A method, apparatus, vehicle and storage medium for controlling gear shifting of a vehicle

Abstract

The application provides a method, device, vehicle and storage medium for controlling gear of a vehicle, which is applied to the field of vehicle driving and includes the following steps: in the case that an intelligent driving function of the vehicle is turned on, a vehicle speed is acquired in response to a gear shifting intervention instruction of the vehicle, the gear shifting intervention instruction being used for adjusting the gear of the vehicle during the running of the intelligent driving function; a target gear of the vehicle is determined according to the vehicle speed, the gear shifting intervention instruction and a current gear of the vehicle; and the vehicle is controlled to run according to the target gear. The method can control the vehicle to perform gear shifting feedback when the gear shifting intervention instruction is received during the intelligent driving of the vehicle, in combination with the vehicle speed, the gear shifting intervention instruction and the current gear of the vehicle, so as to avoid the danger caused by direct gear shifting, ensure the rationality and accuracy of the gear shifting feedback and ensure the safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle driving, and more specifically, to a method, apparatus, vehicle, and storage medium for controlling vehicle gear shifting in the field of vehicle driving. Background Technology

[0002] With the continuous development of science and technology and the Internet, the functions of vehicles are also constantly being upgraded and improved in order to provide drivers and passengers with more convenient and comfortable services.

[0003] In one possible implementation, for vehicles equipped with intelligent driving functions, the driver can use the intelligent driving functions in the vehicle to put the vehicle into a semi-automatic or fully automatic driving state, thereby replacing the driver's manual driving and freeing the driver's hands.

[0004] For example, when the intelligent driving function is activated, if the driver intervenes by shifting gears, causing a change in the vehicle's gear, the vehicle will generally disengage the intelligent driving function and switch to manual driving according to the gear selected by the driver. This switching method has many safety risks. For instance, shifting gears at high speeds may cause vehicle instability, affecting the vehicle's normal operation.

[0005] In summary, how the vehicle can respond appropriately to gear shift interventions to ensure vehicle safety during the operation of intelligent driving functions has become an urgent problem to be solved. Summary of the Invention

[0006] This application provides a method, device, vehicle, and storage medium for controlling vehicle gears. The method can control the vehicle to perform gear shift feedback when a gear shift intervention command is received during intelligent driving, by combining the vehicle speed, the gear shift intervention command, and the vehicle's current gear. This avoids the dangers of direct gear shifting, ensures the rationality and accuracy of gear shift feedback, and guarantees vehicle safety.

[0007] In a first aspect, a method for controlling the gear position of a vehicle is provided, the method comprising: when the intelligent driving function of the vehicle is activated, in response to a gear shifting intervention command of the vehicle, acquiring the vehicle speed, the gear shifting intervention command being used to adjust the gear position of the vehicle during the operation of the intelligent driving function; determining a target gear position of the vehicle based on the vehicle speed, the gear shifting intervention command and the current gear position of the vehicle; and controlling the vehicle to drive based on the target gear position.

[0008] In the aforementioned technical solution, this application proposes a method for controlling vehicle gear shifting. When the intelligent driving function is activated, upon receiving a gear shifting intervention command, the vehicle's speed is first acquired, and the gear shifting intervention command is used to adjust the vehicle's gear. Furthermore, the vehicle can determine the target gear based on the vehicle speed, the gear shifting intervention command, and the vehicle's current gear, and control the vehicle according to the target gear. Since vehicle speed plays a crucial role in the gear shifting process, gear shifting is generally only permitted when the vehicle speed is low or the vehicle is stationary. Therefore, upon receiving the gear shifting intervention command, to ensure vehicle safety, direct gear shifting is not allowed. The vehicle's speed must be assessed based on its speed, and the driver's needs corresponding to the gear shifting intervention command and the vehicle's current gear must also be considered. The target gear is determined by comprehensively combining these factors. This process ensures vehicle safety during gear shifting while also taking into account the driver's subjective driving needs, achieving a vehicle-human service effect.

[0009] In conjunction with the first aspect, in some possible implementations, determining the target gear of the vehicle based on the vehicle speed, the shift intervention command, and the vehicle's current gear includes: determining the target gear based on the vehicle speed and the current gear when the intelligent driving function is an automatic parking function; determining the target gear based on the vehicle speed and the shift intervention command when the intelligent driving function is an adaptive cruise control function or a lane keeping assist function, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system; and determining the target gear based on the vehicle speed, the shift intervention command, and the current gear when the intelligent driving function is a function corresponding to a conditional autonomous driving system.

[0010] It should be understood that currently, common intelligent driving levels are divided into six levels: Level 0, Level 1, Level 2, Level 3, Level 4, and Level 5. In the above scheme, the functions corresponding to the driver assistance system are the intelligent driving functions included in Level 1, the functions corresponding to the semi-autonomous driving system are the intelligent driving functions included in Level 2, and the functions corresponding to the conditional autonomous driving system are the intelligent driving functions included in Level 3.

[0011] The above technical solution specifically addresses the target gear selection in three scenarios. In the first scenario, when the intelligent driving function is an Automated Parking System (APS), the target gear is determined based on vehicle speed and the current gear. In the second scenario, when the intelligent driving function is Adaptive Cruise Control (ACC) or Lane Keeping Assist (LKA), or when the intelligent driving level is L1 or L2, the target gear is determined based on vehicle speed and shift intervention commands. In the third scenario, when the intelligent driving level is L3, the target gear can also be determined based on vehicle speed, shift intervention commands, and the current gear. This process allows for different shift intervention strategies under different intelligent driving function conditions, ensuring a close correlation between the shifting process and the vehicle's operating state when the intelligent driving function is activated.

[0012] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, when the intelligent driving function is an automatic parking function, determining the target gear based on the vehicle speed and the current gear includes: when the intelligent driving function is an automatic parking function, if the vehicle speed is less than or equal to a preset vehicle speed, determining the target gear as parking; when the intelligent driving function is an automatic parking function, if the vehicle speed is greater than the preset vehicle speed, determining the target gear as neutral or the current gear.

[0013] Optionally, the preset vehicle speed is 2 km / h, which is also known as the vehicle's "static speed". In other words, when the vehicle speed is less than or equal to 2 km / h, the vehicle can be considered to be stationary.

[0014] In the above technical solution, when the intelligent driving function is in APS mode, if the vehicle speed exceeds the preset speed, the target gear is set to parking. This ensures that when the vehicle is stationary, priority is given to stopping the vehicle to ensure safety. Conversely, if the vehicle speed exceeds the preset speed, indicating that the vehicle is moving forward or backward, the target gear is set to neutral or the current gear. During parking, the vehicle speed is generally very low. Therefore, if a gear shift intervention occurs when the speed exceeds the preset speed, shifting to neutral ensures that the vehicle can be stopped at a lower speed to ensure safety. Alternatively, if a gear shift intervention occurs when the speed exceeds the preset speed, the vehicle can continue driving in the current gear, avoiding the safety issues associated with shifting at high speeds.

[0015] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, when the intelligent driving function is an adaptive cruise control function or a lane keeping assist function, or when the intelligent driving function is a function corresponding to a driver assistance system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system, determining the target gear based on the vehicle speed and the gear shift intervention command includes: when the intelligent driving function is the adaptive cruise control function or the lane keeping assist function, or when the intelligent driving function is a function corresponding to a driver assistance system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system, obtaining the required gear corresponding to the gear shift intervention command, the required gear being the gear that the gear shift intervention command controls the vehicle to switch to; when the vehicle speed is greater than a preset vehicle speed, generating a first prompt message based on the vehicle speed and the required gear, the first prompt message being used to prompt the driver to confirm whether to shift gears at the vehicle speed; responding to the confirmation operation of the first prompt message, determining the target gear as the required gear; and when the vehicle speed is less than or equal to the preset vehicle speed, determining the target gear as the required gear.

[0016] In the aforementioned technical solutions, when the intelligent driving function is ACC or LKA, or the vehicle is at L1 or L2 level, the driver's involvement is relatively high in these intelligent driving scenarios. The driver needs to remain highly vigilant and constantly observe the vehicle's driving status. In these intelligent driving scenarios, if the vehicle speed is higher than the preset speed when a gear shift intervention command is received, since the driver is involved in driving, to ensure that the gear shift intervention was initiated by the driver, the vehicle can first generate a first prompt message based on the vehicle speed and the required gear to ask the driver for confirmation whether a gear shift is necessary. If the driver confirms, the required gear is then determined as the target gear to ensure the safety of gear shifting at higher speeds. If the vehicle speed is less than or equal to the preset speed, gear shifting is relatively safe and will not affect the performance of vehicle components. In this case, the required gear can be determined as the target gear to respond promptly to the driver's takeover request while the vehicle is safely in motion.

[0017] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, when the intelligent driving function is a function corresponding to a conditional automated driving system, determining the target gear based on the vehicle speed, the gear shift intervention command, and the current gear includes: when the intelligent driving function is a function corresponding to the conditional automated driving system, if the vehicle speed is less than or equal to a preset vehicle speed, obtaining the required gear corresponding to the gear shift intervention command, the required gear being the gear that the gear shift intervention command controls the vehicle to switch to; determining the target gear as the required gear; and when the intelligent driving function is a function corresponding to the conditional automated driving system, if the vehicle speed is greater than the preset vehicle speed, determining the target gear as the current gear.

