Automatic driving control method and device, storage medium and vehicle

Abstract

The application discloses an automatic driving control method and device, a storage medium and a vehicle. The method comprises the following steps: obtaining target road information, wherein the target road information is used to represent the road environment within a preset distance in front of a target vehicle; determining a driving control strategy corresponding to a target road based on the target road information; determining a target fuel saving value of the target vehicle based on a first fuel consumption value and a second fuel consumption value of the target vehicle, wherein the first fuel consumption value is a fuel consumption value generated when the target vehicle is driven by using the driving control strategy, and the second fuel consumption value is a fuel consumption value generated when the target vehicle is driven without using the driving control strategy; and in response to the target fuel saving value of the target vehicle being greater than a preset threshold, controlling the target vehicle to drive on the target road by using the driving control strategy. The application solves the technical problem of low fuel economy of the vehicle caused by the lack of predictability of the fuel consumption control method in the related art.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more specifically, to an autonomous driving control method, device, storage medium, and vehicle. Background Technology

[0002] With the development of vehicle intelligence and connectivity, the autonomous driving performance of vehicles is gradually improving, while the fuel consumption of autonomous vehicles remains a focus of attention.

[0003] In related technologies, fuel consumption control methods for autonomous vehicles mainly focus on the partial control of the vehicle's power, driving, and braking systems. However, these fuel consumption control methods lack predictability and are difficult to adjust driving style based on road conditions a certain distance ahead, which can easily lead to low fuel economy.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides an autonomous driving control method, device, storage medium, and vehicle to at least solve the technical problem of low vehicle fuel economy caused by the lack of predictability in related fuel consumption control methods.

[0006] According to one embodiment of the present invention, an autonomous driving control method is provided, comprising: acquiring target road information, wherein the target road information is used to represent the road environment within a preset distance ahead of a target vehicle; determining a driving control strategy corresponding to the target road based on the target road information; determining a target fuel-saving value of the target vehicle based on a first fuel consumption value and a second fuel consumption value of the target vehicle, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive without using the driving control strategy; and controlling the target vehicle to drive on the target road using the driving control strategy in response to the target vehicle's target fuel-saving value being greater than a preset threshold.

[0007] Optionally, the autonomous driving control method further includes: obtaining the total length of the target road; determining a proportional coefficient based on the total length of the target road and the unit road length; determining a first fuel consumption value based on a first unit fuel consumption meter and the proportional coefficient, wherein the first unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven using a driving control strategy within a unit road length in the target road; and determining a second fuel consumption value based on a second unit fuel consumption meter and the proportional coefficient, wherein the second unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven without using a driving control strategy within a unit road length in the target road.

[0008] Optionally, determining the driving control strategy corresponding to the target road based on the target road information includes: classifying the target road based on the target road information to obtain a classification result; and determining the driving control strategy corresponding to the target road based on the classification result.

[0009] Optionally, in response to determining that the target road is a straight road segment based on the classification result, and that the target fuel saving amount of the target vehicle is greater than a preset threshold, the driving control strategy for controlling the target vehicle includes: determining a first speed threshold and a second speed threshold based on the speed of the target vehicle when entering the straight road segment, wherein the first speed threshold is the maximum speed of the target vehicle in the straight road segment, and the second speed threshold is the minimum speed of the target vehicle in the straight road segment; controlling the target vehicle to accelerate based on the first speed threshold, and obtaining the speed of the target vehicle; in response to the speed of the target vehicle being greater than or equal to the first speed threshold, shifting the gear of the target vehicle from drive to neutral to put the target vehicle into coasting mode; in response to the target vehicle being in coasting mode and the speed of the target vehicle being equal to the second speed threshold, shifting the gear of the target vehicle from neutral to drive, and controlling the target vehicle to accelerate.

[0010] Optionally, the target road information includes lane information. The response determines that the target road is a curved road segment based on the classification result. The driving control strategy for the target vehicle includes: determining the target lane based on the lane information, wherein the target lane is the inner lane of the curved road segment; and controlling the target vehicle to change lanes based on the target lane.

[0011] Optionally, the target road information also includes the slope gradient and slope length. The response, based on the classification results, determines the target road to be an uphill section. The driving control strategy for the target vehicle includes: determining a third speed threshold for the target vehicle based on the slope gradient and slope length; controlling the target vehicle to accelerate so that the target vehicle's speed is greater than or equal to the third speed threshold before entering the uphill section; and, in response to the target vehicle entering the uphill section and its speed being greater than or equal to the third speed threshold, shifting the target vehicle's gear from drive to neutral to allow the target vehicle to enter coasting mode.

[0012] Optionally, the response to determining that the target road is a downhill section based on the classification results, and controlling the target vehicle's movement using a driving control strategy, includes: in response to the target vehicle entering the downhill section, shifting the target vehicle's gear from forward to neutral to put the target vehicle into coasting mode.

