Vehicle control method and device, terminal equipment and storage medium

Abstract

The application discloses a vehicle control method and device, a terminal device and a storage medium. The vehicle control method comprises the following steps: acquiring driving information of a vehicle and environment information when the vehicle is driving; determining driving parameters and / or a function mode of the vehicle according to the driving information and the environment information; and controlling the vehicle to drive according to the driving parameters and / or the function mode. The application solves the problem that the existing vehicle control method cannot accurately control the driving mode of the vehicle on a special road surface such as a bridge expansion joint, and the vehicle cruise function is abnormally exited, and improves the safety of vehicle driving.

Description

Technical Field

[0001] This application relates to the field of automotive control technology, and in particular to a vehicle control method, device, terminal equipment, and storage medium. Background Technology

[0002] When vehicles pass over special road surfaces such as bridge expansion joints, manhole covers, or speed bumps, the ABS anti-lock braking system and TCS traction control system may be accidentally triggered, leading to the abnormal disengagement of the vehicle's cruise control and affecting driving safety. Currently, most major bridges and roads have bridge expansion joints. Bridge expansion joints, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the surface of bridge expansion joints is smooth, and its coefficient of friction differs significantly from that of other road surfaces such as asphalt. Traditional vehicle cruise control, when controlling the vehicle's autonomous acceleration, does not consider this difference between bridge expansion joints and other road surfaces. Therefore, under large acceleration requests, when the wheels pass over a bridge expansion joint, related functions are easily triggered erroneously, causing the cruise control to abnormally disengage and unable to maintain acceleration or braking commands, posing a safety hazard and affecting the driving experience.

[0003] Therefore, it is necessary to propose a solution that can control the vehicle's driving mode on special road surfaces such as bridge expansion joints and prevent the vehicle's cruise control function from abnormally disengaging. Summary of the Invention

[0004] The main purpose of this application is to provide a vehicle control method, device, terminal equipment, and storage medium, which aims to solve the problem that existing vehicle control methods cannot accurately control the vehicle's driving mode on special road surfaces such as bridge expansion joints, resulting in abnormal disengagement of the vehicle's cruise control function, thereby improving the safety of vehicle driving.

[0005] To achieve the above objectives, this application provides a vehicle control method, the vehicle control method comprising:

[0006] Obtain vehicle driving information and environmental information while the vehicle is in motion;

[0007] Based on the driving information and the environmental information, determine the driving parameters and / or functional modes of the vehicle;

[0008] Control the vehicle to drive according to the driving parameters and / or the functional mode.

[0009] Optionally, the driving information includes the vehicle's real-time location and actual speed, and the environmental information includes the location information and width information of the bridge expansion joint. The step of determining the vehicle's driving parameters and / or functional mode based on the driving information and the environmental information includes:

[0010] Obtain vehicle model parameters, and / or anti-lock braking system activation information and traction control system activation information;

[0011] The wheel positions of the vehicle are determined based on the model parameters and the real-time location of the vehicle.

[0012] The time distance between the wheel and the edge of the bridge expansion joint is calculated based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint.

[0013] Based on the time interval and the preset acceleration control time, determine the vehicle acceleration value; and / or

[0014] The vehicle cruise control function mode is determined based on the time distance, the anti-lock braking system activation information, and the traction control function activation information.

[0015] Optionally, the wheel position includes the position of the front wheels and the position of the rear wheels. The step of calculating the time distance between the wheels and the edge of the bridge expansion joint based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint includes:

[0016] Based on the location information of the bridge expansion joint and the position of the vehicle's front wheels, determine the front wheel distance from the edge of the bridge expansion joint.

[0017] Based on the location information of the bridge expansion joint and the position of the vehicle's rear wheels, determine the rear wheel distance from the edge of the bridge expansion joint.

[0018] Based on the front wheel distance and the actual speed of the vehicle, the distance between the front wheels of the vehicle and the near edge of the bridge expansion joint is calculated.

[0019] Based on the rear wheel edge distance and the actual speed of the vehicle, the distance between the rear wheels of the vehicle and the near edge of the bridge expansion joint is calculated.

[0020] Based on the front wheel distance, the width of the bridge expansion joint, and the actual speed of the vehicle, the distance between the front wheels of the vehicle and the far edge of the bridge expansion joint is calculated.

[0021] Based on the rear wheel distance, the width of the bridge expansion joint, and the actual speed of the vehicle, the distance between the rear wheels of the vehicle and the far edge of the bridge expansion joint is calculated.

[0022] Optionally, the preset acceleration control time includes the time when acceleration begins to decrease and the time when acceleration ends to decrease, wherein the time when acceleration ends to decrease is less than the time when acceleration begins to decrease, and the step of determining the vehicle acceleration value based on the time interval and the preset acceleration control time includes:

[0023] The proximal distance of the front wheel is compared with the moment when the acceleration begins to decrease, and the comparison result is obtained;

[0024] If the comparison result is that the front wheel proximal distance is equal to the moment when the acceleration begins to decrease, then it is determined whether the current vehicle acceleration value is greater than the preset acceleration value.

