Working condition switching control method and working condition switching control device for vehicle

Abstract

The application discloses a working condition switching control method and a working condition switching control device for a vehicle. The working condition switching control method comprises the following steps: when the vehicle is in an intelligent driving mode, in response to a traction pedal of the vehicle being triggered, if the traction pedal reaches a traction level greater than a first traction level threshold within a time less than a first time threshold, it is determined that the traction pedal is triggered by mistake, and braking is performed on the vehicle based on a brake level corresponding to the traction level at which the traction pedal is currently triggered; and the braking performed at the brake level is maintained for a keep state reservation time, in response to the traction pedal of the vehicle being triggered, if the traction pedal reaches a traction level greater than the first traction level threshold within a time greater than a second time threshold, it is determined that the traction pedal is triggered correctly, traction is performed on the vehicle based on the traction level at which the traction pedal is currently triggered, and the intelligent driving mode is switched to a hot standby mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of working condition switching control for vehicles, and in particular to a working condition switching control method and working condition switching control device for vehicles. BACKGROUND

[0002] The existing technology, the electric car includes the tramcar and the trolleybus. The trolleybus develops more rapidly in recent years. The highest speed of the trolleybus design is 70 kilometers, adopts the high-speed rail flexible marshalling, utilizes the virtual track following control technology to run on the established virtual track, has the zero emission, pollution-free characteristics of light rail, subway and other rail cars, and supports multiple power supply modes. The electric car is three-module marshalling, and the marshalling form is two-motor one-trailer: =Mc1+TP+Mc2=. The whole vehicle has 6 axles and 12 wheels. The electric car has large passenger capacity, so how to improve the intelligent degree of the electric car and maximize the safety of the electric car operation is particularly important.

[0003] Nowadays, the intelligent driving of the electric car in the vehicle has become an inevitable trend of its development. In the intelligent driving mode, how to safely switch between the manual driving mode and the intelligent driving mode, and how to automatically identify the driver's wrong operation in the emergency situation when the manual driving takes over, to avoid unnecessary safety hazards and losses, to improve the intelligent and safety performance of the electric car operation, has become a problem to be solved in the existing technology.

[0004] In summary, in order to solve the above problems existing in the prior art, the technical field urgently needs a working condition switching control technology for vehicles, which can comprehensively consider the manual driving intention and the intelligent driving strategy when the vehicle is in the intelligent driving mode, safely perform the traction, braking working condition switching control strategy, avoid the problem of abnormal acceleration of the vehicle caused by the driver's mispressing the traction pedal, and effectively improve the operation efficiency and safety performance. SUMMARY

[0005] The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

[0006] To solve the above problems existing in the prior art, one aspect of the present application provides a working condition switching control method for a vehicle, comprising: when the vehicle is in an intelligent driving mode, in response to a traction pedal of the vehicle being triggered, if the traction pedal reaches a traction level greater than a first traction level threshold within a time less than a first time threshold, it is determined that the traction pedal is triggered by mistake, no traction operation is performed, and braking is performed on the vehicle based on a brake level corresponding to the traction level at which the traction pedal is currently triggered; and the braking with the brake level is maintained for a keep state reservation time, in response to the traction pedal of the vehicle being triggered, if the traction pedal reaches a traction level greater than the first traction level threshold within a time greater than a second time threshold, it is determined that the traction pedal is triggered correctly, traction is performed on the vehicle based on the traction level at which the traction pedal is currently triggered, and the intelligent driving mode is switched to a hot standby mode, wherein the second time threshold is greater than or equal to the first time threshold.

[0007] In an embodiment, the first traction level threshold in the working condition switching control method is greater than or equal to 70%.

[0008] In an embodiment, the second time threshold in the working condition switching control method is greater than the first time threshold.

[0009] In an embodiment, the working condition switching control method further comprises: when the vehicle is in the intelligent driving mode, in response to a brake pedal of the vehicle being triggered, within a brake period after the brake pedal is triggered, braking is performed on the vehicle based on a larger value between an intelligent driving mode brake level and an artificial brake level triggered by the brake pedal.

