 6 The shown system architecture may include a driver setting module 600, a throttle pedal characteristic curve update module 605, and a storage module 604.

[0298] The driver setting module 600 can provide an interactive interface for the driver to set the throttle pedal characteristic curve in the professional mode. The driver setting module 600 can receive and store the driver setting data, and send the driver setting data and the setting flag bit to the throttle pedal characteristic curve update module 605 after the driver's setting is completed. Among them, the driver setting module 600 can be the input device in the method 500, and the driver setting data can be the vehicle speed, throttle pedal opening, and acceleration information input by the user through the input device in the method 500.

[0299] Optionally, the user can use the input device to input the vehicle speed, throttle pedal opening, and acceleration information in any one of the ways described in the method 500. Alternatively, the user can also input the vehicle speed, throttle pedal opening, and acceleration information through other input methods, and the embodiments of the present application do not limit the specific input method.

[0300] As Figure 6 shown, the driver setting module 600 can be configured either on the vehicle end 617 or on the terminal device 616.

[0301] When configured on the vehicle end, the driver setting data can be directly transmitted to the throttle pedal characteristic curve update module 605 through the controller area network (CAN) protocol; when configured on the terminal device, the driver setting data is sent to the receiving module on the vehicle end through the data transmission 615 channel, and then transmitted to the throttle pedal characteristic curve update module 605 through the CAN protocol.

[0302] When the driver completes the personalized setting through the driver setting module 600, the module 600 can output the setting flag bit and the driver setting data simultaneously.

[0303] Among them, the setting flag bit can be used to indicate that the driver has a need to set the throttle pedal characteristic curve in the professional mode. The setting flag bit is the input of the algorithm enable flag bit 601 module and can be used to activate the throttle pedal characteristic curve update algorithm in the throttle pedal characteristic curve module 605; the driver setting data can include one or more sets of data on the relationship among the vehicle speed, throttle pedal opening, and acceleration information, and the driver setting data is the input of the data processing module 602.

[0304] For ease of description, Figure 6 in this example, the acceleration information is the acceleration intensity level. The acceleration information in the embodiments of the present application can also be the acceleration information of the vehicle or the output torque of the vehicle.

[0305] It should be noted that when the acceleration information is the acceleration information of the vehicle, after the data processing module 602 performs interpolation processing and filtering processing on the driver setting data, and then the throttle pedal characteristic curve calculation module 603 converts the acceleration information in the data into output torque, the updated throttle pedal characteristic curve can be obtained.

[0306] When the acceleration information is the output torque of the vehicle, after the data processing module 602 performs interpolation processing and filtering processing on the driver setting data, no other processing is required, and the updated throttle pedal characteristic curve can be obtained.

[0307] The throttle pedal characteristic curve update module 605 can be configured in the vehicle controller, and this module 605 can be used to execute Figure 5 the method 500 in, which may include: the algorithm enabling 601, the data processing module 602, and the throttle pedal characteristic curve calculation module 603.

[0308] Among them, the algorithm enabling 601 can receive the setting flag bit sent by the driver setting module 600, determine and enable the throttle pedal characteristic curve update algorithm; the data processing module 602 can perform interpolation, filtering, and normalization processing on the driver setting data, and convert the data representing the relationship among the vehicle speed, throttle pedal opening, and acceleration information set by the driver into one or more sets of data representing the relationship among the vehicle speed, throttle pedal opening, and acceleration; the throttle pedal characteristic curve calculation module 603 can calculate the updated throttle pedal characteristic curve (that is, the data representing the relationship among the vehicle speed, throttle pedal opening, and output torque) according to the data representing the relationship among the vehicle speed, throttle pedal opening, and acceleration.

[0309] The storage module 604 can store the updated throttle pedal characteristic curve according to the method 500. The storage module 604 can be configured in the controller. For example, the storage module 604 can be configured in the vehicle's vehicle controller.

[0310] Optionally, the storage module 604 and the throttle pedal characteristic curve update module 605 can be configured in the same controller of the vehicle, or can be respectively configured in different controllers of the vehicle. The embodiments of the present application do not limit this.

[0311] Figure 7 It is a schematic flowchart of a method for adjusting the throttle pedal characteristic provided by an embodiment of the present application.

[0312] S710, mode selection and setting.

[0313] When the driver has a need to set the professional mode, the driving mode can be switched to the professional mode first, and then the user interface for adjusting the driving mode in the driver setting module can be used to set the acceleration information corresponding to different throttle pedal openings at different vehicle speeds.

