A vehicle control method, device, computer device, and storage medium

Abstract

The present application relates to a vehicle control method, apparatus, computer device, and storage medium. The method includes: obtaining an induction signal; obtaining the distribution of passengers in the vehicle according to the induction signal; selecting an autonomous driving style number associated with the distribution through a preset style comparison table; activating a style configuration file corresponding to the autonomous driving style number, and obtaining a set of constraint parameters corresponding to the autonomous driving style; and controlling the autonomous driving behavior of the vehicle according to the constraint parameters. The present application obtains the constraint parameters for autonomous driving based on the passenger distribution, thereby adjusting the autonomous driving behavior, so as to improve the vehicle intelligence and the comfort experience of passengers.

Description

Technical Field

[0001] This application relates to the technical field of vehicle autonomous driving, and particularly to a vehicle control method, device, computer device, and storage medium. Background Art

[0002] With the development of automotive control technology, there are more and more optional driving modes. For example, in the manual driving mode, energy-saving mode, sport mode, normal mode, etc. can be selected. In the autonomous driving mode, some vehicles provide speed lane-changing options such as gentle, normal, and rapid. All these need to be manually selected in advance according to the subjective needs and experiences of the driver or passengers, and cannot adaptively change the driving style according to the actual vehicle operation scenario. Therefore, there are still problems such as single vehicle characteristics and poor passenger experience. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a vehicle control method, device, computer device, and storage medium to solve the problem that existing vehicles need to actively select a driving style and cannot adjust the driving style according to the actual passenger distribution. This application obtains the constraint parameters for autonomous driving according to the passenger distribution, and adjusts the autonomous driving behavior accordingly, thereby improving vehicle intelligence and the comfort experience of passengers.

[0004] A vehicle control method, the method includes:

[0005] Obtain an induction signal;

[0006] Obtain the distribution of passengers in the vehicle according to the induction signal;

[0007] Through a preset style comparison table, select the autonomous driving style number associated with the distribution;

[0008] Activate the style configuration file corresponding to the autonomous driving style number, and obtain a set of constraint parameters corresponding to the autonomous driving style;

[0009] Control the autonomous driving behavior of the vehicle according to the constraint parameters.

[0010] In one embodiment, the step of obtaining the induction signal includes:

[0011] Obtain the induction signal according to the induction device pre-set in the vehicle.

[0012] In one embodiment, the step of obtaining the distribution of passengers in the vehicle according to the induction signal includes:

[0013] In response to the position number preset corresponding to the seat, match each induction signal with each position number to obtain the number of passengers in the vehicle and the distribution data.

[0014] In one embodiment, the style comparison table includes the number of passengers, distribution data, and driving style number;

[0015] The step of selecting the automatic driving style number associated with the distribution situation through a preset style comparison table includes:

[0016] Obtain the number of passengers and distribution data;

[0017] Use the number of passengers to perform a first limitation on the style comparison table to obtain a comparison interval;

[0018] Use the distribution data to perform a second limitation on the comparison interval to obtain the corresponding automatic driving style number.

[0019] In one embodiment, the constraint parameters include the threshold range of acceleration, the threshold range of variable acceleration, and the threshold range of collision time;

[0020] The step of activating the style configuration file corresponding to the automatic driving style number to obtain a set of constraint parameters corresponding to the automatic driving style includes:

[0021] Obtain the selected automatic driving style number;

[0022] According to the mapping relationship between the style comparison table and the style configuration file, activate the style configuration file corresponding to the automatic driving style number, where the automatic driving style number and the style configuration file are in one-to-one correspondence;

[0023] Output the threshold range of acceleration, the threshold range of variable acceleration, and the threshold range of collision time in the style configuration file.

[0024] A vehicle control device, the device includes:

[0025] A signal acquisition module, configured to acquire induction signals;

[0026] A passenger analysis module, configured to obtain the distribution of passengers in the vehicle according to the induction signals;

[0027] A style determination module, configured to select the automatic driving style number associated with the distribution situation through a preset style comparison table;

[0028] A parameter acquisition module, configured to activate the style configuration file corresponding to the driving style number to obtain a set of constraint parameters corresponding to the automatic driving style;

[0029] A driving control module, configured to control the automatic driving of the vehicle according to the constraint parameters.