[0013] According to one embodiment of the present invention, an autonomous driving control device is also provided, the device comprising: an acquisition module for acquiring target road information, wherein the target road information represents the road environment within a preset distance ahead of a target vehicle; a first determination module for determining a driving control strategy corresponding to the target road based on the target road information; a second determination module for determining a target fuel-saving value of the target vehicle based on a first fuel consumption value and a second fuel consumption value of the target vehicle, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive without using the driving control strategy; and a control module for controlling the target vehicle to drive on the target road using the driving control strategy in response to the target fuel-saving value of the target vehicle being greater than a preset threshold.

[0014] Optionally, the acquisition module is further configured to acquire the total length of the target road; the second determination module is further configured to determine a proportional coefficient based on the total length of the target road and the unit road length; determine a first fuel consumption value based on a first unit fuel consumption meter and the proportional coefficient, wherein the first unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven using a driving control strategy within a unit road length in the target road; and determine a second fuel consumption value based on a second unit fuel consumption meter and the proportional coefficient, wherein the second unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven without using a driving control strategy within a unit road length in the target road.

[0015] Optionally, the first determining module is further configured to classify the target road based on the target road information to obtain a classification result; and to determine the driving control strategy corresponding to the target road based on the classification result.

[0016] Optionally, the control module is further configured to determine a first speed threshold and a second speed threshold based on the speed of the target vehicle when it enters the straight road section, wherein the first speed threshold is the maximum speed of the target vehicle traveling on the straight road section, and the second speed threshold is the minimum speed of the target vehicle traveling on the straight road section; control the target vehicle to accelerate based on the first speed threshold and obtain the speed of the target vehicle; in response to the speed of the target vehicle being greater than or equal to the first speed threshold, shift the gear of the target vehicle from drive to neutral to put the target vehicle into coasting mode; in response to the target vehicle being in coasting mode and the speed of the target vehicle being equal to the second speed threshold, shift the gear of the target vehicle from neutral to drive and control the target vehicle to accelerate.

[0017] Optionally, the control module is also used to determine the target lane based on lane information, wherein the target lane is the inner lane of the curved road section; and to control the target vehicle to change lanes based on the target lane.

[0018] Optionally, the control module is also used to determine a third speed threshold for the target vehicle based on the slope gradient and slope length; control the target vehicle to accelerate so that the target vehicle's speed is greater than or equal to the third speed threshold before entering the uphill section; and in response to the target vehicle entering the uphill section and the target vehicle's speed being greater than or equal to the third speed threshold, switch the target vehicle's gear from forward to neutral so that the target vehicle enters coasting mode.

[0019] Optionally, the control module is also configured to switch the gear of the target vehicle from drive to neutral in response to the target vehicle entering a downhill section, so that the target vehicle enters a coasting mode.

[0020] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program is configured to execute the automatic driving control method described above when running.

[0021] According to one embodiment of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the automated driving control method described above.

[0022] In this embodiment of the invention, target road information is acquired, and then a driving control strategy corresponding to the target road is determined based on the target road information. Subsequently, a target fuel-saving value for the target vehicle is determined based on a first fuel consumption value and a second fuel consumption value. Finally, in response to the target fuel-saving value of the target vehicle being greater than a preset threshold, the driving control strategy is used to control the target vehicle to drive on the target road, thereby achieving the goal of reducing the fuel consumption of autonomous vehicles and thus realizing the technical effect of improving vehicle fuel economy. This solves the technical problem of low vehicle fuel economy caused by the lack of predictability in fuel consumption control methods in related technologies. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 This is a flowchart of an automatic driving control method according to one embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of an automatic driving control method according to one embodiment of the present invention;

[0026] Figure 3 This is a structural block diagram of an automatic driving control device according to one embodiment of the present invention. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] According to one embodiment of the present invention, an embodiment of an autonomous driving control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] This method embodiment can be executed in an electronic device or similar computing device that includes a memory and a processor. Taking operation on a vehicle terminal as an example, the vehicle terminal may include one or more processors (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microcontroller units (MCUs), field-programmable gate arrays (FPGAs), neural network processors (NPUs), tensor processors (TPUs), artificial intelligence (AI) type processors, etc.) and a memory for storing data. Optionally, the vehicle terminal may also include transmission devices, input / output devices, and display devices for communication functions. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the vehicle terminal. For example, the vehicle terminal may include more or fewer components than described above, or have a different configuration than described above.