[0010] In an embodiment, the working condition switching control method further comprises: if the artificial brake level is less than a brake level threshold or a duration does not exceed the brake period, after the brake period, the braking is released and the intelligent driving mode is maintained.

[0011] In an embodiment, the working condition switching control method further comprises: if the artificial brake level is greater than the brake level threshold and the duration exceeds the brake period, after the brake period, the intelligent driving mode is exited and the vehicle control is taken over by a manual driving mode.

[0012] In an embodiment, the brake period in the working condition switching control method is 2s, and the brake level threshold is 10%.

[0013] In an embodiment, the working condition switching control method further comprises: when the vehicle is in the intelligent driving mode, in response to a vehicle speed being less than a first speed threshold and a duration being greater than a third time threshold, the intelligent driving mode is exited and a first brake level is automatically applied.

[0014] In an embodiment, the first speed threshold in the working condition switching control method is 1 km / h, and the first brake level is 50% brake level.

[0015] In an embodiment, the working condition switching control method further comprises: in response to a brake pedal or a traction pedal of the vehicle being triggered, releasing the application of the first brake level when the first brake level is applied.

[0016] In an embodiment, the working condition switching control method further comprises: when the vehicle is in the manual driving mode, in response to the intelligent driving button being pressed, performing an intelligent driving mode judgment, the intelligent driving mode judgment comprising judging whether the vehicle speed of the vehicle is greater than a second preset speed threshold within a preset time period, and if the intelligent driving mode judgment result is yes, entering the intelligent driving mode, otherwise, keeping the manual driving mode.

[0017] In an embodiment, the working condition switching control method further comprises: if the intelligent driving button is in a pressed state but the vehicle is in the manual driving mode, in response to the intelligent driving button being cancelled and pressed again, performing the intelligent driving mode judgment.

[0018] In an embodiment, in the working condition switching control method, when the vehicle is in the intelligent driving mode, the operation with a later trigger between the manual traction operation and the intelligent driving brake operation has a higher execution priority.

[0019] In order to solve the above problems existing in the prior art, another aspect of the present application provides a working condition switching control device for a vehicle, comprising: a memory; and a processor coupled to the memory to execute the method according to any one of the preceding embodiments.

[0020] In order to solve the above problems existing in the prior art, another aspect of the present application provides a computer readable medium having computer executable instructions stored thereon, the computer executable instructions, when executed by a processor, implementing the working condition switching control method according to any one of the preceding embodiments.

[0021] The present application can safely perform traction and braking working condition switching control strategy by comprehensively considering manual driving intention and intelligent driving strategy when the vehicle is in the intelligent driving mode, avoiding problems such as abnormal acceleration of the vehicle caused by the driver mistakenly stepping on the traction pedal, and effectively improving operation efficiency and safety performance. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above features and advantages of the present application can be better understood by reading the detailed description of embodiments of the present application in conjunction with the following drawings, in which: in the drawings, components are not necessarily drawn to scale and components having similar related functions or features can have the same or similar reference numerals.

[0023] Figure 1 Fig. 1 shows a flowchart of the start and exit strategy of the intelligent driving mode of the working condition switching control method for a vehicle according to an aspect of the present application;

[0024] Figure 2 Fig. 2 shows a flowchart of the intelligent driving mode of the working condition switching control method for a vehicle according to an embodiment of the present application;

[0025] Figure 3 Fig. 3 shows a flowchart of the intelligent driving mode of the working condition switching control method for a vehicle according to another embodiment of the present application;

[0026] Figure 4A 、 4B Fig. 4 shows a flowchart of the intelligent driving mode of the working condition switching control method for a vehicle according to yet another embodiment of the present application; and

[0027] Figure 5 Fig. 5 shows a structural diagram of the working condition switching control device for a vehicle according to another aspect of the present application.