[0030] A computer device, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0031] Obtain an induction signal;

[0032] Obtain the distribution of passengers in the vehicle according to the induction signal;

[0033] Select an autonomous driving style number associated with the distribution through a preset style comparison table;

[0034] Activate the style configuration file corresponding to the autonomous driving style number, and obtain a set of constraint parameters corresponding to the autonomous driving style;

[0035] Control the autonomous driving behavior of the vehicle according to the constraint parameters.

[0036] A computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0037] Obtain an induction signal;

[0038] Obtain the distribution of passengers in the vehicle according to the induction signal;

[0039] Select an autonomous driving style number associated with the distribution through a preset style comparison table;

[0040] Activate the style configuration file corresponding to the autonomous driving style number, and obtain a set of constraint parameters corresponding to the autonomous driving style;

[0041] Control the autonomous driving behavior of the vehicle according to the constraint parameters.

[0042] The above vehicle control method, device, computer equipment and storage medium can achieve the following beneficial effects:

[0043] Obtain the distribution of passengers in the vehicle according to the induction signal; select an autonomous driving style number associated with the distribution; activate the style configuration file corresponding to the autonomous driving style number, and obtain a set of constraint parameters corresponding to the autonomous driving style; control the autonomous driving behavior of the vehicle according to the constraint parameters.

[0044] It can play a role in constraining the acceleration, variable acceleration and collision time during driving in the actual scenario of autonomous driving of the vehicle. For example, due to the complex traffic environment of the vehicle, the collision time is affected. Through this technical solution, the collision time can be reduced in a section with dense traffic to prevent other vehicles from cutting in, and the collision time can be increased in a section with sparse traffic to reduce the risk of rear-end collision. Since passengers in each seat in the vehicle have different feelings about driving changes, for example, when front-row passengers can withstand greater acceleration and variable acceleration, rear-row passengers may be affected by greater acceleration and variable acceleration. Therefore, according to the distribution of passengers in the vehicle, the constraint parameters during the autonomous driving process are adaptively adjusted to achieve an understanding of the comfort of passengers and improve the intelligence of the vehicle. Brief Description of the Drawings

[0045] Figure 1 It is an application environment diagram of the vehicle control method in an embodiment;

[0046] Figure 2 It is a schematic flowchart of the vehicle control method in an embodiment;

[0047] Figure 3 It is a structural block diagram of the vehicle control device in an embodiment;

[0048] Figure 4 It is an internal structure diagram of a computer device in an embodiment. Detailed Embodiment

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] The vehicle control method provided by the present application can be applied to, for example Figure 1 the application environment shown. Among them, the domain controller 101 is used to execute the vehicle control method. The domain controller 101 is connected to the sensing device 102 and the vehicle controller 103, and is used to collect the sensing signals triggered by the sensing device 102, and analyze the suitable autonomous driving style of the current vehicle through a preset operation rule. The autonomous driving style in this implementation plan is a driving mode designed in advance, and the driving mode includes but is not limited to an aggressive mode, a moderate mode, and a soothing mode.

[0051] In one embodiment, as Figure 2 shown, a vehicle control method is provided. Taking the domain controller in Figure 1 as an example for description, the method includes the following steps:

[0052] Step S201, obtain sensing signals;

[0053] Step S202, obtain the distribution of passengers in the vehicle according to the sensing signals;

[0054] Step S203, select the autonomous driving style number associated with the distribution through a preset style look-up table;

[0055] Step S204, activate the style configuration file corresponding to the autonomous driving style number, and obtain a set of constraint parameters corresponding to the autonomous driving style;

[0056] Step S205, control the autonomous driving behavior of the vehicle according to the constraint parameters.

