Driving control method and device, electronic equipment and storage medium

Abstract

The application discloses an action control method and device, electronic equipment and storage medium. The method comprises the following steps: acquiring a current vehicle state of a vehicle; wherein the vehicle state comprises a vehicle speed and a driving trend, and the driving trend is a driving state of keeping acceleration or deceleration of the vehicle; determining a current working condition of the vehicle based on the current vehicle state; wherein the working condition comprises a vehicle starting working condition and a parking working condition; determining a target driving scheme matched with the current working condition of the vehicle from a prediction model; wherein the prediction model is used to describe a corresponding relationship between different working conditions and driving schemes, and the driving scheme is a scheme used to inhibit brake noise generation; and controlling the vehicle driving based on the target driving scheme. According to the technical scheme, the target driving scheme matched with the current working condition of the vehicle is found from the prediction model according to the accurately determined current working condition of the vehicle, so that the vehicle driving is controlled according to the target driving scheme, and the noise generated due to low-speed braking of the vehicle is inhibited.

Description

Technical Field

[0001] This invention relates to the field of automotive braking technology, and more particularly to a motion control method, device, electronic device, and storage medium. Background Technology

[0002] With the rapid development of the automotive industry, my country's car ownership has increased year by year, and the market's demands for automotive comfort and quietness have gradually increased. Noise generated during braking is one of the main issues causing customer complaints, especially groan noise, a low-frequency noise (less than 1000Hz) that occurs when a vehicle starts moving after releasing the brake or when the brake is lightly applied to bring it to a stop at low speed. Currently, the main solution to groan noise focuses on replacing the friction pad material. However, this method has a long verification cycle, and using higher-performance friction pad materials increases the price, but it cannot completely eliminate the noise. Therefore, preventing braking noise is becoming increasingly important. Summary of the Invention

[0003] The present invention provides a motion control method, apparatus, electronic device and storage medium to suppress noise generated by low-speed braking of a vehicle.

[0004] According to one aspect of the present invention, a driving control method is provided, the method comprising:

[0005] Obtain the current vehicle status; wherein the vehicle status includes vehicle speed and driving trend, and the driving trend is whether the vehicle is accelerating or decelerating.

[0006] The current operating condition of the vehicle is determined based on the current vehicle status; wherein, the operating condition includes vehicle starting condition and parking condition;

[0007] A target driving scheme matching the current operating condition of the vehicle is determined from the prediction model; wherein, the prediction model is used to describe the correspondence between different operating conditions and driving schemes, and the driving scheme is a scheme used to suppress the generation of braking noise;

[0008] Control vehicle movement based on the target driving plan.

[0009] According to another aspect of the present invention, a driving control device is provided, the device comprising:

[0010] The status acquisition module is used to acquire the current vehicle status; wherein the vehicle status includes vehicle speed and driving trend, and the driving trend is the vehicle maintaining an acceleration or deceleration state.

[0011] The operating condition determination module is used to determine the current operating condition of the vehicle based on the current vehicle status; wherein, the operating condition includes vehicle starting condition and parking condition;

[0012] The scheme determination module is used to determine a target driving scheme that matches the current operating condition of the vehicle from the prediction model; wherein, the prediction model is used to describe the correspondence between different operating conditions and driving schemes, and the driving scheme is a scheme used to suppress the generation of braking noise.

[0013] The control module is used to control the vehicle's movement based on the target driving plan.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0019] The technical solution of this invention involves obtaining the current vehicle state, including vehicle speed and driving trend, where the driving trend refers to the vehicle maintaining an acceleration or deceleration state; then determining the current operating condition of the vehicle based on the current vehicle state, including vehicle starting and stopping conditions; further determining a target driving scheme matching the current operating condition from a prediction model, where the prediction model describes the correspondence between different operating conditions and driving schemes, and the driving scheme is used to suppress braking noise; finally, controlling the vehicle's movement based on the target driving scheme. This technical solution, by accurately determining the current vehicle operating condition, finds a suitable target driving scheme from the prediction model, and then controls the vehicle's movement according to the target driving scheme, thereby suppressing noise generated by low-speed braking.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a vehicle control method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of a control device corresponding to a driving control method provided in Embodiment 2 of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a vehicle control device according to Embodiment 3 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the driving control method of this invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1This is a flowchart of a driving control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where vehicle driving is controlled to suppress groan noise when the vehicle slowly releases the brake to start or slowly stops by lightly applying the brake at low speed. This method can be executed by a driving control device, which can be implemented in hardware and / or software. The driving control device can be configured in an electronic device that has a driving control method. Figure 1 As shown, the method includes:

