Scenario-based predictive shift schedule adaptive method and related devices

Abstract

This application discloses a scenario-based predictive shift rule adaptive method and related equipment. The scenario-based predictive shift rule adaptive method includes: converting scenario information acquired during the current vehicle's driving process to obtain a reference vehicle speed in the current vehicle's lane; determining the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the reference vehicle speed in the lane; determining a target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shift rule; and performing the operation based on the target gear. The scenario-based predictive shift rule adaptive method disclosed in this application obtains the reference vehicle speed in the lane based on scenario information, which can fully reflect scenario information while reducing the dimensionality of the input information for adaptive shift decision-making.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and specifically to a scenario-based predictive shift pattern adaptive method, device, electronic device, and computer-readable storage medium. Background Technology

[0002] As the automotive industry progresses towards intelligentization and electrification, and as automobiles become increasingly consumer-oriented, the need for adaptive intelligent control of vehicles based on human and environmental factors is growing. Autonomous intelligent control of vehicles based on scene information is becoming increasingly important.

[0003] The shifting patterns of multi-gear transmissions determine the timing of gear changes. The purpose of gear switching is to balance the system's power and fuel economy. However, most current shifting patterns are based on fixed levels of selectable shifting rules derived from the vehicle's current state parameters and the driver's historical operation information. These include shifting patterns focused on fuel economy, patterns offering a balance of fuel economy and power, and shifting patterns focused on drivability. These shifting patterns are fixed and unchangeable, requiring human drivers to adapt to their specific needs. However, a driver's expectations regarding fuel economy and power constantly change based on the current vehicle state and the environment ahead. Fixed shifting patterns cannot automatically adapt to these changes.

[0004] Therefore, how to adapt the scene that appears in front of the vehicle during driving to the vehicle's shifting rules has become an urgent problem to be solved. Summary of the Invention

[0005] To address the aforementioned technical problems, embodiments of this application provide a scenario-based predictive shift pattern adaptive method, apparatus, electronic device, and computer-readable storage medium.

[0006] According to one aspect of the embodiments of this application, a scenario-based predictive shifting rule adaptive method is provided. The scenario-based predictive shifting rule adaptive method includes: converting scenario information acquired during the current vehicle's driving process to obtain a reference vehicle speed in the current vehicle's driving lane; determining a shifting speed corresponding to an adaptive shifting rule based on a shifting decision factor corresponding to the reference vehicle speed in the lane; determining a target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shifting speed corresponding to the adaptive shifting rule; and performing an operation based on the target gear.

[0007] According to one aspect of the embodiments of this application, a scenario-based predictive shift rule adaptive device is provided. The device includes: a reference vehicle speed determination module, configured to convert scenario information acquired during the current vehicle's driving process to obtain a reference vehicle speed in the current vehicle's driving lane; a shift speed determination module, configured to determine a shift speed corresponding to an adaptive shift rule based on a shift decision factor corresponding to the reference vehicle speed in the lane; and an execution module, configured to determine a target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shift rule, and to perform an execution operation based on the target gear.

[0008] According to one aspect of the embodiments of this application, an electronic device is provided, including: a memory storing computer-readable instructions; and a processor reading the computer-readable instructions stored in the memory to execute the scenario-based predictive shifting pattern adaptive method of any of the above.

[0009] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided, on which computer-readable instructions are stored, which, when executed by a computer's processor, cause the computer to perform the scenario-based predictive shifting rule adaptive method as described above.

[0010] According to one aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps in the scenario-based predictive shift pattern adaptive method as described above.

[0011] In the technical solution provided by the embodiments of this application, the reference vehicle speed in the current vehicle's driving lane is obtained by converting the scene information acquired during the current vehicle's driving process. The shifting speed corresponding to the adaptive shifting rule is determined based on the shifting decision factor corresponding to the reference vehicle speed in the lane. Then, the target gear is determined based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shifting speed corresponding to the adaptive shifting rule. The operation is performed based on the target gear. Thus, the reference vehicle speed in the lane is obtained by converting the scene information, which can reduce the input information dimension of the adaptive shifting decision while fully reflecting the scene information.

[0012] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0014] Figure 1 This is a schematic diagram illustrating the implementation environment of a scenario-based predictive shifting behavior adaptive method, as shown in an exemplary embodiment.

[0015] Figure 2 This is a flowchart illustrating a scenario-based predictive shifting behavior adaptive method, as shown in an exemplary embodiment of this application.

[0016] Figure 3 yes Figure 2 A flowchart of an exemplary embodiment of step S210 in the scenario-based predictive shift pattern adaptive method shown;

[0017] Figure 4 yes Figure 3 A flowchart of an exemplary embodiment of step S310 in the scenario-based predictive shift pattern adaptive method shown;

[0018] Figure 5 yes Figure 3 A flowchart of an exemplary embodiment of step S320 in the scenario-based predictive shift pattern adaptive method shown;

[0019] Figure 6 yes Figure 3 A flowchart of an exemplary embodiment of step S330 in the scenario-based predictive shift pattern adaptive method shown;

[0020] Figure 7 yes Figure 2 A flowchart of an exemplary embodiment of step S220 in the scenario-based predictive shift pattern adaptive method shown;

[0021] Figure 8 yes Figure 2 A flowchart of an exemplary embodiment of step S710 in the scenario-based predictive shift pattern adaptive method shown;

[0022] Figure 9 yes Figure 2 A flowchart of an exemplary embodiment of step S720 in the scenario-based predictive shift pattern adaptive method shown;

[0023] Figure 10 yes Figure 2A flowchart of an exemplary embodiment of step S230 in the scenario-based predictive shift pattern adaptive method shown;

[0024] Figure 11 yes Figure 2 A flowchart of an exemplary embodiment prior to step S220 in the scenario-based predictive shift pattern adaptive method shown;

[0025] Figure 12 yes Figure 11 A flowchart of an exemplary embodiment of step S1130 in the scenario-based predictive shift pattern adaptive method shown;

[0026] Figure 13 yes Figure 12 A flowchart of an exemplary embodiment following step S1110 in the scenario-based predictive shift pattern adaptive method shown;

[0027] Figure 14 yes Figure 13 A flowchart of an exemplary embodiment of step S1330 in the scenario-based predictive shift pattern adaptive method is shown.

[0028] Figure 15 yes Figure 12 A flowchart of an exemplary embodiment following step S1110 in the scenario-based predictive shift pattern adaptive method shown;

[0029] Figure 16 yes Figure 15 A flowchart of an exemplary embodiment of step S1530 in the scenario-based predictive shift pattern adaptive method is shown.

[0030] Figure 17 This is a schematic diagram illustrating the relationship between lanes and corresponding reference vehicle speeds in the scenario-based predictive shifting adaptive method shown in this application.

[0031] Figure 18 This is a block diagram illustrating a scenario-based predictive shift pattern adaptive device, as shown in an exemplary embodiment of this application.

[0032] Figure 19 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0034] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0035] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0036] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0037] First, it should be noted that with the advancement of intelligentization and electrification in the automotive industry, and the increasing consumerization of automobiles, the adaptive intelligent control of vehicles based on people and environments is becoming increasingly urgent. Autonomous intelligent control of vehicles based on scene information is becoming increasingly important.

[0038] The shifting patterns of multi-gear transmissions determine the timing of gear changes. The purpose of gear switching is to balance the system's power and fuel economy. However, most current shifting patterns are based on fixed levels of selectable shifting rules derived from the vehicle's current state parameters and the driver's historical operation information. These include shifting patterns focused on fuel economy, patterns offering a balance of fuel economy and power, and shifting patterns focused on drivability. These shifting patterns are fixed and unchangeable, requiring human drivers to adapt to their specific needs. However, a driver's expectations regarding fuel economy and power constantly change based on the current vehicle state and the environment ahead. Fixed shifting patterns cannot automatically adapt to these changes.

[0039] Therefore, how to adapt the scene that appears in front of the vehicle during driving to the vehicle's shifting rules has become an urgent problem to be solved.