[0314] Take Figure 8 as an example to describe the process of the user inputting the vehicle speed, throttle pedal opening, and acceleration information in the embodiments of the present application. It should be understood that Figure 8 The user interface for adjusting the driving mode shown is only an example rather than a limitation. The user can input the vehicle speed, throttle pedal opening, and acceleration information in any of the ways described in Method 500, or the user can also input the vehicle speed, throttle pedal opening, and acceleration information through other input methods. The embodiments of the present application do not limit the specific input method.

[0315] It should be understood that Figure 8 The user interface for adjusting the driving mode shown is only an example rather than a limitation. Figure 8 Each part in the user interface 800 for adjusting the driving mode in

[0316] Figure 8 only indicates that the vehicle speed, throttle pedal opening, and acceleration information can be input in this user interface for adjusting the driving mode. In the embodiments of the present application, the specific manner of inputting the vehicle speed, throttle pedal opening, and acceleration information and the specific style of the setting interface are not limited.

[0317] In , the acceleration information is taken as an example of the acceleration intensity for illustration. It should be understood that the acceleration information in the embodiments of the present application can also be the acceleration of the vehicle or the output torque of the vehicle.

[0317] The user interface 800 for adjusting the driving mode can be configured in Figure 6 the driver setting module 600 shown in Figure 6 The driver setting module 600 can be configured in Figure 6 the terminal device 616 in

[0318] Optionally, when Figure 8 the driver 806 in

[0319] has a need to select the professional driving mode, it can be set through the user interface 800 for adjusting the driving mode.

[0320] For example, the driver can select the vehicle speed to be set in the vehicle speed setting 807. Each vehicle speed can correspond to a setting interface 808, and this setting interface 808 includes multiple throttle pedal openings and the acceleration information corresponding to each throttle pedal opening. Figure 8As shown, the speed setting options in the vehicle speed setting 807 may include: 10 km / h, 50 km / h, 100 km / h, 150 km / h, 200 km / h, and the throttle pedal opening setting options in each setting interface 808 may include: 20%, 60%, 90%.

[0321] Figure 8 As shown in, when the vehicle speed in the vehicle speed setting 807 is set to 100 km / h, the corresponding setting interface 808 for this vehicle speed (i.e., vehicle speed 100 km / h) is shown, and the driver adjusts the respective acceleration information corresponding to throttle pedal openings of 20%, 60%, and 90% by sliding the up and down buttons A, B, and C respectively. Among them, the acceleration information can represent the level of acceleration strength desired by the driver. Figure 8 The acceleration information in is divided into 11 levels ( Figure 8 The value range of the acceleration information in is from 0 to 10).

[0322] Optionally, the limit conditions (constraint relationships) for adjusting the acceleration information can be preset as: 0 < A < B < C < 10.

[0323] Optionally, default initial acceleration information values can be preset for each setting interface 808 corresponding to a vehicle speed. For example, it can be preset that: A = 1, B = 5, C = 9.

[0324] Optionally, after the driver completes the settings for one setting interface, just click "Confirm" in the setting interface 808. After the driver completes the settings for all vehicle speeds (corresponding setting interfaces), click Figure 8 "Settings Completed" in the driving mode adjustment user interface in, that is, the input of the driver's setting data is completed.

[0325] Optionally, when the driver only sets some vehicle speeds (corresponding setting interfaces), the vehicle speeds (corresponding setting interfaces) that are not set will be set according to the default initial data.

[0326] Optionally, when the driver switches the driving mode to the professional mode but does not set any vehicle speeds (corresponding setting interfaces), after the driver clicks "Settings Completed", all vehicle speeds (corresponding setting interfaces) will be set according to the default initial data.

[0327] After the driver completes the settings (i.e., the driver clicks "Settings Completed"), the driver setting module 600 can output a professional mode setting flag bit and the driver setting data (i.e., the data representing the relationship among the vehicle speed, throttle pedal opening, and acceleration information set by the driver through Figure 8 the driving mode adjustment user interface 800 in).

[0328] S720, determine whether the setting is completed.

[0329] Figure 6 The throttle pedal characteristic curve update module 605 in determines whether the driver has completed the setting.

[0330] Optionally, when receiving the professional mode setting flag bit output by the driver setting module 600, it can be determined that the driver has completed the setting, and S730 is executed; otherwise, S710 is executed.

