Vehicle control method, device and electronic equipment

Abstract

The present application relates to a vehicle control method, device and electronic device. The method comprises: obtaining a driving style parameter input by a driver, wherein the driving style parameter comprises at least one of the following: an accelerator pedal control parameter, a steering wheel control parameter, and an acceleration control parameter; selecting a plurality of power output curves matching the driving style parameter from a power output curve segment set, wherein the power output curve segment set comprises segments of power output curves corresponding to a plurality of driving modes; combining the plurality of power output curves to obtain a target power output curve; and controlling the output torque of the vehicle according to the target power output curve. The solution provided by the present application can improve driving safety and the driving experience of users.

Description

Technical Field

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

[0002] Driving style is an overall evaluation index used to show the inherent driving method of the driver. At present, the evaluation of the driver's driving style is generally divided from the perspective of the driver's request for vehicle power, which is reflected in aggressive driving, energy-saving driving, etc. Through the study of driving style, the driving mode is divided according to the driver's demand for vehicle power, so as to adapt to the different demands of different drivers for vehicle power.

[0003] Traditional driving modes are divided into normal mode, sports mode and economy mode. The driver adjusts the vehicle driving experience by manually selecting a mode that matches his driving style.

[0004] However, in actual use, it is more dangerous to use the sport mode when there are many vehicles. Drivers who are accustomed to driving in the sport mode need to manually switch the driving mode to normal mode or economy mode, and then switch the driving mode to the sport mode when there are fewer vehicles. The operation is cumbersome and affects driving safety, resulting in a poor driving experience. Summary of the invention

[0005] In order to solve or partially solve the problems existing in the related art, the present application provides a vehicle control method, device and electronic equipment, which can improve driving safety and user driving experience.

[0006] A first aspect of the present application provides a vehicle control method, comprising:

[0007] Acquiring a driving style parameter input by a driver, wherein the driving style parameter includes at least one of the following: an accelerator pedal control parameter, a steering wheel control parameter, and an acceleration control parameter;

[0008] Selecting a plurality of power output curves matching the driving style parameter from a power output curve segment set, wherein the power output curve segment set includes segments of power output curves corresponding to a plurality of driving modes;

[0009] Combining the multiple power output curves to obtain a target power output curve;

[0010] The output torque of the vehicle is controlled according to the target power output curve.

[0011] In a possible implementation, before selecting a plurality of power output curves matching the driving style parameter from the power output curve segment set, the method further includes:

[0012] Obtain environmental information around the vehicle;

[0013] The selecting a plurality of power output curves matching the driving style parameter from the power output curve segment set comprises:

[0014] A plurality of power output curves matching the driving style parameter and the environmental information are selected from the power output curve segment set.

[0015] In a possible implementation, selecting a plurality of power output curves matching the driving style parameter and the environmental information from the power output curve segment set includes:

[0016] determining a control target corresponding to the driving style parameter;

[0017] fitting an expected power output curve according to the driving style parameter and the control target;

[0018] dividing the desired power output curve into a plurality of curve segments;

[0019] For each curve segment, a power output curve segment matching the curve segment and the environmental information is determined from the power output curve segment set.

[0020] In a possible implementation, the multiple power output curves include segments of power output curves corresponding to different driving modes;

[0021] The step of combining the multiple power output curves to obtain a target power output curve comprises:

[0022] The target power output curve is obtained by performing smoothing filtering on the combined curve of the multiple power output curves.

[0023] A second aspect of the present application provides a vehicle control device, comprising:

[0024] A first acquisition module is used to acquire a driving style parameter input by a driver, wherein the driving style parameter includes at least one of the following: an accelerator pedal control parameter, a steering wheel control parameter, and an acceleration control parameter;

[0025] A selection module, configured to select a plurality of power output curves matching the driving style parameter from a power output curve segment set, wherein the power output curve segment set includes segments of power output curves corresponding to a plurality of driving modes;

[0026] A combination module, used for combining the multiple power output curves to obtain a target power output curve;

[0027] A control module is used to control the output torque of the vehicle according to the target power output curve.

