Control method and device of vehicle, computer equipment and storage medium

Abstract

The present disclosure relates to a vehicle control method, device, computer equipment, storage medium and computer program product. The method comprises: in response to triggering of a control signal of a vehicle running state, determining a target control type according to a change type of a target running state in the control signal; determining a target execution unit matched with the target control type; determining a control parameter of the target execution unit according to a change amount in the control signal; and sending the control parameter to the target execution unit to instruct the target execution unit to perform a corresponding task according to the control parameter. The method can simplify the control process and improve resource utilization.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to a vehicle control method, apparatus, computer equipment, storage medium, and computer program product. Background Technology

[0002] Vehicle control methods include speed control, which involves controlling the vehicle's speed by manipulating the brakes, accelerator, and gear shift. Typically, vehicle control is achieved through chassis components such as the braking system, transmission system, and steering. Therefore, in traditional technology, vehicle control functions are developed by chassis component suppliers, with different suppliers developing vehicle control functions for different components.

[0003] However, this approach requires setting up separate control algorithms for each component and each function, which is complex to implement. Furthermore, the same function will lead to the repeated development of control algorithms, resulting in inefficiency and waste of resources. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle control method, device, computer equipment, storage medium, and computer program product that simplifies the control process and improves resource utilization to address the aforementioned technical problems.

[0005] In a first aspect, embodiments of this disclosure provide a vehicle control method. The method includes:

[0006] In response to the triggering of a control signal for the vehicle's driving state, the target control type is determined based on the type of change in the target driving state in the control signal;

[0007] Identify the target execution unit that matches the target control type;

[0008] The control parameters of the target execution unit are determined based on the changes in the control signal.

[0009] The control parameters are sent to the target execution unit to instruct the target execution unit to execute the corresponding task according to the control parameters.

[0010] In one embodiment, determining the target control type based on the type of change in the target driving state in the control signal includes:

[0011] The target control function is determined based on the type of change in the target driving state in the control signal;

[0012] Determine the target control type that matches the target control function.

[0013] In one embodiment, determining the target control function based on the type of change in the target driving state in the control signal includes:

[0014] Based on the type of change in the target driving state in the control signal, determine multiple candidate control functions corresponding to the control signal;

[0015] If the functional attributes of the multiple candidate control functions meet the preset conditions, the multiple candidate control functions are determined as the target control functions.

[0016] In one embodiment, after determining the plurality of candidate control functions corresponding to the control signal, the method further includes:

[0017] If the functional attributes of the multiple candidate control functions do not meet the preset conditions, the vehicle status data of the vehicle is obtained.

[0018] The target control function is determined from the plurality of candidate control functions based on the vehicle status data.

[0019] In one embodiment, the method further includes:

[0020] In response to an instruction to add a control function, obtain the control type corresponding to the control function to be added;

[0021] Determine the association between the control function to be added and the control type.

[0022] In one embodiment, the triggering of the control signal in response to the vehicle's driving state, determining the target control type based on the type of change in the target driving state in the control signal, includes:

[0023] Obtain vehicle status data;

[0024] If the vehicle status data matches the preset status data, a control signal for the vehicle driving status that matches the preset status data is triggered.

[0025] The target control type is determined based on the type of change in the target driving state in the control signal.

[0026] Secondly, embodiments of this disclosure also provide a vehicle control device. The device includes:

[0027] The first determining module is used to determine the target control type in response to the triggering of the control signal of the vehicle driving state, based on the change type of the target driving state in the control signal;

[0028] The second determining module is used to determine the target execution unit that matches the target control type;

[0029] The third determining module is used to determine the control parameters of the target execution unit based on the changes in the control signal;

[0030] The sending module is used to send the control parameters to the target execution unit to instruct the target execution unit to execute the corresponding task according to the control parameters.

[0031] In one embodiment, the first determining module includes:

[0032] The first determining submodule is used to determine the target control function based on the type of change in the target driving state in the control signal;

[0033] The second determining submodule is used to determine the target control type that matches the target control function, wherein there is a second preset association between the control function and the control type.

[0034] In one embodiment, the first determining submodule includes:

[0035] The first determining unit is used to determine multiple candidate control functions corresponding to the control signal based on the type of change in the target driving state in the control signal;

[0036] The second determining unit is used to determine the multiple candidate control functions as target control functions when the functional attributes of the multiple candidate control functions meet preset conditions.

[0037] In one embodiment, after the first determining unit, the method further includes:

[0038] The acquisition module is used to acquire vehicle status data of the vehicle when the functional attributes of the multiple candidate control functions do not meet the preset conditions.

[0039] The third determining unit is used to determine the target control function from the plurality of candidate control functions based on the vehicle status data.

[0040] In one embodiment, the device further includes:

[0041] The second acquisition module is used to acquire the control type corresponding to the control function to be added in response to the addition command of the control function to be added.

[0042] The third determining submodule is used to determine the association between the control function to be added and the control type.