[0018] In the aforementioned technical solution, when the vehicle is in a Level 3 autonomous driving scenario, its level of intelligence is very high. At Level 3, driver involvement is relatively low, and the vehicle can alert the driver when intervention is required. In this situation, when the vehicle speed is less than or equal to the preset speed, driving or shifting gears is safe, and the desired gear can be designated as the target gear to respond promptly to the driver's intervention. However, when the vehicle speed exceeds the preset speed, due to the high level of intelligence at Level 3, the vehicle can autonomously judge and control the vehicle. Therefore, to ensure vehicle safety at higher speeds, it can choose not to respond and continue controlling the vehicle to drive in the current gear.

[0019] In combination with the first aspect and the above implementation methods, in some possible implementation methods, when the target gear is the current gear, after controlling the vehicle to drive according to the target gear, the method further includes: if the number of times the shift intervention command is received within a preset time after the current moment is greater than a preset number, controlling the intelligent driving function to exit; generating a second prompt message according to the state of the intelligent driving function, the second prompt message being used to prompt the driver to drive manually, and the state of the intelligent driving function being used to indicate whether the intelligent driving function is activated.

[0020] In the above technical solution, regardless of the intelligent driving scenario the vehicle is in, when the vehicle does not respond to a shift intervention command, to further determine whether the shift intervention is due to driver error or the driver's subjective intention, the number of shift intervention commands received within a preset time period can be used as a criterion. If, within the next preset time period, the number of shift intervention commands received exceeds the preset number (i.e., the vehicle receives the same shift intervention command multiple times), it indicates that the shift intervention is not due to driver error. To promptly address the driver's needs, the intelligent driving function must first be disengaged, and then a second prompt message must be sent to inform the driver that the intelligent driving function has been disengaged, requesting the driver to manually control the vehicle. This process accurately determines whether the shift intervention is due to driver error, considers the driver's subjective driving needs, and ensures the timeliness and accuracy of the driver taking over the vehicle.

[0021] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, controlling the vehicle's movement based on the target gear includes: if the target gear is the current gear, controlling the intelligent driving function to remain active and controlling the vehicle to continue driving in the current gear; if the target gear is not the current gear, controlling the intelligent driving function to disengage; generating a third prompt message based on the state of the intelligent driving function, the current gear, and the target gear, the third prompt message being used to prompt the driver that the vehicle is about to shift gears and to prompt the driver to drive manually, the state of the intelligent driving function being used to indicate whether the intelligent driving function is active; controlling the vehicle's display device to display the third prompt message, and / or controlling the vehicle's audio playback device to broadcast the third prompt message; and adjusting the vehicle's gear from the current gear to the target gear.

[0022] In the above technical solution, when controlling the vehicle based on the target gear, if the target gear is the current gear, it means the vehicle can continue to operate under the corresponding intelligent driving function. Therefore, in this case, the intelligent driving function can remain active and the vehicle can be controlled. Conversely, if the target gear is not the current gear (e.g., the target gear is the desired gear), it indicates that the vehicle's gear has changed, meaning the normal operation of the intelligent driving function is interfered with and affected. To ensure vehicle safety and the driver's willingness to take over, the vehicle can first disengage the intelligent driving function and remind the driver to prepare for takeover in the form of a third prompt message. Then, the vehicle's gear can be switched to the target gear, ensuring timely reminders and notifications to the driver when a gear shift is required.

[0023] In summary, this application proposes a method for controlling vehicle gear shifting. When the intelligent driving function is activated, upon receiving a gear shifting intervention command, the vehicle's speed is first acquired, and the intervention command is used to adjust the vehicle's gear. Furthermore, the vehicle can determine the target gear based on the speed, the intervention command, and the current gear, and control the vehicle accordingly. Since speed plays a crucial role in the gear shifting process, gear shifting is generally only permitted when the speed is low or the vehicle is stationary. Therefore, upon receiving the intervention command, to ensure vehicle safety, direct gear shifting is not allowed. The vehicle's speed must be assessed based on its speed, and the driver's needs corresponding to the intervention command and the current gear must also be considered. The target gear is determined by comprehensively considering these factors. This process ensures vehicle safety during gear shifting while also taking into account the driver's subjective driving needs, achieving a vehicle-human service effect.

[0024] Specifically, determining the target gear involves three scenarios. In the first scenario, when the intelligent driving function is APS (Advanced Pilot Assistance), the target gear is determined based on vehicle speed and the current gear. In the second scenario, when the intelligent driving function is ACC (Adaptive Cruise Control) or LKA (Level 5), or the intelligent driving level is L1 or L2, the target gear is determined based on vehicle speed and shift intervention commands. In the third scenario, when the intelligent driving level is L3, the target gear can also be determined based on vehicle speed, shift intervention commands, and the current gear. This process allows for different shift intervention strategies under different types of intelligent driving function conditions, ensuring a close correlation between the shifting process and the vehicle's operating status when the intelligent driving function is activated.

[0025] When the intelligent driving function is in APS mode, if the vehicle speed exceeds the preset speed, the target gear is set to parking. This ensures that when the vehicle is stationary, priority is given to stopping the vehicle to ensure safety. Conversely, if the vehicle speed exceeds the preset speed, indicating that the vehicle is moving forward or backward, the target gear is set to neutral or the current gear. During parking, the vehicle speed is generally very low. Therefore, if a gear shift intervention occurs when the speed exceeds the preset speed, controlling the vehicle to shift into neutral ensures that the vehicle can be stopped at a lower speed to ensure safety. Alternatively, if a gear shift intervention occurs when the speed exceeds the preset speed, controlling the vehicle to continue driving in the current gear avoids the safety issues that can arise from shifting gears at high speeds.

[0026] When the intelligent driving function is set to ACC or LKA, or when the vehicle is at L1 or L2 level, driver involvement is relatively high in these scenarios. Drivers need to remain highly vigilant and constantly observe the vehicle's driving status. In these scenarios, if the vehicle speed exceeds the preset speed when a shift intervention command is received, to ensure the driver is indeed initiating the shift intervention, the vehicle can first generate an initial prompt based on the vehicle speed and the desired gear to ask the driver for confirmation. If the driver confirms, the desired gear is then designated as the target gear to ensure safety during high-speed shifting. If the vehicle speed is less than or equal to the preset speed, shifting is relatively safe and will not affect the performance of vehicle components. In this case, the desired gear can be designated as the target gear to respond promptly to the driver's takeover requests while the vehicle is safely in motion.

[0027] When a vehicle is in a Level 3 autonomous driving scenario, its level of intelligence is very high. At Level 3, driver involvement is relatively low, but the vehicle can alert the driver when intervention is required. In this situation, when the vehicle speed is less than or equal to the preset speed, driving or shifting gears is safe, and the desired gear can be set as the target gear to respond promptly to the driver's intervention. However, when the vehicle speed exceeds the preset speed, due to the high level of intelligence at Level 3, the vehicle can autonomously judge and control the vehicle. Therefore, to ensure vehicle safety at higher speeds, it may choose not to respond and continue controlling the vehicle at the current gear.

[0028] Regardless of the autonomous driving scenario, when the vehicle does not respond to a shift intervention command, to further determine whether the shift intervention was due to driver error or the driver's intention, the number of shift intervention commands received within a preset time period can be used as a criterion. If, within the next preset time period, the number of shift intervention commands received exceeds the preset number (i.e., the vehicle receives the same shift intervention command multiple times), it indicates that the shift intervention was not due to driver error. To promptly address the driver's needs, the autonomous driving function should first be disengaged, and then a second prompt should be sent to inform the driver that the autonomous driving function has been disengaged, requesting the driver to manually control the vehicle. This process accurately determines whether the shift intervention was due to driver error, considers the driver's subjective driving needs, and ensures the timeliness and accuracy of driver takeover.

[0029] When controlling the vehicle based on the target gear, if the target gear is the current gear, it means the vehicle can continue to operate under the corresponding intelligent driving function. Therefore, in this case, the intelligent driving function can remain active and the vehicle can be controlled. Conversely, if the target gear is not the current gear (e.g., the target gear is the desired gear), it indicates that the vehicle's gear has changed, meaning the normal operation of the intelligent driving function is being interfered with. To ensure vehicle safety and the driver's willingness to take over, the vehicle can first disengage the intelligent driving function and remind the driver to prepare for takeover via a third-party prompt message. Then, the vehicle's gear can be switched to the target gear, ensuring timely reminders and notifications to the driver when a gear shift is required.

[0030] Secondly, a device for controlling vehicle gear shifting is provided, the device comprising: an acquisition module, configured to acquire the vehicle speed in response to a gear shifting intervention command when the vehicle's intelligent driving function is activated, the gear shifting intervention command being used to adjust the vehicle's gear position during the operation of the intelligent driving function; a determination module, configured to determine the vehicle's target gear position based on the vehicle speed, the gear shifting intervention command, and the vehicle's current gear position; and a control module, configured to control the vehicle's movement based on the target gear position.