[0331] S730, Accelerated information processing.

[0332] After it is determined that the driver has completed the setting, Figure 6 the data processing module 102 in Figure 6 can process the driver setting data. The specific processing process can include the following S731, S732, and S733.

[0333] S731, Interpolation and filtering.

[0334] Optionally, interpolation processing and filtering processing can be respectively performed on the vehicle speed dimension and the throttle pedal opening dimension in the driver setting data.

[0335] (1) Perform interpolation processing and filtering processing on the vehicle speed dimension:

[0336] It is possible to keep the data of the throttle pedal opening dimension unchanged and perform interpolation processing on the vehicle speed selectable options of 10 km / h, 50 km / h, 100 km / h, 150 km / h, and 200 km / h.

[0337] For example, the above vehicle speed selectable options can be extended to: the speed interval difference between each vehicle speed and the adjacent vehicle speed is 10 km / h, that is, the above vehicle speed selectable options are extended to 10 km / h, 20 km / h, 30 km / h... 190 km / h, 200 km / h. Optionally, linear interpolation can be used to perform interpolation processing on the vehicle speed dimension (i.e., vehicle speed expansion).

[0338] Optionally, filtering processing can be performed on all the data obtained after interpolation.

[0339] For example, it can be preset that the acceleration information change rate threshold between adjacent vehicle speeds is ±0.1 h / km. After interpolation, filtering processing is performed on all the data. When the acceleration information change rate between adjacent vehicle speeds exceeds this threshold, this threshold can be used to limit the acceleration information with too large a change rate.

[0340] (2) Perform interpolation processing and filtering processing on the throttle pedal opening dimension:

[0341] The data in the vehicle speed dimension can be kept unchanged, and interpolation is performed on 20%, 60%, and 90% of the settable options for the throttle pedal opening.

[0342] For example, the settable options for the throttle pedal opening can be extended as follows: the difference between each throttle pedal opening and the adjacent throttle pedal opening is 10%, that is, the settable options for the throttle pedal opening are extended to 10%, 20%, 30%... 90%, 100%. Optionally, linear interpolation can be used to perform interpolation on the throttle pedal opening dimension.

[0343] Optionally, filtering can be performed on all the data obtained after interpolation.

[0344] For example, it can be preset that the threshold for the acceleration information change rate between adjacent throttle pedal openings is ±25 (acceleration information change rate = acceleration information / throttle pedal opening interval value. If the preset difference between adjacent throttle pedal openings is 10%, the maximum change in the corresponding acceleration information is 2.5, then the acceleration information change rate threshold is: 2.5 / 0.1 = 25). After interpolation, filtering is performed on all the data. When the acceleration information change rate between adjacent throttle pedal openings exceeds this threshold, this threshold can be used to limit the throttle pedal opening with too large a change rate.

[0345] In the embodiments of the present application, interpolation and filtering are performed on the driver's set data (data representing the relationship among vehicle speed, throttle pedal opening, and acceleration information), which can avoid sudden changes in the throttle pedal characteristic curve due to too large a change rate of the user's set data, thereby avoiding the problem of decreased acceleration smoothness caused by sudden changes in acceleration information at different vehicle speeds during vehicle acceleration.

[0346] S732, Data normalization processing.

[0347] Normalization processing can be performed on the acceleration information after the above interpolation and filtering processing.

[0348] For example, as Figure 8 shown, the value range of the acceleration information is from 0 to 10. Let the acceleration information corresponding to the vehicle speed v and the throttle pedal opening k be X(v, k), then the normalization processing can be as follows:

[0349] Y(v, k) = X(v, k) / 10

[0350] where Y(v, k) is the result obtained after normalizing the acceleration information.

[0351] S733, Data conversion.

[0352] The normalized data can be converted into acceleration a(v, k), and the conversion method can be as follows:

[0353] a(v, k) = Y(v, k) * a_max(v, 100)

[0354] Wherein, a_max(k) is the acceleration value of the vehicle when the vehicle speed is v and the accelerator pedal opening is 100%, and this acceleration value is known for this vehicle.

[0355] At this time, the data representing the relationship among the vehicle speed, the accelerator pedal opening, and the acceleration can be obtained.

[0356] S740, Calculation of the accelerator pedal characteristic curve.