[0043] In one embodiment, the first determining module includes:

[0044] The third acquisition module is used to acquire vehicle status data;

[0045] The triggering module is used to trigger a control signal for the vehicle driving state that matches the preset state data when the vehicle state data matches the preset state data.

[0046] The fourth determination submodule is used to determine the target control type based on the type of change in the target driving state in the control signal.

[0047] Thirdly, embodiments of this disclosure also provide a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described in any one of the embodiments of this disclosure.

[0048] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described in any one of the embodiments of this disclosure.

[0049] Fifthly, embodiments of this disclosure also provide a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in any one of the embodiments of this disclosure.

[0050] In this embodiment, in response to the triggering of a control signal for the vehicle's driving state, the control signal includes the type and amount of change of the target driving state of the vehicle. Based on the type of change of the target driving state in the control signal, a target control type is determined. Based on the target control type, a target execution unit is determined, and the control parameters of the target execution unit are determined based on the amount of change in the control signal. The control parameters are then sent to the target execution unit to instruct it to execute tasks according to the control parameters, thereby controlling the vehicle. In this embodiment, by establishing an association between the control type and the execution unit, there is no need to develop functional control algorithms on the execution unit. The execution unit directly receives the control parameters and executes the tasks, avoiding redundant development of functional control algorithms and improving resource utilization. By determining the target control type based on the type of change of the target driving state in the control signal, different control signals can all have their control parameters determined through the corresponding control type. There is no need to set separate control algorithms for different signals and functions, centralizing the vehicle control process, simplifying the control flow, and facilitating the addition and modification of control functions. Attached Figure Description

[0051] Figure 1 This is a flowchart illustrating a vehicle control method in one embodiment;

[0052] Figure 2 This is a flowchart illustrating a vehicle control method in one embodiment;

[0053] Figure 3 This is a schematic diagram of the architecture of a vehicle control system in one embodiment;

[0054] Figure 4 This is a flowchart illustrating a vehicle control method in one embodiment;

[0055] Figure 5 This is a flowchart illustrating a vehicle control method in one embodiment;

[0056] Figure 6 This is a flowchart illustrating a method for adding vehicle control functions in one embodiment;

[0057] Figure 7 This is a flowchart illustrating a vehicle control method in one embodiment;

[0058] Figure 8 This is a schematic diagram of the vehicle's control architecture in one embodiment;

[0059] Figure 9 This is a schematic diagram of the vehicle's control architecture in one embodiment;

[0060] Figure 10 This is a schematic diagram of the vehicle's control architecture in one embodiment;

[0061] Figure 11 This is a structural block diagram of the vehicle control device in one embodiment;

[0062] Figure 12 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of this disclosure and are not intended to limit the embodiments of this disclosure.

[0064] In one embodiment, such as Figure 1 As shown, a vehicle control method is provided, the method comprising:

[0065] Step S110: In response to the triggering of the control signal for the vehicle driving state, determine the target control type based on the change type of the target driving state in the control signal;

[0066] In this embodiment, in response to the triggering of a control signal for the vehicle's driving state, the corresponding target control type is determined based on the control signal. The control signal may include longitudinal control signals, lateral control signals, vertical control signals, etc. Different application scenarios may correspond to different control signals. Longitudinal control mainly includes speed control, which controls vehicle speed by controlling the brakes, accelerator, gear, etc. When it is necessary to control the vehicle's driving state, the control signal for the vehicle's driving state is triggered. In some possible implementations, the triggering method of the control signal for the vehicle's driving state may include active triggering or passive triggering, which can be determined according to the actual application scenario. For example, when applied to a vehicle intelligent driving scenario, it can be triggered automatically by the vehicle to achieve automatic vehicle control. When applied to a user-driven scenario, it can be passively triggered, with the user triggering the vehicle control signal through vehicle control modules such as the accelerator and brake. During the vehicle control process, the vehicle's driving state will change. The vehicle state may include, but is not limited to, vehicle speed, vehicle acceleration, vehicle gear position, vehicle steering angle, etc., which can be determined according to the actual application scenario. The control signal includes the type of change in the target driving state. After controlling the vehicle according to this control signal, the vehicle's state changes accordingly to the target driving state. The type of change in the target driving state is determined based on the changes in the vehicle's driving state. The target driving state may include, but is not limited to, target speed, target acceleration, target gear, and target steering angle. The corresponding target control type is determined based on the type of change in the target driving state of the control signal. Since vehicle control involves various control methods depending on the control process and control objective, in this embodiment, after determining the control signal, the corresponding target control type is determined based on the control signal. Typically, the control type can be determined in advance based on the actual application scenario. In this embodiment, vehicle control involves changing the vehicle's state. When classifying the control type, it can be based on the type of change in the vehicle's state; different types of vehicle state changes correspond to different control types. In one example, when applied to a longitudinal control scenario, the control type can be determined based on the type of change in the vehicle's speed state; in another example, when applied to a lateral control scenario, the control type can be determined based on the type of change in the vehicle's direction. In one possible implementation, when applied to longitudinal vehicle control scenarios, control types can be categorized based on the type of vehicle speed change: motion control, speed-direction control, stationary control, and braking control. During vehicle control, the corresponding vehicle state change type can be determined based on the type of change in the target driving state of the control signal, thus yielding the corresponding target control type.The target control type can be determined directly or indirectly. For example, in some possible implementations, the target control type can be determined directly based on the change type corresponding to the control signal; alternatively, the target control function can be determined based on the control signal, and the corresponding target control type can be determined through the target control function. In one example, a control signal can correspond to one or more target control types, which can be determined based on the actual application scenario. In this embodiment, the control signal responding to the vehicle's driving state can be one or more, and this disclosure does not impose any limitations on this.