[0031] The memory can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the autonomous driving control method in this embodiment of the invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, thereby realizing the aforementioned autonomous driving control method. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0032] The transmission device is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0033] Display devices can be, for example, touchscreen liquid crystal displays (LCDs) and touch displays (also referred to as "touchscreens" or "touch displays"). The LCD allows users to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows users to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0034] According to an embodiment of the present invention, an autonomous driving control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] Figure 1 This is a flowchart of an automatic driving control method according to one embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0036] Step S12: Obtain target road information, wherein the target road information is used to represent the road environment within a preset distance in front of the target vehicle.

[0037] In step S12 above, target road information can be obtained based on a high-precision map. Specifically, the target road information may include the road curvature radius, road slope information, road width information, and road length information of the road within a preset distance in front of the target vehicle. The road slope information may include the slope direction, slope length, and slope gradient, and the road length information may include the straight length and curve length.

[0038] Step S14: Determine the driving control strategy corresponding to the target road based on the target road information.

[0039] In step S14 above, after obtaining the target road information, the driving control strategy corresponding to the target road can be determined based on the target road information. Then, different driving control strategies can be used to control the target vehicle on different target roads in order to reduce the fuel consumption of the target vehicle.

[0040] Step S16: Determine the target fuel saving value of the target vehicle based on the first fuel consumption value and the second fuel consumption value of the target vehicle, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is not controlled to drive using the driving control strategy.

[0041] In step S16 above, the fuel consumption value generated when the target vehicle is controlled by the driving control strategy, i.e., the first fuel consumption value, and the fuel consumption value generated when the target vehicle is not controlled by the driving control strategy, i.e., the second fuel consumption value, can be calculated. Then, the fuel consumption value that can be saved by using the driving control strategy can be determined based on the first fuel consumption value and the second fuel consumption value.

[0042] Step S18: In response to the target fuel saving value of the target vehicle being greater than a preset threshold, the driving control strategy is used to control the target vehicle to drive on the target road.

[0043] In step S18 above, when the target fuel-saving value of the target vehicle is greater than a preset threshold, that is, when the fuel consumption saved by using the driving control strategy exceeds a certain value, the driving control strategy can be used to control the target vehicle to drive on the target road. When the target fuel-saving value of the target vehicle is less than or equal to the preset threshold, the driving control strategy is not used to control the target vehicle to drive.

[0044] It should be noted that different target roads have different preset thresholds.

[0045] Based on the above steps S12 to S18, by acquiring target road information, and then determining the driving control strategy corresponding to the target road based on the target road information, the target fuel-saving value of the target vehicle is then determined based on the first fuel consumption value and the second fuel consumption value of the target vehicle. Finally, in response to the target fuel-saving value of the target vehicle being greater than a preset threshold, the driving control strategy is used to control the target vehicle to drive on the target road, thereby achieving the purpose of reducing the fuel consumption of autonomous vehicles and thus realizing the technical effect of improving vehicle fuel economy. This solves the technical problem of low vehicle fuel economy caused by the lack of predictability in fuel consumption control methods in related technologies.

[0046] Optionally, the autonomous driving control method also includes:

[0047] Step S151: Obtain the total length of the target road.

[0048] In step S151 above, the total length of the target road can be obtained; specifically, the total length of the road a certain distance in front of the target vehicle can be obtained.

[0049] Step S152: Determine the proportion coefficient based on the total length of the target road and the unit road length.

[0050] In step S152 above, after obtaining the total length of the target road, the proportional coefficient can be determined based on the total length of the target road and the unit road length.

[0051] For example, if the total length of the road within a certain distance in front of the target vehicle is 100m, then a scaling factor of 10 can be determined based on the total road length of 100m and the unit road length of 10m. It should be noted that the above unit road length is only an example value, and the above unit road length can also be other values.

[0052] Step S153: Determine the first fuel consumption value based on the first unit fuel consumption meter and the proportional coefficient, wherein the first unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven within a unit road length in the target road using a driving control strategy.

[0053] In step S153 above, after determining the proportional coefficient based on the total length of the target road and the unit road length, the first fuel consumption value can be determined based on the first unit fuel consumption table and the proportional coefficient.

[0054] Specifically, the aforementioned first unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven within a unit road length on the target road using a driving control strategy. Then, the first fuel consumption value can be determined based on the fuel consumption value recorded in the first unit fuel consumption meter and the proportional coefficient.

[0055] For example, the first unit fuel consumption table records the fuel consumption value in L when the target vehicle is controlled by the driving control strategy within 10m on the target road. Then, based on the above proportional coefficient of 10, the fuel consumption value generated when the target vehicle is controlled by the driving control strategy on the target road is 10L.

[0056] Step S154: Determine the second fuel consumption value based on the second unit fuel consumption meter and the proportional coefficient. The second unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven within a unit road length on the target road without using a driving control strategy.