[0030] S110. Obtain the current vehicle status; wherein the vehicle status includes vehicle speed and driving trend, and the driving trend is the vehicle maintaining an acceleration or deceleration state.

[0031] This invention is applicable to fuel-powered, hybrid, or electric new energy vehicles.

[0032] Specifically, it acquires information such as vehicle speed and braking force in real time, and determines the vehicle's current status based on this information, so as to determine the vehicle's operating condition according to the current vehicle status.

[0033] S120. Determine the current operating condition of the vehicle based on the current vehicle status; wherein, the operating condition includes vehicle starting condition and parking condition.

[0034] Among them, the vehicle starting condition is when the vehicle slowly releases the brake to start; the parking condition is when the vehicle slowly stops at low speed with the brake lightly applied.

[0035] Specifically, the current vehicle status is obtained and analyzed to accurately determine the vehicle's current operating condition. For example, based on the speed and the vehicle's driving trend, it can be accurately determined whether the vehicle is in a starting or stopping state.

[0036] Optionally, the current vehicle status is obtained. If the current vehicle status meets a first speed condition, the current operating condition is vehicle start-up. The first speed condition is that the vehicle speed is less than a preset speed, and the vehicle's driving trend remains one of acceleration. If the current vehicle status meets a second speed condition, the current operating condition is vehicle stop. The second speed condition is that the vehicle speed is less than a preset speed, and the vehicle's driving trend remains one of deceleration. The preset speed can be set according to the actual situation of the vehicle and is not specifically limited here. This technical solution accurately determines the current operating condition of the vehicle by comparing the current vehicle status with the first and second speed conditions. This facilitates the subsequent accurate determination of the vehicle's driving control scheme based on the current operating condition, thereby effectively suppressing gross noise.

[0037] In one feasible embodiment, optionally, the process of constructing the prediction model includes steps A1-A3:

[0038] Step A1: Obtain the predicted vehicle state under different operating conditions, and the corresponding braking noise parameter values; wherein, the braking noise parameter values ​​include the decibel value or frequency value of the braking noise.

[0039] Step A2: Based on the predicted vehicle state and the corresponding braking noise parameter values, determine the vehicle driving plan under different operating conditions.

[0040] Step A3: Based on the different working conditions and the driving plan, establish the correspondence between the different working conditions and the driving plan to obtain the prediction model.

[0041] Specifically, before a vehicle is deployed, microphone sensors are installed near the wheels to acquire braking noise parameter values. To accurately obtain a predictive model, the predicted vehicle state under different operating conditions and the corresponding braking noise parameter values ​​must first be obtained. Since different predicted vehicle states correspond to different braking noise parameter values, the magnitude of the braking noise parameter values ​​under each predicted vehicle state can be determined. Based on the relationship between the predicted vehicle state and the corresponding braking noise parameter values, it can be determined how to control the vehicle to suppress braking noise. This allows for the accurate development of driving plans under different operating conditions, establishing a one-to-one correspondence between different operating conditions and driving plans. This leads to the accurate acquisition of a predictive model, which is then integrated into the vehicle's braking control system. This allows the vehicle to use the driving plan from the predictive model for vehicle control during operation, achieving the goal of noise suppression.

[0042] Optionally, based on the predicted vehicle state and the corresponding braking noise parameter values, the vehicle driving plan under different operating conditions is determined, specifically in the following two cases:

[0043] The first method is to determine a first target driving scheme based on the predicted vehicle state corresponding to the vehicle startup condition and the brake noise parameter value corresponding to the predicted vehicle state; wherein, the first target driving scheme includes a torque-increasing scheme, which is a scheme to accelerate the vehicle by increasing torque.