[0357] In the accelerator pedal characteristic curve calculation module 603, based on the data representing the relationship among the vehicle speed, the accelerator pedal opening, and the acceleration obtained in the above steps, as well as the baseline torque of the vehicle, the curb weight of the vehicle, and the wheel radius of the vehicle, the accelerator pedal characteristic curve can be calculated. The specific calculation method can be as follows:

[0358] T(v, k) = a(v, k) * r * m + T(v)

[0359] Wherein, T(v, k) is the output torque value of the vehicle when the vehicle speed is v and the accelerator pedal opening is k.

[0360] According to the above steps, the updated accelerator pedal characteristic curve can be calculated.

[0361] S750, Update the accelerator pedal characteristic curve.

[0362] As Figure 6 shown, the accelerator pedal characteristic curve calculation module 603 can output the updated accelerator pedal characteristic curve to the storage module 604.

[0363] S760, Vehicle control.

[0364] The controller of the vehicle can control the vehicle according to the updated accelerator pedal characteristic curve above.

[0365] Figure 9 is a schematic block diagram of vehicle control in an embodiment of the present application. Figure 9 The driving modes of the vehicle shown therein include four modes: a sport mode 913, a standard mode 912, an economy mode 910, and a professional mode 904. It should be understood that the vehicle in the embodiment of the present application may also include more or fewer driving modes, and this is not limited.

[0366] Figure 9 The accelerator pedal characteristic curve update module 905 in Figure 6 can be the accelerator pedal characteristic curve update module 605 inFigure 9 The controller 917 in Figure 6 can be the storage module 604 in

[0367] When the throttle pedal characteristic curve update module 905 outputs the updated throttle pedal characteristic curve to the controller 917, the throttle pedal characteristic curve update module 905 can also update the completion flag to the controller 917, and the update completion flag can indicate that the update of the throttle pedal characteristic curve has been completed.

[0368] Optionally, the driver setting module 900 can also output a setting flag bit to the controller 917. The setting flag bit can indicate that the driver has completed the setting and can also indicate that the driver wants to switch the driving mode to the professional mode.

[0369] Combining the above data, the driving mode demand torque arbitration module 911 in the controller 917 can select the throttle pedal characteristic curve corresponding to the professional mode for torque output.

[0370] Figure 10 is a schematic block diagram of a device 1000 for adjusting the throttle pedal characteristic provided by an embodiment of the present application. It should be understood that Figure 10 The shown device 1000 is only an example, and the device of the embodiment of the present application may further include other modules or units. It should be understood that the device 1000 can execute Figure 5 or Figure 7 each step in the method of , and for the sake of avoiding repetition, it will not be elaborated here.

[0371] The device 1000 includes: an input device 1010 and a controller 1020;

[0372] Wherein, the input device 1010 is configured to receive the vehicle speed, the throttle pedal opening, and the acceleration information input by the user when the user adjusts the target driving mode, and at least one of the vehicle speed, the throttle pedal opening, or the acceleration information satisfies a preset constraint relationship;

[0373] The controller 1020 is configured to adjust the throttle pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the throttle pedal opening, and the acceleration information.

[0374] Optionally, the input device 1010 is further configured to: receive a flag bit input by the user, and the flag bit is used to indicate adjusting the throttle pedal characteristic curve; wherein, the controller is specifically configured to: when receiving the flag bit, adjust the throttle pedal characteristic curve PedalMAP according to the vehicle speed, the throttle pedal opening, and the acceleration information.

[0375] Optionally, the controller 1020 is specifically configured to: determine N target accelerations according to the vehicle speed, the accelerator pedal opening, and the acceleration information, where each of the N target accelerations corresponds to a vehicle speed and an accelerator pedal opening, and N is an integer greater than or equal to 1; adjust the accelerator pedal characteristic curve Pedal MAP according to the N target accelerations.

[0376] Optionally, the controller 1020 is specifically configured to: perform interpolation processing and filtering processing on the vehicle speed, the accelerator pedal opening, and the acceleration information to obtain N sets of data, where the N sets of data include the vehicle speed, the accelerator pedal opening, and the acceleration information; determine the N target accelerations according to the N sets of data, where each of the N target accelerations corresponds to the vehicle speed and the accelerator pedal opening in one set of the N sets of data.

[0377] Optionally, the controller 1020 is specifically configured to: determine N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, the curb weight, and / or the tire radius; adjust the accelerator pedal characteristic curve according to the N output torques.