[0028] Reference Signs:

[0029] 500: working condition switching control device for a vehicle;

[0030] 510: memory;

[0031] 520: processor;

[0032] 110-180: steps;

[0033] 210-270: steps;

[0034] 300-390: steps;

[0035] 411-414: steps; and

[0036] 421-424: steps. DETAILED DESCRIPTION

[0037] The advantages and effects of the present application can be easily understood by those skilled in the art from the description of the specific embodiments. Although the description of the present application will be introduced in combination with the preferred embodiments, it does not mean that the features of the present application are limited to the embodiments. On the contrary, the purpose of introducing the present application in combination with the embodiments is to cover other options or modifications that can be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the present application, some specific details will be omitted in the description.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In addition, "up", "down", "left", "right", "top", "bottom", "horizontal", "vertical" used in the following description should be understood as the orientation shown in the section and the related drawings. The relative terms are only for the convenience of description, and they do not mean that the devices described should be manufactured or operated in a particular orientation, so they should not be understood as a limitation on the present application.

[0040] It can be understood that although the terms "first", "second", "third" and the like can be used herein to describe various components, regions, layers and / or parts, these components, regions, layers and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and / or parts. Therefore, the first component, region, layer and / or part discussed below can be referred to as the second component, region, layer and / or part without departing from some embodiments of the present application.

[0041] As described above, in the prior art, the passenger capacity of the electric train is large, so how to improve the intelligent degree of the electric train and maximize the safety of train operation is particularly important. Moreover, today, the intelligent driving of the electric train has become an inevitable trend of its development. In the intelligent driving mode, how to switch between the manual driving mode and the intelligent driving mode more safely, and how to automatically identify the wrong operation of the driver in the emergency situation when the manual driving is taken over, to avoid unnecessary safety hazards and losses, to improve the intelligent and safety performance of train operation, has become a problem to be solved in the prior art.

[0042] In order to solve the above problems in the prior art, the application provides a working condition switching control method and a working condition switching control device for a vehicle, which can comprehensively consider the manual driving intention and the intelligent driving strategy when the vehicle is in an intelligent driving mode, safely perform the traction and braking working condition switching control strategy, avoid the problem of abnormal acceleration of the train caused by the driver's misoperation of the traction pedal, and effectively improve the operation efficiency and safety performance.

[0043] In some non-limiting embodiments, the above-mentioned working condition switching control method for a vehicle provided by the first aspect of the application can be implemented by the above-mentioned working condition switching control device for a vehicle provided by the second aspect of the application. Specifically, the working condition switching control device for a vehicle is configured with a memory and a processor. The memory includes but is not limited to the above-mentioned computer readable storage medium provided by the third aspect of the application, and computer instructions are stored on the computer readable storage medium. The processor is connected to the memory and is configured to execute the computer instructions stored on the memory to implement the above-mentioned working condition switching control method for a vehicle provided by the first aspect of the application.

[0044] The working principle of the working condition switching control device for a vehicle will be described below in combination with some embodiments of the working condition switching control method for a vehicle. It can be understood by those skilled in the art that the embodiments of the working condition switching control method for a vehicle are only some non-limiting embodiments provided by the application, which are intended to clearly demonstrate the main concept of the application and provide some specific schemes for facilitating the public to implement, rather than for limiting the whole working mode and the whole function of the working condition switching control device for a vehicle. Similarly, the working condition switching control device for a vehicle is also only a non-limiting embodiment provided by the application, which does not limit the implementation subject of each step in the working condition switching control method for a vehicle.

[0045] The working condition switching control method for a vehicle provided by the application can be used for a multi-formation vehicle, and can be particularly applied to a multi-formation smart tram. The smart tram currently put into commercial operation has a "two-motor and one-trailer" three-formation structure, and can carry more than 300 passengers. The hinged devices are used between the formations to realize the connection between the formation vehicles.

[0046] The formation form of the three-module formation smart tram is two-motor and one-trailer, that is, Mc1+TP+Mc2=, wherein Mc represents a motor car equipped with a motor bogie and a driver's room, Tp represents a trailer equipped with a trailer bogie and a pantograph, + represents a windproof sealing glue joint structure between units, and = represents two ends of a semi-automatic car coupler (folding type). The smart tram has a total of 6 axles and 12 wheels, has a long car body, and has a large passenger capacity.

[0047] In order to avoid the intelligent driving mode of the electric vehicle being mis-started, and in order to realize that the intelligent driving mode of the electric vehicle can be exited in time when the driver takes over, in some embodiments of the present application, a start and exit strategy of the intelligent driving mode is provided.