[0044] The second method involves determining a second target driving plan based on the predicted vehicle state under parking conditions and the corresponding braking noise parameter values. This second target driving plan includes a braking plan and a torque reduction plan. The braking plan involves controlling the vehicle's braking force to decelerate the vehicle, and the torque reduction plan involves reducing the vehicle's torque to decelerate the vehicle. Furthermore, the braking plan and torque reduction plan can be specifically determined by the slope of the ground where the vehicle is located. If the slope is greater than or equal to a preset slope, the second target driving plan is determined to be a torque reduction plan based on the predicted vehicle state under parking conditions and the corresponding braking noise parameter values. If the slope is less than the preset slope, the second target driving plan is determined to be a braking plan based on the predicted vehicle state under parking conditions and the corresponding braking noise parameter values.

[0045] This technical solution analyzes and compares the predicted vehicle state and the corresponding braking noise parameter values ​​to accurately derive driving schemes that can suppress braking noise generated by the vehicle under different operating conditions. Based on different operating conditions and driving schemes, it establishes the correspondence between different operating conditions and driving schemes to obtain an accurate prediction model. This model allows the vehicle to use the driving scheme in the prediction model for vehicle control during operation, thereby achieving the purpose of noise suppression.

[0046] S130. Determine a target driving scheme that matches the current operating condition of the vehicle from the prediction model; wherein the prediction model is used to describe the correspondence between different operating conditions and driving schemes, and the driving scheme is a scheme used to suppress the generation of braking noise.

[0047] Specifically, the current operating condition of the vehicle is determined by obtaining the current vehicle status. If the current operating condition of the vehicle is that it is in the starting state, the target driving plan is the first target driving plan; if the current operating condition of the vehicle is that it is in the stopping state, the target driving plan is the second target driving plan.

[0048] S140. Control the vehicle's movement based on the target driving plan.

[0049] Specifically, controlling vehicle movement based on a target driving plan can be divided into the following two cases:

[0050] The first type: The target driving plan is the primary target driving plan, which requires the vehicle to adopt a torque-increasing strategy. This involves increasing the engine or electric motor's torque to a first preset target speed to control the vehicle's movement. However, before this, it is necessary to determine whether the driving space in front of the vehicle meets the preset space range. If not, the electronic parking brake is activated, and the primary target driving plan is not executed to avoid collisions and other dangers.

[0051] The second approach: If the target driving plan is the second target driving plan, then the current road surface gradient needs to be determined first. If the gradient is greater than or equal to the preset gradient, a braking plan is adopted, that is, the preset braking force is increased to control the vehicle to stop. If the gradient is less than the preset gradient, a torque reduction plan is adopted, that is, the second preset torque of the engine or motor is reduced to control the vehicle to stop. The gradient can be obtained from the distance sensor or gradient sensor in the vehicle.

[0052] The technical solution of this invention involves obtaining the current vehicle state, including vehicle speed and driving trend, where the driving trend refers to the vehicle maintaining an acceleration or deceleration state; then determining the current operating condition of the vehicle based on the current vehicle state, including vehicle starting and stopping conditions; further determining a target driving scheme matching the current operating condition from a prediction model, where the prediction model describes the correspondence between different operating conditions and driving schemes, and the driving scheme is used to suppress braking noise; finally, controlling the vehicle's movement based on the target driving scheme. This technical solution, by accurately determining the current vehicle operating condition, finds a suitable target driving scheme from the prediction model, and then controls the vehicle's movement according to the target driving scheme, thereby suppressing noise generated by low-speed braking.

[0053] Example 2

[0054] Figure 2 This is a schematic diagram of the control device corresponding to a driving control method provided in Embodiment 2 of the present invention. This embodiment is a further illustrative example of the above embodiment.