[0378] Optionally, the controller 1020 is specifically configured to:

[0379] Determine the N output torques corresponding to the N target accelerations according to the following formula:

[0380] T(v,k) = a(v,k) * r * m + T(v)

[0381] where a(v,k) is the target acceleration, the vehicle speed v and the accelerator pedal opening k correspond to a(v,k), r is the tire radius, m is the curb weight, T(v) is the baseline torque corresponding to the vehicle speed v, and T(v,k) is the output torque corresponding to the vehicle speed v and the accelerator pedal opening k.

[0382] Optionally, the input device 1010 is specifically configured to: receive multiple sets of parameter data input by the user, where each set of parameter data includes a vehicle speed, an accelerator pedal opening, and acceleration information, and the constraint relationship is used to limit at least one of the vehicle speed, the accelerator pedal opening, or the acceleration information in each set of parameter data to satisfy a preset value range.

[0383] Optionally, the input device 1010 is specifically configured to: receive multiple sets of parameter data input by the user, where each set of parameter data includes a vehicle speed, an accelerator pedal opening, and acceleration information, and the constraint relationship is used to limit that the multiple sets of parameter data satisfy a preset relative relationship.

[0384] Optionally, the vehicle speed, accelerator pedal opening, and acceleration information included in each group of the multiple groups of parameter data are different from each other.

[0385] Optionally, at least one of the vehicle speed, accelerator pedal opening, and acceleration information included in each group of the multiple groups of parameter data is different.

[0386] Figure 11 FIG. 1100 is a schematic block diagram of a device 1100 for adjusting accelerator pedal characteristics according to an embodiment of the present application. It should be understood that Figure 11 The illustrated device 1100 is only an example, and the device of the embodiment of the present application may further include other modules or units. It should be understood that the device 1100 can execute Figure 5 or Figure 7 The steps in the method of, for the sake of avoiding repetition, will not be elaborated here.

[0387] The device 1100 includes: an input device 1110 and a controller 1120;

[0388] Among them, the input device 1110 is configured to receive an instruction for adjusting a target driving mode input by a user, and present a driving mode adjustment user interface on a display device in response to the instruction. The driving mode adjustment user interface includes a first input window;

[0389] The input device 1110 is configured to receive first parameter information input by the user in the first input window. The first parameter information is any one of vehicle speed, accelerator pedal opening, or acceleration information, such as vehicle speed;

[0390] In response to the first parameter information input by the user, the input device 1110 is configured to present a second input window in the driving mode adjustment user interface;

[0391] The input device 1110 is configured to receive second parameter information input by the user in the second input window. The second parameter information is any one of vehicle speed, accelerator pedal opening, and acceleration information that is different from the first parameter information, such as accelerator pedal opening;

[0392] The input device 1110 is configured to display third parameter information in the second input window according to a preset constraint relationship. The three-parameter information is a parameter of vehicle speed, accelerator pedal opening, and acceleration information that is different from the first parameter information and the second parameter information, such as acceleration information;

[0393] The controller 1120 is configured to adjust the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the first parameter information, the second parameter information, and the third parameter information.

[0394] Optionally, the first input window presents a plurality of candidate first parameter information, where the candidate first parameter information is any one of vehicle speed, accelerator pedal opening, or acceleration information. The input device 1110 is specifically configured to: receive the first parameter information selected by the user from the plurality of candidate first input information presented in the first input window.

[0395] Optionally, the second input window presents a plurality of candidate second parameter information, where the candidate second parameter information is any one of vehicle speed, accelerator pedal opening, and acceleration information that is different from the first parameter information. The input device 1110 is specifically configured to: receive the second parameter information selected by the user from the plurality of candidate second input information presented in the second input window.

[0396] Optionally, the first input window presents a first input box. The input device 1110 is specifically configured to: receive the first parameter information input by the user in the first input box presented in the first input window.

[0397] Optionally, the second input window presents a second input box. The input device 1110 is specifically configured to: receive the second parameter information input by the user in the second input box presented in the second input window.

[0398] Figure 12 FIG. 14 is a schematic block diagram of a device 1200 for adjusting the characteristics of an accelerator pedal according to an embodiment of the present application. Figure 12 The illustrated device 1200 includes a memory 1201, a processor 1202, a communication interface 1203, and a bus 1204. Among them, the memory 1201, the processor 1202, and the communication interface 1203 are communicatively connected to each other through the bus 1204.