[0031] In conjunction with the second aspect, in some possible implementations, the determining module is specifically used to: determine the target gear based on the vehicle speed and the current gear when the intelligent driving function is an automatic parking function; determine the target gear based on the vehicle speed and the shift intervention command when the intelligent driving function is an adaptive cruise control function or lane keeping assist function, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system; and determine the target gear based on the vehicle speed, the shift intervention command, and the current gear when the intelligent driving function is a function corresponding to a conditional autonomous driving system.

[0032] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to: when the intelligent driving function is the automatic parking function, if the vehicle speed is less than or equal to the preset vehicle speed, determine the target gear as parking gear; when the intelligent driving function is the automatic parking function, if the vehicle speed is greater than the preset vehicle speed, determine the target gear as neutral or the current gear.

[0033] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to: obtain the required gear corresponding to the shift intervention command when the intelligent driving function is the adaptive cruise control function or the lane keeping assist function, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system; the required gear is the gear that the shift intervention command controls the vehicle to switch to when the vehicle speed is greater than a preset vehicle speed; generate a first prompt message based on the vehicle speed and the required gear when the vehicle speed is greater than a preset vehicle speed; the first prompt message is used to prompt the driver to confirm whether to shift gears at the vehicle speed; determine the target gear as the required gear in response to the confirmation operation of the first prompt message; and determine the target gear as the required gear when the vehicle speed is less than or equal to the preset vehicle speed.

[0034] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to: when the intelligent driving function is a function corresponding to the conditional automated driving system, if the vehicle speed is less than or equal to a preset vehicle speed, obtain the required gear corresponding to the shift intervention command, the required gear being the gear that the shift intervention command controls the vehicle to switch to; determine the target gear as the required gear; and when the intelligent driving function is a function corresponding to the conditional automated driving system, if the vehicle speed is greater than the preset vehicle speed, determine the target gear as the current gear.

[0035] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, when the target gear is the current gear, after controlling the vehicle to drive according to the target gear, the device further includes: a processing module, configured to control the intelligent driving function to exit if the number of times the shift intervention command is received within a preset time period after the current moment is greater than a preset number; and to generate a second prompt message according to the state of the intelligent driving function, the second prompt message being used to prompt the driver to drive manually, the state of the intelligent driving function being used to indicate whether the intelligent driving function is activated.

[0036] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the control module is specifically used to: control the intelligent driving function to remain active and control the vehicle to continue driving in the current gear when the target gear is the current gear; control the intelligent driving function to exit when the target gear is not the current gear; generate a third prompt message based on the status of the intelligent driving function, the current gear, and the target gear, the third prompt message being used to prompt the driver that the vehicle is about to shift gears and to prompt the driver to drive manually, the status of the intelligent driving function being used to indicate whether the intelligent driving function is activated; control the vehicle's display device to display the third prompt message, and / or control the vehicle's audio playback device to broadcast the third prompt message; and adjust the vehicle's gear from the current gear to the target gear.

[0037] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0038] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0039] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of a vehicle driving scenario provided in an embodiment of this application;

[0041] Figure 2This is a schematic diagram of the structure of an intelligent driving system provided in an embodiment of this application;

[0042] Figure 3 This is a schematic flowchart illustrating a method for controlling vehicle gear shifting according to an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of a device for controlling vehicle gear shifting provided in an embodiment of this application;

[0044] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0046] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0047] It should be understood that the method for controlling vehicle gear shifting provided in this application embodiment is mainly applied to vehicles equipped with an intelligent driving system (also known as an autonomous driving system). The functions implemented by the intelligent driving system are called intelligent driving functions (also known as autonomous driving functions). Intelligent driving functions refer to the functions of a vehicle that, by being equipped with advanced sensors, intelligent driving controllers, and actuators, assist the driver in controlling the vehicle, or even completely replace the driver to achieve driverless driving.

[0048] Before introducing the methods of the embodiments of this application, we will first go through the following... Figure 1 This application describes the operating scenarios of vehicles equipped with intelligent driving systems in its embodiments.

[0049] Figure 1 This is a schematic diagram of a vehicle driving scenario provided in an embodiment of this application.

[0050] For example, such as Figure 1 As shown, during the driving process of vehicle 101 on road 102, the driving process of vehicle 101 can be divided into "manual driving" and "automatic driving" according to different methods.

[0051] Manual driving, also known as human-driven driving, refers to complete control by the driver. In this mode, the driver needs to maintain a high level of attention. The driver can control the vehicle by adjusting the speed of the vehicle 101 by pressing the accelerator pedal, adjusting the steering angle of the vehicle 101 by operating the steering wheel, and adjusting the gear by operating the gear lever, based on the operating status of the vehicle 101, the surrounding environment of the vehicle 101, and the distance and position of the vehicle 101 and other vehicles.

[0052] Autonomous driving refers to a vehicle 101 using computer and artificial intelligence (AI) technology to partially or completely replace a driver in safely driving the vehicle 101. The vehicle 101 can automatically complete control actions in key safety control functions such as steering, throttle, and braking without direct driver intervention.

[0053] Based on the level of intelligence, autonomous driving can be divided into partially autonomous driving and fully autonomous driving. Partially autonomous driving means that during the vehicle's autonomous driving process, driver involvement is still required (e.g., the driver holds the steering wheel), the driver needs to remain alert, and the driver can take over manual driving when necessary. Fully autonomous driving means that the vehicle makes all its own judgments and drives itself, without any driver intervention throughout the entire process.

[0054] For example, such as Figure 1 As shown, this is a driving scenario of partial autonomous driving. While vehicle 101 is in motion, the driver can activate the ACC function in vehicle 101 to control the vehicle's movement.

[0055] Optionally, the ACC function can be enabled through methods including but not limited to click operations, rotation operations, gesture adjustment operations, and voice commands.

[0056] For example, the driver can press the physical switch button for the ACC function in vehicle 101 to control the ACC function to be turned on.

[0057] As another example, the driver can click the virtual switch button for the ACC function on the display device of vehicle 101 to control the ACC function to be turned on.

[0058] As another example, the driver can control the ACC function to be turned on by clicking a virtual switch button for the ACC function on a terminal device (such as a smartphone).

[0059] As another example, the driver can control the ACC function to be activated by making gesture adjustments corresponding to the ACC function.

[0060] Another example is that the driver can control the ACC function to be turned on via voice command, such as "turn on ACC function".

[0061] After activating the ACC function in vehicle 101 using any of the above methods, as follows: Figure 1 As shown, the instrument panel of vehicle 101 can also display the icon corresponding to the ACC function and the corresponding vehicle speed (i.e., cruise speed) to control the movement of vehicle 101. Specifically, when the ACC function is activated, vehicle 101 can automatically adjust the distance to the vehicle in front by judging the following distance. When there is no vehicle in front, vehicle 101 can move forward steadily at the cruise speed. When the vehicle in front stops, vehicle 101 can appropriately decelerate and synchronously follow the vehicle when it starts moving.

[0062] After introducing the application scenarios of the embodiments of this application, in order to facilitate understanding of the technical solutions of the embodiments of this application, the structural composition and detailed functions of the intelligent driving system will be described below.

[0063] Figure 2 This is a schematic diagram of the structure of an intelligent driving system provided in an embodiment of this application.

[0064] For example, such as Figure 2 As shown, the vehicle 101 is equipped with an intelligent driving system 201. The hardware structure of the intelligent driving system 201 mainly includes sensors 2011, an intelligent driving controller 2012, and actuators 2013.

[0065] Optionally, based on the sensor 2011, the intelligent driving controller 2012 and the actuator 2013, the intelligent driving functions that the intelligent driving system 201 can realize can be divided into lateral assistance functions (or side assistance functions) and longitudinal assistance functions according to their different types.

[0066] The longitudinal assistance functions include forward collision warning (FCW), rear collision warning (RCW), automatic emergency braking (AEB), cruise control functions (such as cruise control, ACC, and full-speed adaptive cruise control), and anti-maloperation for accelerator pedal (AMAP).

[0067] Lateral assist features include Lane Departure Warning (LDW), Lane Changing Warning (LCW), Blind Spot Detection (BSD), and Lane Keeping Assist (LKA).

[0068] Sensor 2011 is also known as the perception part of the intelligent driving system 201. Sensor 2011 is responsible for collecting various driving parameters (such as positioning information), environmental information around the vehicle 101, and attributes of the occupants in the vehicle 101 during the driving process.

[0069] Based on the different functions of the aforementioned sensors 2011, they can be further classified into motion sensors, environmental perception sensors, and driver monitoring sensors.

[0070] Motion sensors mainly include vehicle speed sensors, angular velocity sensors, acceleration sensors, steering angle sensors, yaw rate sensors, and positioning systems (navigation systems). Different motion sensors are mainly responsible for collecting various driving parameters, such as vehicle speed, angular velocity, acceleration, wheel steering angle, yaw rate, and vehicle position.

[0071] Environmental perception sensors include ultrasonic sensors, external cameras, millimeter-wave radar, and lidar. Different environmental perception sensors are mainly responsible for collecting environmental information around vehicle 101, such as monitoring the distances between vehicle 101 and the vehicles in front, behind, and obstacles, as well as environmental images around vehicle 101 (such as road images, obstacle images, etc.).

