A method, system, computer device, and storage medium for switching driving modes

Abstract

A method, system, computer device, and storage medium for switching driving modes provided by an embodiment of the present invention. The method includes: obtaining environmental information and vehicle information in real time; respectively processing the environmental information and the vehicle information into corresponding environmental signals and vehicle signals; performing matching analysis based on the environmental signals and the vehicle signals to obtain an expected driving mode; and switching the driving mode of the vehicle to the expected driving mode. This method comprehensively and meticulously disassembles the actual scenarios of vehicle driving. After reasonably analyzing the road information, driver operations, vehicle driving state information, and real-time road conditions monitored in real time to obtain the expected driving mode of the vehicle and performing intelligent switching, it not only effectively avoids the driver's perception of changes in road conditions and the need to reserve necessary professional knowledge, but also simplifies the driver's cumbersome operations, and improves the overall vehicle performance, vehicle automated driving level, user experience, and market competitiveness.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a method, a system, a computer device, and a storage medium for intelligently switching driving modes. Background Art

[0002] With the rapid development of modern technology and the continuous improvement of people's living standards, various vehicles have become indispensable means of transportation in people's lives. While bringing great convenience to people's travel, the safety and stability of vehicles and the corresponding driving experience have also attracted much attention. To meet the driving needs of users and provide a more user-friendly experience, and to improve the performance of the vehicle as a whole, such as economy, power, and handling, vehicles usually support various driving modes to meet the driving needs of different road conditions and different drivers. For example, automatic transmissions usually have an economy mode, a normal mode, and a sport mode, and all-wheel drive systems usually have a two-wheel drive mode, an automatic mode, a Sport mode, etc. Drivers can select and switch driving modes according to the actual driving situation, or the vehicle system can perform simple mode switching automatically by detecting relevant conditions.

[0003] Most of the existing mode switching methods are for drivers to manually switch through one or more mode switching buttons (buttons or touch display screens) on the vehicle according to road conditions and personal driving preferences. However, in actual vehicle driving, it requires drivers to have relatively high professional knowledge to identify road conditions and accurately grasp the application scenarios of each driving mode. This not only increases the operation difficulty for drivers but also cannot ensure that the vehicle is always in the desired driving state, and is extremely likely to cause a decline in vehicle performance.

[0004] Therefore, based on the existing technology, how to develop an intelligent driving mode switching control method that can reduce the dependence on drivers and ensure the performance of the vehicle as a whole has become a difficult problem that needs to be solved urgently. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems of excessive dependence on driver operation and reduction of the overall vehicle performance in the existing driving mode switching. It can not only effectively avoid the driver's perception of changes in road conditions and the need to reserve necessary professional knowledge, but also simplify the driver's operation, and can also improve the overall vehicle performance, the level of vehicle automated driving, the user experience, and the market competitiveness.

[0006] To achieve the above object, it is necessary to provide a method, a system, a computer device, and a storage medium for switching driving modes in view of the above technical problems.

[0007] In a first aspect, an embodiment of the present invention provides a method for switching driving modes, and the method includes the following steps:

[0008] Obtain environmental information and vehicle information in real time; the environmental information includes road information and road condition information; the vehicle information includes driving operation inputs and vehicle driving states;

[0009] Process the environmental information and the vehicle information into corresponding environmental signals and vehicle signals respectively; the environmental signals include road signals and road condition signals; the vehicle signals include driving intention signals and vehicle driving state signals;

[0010] Perform matching analysis based on the environmental signals and the vehicle signals to obtain the desired driving mode;

[0011] Switch the driving mode of the vehicle to the desired driving mode.

[0012] Further, the step of obtaining environmental information and vehicle information in real time includes:

[0013] Obtain the road information through a camera and a radar; the road information includes road images;

[0014] Obtain the driving operation inputs through a sensor hard wire or a CAN signal; the driving operation inputs include steering wheel inputs, throttle inputs, and brake inputs;

[0015] Obtain the vehicle driving state through a CAN signal; the vehicle driving state includes engine speed, engine torque, and engine acceleration;

[0016] Obtain the road condition information through an in-vehicle map or navigation; the road condition information includes the number of vehicles driving on the previous section of the road and the driving speed of vehicles on the previous section of the road.

[0017] Further, the step of processing the environmental information and the vehicle information into corresponding environmental signals and vehicle signals respectively includes:

[0018] Convert the road information into the road signal according to the road image; the road signals include good road surface, potholed road surface, snow, sand, and mud;

[0019] Convert the driving operation inputs into the driving intention signals according to the steering wheel inputs, the throttle inputs, and the brake inputs; the driving intention signals include gentle driving, moderate driving, and aggressive driving;

[0020] Convert the vehicle driving state into the vehicle driving state signal according to the engine speed, the engine torque, and the engine acceleration; the vehicle driving state signals include driving at medium to high speed, driving normally at medium to low speed, and driving aggressively at medium to low speed;

[0021] Convert the road condition information into the road condition signal according to the number of vehicles driving on the previous section of the road and the driving speed of the vehicles on the previous section of the road; the road condition signal includes good road conditions, normal road conditions, and congested road conditions.

[0022] Further, the step of performing matching analysis on the environmental signal and the vehicle signal to obtain the desired driving mode includes:

[0023] Pre-configure the desired operating mode corresponding to each actuator according to the classification combination result of the environmental signal and the vehicle signal; the number of types of the desired operating mode is the same as the number of types of the actuator;

[0024] Compare the actual combination result of the environmental signal and the vehicle signal with the classification combination result, and find the desired operating mode of each corresponding actuator;

[0025] Generate a mode instruction corresponding to the desired operating mode, and send the mode instruction to the corresponding actuator.