[0399] The memory 1201 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1201 may store a program. When the program stored in the memory 1201 is executed by the processor 1202, the processor 1202 is used to execute the steps of the method for adjusting the characteristics of the accelerator pedal according to the embodiments of the present application. For example, it may execute Figure 5 or Figure 7 the steps of the illustrated embodiments.

[0400] The processor 1202 may be a general - purpose central processing unit (CPU), a microprocessor, an application - specific integrated circuit (ASIC), or one or more integrated circuits, which are used to execute relevant programs to implement the method for adjusting the throttle pedal characteristics in the method embodiments of the present application.

[0401] The processor 1202 may also be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the method for adjusting the throttle pedal characteristics in the embodiments of the present application can be completed by the integrated logic circuit in the hardware of the processor 1202 or by instructions in software form.

[0402] The above - mentioned processor 1202 may also be a general - purpose processor, a digital signal processor (DSP), an application - specific integrated circuit (ASIC), a field - programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general - purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0403] The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read - only memory, a programmable read - only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 1201. The processor 1202 reads the information in the memory 1201 and combines its hardware to complete the functions required to be executed by the units included in the device for adjusting the throttle pedal characteristics in the embodiments of the present application, or to execute the method for adjusting the throttle pedal characteristics in the method embodiments of the present application. For example, it can execute Figure 5 or Figure 7 each step / function of the illustrated embodiment.

[0404] The communication interface 1203 may use, but is not limited to, transceiver - type transceiver devices to achieve communication between the device 1200 and other devices or communication networks.

[0405] The bus 1204 may include a path for transmitting information between various components of the device 1200 (for example, the memory 1201, the processor 1202, the communication interface 1203).

[0406] It should be understood that the device shown in the embodiments of the present application may be an in-vehicle device in an autonomous vehicle, or may also be a chip configured in the in-vehicle device.

[0407] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0408] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM) or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DR RAM).

[0409] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more collections of available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0410] It should be understood that the term "and / or" in this document is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after.

[0411] It should be understood that in various embodiments of the present application, the magnitudes of the sequence numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0412] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0413] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0414] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0415] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0416] In addition, in each embodiment of this application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0417] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0418] As described above, it is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claimed rights.

Claims

1. A method for adjusting the characteristics of an accelerator pedal, characterized in that, Including: When the user adjusts the target driving mode, receiving the vehicle speed and the throttle pedal opening input by the user; Determining, according to a preset constraint relationship, acceleration information corresponding to the vehicle speed and the throttle pedal opening for the user to select; Receiving the target acceleration information input by the user, where the target acceleration information is within the value range of the acceleration information; Adjusting the throttle pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the throttle pedal opening, and the target acceleration information.

2. The method according to claim 1, characterized in that The method further includes: Receiving a flag bit input by the user, where the flag bit is used to indicate adjusting the throttle pedal characteristic curve; Wherein, the adjusting the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening, and the target acceleration information includes: When receiving the flag bit, adjusting the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening, and the target acceleration information.

3. The method according to claim 1, characterized in that, The adjusting the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening, and the target acceleration information includes: Determining N target accelerations according to the vehicle speed, the throttle pedal opening, and the target acceleration information, where each of the N target accelerations corresponds to a target vehicle speed and a throttle pedal opening, and N is an integer greater than or equal to 1; Adjusting the throttle pedal characteristic curve Pedal MAP according to the N target accelerations.

4. The method according to claim 3, wherein The determining N target accelerations according to the vehicle speed, the throttle pedal opening, and the target acceleration information includes: Performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening, and the target acceleration information to obtain N sets of data, where the N sets of data include the vehicle speed, the throttle pedal opening, and the target acceleration information; Determining the N target accelerations according to the N sets of data, where each of the N target accelerations corresponds to the vehicle speed and the throttle pedal opening in a set of the N sets of data.

5. The method according to claim 3, characterized in that, The adjusting the throttle pedal characteristic curve according to the N target accelerations includes: Determining N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, curb weight, and / or tire radius, where the baseline torque is the steady-state torque corresponding to the target vehicle speed; Adjusting the throttle pedal characteristic curve according to the N output torques.