[0067] Step S120: Determine the target execution unit that matches the target control type;

[0068] In this embodiment, a target execution unit matching the target control type is determined. Specifically, the target execution unit may include one or more execution units, which include vehicle components and component combinations capable of directly implementing vehicle control. A first preset association exists between the execution unit and the control type. The control type is determined based on the type of vehicle state change. During vehicle control, the vehicle state needs to be changed through adjustments made by the execution unit; that is, vehicle state changes need to be implemented through the execution unit. Therefore, a preset association exists between the execution unit and the control type, which in this embodiment can be referred to as the first preset association. In some possible implementations, different application scenarios correspond to different control types, and the first preset association between the execution unit and the control type will also differ. In some possible implementations, different execution units performing different control tasks can control the vehicle differently. The control type corresponds to a vehicle state change type. Based on the vehicle state change type, the execution unit corresponding to the control type can be determined, thus obtaining the association between the execution unit and the control type. For example, when the control type corresponds to a motion control type, the corresponding vehicle state change type is a vehicle speed change. In this case, the execution unit that can change the vehicle speed is determined as the execution unit corresponding to the motion control type. In one example, when the control type is vehicle motion control, which includes vehicle acceleration, deceleration, and cruise, the corresponding execution unit can be a vehicle component or a combination of components that can realize vehicle acceleration, deceleration, and cruise functions.

[0069] Step S130: Determine the control parameters of the target execution unit based on the changes in the control signal;

[0070] In this embodiment, the control signal includes the change type and amount of the target driving state. After controlling the vehicle according to the control signal, the vehicle's state changes accordingly to the target driving state. The change type of the target driving state is determined based on the changes in the vehicle's driving state, and there is a corresponding relationship between the change amount and the change type. For example, if the control signal corresponds to acceleration to speed 'a', then the target driving state is speed 'a', the change type is acceleration, and the change amount is (a - current speed). After determining the target execution unit, the control parameters of the target execution unit are determined based on the change amount in the control signal. The effect of vehicle control will differ when the execution unit performs the task according to different control parameters, and the corresponding change amount will also differ as the vehicle's state changes. Therefore, when determining the control parameters of the target execution unit, the control parameters of the execution unit can be adjusted based on the change amount of the vehicle's state in the control signal to obtain the control parameters of the target execution unit. For example, when the target state information is a target acceleration of 'a', the corresponding target control type can be vehicle motion control. The target execution unit includes a motor and a BCU hydraulic braking system. The overall vehicle control torque is determined based on the target state information, and the control parameters of the motor and BCU hydraulic braking system are obtained.

[0071] Step S140: The control parameters are sent to the target execution unit to instruct the target execution unit to execute the corresponding task according to the control parameters.

[0072] In this embodiment, after obtaining the control parameters, the control parameters are sent to the target execution unit to instruct the target execution unit to perform the corresponding task according to the control parameters. Specifically, the control parameters can be sent to the target execution unit through a preset interface, and the target execution unit will perform the corresponding task according to the control parameters to achieve vehicle control and change the vehicle's state. The preset interface can be defined according to the actual application scenario. In some possible implementations, the execution unit may correspond to a control unit, which controls the execution unit to perform the corresponding task according to the control parameters.

[0073] In this embodiment, in response to the triggering of a control signal for the vehicle's driving state, the control signal includes the type and amount of change of the target driving state of the vehicle. Based on the type of change of the target driving state in the control signal, a target control type is determined. Based on the target control type, a target execution unit is determined, and the control parameters of the target execution unit are determined based on the amount of change in the control signal. The control parameters are then sent to the target execution unit to instruct it to execute tasks according to the control parameters, thereby controlling the vehicle. In this embodiment, by establishing an association between the control type and the execution unit, there is no need to develop functional control algorithms on the execution unit. The execution unit directly receives the control parameters and executes the tasks, avoiding redundant development of functional control algorithms and improving resource utilization. By determining the target control type based on the type of change of the target driving state in the control signal, different control signals can all have their control parameters determined through the corresponding control type. There is no need to set separate control algorithms for different signals and functions, centralizing the vehicle control process, simplifying the control flow, and facilitating the addition and modification of control functions.

[0074] In one embodiment, such as Figure 2 As shown, determining the target control type based on the change type of the target driving state in the control signal includes:

[0075] Step S111: Determine the target control function based on the type of change in the target driving state in the control signal;

[0076] Step S112: Determine the target control type that matches the target control function.