[0025] If the current vehicle acceleration value is greater than the preset acceleration value and no accelerator pedal input signal is detected, the vehicle acceleration value is reduced at a constant speed until the vehicle acceleration value is the preset acceleration value, and the front wheel proximal distance is equal to the time when the acceleration ends.

[0026] The vehicle acceleration value is maintained at the preset acceleration value until the distance to the far end of the rear wheel is zero.

[0027] If the current vehicle acceleration value is less than or equal to the preset acceleration value, or if a signal of the vehicle accelerator pedal being pressed is detected, the current vehicle acceleration value is maintained until the distance to the far end of the rear wheel is zero.

[0028] Optionally, the step of determining the vehicle acceleration value based on the time interval and the preset acceleration control time includes:

[0029] If the comparison result shows that the front wheel proximal distance is greater than the moment when the acceleration begins to decrease, then the current vehicle acceleration value is maintained.

[0030] Optionally, the anti-lock braking system (ABS) activation information includes independent ABS activation information for each of the four wheels, and the traction control system (TCS) activation information includes independent traction control system (TCS) activation information for each of the four wheels. The step of determining the vehicle cruise control mode based on the time distance, the ABS activation information, and the traction control system (TCS) activation information includes:

[0031] When the distance between the proximal and distal ends of the front wheels is zero, if any one front wheel triggers the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the other front wheel and both rear wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0032] If both front wheels trigger the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the two rear wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0033] If neither of the two front wheels triggers the anti-lock braking system activation information or the traction control system activation information, and any one of the rear wheels triggers the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function is disengaged.

[0034] Optionally, the anti-lock braking system (ABS) activation information includes independent ABS activation information for each of the four wheels, and the traction control system (TCS) activation information includes independent traction control system (TCS) activation information for each of the four wheels. The step of determining the vehicle cruise control mode based on the time distance, the ABS activation information, and the traction control system (TCS) activation information includes:

[0035] When the distance between the proximal and distal ends of the rear wheels is zero, if any one rear wheel triggers the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the other rear wheel and both front wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0036] If both rear wheels trigger the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the two front wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0037] If neither of the two rear wheels triggers the anti-lock braking system activation information or the traction control system activation information, but any one of the front wheels triggers the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function is disengaged.

[0038] This application also proposes a vehicle control device, the vehicle control device comprising:

[0039] The acquisition module is used to acquire vehicle driving information and environmental information during vehicle operation.

[0040] The driving mode determination module is used to determine the driving parameters and / or functional modes of the vehicle based on the driving information and the environmental information.

[0041] A control module is used to control the vehicle to drive according to the driving parameters and / or the functional mode.

[0042] This application also proposes a terminal device, which includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the steps of the vehicle control method described above.

[0043] This application also proposes a computer-readable storage medium storing a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0044] The vehicle control method, device, terminal equipment, and storage medium proposed in this application acquire vehicle driving information and environmental information during vehicle driving; determine vehicle driving parameters and / or functional modes based on the driving information and environmental information; and control the vehicle to drive according to the driving parameters and / or functional modes. Based on the acquired vehicle driving information and environmental information, the current driving state of the vehicle can be understood more accurately, and driving needs corresponding to the environmental information can be determined. This allows for corresponding control and adjustment of the vehicle's driving mode, achieving intelligent vehicle control, improving vehicle driving safety and stability, and enhancing the user's driving experience. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the bridge expansion joint in this application;

[0046] Figure 2 This is a schematic diagram of the bridge expansion joint in this application;

[0047] Figure 3 This is a schematic diagram of the bridge expansion joint in this application;

[0048] Figure 4 This is a schematic diagram of the bridge expansion joint in this application;

[0049] Figure 5 This is a schematic diagram of the functional modules of the terminal equipment to which the vehicle control device belongs in this application;

[0050] Figure 6 This is a schematic flowchart illustrating an exemplary embodiment of the vehicle control method of this application;

[0051] Figure 7 This is a schematic flowchart of another exemplary embodiment of the vehicle control method of this application;

[0052] Figure 8 This is a schematic flowchart of another exemplary embodiment of the vehicle control method of this application;

[0053] Figure 9 This is a schematic flowchart of another exemplary embodiment of the vehicle control method of this application;

[0054] Figure 10 This is a schematic flowchart of another exemplary embodiment of the vehicle control method of this application;

[0055] Figure 11 This is a schematic flowchart of another exemplary embodiment of the vehicle control method of this application;

[0056] Figure 12 This is a schematic diagram showing the relative positions of the vehicle and the bridge expansion joint in an embodiment of this application;

[0057] Figure 13 This is a schematic flowchart of another exemplary embodiment of the vehicle control method of this application;

[0058] Figure 14 This is a schematic diagram showing the relative positions of the vehicle and the bridge expansion joint in an embodiment of this application.