[0057] In step S201, in the step of obtaining the induction signal, according to the induction device pre-set in the vehicle, the induction signal is obtained. Among them, the induction device is connected to the domain controller. When the induction device triggers the induction signal, the domain controller collects the induction signal corresponding to the seat. Further explanation, this implementation scheme is executed after the vehicle is ignited and started. That is to say, during the stage when the vehicle is not ignited or when passengers get on and off the vehicle, the collection of the induction signal is not performed, or this implementation scheme is not executed. That is, after the vehicle enters the running mode and the domain controller receives the start signal of the autonomous driving function, the vehicle enters the autonomous driving state, and the domain controller collects the induction signal of the distribution of passengers in the vehicle.

[0058] The induction device in this embodiment may be, but is not limited to, a gravity sensor, an infrared detector, or a camera. When the induction device is a camera, one camera can be used to monitor the situation inside the vehicle, and then identify the passengers and their locations and feedback them to the domain controller so that the domain controller can collect the distribution of passengers. When the induction device is a gravity sensor or an infrared detector, corresponding gravity sensors or infrared detectors can be configured on each seat.

[0059] In step S202, in the step of obtaining the distribution of passengers in the vehicle according to the induction signal, it includes: in response to the position numbers preset corresponding to the seats, matching each induction signal with each position number to obtain the number of passengers in the vehicle and the distribution data.

[0060] Further explanation, in this embodiment, position numbers are pre-designed for each seat, and then the obtained induction signals are matched to the corresponding position numbers. For example, as shown in Table 1 below, it is a distribution data table based on the distribution situation.

[0061] The vehicle includes the driver's seat, the front passenger seat, and two rear seats. The position number of the driver's seat is configured as N1, the position number of the front passenger seat is configured as N2, and the position numbers of the rear seats are configured as N3, N4, N5... and so on.

[0062] Situation Number of passengers Distribution Distribution data 1 0 / 0 2 1 The driver's seat is occupied, and the other positions are unoccupied N1-1； 3 2 The driver's seat and the front passenger seat are occupied, and the other positions are unoccupied N1-1; N2-1 4 3 The driver's seat, the front passenger seat and one rear seat are occupied N1-1; N2-1; N3-1 5 4 The rear seats are occupied, and the driver's seat and the front passenger seat are unoccupied N3-1

[0063] In example case 1, there is no one in the vehicle, and distribution data N0 is generated. In case 2, there is someone in the driver's seat and no one in other positions. When the induction signal is collected, distribution data N1-1 is generated. In case 3, there are people in the driver's and front passenger seats and no one in other positions. When the induction signal is collected, distribution data N1-1 and N2-1 are generated. In case 4, there are people in the driver's and front passenger seats and one person in the rear row. When the induction signal is collected, distribution data N1-1; N2-1; N3-1 are generated. In case 5, there is one person in the rear row and no one in the driver's and front passenger seats, and distribution data N3-1 is generated.

[0064] In step S203, a preset style comparison table is used to select an autonomous driving style number associated with the distribution situation. The style comparison table includes the number of passengers, distribution data, and driving style numbers. As shown in Table 2 below, it is a style number mapping table based on distribution data.

[0065] Number of passengers Distribution data Autopilot style number 0 0 Autopilot style 2 1 N1-1 Autopilot style 1 2 N1-1; N2-1 Autopilot style 2 3 ****N3-1 Autopilot style 3

[0066] Among them, when there are people in the back row, the priority of the driving style corresponding to there being people in the back row is higher than that of the driving style corresponding to only having people in the front row. That is, in this embodiment, the priority of the rear row induction signal is configured to be higher than that of the driver's seat / passenger seat. Therefore, when the rear row triggers the induction signal, the autonomous driving style associated with the rear row distribution situation is the main one.