[0028] In a possible implementation manner, the device further includes:

[0029] The second acquisition module is used to acquire environmental information around the vehicle;

[0030] The selection module comprises:

[0031] The selection unit is used to select a plurality of power output curves matching the driving style parameters and the environmental information from the power output curve segment set.

[0032] In a possible implementation, the selection unit includes:

[0033] A first determining subunit, configured to determine a control target corresponding to the driving style parameter;

[0034] A fitting subunit, configured to fit an expected power output curve according to the driving style parameter and the control target;

[0035] a dividing unit, used for dividing the expected power output curve into a plurality of curve segments;

[0036] The second determining subunit is configured to determine, for each curve segment, from the power output curve segment set, a power output curve segment that matches the curve segment and the environmental information.

[0037] In a possible implementation, the multiple power output curves include segments of power output curves corresponding to different driving modes;

[0038] The combined module comprises:

[0039] The smoothing filter unit is used to perform smoothing filter processing on the combined curve of the multiple power output curves to obtain a target power output curve.

[0040] A third aspect of the present application provides an electronic device, including:

[0041] Processor; and

[0042] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0043] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0044] The technical solution provided by the present application can obtain the driving style parameters output by the driver, then select multiple power output curves matching the driving style parameters from the power output curve segment set, then combine the multiple power output curves to obtain the target power output curve, and finally control the vehicle according to the target power output curve, wherein the power output curve segment set includes segments of power output curves corresponding to multiple driving modes. In other words, the present solution can select a curve segment matching the driver's current driving style from the power output curves corresponding to multiple modes in real time, and the switching of driving modes can be completed without manual adjustment by the driver, thereby improving the driving experience and safety.

[0045] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0047] Figure 1 is a flow chart of a vehicle control method shown in an embodiment of the present application;

[0048] Figure 2 is another flow chart of the vehicle control method shown in the embodiment of the present application;

[0049] Figure 3 is a schematic diagram of power output curves corresponding to various driving modes shown in an embodiment of the present application;

[0050] Figure 4 is a schematic diagram of an expected power output curve shown in an embodiment of the present application;

[0051] Figure 5 is a schematic diagram of the structure of a vehicle control device shown in an embodiment of the present application;

[0052] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0054] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0055] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0056] To facilitate understanding, the terms involved in the embodiments of the present application are introduced below.

[0057] Driving style parameter: an overall evaluation index that can reflect the driver's driving style.

[0058] Accelerator pedal control parameters: parameters related to the accelerator pedal, including but not limited to the depth of the accelerator pedal pressed by the driver, the rate at which the driver presses the accelerator pedal, and the rate of change of the accelerator pedal depth.

[0059] Steering wheel control parameters: parameters related to the steering wheel, including but not limited to the angle at which the driver turns the steering wheel and the speed at which the driver turns the steering wheel.

[0060] Acceleration control parameters: parameters reflecting the acceleration of the vehicle, including but not limited to lateral speed, longitudinal speed, lateral acceleration, and longitudinal acceleration.

[0061] Power output curve: a function curve that reflects the characteristics of the accelerator pedal, including but not limited to a function curve with the accelerator pedal depth as a variable and the engine output torque as the output.

[0062] Control target: The control result expected by the driver, including but not limited to the vehicle's output torque and torque response speed.

[0063] To facilitate understanding, the scenarios to which the embodiments of the present application are applicable are introduced below.

[0064] Scenario 1: The driver sets the vehicle to sports mode, and the vehicle will have a higher throttle response sensitivity. When the vehicle encounters a road with heavy traffic, if the user does not switch the driving mode, the vehicle will still control the vehicle with a higher throttle response. The driver will repeatedly accelerate and decelerate in this road condition, and the comfort will decrease. Especially when there are pedestrians or two-wheeled vehicles around, it is very easy to cause a safety accident.