[0059] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0061] The main solution of this application embodiment is: acquiring vehicle driving information and environmental information during vehicle driving; determining vehicle driving parameters and / or functional modes based on the driving information and environmental information; and controlling the vehicle to drive according to the driving parameters and / or functional modes. Based on the acquired vehicle driving information and environmental information, the current driving state of the vehicle can be understood more accurately, and driving needs corresponding to the environmental information can be determined. This allows for corresponding control and adjustment of the vehicle's driving mode, achieving intelligent vehicle control, improving vehicle driving safety and stability, and enhancing the user's driving experience.

[0062] This application's embodiments consider that when a traditional vehicle passes over a bridge expansion joint, if the anti-lock braking system (ABS) or traction control (TCS) function is mistakenly triggered due to braking or acceleration, there are two solutions: The first is that after the ABS or traction control function is mistakenly triggered, the cruise control function immediately disengages, and vehicle control is handed over to the driver; the second is that after the ABS or traction control function is triggered, the cruise control function disengages after a fixed duration (e.g., 500ms) corresponding to the duration of the ABS or traction control function triggering. Neither of these approaches can accurately determine the driver's intention based on the real-time situation, leading to abnormal or delayed function disengagement.

[0063] Therefore, the solution of this application embodiment can more accurately understand the current driving status of the vehicle based on the obtained vehicle driving information and environmental information, and determine the driving needs corresponding to the environmental information, thereby controlling and adjusting the vehicle driving mode accordingly, realizing intelligent vehicle control, improving the safety and stability of vehicle driving, and improving the user driving experience.

[0064] Specifically, refer to Figure 5 , Figure 5 This is a functional module diagram of the terminal equipment to which the vehicle control device belongs in this application. The vehicle control device can be an independent device, capable of determining driving parameters and functional modes, and can be implemented on the terminal equipment in hardware or software form. The terminal equipment can be a smart mobile terminal with data processing capabilities, such as a mobile phone or tablet computer, or a fixed terminal device or server with data processing capabilities.

[0065] In this embodiment, the terminal device to which the vehicle control device belongs includes at least an output module 110, a processor 120, a memory 130, and a communication module 140.

[0066] The memory 130 stores the operating system and vehicle control program. The vehicle control device can store acquired driving information and environmental information in the memory 130. The output module 110 can be a display screen, etc. The communication module 140 can include a WIFI module, a mobile communication module, and a Bluetooth module, etc., and communicates with external devices or servers through the communication module 140.

[0067] When the vehicle control program in memory 130 is executed by the processor, it performs the following steps:

[0068] Obtain vehicle driving information and environmental information while the vehicle is in motion;

[0069] Based on the driving information and the environmental information, determine the driving parameters and / or functional modes of the vehicle;

[0070] Control the vehicle to drive according to the driving parameters and / or the functional mode.

[0071] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it performs the following steps:

[0072] Obtain vehicle model parameters, and / or anti-lock braking system activation information and traction control system activation information;

[0073] The wheel positions of the vehicle are determined based on the model parameters and the real-time location of the vehicle.

[0074] The time distance between the wheel and the edge of the bridge expansion joint is calculated based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint.

[0075] Based on the time interval and the preset acceleration control time, determine the vehicle acceleration value; and / or

[0076] The vehicle cruise control function mode is determined based on the time distance, the anti-lock braking system activation information, and the traction control function activation information.

[0077] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it performs the following steps:

[0078] Based on the location information of the bridge expansion joint and the position of the vehicle's front wheels, determine the front wheel distance from the edge of the bridge expansion joint.

[0079] Based on the location information of the bridge expansion joint and the position of the vehicle's rear wheels, determine the rear wheel distance from the edge of the bridge expansion joint.

[0080] Based on the front wheel distance and the actual speed of the vehicle, the distance between the front wheels of the vehicle and the near edge of the bridge expansion joint is calculated.

[0081] Based on the rear wheel edge distance and the actual speed of the vehicle, the distance between the rear wheels of the vehicle and the near edge of the bridge expansion joint is calculated.

[0082] Based on the front wheel distance, the width of the bridge expansion joint, and the actual speed of the vehicle, the distance between the front wheels of the vehicle and the far edge of the bridge expansion joint is calculated.

[0083] Based on the rear wheel distance, the width of the bridge expansion joint, and the actual speed of the vehicle, the distance between the rear wheels of the vehicle and the far edge of the bridge expansion joint is calculated.

[0084] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it performs the following steps:

[0085] The proximal distance of the front wheel is compared with the moment when the acceleration begins to decrease, and the comparison result is obtained;

[0086] If the comparison result is that the front wheel proximal distance is equal to the moment when the acceleration begins to decrease, then it is determined whether the current vehicle acceleration value is greater than the preset acceleration value.

[0087] If the current vehicle acceleration value is greater than the preset acceleration value and no accelerator pedal input signal is detected, the vehicle acceleration value is reduced at a constant speed until the vehicle acceleration value is the preset acceleration value, and the front wheel proximal distance is equal to the time when the acceleration ends.

[0088] The vehicle acceleration value is maintained at the preset acceleration value until the distance to the far end of the rear wheel is zero.