[0057] In step S154 above, after determining the proportional coefficient based on the total length of the target road and the unit road length, the second fuel consumption value can be determined based on the second unit fuel consumption table and the proportional coefficient.

[0058] Specifically, the aforementioned second unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is not controlled by driving control strategy within a unit road length on the target road. Then, the second fuel consumption value can be determined based on the fuel consumption value recorded in the second unit fuel consumption meter and the proportional coefficient.

[0059] For example, the second unit fuel consumption table records the fuel consumption value L' generated when the target vehicle is driven within 10m on the target road without using the driving control strategy. Therefore, based on the above proportional coefficient 10, the fuel consumption value generated when the target vehicle is driven on the target road without using the driving control strategy is 10L'.

[0060] Based on the above steps S151 to S154, by obtaining the total length of the target road, determining the proportional coefficient based on the total length of the target road and the unit road length, then determining the first fuel consumption value based on the first unit fuel consumption table and the proportional coefficient, and finally determining the second fuel consumption value based on the second unit fuel consumption table and the proportional coefficient, it is possible to calculate the fuel consumption value generated by the target vehicle when using the driving control strategy and when not using the driving control strategy to control the target vehicle to pass through the target road, so as to calculate the fuel consumption value that can be reduced when using the driving control strategy, thereby determining whether to use the driving control strategy to control the target vehicle to drive.

[0061] Optionally, in step S14 above, determining the driving control strategy corresponding to the target road based on the target road information includes:

[0062] Step S141: Classify the target roads based on the target road information to obtain the classification results.

[0063] In step S141 above, when determining the driving control strategy corresponding to the target road based on the target road information, the target road can be classified based on the target road information to obtain the classification result. Then, different driving control strategies can be formulated for different types of target roads in order to improve the fuel economy of the vehicle.

[0064] In an optional embodiment, in response to a road curvature radius greater than a preset radius threshold and a straight road length greater than a preset straight road length threshold, the target road is determined to be a straight road segment; in response to a road curvature radius less than or equal to a preset radius threshold and a curve length greater than a preset curve length threshold, the target road is determined to be a curved road segment; in response to an upward slope, a slope greater than a first slope threshold, and a slope length greater than a preset slope length threshold, the target road is determined to be an uphill road segment; in response to a downward slope, a slope greater than a second slope threshold, and a slope length greater than a preset slope length threshold, the target road is determined to be a downhill road segment.

[0065] It should be noted that the above thresholds can be obtained through experimental calibration.

[0066] Step S142: Determine the driving control strategy corresponding to the target road based on the classification results.

[0067] In step S142 above, after classifying the target road based on the target road information and obtaining the classification result, the driving control strategy corresponding to the target road can be determined based on the classification result so that different driving control strategies can be used on different target roads, thereby reducing vehicle fuel consumption and improving vehicle fuel economy.

[0068] Based on the above steps S141 to S142, the target roads are classified based on the target road information to obtain the classification results. Then, the driving control strategy corresponding to the target road is determined based on the classification results. Different driving control strategies can be formulated for different target roads in order to reduce fuel consumption to a greater extent.

[0069] Optionally, in step S142 above, the response determines that the target road is a straight road segment based on the classification result, and the target fuel saving amount of the target vehicle is greater than a preset threshold. Controlling the target vehicle's movement using a driving control strategy includes:

[0070] Step S1420: Determine a first speed threshold and a second speed threshold based on the speed of the target vehicle when it enters the straight road section, wherein the first speed threshold is the maximum speed of the target vehicle traveling in the straight road section, and the second speed threshold is the minimum speed of the target vehicle traveling in the straight road section.

[0071] In step S1420 above, when the target road is determined to be a straight road segment based on the classification result, and the target fuel saving amount of the target vehicle is greater than the preset threshold, the first speed threshold and the second speed threshold can be determined based on the speed of the target vehicle when it enters the straight road segment.

[0072] Specifically, the first speed threshold is the maximum speed of the target vehicle on a straight road segment, and the second speed threshold is the minimum speed of the target vehicle on a straight road segment.

[0073] For example, when it is determined that the target vehicle is on a straight road and the calculated fuel savings from using the driving control strategy are greater than a certain value, the maximum speed of the target vehicle on the straight road can be determined to be 45 km / h and the minimum speed to be 35 km / h, based on the speed of the target vehicle when it enters the straight road (e.g., 40 km / h).

[0074] Step S1421: Control the target vehicle to accelerate based on the first speed threshold, and obtain the speed of the target vehicle.

[0075] In step S1421 above, the target vehicle can be controlled to accelerate slowly and evenly with a small acceleration until the target vehicle reaches its maximum speed.