[0026] Further, the actuator includes an engine actuator, a transmission actuator, a four-wheel drive actuator, a steering actuator, a braking actuator, and a suspension actuator; the desired operating mode includes an engine desired mode, a transmission desired mode, a four-wheel drive desired mode, a steering desired mode, a braking desired mode, and a suspension desired mode.

[0027] Further, the step of switching the vehicle driving mode to the desired driving mode includes:

[0028] The actuator synchronously executes the desired operating mode according to the mode instruction.

[0029] In a second aspect, an embodiment of the present invention provides a driving mode switching system, and the system includes:

[0030] An information acquisition module, configured to acquire environmental information and vehicle information in real time; the environmental information includes road information and road condition information; the vehicle information includes driving operation inputs and vehicle driving states;

[0031] A signal conversion module, configured to process the environmental information and the vehicle information into corresponding environmental signals and vehicle signals respectively; the environmental signal includes a road signal and a road condition signal; the vehicle signal includes a driving intention signal and a vehicle driving state signal;

[0032] A mode calculation module, configured to perform matching analysis on the environmental signal and the vehicle signal to obtain a desired driving mode;

[0033] A mode switching module, configured to switch the driving mode of the vehicle to the desired driving mode.

[0034] Furthermore, the information acquisition module includes:

[0035] The first data module is used to acquire the road information through a camera and a radar; the road information includes road images;

[0036] The second data module is used to acquire the driving operation input through a sensor hard wire or a CAN signal; the driving operation input includes steering wheel input, throttle input, and brake input;

[0037] The third data module is used to acquire the vehicle driving state through a CAN signal; the vehicle driving state includes engine speed, engine torque, and engine acceleration;

[0038] The fourth data module is used to acquire the road condition information through an in-vehicle map or navigation; the road condition information includes the number of vehicles driving on the previous section of the road and the driving speed of vehicles on the previous section of the road.

[0039] Furthermore, the signal conversion module includes:

[0040] The first processing module is used to convert the road information into the road signal according to the road image; the road signal includes good road surface, potholed road surface, snow, sand, and mud;

[0041] The second processing module is used to convert the driving operation input into the driving intention signal according to the steering wheel input, the throttle input, and the brake input; the driving intention signal includes gentle driving, moderate driving, and aggressive driving;

[0042] The third processing module is used to convert the vehicle driving state into the vehicle driving state signal according to the engine speed, the engine torque, and the engine acceleration; the vehicle driving state signal includes medium-high speed driving, medium-low speed normal driving, and medium-low speed aggressive driving;

[0043] The fourth processing module is used to convert the road condition information into the road condition signal according to the number of vehicles driving on the previous section of the road and the driving speed of vehicles on the previous section of the road; the road condition signal includes good road condition, normal road condition, and congested road condition.

[0044] Furthermore, the mode calculation module includes:

[0045] The mode configuration module is used to pre-configure the expected operation modes corresponding to each actuator according to the classification and combination results of the environmental signal and the vehicle signal; the number of types of the expected operation modes is the same as the number of types of the actuators;

[0046] A mode analysis module, configured to compare the actual combination result of the environment signal and the vehicle signal with the classified combination result, and find the expected operating mode of each corresponding actuator;

[0047] An instruction sending module, configured to generate a mode instruction corresponding to the expected operating mode, and send the mode instruction to the corresponding actuator.

[0048] In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0049] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0050] The present application provides a method, a system, a computer device, and a storage medium for switching a driving mode. Through the method, road information is obtained through a camera and a radar, driving operation inputs are obtained through a sensor hard wire or a CAN signal, a vehicle driving state is obtained through a CAN signal, and road condition information is obtained through an in-vehicle map or a navigation. Then, the obtained road information, driving operation inputs, vehicle driving state, and road condition information are converted into corresponding road signals, driving intention signals, vehicle driving state signals, and road condition signals, and the above various signals are comprehensively analyzed, matched with a pre-configured signal classification combination result, the expected driving mode of the current vehicle driving is calculated, and each actuator is notified through a mode instruction to synchronously perform a corresponding mode switch, so that the entire vehicle is switched to the expected driving mode. Compared with the prior art, when applied to the actual scenario of automatic switching of a vehicle driving mode, by analyzing and processing real-time monitored road information, driver operations, vehicle driving state information, and real-time road condition information to obtain the expected driving mode of the vehicle and perform intelligent switching, the entire vehicle can maintain the best state under different roads, different road conditions, different driving styles, and different vehicle driving states, which not only effectively avoids the driver's perception of changes in the road condition environment and the reserve of necessary professional knowledge, but also simplifies the driver's cumbersome operations, and further improves the overall performance of the vehicle, the level of vehicle automated driving, the user experience, and the market competitiveness. Description of the Drawings

[0051] Figure 1 is a flowchart of a method for switching a driving mode;

[0052] Figure 2 is Figure 1 a flowchart of step S11 for real-time obtaining of environment information and vehicle information;

[0053] Figure 3 is Figure 1 A schematic flowchart of converting environmental information and vehicle information into environmental signals and vehicle signals in step S12 of

[0054] Figure 4 is Figure 1 A schematic flowchart of calculating an expected driving mode based on environmental signals and vehicle signals in step S13 of

[0055] Figure 5 A schematic structural diagram of a driving mode switching system in an embodiment of the present invention;

[0056] Figure 6 is Figure 5 A schematic structural diagram of the information acquisition module 1 in