[0072] The driver monitoring sensors include in-vehicle cameras. Optionally, the in-vehicle cameras include cameras in the Driver Monitor System (DMS) and cameras in the Occupancy Monitoring System (OMS), which can respectively capture facial images of the driver and passengers in vehicle 101.

[0073] The aforementioned sensor 2011 can send all the collected data to the intelligent driving controller 2012 so that the intelligent driving controller 2012 can analyze and process the data.

[0074] The intelligent driving controller 2012 processes the data and, when it needs to perform assisted driving control on the vehicle 101, it can do so through the corresponding actuator 2013.

[0075] Optionally, the actuators in 2013 also vary depending on the control scenario and requirements, mainly including braking components, steering components, engine components, gearbox components, voice control components, display components, etc.

[0076] Furthermore, the intelligent driving system 201 can also communicate with other electronic control units (ECUs) in the vehicle 101 via the Controller Area Network (CAN) bus and the intelligent driving controller 2012, for example... Figure 2 The vehicle control unit (VCU, also known as the "vehicle controller") 202 is located in the intelligent driving system 201. Specifically, the intelligent driving controller 2012 can send the status of the intelligent driving function in the intelligent driving system 201 to the VCU 202, or, when the intelligent driving controller 2012 determines that a gear shift is needed based on the data sent by the sensor 2011, it can generate a gear shift request and send it to the VCU 202 so that the VCU 202 controls the vehicle 101 to complete the gear shift.

[0077] Currently, based on the execution strategies and automation levels of various intelligent driving functions provided by intelligent driving systems, the Society of Automotive Engineers (SAE) classifies intelligent driving into six levels, from lowest to highest: L0, L1, L2, L3, L4, and L5. Specifically:

[0078] At Level 0, the driver is responsible for all driving operations, monitoring of the surrounding environment, and taking over control. However, this does not mean that Level 0 offers no assistance whatsoever. Level 0 autonomous driving can provide warnings and momentary assistance, such as automatic braking, blind spot monitoring, and vehicle stability control.

[0079] At Level 1, the vehicle (101) and the driver jointly perform some driving operations, while the driver is responsible for monitoring the surroundings and taking over the vehicle's functions. This falls under the category of driver assistance systems. Examples include Adaptive Cruise Control (ACC), Driver Assistance System (LKA), and Driver Delay Wing (LDW).

[0080] Level 2 autonomous driving is essentially a form of partial or semi-autonomous driving. At Level 2, basic operations are performed by the vehicle 101, while the driver is responsible for monitoring the surrounding environment and taking over the vehicle 101 at any time. This mainly includes functions such as ACC and APS.

[0081] Level 3 autonomous driving, also known as conditional autonomous driving, allows vehicle 101 to perform driving operations and monitor its surroundings in specific environments without driver intervention. However, during autonomous driving, the driver must be prepared to take over at any time. Vehicle 101 will automatically prompt the driver when to take over.

[0082] At Level 4, which is highly automated driving, the vehicle can perform driving operations, monitor its surroundings, and autonomously take over responses without requiring the driver to take over the steering wheel. However, in specific areas such as highways or urban areas, driver intervention is necessary.

[0083] At Level 5, which is fully automated driving, no driver intervention is required. The vehicle 101 is controlled entirely by its sensors 2011 and the processing logic of the intelligent driving controller 2012, regardless of the environment or road conditions. Level 5 autonomous driving is a highly ideal automated driving process.

[0084] Whether the driver chooses to activate some intelligent driving functions (such as only ACC function or only APS function) or activate a certain intelligent driving level (such as L2 level or L3 level) while driving the vehicle, the driver can control the vehicle to enter the intelligent driving process.

[0085] During intelligent driving, if the driver intervenes (such as shifting the gear lever), causing a change in gear, the vehicle will immediately disengage from intelligent driving and the driver will take over after receiving the shift signal or intervention command. However, this switching method presents several safety risks. For example, shifting gears at high speeds may cause vehicle instability, affecting normal driving.

[0086] Therefore, based on the above problems, the present application proposes a method for controlling vehicle gears, which can control the vehicle to perform gear shift feedback by combining vehicle speed and gear shift intervention command when a gear shift intervention command is received during intelligent driving of the vehicle, thereby avoiding the dangers caused by direct gear shifting, ensuring the rationality and accuracy of gear shift feedback, and ensuring vehicle safety.

[0087] After introducing the application scenarios and basic structure of the intelligent driving system in the embodiments of this application, the following describes in detail a method for controlling vehicle gears proposed in the embodiments of this application.

[0088] Figure 3 This is a schematic flowchart illustrating a method for controlling vehicle gear shifting according to an embodiment of this application. It should be understood that this method can be specifically applied to... Figure 1 or Figure 2 Specifically, it can be applied to Figure 1 or Figure 2 The VCU used for gear control in the vehicle 101 shown.

[0089] For example, such as Figure 3 As shown, the method 300 includes:

[0090] 301. When the vehicle's intelligent driving function is activated, in response to the vehicle's shift intervention command, the vehicle speed is obtained. The shift intervention command is used to adjust the vehicle's gear during the operation of the intelligent driving function.

[0091] It should be understood that for vehicles equipped with intelligent driving functions, the driver can activate the intelligent driving function in the vehicle to control the vehicle to enter the intelligent driving process.

[0092] Optional intelligent driving functions include, but are not limited to, FCW, RCW, AEB, ACC, AMAP, LDW, LCW, LKA, and other functions.

[0093] Optionally, in this embodiment of the application, the number of intelligent driving functions can be one or more, and this embodiment of the application does not limit this.

[0094] It should be understood that since the main application scenario of the embodiments of this application is the gear shifting process of a vehicle under intelligent driving functions, the intelligent driving functions in the embodiments of this application can be specifically understood as intelligent driving functions related to vehicle gears. For example, the ACC function involves the forward (Drive, D) gear, the APS function involves the D gear, reverse (R, Reverse) gear, and parking (Parking, P) gear, and LKA involves the D gear. Therefore, ACC, LKA, and APS can be considered as intelligent driving functions in the embodiments of this application.

[0095] It should also be understood that, in the embodiments of this application, when there is only one intelligent driving function, it means that the intelligent driving function is activated independently, and the driver can activate the intelligent driving function through the corresponding control switch. For example, the intelligent driving function can be any one of ACC, APS, and LKA. When there are multiple intelligent driving functions, these multiple intelligent driving functions may correspond to multiple intelligent driving functions under a certain intelligent driving level. For example, the driver can control the vehicle to enter the L2 level of automated driving stage through the control switch corresponding to the L2 autonomous driving level in the vehicle. When the vehicle is driving autonomously at the L2 level, the intelligent driving functions include APS, ACC, LKA, etc.

[0096] Optionally, when activating the intelligent driving function, the specific method is the same as... Figure 1The activation process for the ACC (Adaptive Cruise Control) function is similar. For example, if there is only one intelligent driving function, you can click the switch for that function. If there are multiple intelligent driving functions, you can directly click the level control switch corresponding to each function. For detailed instructions, please refer to [link to documentation]. Figure 1 The process of enabling the ACC function will not be described in detail here.

[0097] When the intelligent driving function is activated, if the driver changes the vehicle's gear through adjustment operation (or gear shift intervention operation) while the vehicle is in motion, the gear position controller can receive the driver's adjustment operation, generate a gear shift intervention command and send it to the VCU, so that the VCU can control the vehicle to shift gears according to the gear shift intervention command.

[0098] Optionally, various methods can be combined to adjust the gear position in the vehicle, including touch operation, rotation operation, click operation, button operation, and shift voice information.

[0099] In combination with different adjustment operations, the embodiments of this application provide the following different methods when generating shift intervention commands.

[0100] In one possible implementation, the process of generating the shift intervention command specifically includes:

[0101] In response to touch operation of the vehicle's gear shift lever, a gear shift intervention command is generated;

[0102] In response to the rotation of the vehicle's gear shift knob, a gear shift intervention command is generated;

[0103] In response to a click on the vehicle's shift button, a shift intervention command is generated;

[0104] In response to the paddle shifter operation of the vehicle, a shift intervention command is generated;

[0105] In response to the vehicle's gear shift voice information, a gear shift intervention command is generated.

[0106] Optionally, the type of shift lever can include a mechanical shift lever (also known as a "mechanical shifter") or an electronic shift lever (also known as an "electronic shifter").

[0107] For example, when the vehicle's gear shifting device is a gear lever, whether electronic or mechanical, the driver can change gears by pushing or pulling the lever to different positions. For instance, in one scenario, when the vehicle is in P gear, the driver can pull the lever towards their chest to shift into D gear. Upon receiving this touch operation, the gear control unit generates a corresponding shift intervention command and sends it to the VCU.

[0108] Another example is when the vehicle's gear shift mechanism is a rotary gear selector. The driver can adjust the vehicle's gear by rotating the selector. For instance, if the vehicle is currently in Drive (D) gear, the driver can rotate the selector to Move (R) gear. Upon receiving this rotation, the gear selector controller generates a corresponding shift intervention command and sends it to the Vehicle Control Unit (VCU).

[0109] Another example is when the vehicle's gear shift mechanism is a shift button. The driver can press the shift button corresponding to different gears to adjust the vehicle's gear. For instance, if the vehicle is currently in D gear, the driver can press the shift button corresponding to R gear. After receiving this press, the gear control unit generates a corresponding shift intervention command and sends it to the VCU.