[0076] For example, if the target vehicle's speed is 40 km / h when it enters a straight road section, it can be determined that the target vehicle's maximum speed while driving on the straight road section is 45 km / h. Then, the target vehicle can be controlled to accelerate slowly and evenly with a small acceleration until the target vehicle's speed reaches 45 km / h.

[0077] In step S1422, in response to the target vehicle’s speed being greater than or equal to a first speed threshold, the target vehicle’s gear is switched from forward to neutral to allow the target vehicle to enter coasting mode.

[0078] In step S1422 above, when the speed of the target vehicle is greater than or equal to the maximum speed when driving on a straight road section, the gear of the target vehicle can be switched from forward gear to neutral gear so that the target vehicle enters coasting mode.

[0079] For example, when the target vehicle accelerates slowly and evenly to 45 km / h with a small acceleration, the gear of the target vehicle can be switched from drive to neutral, allowing the vehicle to coast in neutral.

[0080] In step S1423, in response to the target vehicle being in coasting mode and the target vehicle's speed being equal to the second speed threshold, the target vehicle's gear is switched from neutral to drive, and the target vehicle is controlled to accelerate.

[0081] In step S1423 above, when the target vehicle is in coasting mode and the speed of the target vehicle is equal to the minimum speed when driving on a straight road section, the gear of the target vehicle can be switched from neutral to forward gear, and the target vehicle can be controlled to accelerate.

[0082] For example, when the vehicle is in coasting mode and the speed gradually decreases to the minimum speed of 35 km / h for driving on a straight road, shift the vehicle from neutral to drive to slowly accelerate the vehicle to the maximum speed of 45 km / h for driving on a straight road.

[0083] When the vehicle reaches its maximum speed for driving on a straight road, it enters coasting mode again. This cycle of control allows the vehicle to accelerate, coast, and decelerate repeatedly on straight roads.

[0084] Based on steps S1420 to S1423 above, a first speed threshold and a second speed threshold are determined based on the speed of the target vehicle when it enters the straight road section. Then, the target vehicle is controlled to accelerate based on the first speed threshold, and the speed of the target vehicle is obtained. Subsequently, in response to the speed of the target vehicle being greater than or equal to the first speed threshold, the gear of the target vehicle is switched from drive to neutral to put the target vehicle into coasting mode. Finally, in response to the target vehicle being in coasting mode and the speed of the target vehicle being equal to the second speed threshold, the gear of the target vehicle is switched from neutral to drive, and the target vehicle is controlled to accelerate. By coasting in neutral, the torque consumption generated by friction inside the transmission and drive system is avoided, thus saving fuel consumption.

[0085] Optionally, in step S142 above, the target road information includes lane information, and the response determines that the target road is a curved road segment based on the classification result, and controls the target vehicle's movement using a driving control strategy, including:

[0086] Step S1424: Determine the target lane based on lane information, wherein the target lane is the inner lane of the curved road section.

[0087] In step S1424 above, the target road information may also include lane information. When the target road is determined to be a curved road segment based on the classification result, the target lane can be determined based on the vehicle information.

[0088] Specifically, when a target vehicle enters a curved road section after being identified in advance based on a high-precision map, the inner lane of the curved road section is determined as the lane in which the target vehicle will travel.

[0089] Step S1425: Control the target vehicle to change lanes based on the target lane.

[0090] In step S1425 above, the target vehicle enters a curved road section after recognizing a certain distance ahead based on a high-precision map. The target vehicle actively changes lanes to the innermost lane of the curved road section, thereby shortening the driving distance and saving fuel consumption.

[0091] Based on the above steps S1424 to S1425, by determining the target lane based on lane information and then controlling the target vehicle to change lanes based on the target lane, the driving distance can be shortened, thereby saving fuel consumption.

[0092] Optionally, in step S142 above, the target road information also includes the slope gradient and slope length. The response determines the target road as an uphill section based on the classification result, and controls the target vehicle's movement using a driving control strategy, including:

[0093] Step S1426: Determine the third speed threshold of the target vehicle based on the slope gradient and slope length.

[0094] Step S1427: Control the target vehicle to accelerate so that the target vehicle's speed is greater than or equal to the third speed threshold before entering the uphill section.

[0095] Specifically, when the target road is determined to be an uphill section based on the classification results, the third speed threshold of the target vehicle can be determined based on the slope and length of the slope, thereby controlling the target vehicle to accelerate so that the target vehicle's speed is greater than or equal to the third speed threshold before entering the uphill section.

[0096] In step S1428, in response to the target vehicle entering the uphill section and the target vehicle's speed being greater than or equal to the third speed threshold, the target vehicle's gear is switched from forward to neutral to allow the target vehicle to enter coasting mode.

[0097] In step S1428 above, when the target vehicle enters the uphill section and the speed of the target vehicle is greater than or equal to the third speed threshold, the gear of the target vehicle is switched from forward gear to neutral gear so that the target vehicle enters the coasting mode.