[0089] If the current vehicle acceleration value is less than or equal to the preset acceleration value, or if a signal of the vehicle accelerator pedal being pressed is detected, the current vehicle acceleration value is maintained until the distance to the far end of the rear wheel is zero.

[0090] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it performs the following steps:

[0091] If the comparison result shows that the front wheel proximal distance is greater than the moment when the acceleration begins to decrease, then the current vehicle acceleration value is maintained.

[0092] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it performs the following steps:

[0093] When the distance between the proximal and distal ends of the front wheels is zero, if any one front wheel triggers the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the other front wheel and both rear wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0094] If both front wheels trigger the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the two rear wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0095] If neither of the two front wheels triggers the anti-lock braking system activation information or the traction control system activation information, and any one of the rear wheels triggers the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function is disengaged.

[0096] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it performs the following steps:

[0097] When the distance between the proximal and distal ends of the rear wheels is zero, if any one rear wheel triggers the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the other rear wheel and both front wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0098] If both rear wheels trigger the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the two front wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0099] If neither of the two rear wheels triggers the anti-lock braking system activation information or the traction control system activation information, but any one of the front wheels triggers the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function is disengaged.

[0100] Based on, but not limited to, the terminal device architecture described above, this application proposes method embodiments.

[0101] Reference Figure 6 , Figure 6 This is a flowchart illustrating an exemplary embodiment of the vehicle control method of this application. The vehicle control method includes:

[0102] Step S100: Obtain vehicle driving information and environmental information during vehicle driving;

[0103] The execution subject of the method in this embodiment can be a vehicle control device, a vehicle control terminal device, or a server. This embodiment takes a vehicle control device as an example. The vehicle control device can be integrated into a terminal device such as a smartphone or tablet computer with data processing function.

[0104] This embodiment provides an algorithm that can be applied to control the driving mode of vehicles on special road surfaces such as bridge expansion joints, thereby improving the safety of vehicle driving.

[0105] Specifically, vehicle driving information can include real-time vehicle location and actual vehicle speed, while environmental information can include the location information of special road conditions such as manhole covers, speed bumps, or bridge expansion joints on the road, as well as the range information of special road condition areas.

[0106] Vehicle driving information can be obtained by acquiring data from the vehicle's positioning and speed measurement devices. Environmental information during vehicle operation can be obtained by fusing various forms of environmental information acquired by instruments such as the vehicle's front camera, front millimeter-wave radar, or front lidar.

[0107] Step S200: Determine the driving parameters and / or functional mode of the vehicle based on the driving information and the environmental information;

[0108] Step S300: Control the vehicle to drive according to the driving parameters and / or the functional mode.

[0109] Specifically, based on environmental information while the vehicle is driving, the vehicle's driving mode can be confirmed and adjusted when the vehicle approaches or comes into contact with special road conditions. For example, when the vehicle is driving on a road section with manhole covers, the cruise control function will not disengage only if the wheels are in the manhole cover area and the anti-lock braking system (ABS) and traction control (TCS) activation information are triggered; if the wheels are not in contact with the manhole cover area, but the ABS and traction control activation information are triggered, the cruise control function will disengage.

[0110] When a vehicle travels to a section of road with bridge expansion joints, the vehicle's acceleration will be controlled based on the time distance between the wheels and the edge of the bridge expansion joint. Alternatively, based on the activation information of the anti-lock braking function and traction control function of each wheel, it can be determined whether the vehicle's cruise control function needs to be disengaged.

[0111] This embodiment, through the above-described scheme, specifically acquires vehicle driving information and environmental information during vehicle operation; determines vehicle driving parameters and / or functional modes based on the driving information and environmental information; and controls the vehicle to drive according to the driving parameters and / or functional modes. Based on the acquired vehicle driving information and environmental information, the current driving status of the vehicle can be understood more accurately, and driving requirements corresponding to the environmental information can be determined. This allows for corresponding control and adjustment of the vehicle's driving mode, achieving intelligent vehicle control, improving vehicle driving safety and stability, and enhancing the user's driving experience.

[0112] Reference Figure 7 , Figure 7 This is a flowchart illustrating another exemplary embodiment of the vehicle control method of this application. Based on the above... Figure 6 In the illustrated embodiment, the driving information includes the vehicle's real-time location and actual speed, and the environmental information includes the location and width of the bridge expansion joint. The step of determining the vehicle's driving parameters and / or functional mode based on the driving information and the environmental information includes:

[0113] Step S201: Obtain the vehicle model parameters, and / or anti-lock braking system activation information and traction control system activation information;

[0114] Step S202: Determine the wheel positions of the vehicle based on the model parameters and the real-time vehicle position;

[0115] Step S203: Calculate the time distance between the wheel and the edge of the bridge expansion joint based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint.

[0116] Step S204: Determine the vehicle acceleration value based on the time interval and the preset acceleration control time; and / or

[0117] Step S205: Determine the vehicle cruise control function mode based on the time distance, the anti-lock braking function activation information, and the traction control function activation information.