[0048] Please refer to Figure 1 , Figure 1 A flowchart of the start and exit strategy of the intelligent driving mode of the working condition switching control method for the vehicle according to an aspect of the present application is shown.

[0049] In some embodiments of the present application, the start strategy of the intelligent driving mode of the working condition switching control method for the vehicle comprises the following steps:

[0050] Step 110: pressing the intelligent driving button.

[0051] There is an intelligent driving button in the control console of the vehicle, which is used to switch between the intelligent driving mode and the manual driving mode of the vehicle. When the vehicle is in the manual driving mode, the driver can press the intelligent driving button to make the vehicle judge whether to enter the intelligent driving mode.

[0052] Step 120: judging whether the vehicle speed is greater than a second preset speed threshold in a preset time period.

[0053] In some embodiments of the present application, the intelligent driving mode judgment of the vehicle comprises judging whether the vehicle speed is greater than a second preset speed threshold in a preset time period. In response to the result of the above intelligent driving mode judgment being yes, step 130 is executed.

[0054] Step 130: entering the intelligent driving mode.

[0055] The vehicle is switched from the initial manual driving mode to the intelligent driving mode.

[0056] To illustrate the above steps 120 and 130, in an embodiment, the preset time period can be set to 30s, and the second preset speed threshold can be set to 10km / h. After pressing the intelligent driving button, if the current vehicle speed is greater than 10km / h for 30s, the vehicle enters the intelligent driving mode.

[0057] After the intelligent driving button is pressed in step 110, by performing step 120, based on two judgment conditions of the preset time period and the second preset speed threshold in step 120, when the vehicle meets the two conditions in step 120 at the same time, it can be confirmed that the vehicle is in a stable running state, that is, the current vehicle is in a state of being supervised by the driver. If the vehicle does not meet one of the two conditions in step 120, in this case, the vehicle directly enters the intelligent driving state only by pressing the intelligent driving button in step 110. It is very likely that the vehicle directly enters the intelligent driving state without being supervised by the driver. If the vehicle is originally in a stopped state, because the intelligent driving button is mistakenly pressed, the vehicle directly runs at a normal speed or a high speed, which is easy to cause danger. Therefore, by performing step 120, it can be avoided that the intelligent driving button is mistakenly pressed by the driver control console, causing the train to automatically start and enter the intelligent driving mode, affecting the safety of the train.

[0058] In response to the judgment result of the above intelligent driving mode being no, steps 140 and 150 are performed.

[0059] Step 140: Intelligent driving state is invalid.

[0060] In this case, since the vehicle does not currently meet the condition for entering the intelligent driving mode, but the intelligent driving button is still pressed, the vehicle still maintains the manual driving mode before the intelligent driving button is pressed.

[0061] Step 150: Reset the intelligent driving button.

[0062] In some embodiments, by canceling the previously pressed intelligent driving button, after the intelligent driving button is reset, the intelligent driving button can be pressed again, and the intelligent driving mode start strategy of the vehicle is performed again. The intelligent driving mode judgment in step 120 is performed, and if the vehicle meets the two conditions in step 120 at the same time afterwards, that is, the vehicle speed is greater than the second preset speed threshold within the preset time period, the vehicle enters the intelligent driving mode.

[0063] Please continue to read Figure 1 , Figure 1 The intelligent driving mode exit strategy of the control method for switching the working condition of the vehicle is also included. In Figure 1 some embodiments, the intelligent driving mode exit strategy of the control method for switching the working condition of the vehicle includes the following steps:

[0064] Step 160: Judge whether the vehicle speed is less than the first speed threshold and the duration is greater than the third time threshold.

[0065] In some embodiments of the present application, when the vehicle is in the intelligent driving mode, if the vehicle speed is less than the first speed threshold and the duration of the current vehicle speed is greater than the third time threshold, step 170 is performed, and if the vehicle does not simultaneously satisfy the above two parallel conditions, the vehicle remains in the intelligent driving mode.

[0066] Step 170: exit the intelligent driving mode and automatically apply the first brake level.

[0067] In the judgment of step 160 described above, when the vehicle simultaneously satisfies the above two parallel conditions, the vehicle exits the driving mode and automatically applies the first brake level.