[0040] Based on this, in order to achieve adaptive shifting rules based on scene information, this application proposes a scene-based predictive adaptive shifting rule method, device, electronic device, and computer-readable storage medium. Specifically, the method involves converting scene information acquired during the current vehicle's driving process into a reference vehicle speed in the current vehicle's lane, determining the shifting speed corresponding to the adaptive shifting rule based on the shifting decision factor corresponding to the reference vehicle speed in the lane, determining the target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shifting speed corresponding to the adaptive shifting rule, and performing the operation based on the target gear. Thus, by converting the reference vehicle speed in the lane based on scene information, the input information dimension of the adaptive shifting decision can be reduced while fully reflecting scene information.

[0041] Figure 1 This is a schematic diagram illustrating the implementation environment of a scenario-based predictive shifting pattern adaptive method, as shown in an exemplary embodiment. The implementation environment includes a scenario information acquisition terminal 110 and a server 120. The scenario information acquisition terminal is mounted on the vehicle, specifically in the direction of the vehicle's front. A wired or wireless network connection is pre-established between the scenario information acquisition terminal 110 and the server 120.

[0042] like Figure 1 As shown, in the adaptive predictive shifting pattern based on the scenario, the scenario information acquisition terminal 110 installed in the direction of the vehicle's front acquires the scenario information during the current vehicle's driving process and sends the scenario information to the server 120. The server 120 receives the scenario information, converts and processes the scenario information to obtain the reference vehicle speed in the current vehicle's driving lane, and determines the shifting speed corresponding to the adaptive shifting pattern based on the shifting decision corresponding to the reference vehicle speed in the lane. Then, based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shifting speed corresponding to the adaptive shifting pattern, the target gear is determined, and the operation is performed based on the target gear.

[0043] in, Figure 1 The scene information acquisition terminal 110 shown can be any device that supports scene information acquisition, such as a sensor, but is not limited to this. Figure 1The server 120 shown can be a server, such as a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. No restrictions are placed on this. The scene information acquisition terminal 110 can communicate with the server 120 via wireless networks such as 3G (third-generation mobile information technology), 4G (fourth-generation mobile information technology), and 5G (fifth-generation mobile information technology). No restrictions are placed on this as well.

[0044] Please see Figure 2 , Figure 2 This is a flowchart illustrating a scenario-based predictive shifting pattern adaptive method, as shown in an exemplary embodiment of this application. This method can be applied to... Figure 1 The implementation environment shown is specifically executed by server 120 within that implementation environment. It should be understood that this method can also be applied to other exemplary implementation environments and executed by devices in other implementation environments; this embodiment does not limit the implementation environment to which the method is applicable.

[0045] The following section will describe in detail the scenario-based predictive shifting pattern adaptive method proposed in this application embodiment, using the server as the specific execution entity.

[0046] like Figure 2 As shown, in an exemplary embodiment, the scenario-based predictive shifting pattern adaptive method includes at least steps S210 to S230, which are described in detail below:

[0047] Step S210: Based on the scene information obtained during the current vehicle's driving process, the reference vehicle speed in the current driving lane is obtained.

[0048] First, it's important to clarify that scene information includes near-field sensor information or map information. Maps include navigation maps, ADAS maps, or high-precision maps. Near-field sensor information includes the number and type of objects in front of the vehicle, their positions, relative speeds, and accelerations within the scene. These objects include, but are not limited to, vehicles, pedestrians, road signs, intersections, and traffic lights. Map information includes road classification, road type, speed limits, intersections, road curvature, road gradient, traffic flow, and the type and location of traffic signs.

[0049] Considering the dimensionality and complexity of scene information during vehicle operation, directly using multi-dimensional or complex scene information as input information for adaptive shifting rules would increase the computational complexity of the shifting rules. Therefore, this embodiment transforms multi-dimensional and complex scene information to obtain a unified baseline vehicle speed. Specifically, the server transforms the scene information into a baseline vehicle speed on the lane.

[0050] It should be noted that the embodiments of this application can not only convert the scene information obtained during the current vehicle's driving process into the reference vehicle speed in the current vehicle's driving lane, but also determine the reference vehicle speed in the left lane or right lane based on the scene information of the vehicles on the left or right side of the current vehicle's driving lane.

[0051] Step S220: Determine the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the reference vehicle speed on the lane.

[0052] The shift decision factor is determined based on the reference vehicle speed. If there are a current vehicle lane, a left lane, and a right lane, the shift decision factor includes a shift decision factor determined based on the reference vehicle speed in the current vehicle lane, a shift decision factor determined based on the reference vehicle speed in the left lane, and a shift decision factor determined based on the reference vehicle speed in the right lane.

[0053] Adaptive shifting rules refer to shifting rules determined based on scenario information.

[0054] The shift speed corresponding to the adaptive shifting rule refers to the shift speed determined according to the adaptive shifting rule.

[0055] The server determines the shift speed corresponding to the adaptive shifting pattern based on the shifting decision factors corresponding to the baseline vehicle speed in the lane. Specifically, the server can determine the shifting speed corresponding to the adaptive shifting pattern based on the shifting decision factors corresponding to the baseline vehicle speed in the current vehicle's lane, the baseline vehicle speed in the left lane, and the baseline vehicle speed in the right lane.

[0056] Step S230: Determine the target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shifting rule, and perform the operation based on the target gear.

[0057] The current gear speed refers to the speed corresponding to the current gear.

[0058] The speed of the gear at the previous moment refers to the speed of the gear at the moment earlier than the current moment.

[0059] The server determines the target gear based on the vehicle's current gear and speed at the current moment, the vehicle's current gear and speed at the previous moment, and the shift speed corresponding to the adaptive shifting rule, and then performs the operation based on the target gear.

[0060] As can be seen, the scenario-based predictive shifting rule adaptive method of this embodiment converts the scenario information obtained during the current vehicle's driving process into the reference speed on the current vehicle's driving lane, and determines the shifting speed corresponding to the adaptive shifting rule based on the shifting decision factor corresponding to the reference speed on the lane. Then, it determines the target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shifting speed corresponding to the adaptive shifting rule, and performs the operation based on the target gear. Thus, by converting the reference speed on the lane based on scenario information, it can reduce the input information dimension of the adaptive shifting decision while fully reflecting the scenario information.

[0061] Figure 3 yes Figure 2 The flowchart illustrates an exemplary embodiment of step S210 in the scenario-based predictive shift pattern adaptive method. Figure 3 In the illustrated embodiment, the explicit reference speed, implicit reference speed, and resistance reference speed on the current vehicle's driving lane are determined based on the first scene element, the second scene element, and the third scene element in the scene information. Then, the reference speed on the current vehicle's driving lane is determined based on the explicit reference speed, the implicit reference speed, and the resistance reference speed.

[0062] like Figure 3 As shown, in an exemplary embodiment, the process of converting the scene information obtained during the current vehicle's driving process into the reference vehicle speed in the current driving lane in step S210 further includes at least steps S310 to S340, which are described in detail below:

[0063] Step S310: Determine the explicit reference speed on the lane based on the first scene element in the scene information.

[0064] The first scene element includes traffic speed information, which refers to explicit scene information, specifically scene elements that directly include speed information. For example, traffic speed information includes road speed limits, obstacles, and traffic flow.

[0065] The explicit reference speed refers to the explicit reference speed of the vehicle in the current driving lane, determined based on the first scenario elements.

[0066] The server determines the explicit baseline vehicle speed on the lane based on the first scene element in the scene information.

[0067] As an example, the server can adopt Figure 4Steps S311 to S312 shown in the diagram further illustrate this step, as detailed below:

[0068] Step S311: Obtain the speed limit of the road, the speed of the obstacles, and the speed of the traffic flow.

[0069] Step S312: Select the minimum speed among the road speed limit, the speed of the obstacle, and the speed of the traffic flow as the explicit reference speed on the lane.

[0070] The speed limit on a road refers to the speed limit displayed on the road in the scene information ahead of the vehicle during its current journey, such as the speed limit shown on the speed limit sign ahead.

[0071] The speed of an obstacle refers to the speed of the obstacle relative to the current vehicle in the scene information ahead during the current vehicle's travel.

[0072] Traffic flow speed refers to the speed of the vehicles in the scene ahead of the vehicle during its current journey.

[0073] The server uses the minimum speed among the road speed limit, obstacle speed, and traffic flow speed as the explicit baseline speed for the current vehicle in its lane. It should be noted that if other speeds are included in the first scene element, then the minimum speed among all speeds will be used as the explicit baseline speed for the lane.