[0057] Figure 7 is Figure 5 A schematic structural diagram of the signal conversion module 2 in

[0058] Figure 8 is Figure 5 A schematic structural diagram of the mode calculation module 3 in

[0059] Figure 9 An internal structure diagram of a computer device in an embodiment of the present invention. Detailed implementation manners

[0060] In order to make the objectives, technical solutions and beneficial effects of the present application clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the following described embodiments are part of the embodiments of the present invention and are only used to illustrate the present invention, but not to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0061] The method for switching driving modes provided by the present invention is an improvement based on the existing vehicle driving mode switching methods. That is, by disassembling the real vehicle driving scenarios in a multi-dimensional, comprehensive, reasonable and detailed manner, and configuring reasonable and effective driving modes correspondingly, during the vehicle driving process, key information directly affecting vehicle driving, such as road information, driving operation inputs, vehicle driving states and real-time road conditions, is comprehensively analyzed, and the expected driving mode of the vehicle in the actual scenario is calculated. Then, the expected driving mode is decomposed to obtain the expected operation modes corresponding to each actuator, and the operation modes of each actuator are synchronously switched to cooperate to achieve the real-time intelligent switching of the vehicle driving mode. Based on the accurate identification of driving scenarios, it well ensures that the whole vehicle maintains the best driving state under various road conditions, driving styles and vehicle driving states, realizes the effective reduction of the driver's annoyance in judging road conditions and the cumbersome operation of switching driving modes, and further improves the overall vehicle performance, vehicle automated driving level, user experience and market competitiveness.

[0062] In one embodiment, as Figure 1 shown, a method for switching driving modes is provided, including the following steps:

[0063] S11. Obtain environmental information and vehicle information in real time; the environmental information includes road information and road condition information; the vehicle information includes driving operation inputs and vehicle driving states;

[0064] Among them, road information, road condition information, driving operation inputs and vehicle driving states are all key factors affecting the switching of vehicle driving modes, and the acquisition methods of their corresponding information can be selected according to the actual configuration of the vehicle. The information acquisition methods adopted in this application are only illustrated by taking a vehicle equipped with a camera, radar, map or navigation, and monitoring the vehicle dynamics state through sensors or CAN bus as an example. As Figure 2 shown, the step S11 of obtaining environmental information and vehicle information in real time includes:

[0065] S111. Obtain the road information through a camera and radar; the road information includes road images;

[0066] Among them, the road image includes the two-dimensional image obtained by the camera and the three-dimensional stereoscopic image obtained by the radar, which is used to distinguish the type of the current driving road. For example, lidar is a visual sensor for perceiving the external environment. A vehicle-mounted 3D lidar generally combines a laser scanner, a global positioning system, and an inertial measurement unit, emits laser beams to detect targets and obtains point cloud data, and can obtain a precise three-dimensional stereoscopic image after imaging processing. The ranging accuracy can reach the centimeter level, and it has the advantages of high precision, fast operation speed, and high efficiency. In this embodiment, the method of combining the camera and the radar to judge the road information can accurately identify the specific conditions of the road, such as whether it is flat, uneven, covered with snow or ice, muddy, or silted, etc., providing an accurate basis for the subsequent intelligent analysis to select an appropriate driving mode. It should be noted that the above description does not exclude the auxiliary judgment based on other factors such as road surface adhesion coefficient and vehicle driving dynamics.

[0067] S112. Identify the driving operation input through a sensor hard wire or a CAN bus; the driving operation input includes a steering wheel input, an accelerator input, and a brake input;

[0068] Among them, the steering wheel input includes the steering wheel rotation angle and the steering wheel rotation speed, the accelerator input includes the accelerator pedal depression speed and the accelerator pedal depression depth, and the brake input includes the brake pedal depression speed and the brake pedal depression depth. The specific acquisition methods of each driving operation input also vary depending on the actual vehicle. For example, the steering wheel rotation angle and the steering wheel rotation speed can be obtained through the steering wheel angle signal or the corresponding sensor, the accelerator pedal depression speed and the accelerator pedal depression depth can be identified and obtained through the accelerator pressure sensor, and the brake input can be identified and obtained through the brake switch, the master cylinder pressure signal, or the brake pedal sensor, etc. During the vehicle driving process, whether there is a driving operation input, and the specific content and magnitude of the driving operation input directly reflect the different driving styles of the driver, show the driving intentions of different drivers, and will directly affect the functions of the braking, power, and steering systems, thereby affecting the driving state and the corresponding stability of the vehicle.

[0069] S113. Obtain the vehicle driving state through a CAN signal; the vehicle driving state includes the engine speed, the engine torque, and the engine acceleration;

[0070] Among them, the vehicle driving state includes but is not limited to the above-mentioned engine speed, engine torque, and engine acceleration. It can adopt existing acquisition methods, such as sensors. In this embodiment, by obtaining the engine speed, torque, and acceleration, the vehicle speed, steering angle, and acceleration in each direction during vehicle driving can be understood in real time, and then the current driving type of the vehicle can be analyzed for the comprehensive analysis of subsequent mode switching.

[0071] S114. Obtain the road condition information through the in-vehicle map or navigation; the road condition information includes the number of vehicles traveling on the previous section of the road and the vehicle traveling speed on the previous section of the road.

[0072] Among them, the road condition information includes, but is not limited to, the number of vehicles traveling on the previous section of the road and the vehicle traveling speed on the previous section of the road as mentioned above. These are matters that drivers must pay attention to on the way of traveling, which directly affect the driving of the vehicle and can be used to predict whether the current vehicle driving state is appropriate and whether timely adjustment is needed, etc.