[0098] Specifically, when the target vehicle enters an uphill section after being identified in advance based on a high-precision map, the target vehicle actively accelerates to its maximum speed. After entering the slope, the target vehicle shifts into neutral and coasts, using the vehicle's inertia to climb the slope, thereby saving fuel consumption.

[0099] Based on steps S1426 to S1428 above, the third speed threshold of the target vehicle is determined based on the slope gradient and slope length, thereby controlling the target vehicle to accelerate so that the target vehicle's speed is greater than or equal to the third speed threshold before entering the uphill section. Finally, in response to the target vehicle entering the uphill section and the target vehicle's speed being greater than or equal to the third speed threshold, the target vehicle's gear is switched from forward gear to neutral gear so that the target vehicle enters coasting mode, which can accelerate before entering the slope and then use the vehicle's inertia to climb the slope, thereby saving fuel consumption.

[0100] Optionally, in step S142 above, the response, based on the classification result, determines that the target road is a downhill section, and uses a driving control strategy to control the target vehicle's movement, including:

[0101] In step S1429, in response to the target vehicle entering the downhill section, the gear of the target vehicle is switched from drive to neutral to put the target vehicle into coasting mode.

[0102] In step S1429 above, when the target vehicle enters the downhill section, the gear of the target vehicle can be switched from forward gear to neutral gear so that the target vehicle enters the coasting mode.

[0103] Specifically, the target vehicle is identified in advance based on a high-precision map and enters a downhill section. When the target vehicle enters the downhill section, it is put into neutral and coasted. On the one hand, it uses the vehicle's gravity to accelerate downhill, and on the other hand, coasting in neutral avoids the torque consumption generated by friction in the transmission and drive system, which can save fuel.

[0104] Based on step S1429 above, in response to the target vehicle entering the downhill section, the gear of the target vehicle is switched from forward gear to neutral gear so that the target vehicle enters the coasting mode and can accelerate by using the vehicle's gravity on the downhill section, thereby saving fuel consumption.

[0105] Figure 2 This is a schematic diagram of an automatic driving control method according to one embodiment of the present invention, such as... Figure 2 As shown, the autonomous driving control method mainly includes the following execution steps;

[0106] First, a high-precision map is acquired. Based on the high-precision map, the type of road segment to be entered after a certain distance ahead can be identified in advance. Specifically, it can include straight road segments, curved road segments, uphill road segments, and downhill road segments. Different driving control strategies can be determined according to different road segments.

[0107] Furthermore, the total length of the target road segment can be obtained, and a proportional coefficient can be determined based on the total road length and the unit road length; the fuel consumption value generated when using the driving control strategy within a unit road length can be obtained from the first unit fuel consumption table, and the fuel consumption value generated when using the driving control strategy throughout the target road segment (i.e., the first fuel consumption value) can be determined based on the fuel consumption value and the proportional coefficient; the fuel consumption value generated when not using the driving control strategy within a unit road length can be obtained from the second unit fuel consumption table, and the fuel consumption value generated when not using the driving control strategy throughout the target road segment (i.e., the second fuel consumption value) can be determined based on the first fuel consumption value and the second fuel consumption value; the fuel consumption value that can be saved when using the driving control strategy throughout the target road segment can be determined based on the first fuel consumption value and the second fuel consumption value.

[0108] Finally, when the fuel savings achieved by using the driving control strategy throughout the target road segment exceed a certain threshold, the driving control strategy can be used to control the target vehicle's movement within the target road:

[0109] When it is determined that the target vehicle is on a straight road, the maximum speed of the target vehicle on the straight road can be determined to be 45 km / h and the minimum speed to be 35 km / h, based on the target vehicle's initial speed upon entering the straight road (e.g., 40 km / h). The target vehicle is then controlled to accelerate slowly and evenly with a small acceleration until it reaches 45 km / h, at which point the gear is shifted from drive to neutral to enter coasting mode. While in coasting mode, the vehicle's speed gradually decreases to the minimum speed of 35 km / h for straight road travel. Then, the gear is shifted from neutral to drive, and the vehicle is slowly accelerated to the maximum speed of 45 km / h for straight road travel. Once the vehicle reaches the maximum speed for straight road travel, it re-enters coasting mode, and this cycle is repeated.

[0110] When it is determined that there is a curved road section ahead of the target vehicle, the vehicle actively changes lanes to the innermost lane of the curved road section, thereby shortening the driving distance and saving fuel consumption.

[0111] When it is determined that there is an uphill section ahead of the target vehicle, the vehicle actively accelerates to the maximum speed. After the vehicle enters the slope, it is put into neutral and coasts, using the vehicle's inertia to climb the slope, thereby saving fuel consumption.