[0077] In this embodiment of the disclosure, in response to the triggering of a vehicle control signal, a target control function is determined based on the change type of the target driving state in the control signal, and a target control type matching the target control function is determined. When determining the target control function based on the control signal, the corresponding target control function can be determined based on the change type of the target driving state in the control signal. The control function changes the vehicle state, and the change type in the control signal corresponds to the change type of the vehicle state. Therefore, the corresponding target control function can be determined based on the change type in the control signal. There can be one or more control signals, and one control signal can correspond to one or more target control functions. In one example, there is a preset association relationship between the control function and the control type, which is denoted as the second preset association relationship in this embodiment. After determining the target control function, the matching target control type can be determined based on the target control function and the second preset association relationship. The second preset association relationship between the control function and the control type can be determined in advance based on the actual application scenario. The control function is obtained by dividing different functions in the control scenario. Specifically, the division can be adjusted according to the actual application scenario. For example, in a vehicle intelligent driving scenario, the control function may include, but is not limited to, longitudinal driving function, parking function, automatic parking function, automatic emergency braking function, hill start assist function, etc. Based on the control functions and the resulting control types, establish the relationships between control functions and control types. Since vehicle driving and control usually require the coordination and cooperation of different structures within the vehicle, a control function can be associated with one or more control types, and a control type can also be associated with one or more control functions. In some possible implementations, determining the relationship between control functions and control types can be based on the vehicle's control principles. Multiple control functions are divided according to different control flows during vehicle control. Based on these multiple control functions, vehicle control types are abstracted into several major categories, each corresponding to a control function. In one example, control functions and control types can be configured differently based on different application scenarios. For instance, in a longitudinal control scenario, based on the vehicle's longitudinal control principles, control types can be abstracted into four major categories: speed direction control, motion control, stationary parking control, and braking force control. Further refinement of different control flows yields multiple control functions, thus determining the relationship between control functions and control types. For example, a control function might include automatic emergency braking. Based on the control principles corresponding to automatic emergency braking, the vehicle needs to be decelerated to a stop. Therefore, there is a relationship between automatic emergency braking and stationary parking control. Automatic emergency braking may also include control of vehicle braking force; therefore, automatic emergency braking can also be associated with braking force control.

[0078] Figure 3 This is a schematic diagram of the architecture of a vehicle control system according to an exemplary embodiment, with reference to... Figure 3 As shown, there is a first preset association between the execution unit and the control type, and a second preset association between the control function and the control type. The control type, control function, and execution unit all correspond to changes in vehicle state. In this embodiment, the association can be established based on the correspondence between the control function, control type, and execution unit. In this embodiment, control functions and control types are divided according to the actual application scenario and vehicle control principles. When establishing the association between control functions and control types, the control type associated with the control function can be determined based on the relationship between the control function and the execution unit, and the relationship between the control type and the execution unit. For example... Figure 3 As shown, control function 1 corresponds to execution unit 1 and execution unit 3, and execution unit 1 and execution unit 3 correspond to control type 1. Therefore, an association is established between control function 1 and control type 1. Control function 2 corresponds to execution unit 3 and execution unit 4, execution unit 3 corresponds to control type 1, and execution unit 4 corresponds to control type 3. Therefore, an association is established between control function 1 and control type 1 and control type 3. In practical application scenarios, for example, when the control function is parking function, the corresponding execution unit includes BCU hydraulic braking, and BCU hydraulic braking corresponds to the stationary parking control type. Therefore, an association is established between the parking function and the stationary parking control type.

[0079] In this embodiment, the target control function is determined by the change type of the control signal, and the target control type is determined based on the correlation between the control function and the control type. By dividing the control function, the control function can be determined first and then the control type when determining the target type, thus optimizing the process of determining the control type. The control signals are further subdivided, improving the efficiency of data processing in the vehicle control process. Furthermore, by establishing the correlation between the control function and the control type, it is convenient to expand new functions and adjust and modify the functional architecture. When expanding new functions or adjusting and modifying the functional architecture, only the calling relationship of the control type needs to be adjusted, without the need to develop new algorithms, saving resources and improving the flexibility and practicality of the control architecture.

[0080] In one embodiment, such as Figure 4 As shown, the step of determining the target control function based on the type of change in the target driving state in the control signal includes:

[0081] Step S1111: Based on the type of change in the target driving state in the control signal, determine multiple candidate control functions corresponding to the control signal;

[0082] Step S1112: If the functional attributes of the multiple candidate control functions meet the preset conditions, determine the multiple candidate control functions as the target control functions.