[0073] In this embodiment, the method of using basic in-vehicle configurations to accurately obtain key information affecting vehicle driving in real time is not only simple and convenient, but also provides a relatively comprehensive basis for subsequent comprehensive analysis of the expected driving mode of the vehicle, and also provides a strong guarantee for the rationality of the finally determined expected driving mode.

[0074] S12. Process the environmental information and the vehicle information into corresponding environmental signals and vehicle signals respectively; the environmental signals include road signals and road condition signals; the vehicle signals include driving intention signals and vehicle driving state signals;

[0075] Among them, the road signals and road condition signals correspond to the road information and road condition information respectively, and the driving intention signals and vehicle driving state signals correspond to the driving operation inputs and vehicle driving states respectively. The methods of converting the collected road information, road condition information, driving operation inputs and vehicle driving states into corresponding road signals, road condition signals, driving intention signals and vehicle driving state signals can be selected according to the actual situation. In this embodiment, as Figure 3 shown, step S12 of processing the environmental information and the vehicle information into corresponding environmental signals and vehicle signals respectively includes:

[0076] S121. Convert the road information into the road signal according to the road image; the road signals include good road surface, potholed road surface, snow, sand and mud.

[0077] Among them, as shown in Table 1, the criteria for determining the corresponding road signals according to the road image are: if the current road image shows a good paved road surface with excellent road conditions, such as highways, etc., the corresponding road signal is determined as a good road surface; if the current road image shows a potholed hard base road surface with unevenness, such as a long-neglected paved road surface, the corresponding road signal is determined as a potholed road surface; if the current road image shows a snow-covered (or icy) road surface, the corresponding road signal is determined as snow; if the current road image shows a sand-covered road surface (generally with a depth exceeding 5 cm), the corresponding road signal is determined as sand; if the current road image shows a muddy (generally with a depth exceeding 3 cm) and slippery road surface, the corresponding road signal is determined as mud.

[0078] Table 1 Reference Criteria Table for Converting Road Information into Road Signals

[0079]

[0080] S122. Convert the driving operation input into the driving intention signal according to the steering wheel input, the throttle input, and the brake input; the driving intention signal includes gentle driving, moderate driving, and aggressive driving;

[0081] Among them, as shown in Table 2, the criteria for determining the corresponding driving intention signal (which can also be understood as the driving style of the driver) according to the steering wheel input, the throttle input, and the brake input are as follows: if the steering wheel rotation speed and the steering wheel rotation angle, the throttle pedal depression speed and the throttle pedal depression depth, and the brake pedal depression speed and the brake pedal depression depth are all relatively slow and gentle, then determine the driving intention signal as gentle driving; if the steering wheel rotation speed and the steering wheel rotation angle, the throttle pedal depression speed and the throttle pedal depression depth, and the brake pedal depression speed and the brake pedal depression depth are all neutral, then determine the driving intention signal as moderate driving; if the steering wheel rotation speed and the steering wheel rotation angle, the throttle pedal depression speed and the throttle pedal depression depth, and the brake pedal depression speed and the brake pedal depression depth are all relatively aggressive, then determine the driving intention signal as aggressive driving.

[0082] Table 2 Reference Criteria Table for Converting Driving Operation Input into Driving Intention Signals

[0083]

[0084] S123. Convert the vehicle driving state into the vehicle driving state signal according to the engine speed, the engine torque, and the engine acceleration; the vehicle driving state signal includes medium-high speed driving, medium-low speed normal driving, and medium-low speed aggressive driving;

[0085] Among them, the engine speed, the engine torque, and the engine acceleration represent the vehicle speed, the steering magnitude, and the magnitude of each acceleration respectively. As shown in Table 3, the criteria for determining the corresponding vehicle driving state signal according to the engine speed, the engine torque, and the engine acceleration are as follows: if the vehicle driving speed is high, the steering is small, and each acceleration is small, then determine the vehicle driving state signal as medium-high speed driving; if the vehicle driving speed is not high, the steering is moderate, and each acceleration is moderate, then determine the vehicle driving state signal as medium-low speed normal driving; if the vehicle driving speed is not high, the steering is large, and each acceleration is large, then determine the vehicle driving state signal as medium-low speed aggressive driving.

[0086] Table 3 Reference Criteria Table for Converting Vehicle Driving State into Vehicle Driving State Signals

[0087] Vehicle driving state signal Vehicle driving state Criterion for converting vehicle driving state to vehicle driving state signal Vehicle_1 Driving at medium to high speed The vehicle has a relatively high driving speed, small steering, and small accelerations in all directions Vehicle_2 Driving normally at medium to low speed The vehicle has a moderate driving speed, moderate steering, and moderate accelerations in all directions Vehicle_3 Driving aggressively at medium to low speed The vehicle has a relatively low driving speed, large steering, and large accelerations in all directions

[0088] S124. Convert the road condition information into the road condition signal according to the number of vehicles traveling on the previous section of the road and the traveling speed of the vehicles on the previous section of the road; the road condition signal includes good road condition, normal road condition, and congested road condition.

[0089] Among them, the number of vehicles traveling on the previous section of the road and the traveling speed of the vehicles on the previous section of the road can well show the quality of the road condition. As shown in Table 4, according to the number of vehicles traveling on the previous section of the road and the traveling speed of the vehicles on the previous section of the road, the criterion for determining the corresponding road condition signal is: if the number of vehicles traveling on the front-end road condition is small and the vehicle speed is high, determine the road condition signal as good road condition; if the number of vehicles traveling on the front-end road condition is moderate and the vehicle speed is medium-high, then determine the road condition signal as congested road condition.