[0065] Scenario 2: The driver sets the vehicle to the economy mode, which means the vehicle will have a lower throttle response sensitivity. When the vehicle encounters an open road with light traffic, if the user wants a higher throttle response sensitivity, the driving mode must be switched from the economy mode to the sports mode, and the driver must manually click a button or switch through voice operation. These operations will affect the driver's driving, which is neither convenient nor safe.

[0066] In response to the above problems, an embodiment of the present application provides a vehicle control method that can improve driving experience and safety.

[0067] The driver sets the vehicle to a driving mode (such as an adaptive mode) corresponding to the vehicle control method of this embodiment, and the vehicle control device enters the driving mode. The vehicle is controlled by the vehicle control method of this embodiment. When the vehicle encounters a road condition with heavy traffic, the power demand corresponding to the driving style parameters input by the driver based on the current road condition is a slower power response. The vehicle control device will select a power output curve segment with a slower power response from the power output curve segment set, and control the vehicle through the power output curve segment to meet the driver's needs; when the vehicle encounters an open road condition with light traffic, the power demand corresponding to the driving style parameters input by the driver based on the current road condition is a faster power response. The vehicle control device will select a power output curve segment with a faster power response from the power output curve segment set, and control the vehicle through the power output curve segment to meet the driver's needs.

[0068] It should be understood that the above scenarios are only examples and do not constitute a limitation on the embodiments of the present application. The vehicle control method of the embodiments of the present application can also be applied to other scenarios.

[0069] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0070] Figure 1 It is a flow chart of the vehicle control method shown in the embodiment of the present application.

[0071] See also Figure 1 , the vehicle control method of the embodiment of the present application includes:

[0072] 101. The vehicle control device obtains the driving style parameters input by the driver;

[0073] During the driving process of the vehicle, the driver controls the accelerator pedal, steering wheel and acceleration of the vehicle, and the vehicle control device obtains the driving style parameter input by the driver, and the driving style parameter includes at least one of the following: accelerator pedal control parameter, steering wheel control parameter and acceleration control parameter. The driving style parameter may also include other parameters that can reflect the driving style of the driver, which is not limited in this embodiment.

[0074] 102. The vehicle control device selects a plurality of power output curves matching the driving style parameters from the power output curve segment set;

[0075] After obtaining the driving style parameters, the vehicle control device selects multiple power output curves matching the driving style parameters from the power output curve segment set, wherein the power output curve segment set includes segments of power output curves corresponding to multiple driving modes.

[0076] In some embodiments, after the vehicle control device obtains the driving style parameters, it determines the control targets corresponding to the driving style parameters, and fits the expected power output curve according to the driving style parameters and the control targets, that is, the driver's power demand is analyzed according to the parameters input by the driver, and then the expected power output curve is divided into several curve segments, and then for each curve segment, a power output curve segment that matches the curve segment is selected from the power output curve segment set.

[0077] Specifically, R&D personnel can pre-set power output curves corresponding to N driving modes according to the needs of the driver, and then divide each power output curve into M segments to obtain a power output curve segment set, which includes M*N power output curve segments.

[0078] After the vehicle control device fits the expected power output curve, the expected power output curve is divided into M segments to obtain M curve segments corresponding to the expected power output curve, and then, for each curve segment corresponding to the expected power output curve, a power output curve segment matching the curve segment is selected from the N power output curve segments corresponding to the curve segment, wherein the N power output curve segments corresponding to the curve segment refer to the N power output curve segments having the same accelerator pedal depth interval as the curve segment, and these N power output curve segments correspond to N driving modes; the power output curve segment matching the curve segment refers to the most similar (highest similarity) power output curve segment among the N power output curve segments; N is an integer greater than or equal to 2, and M is an integer greater than or equal to 2, and exemplarily, N is 5 and M is 20.

[0079] 103. The vehicle control device combines the multiple power output curves to obtain a target power output curve;

[0080] After the vehicle control device selects a plurality of power output curves, the plurality of power output curves are combined to obtain a target power output curve.