[0074] Additionally, if the explicit reference speed in the current vehicle's lane is represented as V... 显性 The speed limit for roads is expressed as V. 限速 The velocity of the obstacle is expressed as V. 障碍物 The speed of traffic flow is represented by V. 交通流 The explicit reference speed of the vehicle in the current lane satisfies the following formula:

[0075]

[0076] Step S320: Determine the implicit reference speed on the lane based on the second scene element in the scene information. The second scene element includes road attribute information.

[0077] The second scene element includes road attribute information, which refers to implicit scene information. Specifically, it refers to scene elements that do not directly include speed information but restrict driving speed on the road. For example, road attribute information includes road type, road curvature, etc.

[0078] Implicit reference speed refers to the implicit reference speed in the current vehicle's driving lane, determined based on the second scenario elements.

[0079] The server determines the implicit baseline vehicle speed on the lane based on the second scene element in the scene information.

[0080] As an example, the server can adopt Figure 5 Steps S321 to S322 shown in the diagram further illustrate this step, as detailed below:

[0081] Step S321: Obtain the road type speed corresponding to the road type and the road curvature speed corresponding to the road curvature.

[0082] Step S322: Select the minimum speed between road type speed and road curvature speed as the implicit reference speed on the lane.

[0083] The speed limit for a given road type can be determined by looking up a table. For example, a road type represented as L... 道路类型 The speed for each road type is:

[0084]

[0085] Among them, the function It can be used for table lookup.

[0086] The road curvature velocity corresponding to road curvature can also be determined by looking up a table. For example, road curvature is represented as C. 道路曲率 Then the road curvature velocity is:

[0087]

[0088] Among them, the function It can be a preset lookup table function difference or a preset fitting function.

[0089] The server uses the minimum speed between road type speed and road curvature speed as the implicit baseline speed for the current vehicle in its lane.

[0090] It should be noted that if the implicit reference speed in the current vehicle's lane is represented as V... 隐性 The speed of road type is represented by V. 道路类型 The speed of road curvature is expressed as V. 道路曲率 The implicit reference speed in the current vehicle's lane satisfies the following formula:

[0091]

[0092] Alternatively, the server can use preset priority values ​​to determine the implicit reference speed. For example, if the server sets the priority of road type higher than that of road curvature, then the road type speed can be used as the implicit reference speed.

[0093] Step S330: Determine the reference speed for resistance on the lane based on the third scene element in the scene information. The third scene element includes scene resistance information.

[0094] The third scene element includes scene resistance information, which refers to scene elements that do not include speed information or restrictions on road speed, but include scene elements that affect vehicle driving resistance. For example, scene resistance information includes road grade, road gradient, etc.

[0095] The resistance reference speed refers to the resistance reference speed on the current vehicle's driving lane, determined based on the third scenario elements.

[0096] The server determines the reference speed for resistance on the lane based on the third scene element in the scene information.

[0097] As an example, the server can adopt Figure 6 Steps S331 to S332 shown in the diagram further illustrate this step, as detailed below:

[0098] Step S331: Determine the target resistance based on the road grade resistance corresponding to the road grade and the road slope resistance corresponding to the road slope.

[0099] Road class resistance is determined by looking up a table based on the road class. For example, the road class is represented as Class 道路等级 Then the road resistance level is:

[0100]

[0101] Among them, function F5 can be used to look up a table.

[0102] Road slope resistance is determined by looking up a table based on the road slope. For example, road slope is represented as Slope. 道路坡度 Then the road gradient resistance:

[0103]

[0104] Among them, function F6 can be a lookup table or a linear fitting function.

[0105] The target resistance is the sum of the road grade resistance and the road gradient resistance.

[0106] The server calculates the sum of road grade resistance and road slope resistance, and uses this sum as the target resistance.

[0107] Step S332: Determine the reference speed of the resistance vehicle on the lane based on the obtained line-of-sight distance, resistance distance, and target resistance.

[0108] Resistance distance refers to the distance corresponding to the position where the resistance value of the target is not zero.

[0109] Line-of-sight distance refers to the range of vision of the scene ahead while the vehicle is in motion.

[0110] The server determines the reference speed for resistance in the lane based on the line-of-sight distance, resistance distance, and target resistance. For example, the server calculates the difference between the target distance and the resistance distance, and then calculates the ratio between the difference and a preset distance. If the remainder of the ratio is zero, the resistance value of the target resistance is determined as the reference speed for resistance in the current vehicle's lane; if the remainder of the ratio is one, the reference speed for resistance in the current vehicle's lane is determined to be zero.

[0111] Specifically, the reference speed for resistance satisfies the following formula:

[0112]

[0113] Here, the mod function refers to taking the remainder, and Dis refers to the line-of-sight distance. 阻力 This refers to the drag distance, 2Dis 周期 This refers to the preset distance, Dis 周期 The period of the square wave can be the resolution of the distance within the line of sight or an integer multiple thereof, V 阻力 (Dis) represents the reference speed for resistance, R 阻力 This refers to the target resistance.

[0114] Step S340: Determine the reference speed in the current vehicle's driving lane based on the explicit reference speed, implicit reference speed, and resistance reference speed in the lane.

[0115] The server selects the minimum reference speed from the explicit reference speed and the implicit reference speed, calculates the sum of the speeds between the minimum reference speed and the resistance reference speed, and uses the sum of the speeds as the reference speed on the current vehicle's driving road.

[0116] For example, the reference vehicle speed satisfies the following formula:

[0117]

[0118] As can be seen, the scenario-based predictive shifting rule adaptive method of this embodiment determines the explicit reference speed, implicit reference speed, and resistance reference speed on the current vehicle's driving lane based on the first scenario element, the second scenario element, and the third scenario element in the scenario information, respectively. Then, it determines the reference speed on the corresponding lane based on the explicit reference speed, implicit reference speed, and resistance reference speed on the lane. This realizes the transformation of scenario information into the reference speed on the lane, reduces the input dimension of subsequent target gear determination, and avoids the complexity of target gear determination.

[0119] Figure 7 yes Figure 2 The flowchart illustrates an exemplary embodiment of step S220 in the scenario-based predictive shift pattern adaptive method. Figure 7In the illustrated embodiment, the shifting speed corresponding to the adaptive shifting rule is determined by a shifting decision fusion factor based on the shifting decision factors corresponding to the current vehicle speed in the driving lane, the left lane to the left of the driving lane, and the right lane to the right of the driving lane.

[0120] like Figure 7 As shown, in an exemplary embodiment, the process of determining the shift speed corresponding to the adaptive shift rule in step S220 based on the shift decision factor corresponding to the current vehicle's reference speed in the lane at least further includes steps S710 to S720, which are described in detail below:

[0121] Step S710: The shift decision factors corresponding to the reference vehicle speed on the driving lane, the reference vehicle speed on the left lane to the left of the driving lane, and the reference vehicle speed on the right lane to the right of the driving lane are merged to obtain the shift decision fusion factor.

[0122] The reference speeds in the left and right lanes can be determined based on the scenario information of the vehicles traveling in the corresponding lanes. The determination method can be found in the section on reference speeds in the current vehicle's lane, and will not be repeated here.

[0123] It should be noted that if there is no left lane to the left of the current vehicle's driving lane, the reference speed for the left lane is taken as the reference speed of the current vehicle's driving lane. In other words, V 基准左 =V 基准 , where V 基准左 V represents the reference speed for the left lane. 基准 This indicates the base speed of the vehicle in the current lane.

[0124] Similarly, if there is no right lane to the right of the vehicle currently traveling in the lane, the reference speed for the right lane is taken as the reference speed of the vehicle currently traveling in the lane. In other words, V 基准右 =V 基准 , where V 基准右 V represents the base speed for the right lane. 基准 This indicates the base speed of the vehicle in the current lane.

[0125] The shift decision fusion factor is determined based on the shift decision factor corresponding to the reference vehicle speed in the current vehicle lane, the shift decision factor corresponding to the reference vehicle speed in the left lane, and the shift decision factor corresponding to the reference vehicle speed in the right lane.

[0126] As an example, the server can adopt Figure 8 Steps S711 to S713 shown in the diagram further illustrate this step, as detailed below:

[0127] Step S711: Calculate the second product between the shift decision factor and the corresponding coefficient for the reference speed in the driving lane, the reference speed in the left lane, and the reference speed in the right lane, to obtain multiple second products.