[0055] Once the predictive model of this application is integrated into the vehicle, it enables the vehicle to suppress gross noise. This function can be toggled on and off via a screen or physical button. When activated, the function is triggered at a preset speed; that is, it starts activating when the speed is below the preset threshold. This function is disabled by default in driving modes such as off-road, sport, snow, sand, and mud to ensure a good driving experience for the driver. When the vehicle is under control, the function smoothly deactivates if it detects any intention to start or brake suddenly. It is not activated when braking functions such as Hill Descent Control (HDC), Automatic Emergency Braking (AEB), Driver Assist Deceleration Control (CDD-S), Remote Parking, Automatic Parking, and Parking Brake Deceleration Control (CDP) are in operation.

[0056] like Figure 2As shown in the figure, the components include the right front wheel 100, left front wheel 103, right rear wheel 106, left rear wheel 109, right front microphone sensor 102, left front microphone sensor 105, right rear microphone sensor 108, left rear microphone sensor 111, right front brake 101, left front brake 104, right rear brake 107, left rear brake 110, and vehicle electronic stability system controller 112. During the calibration and prediction model establishment, a microphone sensor is installed at each wheel to acquire braking noise parameter values ​​of groan noise under different driving conditions. This establishes the correlation between braking noise parameter values, vehicle speed, and braking pressure under different driving conditions. By analyzing this correlation, the corresponding driving scheme for each driving condition is determined, establishing the correspondence between different driving conditions and driving schemes to obtain an accurate prediction model. After the prediction model is established, it is integrated into the vehicle for primary monitoring of vehicle speed information, and the vehicle is no longer equipped with microphone sensors. The vehicle electronic stability system controller 112 identifies whether the vehicle is in a parking or starting condition by signals such as gear position and engine or motor torque, and matches the corresponding driving scheme for the vehicle from the prediction model. That is, when the vehicle is in a starting condition, the torque-increasing scheme is matched; when the vehicle is in a parking condition, the road slope value is determined by the integrated slope sensor, and the braking scheme or torque-reducing scheme is executed to suppress the generation of vehicle groan noise.

[0057] The specific steps are as follows:

[0058] When the vehicle is in the vehicle start-up condition, the function switch is turned on by the central control or physical button. The vehicle status meets the function activation conditions, and the vehicle meets the requirements of the preset space range as determined by the front radar and front camera. Then, the corresponding scheme is determined from the prediction model as the torque increase scheme. Then, the vehicle electronic stability system controller 112 sends a torque increase request to the engine or motor, and does not apply braking pressure to the four wheel brakes 101, 104, 107, and 110, so that the vehicle speed is quickly increased to a preset target speed, thereby skipping the GROAN noise generation range and suppressing the generation of GROAN noise.

[0059] When the vehicle is parked, the function switch is activated via the central control or physical buttons. The slope value is determined by the slope sensor. If the slope value is greater than or equal to the preset slope value, the vehicle status meets the function activation conditions. The corresponding scheme is determined from the prediction model as the braking scheme. Then, the vehicle electronic stability system controller 112 applies braking pressure to the four wheel brakes 101, 104, 107, and 110 to bring the vehicle to a stop. When the vehicle speed is 0, the vehicle electronic stability system controller 112 engages the EPB to complete the parking action and prevent the vehicle from rolling back. If the slope value is less than the preset slope value, the vehicle status meets the function activation conditions. The corresponding scheme is determined from the prediction model as the torque reduction scheme. Then, the vehicle electronic stability system controller 112 sends a torque reduction request to the engine or motor and does not apply braking pressure to the four wheel brakes 101, 104, 107, and 110 to reduce the vehicle speed to 0. The vehicle electronic stability system controller 112 then engages the EPB to complete the parking action.

[0060] The technical solution of this invention accurately identifies the current operating condition of the vehicle and determines the corresponding driving plan based on the current operating condition. In the parking condition, by determining the slope value, the driving plan is divided more accurately, so that the vehicle can be controlled according to the accurate driving plan under different operating conditions, thereby suppressing the groan noise generated by low-speed braking of the vehicle.