[0118] Specifically, the vehicle model parameters can be pre-set. For each of the vehicle's four wheels, there is an anti-lock braking system (ABS) activation information and a traction control system (TCS) activation information. The ABS and traction control activation information for each of the four wheels are independent. The ABS and traction control activation information for each of the four wheels can be obtained by acquiring data from the vehicle's dynamic control unit.

[0119] The preset acceleration control timings include the acceleration descent start time T1 and the acceleration descent end time T2, which are parameters pre-set based on the performance of different vehicles. A larger acceleration descent start time T1 indicates an earlier acceleration descent begins, while the acceleration descent end time T2 indicates the completion of acceleration descent. For the vehicle's four wheels, the time distance between the wheels and the edge of the bridge expansion joint is calculated based on wheel position, actual vehicle speed, bridge expansion joint location information, and bridge expansion joint width information. When the vehicle approaches or reaches the bridge expansion joint, the calculated time distance is compared with the preset acceleration control timings to determine the appropriate vehicle acceleration value for the current driving situation. When the vehicle reaches the bridge expansion joint, the time distance, anti-lock braking system (ABS) activation information, and traction control system (TCS) activation information determine whether the cruise control function needs to be disengaged. Under suitable driving conditions, the cruise control function is maintained to assist the user in controlling the vehicle.

[0120] This embodiment utilizes the time distance between the wheels and the edge of the bridge expansion joint to achieve reasonable acceleration control of the vehicle. Simultaneously, based on the time distance, anti-lock braking system (ABS) activation information, and traction control system (TCS) activation information, the vehicle cruise control mode is determined, providing a safer driving mode selection. This achieves real-time vehicle control, improving driving safety and stability.

[0121] Furthermore, referring to Figure 8 , Figure 8 This is a flowchart illustrating another exemplary embodiment of the vehicle control method of this application. Based on the above... Figure 6In the illustrated embodiment, the wheel position includes the positions of the front wheels and the rear wheels of the vehicle. The step of calculating the time distance between the wheel and the edge of the bridge expansion joint based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint includes:

[0122] Step S206: Determine the front wheel distance from the edge of the bridge expansion joint based on the bridge expansion joint location information and the vehicle front wheel position.

[0123] Step S207: Determine the rear wheel distance from the bridge expansion joint edge based on the bridge expansion joint location information and the vehicle rear wheel position.

[0124] Step S208: Calculate the time distance between the front wheels of the vehicle and the near edge of the bridge expansion joint based on the front wheel edge distance and the actual speed of the vehicle.

[0125] Step S209: Calculate the time distance between the rear wheels of the vehicle and the near edge of the bridge expansion joint based on the rear wheel edge distance and the actual speed of the vehicle.

[0126] Step S210: Calculate the time distance between the front wheels of the vehicle and the far edge of the bridge expansion joint based on the front wheel distance, the width information of the bridge expansion joint, and the actual speed of the vehicle.

[0127] Step S211: Calculate the rear wheel distance from the far edge of the bridge expansion joint based on the rear wheel edge distance, the bridge expansion joint width information, and the actual vehicle speed.

[0128] Specifically, for the four wheels of the vehicle, the time distances between the front wheels and the near edge of the bridge expansion joint, the time distances between the rear wheels and the near edge of the bridge expansion joint, the time distances between the front wheels and the far edge of the bridge expansion joint, and the time distances between the rear wheels and the far edge of the bridge expansion joint are calculated respectively. This determines the relative position and proximity of the vehicle to the bridge expansion joint, so as to determine the appropriate vehicle driving mode for the subsequent situation.

[0129] This embodiment uses the above-described scheme to calculate the time distance between the front and rear wheels of the vehicle near the bridge expansion joint in real time based on the distance between the vehicle and the bridge expansion joint. This allows for the quantification of the relative position and proximity of the vehicle to the bridge expansion joint, thereby determining the appropriate driving mode to ensure driving safety.

[0130] Furthermore, referring to Figure 9 , Figure 9 This is a flowchart illustrating another exemplary embodiment of the vehicle control method of this application. Based on the above... Figure 6In the embodiment shown, the preset acceleration control time includes the acceleration start-down time and the acceleration end-down time, wherein the acceleration end-down time is shorter than the acceleration start-down time. The step of determining the vehicle acceleration value based on the time interval and the preset acceleration control time includes:

[0131] Step S212: Compare the proximal distance of the front wheel with the moment when the acceleration begins to decrease, and obtain the comparison result;

[0132] Step S213: If the comparison result is that the front wheel proximal distance is equal to the moment when the acceleration begins to decrease, then determine whether the current vehicle acceleration value is greater than the preset acceleration value.

[0133] Step S214: If the current vehicle acceleration value is greater than the preset acceleration value and no accelerator pedal slamming signal is detected, then the vehicle acceleration value is reduced at a constant speed until the vehicle acceleration value is the preset acceleration value and the front wheel proximal distance is equal to the time when the acceleration ends.