[0110] Another example is when the vehicle's gear shifting device is a paddle shifter. The driver can adjust the vehicle's gear by moving the paddle shifters to different positions. For instance, if the vehicle is currently in Drive (D) gear, the driver can move the paddle shifters to the position corresponding to Reverse (R) gear. The gear control unit (VCU) can receive the paddle shifting operation, generate a corresponding shift intervention command, and send it to the VCU.

[0111] Another example is that, in addition to the methods mentioned above, the driver can also directly use voice information for gear shifting, such as "shift the vehicle to R gear". The multimedia controller receives the voice information for gear shifting, generates the corresponding gear shifting intervention command, and sends it to the VCU.

[0112] In the above technical solution, when the intelligent driving function is activated, the driver can adjust the gear using several different methods depending on the type of gear shifting device in the vehicle. These methods include touch operation, rotation operation, toggle operation, click operation, and gear shift voice information. Correspondingly, the vehicle can also generate corresponding gear shift intervention commands based on different adjustment operations. The generation process of these gear shift intervention commands ensures both flexibility in adjustment methods and a richer variety in the determination process of gear shift intervention commands.

[0113] After receiving a gear shift intervention command through any of the above methods, in this embodiment of the application, before switching the vehicle's gear according to the gear shift intervention command, in order to ensure the safety of the vehicle during the gear shifting process, the VCU can comprehensively evaluate the vehicle speed, the gear shift intervention command, and the vehicle's current gear to determine whether it is necessary to switch the vehicle's gear and which gear to switch to.

[0114] For example, the VCU can obtain the current gear position through the gear position controller in the vehicle.

[0115] For example, when APS is activated, the vehicle speed is 15 km / h, and the vehicle is in D gear, if the driver adjusts the vehicle to P gear through any adjustment operation, P gear is the gear indicated by the shift intervention command. When the VCU receives this shift intervention command, it knows from basic knowledge of vehicle gears that P gear is generally used for parking, and the prerequisite for shifting to P gear is that the vehicle must be stationary. Therefore, at the current vehicle speed of 15 km / h, to ensure vehicle safety, the VCU cannot directly shift the gear to P gear according to the shift intervention command.

[0116] Therefore, based on the vehicle safety issues that may arise from direct gear shifting, the VCU needs to consider the vehicle speed, the gear shifting intervention command, and the current gear when it receives a gear shifting intervention command to control the vehicle's gear shifting.

[0117] For example, the vehicle speed can be obtained by the VCU through the vehicle speed sensor, or by the VCU through the wheel speed sensor to obtain the wheel speed of the four wheels and take the maximum wheel speed or the average wheel speed as the vehicle speed, or by the VCU directly obtaining the vehicle speed displayed on the instrument panel through the instrument controller.

[0118] 302. Determine the target gear of the vehicle based on the vehicle speed, shift intervention command, and the vehicle's current gear.

[0119] After acquiring the vehicle speed, the VCU can determine whether the vehicle can shift gears according to the shift intervention command, based on the vehicle speed, the shift intervention command, and the current gear; that is, it determines the target gear. On one hand, when the VCU determines that the vehicle can shift gears according to the shift intervention command, the target gear is the gear indicated by the shift intervention command. On the other hand, when the VCU determines that the vehicle cannot shift gears according to the shift intervention command, the target gear is a new gear determined by the VCU.

[0120] In one possible implementation, the target gear of the vehicle is determined based on the vehicle speed, the shift intervention command, and the vehicle's current gear, including:

[0121] When the intelligent driving function is set to automatic parking, the target gear is determined based on the vehicle speed and the current gear.

[0122] When the intelligent driving function is adaptive cruise control or lane keeping assist, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system, the target gear is determined based on the vehicle speed and gear shifting intervention command.

[0123] When the intelligent driving function is the function corresponding to the conditional automated driving system, the target gear is determined based on the vehicle speed, shift intervention command and current gear.

[0124] The aforementioned driver assistance systems enable the vehicle to automatically complete steering, braking, and acceleration / deceleration processes, which corresponds to Level 1 in intelligent driving standards. Semi-autonomous driving systems assist the driver during manual driving, which corresponds to Level 2 in intelligent driving standards. Conditional automated driving systems control the vehicle to drive autonomously when preset conditions are met, and prompt the driver to manually drive when preset conditions are not met, which corresponds to Level 3 in intelligent driving standards.

[0125] When the intelligent driving function is enabled, the VCU can obtain information through the intelligent driving controller about which intelligent driving function it is, or the level of intelligent driving corresponding to multiple intelligent driving functions.

[0126] It should be understood that when APS is activated and the vehicle is automatically parking, the speed is usually not very high (generally around 0-20 km / h). The gears involved in the parking process may include P, D, and R. During gear shifting, to ensure vehicle safety, the brakes need to be applied to keep the vehicle stationary. Because the vehicle speed is relatively low during parking, stopping the vehicle upon receiving a gear shift intervention command will not affect safe driving. Therefore, in this embodiment, when the vehicle is automatically parking, regardless of the gear indicated by the gear shift intervention command, the vehicle speed is prioritized to determine whether parking is possible, maximizing vehicle safety.

[0127] In one possible implementation, when the intelligent driving function is an automatic parking function, the target gear is determined based on the vehicle speed and the current gear, including:

[0128] When the intelligent driving function is set to automatic parking, if the vehicle speed is less than or equal to the preset speed, the target gear is determined to be the parking gear;

[0129] When the intelligent driving function is set to automatic parking, if the vehicle speed is greater than the preset speed, the target gear is determined to be neutral or the current gear.

[0130] Optionally, the preset vehicle speed is 2 km / h, which is also commonly referred to as the vehicle's "static speed". In other words, when the vehicle speed is less than or equal to 2 km / h, the vehicle is considered to be stationary by default.

[0131] When APS is activated, if the vehicle speed is less than or equal to 2 km / h, regardless of the gear indicated by the shift intervention command, Park (P) will be designated as the target gear. This is because when the vehicle speed is less than or equal to 2 km / h, the vehicle is almost stationary, and the VCU assumes that engaging Park has the highest priority, thus directly designating Park as the target gear.

[0132] Conversely, at speeds exceeding 2 km / h, switching to any gear poses a safety hazard. In such cases, given the lower speeds in parking scenarios, the vehicle can be controlled to shift into neutral (N) to stop first, making N the highest priority gear. Alternatively, the VCU can choose not to respond and continue driving in the current gear.

[0133] For example, assuming the vehicle is currently in Drive (D) in an automatic parking scenario, when a shift intervention command is received indicating Park (P), if the vehicle speed is 0 km / h, the Vehicle Control Unit (VCU) can determine Park as the target gear. If the vehicle speed is 10 km / h, the VCU can use either Neutral (N) or Drive as the target gear.

[0134] In another scenario, during automatic parking, when the vehicle speed is less than or equal to 2 km / h, the driver's intention may not be to stop the vehicle, but rather to shift to another gear. Based on this situation, this application embodiment also provides the following process for determining the target gear, specifically including:

[0135] When the intelligent driving function is set to automatic parking, if the vehicle speed is less than or equal to the preset speed, a fourth prompt message is generated based on the parking gear. The fourth prompt message is used to prompt the driver to confirm whether to switch the gear to parking gear.

[0136] In response to the confirmation operation of the fourth prompt message, the target gear is determined to be parking gear;

[0137] If no confirmation is received, obtain the required gear corresponding to the gear shift intervention command; determine that the target gear is the parking gear.

[0138] The failure to receive a confirmation action includes two situations: one is that the driver does not respond to the fourth prompt message within a preset time (e.g., 10 seconds); the other is that the driver responds to the fourth prompt message with a denial action, that is, does not shift the gear to P.

[0139] For example, when the vehicle speed is less than or equal to 2 km / h and the current gear is reverse (R), the VCU can first determine the higher-priority gear, park (P), as the target gear and generate a fourth prompt message based on the P gear, such as "Are you sure you want to shift the vehicle to park?". When the driver confirms shifting to park, the target gear is then determined to be park. Conversely, if the driver denies shifting to park or the VCU does not receive a response from the driver within 10 seconds, it can directly determine the desired gear (e.g., neutral) as the target gear to facilitate shifting according to the driver's wishes.

[0140] In the above technical solution, when the intelligent driving function is in APS mode, if the vehicle speed exceeds the preset speed, the target gear is set to parking. This ensures that when the vehicle is stationary, priority is given to stopping the vehicle to ensure safety. Conversely, if the vehicle speed exceeds the preset speed, indicating that the vehicle is moving forward or backward, the target gear is set to neutral or the current gear. During parking, the vehicle speed is generally very low. Therefore, if a gear shift intervention occurs when the speed exceeds the preset speed, controlling the vehicle to shift into neutral ensures that the vehicle stops at a lower speed to ensure safety. Alternatively, if a gear shift intervention occurs when the speed exceeds the preset speed, controlling the vehicle to continue driving in the current gear avoids the safety issues caused by shifting at high speeds.

[0141] In this application embodiment, in addition to the automatic parking function, intelligent driving functions related to vehicle gear shifting, such as ACC and LKA, may also be involved. These two functions can be activated individually or by activating different levels of intelligent driving. Currently, in mass-produced vehicles, the intelligent driving levels including ACC and LKA functions are L1, L2, and L3.