[0061] Example 3

[0062] Figure 3 This is a schematic diagram of a vehicle control device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes:

[0063] The status acquisition module 210 is used to acquire the current vehicle status of the vehicle; wherein the vehicle status includes vehicle speed and driving trend, and the driving trend is the vehicle maintaining an acceleration or deceleration state.

[0064] The operating condition determination module 220 is used to determine the current operating condition of the vehicle based on the current vehicle status; wherein, the operating condition includes vehicle starting condition and parking condition;

[0065] The scheme determination module 230 is used to determine a target driving scheme that matches the current operating condition of the vehicle from the prediction model; wherein, the prediction model is used to describe the correspondence between different operating conditions and driving schemes, and the driving scheme is a scheme used to suppress the generation of braking noise.

[0066] The control module 240 is used to control the vehicle's movement based on the target driving plan.

[0067] Optionally, the apparatus further includes a prediction model building unit, specifically used for:

[0068] The vehicle's predicted state under different operating conditions is obtained, along with the corresponding braking noise parameter values. The braking noise parameter values ​​include the decibel or frequency values ​​of the braking noise.

[0069] Based on the predicted vehicle state and the corresponding braking noise parameter values, the driving scheme for the vehicle under different operating conditions is determined.

[0070] Based on the different operating conditions and the driving scheme, a correspondence between the different operating conditions and the driving scheme is established to obtain the prediction model.

[0071] Optionally, the prediction model building unit includes a driving plan determination unit, specifically used for:

[0072] Based on the predicted vehicle state corresponding to the vehicle start-up condition and the braking noise parameter value corresponding to the predicted vehicle state, a first target driving plan is determined; wherein, the first target driving plan includes a torque-increasing plan, which is a plan to accelerate the vehicle by increasing torque.

[0073] Based on the predicted vehicle state corresponding to the parking condition and the braking noise parameter value corresponding to the predicted vehicle state, a second target driving plan is determined; wherein, the second target driving plan includes a braking plan and a torque reduction plan, the braking plan is a plan to decelerate the vehicle by controlling the braking force of the vehicle, and the torque reduction plan is a plan to decelerate the vehicle by reducing the torque.

[0074] Optional, the base condition determination module, specifically used for:

[0075] If the current vehicle status meets the first speed condition, then the current operating condition of the vehicle is the vehicle starting condition; wherein, the first speed condition is that the vehicle speed is less than the preset speed, and the vehicle's driving trend is to maintain an accelerating state.

[0076] If the current vehicle status meets the second speed condition, then the current operating condition of the vehicle is a parking condition; wherein, the second speed condition is that the vehicle speed is less than the preset speed and the vehicle's driving trend is to maintain a deceleration state.

[0077] Optional, the solution determination module is specifically used for:

[0078] If the current operating condition of the vehicle is vehicle start-up, then the target driving plan is the first target driving plan;

[0079] If the vehicle is currently in a parking state, then the target driving plan is the second target driving plan.

[0080] Optionally, the target driving plan is a first target driving plan, and the control module includes a first control unit, specifically used for:

[0081] By increasing the first preset torque of the engine or motor, the vehicle speed is increased to the first preset target speed to control the vehicle's movement.

[0082] Optionally, the target driving plan is a second target driving plan, and the control module includes a first control unit, specifically used for:

[0083] Determine the current slope of the road surface;

[0084] If the gradient value is greater than or equal to the preset gradient value, the vehicle will be stopped by increasing the preset braking force.

[0085] If the gradient is less than the preset gradient, the second preset torque of the engine or motor is reduced to control the vehicle to stop.

[0086] The driving control device provided in the embodiments of the present invention can execute the driving control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0087] The acquisition, storage, use, and processing of data in this application comply with relevant national laws and regulations and do not violate public order and good morals.

[0088] Example 4

[0089] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0090] Figure 4 A schematic diagram of an electronic device that can be used to implement the driving control method of embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0091] like Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0092] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0093] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle control methods.