[0081] 104. The vehicle control device controls the output torque of the vehicle according to the target power output curve.

[0082] The vehicle control device controls the output of vehicle torque, torque distribution and energy recovery according to the target power output curve and the driver's operation.

[0083] The technical solution provided by the present application can obtain the driving style parameters output by the driver, then select multiple power output curves matching the driving style parameters from the power output curve segment set, then combine the multiple power output curves to obtain the target power output curve, and finally control the vehicle according to the target power output curve, wherein the power output curve segment set includes segments of power output curves corresponding to multiple driving modes. In other words, the present solution can select a curve segment matching the driver's current driving style from the power output curves corresponding to multiple modes in real time, and the switching of driving modes can be completed without manual adjustment by the driver, thereby improving the driving experience and safety.

[0084] To facilitate understanding of the embodiments of the present application, the vehicle control method of the embodiments of the present application is described in detail below. Figure 2 Another embodiment of the vehicle control method in the embodiment of the present application includes:

[0085] 201. The vehicle control device obtains environmental information around the vehicle;

[0086] When the vehicle is driving, the vehicle control device identifies the environment around the vehicle in real time. Specifically, the vehicle control device can obtain current environmental information through sensors such as cameras, microwave radars, and lidars, and can also obtain current environmental information through high-precision maps. Environmental information can also be obtained through other methods, which are not limited to the specific embodiments of this invention.

[0087] It should be understood that the environmental information in this embodiment includes lane line location information, obstacle location information, obstacle size information, distance information between the obstacle and the vehicle, terrain information on the ground where the vehicle is located, traffic condition information, or other information, which is not limited to this embodiment.

[0088] In some embodiments, the environmental information includes front area information and / or rear area information, wherein the front area information includes the lane line where the front obstacle is located and the distance from the vehicle, and the rear area information includes the lane line where the rear obstacle is located and the distance from the vehicle.

[0089] 202. The vehicle control device obtains the driving style parameter input by the driver;

[0090] During vehicle driving, the driver controls the accelerator pedal, steering wheel and acceleration of the vehicle, and the vehicle control device obtains the driving style parameter input by the driver, and the driving style parameter includes at least one of the following: accelerator pedal control parameter, steering wheel control parameter and acceleration control parameter. The driving style parameter may also include other parameters that can reflect the driving style of the driver, which is not limited in this embodiment.

[0091] 203. The vehicle control device selects a plurality of power output curves matching the driving style parameters and the environmental information from the power output curve segment set;

[0092] After obtaining the driving style parameters, the vehicle control device selects multiple power output curves matching the driving style parameters and the environmental information from the power output curve segment set, wherein the power output curve segment set includes segments of the power output curve corresponding to multiple driving modes.

[0093] In some embodiments, the vehicle control device can determine multiple power output curves that match the driving style parameters and environmental information in the following manner: determine the control target corresponding to the driving style parameters, and fit the expected power output curve according to the driving style parameters and the control target, that is, analyze the driver's power demand according to the parameters input by the driver, and then divide the expected power output curve into several curve segments, and then for each curve segment, select a power output curve segment that matches the curve segment and the environmental information from the power output curve segment set.

[0094] Specifically, the vehicle control device can select a power output curve segment that matches the curve segment and the environmental information from the power output curve segment set in the following manner: determine a power output curve segment subset that matches the environmental information in the power output curve segment set, and select a power output curve segment that matches the curve segment from the power output curve segment subset, wherein the power output curve segment subset includes a power output curve segment corresponding to a driving mode that matches the environmental information, or the power output curve segment subset does not include a power output curve segment corresponding to a driving mode that does not match the environmental information.

[0095] Specifically, R&D personnel can pre-set power output curves corresponding to N driving modes according to the needs of the driver, and then divide each power output curve into M segments to obtain a power output curve segment set, which includes M*N power output curve segments.

[0096] Researchers can also set different environmental modes corresponding to the front area information and / or rear area information, as well as the driving modes that match each environmental mode (or the driving modes that do not match each environmental mode).