[0134] Step S215: Maintain the vehicle acceleration value as the preset acceleration value until the distance to the far end of the rear wheel is zero;

[0135] Step S216: If the current vehicle acceleration value is less than or equal to the preset acceleration value, or if a vehicle accelerator pedal slamming signal is detected, then maintain the current vehicle acceleration value until the distance to the far end of the rear wheel is zero.

[0136] Specifically, the moment the front wheel proximal distance equals the moment acceleration begins to decrease indicates that the vehicle is not yet in contact with the bridge expansion joint, but its current position is relatively close. At this moment, control of the vehicle's current acceleration needs to begin. If the vehicle's current acceleration is greater than a preset acceleration value, the acceleration is reduced to match the preset value. This ensures that at the moment acceleration ends, the vehicle's acceleration is less than or equal to the preset acceleration value.

[0137] The preset acceleration control timings include the acceleration start-down time T1 and the acceleration end-down time T2, which are parameters preset according to the performance of different vehicles. A larger acceleration start-down time T1 means the acceleration begins to decrease earlier. The setting range for the acceleration start-down time is 0 < T1 ≤ 100, preferably set to 3. The acceleration end-down time T2 is the time when acceleration descent is complete. The setting range for the acceleration end-down time is 0 < T2 ≤ 100, and T2 < T1.

[0138] The preset acceleration value is an acceleration value at which the vehicle can stably pass through the bridge expansion joint without triggering the traction control function. The value range of the preset acceleration value is 0<a1≤10, and the preset acceleration value a1 is preferably 1. For vehicles equipped with high-grip tires, the preset acceleration value a1 may be selected as 2.

[0139] In this embodiment, through the above solution, real-time adjustment of vehicle acceleration is realized, so as to better adapt to the current road conditions and driving demands, enable the vehicle to maintain relatively stable speed changes during driving, reduce the discomfort caused by rapid acceleration or rapid deceleration, and improve riding comfort.

[0140] Further, referring to Figure 10 , Figure 10 is a schematic flowchart of another exemplary embodiment of the vehicle control method of the present application. Based on the above Figure 6 the illustrated embodiment, in this embodiment, the step of determining the vehicle acceleration value according to the time distance and the preset acceleration control moment includes:

[0141] Step S217: If the comparison result indicates that the front wheel proximal time distance is greater than the acceleration start-decreasing moment, maintain the current vehicle acceleration value.

[0142] Specifically, that the front wheel proximal time distance is greater than the acceleration start-decreasing moment indicates that the vehicle is not currently in contact with the bridge expansion joint position, and the current position of the vehicle is relatively far from the bridge expansion joint position, and no additional control over the current acceleration of the vehicle is required at the current moment, therefore, the current vehicle acceleration value is maintained.

[0143] In this embodiment, through the above solution, real-time adjustment of vehicle acceleration is realized, so as to better adapt to the current road conditions and driving demands, enable the vehicle to maintain relatively stable speed changes during driving, reduce the discomfort caused by rapid acceleration or rapid deceleration, and improve riding comfort.

[0144] Further, referring to Figure 11 , Figure 11 is a schematic flowchart of another exemplary embodiment of the vehicle control method of the present application. Based on the above Figure 6 the illustrated embodiment, in this embodiment, the anti-lock braking function activation information includes independent anti-lock braking function activation information for four wheels, the traction control function activation information includes independent traction control function activation information for four wheels, and the step of determining the vehicle cruise control function mode according to the time distance, the anti-lock braking function activation information and the traction control function activation information includes:

[0145] Step S301: When the time distance between the proximal and distal ends of the front wheels is zero, if any one front wheel triggers the anti-lock braking system activation information or the traction control system activation information, and the other front wheel and the two rear wheels do not trigger the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function will not disengage; or

[0146] Step S302: If the two front wheels trigger the anti-lock braking system activation information or the traction control system activation information, and the two rear wheels do not trigger the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function will not disengage; or

[0147] Step S303: If the two front wheels do not trigger the anti-lock braking function activation information or the traction control function activation information, and any one rear wheel triggers the anti-lock braking function activation information or the traction control function activation information, then the vehicle cruise control function is deactivated.

[0148] Specifically, refer to Figure 12 The time from the near-end of the front wheels to the far-end of the front wheels (i.e., the time from when the front wheels reach the near edge of the bridge expansion joint to when they reach the far edge) is considered when the front wheels are within the expansion joint area. Based on the activation information of the anti-lock braking system (ABS) and the traction control system (TCS) activation information of each wheel, it is determined whether the vehicle cruise control function needs to be disengaged. Under suitable driving conditions, the vehicle cruise control function is maintained to assist the user in controlling the vehicle.

[0149] In this embodiment, the above-described scheme allows the vehicle cruise control function to respond and adjust accordingly based on different wheel triggering conditions. This ensures that, under specific circumstances, the vehicle cruise control function will not abnormally exit due to the erroneous triggering of anti-lock braking system activation information and traction control activation information of individual wheels. This maintains the stability and continuity of the vehicle cruise control function's operation, adapts to different road conditions, provides a better driving experience, and improves vehicle driving safety.