[0128] If the shift decision factor corresponding to the reference speed in the current vehicle's lane is denoted as Fac1, and the coefficient of Fac1 is K1; the shift decision factor corresponding to the reference speed in the left lane is denoted as Fac2, and the coefficient of Fac2 is K2; and the shift decision factor corresponding to the reference speed in the right lane is denoted as Fac3, and the coefficient of Fac3 is K3, then the second product includes Fac1. K1, Fac2 K2 and Fac3 K3.

[0129] Step S712: Select the largest shift decision factor among all shift decision factors.

[0130] The maximum shift decision factor is selected from the shift decision factors corresponding to the reference vehicle speed in the current vehicle lane, the reference vehicle speed in the left lane, and the reference vehicle speed in the right lane.

[0131] Step S713: The ratio between the sum of multiple second products and the maximum shift decision factor is determined as the shift decision fusion factor.

[0132] The server determines the shift decision fusion factor as the ratio between the sum of multiple second products and the maximum shift decision factor. It should be noted that the shift decision fusion factor ranges from 0 to 1.

[0133] For example, the shift decision fusion factor satisfies the following equation:

[0134]

[0135] Among them, A 常量 This refers to the maximum shift decision factor.

[0136] Step S720: Determine the shift speed corresponding to the adaptive shift rule based on the throttle opening and shift decision fusion factor.

[0137] Throttle opening refers to the degree to which the accelerator pedal is open or closed. In particular, throttle opening determines the amount of fuel injected by the engine.

[0138] The server determines the shift speed corresponding to the adaptive shifting pattern based on the throttle opening and shifting decision fusion factors.

[0139] As an example, the server can adopt Figure 9Steps S721 to S723 shown in the diagram further illustrate this step, as detailed below:

[0140] Step S721: Obtain the corresponding minimum shift speed and maximum shift speed based on the throttle opening.

[0141] The server can determine the minimum and maximum shift speeds based on a function corresponding to the throttle opening. Alternatively, the server can directly determine the minimum and maximum shift speeds by looking up a table based on the throttle opening.

[0142] Step S722: Calculate the first product between the difference between the highest and lowest shift speeds and the shift decision fusion factor.

[0143] For example, if the maximum shift speed is represented as V max The minimum shift speed is represented by V. min Then the first product is:

[0144]

[0145] Step S723: Calculate the sum between the minimum shift speed and the first product, and use the sum as the shift speed corresponding to the adaptive shift rule.

[0146] For example, if the shift speed corresponding to adaptive shifting is represented as V adp The shift speed corresponding to adaptive shifting satisfies the following formula:

[0147]

[0148] As can be seen, the scenario-based predictive shift rule adaptive method of this embodiment obtains a shift decision fusion factor by fusing the shift decision factors corresponding to the reference vehicle speed on the driving lane, the reference vehicle speed on the left lane to the left of the driving lane, and the reference vehicle speed on the right lane to the right of the driving lane. Then, it determines the shift speed corresponding to the adaptive shift rule based on the throttle opening and the shift decision fusion factor. Thus, it can determine the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the reference vehicle speed obtained by transforming scenario information and the actual throttle opening, reflecting the decisive influence of scenario information and driver driving style on the shift speed corresponding to the adaptive shift rule.

[0149] Figure 10 yes Figure 2 The flowchart illustrates an exemplary embodiment of step S230 in the scenario-based predictive shift pattern adaptive method. (See attached flowchart.) Figure 10As shown, in an exemplary embodiment, the process of determining the target gear in step S230 based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shifting rule, further includes at least steps S1010 to S1020, which are detailed below:

[0150] Step S1010: If the current vehicle's gear speed at the previous moment is less than the shift speed corresponding to the adaptive shift rule, and the current vehicle's gear speed at the current moment is greater than or equal to the shift speed corresponding to the adaptive shift rule, then the highest gear on the vehicle's gearshift wheel is determined as the target gear.

[0151] Step S1020: If the current vehicle's gear speed at the previous moment is greater than the shift speed corresponding to the adaptive shift rule, and the current vehicle's gear speed at the current moment is less than or equal to the shift speed corresponding to the adaptive shift rule, then the lowest gear on the vehicle's gearshift wheel is determined as the target gear.

[0152] The highest gear refers to the highest gear on the gear selector, such as the fifth gear in a manual transmission.

[0153] The lowest gear refers to the lowest gear on the gear selector, such as the first gear in a manual transmission.

[0154] After determining the shift speed corresponding to the adaptive shifting rule, the server judges the relationship between the current vehicle's speed in the previous gear at the previous moment, the current vehicle's speed in the current gear at the current moment, and the shift speed corresponding to the adaptive shifting rule, and determines the target gear based on this relationship. Specifically, if the server determines that the speed in the previous gear at the previous moment is less than the shift speed corresponding to the adaptive shifting rule, and the current vehicle's speed in the current gear at the current moment is greater than or equal to the shift speed corresponding to the adaptive shifting rule, then the highest gear on the vehicle's gearshift is determined as the target gear. If the server determines that the current vehicle's speed in the previous gear at the previous moment is greater than the shift speed corresponding to the adaptive shifting rule, and the current vehicle's speed in the current gear at the current moment is less than or equal to the shift speed corresponding to the adaptive shifting rule, then the lowest gear on the vehicle's gearshift is determined as the target gear. This achieves the goal of obtaining the target gear based on the shift speed corresponding to the adaptive shifting rule determined by scene information, fully reflecting the influence of scene information on the target gear.

[0155] As can be seen, the scenario-based predictive shifting rule adaptive method of this embodiment determines the target gear based on the vehicle's gear speed at the previous moment, the shifting speed corresponding to the adaptive shifting rule, and the vehicle's gear speed at the current moment, thereby determining the target gear in combination with the driver's driving habits.

[0156] Figure 11 yes Figure 2The flowchart illustrates an exemplary embodiment of the scenario-based predictive shift pattern adaptive method prior to step S220. (See attached flowchart.) Figure 11 As shown, in an exemplary embodiment, before step S220, which determines the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the reference vehicle speed on the lane, the scenario-based predictive shift rule adaptive method of this application embodiment further includes at least steps S1110 to S1130, which are described in detail below:

[0157] Step S1110: Divide the current lane, left lane and right lane within the line of sight according to the preset distance to obtain multiple lane segments in each lane.

[0158] Considering that the reference vehicle speed within the line of sight is discretely represented in the server, this application embodiment needs to divide the current lane, left lane and right lane within the line of sight to obtain multiple lane segments in the current lane, multiple lane segments in the left lane and multiple lane segments in the right lane.

[0159] Step S1120: Calculate the first reference speed difference between the reference speed of the first lane segment and the reference speed of the second lane segment in the current lane.

[0160] Since this embodiment divides the lane into multiple lane segments, in adjacent lane segments, the lane segment furthest from the vehicle's front direction is designated as the first lane segment, and the lane segment closest to the vehicle's front direction is designated as the second lane segment. The server calculates the speed difference between the reference speed of the first lane segment and the reference speed of the second lane segment in the current lane, and uses this speed difference as the first reference speed difference. It should be noted that the reference speeds of the first and second lane segments in adjacent lane segments can be determined by referring to the calculation method of the reference speed in the current vehicle's driving lane. In other words, the reference speeds of the first and second lane segments in adjacent lane segments are determined based on the scene information within the corresponding lane segments.

[0161] For example, if the reference speed corresponding to the first lane segment of the adjacent lane segment in the current lane is represented as V 基准(n) The reference speed for the second lane segment of the adjacent lane segment in the current lane is represented as V. 基准(n-1) The first reference speed difference is expressed as V. 基准(n) -V 基准(n-1) Where n = 2, 3, 4…N, when n = 1, V 基准(n-1) Get the current speed of the vehicle.

[0162] Step S1130: Determine the shift decision factor corresponding to the reference speed of the current lane based on the first reference speed difference and the proportion of the first lane segment in the line of sight distance.

[0163] The proportion of the first lane segment in the current lane relative to the first line of sight distance is determined based on the ratio between the distance of the first lane segment and the line of sight distance.

[0164] The server determines the shift decision factor corresponding to the reference speed of the current lane based on the first reference speed difference and the proportion of the first line of sight position.

[0165] As an example, the server can adopt Figure 12 Steps S1131 to S1132 shown in the figure further explain this step, as detailed below:

[0166] Step S1131: Determine the proportion of the first line of sight position based on the ratio between the lane distance and the line of sight distance corresponding to the first lane segment of the adjacent lane segment in the current lane and a preset value.