[0090] Table 4 Reference criterion table for converting road condition information into road condition signal

[0091]

[0092]

[0093] In this embodiment, by selecting appropriate data indicators for the collected road information, road condition information, driving operation input, vehicle driving state and other information, and performing reasonable analysis and processing, it is converted into corresponding road signals, road condition signals, driving intention signals and vehicle driving state signals. Its simple and effective method of converting uncertain information into quantitative information provides great convenience for subsequent pattern analysis and recognition. It should be noted that the specific classification of road signals, driving intention signals, vehicle driving state signals and road condition signals can be re-divided or further refined according to actual situations and application requirements, which will not affect the implementation of the technical solution concept.

[0094] S13. Perform matching analysis according to the environmental signal and the vehicle signal to obtain the expected driving mode;

[0095] Among them, the expected driving mode of the vehicle is obtained through comprehensive analysis of the environmental signal and the vehicle signal (i.e., road signal, driving intention signal, vehicle driving state signal and road condition signal), as Figure 4 shown, the step S13 of performing matching analysis according to the environmental signal and the vehicle signal to obtain the expected driving mode includes:

[0096] S131. Pre-configure the expected operating mode corresponding to each actuator according to the classification and combination results of the environmental signal and the vehicle signal; the number of types of the expected operating mode is the same as the number of types of the actuator;

[0097] Among them, the classification combination result of the environmental signal and the vehicle signal is determined according to the Cartesian product of different classifications of road signals, driving intention signals, vehicle driving state signals, and road condition signals, ensuring that each combination situation is unique.

[0098] The classification of the actuator and the desired operation mode can be configured according to the requirements of the actual vehicle. In this embodiment, only the following classification is taken as an example for illustration: The actuators include an engine actuator, a transmission actuator, a four-wheel drive actuator, a steering actuator, a brake actuator, and a suspension actuator, and the desired operation modes corresponding to the respective actuators include an engine desired mode, a transmission desired mode, a four-wheel drive desired mode, a steering desired mode, a brake desired mode, and a suspension desired mode.

[0099] S132. Compare the actual combination result of the environmental signal and the vehicle signal with the classification combination result, and find the desired operation modes of the respective actuators corresponding thereto;

[0100] Among them, as shown in Table 5, in this embodiment, according to the possible working condition scenarios in the actual driving process of the vehicle, a plurality of corresponding desired modes are respectively set for the engine desired mode, the transmission desired mode, the four-wheel drive desired mode, the steering desired mode, the brake desired mode, and the suspension desired mode. Among them, the engine desired modes are EMS_1, EMS_2, and EMS_3, the transmission desired modes are TCU_1, TCU_2, TCU_3, and TCU_4, the four-wheel drive desired modes are TMM_1, TMM_2, and TMM_3, the steering desired modes are EPS_1, EPS_2, and EPS_3, the brake desired modes are ESP_1, ESP_2, ESP_3, and ESP_4, and the suspension desired modes are CDC_1, CDC_2, and CDC_3. Specifically, according to the actual combination result of the environmental signal and the vehicle signal described in Tables 1-4, the criteria for determining the desired operation mode of each actuator are as follows:

[0101] When the road signal is in the good state, the driving intention signal is gentle driving, the driving state signal of the driving vehicle is medium-high speed driving, and the road condition signal is good road condition or normal road condition, set the engine desired mode, the transmission desired mode, the four-wheel drive desired mode, the steering desired mode, the brake desired mode, and the suspension desired mode to EMS_1, TCU_1, TMM_1, EPS_2, ESP_1, and CDC_1 respectively;

[0102] When the road signal is in the good state, the driving intention signal is gentle driving, the driving vehicle driving state signal is medium-high speed driving, and the road condition signal is road congestion, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_1, TCU_2, TMM_2, EPS_2, ESP_1, CDC_1 respectively;

[0103] When the road signal is in the good state, the driving intention signal is gentle driving, the driving vehicle driving state signal is medium-low speed normal driving, and the road condition signal is good road condition, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_1, TCU_1, TMM_1, EPS_2, ESP_1, CDC_1 respectively;

[0104] When the road signal is in the good state, the driving intention signal is gentle driving, the driving vehicle driving state signal is medium-low speed normal driving, and the road condition signals are normal road condition and road congestion, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_1, TCU_2, TMM_2, EPS_2, ESP_1, CDC_1 respectively;

[0105] When the road signal is in the good state, the driving intention signal is gentle driving, and the driving vehicle driving state signal is medium-low speed aggressive driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_1, TCU_2, TMM_2, ESP_1, EPS_1, CDC_2 respectively;

[0106] When the road signal is in the good state, the driving intention signal is moderate driving, and the driving vehicle driving state signal is medium-high speed driving or medium-low speed normal driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_2, TMM_2, EPS_2, ESP_1, CDC_1 respectively;

[0107] When the road signal is in the good state, the driving intention signal is the medium driving, and the driving vehicle driving state signal is the medium and low speed aggressive driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_2, TMM_2, ESP_1, EPS_1, CDC_2 respectively;

[0108] When the road signal is in the good state, the driving intention signal is the aggressive driving, the driving vehicle driving state signal is the medium and high speed driving, and the road condition signal is the good road condition, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_3, TCU_4, TMM_3, EPS_3, ESP_1, CDC_1 respectively;

[0109] When the road signal is in the good state, the driving intention signal is the aggressive driving, the driving vehicle driving state signal is the medium and high speed driving, and the road condition signal is the normal road condition, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_4, TMM_2, EPS_2, ESP_1, CDC_1 respectively;