[0083] In this embodiment of the disclosure, when determining the target control function, multiple candidate control functions are determined based on the type of change in the target driving state in the control signal. Since there can be one or more control signals, and corresponding control functions can also be one or more, conflicts may exist between functions when multiple control functions are involved, preventing simultaneous execution. In this embodiment, multiple candidate control functions are first determined, and the target control function is determined based on the functional attributes of the candidate control functions. Specifically, the functional attributes can be obtained by classifying control functions according to actual application scenarios. Different application scenarios may have different classification methods, and this disclosure does not impose any restrictions on this. When the functional attributes of multiple candidate control functions meet preset conditions, it can be considered that these multiple candidate control functions do not conflict and can be executed simultaneously, thus determining these multiple candidate control functions as the target control function. The preset conditions may include non-conflicting functional attributes. For example, when the functional attributes corresponding to multiple candidate control functions include acceleration and deceleration, a conflict can be considered; when the functional attributes of multiple candidate control functions are all stop, a non-conflict can be considered, and simultaneous execution is possible.

[0084] In this embodiment of the disclosure, when a control signal corresponds to multiple candidate control functions, the target control function is determined when the functional attributes of the candidate control functions meet preset conditions. This achieves the determination of the target control function to be executed based on whether the functions themselves conflict, avoiding vehicle control problems caused by functional conflicts in subsequent vehicle control, improving the accuracy and safety reliability of vehicle control, and making it applicable to more application scenarios. Furthermore, the judgment is made directly based on the functional attributes and preset conditions, simplifying the judgment process, ensuring data processing efficiency, reducing resource waste, and improving resource utilization.

[0085] In one embodiment, such as Figure 5 As shown, after determining the multiple candidate control functions corresponding to the control signal, the method further includes:

[0086] Step S1113: If the functional attributes of the multiple candidate control functions do not meet the preset conditions, obtain the vehicle status data of the vehicle.

[0087] Step S1114: Determine the target control function from the plurality of candidate control functions based on the vehicle status data.

[0088] In this embodiment of the disclosure, when judging based on the functional attributes of multiple candidate control functions, if the functional attributes of multiple candidate control functions do not meet the preset conditions, it can be considered that there is a conflict between the multiple candidate control functions, and they cannot be executed simultaneously, requiring further judgment. Vehicle status data is acquired, which may include, but is not limited to, the vehicle's current speed, current gear, and current acceleration, etc., specifically set according to the actual application scenario. The target control function is determined from the multiple candidate control functions based on the vehicle status data. In some possible implementations, when determining the target control function, a candidate control function that does not conflict with the current vehicle status can be directly determined from the multiple candidate control functions based on the vehicle status data as the target control function; alternatively, candidate control functions that do not meet the preset conditions, i.e., conflicting control functions, can be acquired, and control functions that conflict with the current vehicle status can be filtered out from the conflicting control functions. The remaining conflicting control functions and the candidate control functions that meet the preset conditions are used as the target control functions.

[0089] In this embodiment of the disclosure, when multiple candidate control functions corresponding to control signals conflict, the target control function is determined based on vehicle status data, thereby enabling subsequent control of the vehicle. This is applicable to a variety of different application scenarios. When multiple control functions are triggered simultaneously, the target control function can be determined efficiently and accurately, avoiding the problem of vehicle control confusion caused by functional conflicts, and improving the accuracy and reliability of vehicle control.

[0090] In one embodiment, such as Figure 6 As shown, the method further includes:

[0091] Step S610: In response to the instruction to add a control function to be added, obtain the control type corresponding to the control function to be added;

[0092] Step S620: Determine the association between the control function to be added and the control type.

[0093] In this embodiment, the addition of control functions can also be implemented. Specifically, in response to an instruction to add a control function, the control type corresponding to the control function to be added is obtained. In one example, the instruction to add a control function can be issued by a user. The method of issuing the instruction can include, but is not limited to, issuing the instruction via text, voice, or image. The instruction can also be issued via a preset terminal device, which can include, but is not limited to, a terminal device in the vehicle or a user's mobile terminal device. The specific method of issuing the instruction can be set according to the actual application scenario, and this disclosure does not limit it. In some possible implementations, the corresponding control type can be determined based on the control target or functional attributes of the control function to be added. After obtaining the control function to be added and the corresponding control type, an association is established. During the vehicle control process, the control type corresponding to the control function can be determined based on this association.

[0094] In this embodiment of the disclosure, when adding a new control function, the new control function can be added by establishing an association relationship based on the control type corresponding to the control function. There is no need to develop a new control algorithm on the execution unit. By covering the control function requirements through the control type, it is easy to expand the new function, avoid waste of resources, modularize the vehicle control architecture, simplify the function setting process, and facilitate the adjustment and modification of the vehicle control function.

[0095] In one embodiment, such as Figure 7 As shown, the triggering of the control signal in response to the vehicle's driving state, and the determination of the target control type based on the change type of the target driving state in the control signal, include:

[0096] Step S113: Obtain vehicle status data;

[0097] Step S114: If the vehicle status data matches the preset status data, trigger a control signal for the vehicle driving status that matches the preset status data.

[0098] Step S115: Determine the target control type based on the type of change in the target driving state in the control signal.