[0150] Furthermore, referring to Figure 13 , Figure 13 This is a flowchart illustrating another exemplary embodiment of the vehicle control method of this application. Based on the above... Figure 6 In the embodiment shown, the anti-lock braking system (ABS) activation information includes independent ABS activation information for four wheels, and the traction control system (TCS) activation information includes independent traction control system (TCS) activation information for four wheels. The step of determining the vehicle cruise control mode based on the time distance, the ABS activation information, and the traction control system (TCS) activation information includes:

[0151] Step S304: When the distance between the proximal and distal ends of the rear wheels is zero, if any one rear wheel triggers the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the other rear wheel and both front wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or

[0152] Step S305: If both rear wheels trigger the anti-lock braking system activation information or the traction control system activation information, and the two front wheels do not trigger the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function will not disengage; or

[0153] Step S306: If neither of the two rear wheels triggers the anti-lock braking system activation information or the traction control system activation information, and any one of the front wheels triggers the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function is deactivated.

[0154] Specifically, refer to Figure 14 The time from the near-end of the rear wheel to the far-end of the rear wheel (i.e., the time from when the rear wheels reach the near edge of the bridge expansion joint to when they reach the far edge) is considered when the rear wheels are within the expansion joint area. Based on the activation information of the anti-lock braking system (ABS) and the traction control system, it is determined whether the cruise control function needs to be disengaged. Under suitable driving conditions, the cruise control function is maintained to assist the user in controlling the vehicle.

[0155] In addition, during the period from the time distance of the front wheel near end to the time distance of the rear wheel far end to zero, when the vehicle speed drops to zero, after the vehicle starts again, depending on the actual situation, the driving mode can be selected to perform steps S212 to S217, steps S301 to S303, or steps S304 to S306.

[0156] In this embodiment, the above-described scheme allows the vehicle cruise control function to respond and adjust accordingly based on different wheel triggering conditions. This ensures that, under specific circumstances, the vehicle cruise control function will not abnormally exit due to the erroneous triggering of anti-lock braking system activation information and traction control activation information of individual wheels. This maintains the stability and continuity of the vehicle cruise control function's operation, adapts to different road conditions, provides a better driving experience, and improves vehicle driving safety.

[0157] Furthermore, embodiments of this application also propose a vehicle control device, the vehicle control device comprising:

[0158] The acquisition module is used to acquire vehicle driving information and environmental information during vehicle operation.

[0159] The driving mode determination module is used to determine the driving parameters and / or functional modes of the vehicle based on the driving information and the environmental information.

[0160] A control module is used to control the vehicle to drive according to the driving parameters and / or the functional mode.

[0161] The principle and implementation process of vehicle control in this embodiment are explained in the above embodiments and will not be repeated here.

[0162] Furthermore, this application also proposes a terminal device, which includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the steps of the vehicle control method described above.

[0163] Since the vehicle control program employs all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be elaborated here.

[0164] Furthermore, embodiments of this application also propose a computer-readable storage medium storing a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0165] Since the vehicle control program employs all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be elaborated here.

[0166] Compared to existing technologies, the vehicle control method, device, terminal equipment, and storage medium proposed in this application acquire vehicle driving information and environmental information during vehicle operation; determine vehicle driving parameters and / or functional modes based on the driving information and environmental information; and control the vehicle to drive according to the driving parameters and / or functional modes. Based on the acquired vehicle driving information and environmental information, the current driving state of the vehicle can be understood more accurately, and driving requirements corresponding to the environmental information can be determined. This allows for corresponding control and adjustment of the vehicle's driving mode, achieving intelligent vehicle control, improving vehicle driving safety and stability, and enhancing the user's driving experience.

[0167] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0168] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0169] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of 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 this application, 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) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of this application.

[0170] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes: Obtain vehicle driving information and environmental information while the vehicle is in motion; Based on the driving information and the environmental information, determine the driving parameters and / or functional modes of the vehicle; Control the vehicle to drive according to the driving parameters and / or the functional mode; The driving information includes the vehicle's real-time location and actual speed, and the environmental information includes the location and width of bridge expansion joints. The step of determining the vehicle's driving parameters and / or functional mode based on the driving information and the environmental information includes: Obtain vehicle model parameters, and / or anti-lock braking system activation information and traction control system activation information; The wheel positions of the vehicle are determined based on the model parameters and the real-time location of the vehicle. The time distance between the wheel and the edge of the bridge expansion joint is calculated based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint. Based on the time interval and the preset acceleration control time, determine the vehicle acceleration value; and / or The vehicle cruise control function mode is determined based on the time distance, the anti-lock braking system activation information, and the traction control function activation information.