[0068] To illustrate steps 160 and 170, in an embodiment, the first speed threshold can be set to 1 km / h, the duration can be set to 60 s, and the first brake level can be 50% brake level. When the vehicle is in the intelligent driving mode, if the vehicle speed is less than 1 km / h and the duration of the vehicle speed is greater than 60 s, it indicates that the vehicle is in a state of about to stop, at which time the vehicle can exit the intelligent driving mode. In order to ensure the safety of the vehicle during the switching out of the intelligent driving mode, the vehicle can avoid rolling by automatically applying a 50% brake level. The size and application method of the first brake level can be set according to the actual needs of the user, and are not limited to the content mentioned in the present embodiment. In the present embodiment, the size of the brake level is determined by the stroke of the brake pedal.

[0069] Step 180: the brake pedal or the traction pedal is triggered to release the application of the first brake level.

[0070] In some embodiments of the present application, the driver can cancel the application of the first brake level in the previous step 170 by re-pressing the brake pedal or the traction pedal, so as to avoid the automatic parking of the vehicle in the intelligent driving mode for too long a time, which may cause the driver to forget that the vehicle is in the intelligent driving mode and thus forget to monitor the conditions in front of the vehicle, thereby affecting safety.

[0071] After the vehicle exits the intelligent driving mode, if the vehicle needs to enter the intelligent driving mode again, step 150 can be performed again to cancel the pressing state of the intelligent driving button, reset the intelligent driving button, and then re-perform the first step of the intelligent driving mode starting strategy process, i.e., step 110 of pressing the intelligent driving button. The above steps 160-180 are the exit strategy of the intelligent driving mode of the vehicle in some embodiments of the present application.

[0072] For the possible mis-triggering of the brake pedal in the work condition switching control method of the driver in the intelligent driving mode of the vehicle, the present application also provides a control flowchart that can solve the corresponding problem.

[0073] Please refer to Figure 2 , Figure 2 Fig. 1 shows a flowchart of a method for operating a vehicle according to an embodiment of the present application.

[0074] In step 210, the vehicle is in the intelligent driving mode. If step 220 is executed, the brake pedal is triggered, which means that the driver manually brakes by stepping on the brake pedal, and step 230 is executed.

[0075] Step 230: During the braking period after the brake pedal is triggered, the vehicle is braked based on the greater value between the intelligent driving mode braking level and the manual braking level triggered by the brake pedal.

[0076] For example, in some embodiments, the braking period can be set to 2s. When the vehicle encounters an obstacle or a pedestrian suddenly appears in front of the vehicle, etc. while the vehicle is in the intelligent driving mode, the driver may still instinctively step on the brake pedal to brake the vehicle, although the vehicle will execute the intelligent driving mode braking level. At this time, after the driver steps on the brake pedal, the vehicle determines the greater value between the intelligent driving mode braking level and the manual braking level triggered by the brake pedal during the first two seconds of braking after the manual braking is triggered, and executes vehicle braking according to the greater braking value to ensure the safety of the vehicle.

[0077] Step 240: Determine whether the manual braking level is greater than the braking level threshold and the duration exceeds the braking period. In response to the determination result being yes, step 250 is executed to exit the intelligent driving mode and enter the manual driving mode.

[0078] For example, in some embodiments of the present application, the braking level threshold can be set to 10% of the braking level, and the duration can be set to 2s. When the driver applies a manual braking level greater than 10% of the braking level and the duration of the manual braking level is greater than 2s while the vehicle is in the intelligent driving mode, it can be determined that the manual braking triggered by the brake pedal is indeed operated by the driver, and the driver intends to trigger manual braking rather than accidental triggering. After the braking period of 2s, the vehicle exits the intelligent driving mode and is taken over by the manual driving mode.

[0079] In response to the determination result for step 240 being no, steps 260 and 270 are executed.

[0080] Step 260: The brake pedal is accidentally triggered.

[0081] Step 270: Keep the intelligent driving mode.