[0097] The vehicle control device can determine the subset of power output curve segments that match the environmental information in the following manner: determine the environmental mode of the vehicle based on the front area information and / or rear area information, and then determine the power output curve segments corresponding to the driving modes that match the environmental mode among N driving modes as the subset of power output curve segments that match the environmental information, or delete the power output curve segments corresponding to the driving modes that do not match the environmental mode among the N driving modes from the power output curve segment set to obtain the subset of power output curve segments that match the environmental information.

[0098] Correspondingly, the vehicle control device can divide the desired power output curve into M curve segments. For each curve segment, the vehicle control device can select a power output curve segment that matches the curve segment in the following manner: determine a power output curve segment in the power output curve segment subset that has the same accelerator pedal depth range as that corresponding to the curve segment, and then select a power output curve segment that is closest to the curve segment from these power output curve segments.

[0099] In some embodiments, there are multiple power output curve segments that are similar to the curve segment (within a certain range of similarity) in the power output curve segment with the same throttle pedal depth interval corresponding to the curve segment. The vehicle control device can select a power output curve segment with a higher degree of match with the environmental mode from the similar power output curve segments as the power output curve segment closest to the curve segment.

[0100] For example, Figure 3 As shown in the figure, the R&D personnel set the power output curves corresponding to the three driving modes according to the speed of the power response, namely the fast response mode, the standard response mode, and the slow response mode. Then each power output curve is divided into 4 segments to obtain 12 power output curve segments A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3 and C4 (power output curve segment set).

[0101] The R&D personnel set up two environmental modes according to the distance between the front obstacle and the rear obstacle and the vehicle. When the distance between the front obstacle and the rear obstacle and the vehicle is greater than 150 meters, the corresponding environmental mode is a congested environment, and the quick response mode is prohibited in a congested environment; when the distance between the front obstacle and the rear obstacle and the vehicle is less than 80 meters, the corresponding environmental mode is an open environment, and a relatively fast response mode is set in an open environment.

[0102] If the environmental information obtained by the vehicle control device indicates that the distance between the front obstacle and the rear obstacle and the vehicle is less than 80 meters, the vehicle control device determines that the current environmental mode is the congestion mode based on the environmental information, and the vehicle control device disables the quick response mode, that is, the power output curve segments B1, B2, B3, B4 corresponding to the standard response mode and the power output curve segments C1, C2, C3, C4 corresponding to the slow response mode are determined as a subset of the power output curve segments that match the environmental information.

[0103] After the vehicle control device obtains the driving style parameters, it fits the expected power output curve according to the driving style parameters, and divides the expected power output curve into four segments to obtain curve segment D1, curve segment D2, curve segment D3, and curve segment D4, such as Figure 4 shown.

[0104] The accelerator pedal depth interval corresponding to the curve segment D1 is 0 to 25%. The vehicle control device compares the power output curve segments B1 and C1 corresponding to the accelerator pedal depth interval of 0 to 25% in the power output curve segment subset with the curve segment D1. If the comparison result shows that C1 has a higher similarity to D1, the power output curve segment C1 is determined to be the power output curve segment closest to the curve segment D1. Similarly, B2 and C2 are compared with D2, B3 and C3 are compared with D3, and B4 and C4 are compared with D4. If the comparison result shows that C2 has a higher similarity to D2, B3 has a higher similarity to D3, and B4 has a higher similarity to D4, C2 is determined to be the power output curve segment closest to D2, B3 is the power output curve segment closest to D3, and B4 is the power output curve segment closest to D4. That is, the multiple power output curves matching the driving style parameters and the environmental information include C1, C2, B3, and B4.

[0105] 204. The vehicle control device performs smoothing filtering on the combined curve of the multiple power output curves to obtain a target power output curve;

[0106] After the vehicle control device determines multiple power output curves that match the driving style parameters and environmental information, it performs smoothing filtering on the combined curve of the multiple power output curves to obtain the target power output curve, so that the acceleration corresponding to the two power output curve segments with similar accelerator pedal depth intervals is continuous, and the acceleration change is no more than 0.05 meters per cubic second (m / s3).