[0167] If the distance between the first lane segment of an adjacent lane segment in the current lane is represented as Dis (n) The line-of-sight distance is represented as Dis. 视线 The proportion of the first line of sight position is expressed as:

[0168]

[0169] Step S1132: The sum of the product of the first reference speed difference between each adjacent lane segment in the current lane segment and the corresponding first line of sight position ratio is used as the shift decision factor corresponding to the reference speed of the current lane.

[0170] As shown above, the shift decision factor corresponding to the current lane's baseline speed satisfies the following formula:

[0171]

[0172] As can be seen, the scenario-based predictive shifting rule adaptive method of this embodiment determines the first reference speed difference based on the reference speed of the first lane segment and the reference speed of the second lane segment of the adjacent lane segments obtained by dividing the current lane segment. Based on the first reference speed difference and the proportion of the first line of sight position of the first lane segment in the current lane in the line of sight distance, the shifting decision factor corresponding to the reference speed of the current lane is determined. Thus, the shifting decision factor of the current lane can be predicted by the reference speed of the adjacent lane segments in the current lane.

[0173] Figure 13 yes Figure 12The flowchart illustrates an exemplary embodiment following step S1110 in the scenario-based predictive shift pattern adaptive method. (See attached flowchart.) Figure 13 As shown, in an exemplary embodiment, after step S1110, which divides the current lane, left lane, and right lane within the line-of-sight distance according to a preset distance to obtain multiple lane segments in each lane, the scenario-based predictive shifting pattern adaptive method of this application embodiment further includes at least steps S1310 to S1330, which are described in detail below:

[0174] Step S1310: Calculate the second reference speed difference between the reference speed of the first lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane.

[0175] The server calculates the speed difference between the base speed of the first lane segment of the adjacent lane in the left lane and the base speed of the corresponding lane segment in the current lane, and uses this speed difference as the second base speed difference. It should be noted that the base speeds of the first and second lane segments in the adjacent lanes can be determined by referring to the calculation method of the base speed in the current vehicle's lane. In other words, the base speeds of the first and second lane segments in the adjacent lanes are determined based on the scene information within the corresponding lane segment in the left lane.

[0176] For example, if the reference speed for the first lane segment of an adjacent lane segment in the left lane is represented as V 基准左(n) The base speed for the corresponding lane segment in the current lane is represented as V. 基准(n) The second reference speed difference is expressed as V. 基准左(n) -V 基准(n) , where n=2,3,4…N.

[0177] Step S1320: Calculate the third reference speed difference between the reference speed of the second lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane.

[0178] The server calculates the third reference speed difference based on the speed difference between the reference speed of the second lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane.

[0179] For example, the reference speed for the second lane segment of an adjacent lane segment in the left lane is represented as V. 基准左(n-1) The base speed for the corresponding lane segment in the current lane is represented as V. 基准(n-1) The third reference speed difference is expressed as V. 基准左(n-1) -V 基准(n-1) Where n=2,3,4…N, and when n=1, V 基准左(n-1) Get the current speed of the vehicle.

[0180] Step S1330: Determine the shift decision factor corresponding to the reference speed of the left lane based on the second reference speed difference, the third reference speed difference, and the proportion of the first lane segment of the adjacent lane segment in the left lane in the second line of sight distance.

[0181] The second line-of-sight ratio is determined by the ratio between the distance between the first lane segment of the adjacent lane segment in the left lane and the line-of-sight distance.

[0182] The server determines the shift decision factor corresponding to the reference speed of the left lane based on the second reference speed difference, the third reference speed difference, and the proportion of the second line of sight position.

[0183] As an example, the server can adopt Figure 14 Steps S1331 to S1333 shown in the figure further explain this step, as detailed below:

[0184] Step S1331: Calculate the fourth reference vehicle speed difference between the second reference vehicle speed difference and the third reference vehicle speed difference.

[0185] The server derives the fourth reference speed difference value based on the second and third reference speed difference values. Specifically, the fourth reference speed difference value can be expressed as:

[0186]

[0187] Step S1332: Determine the proportion of the second line of sight position based on the ratio between the lane distance and the line of sight distance corresponding to the first lane segment of the adjacent lane segment in the left lane and a preset value.

[0188] The server calculates the ratio between the lane distance and the line-of-sight distance corresponding to the first lane segment of an adjacent lane segment, and uses the negative number of this ratio plus a preset value as the percentage of the second line-of-sight position. The preset value can be one.

[0189] For example, if the lane segment distance corresponding to the first lane segment of an adjacent lane segment in the left lane is denoted as Dis 左(n) The line-of-sight distance is represented as Dis. 视线 The proportion of the second line of sight position can then be expressed as:

[0190]

[0191] Step S1333: The product of the fourth reference speed difference between each adjacent lane segment in the left lane and the corresponding proportion of the second line of sight position is used as the shift decision factor corresponding to the reference speed of the left lane.

[0192] As shown above, the shift decision factor corresponding to the reference speed in the left lane satisfies the following formula:

[0193]

[0194] As can be seen, the scenario-based predictive shifting rule adaptive method of this embodiment determines the second reference speed difference based on the reference speed of the first lane segment of the adjacent lane segment obtained by dividing the left lane segment and the reference speed of the corresponding lane segment in the current lane. It determines the third reference speed difference based on the reference speed of the second lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane. It then determines the shifting decision factor corresponding to the reference speed of the left lane based on the second reference speed difference, the third reference speed difference, and the proportion of the second line of sight position. Thus, the shifting decision factor of the left lane can be predicted by the reference speed of the adjacent lane segment in the left lane.

[0195] Figure 15 yes Figure 12 The flowchart illustrates an exemplary embodiment following step S1110 in the scenario-based predictive shift pattern adaptive method. (See attached flowchart.) Figure 15 As shown, in an exemplary embodiment, after step S1110, which divides the current lane, left lane, and right lane within the line-of-sight distance according to a preset distance to obtain multiple lane segments in each lane, the scenario-based predictive shifting pattern adaptive method of this application embodiment further includes at least steps S1510 to S1530, which are described in detail below:

[0196] Step S1510: Calculate the fifth reference speed difference between the reference speed of the first lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane.

[0197] The server calculates the fifth reference speed difference based on the speed difference between the reference speed of the first lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane.

[0198] For example, if the reference speed corresponding to the first lane segment of an adjacent lane segment in the right lane is represented as V 基准右(n) The base speed for the corresponding lane segment in the current lane is represented as V. 基准(n) The fifth reference speed difference is expressed as V. 基准右(n) -V 基准(n) .

[0199] Step S1520: Calculate the sixth reference speed difference between the reference speed of the second lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane.

[0200] The server calculates the sixth reference speed difference based on the speed difference between the reference speed of the second lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane.

[0201] For example, if the reference speed corresponding to the second lane segment of an adjacent lane segment in the right lane is represented as V 基准右(n-1) The base speed for the corresponding lane segment in the current lane is represented as V. 基准(n-1) The sixth reference speed difference is expressed as V. 基准右(n-1) -V 基准(n-1) Where n=2,3,4…N, and when n=1, V 基准右(n-1) Get the current speed of the vehicle.

[0202] Step S1530: Determine the shift decision factor corresponding to the reference speed of the right lane based on the fifth reference speed difference, the sixth reference speed difference, and the proportion of the first lane segment of the adjacent lane segment in the third line of sight distance.

[0203] The third line-of-sight position ratio is determined based on the ratio between the lane distance to the first lane segment of the adjacent lane segment in the right lane and the line-of-sight distance.

[0204] The server uses the fifth and sixth baseline speed differences and the proportion of the third line of sight position to determine the shift decision factor corresponding to the baseline speed of the right lane.

[0205] As an example, the server can adopt Figure 16 Steps S1531 to S1533 shown in the diagram further illustrate this step, as detailed below:

[0206] Step S1531: Calculate the seventh reference speed difference between the fifth reference speed difference and the sixth reference speed difference.

[0207] The server derives the seventh reference vehicle speed difference value based on the fifth and sixth reference vehicle speed difference values. Specifically, the seventh reference vehicle speed difference value can be expressed as:

[0208]

[0209] Step S1532: Determine the proportion of the third line of sight position based on the ratio between the lane distance and the line of sight distance corresponding to the first lane segment of the adjacent lane segment in the right lane and a preset value.