[0067] In step S204, the constraint parameters include the threshold range of acceleration, the threshold range of jerk, and the threshold range of collision time. Further explanation, the steps of activating the style configuration file corresponding to the autonomous driving style number and obtaining a set of constraint parameters corresponding to the autonomous driving style include:

[0068] Obtain the selected autonomous driving style number;

[0069] According to the mapping relationship between the style comparison table and the style configuration file, activate the style configuration file corresponding to the autonomous driving style number, where the autonomous driving style number and the style configuration file are in one-to-one correspondence;

[0070] Output the threshold range of acceleration, the threshold range of jerk, and the threshold range of collision time in the style configuration file.

[0071] The autonomous driving style in this embodiment corresponds to the threshold ranges of acceleration, jerk, and collision time. Among them, acceleration includes longitudinal acceleration and lateral acceleration, jerk includes longitudinal jerk and lateral jerk. Among them, longitudinal acceleration affects the starting speed and braking speed of the vehicle. Lateral acceleration affects the turning and lane-changing speed of the vehicle. Jerk represents the jerk of the vehicle, where longitudinal jerk affects the severity of vehicle braking. Lateral jerk affects the severity of vehicle lane-changing and turning. Collision time affects the following distance.

[0072] In one embodiment, the threshold range of acceleration a is 0 to 6, the threshold range of jerk is 0 to 10, and there are three preset threshold levels for collision time, TTC far is 2.5 s, TTC medium is 1.5 s, and TTC near is 1 s.

[0073] As shown in Table 3 below, it is a constraint parameter table for each autonomous driving style.

[0074] Style number Longitudinal a Lateral a Longitudinal jerk Lateral jerk TTC 1 (0,6) (0,5) (0,10) (0,5) 1s 2 (0,4) (0,3) (0,6) (0,4) 1.5s 3 (0,3) (0,2) (0,4) (0,3) 2.5

[0075] Among them, in autonomous driving style 1, the acceleration a can take the highest value, the jerk can take the highest value, and the time to collision (TTC) can take the minimum value, that is, the domain controller can control the vehicle driving in an aggressive mode. In autonomous driving style 2, the acceleration a takes a moderate value, the jerk takes a moderate value, and the TTC takes a moderate value, that is, the domain controller can control the vehicle driving in a moderate mode. In autonomous driving style 3, the acceleration a takes a lower value, the jerk takes a lower value, and the TTC takes the highest value, that is, the domain controller can control the vehicle driving in a gentle mode.

[0076] In the above vehicle control method, the distribution of passengers in the vehicle is obtained according to the sensing signal; the autonomous driving style number associated with the distribution is selected; the style configuration file corresponding to the autonomous driving style number is activated to obtain a set of constraint parameters corresponding to the autonomous driving style; and the autonomous driving behavior of the vehicle is controlled according to the constraint parameters.

[0077] It can play a role in constraining the acceleration, jerk, and time to collision during the driving process in the actual scenario of autonomous driving of the vehicle. For example, since the traffic flow environment of the vehicle is relatively complex and affects the time to collision, through this technical solution, the time to collision can be reduced in a section with dense traffic to prevent other vehicles from cutting in, and the time to collision can be increased in a section with sparse traffic to reduce the risk of rear-end collision. Since passengers in each seat in the vehicle have different feelings about driving changes, for example, when front-row passengers can withstand greater acceleration and jerk, rear-row passengers may be affected by greater acceleration and jerk. Therefore, according to the distribution of passengers in the vehicle, the constraint parameters during the autonomous driving process are adaptively adjusted to achieve an understanding of the comfort of passengers and improve the intelligence of the vehicle.

[0078] It should be understood that although Figure 2 the steps in the flowchart of Figure 2 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover,

[0079] In one embodiment, as Figure 3As shown, a vehicle control device is provided, including: a signal acquisition module 301, a passenger analysis module 302, a style determination module 303, a parameter acquisition module 304 and a driving control module 305, wherein:

[0080] A signal acquisition module 301 is used to acquire a sensing signal;

[0081] The passenger analysis module 302 is used to obtain the distribution of passengers in the vehicle according to the sensing signal;

[0082] A style determination module 303, configured to select an autonomous driving style number associated with the distribution situation through a preset style comparison table;

[0083] A parameter acquisition module 304 is used to activate a style configuration file corresponding to the driving style number and acquire a set of constraint parameters corresponding to the autonomous driving style;

[0084] The driving control module 305 is used to control the automatic driving behavior of the vehicle according to the constraint parameters.