[0099] In this embodiment, the triggering of the control signal for the vehicle's driving state may differ depending on the application scenario. In this embodiment, the control signal for the vehicle's driving state can be actively triggered. Specifically, vehicle state data is acquired, and when the vehicle state data matches preset state data, the corresponding control signal for the vehicle's driving state is triggered. The target control type is determined based on the change type of the target driving state in the control signal. The vehicle state data may include, but is not limited to, vehicle speed, vehicle acceleration, vehicle gear, and vehicle steering angle. In some possible implementations, the vehicle state data may be acquired periodically or continuously; the vehicle state data can be determined through vehicle sensor data or based on the status of in-vehicle devices. When the vehicle state data matches the preset state data, it can be considered that the vehicle needs to be controlled, and the corresponding control signal is triggered. The preset state data can be set according to the actual application scenario. Preset state data is determined based on different control scenarios. In one example, when the difference between the vehicle state data and the preset state data meets a preset condition, they can be considered to match. The preset condition may include, but is not limited to, a preset threshold. In some possible implementations, there can be multiple sets of different preset state data, and different preset state data can correspond to different control signals. The corresponding control signal is determined based on the target preset state data that matches the vehicle state data. In this embodiment, after determining the control signal, the corresponding target control type is determined based on the control signal. Typically, the control type can be determined in advance based on the actual application scenario. In one example, the control type can be divided according to the execution unit that needs to be called in vehicle control; or it can be divided according to the type of vehicle state change in vehicle control. The specific division method can be determined based on the actual application scenario, and this disclosure does not limit it. In one example, one control signal can correspond to one or more target control types, which can be determined specifically based on the actual application scenario.

[0100] This embodiment of the invention can actively trigger control signals for the vehicle's driving state based on the vehicle's status, determine the target control type, and realize vehicle control. It can be applied to application scenarios such as intelligent driving, improves the intelligence of vehicle control, performs automatic control based on vehicle status data, ensures the safety and reliability of vehicle control, and enhances the user experience.

[0101] Figure 8 This is a schematic diagram illustrating a vehicle control architecture according to an exemplary embodiment, with reference to... Figure 8As shown, based on the vehicle control method described in this embodiment, the architecture is layered into a functional application layer, a functional control service layer, and an execution layer. The functional application layer represents various control functions; the functional control service layer represents various functional control services, i.e., various control types; the execution layer represents various tasks executed by the execution unit, which may include, but is not limited to, BCU hydraulic braking, PEU motor drive, gear selection, EPB pull-up and release, etc. The execution unit may include, but is not limited to, the brake control unit (BCU), power electronics integrated unit (PEU), electronic parking brake unit (EPB), and gear unit (GEAR). During vehicle control, different control functions in the functional application layer can call the corresponding control type in the functional control service layer to determine control parameters, thereby controlling the execution layer to execute the corresponding tasks and achieving vehicle control. When there are multiple candidate control functions during vehicle control, the target control function can be determined through arbitration. In one example, the target control function can be determined by judging based on vehicle status data and / or the attributes of the candidate control functions. In some possible implementations, it can be done according to... Figure 3 or Figure 4 The process shown involves selecting and determining the target control function. In one example, when adding a new control function, such as a new one-pedal function, the one-pedal function is added at the function application layer. The one-pedal function matches the motion control type and stationary parking control type at the function control service layer. Therefore, an association is established between the one-pedal function and the motion control type and stationary parking control type. During vehicle control, if the one-pedal function wins the arbitration against other functions, the motion control type and stationary parking control type will be invoked. By controlling the accelerator pedal opening, the vehicle is controlled to stop comfortably and smoothly. After the parking time expires, the speed and direction control type is invoked to request the P gear for long-term parking control.

[0102] In one possible implementation, such as Figure 9 As shown, the method described in this embodiment can be applied to the longitudinal control of a vehicle. Based on the vehicle's longitudinal motion attributes, the longitudinal control types are divided to obtain the control types corresponding to the functional control service layer, including speed direction control, motion control, stationary parking control, and braking force control. The longitudinal control functions of the functional application layer can be determined according to the actual application scenario, for example, including but not limited to longitudinal driving functions, parking functions, automatic parking functions, automatic emergency braking functions, and hill start assist functions. In the longitudinal control of the vehicle, different longitudinal control functions of the functional application layer can determine the control parameters by calling the corresponding control type of the functional control service layer, so as to control the execution layer to execute the corresponding tasks, thereby realizing the longitudinal control of the vehicle. In this embodiment, when there are multiple candidate control functions in the longitudinal control of the vehicle, the target control function can be determined through arbitration.