6. The method according to claim 5, characterized in that The determining N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, curb weight, and / or tire radius includes: Determining the N output torques corresponding to the N target accelerations according to the following formula: T(v,k) = a(v,k) * r * m + T(v) Wherein, a(v, k) is the target acceleration, the target vehicle speed v and the throttle pedal opening k correspond to a(v, k), r is the tire radius, m is the curb weight, T(v) is the baseline torque corresponding to the target vehicle speed v, and T(v, k) is the output torque corresponding to the target vehicle speed v and the throttle pedal opening k.

7. The method according to any one of claims 1 to 6, characterized in that The constraint relationship is used to limit the acceleration information to satisfy a preset value range at the vehicle speed and the throttle pedal opening.

8. The method according to any one of claims 1 to 6, characterized in that The vehicle speed and the throttle pedal opening are multiple sets of parameter information; Determining the acceleration information corresponding to the vehicle speed and the throttle pedal opening according to the preset constraint relationship includes: Determining multiple acceleration information corresponding to the multiple sets of parameter information according to the preset constraint relationship, and the constraint relationship is used to limit that the multiple acceleration information satisfies a preset relative relationship.

9. A device for adjusting the characteristics of an accelerator pedal, characterized in that, The device includes an input device and a controller: The input device is used to receive the vehicle speed and the throttle pedal opening input by the user when the user adjusts the target driving mode; The controller is used to determine acceleration information for the user to select according to the vehicle speed, the throttle pedal opening and the preset constraint relationship; The input device is used to receive the target acceleration information input by the user, and the target acceleration information is within the value range of the acceleration information; The controller is used to adjust the throttle pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the throttle pedal opening and the target acceleration information.

10. The device according to claim 9, characterized in that, The input device is further used for: Receiving the flag bit input by the user, and the flag bit is used to indicate adjusting the throttle pedal characteristic curve; Wherein, the controller is specifically used for: when receiving the flag bit, adjusting the throttle pedal characteristic curve Pedal MAP according to the vehicle speed, the throttle pedal opening and the target acceleration information.

11. The device according to claim 9, characterized in that, The controller is specifically used for: Determining N target accelerations according to the vehicle speed, the throttle pedal opening and the target acceleration information, each of the N target accelerations corresponds to a target vehicle speed and a throttle pedal opening, and N is an integer greater than or equal to 1; Adjusting the throttle pedal characteristic curve Pedal MAP according to the N target accelerations.

12. The device according to claim 11, characterized in that, The controller is specifically used for: Performing interpolation processing and filtering processing on the vehicle speed, the throttle pedal opening and the target acceleration information to obtain N groups of data, and the N groups of data include the vehicle speed, the throttle pedal opening and the target acceleration information; Determining the N target accelerations according to the N groups of data, and each of the N target accelerations corresponds to the vehicle speed and the throttle pedal opening in a group of the N groups of data.

13. The device according to claim 11, characterized in that, The controller is specifically used for: Determining N output torques corresponding to the N target accelerations according to the N target accelerations, N baseline torques, the curb weight and / or the tire radius, and the baseline torque is the steady-state torque corresponding to the target vehicle speed; Adjusting the throttle pedal characteristic curve according to the N output torques.

14. The device according to claim 13, characterized in that, The controller is specifically used for: Determine the N output torques corresponding to the N target accelerations according to the following formula: T(v,k) = a(v,k) * r * m + T(v) where a(v, k) is the target acceleration, which corresponds to the target vehicle speed v and the throttle pedal opening k, r is the tire radius, m is the curb weight, T(v) is the baseline torque corresponding to the target vehicle speed v, and T(v, k) is the output torque corresponding to the target vehicle speed v and the throttle pedal opening k.

15. The device according to any one of claims 9 to 14, characterized in that, The constraint relationship is used to limit the acceleration information to satisfy a preset value range at the vehicle speed and the throttle pedal opening.

16. The device according to any one of claims 9 to 14, characterized in that The vehicle speed and the throttle pedal opening are multiple groups of parameter information; Specifically, the controller is configured to determine multiple acceleration information corresponding to the multiple groups of parameter information according to a preset constraint relationship, and the constraint relationship is used to limit the multiple acceleration information to satisfy a preset relative relationship.

17. A vehicle, characterized in that, The vehicle includes the device according to any one of claims 9 to 16.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program instructions, and when the program instructions are run by a processor, the method according to any one of claims 1 to 8 is implemented.

19. A chip, characterized in that, The chip includes a processor and a data interface, and the processor reads instructions stored on a memory through the data interface to execute the method according to any one of claims 1 to 8.

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