[0142] In this embodiment of the application, the Level 1 autonomous driving system is also referred to as an "assisted driving system". Figure 2 As described in the text, at this driving level, only a small portion of the functions can assist driving; most of the functionality still requires driver involvement and constant attention to the surrounding environment. The Level 2 autonomous driving system is also referred to as a "semi-autonomous driving system" in this application embodiment, combined with... Figure 2 The description states that at Level 2, compared to Level 1, the vehicle can perform basic intelligent driving functions, but the driver still needs to be fully attentive to observing the surrounding environment, controlling the steering wheel, and being prepared to take over the vehicle. The Level 3 autonomous driving system is also referred to as a "conditional autonomous driving system" in this application embodiment, combined with... Figure 2 According to the description, at Level 3, the autonomous driving system can drive fully autonomously under certain conditions without driver intervention. When these conditions are not met, the vehicle automatically prompts the driver to take over.

[0143] Regardless of whether the ACC and LKA functions are activated individually or in different levels of autonomous driving, in the aforementioned autonomous driving scenarios, there may be situations where the vehicle speed is relatively high. When determining the target gear, in order to ensure vehicle safety, it is necessary to combine the vehicle speed and shifting intervention commands.

[0144] In one possible implementation, when the intelligent driving function is adaptive cruise control or lane keeping assist, or when the intelligent driving function is a function corresponding to a driver assistance system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system, the target gear is determined based on vehicle speed and gear shift intervention commands, including:

[0145] When the intelligent driving function is adaptive cruise control or lane keeping assist, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system, the required gear corresponding to the shift intervention command is obtained, and the required gear is the gear that the shift intervention command needs to switch to.

[0146] When the vehicle speed is greater than the preset speed, a first prompt message is generated based on the vehicle speed and the required gear. The first prompt message is used to prompt the driver to confirm whether to shift gears at the vehicle speed. In response to the confirmation operation of the first prompt message, the target gear is determined to be the required gear.

[0147] When the vehicle speed is less than or equal to the preset speed, the target gear is determined as the required gear.

[0148] It should be understood that when the intelligent driving function is ACC or LKA, it means that each of these functions is activated independently. When the intelligent driving function is ACC and LKA, it means that the current intelligent driving level may be any one of L1, L2 or L3. In order to prevent the vehicle from being dangerously endangered by shifting gears directly at high speeds, in this embodiment of the application, the target gear can be determined by considering both the vehicle speed and the actual needs of the driver in the intelligent driving scenario.

[0149] In the aforementioned intelligent driving scenario, the VCU can first respond to the gear shifting intervention command, obtain the corresponding required gear, that is, the gear indicated by the gear shifting intervention command or the gear changed due to driver intervention, and then make a decision based on the vehicle speed and the required gear.

[0150] Because driver involvement is relatively high in Level 1, Level 2, or ACC / LKA autonomous driving scenarios compared to Level 3, when the vehicle speed is high, to ensure safety during gear shifting, upon receiving a gear shift intervention command, it is necessary to first determine whether the intervention is intentional on the part of the driver or an accidental misoperation.

[0151] Therefore, when the vehicle speed exceeds 2 km / h and a gear shift intervention command is received, the VCU, after obtaining the required gear, can first generate an initial prompt based on the vehicle speed and the required gear to ask the driver for confirmation whether to shift gears in the current scenario. If the driver confirms the shift, the required gear will then be designated as the target gear.

[0152] For example, assuming the vehicle speed is 50 km / h, the required gear is P, and the current gear is D, the VCU can generate a first prompt message, such as, "The current speed is relatively high at 50 km / h. Are you sure you want to switch gears from D to P?" If the driver confirms the switch, then P is designated as the target gear.

[0153] Conversely, when the vehicle speed is less than 2 km / h, it is safe to switch to any gear, and the desired gear can be directly set as the target gear.

[0154] In the aforementioned technical solutions, when the intelligent driving function is ACC or LKA, or the vehicle is at L1 or L2 level, the driver's involvement is relatively high in these intelligent driving scenarios. The driver needs to remain highly vigilant and constantly observe the vehicle's driving status. In these intelligent driving scenarios, if the vehicle speed is higher than the preset speed when a gear shift intervention command is received, since the driver is involved in driving, to ensure that the gear shift intervention was initiated by the driver, the vehicle can first generate a first prompt message based on the vehicle speed and the required gear to ask the driver for confirmation whether a gear shift is necessary. If the driver confirms, the required gear is then determined as the target gear to ensure the safety of gear shifting at higher speeds. If the vehicle speed is less than or equal to the preset speed, gear shifting is relatively safe and will not affect the performance of vehicle components. In this case, the required gear can be determined as the target gear to respond promptly to the driver's takeover request while the vehicle is safely in motion.

[0155] It should be understood that because Level 3 autonomous driving has a high degree of sophistication, driver intervention is almost unnecessary, and the vehicle can drive itself completely autonomously. Therefore, at lower speeds, the vehicle can accommodate the driver's gear-shifting needs. At higher speeds, since the vehicle already possesses autonomous driving capabilities, driver intervention in gear shifting can be disregarded, allowing for intelligent vehicle control.

[0156] In one possible implementation, when the intelligent driving function corresponds to a conditional automated driving system, the target gear is determined based on vehicle speed, shift intervention command, and current gear, including:

[0157] When the intelligent driving function is the function corresponding to the conditional automated driving system, if the vehicle speed is less than or equal to the preset vehicle speed, the required gear corresponding to the gear shift intervention command is obtained. The required gear is the gear that the gear shift intervention command needs to switch to; the target gear is determined as the required gear.

[0158] When the intelligent driving function is the function corresponding to the conditional automated driving system, if the vehicle speed is greater than the preset speed, the target gear is determined to be the current gear.

[0159] For example, when the VCU determines that the current intelligent driving function corresponds to Level 3, and the vehicle speed is 0 km / h, it is safe to switch to any gear. The VCU can obtain the required gear corresponding to the gear shift intervention command and determine it as the target gear. If the vehicle speed is 60 km / h and the current gear is D, the vehicle is in motion, and switching to any gear may damage the vehicle's transmission. Since Level 3 has the ability to automatically control the vehicle and the driver's involvement is low, in this case, the vehicle can not respond to the gear shift intervention command and determine the current gear minus D as the target gear.

[0160] In the aforementioned technical solution, when the vehicle is in a Level 3 autonomous driving scenario, its level of intelligence is very high. At Level 3, driver involvement is relatively low, and the vehicle can alert the driver when intervention is required. In this situation, when the vehicle speed is less than or equal to the preset speed, driving or shifting gears is safe, and the desired gear can be designated as the target gear to respond promptly to the driver's intervention. However, when the vehicle speed exceeds the preset speed, due to the high level of intelligence at Level 3, the vehicle can autonomously judge and control the vehicle. Therefore, to ensure vehicle safety at higher speeds, it can choose not to respond and continue controlling the vehicle to drive in the current gear.

[0161] 303, control the vehicle's movement according to the target gear.

[0162] After the target gear is determined in step 302, the VCU can control the vehicle to drive in the target gear.

[0163] It should be understood that regardless of which method the VCU uses in step 302 to determine the target gear as the current gear, it indicates that the VCU has not performed a gear shift. Conversely, if the target gear is not the current gear, it means that the intelligent driving process has been interfered with and influenced by the driver. Based on these two different situations, the specific process of controlling the vehicle according to the target gear is divided into different steps.

[0164] One possible implementation involves controlling the vehicle's movement based on the target gear, specifically including:

[0165] If the target gear is the current gear, the intelligent driving function will remain activated, and the vehicle will continue to drive in the current gear.

[0166] If the target gear is not the current gear, the intelligent driving function is disengaged; based on the status of the intelligent driving function, the current gear, and the target gear, a third prompt message is generated to inform the driver that the vehicle is about to shift gears and to prompt the driver to drive manually; the vehicle's display device is controlled to display the third prompt message, and / or the vehicle's audio playback device is controlled to broadcast the third prompt message; the vehicle's gear is adjusted from the current gear to the target gear.

[0167] If the intelligent driving function is not affected, that is, if the target gear is still the current gear, the VCU can continue to control the vehicle to drive under the intelligent driving function.

[0168] When the autonomous driving function is affected, meaning the target gear is not the current gear, the VCU needs to deactivate the autonomous driving function based on the driver's intervention request. Specifically, the VCU can send a shutdown command to the autonomous driving controller, causing the controller to disable the autonomous driving function.

[0169] When the intelligent driving function is turned off, it indicates that the driver needs to manually drive the vehicle. The VCU can generate a third prompt message based on the status of the intelligent driving function, the current gear, and the target gear. This message serves two purposes: firstly, it reminds the driver that the intelligent driving function has been disengaged and manual control is required; secondly, it indicates that the vehicle is about to shift gears.

[0170] Meanwhile, during the process of reminding the driver, the VCU can control the display devices in the vehicle to display third prompt information. For example, the VCU can control the multimedia host in the vehicle to display a text pop-up window of the third prompt information in the display area through the multimedia controller, and / or control the audio playback device (e.g., speaker) in the vehicle to broadcast the voice of the third prompt information.