[0112] When it is determined that the road ahead of the target vehicle is downhill, shift into neutral and coast as the vehicle enters the downhill section. On the one hand, the vehicle accelerates by gravity as it goes downhill, and on the other hand, coasting in neutral avoids the torque consumption caused by friction inside the transmission and drive system, which can save fuel.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0114] This invention also provides an autonomous driving control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0115] Figure 3 This is a structural block diagram of an automatic driving control device according to one embodiment of the present invention, such as... Figure 3 As shown, the device includes: an acquisition module 301 for acquiring target road information, wherein the target road information represents the road environment within a preset distance ahead of the target vehicle; a first determination module 302 for determining a driving control strategy corresponding to the target road based on the target road information; a second determination module 303 for determining a target fuel-saving value for the target vehicle based on a first fuel consumption value and a second fuel consumption value, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive without using the driving control strategy; and a control module 304 for controlling the target vehicle to drive on the target road using the driving control strategy in response to the target vehicle's target fuel-saving value being greater than a preset threshold.

[0116] Optionally, the acquisition module 301 is further configured to acquire the total length of the target road; the second determination module 303 is further configured to determine a proportional coefficient based on the total length of the target road and the unit road length; determine a first fuel consumption value based on a first unit fuel consumption meter and the proportional coefficient, wherein the first unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven using a driving control strategy within a unit road length in the target road; and determine a second fuel consumption value based on a second unit fuel consumption meter and the proportional coefficient, wherein the second unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven without using a driving control strategy within a unit road length in the target road.

[0117] Optionally, the first determining module 302 is further configured to classify the target road based on the target road information to obtain a classification result; and to determine the driving control strategy corresponding to the target road based on the classification result.

[0118] Optionally, the control module 304 is further configured to determine a first speed threshold and a second speed threshold based on the speed of the target vehicle when it enters the straight road section, wherein the first speed threshold is the maximum speed of the target vehicle traveling on the straight road section, and the second speed threshold is the minimum speed of the target vehicle traveling on the straight road section; control the target vehicle to accelerate based on the first speed threshold and obtain the speed of the target vehicle; in response to the speed of the target vehicle being greater than or equal to the first speed threshold, shift the gear of the target vehicle from drive to neutral to put the target vehicle into coasting mode; in response to the target vehicle being in coasting mode and the speed of the target vehicle being equal to the second speed threshold, shift the gear of the target vehicle from neutral to drive and control the target vehicle to accelerate.

[0119] Optionally, the control module 304 is also used to determine the target lane based on lane information, wherein the target lane is the inner lane of the curved road section; and to control the target vehicle to change lanes based on the target lane.

[0120] Optionally, the control module 304 is also configured to determine a third speed threshold for the target vehicle based on the slope gradient and slope length; control the target vehicle to accelerate so that the target vehicle's speed is greater than or equal to the third speed threshold before entering the uphill section; and in response to the target vehicle entering the uphill section and the target vehicle's speed being greater than or equal to the third speed threshold, switch the target vehicle's gear from forward to neutral so that the target vehicle enters coasting mode.

[0121] Optionally, the control module 304 is also configured to switch the gear of the target vehicle from drive to neutral in response to the target vehicle entering the downhill section, so that the target vehicle enters the coasting mode.

[0122] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0123] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program is configured to execute the automatic driving control method described above when running.

[0124] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0125] Step S1: Obtain target road information, wherein the target road information is used to represent the road environment within a preset distance in front of the target vehicle;

[0126] Step S2: Determine the driving control strategy corresponding to the target road based on the target road information;

[0127] Step S3: Determine the target fuel saving value of the target vehicle based on the first fuel consumption value and the second fuel consumption value of the target vehicle, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is not controlled to drive using the driving control strategy.

[0128] Step S4: In response to the target fuel saving value of the target vehicle being greater than a preset threshold, the driving control strategy is used to control the target vehicle to drive on the target road.

[0129] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0130] According to one embodiment of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the automated driving control method described above.

[0131] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0132] Step S1: Obtain target road information, wherein the target road information is used to represent the road environment within a preset distance in front of the target vehicle;

[0133] Step S2: Determine the driving control strategy corresponding to the target road based on the target road information;

[0134] Step S3: Determine the target fuel saving value of the target vehicle based on the first fuel consumption value and the second fuel consumption value of the target vehicle, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is not controlled to drive using the driving control strategy.

[0135] Step S4: In response to the target fuel saving value of the target vehicle being greater than a preset threshold, the driving control strategy is used to control the target vehicle to drive on the target road.