[0107] 205. The vehicle control device controls the output torque of the vehicle according to the target power output curve.

[0108] After obtaining the target power output curve, the vehicle control device controls the output torque, torque distribution and energy recovery of the vehicle according to the target power output curve.

[0109] The technical solution provided by the present application can obtain the driving style parameters output by the driver, then select multiple power output curves matching the driving style parameters from the power output curve segment set, then combine the multiple power output curves to obtain the target power output curve, and finally control the vehicle according to the target power output curve, wherein the power output curve segment set includes segments of power output curves corresponding to multiple driving modes. In other words, the present solution can select a curve segment matching the driver's current driving style from the power output curves corresponding to multiple modes in real time, and the switching of driving modes can be completed without manual adjustment by the driver, thereby improving the driving experience and safety.

[0110] Secondly, the curve segments selected in the embodiment of the present application not only match the driver's current driving style, but also match the vehicle's current environmental information. They can adapt to the surrounding environment and select a more appropriate driving mode for switching, thereby further improving the driving experience and safety.

[0111] Thirdly, the embodiment of the present application will also perform smoothing filtering on the combined curve corresponding to the selected multiple power output curves, so that the accelerations corresponding to the two power output curve segments with similar accelerator pedal depth intervals are continuous, thereby reducing the sense of frustration caused by driving mode switching and further improving the driving experience.

[0112] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a vehicle control device, an electronic device and corresponding embodiments.

[0113] Figure 5 It is a schematic diagram of the structure of a vehicle control device shown in an embodiment of the present application.

[0114] See also Figure 5 , the vehicle control device 500 includes:

[0115] A first acquisition module 501 is used to acquire a driving style parameter input by a driver, where the driving style parameter includes at least one of the following: an accelerator pedal control parameter, a steering wheel control parameter, and an acceleration control parameter;

[0116] A selection module 502 is used to select a plurality of power output curves matching the driving style parameter from a power output curve segment set, wherein the power output curve segment set includes segments of power output curves corresponding to a plurality of driving modes;

[0117] A combination module 503 is used to combine multiple power output curves to obtain a target power output curve;

[0118] The control module 504 is used to control the output torque of the vehicle according to the target power output curve.

[0119] In some embodiments, the vehicle control device 500 further includes:

[0120] The second acquisition module is used to acquire environmental information around the vehicle;

[0121] Select modules include:

[0122] The selection unit is used to select a plurality of power output curves matching the driving style parameter and the environmental information from the power output curve segment set.

[0123] In some embodiments, the selection unit includes:

[0124] A first determination subunit, used to determine a control target corresponding to the driving style parameter;

[0125] A fitting subunit, used for fitting an expected power output curve according to the driving style parameter and the control target;

[0126] A dividing unit, used for dividing the expected power output curve into a plurality of curve segments;

[0127] The second determining subunit is configured to determine, for each curve segment, from the power output curve segment set, a power output curve segment that matches the curve segment and the environmental information.

[0128] In some embodiments, the combined module includes:

[0129] The smoothing filter unit is used to perform smoothing filtering on the combined curve of multiple power output curves to obtain a target power output curve.

[0130] The technical solution provided by the present application is that the first acquisition module 501 can acquire the driving style parameters output by the driver, and then the selection module 502 can select multiple power output curves matching the driving style parameters from the power output curve segment set, and the combination module 503 can combine the multiple power output curves to obtain the target power output curve, and finally the control module 504 can control the vehicle according to the target power output curve, wherein the power output curve segment set includes segments of power output curves corresponding to multiple driving modes. In other words, the present solution can select the curve segment matching the driver's current driving style from the power output curves corresponding to multiple modes in real time, and the switching of driving modes can be completed without manual adjustment by the driver, thereby improving the driving experience and safety.