[0085] For the specific definition of the vehicle control device, please refer to the definition of the vehicle control method above, which will not be repeated here. Each module in the above-mentioned vehicle control device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0086] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface and a database 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, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store vehicle control data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle control method is implemented.

[0087] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0088] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0089] Obtain an induction signal; obtain the distribution of passengers in the vehicle according to the induction signal; select an autonomous driving style number associated with the distribution through a preset style comparison table; activate the style configuration file corresponding to the autonomous driving style number, and obtain a set of constraint parameters corresponding to the autonomous driving style; control the autonomous driving behavior of the vehicle according to the constraint parameters.

[0090] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0091] Obtain an induction signal; obtain the distribution of passengers in the vehicle according to the induction signal; select an autonomous driving style number associated with the distribution through a preset style comparison table; activate the style configuration file corresponding to the autonomous driving style number, and obtain a set of constraint parameters corresponding to the autonomous driving style; control the autonomous driving behavior of the vehicle according to the constraint parameters.

[0092] Those of ordinary skill in the art can understand that all or part of the processes in the methods of 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 embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0093] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise 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 recorded in this specification.

[0094] The above-described embodiments merely represent several implementation manners 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, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtaining an induction signal; Obtaining the distribution of passengers in the vehicle according to the induction signal; Selecting an autonomous driving style number associated with the distribution through a preset style comparison table; Activating the style configuration file corresponding to the autonomous driving style number to obtain a set of constraint parameters corresponding to the autonomous driving style; Controlling the autonomous driving behavior of the vehicle according to the constraint parameters; Among them, the style comparison table includes the number of passengers, distribution data, and driving style numbers; the step of selecting an autonomous driving style number associated with the distribution through a preset style comparison table includes: Obtaining the number of passengers and distribution data; Using the number of passengers to perform a first limitation on the style comparison table to obtain a comparison interval; Using the distribution data to perform a second limitation on the comparison interval to obtain the corresponding autonomous driving style number; Among them, the constraint parameters include the threshold range of acceleration, the threshold range of variable acceleration, and the threshold range of collision time; The step of activating the style configuration file corresponding to the autonomous driving style number to obtain a set of constraint parameters corresponding to the autonomous driving style includes: Obtaining the selected autonomous driving style number; Activating the style configuration file corresponding to the autonomous driving style number according to the mapping relationship between the style comparison table and the style configuration file, where the autonomous driving style number and the style configuration file are in one-to-one correspondence; Outputting the threshold range of acceleration, the threshold range of variable acceleration, and the threshold range of collision time in the style configuration file; Among them, the priority configuration of the rear row induction signal is higher than that of the driver's seat / passenger seat. When the rear row triggers the induction signal, the autonomous driving style associated with the rear row distribution is the main one.

2. The vehicle control method according to claim 1, wherein The step of obtaining the induction signal includes: Obtaining the induction signal according to the induction device pre-set in the vehicle.

3. The vehicle control method according to claim 1 or 2, characterized in that, The step of obtaining the distribution of passengers in the vehicle according to the induction signal includes: In response to the position numbers preset corresponding to the seats, matching each induction signal with each position number to obtain the number of passengers and distribution data in the vehicle.

4. A vehicle control device, which adopts the vehicle control method according to any one of claims 1 to 3, is characterized in that, The device includes: A signal acquisition module for obtaining an induction signal; A passenger analysis module for obtaining the distribution of passengers in the vehicle according to the induction signal; A style determination module for selecting an autonomous driving style number associated with the distribution through a preset style comparison table; A parameter acquisition module for activating the style configuration file corresponding to the driving style number to obtain a set of constraint parameters corresponding to the autonomous driving style; A driving control module for controlling the autonomous driving of the vehicle according to the constraint parameters.

5. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 3.

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