[0171] Finally, the VCU controls the vehicle to shift from the current gear to the target gear. Specifically, during the shifting process, to ensure vehicle safety, the VCU first controls the vehicle speed to decelerate to a preset speed, and then generates a gear adjustment command based on the current gear and the target gear, and sends it to the gear controller so that the gear controller can adjust the vehicle's gear according to the gear adjustment command.

[0172] In the above technical solution, when controlling the vehicle based on the target gear, if the target gear is the current gear, it means the vehicle can continue to operate under the corresponding intelligent driving function. Therefore, in this case, the intelligent driving function can remain active and the vehicle can be controlled. Conversely, if the target gear is not the current gear (e.g., the target gear is the desired gear), it indicates that the vehicle's gear has changed, meaning the normal operation of the intelligent driving function is interfered with and affected. To ensure vehicle safety and the driver's willingness to take over, the vehicle can first disengage the intelligent driving function and remind the driver to prepare for takeover in the form of a third prompt message. Then, the vehicle's gear can be switched to the target gear, ensuring timely reminders and notifications to the driver when a gear shift is required.

[0173] Furthermore, after the VCU determines the target gear to be the current gear based on the shift intervention command, and continues to control the intelligent driving function to operate in the current gear, the VCU can determine whether the shift intervention was accidentally triggered by the driver by counting the number of times the shift intervention command is received. For example, if the shift intervention command is received only once, it could be due to accidental triggering by the driver or it could be intentional. However, if the shift intervention command is received multiple times, it is highly likely that the driver requested to take over.

[0174] In one possible implementation, after controlling the vehicle's movement according to the target gear when the target gear is the current gear, the method further includes:

[0175] If the number of shift intervention commands received within a preset time period after the current moment exceeds a preset number, the intelligent driving function will be deactivated.

[0176] Based on the status of the intelligent driving function, a second prompt message is generated. The second prompt message is used to prompt the driver to drive manually. The status of the intelligent driving function is used to indicate whether the intelligent driving function is activated.

[0177] For example, suppose the preset duration is 10 seconds and the preset number of times is 0. If the VCU does not respond after receiving the first shift intervention command, and then receives the same shift intervention command twice within the next two 10 seconds, it indicates that the driver wants to take over the vehicle.

[0178] In this scenario, to respond promptly to the driver's needs, the VCU can send a shutdown command to the intelligent driving controller, so that the intelligent driving controller can shut down the intelligent driving function.

[0179] When the intelligent driving function is turned off, the VCU can generate a second prompt message based on the status of the intelligent driving function to remind the driver to take over the vehicle. The second prompt message is, for example, "The intelligent driving function is currently turned off. Please take over the vehicle for safe driving in a timely manner."

[0180] Conversely, if the number of shift intervention commands received within 10 seconds is less than or equal to 0, it indicates that the previous shift intervention may have been accidentally triggered by the driver, and the VCU can continue to control the intelligent driving function.

[0181] In the above technical solution, regardless of the intelligent driving scenario the vehicle is in, when the vehicle does not respond to a shift intervention command, to further determine whether the shift intervention is due to driver error or the driver's subjective intention, the number of shift intervention commands received within a preset time period can be used as a criterion. If, within the next preset time period, the number of shift intervention commands received exceeds the preset number (i.e., the vehicle receives the same shift intervention command multiple times), it indicates that the shift intervention is not due to driver error. To promptly address the driver's needs, the intelligent driving function must first be disengaged, and then a second prompt message must be sent to inform the driver that the intelligent driving function has been disengaged, requesting the driver to manually control the vehicle. This process accurately determines whether the shift intervention is due to driver error, considers the driver's subjective driving needs, and ensures the timeliness and accuracy of the driver taking over the vehicle.

[0182] In summary, this application proposes a method for controlling vehicle gear shifting. When the intelligent driving function is activated, upon receiving a gear shifting intervention command, the vehicle's speed is first acquired, and the intervention command is used to adjust the vehicle's gear. Furthermore, the vehicle can determine the target gear based on the speed, the intervention command, and the current gear, and control the vehicle accordingly. Since speed plays a crucial role in the gear shifting process, gear shifting is generally only permitted when the speed is low or the vehicle is stationary. Therefore, upon receiving the intervention command, to ensure vehicle safety, direct gear shifting is not allowed. The vehicle's speed must be assessed based on its speed, and the driver's needs corresponding to the intervention command and the current gear must also be considered. The target gear is determined by comprehensively considering these factors. This process ensures vehicle safety during gear shifting while also taking into account the driver's subjective driving needs, achieving a vehicle-human service effect.

[0183] Specifically, determining the target gear involves three scenarios. In the first scenario, when the intelligent driving function is APS (Advanced Pilot Assistance), the target gear is determined based on vehicle speed and the current gear. In the second scenario, when the intelligent driving function is ACC (Adaptive Cruise Control) or LKA (Level 5), or the intelligent driving level is L1 or L2, the target gear is determined based on vehicle speed and shift intervention commands. In the third scenario, when the intelligent driving level is L3, the target gear can also be determined based on vehicle speed, shift intervention commands, and the current gear. This process allows for different shift intervention strategies under different types of intelligent driving function conditions, ensuring a close correlation between the shifting process and the vehicle's operating status when the intelligent driving function is activated.

[0184] When the intelligent driving function is in APS mode, if the vehicle speed exceeds the preset speed, the target gear is set to parking. This ensures that when the vehicle is stationary, priority is given to stopping the vehicle to ensure safety. Conversely, if the vehicle speed exceeds the preset speed, indicating that the vehicle is moving forward or backward, the target gear is set to neutral or the current gear. During parking, the vehicle speed is generally very low. Therefore, if a gear shift intervention occurs when the speed exceeds the preset speed, controlling the vehicle to shift into neutral ensures that the vehicle can be stopped at a lower speed to ensure safety. Alternatively, if a gear shift intervention occurs when the speed exceeds the preset speed, controlling the vehicle to continue driving in the current gear avoids the safety issues that can arise from shifting gears at high speeds.

[0185] When the intelligent driving function is set to ACC or LKA, or when the vehicle is at L1 or L2 level, driver involvement is relatively high in these scenarios. Drivers need to remain highly vigilant and constantly observe the vehicle's driving status. In these scenarios, if the vehicle speed exceeds the preset speed when a shift intervention command is received, to ensure the driver is indeed initiating the shift intervention, the vehicle can first generate an initial prompt based on the vehicle speed and the desired gear to ask the driver for confirmation. If the driver confirms, the desired gear is then designated as the target gear to ensure safety during high-speed shifting. If the vehicle speed is less than or equal to the preset speed, shifting is relatively safe and will not affect the performance of vehicle components. In this case, the desired gear can be designated as the target gear to respond promptly to the driver's takeover requests while the vehicle is safely in motion.

[0186] When a vehicle is in a Level 3 autonomous driving scenario, its level of intelligence is very high. At Level 3, driver involvement is relatively low, but the vehicle can alert the driver when intervention is required. In this situation, when the vehicle speed is less than or equal to the preset speed, driving or shifting gears is safe, and the desired gear can be set as the target gear to respond promptly to the driver's intervention. However, when the vehicle speed exceeds the preset speed, due to the high level of intelligence at Level 3, the vehicle can autonomously judge and control the vehicle. Therefore, to ensure vehicle safety at higher speeds, it may choose not to respond and continue controlling the vehicle at the current gear.

[0187] Regardless of the autonomous driving scenario, when the vehicle does not respond to a shift intervention command, to further determine whether the shift intervention was due to driver error or the driver's intention, the number of shift intervention commands received within a preset time period can be used as a criterion. If, within the next preset time period, the number of shift intervention commands received exceeds the preset number (i.e., the vehicle receives the same shift intervention command multiple times), it indicates that the shift intervention was not due to driver error. To promptly address the driver's needs, the autonomous driving function should first be disengaged, and then a second prompt should be sent to inform the driver that the autonomous driving function has been disengaged, requesting the driver to manually control the vehicle. This process accurately determines whether the shift intervention was due to driver error, considers the driver's subjective driving needs, and ensures the timeliness and accuracy of driver takeover.

[0188] When controlling the vehicle based on the target gear, if the target gear is the current gear, it means the vehicle can continue to operate under the corresponding intelligent driving function. Therefore, in this case, the intelligent driving function can remain active and the vehicle can be controlled. Conversely, if the target gear is not the current gear (e.g., the target gear is the desired gear), it indicates that the vehicle's gear has changed, meaning the normal operation of the intelligent driving function is being interfered with. To ensure vehicle safety and the driver's willingness to take over, the vehicle can first disengage the intelligent driving function and remind the driver to prepare for takeover via a third-party prompt message. Then, the vehicle's gear can be switched to the target gear, ensuring timely reminders and notifications to the driver when a gear shift is required.

[0189] Figure 4 This is a schematic diagram of a device for controlling vehicle gear shifting provided in an embodiment of this application.

[0190] For example, such as Figure 4 As shown, the device 400 includes:

[0191] The acquisition module 401 is used to acquire the vehicle speed in response to the vehicle's shift intervention command when the vehicle's intelligent driving function is activated. The shift intervention command is used to adjust the vehicle's gear during the operation of the intelligent driving function.