[0082] To illustrate the above steps 240, 260 and 270, continue with the above example, if the artificial brake level triggered by the above brake pedal is less than 10% of the brake level or the duration of the artificial brake level does not exceed the brake time period 2s, it can be determined that the reason for the short trigger of the brake pedal is likely to be the driver's foot on the brake pedal shaking caused by the false trigger. Thus, the vehicle releases the previously applied brake to keep the vehicle in the intelligent driving mode. The judgment condition of step 240 avoids the frequent false exit of the vehicle in the intelligent driving mode due to false trigger.

[0083] For the driver's work condition switching control method in the intelligent driving mode of the vehicle, there may also be false trigger of the accelerator pedal, and the present application also provides a control flowchart that can solve the corresponding problem.

[0084] Please refer to Figure 3 , Figure 3 A flowchart of a work condition switching control method for a vehicle in an intelligent driving mode is shown according to another embodiment of the present application.

[0085] In step 300, the vehicle is in the intelligent driving mode, and if step 310 is executed, the accelerator pedal is triggered, indicating that the driver may not be satisfied with the current acceleration state of the vehicle in the intelligent driving mode and wants to execute the manual driving and intelligent driving combined mode by stepping on the accelerator pedal.

[0086] In the intelligent driving mode of the vehicle, the driver generally does not need to operate the accelerator pedal and the brake pedal, and the foot may be in the off-pedal state. If an emergency situation occurs, the driver needs to step on the brake pedal, and then the driver puts his foot back on the brake pedal. However, in some tense situations, the driver may mistakenly step on the accelerator pedal, and in an emergency situation, the driver generally steps on the pedal very quickly, and the level of stepping on is large. In order to avoid the above situation that the driver mistakenly steps on the accelerator pedal as the brake pedal, it is necessary to judge whether the accelerator pedal is mistakenly stepped on.

[0087] After the accelerator pedal is stepped on, step 320 is executed.

[0088] Step 320: Determine whether the accelerator pedal reaches a level greater than a first accelerator level threshold within a time less than a first time threshold. In response to the determination result being yes, step 330 is executed.

[0089] Step 330: The determination result is that the accelerator pedal is mistakenly triggered, and the accelerator level is not executed.

[0090] To illustrate the steps 320 and 330, in some embodiments of the present application, the first time threshold can be set as 0.5s, and the first traction level threshold can be set as a traction level greater than or equal to 70%. In the intelligent driving mode of the vehicle, if the driver steps on the traction pedal with a level greater than 70%, and the traction level increases from 20% to 70% in less than 0.5s, that is, the driver suddenly and quickly applies a larger traction level in a very short time. According to the experience of the vehicle driving, the vehicle system can preliminarily determine that the driver mistakenly steps on the traction pedal, and the vehicle does not execute the traction pedal level.

[0091] Step 340: performing braking on the vehicle based on the brake level corresponding to the current traction level of the traction pedal being triggered.

[0092] In some embodiments of the present application, after the step 330 is performed to preliminarily determine that the traction pedal is mistakenly triggered, and the traction operation is not performed, the vehicle can automatically perform braking deceleration on the vehicle based on the brake level corresponding to the current traction level of the traction pedal being triggered. Optionally, the vehicle can also issue an alarm such as voice to remind the driver whether the traction pedal is mistakenly stepped on.

[0093] Step 350: maintaining the brake level to perform braking for a holding state reservation time.

[0094] In order to give the driver a certain thinking and judging time after the vehicle issues the reminder, the present application sets a holding state reservation time. For example, in some embodiments, the holding state reservation time can be set as 3s. After the driver releases the traction pedal, the braking deceleration level of the vehicle in the intelligent driving mode can maintain braking for 3s, so as to give the driver time to step on the corresponding brake pedal again.

[0095] If the driver performs step 360 to trigger the traction pedal again within the above-mentioned holding state reservation time or after the holding state reservation time, and performs step 370 to reach a traction level greater than the first traction level threshold within a second time threshold, step 380 is performed to confirm that the traction pedal is triggered without mistake. Then, step 390 is performed to perform traction on the vehicle based on the current traction level of the traction pedal being triggered, and the intelligent driving mode enters the hot standby mode.

[0096] Preferably, in some embodiments of the present application, the second time threshold is greater than or equal to the above-mentioned first time threshold, to indicate that the driver does not perform the operation of stepping on the traction pedal in an emergency, and the operation performed in a non-emergency situation generally has a smaller possibility of mistake.