[0136] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0137] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0138] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0140] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0142] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0143] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic driving control method, characterized in that, include: Acquire target road information, wherein the target road information is used to represent the road environment within a preset distance in front of the target vehicle; Based on the target road information, determine the driving control strategy corresponding to the target road; The target fuel-saving value of the target vehicle is determined based on the first fuel consumption value and the second fuel consumption value of the target vehicle, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is not controlled to drive using the driving control strategy. In response to the target fuel saving value of the target vehicle being greater than a preset threshold, the driving control strategy is used to control the target vehicle to drive on the target road. The method further includes: obtaining the total length of the target road; determining a proportional coefficient based on the total length of the target road and the unit road length; determining a first fuel consumption value based on a first unit fuel consumption meter and the proportional coefficient, wherein the first unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven using the driving control strategy within a unit road length in the target road; and determining a second fuel consumption value based on a second unit fuel consumption meter and the proportional coefficient, wherein the second unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven without using the driving control strategy within a unit road length in the target road.

2. The automatic driving control method according to claim 1, characterized in that, Determining the driving control strategy corresponding to the target road based on the target road information includes: The target roads are classified based on the target road information to obtain classification results; The driving control strategy corresponding to the target road is determined based on the classification results.

3. The automatic driving control method according to claim 2, characterized in that, The response, based on the classification result, determines that the target road is a straight road segment, and the target fuel saving amount of the target vehicle is greater than the preset threshold. Controlling the driving of the target vehicle using the driving control strategy includes: A first speed threshold and a second speed threshold are determined based on the speed of the target vehicle when it enters the straight road section, wherein the first speed threshold is the maximum speed of the target vehicle in the straight road section, and the second speed threshold is the minimum speed of the target vehicle in the straight road section. The target vehicle is controlled to accelerate based on the first speed threshold, and the speed of the target vehicle is obtained; In response to the target vehicle's speed being greater than or equal to a first speed threshold, the target vehicle's gear is switched from drive to neutral to allow the target vehicle to enter coasting mode; In response to the target vehicle being in the coasting mode and the target vehicle's speed being equal to a second speed threshold, the gear of the target vehicle is switched from neutral to drive, and the target vehicle is controlled to accelerate.

4. The automatic driving control method according to claim 2, characterized in that, The target road information includes lane information. The response determines the target road to be a curved section based on the classification result. Controlling the target vehicle's movement using the driving control strategy includes: The target lane is determined based on the lane information, wherein the target lane is the inner lane of the curved road segment; The target vehicle is controlled to change lanes based on the target lane.

5. The automatic driving control method according to claim 2, characterized in that, The target road information also includes the slope gradient and slope length. Based on the classification result, the response determines the target road to be an uphill section. Controlling the target vehicle's movement using the driving control strategy includes: The third speed threshold of the target vehicle is determined based on the slope and the length of the ramp; Control the target vehicle to accelerate so that the target vehicle's speed is greater than or equal to the third speed threshold before entering the uphill section; In response to the target vehicle entering the uphill section and the target vehicle's speed being greater than or equal to the third speed threshold, the gear of the target vehicle is switched from drive to neutral to allow the target vehicle to enter coasting mode.

6. The automatic driving control method according to claim 2, characterized in that, The response, based on the classification results, determines that the target road is a downhill section, and controls the target vehicle's movement using the driving control strategy, including: In response to the target vehicle entering the downhill section, the gear of the target vehicle is switched from drive to neutral to put the target vehicle into coasting mode.

7. An automatic driving control device, characterized in that, The device includes: The acquisition module is used to acquire target road information, wherein the target road information is used to represent the road environment within a preset distance in front of the target vehicle; The first determining module is used to determine the driving control strategy corresponding to the target road based on the target road information; The second determining module is used to determine the target fuel saving value of the target vehicle based on the first fuel consumption value and the second fuel consumption value of the target vehicle, wherein the first fuel consumption value is the fuel consumption value generated when the target vehicle is controlled to drive using the driving control strategy, and the second fuel consumption value is the fuel consumption value generated when the target vehicle is not controlled to drive using the driving control strategy. The control module is used to control the target vehicle to drive on the target road in response to the target vehicle's target fuel saving value being greater than a preset threshold, using the driving control strategy. The autonomous driving control device is further configured to: acquire the total length of the target road; determine a proportional coefficient based on the total length of the target road and the unit road length; determine a first fuel consumption value based on a first unit fuel consumption meter and the proportional coefficient, wherein the first unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven using the driving control strategy within a unit road length in the target road; and determine a second fuel consumption value based on a second unit fuel consumption meter and the proportional coefficient, wherein the second unit fuel consumption meter is used to record the fuel consumption value generated when the target vehicle is driven without using the driving control strategy within a unit road length in the target road.

8. A non-volatile storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the automatic driving control method according to any one of claims 1 to 5 when it is run.

9. A vehicle comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the automatic driving control method according to any one of claims 1 to 5.

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