[0192] The determining module 402 is used to determine the target gear of the vehicle based on the vehicle speed, the shift intervention command, and the current gear of the vehicle.

[0193] The control module 403 is used to control the vehicle's movement according to the target gear.

[0194] In one possible implementation, the determining module 402 is specifically used to: determine the target gear based on the vehicle speed and the current gear when the intelligent driving function is an automatic parking function; determine the target gear based on the vehicle speed and the shift intervention command when the intelligent driving function is an adaptive cruise control function or lane keeping assist function, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system; and determine the target gear based on the vehicle speed, the shift intervention command, and the current gear when the intelligent driving function is a function corresponding to a conditional autonomous driving system.

[0195] In one possible implementation, the determining module 402 is further configured to: when the intelligent driving function is the automatic parking function, if the vehicle speed is less than or equal to the preset vehicle speed, determine the target gear as parking gear; when the intelligent driving function is the automatic parking function, if the vehicle speed is greater than the preset vehicle speed, determine the target gear as neutral or the current gear.

[0196] In one possible implementation, the determining module 402 is further configured to: when the intelligent driving function is the adaptive cruise control function or the lane keeping assist function, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system, obtain the required gear corresponding to the shift intervention command, the required gear being the gear that the shift intervention command controls the vehicle to switch to; when the vehicle speed is greater than a preset vehicle speed, generate a first prompt message based on the vehicle speed and the required gear, the first prompt message being used to prompt the driver to confirm whether to shift gears at the vehicle speed; in response to the confirmation operation of the first prompt message, determine the target gear as the required gear; when the vehicle speed is less than or equal to the preset vehicle speed, determine the target gear as the required gear.

[0197] In one possible implementation, the determining module 402 is further configured to: when the intelligent driving function is a function corresponding to the conditional automated driving system, if the vehicle speed is less than or equal to a preset vehicle speed, obtain the required gear corresponding to the shift intervention command, the required gear being the gear that the shift intervention command controls the vehicle to switch to; determine the target gear as the required gear; and when the intelligent driving function is a function corresponding to the conditional automated driving system, if the vehicle speed is greater than the preset vehicle speed, determine the target gear as the current gear.

[0198] Optionally, when the target gear is the current gear, after controlling the vehicle to drive according to the target gear, the device further includes: a processing module, configured to control the intelligent driving function to exit if the number of times the shift intervention command is received within a preset time after the current moment exceeds a preset number; and to generate a second prompt message according to the status of the intelligent driving function, the second prompt message being used to prompt the driver to drive manually, the status of the intelligent driving function being used to indicate whether the intelligent driving function is activated.

[0199] In one possible implementation, the control module 403 is specifically configured to: control the intelligent driving function to remain active and control the vehicle to continue driving in the current gear when the target gear is the current gear; control the intelligent driving function to exit when the target gear is not the current gear; generate a third prompt message based on the status of the intelligent driving function, the current gear, and the target gear, the third prompt message being used to prompt the driver that the vehicle is about to shift gears and to prompt the driver to drive manually, the status of the intelligent driving function being used to indicate whether the intelligent driving function is active; control the vehicle's display device to display the third prompt message, and / or control the vehicle's audio playback device to broadcast the third prompt message; and adjust the vehicle's gear from the current gear to the target gear.

[0200] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0201] For example, such as Figure 5 As shown, the vehicle 101 includes a memory 501 and a processor 502. The memory 501 stores executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a method for controlling the vehicle to shift gears.

[0202] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling vehicle gear shifting provided in embodiments of this application.

[0203] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0204] When the functional modules are divided according to their respective functions, the device may also include an acquisition module, a determination module, and a control module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced to the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0205] It should be understood that the device provided in this embodiment is used to execute the above-described method for controlling vehicle gear shifting, and therefore can achieve the same effect as the above-described implementation method.

[0206] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing program code, etc.

[0207] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0208] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a method for controlling vehicle gear shifting provided in the above embodiments.

[0209] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the method for controlling vehicle gear shifting provided in the above embodiment.

[0210] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a method for controlling vehicle gear shifting provided in the above embodiment.

[0211] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0212] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0213] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0214] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling vehicle gear shifting, characterized in that, The method includes: When the vehicle's intelligent driving function is activated, in response to the vehicle's shift intervention command, the vehicle speed is obtained, and the shift intervention command is used to adjust the vehicle's gear during the operation of the intelligent driving function. The target gear of the vehicle is determined based on the vehicle speed, the shift intervention command, and the current gear of the vehicle. Control the vehicle to drive according to the target gear; The step of determining the target gear of the vehicle based on the vehicle speed, the gear shift intervention command, and the vehicle's current gear includes: When the intelligent driving function is adaptive cruise control or lane keeping assist, or when the intelligent driving function is a function corresponding to an assisted driving system, or when the intelligent driving function is a function corresponding to a semi-autonomous driving system, the required gear corresponding to the shift intervention command is obtained, and the required gear is the gear that the shift intervention command controls the vehicle to switch to. When the vehicle speed is greater than the preset vehicle speed, a first prompt message is generated based on the vehicle speed and the required gear. The first prompt message is used to prompt the driver to confirm whether to shift gears at the vehicle speed. In response to the confirmation operation of the first prompt message, the target gear is determined to be the required gear. If the vehicle speed is less than or equal to the preset vehicle speed, the target gear is determined to be the required gear.

2. The method according to claim 1, characterized in that, Determining the target gear of the vehicle based on the vehicle speed, the shift intervention command, and the vehicle's current gear further includes: When the intelligent driving function is the automatic parking function, the target gear is determined based on the vehicle speed and the current gear. When the intelligent driving function is the function corresponding to a conditional automated driving system, the target gear is determined based on the vehicle speed, the gear shift intervention command, and the current gear.

3. The method according to claim 2, characterized in that, When the intelligent driving function is automatic parking, determining the target gear based on the vehicle speed and the current gear includes: When the intelligent driving function is the automatic parking function, if the vehicle speed is less than or equal to the preset vehicle speed, the target gear is determined to be the parking gear; When the intelligent driving function is the automatic parking function, if the vehicle speed is greater than the preset vehicle speed, the target gear is determined to be neutral or the current gear.

4. The method according to claim 2, characterized in that, When the intelligent driving function is a function corresponding to a conditional automated driving system, determining the target gear based on the vehicle speed, the gear shift intervention command, and the current gear includes: When the intelligent driving function is the function corresponding to the conditional automated driving system, if the vehicle speed is less than or equal to the preset vehicle speed, the required gear corresponding to the shift intervention command is obtained, and the required gear is the gear that the shift intervention command controls the vehicle to switch to; the target gear is determined to be the required gear. If the intelligent driving function is the function corresponding to the conditional automated driving system, and the vehicle speed is greater than the preset vehicle speed, the target gear is determined to be the current gear.

5. The method according to any one of claims 3 or 4, characterized in that, When the target gear is the current gear, after controlling the vehicle to move according to the target gear, the method further includes: If the number of times the shift intervention command is received within a preset time period after the current moment exceeds a preset number, the intelligent driving function will be deactivated. Based on the status of the intelligent driving function, a second prompt message is generated. The second prompt message is used to prompt the driver to drive manually. The status of the intelligent driving function is used to indicate whether the intelligent driving function is activated.

6. The method according to claim 1, characterized in that, The step of controlling the vehicle's movement according to the target gear includes: If the target gear is the current gear, the intelligent driving function is kept active, and the vehicle is kept driving in the current gear. If the target gear is not the current gear, the intelligent driving function is deactivated; based on the status of the intelligent driving function, the current gear, and the target gear, a third prompt message is generated. The third prompt message is used to prompt the driver that the vehicle is about to shift gears and to prompt the driver to drive manually. The status of the intelligent driving function is used to indicate whether the intelligent driving function is activated; the vehicle's display device is controlled to display the third prompt message, and / or the vehicle's audio playback device is controlled to broadcast the third prompt message; the vehicle's gear is adjusted from the current gear to the target gear.

7. A device for controlling vehicle gear shifting, characterized in that, The device includes: The acquisition module is used to acquire the vehicle speed in response to a shift intervention command when the vehicle's intelligent driving function is activated. The shift intervention command is used to adjust the vehicle's gear during the operation of the intelligent driving function. The determining module is used to determine the target gear of the vehicle based on the vehicle speed, the shift intervention command, and the current gear of the vehicle. The control module is used to control the vehicle's movement according to the target gear. The determining module is specifically configured to: obtain the required gear corresponding to the shift intervention command when the intelligent driving function is adaptive cruise control or lane keeping assist; or, when the intelligent driving function is a function corresponding to an assisted driving system; or, when the intelligent driving function is a function corresponding to a semi-autonomous driving system; the required gear is the gear that the shift intervention command controls the vehicle to switch to; generate a first prompt message based on the vehicle speed and the required gear when the vehicle speed is greater than a preset vehicle speed; prompt the driver to confirm whether to shift gears at the specified vehicle speed; determine the target gear as the required gear in response to the confirmation operation of the first prompt message; and determine the target gear as the required gear when the vehicle speed is less than or equal to the preset vehicle speed.

8. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 6.

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

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