[0110] When the road signal is in the good state, the driving intention signal is the aggressive driving, the driving vehicle driving state signal is the medium and high speed driving, and the road condition signal is the congested road condition, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_2, TMM_2, EPS_2, ESP_1, CDC_1 respectively;

[0111] When the road signal is in the good state, the driving intention signal is the aggressive driving, and the driving vehicle driving state signal is the medium and low speed normal driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_2, TMM_2, EPS_2, ESP_1, CDC_1 respectively;

[0112] When the road signal is in the good state, the driving intention signal is aggressive driving, and the driving state signal of the moving vehicle is medium / low-speed aggressive driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_3, TCU_4, TMM_3, EPS_1, ESP_1, CDC_1 respectively;

[0113] When the road signal is a potholed road surface and the driving intention signal is gentle driving or medium driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_2, TMM_2, EPS_2, ESP_1, CDC_2 respectively;

[0114] When the road signal is a potholed road surface, the driving intention signal is aggressive driving, and the driving state signal of the moving vehicle is high-speed driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_2, TMM_3, EPS_3, ESP_1, CDC_3 respectively;

[0115] When the road signal is a potholed road surface, the driving intention signal is aggressive driving, and the driving state signal of the moving vehicle is medium / low-speed normal driving or medium / low-speed aggressive driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_3, TCU_4, TMM_3, EPS_2, ESP_1, CDC_3 respectively;

[0116] When the road signal is snow and the driving intention signal is gentle driving or medium driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_1, TCU_3, TMM_2, EPS_2, ESP_2, CDC_2 respectively;

[0117] When the road signal is snow and the driving intention signal is aggressive driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_3, TMM_3, EPS_3, ESP_2, CDC_3 respectively;

[0118] When the road signal is the sandy land, and the driving intention signal is gentle driving or moderate driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_4, TMM_3, EPS_2, ESP_3, CDC_3 respectively;

[0119] When the road signal is the sandy land, and the driving intention signal is aggressive driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_3, TCU_4, TMM_3, EPS_2, ESP_3, CDC_3 respectively;

[0120] When the road signal is the muddy land, and the driving intention signal is gentle driving or moderate driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_2, TCU_4, TMM_3, EPS_2, ESP_4, CDC_3 respectively;

[0121] When the road signal is the muddy land, and the driving intention signal is aggressive driving, set the engine desired mode, transmission desired mode, four-wheel drive desired mode, steering desired mode, braking desired mode, and suspension desired mode to EMS_3, TCU_4, TMM_3, EPS_2, ESP_4, CDC_3 respectively.

[0122] Table 5 Table of the desired operating modes of each actuator corresponding to each combination of environmental signals and vehicle signals

[0123]

[0124] Table 5 Explanation: The road signal, driving intention signal, driving state signal, and real-time road condition signal in the table refer to Tables 1-4.

[0125] S133. Generate a mode command corresponding to the desired operating mode, and send the mode command to the corresponding actuator.

[0126] In this example, the actual vehicle driving scenarios are comprehensively and meticulously disassembled in advance according to the different classification combinations of road information, road conditions information, driving operation inputs, and vehicle driving states, and the expected operation modes of the corresponding actuators are configured. During the actual driving process of the vehicle, the road information, road conditions information, driving operation inputs, and vehicle driving states collected in real time are converted into corresponding signals and then comprehensively analyzed to obtain the actual combination result, which is compared with the pre-configured classification combination result to determine the expected operation modes of the corresponding actuators under the corresponding combination, and generate corresponding mode instructions to be sent to the corresponding actuators for subsequent mode switching. This technical solution comprehensively analyzes the possible scenarios faced by vehicle driving, designs corresponding driving modes without omission, truly achieves intelligent sensing of vehicle driving modes, effectively reduces the driver's perception of road condition changes and the need for reserve of necessary professional knowledge, and further improves the vehicle's automated driving level while enhancing the user experience.

[0127] S14. Switch the driving mode of the vehicle to the expected driving mode.

[0128] Among them, the driving mode of the vehicle can be disassembled into the operation modes of each actuator on the vehicle. After the expected driving mode obtained by comprehensive analysis is disassembled into the expected operation modes corresponding to each actuator and sent to each actuator in the form of mode instructions, each actuator will execute the corresponding expected operation mode synchronously according to the corresponding mode instructions to achieve the effect of switching the driving mode of the vehicle to the expected driving mode. It should be noted that when each actuator switches to the corresponding expected operation mode, there will be corresponding feedback on whether the switch is successful, and corresponding prompt information will be given according to the corresponding mode switching result.

[0129] In this embodiment, key vehicle driving information such as road information, driver operations, vehicle driving state information, and real-time road conditions information is monitored in real time, and the collected road information, road conditions information, driving operation inputs, and vehicle driving states are combined after being converted into corresponding signals. The obtained actual combination result is matched with the pre-configured classification combination result to determine the expected operation modes of the corresponding actuators under this combination, and generate corresponding mode instructions to be sent to the corresponding actuators to synchronously complete the switching of the engine expected mode, transmission expected mode, four-wheel drive expected mode, steering expected mode, braking expected mode, and suspension expected mode, so as to ensure the intelligent switching of the vehicle's overall expected driving mode. Based on the accurate collection and identification of relevant information, this technical solution comprehensively and reasonably analyzes and disassembles the vehicle driving scenarios to correspond to specific and effective driving modes, which not only effectively avoids the driver's perception of road condition changes and the reserve of necessary professional knowledge, simplifies the driver's operations, but also improves the overall vehicle performance, vehicle automated driving level, user experience, and further enhances the market competitiveness of the product.