[0103] Figure 10 This is a schematic diagram illustrating a vehicle control architecture according to an exemplary embodiment, applied in a longitudinal control scenario of a vehicle, using the vehicle control method described in this embodiment. Figure 10 In the illustrated architecture, responding to the triggering of a vehicle control signal, the target control type is determined based on the control signal. This control type can include, but is not limited to, speed and direction control, motion control, stationary parking control, and braking force control. Based on the relationship between the control type and the execution unit, the target execution unit corresponding to the target control type is determined. This execution unit can include, but is not limited to, the brake control unit (BCU), power electronics integrated unit (PEU), electronic parking brake unit (EPB), and gear shift unit (GEAR). The control parameters of the target execution unit are determined based on the vehicle's target state information in the control signal, and these parameters are sent to the target execution unit, instructing it to perform the corresponding task according to the control parameters, thereby achieving vehicle control. (Reference) Figure 9 As shown, when determining the target control type through control signals, the target control function can be determined first based on the control signals. The target control function can be determined from a pre-set list of control functions, which may include, but are not limited to, longitudinal driving functions, parking functions, automatic parking functions, automatic emergency braking functions, hill start assist functions, etc. In this embodiment, based on the principle of vehicle control, there is a preset correlation between control functions and control types. The corresponding target control type can be determined based on the target control function. In this embodiment, considering the various control functions in vehicle longitudinal control and the different scenarios, the control types and functions of longitudinal control are abstracted into multiple types as shown in the figure, and a correlation is established. Considering the complexity and diversity of the vehicle control process, in some cases, it may be necessary to control the vehicle simultaneously through multiple control functions. In this case, there may be conflicts between multiple control functions. Therefore, it is necessary to filter the target control function from multiple control functions through functional arbitration. The functional arbitration method may include, but is not limited to, arbitration based on whether the control function itself conflicts or arbitration based on whether the control function conflicts with the current state of the vehicle.

[0104] Based on the above architecture, the vehicle control method provided in this disclosure is described in detail, taking its application in a vehicle intelligent driving scenario as an example. In response to the triggering of a vehicle acceleration change signal, the corresponding control type is determined to be motion control. The vehicle acceleration change signal includes target state information, i.e., acceleration 'a'. The motion control type of the functional control service layer is invoked, with acceleration 'a' as input and vehicle control torque as output. The corresponding control parameters for the execution unit are obtained and allocated to the execution unit motor and BCU hydraulic braking for vehicle acceleration, deceleration, and constant speed control. If a warning function is activated during motion control, the braking force control type is simultaneously invoked to perform additional braking torque calculation, and the obtained control parameters are output to the execution unit BCU hydraulic braking. During motion, if the vehicle decelerates to a stop, the stationary parking control type is invoked, with a parking request as input and BCU hydraulic braking torque as output, fulfilling the vehicle's parking requirement. In the parking state, if restarting is required, the speed and direction control type can be invoked, with the gear as the corresponding control parameter. This is output to the execution unit for execution. After completing the motion direction control, the motion control type is invoked again, exiting the stationary parking control type, allowing for vehicle acceleration control. In this embodiment, the execution unit is controlled by defining an interface with the execution unit, and the execution unit is treated as a pure execution mechanism. For example, the interaction between the vehicle hydraulic braking force and the chassis brake controller is defined. The execution unit may include, but is not limited to, vehicle parts or combinations of parts.

[0105] In this embodiment, vehicle control is abstracted into several control types. Different control functions can call these control types to meet control requirements without setting separate control algorithms for each function. This centralizes, hierarchizes, modularizes, and service-oriented control. It simplifies function interaction, facilitates the development of new control functions, and enables deep integration of control functions. This improves the accuracy of vehicle control, enhances driving comfort, and improves the user experience.

[0106] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the accompanying drawings may include multiple steps or stages, which are not necessarily completed at the same time, but may be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0107] Based on the same inventive concept, this disclosure also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0108] In one embodiment, such as Figure 11 As shown, a vehicle control device 1100 is provided, comprising:

[0109] The first determining module 1110 is used to determine the target control type in response to the triggering of the control signal for the vehicle driving state, based on the change type of the target driving state in the control signal.

[0110] The second determining module 1120 is used to determine the target execution unit that matches the target control type;

[0111] The third determining module 1130 is used to determine the control parameters of the target execution unit based on the change in the control signal;

[0112] The sending module 1140 is used to send the control parameters to the target execution unit to instruct the target execution unit to execute the corresponding task according to the control parameters.

[0113] In one embodiment, the first determining module includes:

[0114] The first determining submodule is used to determine the target control function based on the type of change in the target driving state in the control signal;

[0115] The second determining submodule is used to determine the target control type that matches the target control function, wherein there is a second preset association between the control function and the control type.

[0116] In one embodiment, the first determining submodule includes:

[0117] The first determining unit is used to determine multiple candidate control functions corresponding to the control signal based on the type of change in the target driving state in the control signal;

[0118] The second determining unit is used to determine the multiple candidate control functions as target control functions when the functional attributes of the multiple candidate control functions meet preset conditions.

[0119] In one embodiment, after the first determining unit, the method further includes:

[0120] The acquisition module is used to acquire vehicle status data of the vehicle when the functional attributes of the multiple candidate control functions do not meet the preset conditions.

[0121] The third determining unit is used to determine the target control function from the plurality of candidate control functions based on the vehicle status data.

[0122] In one embodiment, the apparatus further includes:

[0123] The second acquisition module is used to acquire the control type corresponding to the control function to be added in response to the addition command of the control function to be added.