2. The vehicle control method according to claim 1, characterized in that, The wheel position includes the position of the front wheels and the position of the rear wheels. The step of calculating the time distance between the wheels and the edge of the bridge expansion joint based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint includes: Based on the location information of the bridge expansion joint and the position of the vehicle's front wheels, determine the front wheel distance from the edge of the bridge expansion joint. Based on the location information of the bridge expansion joint and the position of the vehicle's rear wheels, determine the rear wheel distance from the edge of the bridge expansion joint. Based on the front wheel distance and the actual speed of the vehicle, the distance between the front wheels of the vehicle and the near edge of the bridge expansion joint is calculated. Based on the rear wheel edge distance and the actual speed of the vehicle, the distance between the rear wheels of the vehicle and the near edge of the bridge expansion joint is calculated. Based on the front wheel distance, the width of the bridge expansion joint, and the actual speed of the vehicle, the distance between the front wheels of the vehicle and the far edge of the bridge expansion joint is calculated. Based on the rear wheel distance, the width of the bridge expansion joint, and the actual speed of the vehicle, the distance between the rear wheels of the vehicle and the far edge of the bridge expansion joint is calculated.

3. The vehicle control method according to claim 2, characterized in that, The preset acceleration control time includes the time when acceleration begins to decrease and the time when acceleration ends to decrease, wherein the time when acceleration ends to decrease is less than the time when acceleration begins to decrease. The step of determining the vehicle acceleration value based on the time interval and the preset acceleration control time includes: The proximal distance of the front wheel is compared with the moment when the acceleration begins to decrease, and the comparison result is obtained; If the comparison result is that the front wheel proximal distance is equal to the moment when the acceleration begins to decrease, then it is determined whether the current vehicle acceleration value is greater than the preset acceleration value. If the current vehicle acceleration value is greater than the preset acceleration value and no accelerator pedal input signal is detected, the vehicle acceleration value is reduced at a constant speed until the vehicle acceleration value is the preset acceleration value, and the front wheel proximal distance is equal to the time when the acceleration ends. The vehicle acceleration value is maintained at the preset acceleration value until the distance to the far end of the rear wheel is zero. If the current vehicle acceleration value is less than or equal to the preset acceleration value, or if a signal of the vehicle accelerator pedal being pressed is detected, the current vehicle acceleration value is maintained until the distance to the far end of the rear wheel is zero.

4. The vehicle control method according to claim 3, characterized in that, The step of determining the vehicle acceleration value based on the time interval and the preset acceleration control time includes: If the comparison result shows that the front wheel proximal distance is greater than the moment when the acceleration begins to decrease, then the current vehicle acceleration value is maintained.

5. The vehicle control method according to claim 2, characterized in that, The anti-lock braking system (ABS) activation information includes independent ABS activation information for each of the four wheels, and the traction control system (TCS) activation information includes independent traction control system (TCS) activation information for each of the four wheels. The step of determining the vehicle cruise control mode based on the time distance, the ABS activation information, and the traction control system (TCS) activation information includes: When the distance between the proximal and distal ends of the front wheels is zero, if any one front wheel triggers the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the other front wheel and both rear wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or If both front wheels trigger the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the two rear wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or If neither of the two front wheels triggers the anti-lock braking system activation information or the traction control system activation information, and any one of the rear wheels triggers the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function is disengaged.

6. The vehicle control method according to claim 2, characterized in that, The anti-lock braking system (ABS) activation information includes independent ABS activation information for each of the four wheels, and the traction control system (TCS) activation information includes independent traction control system (TCS) activation information for each of the four wheels. The step of determining the vehicle cruise control mode based on the time distance, the ABS activation information, and the traction control system (TCS) activation information includes: When the distance between the proximal and distal ends of the rear wheels is zero, if any one rear wheel triggers the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the other rear wheel and both front wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or If both rear wheels trigger the anti-lock braking system (ABS) activation information or the traction control system (TCS) activation information, and the two front wheels do not trigger the ABS activation information or the traction control system (TCS) activation information, then the vehicle cruise control function will not disengage; or If neither of the two rear wheels triggers the anti-lock braking system activation information or the traction control system activation information, but any one of the front wheels triggers the anti-lock braking system activation information or the traction control system activation information, then the vehicle cruise control function is disengaged.

7. A vehicle control device, characterized in that, The vehicle control device includes: The acquisition module is used to acquire vehicle driving information and environmental information during vehicle operation. The driving mode determination module is used to determine the driving parameters and / or functional modes of the vehicle based on the driving information and the environmental information. The control module is used to control the vehicle to drive according to the driving parameters and / or the functional mode; The driving information includes the vehicle's real-time location and actual speed; the environmental information includes the location and width of the bridge expansion joints; and the driving mode determination module is further used for: Obtain vehicle model parameters, and / or anti-lock braking system activation information and traction control system activation information; The wheel positions of the vehicle are determined based on the model parameters and the real-time location of the vehicle. The time distance between the wheel and the edge of the bridge expansion joint is calculated based on the wheel position, the actual speed of the vehicle, the location information of the bridge expansion joint, and the width information of the bridge expansion joint. Based on the time interval and the preset acceleration control time, determine the vehicle acceleration value; and / or The vehicle cruise control function mode is determined based on the time distance, the anti-lock braking system activation information, and the traction control function activation information.

8. A terminal device, characterized in that, The terminal device includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the steps of the vehicle control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1-6.

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