[0130] It should be noted that although the steps in the above flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0131] In one embodiment, as Figure 5 shown, a driving mode switching system is provided, and the system includes:

[0132] An information acquisition module 1 for real-time acquisition of environmental information and vehicle information; the environmental information includes road information and road condition information; the vehicle information includes driving operation inputs and vehicle driving states;

[0133] A signal conversion module 2 for respectively processing the environmental information and the vehicle information into corresponding environmental signals and vehicle signals; the environmental signals include road signals and road condition signals; the vehicle signals include driving intention signals and vehicle driving state signals;

[0134] A mode calculation module 3 for performing matching analysis based on the environmental signals and the vehicle signals to obtain a desired driving mode;

[0135] A mode switching module 4 for switching the driving mode of the vehicle to the desired driving mode.

[0136] In one embodiment, as Figure 6 shown, the information acquisition module 1 includes:

[0137] A first data module 11 for acquiring the road information through a camera and a radar; the road information includes road images;

[0138] A second data module 12 for acquiring the driving operation inputs through a sensor hard wire or a CAN signal; the driving operation inputs include steering wheel inputs, throttle inputs, and brake inputs;

[0139] A third data module 13 for acquiring the vehicle driving state through a CAN signal; the vehicle driving state includes engine speed, engine torque, and engine acceleration;

[0140] The fourth data module 14 is used to obtain the road condition information through the in-vehicle map or navigation; the road condition information includes the number of vehicles traveling on the previous section of the road and the vehicle speed on the previous section of the road.

[0141] In one embodiment, as Figure 7 shown, the signal conversion module 2 includes:

[0142] The first processing module 21 is used to convert the road information into the road signal according to the road image; the road signal includes good road surface, potholed road surface, snow, sand and mud;

[0143] The second processing module 22 is used to convert the driving operation input into the driving intention signal according to the steering wheel input, the throttle input and the brake input; the driving intention signal includes gentle driving, moderate driving and aggressive driving;

[0144] The third processing module 23 is used to convert the vehicle driving state into the vehicle driving state signal according to the engine speed, the engine torque and the engine acceleration; the vehicle driving state signal includes medium-high speed driving, medium-low speed normal driving and medium-low speed aggressive driving;

[0145] The fourth processing module 24 is used to convert the road condition information into the road condition signal according to the number of vehicles traveling on the previous section of the road and the vehicle speed on the previous section of the road; the road condition signal includes good road condition, normal road condition and congested road condition.

[0146] In one embodiment, as Figure 8 shown, the mode calculation module 3 includes:

[0147] The mode configuration module 31 is used to pre-configure the expected operation modes corresponding to the respective actuators according to the classification combination result of the environment signal and the vehicle signal; the number of types of the expected operation modes is the same as the number of types of the actuators;

[0148] The mode analysis module 32 is used to compare the actual combination result of the environment signal and the vehicle signal with the classification combination result, and find the expected operation modes of the respective corresponding actuators;

[0149] The instruction sending module 33 is used to generate a mode instruction corresponding to the expected operation mode, and send the mode instruction to the corresponding actuator.

[0150] For the specific limitations of the driving mode switching system, reference may be made to the limitations of the method for switching the driving mode in the foregoing text, which will not be elaborated herein. Each module in the above driving mode switching system can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0151] Figure 9 FIG. shows the internal structure diagram of a computer device in an embodiment. The computer device may specifically be a terminal or a server. As Figure 9 shown, the computer device includes a processor, a memory, a network interface, a display, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a method for switching the driving mode. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0152] Those of ordinary skill in the art can understand that Figure 9 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computing device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0153] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0154] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps of the above method are implemented.

[0155] In summary, a method, a system, a computer device, and a storage medium for switching driving modes provided by embodiments of the present invention provide a technical solution for intelligently switching the desired driving mode of the entire vehicle. By pre-configuring the desired operating modes corresponding to each actuator of the vehicle according to different classification combinations of road information, driver operations, vehicle driving states, and road conditions, after converting the key vehicle driving information such as real-time collected road information, driver operations, vehicle driving state information, and real-time road condition information into corresponding signals, comprehensive analysis is performed to obtain the actual combination result, and it is matched with the pre-configured classification combination result to determine the desired operating mode corresponding to each actuator in this combination, and a corresponding mode instruction is generated and sent to the corresponding actuator to synchronously complete the switching of the corresponding desired operating mode. On the basis of realizing the accurate collection and recognition of relevant information, the driving scenarios of the vehicle are comprehensively and reasonably analyzed and disassembled, and corresponding specific and effective driving modes are configured for different scenarios. This not only effectively avoids the driver's perception of changes in road conditions and the need to reserve necessary professional knowledge, but also simplifies the driver's operations, improves the overall vehicle performance, the vehicle's automated driving level, and the user experience, and further enhances the market competitiveness of the product.

[0156] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments.

[0157] Each embodiment in this specification is described in a progressive manner. For parts that are the same or similar in each embodiment, they can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the system, computer device, and storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0158] The above-described embodiments only represent several preferred embodiments of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art of this technology, without departing from the technical principle of the present invention, several improvements and replacements can still be made, and these improvements and replacements should also be regarded as the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the protection scope of the claims.