[0097] For example, steps 360-390 are illustrated by continuing the above example, because the first time threshold is set to 0.5s, the second time threshold can be set to 0.8s, and the first traction level threshold is still 70% of the traction level. If the driver steps on the traction pedal again within the reserved time of maintaining the brake state or after that, and the time for the traction level to increase from 20% to 70% is greater than 0.8s, it indicates that the current intention of the driver is indeed to manually traction the vehicle. In the intelligent driving mode, the vehicle performs traction acceleration according to the manual traction level, and the intelligent driving of the vehicle is in a hot standby mode, i.e., the intelligent driving mode is in a state that can be switched at any time.

[0098] Conversely, after step 350, if the driver performs step 361, the brake pedal is triggered, and step 371 is performed, the duration of the brake pedal being triggered is greater than the fourth time threshold, step 381 is performed, the vehicle exits the intelligent driving mode and enters the manual driving mode.

[0099] For example, steps 361-381 are illustrated by continuing the above example, and the duration can be set to 2s. If the driver steps on the brake pedal again within the reserved time of maintaining the brake state or after that, and the duration of the brake operation is greater than 2s, it indicates that the judgment result of the traction pedal being mistakenly triggered in the previous step 330 is correct, and the previous true intention of the driver is to perform the brake operation, not the traction operation. The vehicle exits the intelligent driving mode and performs the manual driving mode so that the driver can better perform his intention.

[0100] Please refer to Figure 4A and 4B , Figure 4A 、 4B Fig. 6 shows a flowchart of a working condition switching control method for a vehicle in an intelligent driving mode according to another embodiment of the present application.

[0101] In some embodiments of the present application, when the vehicle is in the intelligent driving mode, the manually traction operation and the intelligent driving brake operation have a higher execution priority for the operation triggered later.

[0102] For example, in the embodiment of Figure 4A , when the vehicle is in the intelligent driving mode and the vehicle is performing manual traction level acceleration, if a sudden situation is encountered in front, the vehicle performs step 412, the intelligent driving mode automatically triggers a brake deceleration command. Step 413 is performed, the vehicle invalidates the previous manual traction level, and decelerates according to the brake deceleration command of the intelligent driving mode issued later. If it is necessary to continue to perform the original manual traction acceleration after the vehicle performs the brake deceleration of the above step 413, step 414 is performed, the manual traction level is triggered again.

[0103] In Figure 4B In the embodiment of the application, if the vehicle is decelerating according to the braking deceleration instruction in the intelligent driving mode, the step 422 triggers the manual traction gear stage, which can include the driver stepping on the traction pedal for traction. Step 423 is performed, and the vehicle is invalid for the previous braking deceleration, and instead performs the post-triggered manual traction gear stage acceleration. If it is necessary to continue to perform the original braking deceleration after the vehicle performs the manual traction acceleration of step 423, step 424 is performed to trigger the braking deceleration instruction in the intelligent mode again.

[0104] Based on the above description, the application provides a working condition switching control method for a vehicle, which can comprehensively consider the manual driving intention and the intelligent driving strategy when the vehicle is in the intelligent driving mode, safely perform the traction and braking working condition switching control strategy, avoid the problem of abnormal acceleration of the train caused by the driver's misfooting of the traction pedal, and effectively improve the operation efficiency and safety performance.

[0105] Although the above methods are illustrated and described as a series of actions for the sake of simplicity of explanation, it should be understood and appreciated that the methods are not limited by the order of the actions, because according to one or more embodiments, some actions can occur in different orders and / or concurrently with other actions from those illustrated and described herein or not illustrated and described herein but can be appreciated by those skilled in the art.

[0106] According to another aspect of the application, the application also provides a working condition switching control device for a vehicle. Please refer to Figure 5 , Figure 5 A structural schematic diagram of a working condition switching control device for a vehicle according to another aspect of the application is shown.

[0107] As Figure 5 shown, in some embodiments of the application, the working condition switching control device 500 for a vehicle provided by the application can include a memory 510 and a processor 520. The processor 520 is coupled to the memory 510 and is configured to implement the working condition switching control method for a vehicle provided by any one of the above embodiments to achieve the corresponding technical effects.