[0210] The server calculates the ratio between the lane distance and the line-of-sight distance of the first lane segment of the adjacent lane segment in the right lane, and uses the negative number of the ratio plus a preset value as the proportion of the second line-of-sight position. The preset value can be one.

[0211] For example, if the lane segment distance corresponding to the first lane segment of an adjacent lane segment in the right lane is denoted as Dis 右(n) The line-of-sight distance is represented as Dis. 视线 The proportion of the third line of sight position can then be expressed as:

[0212]

[0213] Step S1533: The product of the seventh reference speed difference between each adjacent lane segment in the right lane and the corresponding proportion of the third line of sight position is used as the shift decision factor corresponding to the reference speed of the right lane.

[0214] As shown above, the shift decision factor corresponding to the reference speed in the right lane satisfies the following formula:

[0215]

[0216] As can be seen, the scenario-based predictive shifting rule adaptive method of this embodiment determines the fifth reference speed difference based on the reference speed of the first lane segment of the adjacent lane segment obtained by dividing the right lane segment and the reference speed of the corresponding lane segment in the current lane. It determines the sixth reference speed difference based on the reference speed of the second lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane. Based on the fifth reference speed difference, the sixth reference speed difference, and the proportion of the third line of sight position, it determines the shifting decision factor corresponding to the reference speed of the left lane. Thus, the shifting decision factor of the right lane can be predicted by the reference speed of the adjacent lane segment in the right lane.

[0217] For a detailed description of the relationship between the distances between lane segments in the current lane, left lane, and right lane and the corresponding reference speeds for each lane segment, please refer to [link to relevant documentation]. Figure 17 , Figure 17 The horizontal axis represents the distance corresponding to each lane segment, and the vertical axis represents the current lane, left lane, and right lane (i.e., the current lane, the lane to the left of the current lane, and the lane to the right of the current lane). Each lane segment corresponds to a base speed, which can be determined based on the scene information for that lane segment. For example, because there is a slope on the second lane segment of the current lane, the base speed V for this lane segment is... 中2 Less than the reference speed V corresponding to the first lane segment 中1 Another example is that, due to the presence of an obstacle in the fourth lane segment of the current lane, the base speed for this lane segment is V. 中4 Therefore, it can be seen that the base speed for each lane segment is related to the scene information.

[0218] Figure 18This is a block diagram illustrating a scenario-based predictive shift rule adaptive device 1800, as shown in an exemplary embodiment of this application. The exemplary scenario-based predictive shift rule adaptive device 1800 includes a reference vehicle speed determination module 181, a shift speed determination module 182, and an execution module 183. Specifically:

[0219] The reference speed determination module 181 is configured to determine the reference speed of the current vehicle in the driving lane based on the scene information obtained during the current vehicle's driving process.

[0220] The shift speed determination module 182 is configured to determine the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the reference speed on the lane.

[0221] The execution module 183 is configured to determine the target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shifting rule, and to perform the operation based on the target gear.

[0222] In this exemplary scenario-based predictive shift rule adaptive device, the scenario information acquired during the current vehicle's driving process is converted into a reference vehicle speed in the current vehicle's driving lane. The shift decision factor corresponding to the reference vehicle speed in the lane is used to determine the shift speed corresponding to the adaptive shift rule. Then, the target gear is determined based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shift rule. The operation is then performed based on the target gear. Thus, the reference vehicle speed in the lane is obtained by converting scenario information, which can reduce the dimensionality of the input information for adaptive shift decision while fully reflecting scenario information.

[0223] Based on the above exemplary embodiments, the reference vehicle speed determination module 181 includes: an explicit reference vehicle speed determination module, an implicit reference vehicle speed determination module, a resistance reference vehicle speed determination module, and a reference vehicle speed determination module for the current vehicle's driving lane. Specifically:

[0224] The explicit reference speed determination module is configured to determine the explicit reference speed on the lane based on a first scene element in the scene information, wherein the first scene element includes traffic speed information.

[0225] The implicit reference speed determination module is configured to determine the implicit reference speed on the lane based on the second scene element in the scene information. The second scene element includes road attribute information.

[0226] The resistance reference speed determination module is configured to determine the resistance reference speed on the lane based on a third scene element in the scene information. The third scene element includes scene resistance information.

[0227] The current vehicle speed determination module is configured to determine the current vehicle speed in the current vehicle's lane based on the explicit reference speed, implicit reference speed, and resistance reference speed in the lane.

[0228] Based on the above exemplary embodiments, the implicit reference vehicle speed determination module includes: a traffic speed information acquisition module and a first selection module. Specifically:

[0229] The traffic speed information acquisition module is configured to acquire the speed of road speed limits, the speed of obstacles, and the speed of traffic flow.

[0230] The first selection module is configured to select the minimum speed among the road speed limit, the speed of obstacles, and the speed of traffic flow as the explicit reference speed on the lane.

[0231] Based on the above exemplary embodiments, the implicit reference vehicle speed determination module includes: a road attribute information acquisition module and a second selection module. Specifically:

[0232] The road attribute information acquisition module is configured to acquire the road type speed corresponding to the road type and the road curvature speed corresponding to the road curvature.

[0233] The second selection module is configured to select the minimum speed between road type speed and road curvature speed as the implicit reference speed on the lane.

[0234] Based on the above exemplary embodiments, the resistance reference speed determination module includes: a target resistance determination module and a lane-based resistance reference speed determination module. Specifically:

[0235] The target resistance determination module is configured to determine the target resistance based on the road grade resistance corresponding to the road grade and the road slope resistance corresponding to the road slope.

[0236] The lane resistance reference speed determination module is configured to determine the lane resistance reference speed based on the acquired line-of-sight distance, resistance distance, and target resistance.

[0237] Based on the above exemplary embodiments, the resistance reference speed determination module includes: a ratio first calculation module, a first judgment module, and a second judgment module. Specifically:

[0238] The first ratio calculation module is configured to calculate the ratio between the difference between the line-of-sight distance and the resistance distance and a preset distance.

[0239] The first judgment module is configured to determine the resistance value of the target resistance as the resistance reference speed on the current vehicle's driving lane if the remainder of the ratio is equal to zero.

[0240] The second judgment module is configured to determine that the resistance reference speed in the current vehicle's driving lane is zero if the remainder of the ratio is equal to one.

[0241] Based on the above exemplary embodiments, the shift speed determination module 182 includes: a shift decision factor fusion module and a shift speed determination module corresponding to the adaptive shift law. Specifically:

[0242] The shift decision factor fusion module is configured to fuse the shift decision factors corresponding to the base vehicle speed on the driving lane, the base vehicle speed on the left lane to the left of the driving lane, and the base vehicle speed on the right lane to the right of the driving lane, to obtain the shift decision fusion factor.

[0243] The module for determining the shift speed corresponding to the adaptive shift pattern is configured to determine the shift speed corresponding to the adaptive shift pattern based on the throttle opening and the shift decision fusion factor.

[0244] Based on the above exemplary embodiments, the shift speed determination module corresponding to the adaptive shifting rule includes: a minimum shift speed and a maximum shift speed acquisition module, a first product calculation module, and a product sum calculation module. Specifically:

[0245] The minimum and maximum shift speed acquisition module is configured to obtain the corresponding minimum and maximum shift speeds based on the throttle opening.

[0246] The first product calculation module is configured to calculate the first product between the difference between the highest shift speed and the lowest shift speed and the shift decision fusion factor.

[0247] The product sum calculation module is configured to calculate the sum between the minimum shift speed and the first product, and use the sum as the shift speed corresponding to the adaptive shift rule.

[0248] Based on the above exemplary embodiments, the shift decision factor fusion module includes: a second product calculation module, a maximum shift decision factor selection module, and a shift decision fusion factor determination module. Specifically:

[0249] The second product calculation module is configured to calculate the second product between the shift decision factors and corresponding coefficients of the base speed in the driving lane, the base speed in the left lane, and the base speed in the right lane, and obtain multiple second products.

[0250] The maximum shift decision factor selection module is configured to select the maximum shift decision factor among all shift decision factors.

[0251] The shift decision fusion factor determination module is configured to determine the shift decision fusion factor as the ratio between the sum of multiple second products and the maximum shift decision factor.