[0094] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0095] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0096] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0097] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0098] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0099] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0100] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0101] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0102] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: Get the current vehicle status; The vehicle status mentioned above includes vehicle speed and driving trend, where the driving trend refers to whether the vehicle is accelerating or decelerating. The current operating condition of the vehicle is determined based on the current vehicle status; wherein, the operating condition includes vehicle starting condition and parking condition; A target driving scheme matching the current operating condition of the vehicle is determined from the prediction model; wherein, the prediction model is used to describe the correspondence between different operating conditions and driving schemes, and the driving scheme is a scheme used to suppress the generation of braking noise; Control vehicle movement based on the target driving plan; Determine the current operating condition of the vehicle based on its current status, including: If the current vehicle status meets the first speed condition, then the current operating condition of the vehicle is the vehicle starting condition; wherein, the first speed condition is that the vehicle speed is less than the preset speed, and the vehicle's driving trend is to maintain an accelerating state. If the current vehicle status meets the second speed condition, then the current operating condition of the vehicle is a parking condition; wherein, the second speed condition is that the vehicle speed is less than the preset speed and the vehicle's driving trend is to maintain a deceleration state. Determining a target driving plan that matches the current operating conditions of the vehicle from the prediction model includes: If the current operating condition of the vehicle is vehicle start-up, then the target driving plan is the first target driving plan; If the vehicle is currently in a parking state, then the target driving plan is the second target driving plan; The target driving plan is a second target driving plan. Controlling vehicle movement based on the target driving plan includes: Determine the current slope of the road surface; If the gradient value is greater than or equal to the preset gradient value, the vehicle will be stopped by increasing the preset braking force. If the gradient is less than the preset gradient, the second preset torque of the engine or motor is reduced to control the vehicle to stop.

2. The method according to claim 1, characterized in that, The process of constructing the prediction model includes: The vehicle's predicted state under different operating conditions is obtained, along with the corresponding braking noise parameter values. The braking noise parameter values ​​include the decibel or frequency values ​​of the braking noise. Based on the predicted vehicle state and the corresponding braking noise parameter values, the driving scheme for the vehicle under different operating conditions is determined. Based on the different operating conditions and the driving scheme, a correspondence between the different operating conditions and the driving scheme is established to obtain the prediction model.

3. The method according to claim 2, characterized in that, Based on the predicted vehicle state and the corresponding braking noise parameter values, the driving plan for the vehicle under different operating conditions is determined, including: Based on the predicted vehicle state corresponding to the vehicle start-up condition and the braking noise parameter value corresponding to the predicted vehicle state, a first target driving plan is determined; wherein, the first target driving plan includes a torque-increasing plan, which is a plan to accelerate the vehicle by increasing torque. Based on the predicted vehicle state corresponding to the parking condition and the braking noise parameter value corresponding to the predicted vehicle state, a second target driving plan is determined; wherein, the second target driving plan includes a braking plan and a torque reduction plan, the braking plan is a plan to decelerate the vehicle by controlling the braking force of the vehicle, and the torque reduction plan is a plan to decelerate the vehicle by reducing the torque.

4. The method according to claim 1, characterized in that, The target driving plan is a first target driving plan. Controlling vehicle movement based on the target driving plan includes: By increasing the engine or motor's first preset torque, the vehicle speed is increased to a first preset target speed to control the vehicle's movement.

5. A vehicle control device for executing the vehicle control method according to any one of claims 1-4, characterized in that, include: The status acquisition module is used to acquire the current vehicle status; The vehicle status mentioned above includes vehicle speed and driving trend, where the driving trend refers to whether the vehicle is accelerating or decelerating. The operating condition determination module is used to determine the current operating condition of the vehicle based on the current vehicle status; wherein, the operating condition includes vehicle starting condition and parking condition; The scheme determination module is used to determine a target driving scheme that matches the current operating condition of the vehicle from the prediction model; wherein, the prediction model is used to describe the correspondence between different operating conditions and driving schemes, and the driving scheme is a scheme used to suppress the generation of braking noise. The control module is used to control the vehicle's movement based on the target driving plan.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the driving control method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the driving control method according to any one of claims 1-4.

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