[0124] The third determining submodule is used to determine the association between the control function to be added and the control type.

[0125] In one embodiment, the first determining module includes:

[0126] The third acquisition module is used to acquire vehicle status data;

[0127] The triggering module is used to trigger a control signal for the vehicle driving state that matches the preset state data when the vehicle state data matches the preset state data.

[0128] The fourth determination submodule is used to determine the target control type based on the type of change in the target driving state in the control signal.

[0129] The various modules in the control device of the aforementioned vehicle can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0130] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 12As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data generated or pre-stored during the longitudinal control process of the vehicle, such as control signals, control types, and control parameters. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a vehicle control method.

[0131] Those skilled in the art will understand that Figure 12 The structures shown are merely block diagrams of some structures related to the embodiments of this disclosure and do not constitute a limitation on the computer devices on which the embodiments of this disclosure are applied. Specific computer devices may include more or fewer components than those shown in the figures, or combine certain components, or have different component arrangements.

[0132] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0133] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0134] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, vehicle data, etc.) involved in the embodiments of this disclosure are all information and data authorized by the user or fully authorized by all parties. The data collection and acquisition actions involved in the embodiments of this disclosure are all performed after authorization by the user, the object, or fully authorized by all parties.

[0136] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this disclosure may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this disclosure may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0137] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0138] The above-described embodiments are merely illustrative of several implementation methods of the present disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent for the embodiments of the present disclosure. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the embodiments of the present disclosure, and these all fall within the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the embodiments of the present disclosure should be determined by the appended claims.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: In response to the triggering of a control signal for the vehicle's driving state, the target control type is determined based on the type of change in the target driving state in the control signal, or the target control function is determined based on the control signal, and the target control type is determined through a second preset association relationship between the control function and the control type. The determination of the target control type includes: determining the target control function based on the functional attributes of candidate control functions; when the functional attributes of multiple candidate control functions meet preset conditions, the multiple candidate control functions are determined as the target control function; the determined multiple candidate control functions do not conflict with each other and are allowed to be executed simultaneously. Among them, one control signal corresponds to one or more target control types, one control function is associated with one or more control types, and one control type is associated with one or more control functions; A target execution unit matching the target control type is determined based on a first preset association between the execution unit and the control type. The control parameters of the target execution unit are determined based on the changes in the control signal. The control parameters are sent to the target execution unit to instruct the target execution unit to execute the corresponding task according to the control parameters.

2. The method according to claim 1, characterized in that, Determining the target control type based on the type of change in the target driving state in the control signal includes: The target control function is determined based on the type of change in the target driving state in the control signal; Determine the target control type that matches the target control function.

3. The method according to claim 2, characterized in that, The step of determining the target control function based on the type of change in the target driving state in the control signal includes: Based on the type of change in the target driving state in the control signal, determine multiple candidate control functions corresponding to the control signal; If the functional attributes of the multiple candidate control functions meet the preset conditions, the multiple candidate control functions are determined as the target control functions.

4. The method according to claim 3, characterized in that, After determining the multiple candidate control functions corresponding to the control signal, the method further includes: If the functional attributes of the multiple candidate control functions do not meet the preset conditions, the vehicle status data of the vehicle is obtained. The target control function is determined from the plurality of candidate control functions based on the vehicle status data.

5. The method according to claim 2, characterized in that, The method further includes: In response to an instruction to add a control function, obtain the control type corresponding to the control function to be added; Determine the association between the control function to be added and the control type.

6. The method according to claim 1, characterized in that, The triggering of the control signal in response to the vehicle's driving state, based on the type of change in the target driving state in the control signal, determines the target control type, including: Obtain vehicle status data; If the vehicle status data matches the preset status data, a control signal for the vehicle driving status that matches the preset status data is triggered. The target control type is determined based on the type of change in the target driving state in the control signal.

7. A vehicle control device, characterized in that, The device includes: The first determining module is used to respond to the triggering of a control signal for the vehicle's driving state, determine the target control type based on the type of change in the target driving state in the control signal, or determine the target control function based on the control signal, and determine the target control type through a second preset association relationship between the control function and the control type. The determination of the target control type includes: determining the target control function based on the functional attributes of candidate control functions; when the functional attributes of multiple candidate control functions meet preset conditions, the multiple candidate control functions are determined as the target control function; the determined multiple candidate control functions do not conflict with each other and are allowed to be executed simultaneously. Among them, one control signal corresponds to one or more target control types, one control function is associated with one or more control types, and one control type is associated with one or more control functions; The second determining module is used to determine a target execution unit that matches the target control type based on a first preset association relationship between the execution unit and the control type. The third determining module is used to determine the control parameters of the target execution unit based on the changes in the control signal; The sending module is used to send the control parameters to the target execution unit to instruct the target execution unit to execute the corresponding task according to the control parameters.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the vehicle control method according to any one of claims 1 to 6.

9. 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 vehicle control method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the vehicle control method according to any one of claims 1 to 6.

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