[0252] Based on the above exemplary embodiments, the execution module 183 includes: a third judgment module and a fourth judgment module. Specifically:

[0253] The third judgment module is configured to determine the highest gear on the vehicle's gearshift as the target gear if the vehicle's speed in the previous gear shift was less than the shift speed corresponding to the adaptive shifting rule, and the vehicle's speed in the current gear shift was greater than or equal to the shift speed corresponding to the adaptive shifting rule.

[0254] The fourth judgment module is configured to determine the lowest gear on the vehicle's gearshift as the target gear if the vehicle's speed in the previous gear shift was greater than the shift speed corresponding to the adaptive shifting rule, and the vehicle's speed in the current gear shift was less than or equal to the shift speed corresponding to the adaptive shifting rule.

[0255] Based on the above exemplary embodiments, before the shift speed determination module 182, the apparatus of this application embodiment further includes: a division module, a first reference speed difference determination module, and a shift decision factor determination module corresponding to the reference speed of the current lane. Specifically:

[0256] The segmentation module is configured to divide the current lane, left lane, and right lane within the line of sight according to a preset distance, resulting in multiple lane segments in each lane.

[0257] The first reference speed difference determination module is configured to calculate the first reference speed difference between the reference speed of the first lane segment and the reference speed of the second lane segment in the current lane.

[0258] The shift decision factor determination module corresponding to the current lane's reference speed is configured to determine the shift decision factor corresponding to the current lane's reference speed based on the first reference speed difference and the proportion of the first lane segment in the current lane within the line of sight distance.

[0259] Based on the above exemplary embodiments, the shift decision factor determination module corresponding to the current lane's reference vehicle speed includes: a first line-of-sight position proportion calculation module and a first position module. Specifically:

[0260] The first line of sight position percentage calculation module is configured to determine the first line of sight position percentage based on the ratio between the lane distance and the line of sight distance corresponding to the first lane segment of the adjacent lane segment in the current lane and a preset value.

[0261] The first module is configured to use the product of the first reference speed difference between each adjacent lane segment in the current lane segment and the corresponding proportion of the first line of sight position as the shift decision factor corresponding to the reference speed of the current lane.

[0262] Based on the above exemplary embodiments, after dividing the modules, the apparatus of this application embodiment further includes: a second reference vehicle speed difference calculation module, a third reference vehicle speed difference calculation module, and a shift decision factor determination module corresponding to the reference vehicle speed of the left lane. Specifically:

[0263] The second reference speed difference calculation module is configured to calculate the second reference speed difference between the reference speed of the first lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane.

[0264] The third reference speed difference calculation module is configured to calculate the third reference speed difference between the reference speed of the second lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane.

[0265] The shift decision factor determination module corresponding to the reference speed of the left lane is configured to determine the shift decision factor corresponding to the reference speed of the left lane based on the second reference speed difference, the third reference speed difference, and the proportion of the first lane segment of the adjacent lane segment in the second line of sight position in the line of sight distance.

[0266] Based on the above exemplary embodiments, the shift decision factor determination module corresponding to the reference speed of the left lane includes: a fourth reference speed difference calculation module, a second line-of-sight position proportion calculation module, and a second input module. Specifically:

[0267] The fourth reference vehicle speed difference calculation module is configured to calculate the fourth reference vehicle speed difference between the second reference vehicle speed difference and the third reference vehicle speed difference.

[0268] The second line-of-sight position ratio calculation module is configured to determine the second line-of-sight position ratio based on the ratio between the lane distance and the line-of-sight distance corresponding to the first lane segment of the adjacent lane segment in the left lane and a preset value.

[0269] The second module is configured to use the product of the fourth reference speed difference between each adjacent lane segment in the left lane and the corresponding proportion of the second line of sight position as the shift decision factor corresponding to the reference speed of the left lane.

[0270] Based on the above exemplary embodiments, after dividing the modules, the apparatus of this application embodiment further includes: a fifth reference vehicle speed difference calculation module, a sixth reference vehicle speed difference calculation module, and a shift decision factor determination module corresponding to the reference vehicle speed of the right lane. Specifically:

[0271] The fifth reference speed difference calculation module is configured to calculate the fifth reference speed difference between the reference speed of the first lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane.

[0272] The sixth reference speed difference calculation module is configured to calculate the sixth reference speed difference between the reference speed of the second lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane.

[0273] The shift decision factor determination module corresponding to the reference speed of the right lane is configured to determine the shift decision factor corresponding to the reference speed of the right lane based on the fifth reference speed difference, the sixth reference speed difference, and the proportion of the first lane segment of the adjacent lane segment in the third line of sight position in the line of sight distance.

[0274] Based on the above exemplary embodiments, the shift decision factor determination module corresponding to the reference speed of the right lane includes: a seventh reference speed difference calculation module, a third line-of-sight position proportion calculation module, and a third position module. Specifically:

[0275] The seventh reference speed difference calculation module is configured to calculate the seventh reference speed difference between the fifth reference speed difference and the sixth reference speed difference.

[0276] The third line of sight position ratio calculation module is configured to determine the third line of sight position ratio based on the ratio between the lane segment distance and the line of sight distance corresponding to the first lane segment of the adjacent lane segment in the right lane and a preset value.

[0277] The third module is configured to use the product of the seventh reference speed difference between each adjacent lane segment in the right lane and the corresponding proportion of the third line of sight position as the shift decision factor corresponding to the reference speed of the right lane.

[0278] It should be noted that the scenario-based predictive shifting rule adaptive device and the scenario-based predictive shifting rule adaptive method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the scenario-based predictive shifting rule adaptive device provided in the above embodiments 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. This is not a limitation here.

[0279] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the scenario-based predictive shifting pattern adaptive method provided in the above embodiments.

[0280] Figure 19A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 19 The computer system 1900 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0281] like Figure 19 As shown, the computer system 1900 includes a Central Processing Unit (CPU) 1901, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1902 or programs loaded from storage portion 1908 into Random Access Memory (RAM) 1903, such as performing the methods described in the above embodiments. Various programs and data required for system operation are also stored in RAM 1903. The CPU 1901, ROM 1902, and RAM 1903 are interconnected via bus 1904. An input / output (I / O) interface 1905 is also connected to bus 1904.

[0282] The following components are connected to I / O interface 1905: input section 1906 including keyboard, mouse, etc.; output section 1907 including cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; storage section 1908 including hard disk, etc.; and communication section 1909 including network interface card such as LAN (Local Area Network) card, modem, etc. Communication section 1909 performs communication processing via a network such as the Internet. Drive 1910 is also connected to I / O interface 1905 as needed. Removable media 1911, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1910 as needed so that computer programs read from them can be installed into storage section 1908 as needed.

[0283] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1909, and / or installed from removable medium 1911. When the computer program is executed by central processing unit (CPU) 1901, it performs various functions defined in the system of this application.

[0284] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0285] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0286] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0287] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the scenario-based predictive shifting pattern adaptive method described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0288] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the scenario-based predictive shifting pattern adaptive method provided in the various embodiments described above.

[0289] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A scenario-based predictive gear shifting pattern adaptive method, characterized in that, The method includes: The reference vehicle speed in the current vehicle's driving lane is obtained by converting scene information acquired during the current vehicle's driving process. The shifting speed corresponding to the adaptive shifting rule is determined based on the shifting decision factor corresponding to the reference vehicle speed on the lane. The target gear is determined based on the vehicle's current gear speed at the current moment, the vehicle's current gear speed at the previous moment, and the shift speed corresponding to the adaptive shifting rule, and the operation is performed based on the target gear.

2. The method according to claim 1, characterized in that, The step of converting scene information obtained during the current vehicle's driving process to obtain the reference vehicle speed in the current driving lane includes: The explicit reference speed on the lane is determined based on a first scene element in the scene information, wherein the first scene element includes traffic speed information; The implicit reference speed on the lane is determined based on the second scene element in the scene information, wherein the second scene element includes road attribute information; The reference speed for resistance on the lane is determined based on a third scene element in the scene information, wherein the third scene element includes scene resistance information. The reference speed in the current vehicle's lane is determined based on the explicit reference speed, implicit reference speed, and resistance reference speed in the lane.