[0131] Secondly, the curve segments selected in the embodiment of the present application not only match the driver's current driving style, but also match the vehicle's current environmental information. They can adapt to the surrounding environment and select a more appropriate driving mode for switching, thereby further improving the driving experience and safety.

[0132] Again, the smoothing filter unit of the embodiment of the present application will also perform smoothing filtering on the combined curve corresponding to the selected multiple power output curves, so that the accelerations corresponding to the two power output curve segments with similar accelerator pedal depth intervals are continuous, thereby reducing the sense of frustration caused by driving mode switching and further improving the driving experience.

[0133] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0134] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0135] See also Figure 6 , the electronic device 600 includes a memory 610 and a processor 620 .

[0136] The processor 620 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0137] The memory 610 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 620 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 610 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 610 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0138] The memory 610 stores executable codes, and when the executable codes are processed by the processor 620 , the processor 620 can execute part or all of the methods described above.

[0139] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0140] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0141] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle control method, characterized in that: include: Acquiring a driving style parameter input by a driver, wherein the driving style parameter includes at least one of the following: an accelerator pedal control parameter, a steering wheel control parameter, and an acceleration control parameter; Selecting a plurality of power output curves matching the driving style parameter from a power output curve segment set, wherein the power output curve segment set includes segments of power output curves corresponding to a plurality of driving modes; Combining the multiple power output curves to obtain a target power output curve; The output torque of the vehicle is controlled according to the target power output curve.

2. The method according to claim 1, characterized in that Before selecting a plurality of power output curves matching the driving style parameters from the power output curve segment set, the method further includes: Obtain environmental information around the vehicle; The selecting a plurality of power output curves matching the driving style parameter from the power output curve segment set comprises: A plurality of power output curves matching the driving style parameter and the environmental information are selected from the power output curve segment set.

3. The method according to claim 2, characterized in that The selecting a plurality of power output curves matching the driving style parameter and the environmental information from the power output curve segment set comprises: determining a control target corresponding to the driving style parameter; fitting an expected power output curve according to the driving style parameter and the control target; dividing the desired power output curve into a plurality of curve segments; For each curve segment, a power output curve segment matching the curve segment and the environmental information is determined from the power output curve segment set.

4. The method according to any one of claims 1 to 3, characterized in that The multiple power output curves include segments of power output curves corresponding to different driving modes; The step of combining the multiple power output curves to obtain a target power output curve comprises: The target power output curve is obtained by performing smoothing filtering on the combined curve of the multiple power output curves.

5. A vehicle control device, characterized in that: include: A first acquisition module is used to acquire a driving style parameter input by a driver, wherein the driving style parameter includes at least one of the following: an accelerator pedal control parameter, a steering wheel control parameter, and an acceleration control parameter; A selection module, configured to select a plurality of power output curves matching the driving style parameter from a power output curve segment set, wherein the power output curve segment set includes segments of power output curves corresponding to a plurality of driving modes; A combination module, used for combining the multiple power output curves to obtain a target power output curve; A control module is used to control the output torque of the vehicle according to the target power output curve.

6. The device according to claim 5, characterized in that The device also includes: The second acquisition module is used to acquire environmental information around the vehicle; The selection module comprises: The selection unit is used to select a plurality of power output curves matching the driving style parameters and the environmental information from the power output curve segment set.

7. The device according to claim 6, characterized in that The selection unit comprises: A first determining subunit, configured to determine a control target corresponding to the driving style parameter; A fitting subunit, configured to fit an expected power output curve according to the driving style parameter and the control target; a dividing unit, used for dividing the expected power output curve into a plurality of curve segments; The second determining subunit is configured to determine, for each curve segment, from the power output curve segment set, a power output curve segment that matches the curve segment and the environmental information.

8. The device according to any one of claims 5 to 7, characterized in that The multiple power output curves include segments of power output curves corresponding to different driving modes; The combined module comprises: The smoothing filter unit is used to perform smoothing filter processing on the combined curve of the multiple power output curves to obtain a target power output curve.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having executable codes stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 4.

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