Claims

1. A method for switching driving modes, characterized in that, The method includes the following steps: Obtain environmental information and vehicle information in real time; the environmental information includes road information and road condition information; the vehicle information includes driving operation inputs and vehicle driving states; the road information includes road images; the road condition information includes the number of vehicles driving on the previous section of the road and the driving speed of vehicles on the previous section of the road; the driving operation inputs include steering wheel inputs, throttle inputs, and brake inputs; the vehicle driving states include engine speed, engine torque, and engine acceleration; Process the environmental information and the vehicle information into corresponding environmental signals and vehicle signals respectively; the environmental signals include road signals and road condition signals; the vehicle signals include driving intention signals and vehicle driving state signals; Perform matching analysis on the expected operating modes corresponding to each actuator according to the environmental signals and the vehicle signals to obtain an expected driving mode; Switch the driving mode of the vehicle to the expected driving mode; Among them, the step of performing matching analysis according to the environmental signals and the vehicle signals to obtain an expected driving mode includes: Pre-configure the expected operating modes corresponding to each actuator according to the classification and combination results of the environmental signals and the vehicle signals; the number of types of the expected operating modes is the same as the number of types of the actuators; Compare the actual combination results of the environmental signals and the vehicle signals with the classification and combination results, and search for the expected operating modes of each corresponding actuator; Generate a mode instruction corresponding to the expected operating mode according to the expected operating mode, and send the mode instruction to the corresponding actuator.

2. The method for switching driving modes according to claim 1, wherein, The step of obtaining environmental information and vehicle information in real time includes: Obtain the road information through a camera and a radar; Obtain the driving operation inputs through a sensor hard wire or a CAN signal; Obtain the vehicle driving state through a CAN signal; Obtain the road condition information through an in-vehicle map or navigation.

3. The method for switching driving modes according to claim 1, wherein, The step of processing the environmental information and the vehicle information into corresponding environmental signals and vehicle signals respectively includes: Convert the road information into the road signal according to the road image; the road signal includes good road surface, potholed road surface, snow, sand, and mud; Convert the driving operation inputs into the driving intention signals according to the steering wheel inputs, the throttle inputs, and the brake inputs; the driving intention signals include gentle driving, moderate driving, and aggressive driving; Convert the vehicle driving state into the vehicle driving state signal according to the engine speed, the engine torque, and the engine acceleration; the vehicle driving state signal includes medium-high speed driving, medium-low speed normal driving, and medium-low speed aggressive driving; Convert the road condition information into the road condition signal according to the number of vehicles driving on the previous section of the road and the driving speed of vehicles on the previous section of the road; the road condition signal includes good road condition, normal road condition, and congested road condition.

4. The method for switching driving modes according to claim 1, wherein The actuators at least include an engine actuator, a transmission actuator, a four-wheel drive actuator, a steering actuator, a brake actuator, and a suspension actuator.

5. The method for switching driving modes according to claim 1, wherein, The step of switching the vehicle driving mode to the expected driving mode includes: The actuator synchronously executes the desired operation mode according to the mode instruction.

6. A driving mode switching system, characterized in that, The system includes: An information acquisition module for acquiring environmental information and vehicle information in real time; the environmental information includes road information and road condition information; the vehicle information includes driving operation inputs and vehicle driving states; the road information includes road images; the driving operation inputs include steering wheel inputs, throttle inputs, and braking inputs; the vehicle driving states include engine speed, engine torque, and engine acceleration; the road condition information includes the number of vehicles traveling on the previous section of the road and the vehicle traveling speed on the previous section of the road; A signal conversion module for respectively processing the environmental information and the vehicle information into corresponding environmental signals and vehicle signals; the environmental signals include road signals and road condition signals; the vehicle signals include driving intention signals and vehicle driving state signals; A mode calculation module for performing matching analysis of the desired operation modes corresponding to each actuator according to the environmental signals and the vehicle signals to obtain a desired driving mode; A mode switching module for switching the driving mode of the vehicle to the desired driving mode; Among them, the mode calculation module includes: A mode configuration module for pre-configuring the desired operation modes corresponding to each actuator according to the classification and combination results of the environmental signals and the vehicle signals; the number of types of the desired operation modes is the same as the number of types of the actuators; A mode analysis module for comparing the actual combination results of the environmental signals and the vehicle signals with the classification and combination results and finding the desired operation modes of the corresponding actuators; An instruction sending module for generating a mode instruction corresponding to the desired operation mode and sending the mode instruction to the corresponding actuator.

7. The switching driving mode system according to claim 6, wherein The information acquisition module includes: A first data module for acquiring the road information through a camera and a radar; A second data module for acquiring the driving operation inputs through a sensor hard wire or a CAN signal; A third data module for acquiring the vehicle driving states through a CAN signal; A fourth data module for acquiring the road condition information through an in-vehicle map or navigation.

8. The switching driving mode system according to claim 6, wherein The signal conversion module includes: A first processing module for converting the road information into the road signal according to the road image; the road signal includes good road surface, potholed road surface, snow, sand, and mud; A second processing module for converting the driving operation inputs into the driving intention signals according to the steering wheel inputs, the throttle inputs, and the braking inputs; the driving intention signals include gentle driving, moderate driving, and aggressive driving; A third processing module for converting the vehicle driving states into the vehicle driving state signals according to the engine speed, the engine torque, and the engine acceleration; the vehicle driving state signals include medium-high speed driving, medium-low speed normal driving, and medium-low speed aggressive driving; A fourth processing module, configured to convert the road condition information into the road condition signal according to the number of vehicles traveling on the previous section of the road and the traveling speed of the vehicles on the previous section of the road; the road condition signal includes good road conditions, normal road conditions, and congested road conditions.

9. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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