3. The method according to claim 2, characterized in that, The traffic speed information includes road speed limits, obstacles, and traffic flow. The step of determining the explicit reference speed on the lane based on the first scene element in the scene information includes: The speed of the road speed limit, the speed of the obstacle, and the speed of the traffic flow are obtained; The minimum speed among the road speed limit, the obstacle speed, and the traffic flow speed is selected as the explicit reference speed on the lane.

4. The method according to claim 2, characterized in that, The road attribute information includes road type and road curvature. The step of determining the implicit reference speed on the lane based on the second scene element in the scene information includes: Obtain the road type speed corresponding to the road type and the road curvature speed corresponding to the road curvature; The minimum speed between the road type speed and the road curvature speed is selected as the implicit reference speed on the lane.

5. The method according to claim 2, characterized in that, The scene resistance information includes road grade and road gradient. The step of determining the resistance reference speed on the lane based on the third scene element in the scene information includes: The target resistance is determined based on the road grade resistance corresponding to the road grade and the road slope resistance corresponding to the road slope. The reference speed for resistance on the lane is determined based on the obtained line-of-sight distance, resistance distance, and the target resistance.

6. The method according to claim 5, characterized in that, The step of determining the reference speed of resistance on the lane based on the acquired line-of-sight distance, resistance distance, and target resistance includes: Calculate the ratio between the difference between the line-of-sight distance and the resistance distance and the preset distance; If the remainder of the ratio is equal to zero, then the resistance value of the target resistance is determined as the resistance reference speed in the current vehicle's driving lane; If the remainder of the ratio is equal to one, then the resistance reference speed in the current vehicle's driving lane is determined to be zero.

7. The method according to claim 1, characterized in that, The step of determining the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the current vehicle's reference speed in the lane includes: The shift decision fusion factor is obtained by integrating the shift decision factors corresponding to the reference vehicle speed on the driving lane, the reference vehicle speed on the left lane to the left of the driving lane, and the reference vehicle speed on the right lane to the right of the driving lane. The shift speed corresponding to the adaptive shift rule is determined based on the throttle opening and the shift decision fusion factor.

8. The method according to claim 7, characterized in that, The step of determining the shift speed corresponding to the adaptive shift rule based on the throttle opening and the shift decision fusion factor includes: The minimum and maximum shift speeds are obtained based on the throttle opening. Calculate the first product between the difference between the highest shift speed and the lowest shift speed and the shift decision fusion factor; Calculate the sum between the minimum shift speed and the first product, and use the sum as the shift speed corresponding to the adaptive shift rule.

9. The method according to claim 7, characterized in that, The step of fusing the shift decision factors corresponding to the reference vehicle speed on the driving lane, the reference vehicle speed on the left lane to the left of the driving lane, and the reference vehicle speed on the right lane to the right of the driving lane to obtain the shift decision fusion factor includes: Calculate the second product between the shift decision factor and the corresponding coefficient for the reference speed in the driving lane, the reference speed in the left lane, and the reference speed in the right lane, to obtain multiple second products; Select the largest shift decision factor among all shift decision factors; The ratio between the sum of the plurality of second products and the maximum shift decision factor is determined as the shift decision fusion factor.

10. The method according to claim 1, characterized in that, The step of determining the target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shifting rule includes: If the current vehicle's gear speed at the previous moment is less than the shift speed corresponding to the adaptive shifting rule, and the current vehicle's gear speed at the current moment is greater than or equal to the shift speed corresponding to the adaptive shifting rule, then the highest gear on the vehicle's gearshift is determined to be the target gear. If the current vehicle's speed in the previous gear was greater than the shift speed corresponding to the adaptive shift rule, and the current vehicle's speed in the current gear was less than or equal to the shift speed corresponding to the adaptive shift rule, then the lowest gear on the vehicle's gearshift wheel is determined to be the target gear.

11. The method according to claim 1, characterized in that, Before the step of determining the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the reference vehicle speed in the lane, the method further includes: The current lane, left lane, and right lane within the line of sight are divided according to a preset distance to obtain multiple lane segments in each lane; Calculate the first reference speed difference between the reference speed of the first lane segment and the reference speed of the second lane segment in the current lane; The shift decision factor corresponding to the reference speed of the current lane is determined based on the first reference speed difference and the proportion of the first lane segment in the current lane within the line of sight distance.

12. The method according to claim 11, characterized in that, The step of determining the shift decision factor corresponding to the reference speed of the current lane based on the first reference speed difference and the proportion of the first lane segment in the current lane within the line of sight distance includes: The proportion of the first line of sight position is determined by the ratio between the distance between the first lane segment of the adjacent lane segment in the current lane and the line of sight distance, and a preset value. The sum of the products of the first reference speed difference between each adjacent lane segment in the current lane segment and the corresponding proportion of the first line of sight position is used as the shift decision factor corresponding to the reference speed of the current lane.

13. The method according to claim 11, characterized in that, After the step of dividing the current lane, left lane, and right lane within the line of sight according to a preset distance to obtain multiple lane segments in each lane, the method further includes: Calculate the second reference speed difference between the reference speed of the first lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane; Calculate the third reference speed difference between the reference speed of the second lane segment of the adjacent lane segment in the left lane and the reference speed of the corresponding lane segment in the current lane; The shift decision factor corresponding to the reference speed of the left lane is determined based on the second reference speed difference, the third reference speed difference, and the proportion of the first lane segment of the adjacent lane segment in the left lane to the second line of sight position in the line of sight distance.

14. The method according to claim 13, characterized in that, The step of determining the shift decision factor corresponding to the reference speed of the left lane based on the second reference speed difference, the third reference speed difference, and the proportion of the second line-of-sight position of the first lane segment of the adjacent lane segment in the left lane within the line-of-sight distance includes: Calculate the fourth reference vehicle speed difference between the second reference vehicle speed difference and the third reference vehicle speed difference; The proportion of the second line of sight position is determined by the ratio between the distance between the first lane segment of the adjacent lane segment in the left lane and the line of sight distance and a preset value. The sum of the products of the fourth reference speed difference between each adjacent lane segment in the left lane and the corresponding proportion of the second line of sight position is used as the shift decision factor corresponding to the reference speed of the left lane.

15. The method according to claim 11, characterized in that, After the step of dividing the current lane, left lane, and right lane within the line of sight according to a preset distance to obtain multiple lane segments in each lane, the method further includes: Calculate the fifth reference speed difference between the reference speed of the first lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane; Calculate the sixth reference speed difference between the reference speed of the second lane segment of the adjacent lane segment in the right lane and the reference speed of the corresponding lane segment in the current lane; The shift decision factor corresponding to the reference speed of the right lane is determined based on the fifth reference speed difference, the sixth reference speed difference, and the proportion of the first lane segment of the adjacent lane segment in the right lane to the third line of sight position in the line of sight distance.

16. The method according to claim 15, characterized in that, The step of determining the shift decision factor corresponding to the reference speed of the right lane based on the fifth reference speed difference, the sixth reference speed difference, and the proportion of the first lane segment of the adjacent lane segment in the right lane to the third line of sight position in the line of sight distance includes: Calculate the seventh reference vehicle speed difference between the fifth reference vehicle speed difference and the sixth reference vehicle speed difference; The proportion of the third line of sight position is determined by the ratio between the distance between the first lane segment of the adjacent lane segment in the right lane and the line of sight distance and a preset value. The sum of the products of the seventh reference speed difference between each adjacent lane segment in the right lane and the corresponding proportion of the third line of sight position is used as the shift decision factor corresponding to the reference speed of the right lane.

17. A scenario-based predictive gear shifting adaptive device, characterized in that, The device includes: The reference speed determination module is configured to determine the reference speed in the current vehicle's driving lane based on scene information obtained during the current vehicle's driving process. The shift speed determination module is configured to determine the shift speed corresponding to the adaptive shift rule based on the shift decision factor corresponding to the reference speed on the lane. The execution module is configured to determine the target gear based on the current vehicle's gear speed at the current moment, the current vehicle's gear speed at the previous moment, and the shift speed corresponding to the adaptive shifting rule, and to perform the operation based on the target gear.

18. An electronic device, characterized in that, include: Memory, which stores computer-readable instructions; A processor reads computer-readable instructions stored in memory to perform the method described in any one of claims 1-16.

19. A computer-readable storage medium, characterized in that, It stores computer-readable instructions that, when executed by a computer's processor, cause the computer to perform the method described in any one of claims 1-16.

Images