[0108] According to another aspect of the application, a computer readable storage medium for storing the above working condition switching control method for a vehicle is also provided herein.

[0109] The above computer readable storage medium provided by the application has computer instructions stored thereon. When the computer instructions are executed by the processor 520, the working condition switching control method for a vehicle provided by any one of the above embodiments can be implemented to achieve the corresponding technical effects.

[0110] Those skilled in the art will appreciate that information, signals, and data can be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0111] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0112] The various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein can be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0113] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In the alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0114] In one or more exemplary embodiments, the functions described can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0115] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A working condition switching control method for a vehicle, comprising: when the vehicle is in an intelligent driving mode, in response to a traction pedal of the vehicle being triggered, if the traction pedal reaches a traction level greater than a first traction level threshold within a time less than a first time threshold, determining that the traction pedal is triggered by mistake, and instead of performing a traction operation, performing a braking on the vehicle based on a braking level corresponding to the traction level at which the traction pedal is currently triggered; maintaining the braking at the braking level for a holding state reservation time, in response to the traction pedal of the vehicle being triggered, if the traction pedal reaches a traction level greater than the first traction level threshold within a time greater than a second time threshold, determining that the traction pedal is triggered without mistake, performing a traction on the vehicle based on the traction level at which the traction pedal is currently triggered, and switching the intelligent driving mode to a hot standby mode, wherein the second time threshold is greater than or equal to the first time threshold; and when the vehicle is in the intelligent driving mode, in response to a brake pedal of the vehicle being triggered, performing a braking on the vehicle based on a larger one of an intelligent driving mode braking level and an artificial braking level corresponding to the trigger of the brake pedal within a braking period after the trigger of the brake pedal, if the artificial braking level is less than a braking level threshold or a duration does not exceed the braking period, releasing the braking after the braking period and maintaining the intelligent driving mode, and if the artificial braking level is greater than the braking level threshold and the duration exceeds the braking period, exiting the intelligent driving mode and taking over the vehicle control by a manual driving mode.

2. The operating mode switching control method according to claim 1, characterized by, The first traction level threshold is greater than or equal to 70%.

3. The operating mode switching control method according to claim 1, characterized by, The second time threshold is greater than the first time threshold.

4. The operating mode switching control method according to claim 1, characterized by, The braking period is 2s and the braking level threshold is 10%.

5. The operating mode switching control method according to claim 1, characterized by, Further comprising: when the vehicle is in the intelligent driving mode, in response to a vehicle speed being less than a first speed threshold and a duration being greater than a third time threshold, exiting the intelligent driving mode and automatically applying a first braking level.

6. The operating mode switching control method according to claim 5, characterized by The first speed threshold is 1km / h and the first braking level is 50% of a braking level.

7. The operating mode switching control method according to claim 5, characterized by, Further comprising: when the first braking level is applied, in response to a brake pedal or a traction pedal of the vehicle being triggered, releasing the application of the first braking level.

8. The operating mode switching control method according to claim 1, characterized by, Further comprising: when the vehicle is in the manual driving mode, in response to an intelligent driving button being pressed, performing an intelligent driving mode determination, the intelligent driving mode determination comprising determining whether a vehicle speed of the vehicle is greater than a second preset speed threshold within a preset period, if a result of the intelligent driving mode determination is yes, entering the intelligent driving mode, and otherwise, maintaining the manual driving mode.

9. The operating mode switching control method according to claim 8, characterized by, Further comprising: if the intelligent driving button is in a pressed state but the vehicle is in the manual driving mode, in response to the intelligent driving button being released and pressed again, performing the intelligent driving mode determination.

10. The operating mode switching control method according to claim 1, characterized by, When the vehicle is in the intelligent driving mode, a later triggered one of a manual traction operation and an intelligent driving braking operation has a higher execution priority. 11.A working condition switching control device for a vehicle, comprising: a memory; and a processor coupled to the memory to perform a method according to any one of claims 1-10.

12. A computer readable medium having stored thereon computer- executable instructions that, when executed by a processor, implement the method of any of claims 1-10.

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