Vehicle control methods, devices, storage media and electronic equipment

Abstract

This disclosure relates to a vehicle control method, apparatus, storage medium, and electronic device. The aim is to achieve automatic control of vehicle speed, improving vehicle passability and safety on complex road surfaces. The method includes: an intelligent integrated braking system accessing the vehicle's camera to obtain data on a target object captured by the camera; the intelligent integrated braking system determining the target object as an obstacle based on the data; the intelligent integrated braking system accessing the vehicle's radar to obtain motion data of the obstacle scanned by the radar; and the intelligent integrated braking system sending a control request to the vehicle's electronic control system based on the obstacle's motion data and the vehicle's speed, requesting the electronic control system to control the vehicle's movement.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control, and more specifically, to a vehicle control method, apparatus, storage medium, and electronic device. Background Technology

[0002] Crawl mode, officially known as low-speed cruise control, allows the vehicle to operate autonomously without driver intervention in the accelerator and brake pedals. It adjusts torque distribution based on road conditions and electronically distributes braking force to all four wheels to prevent wheel slippage. Crawl mode ensures excellent stability and maneuverability, and by reducing driver input to the accelerator and brake, it effectively minimizes changes in throttle opening caused by bumps in extremely rough road conditions, thus improving driving stability. Summary of the Invention

[0003] The purpose of this disclosure is to provide a vehicle control method, device, storage medium, and electronic device to achieve automatic control of vehicle speed and improve vehicle passability and safety on complex road surfaces.

[0004] According to a first aspect of the present disclosure, a vehicle control method is provided, comprising:

[0005] The intelligent integrated braking system calls upon the vehicle's camera to obtain data on the target object captured by the camera;

[0006] The intelligent integrated braking system determines that the target object is an obstacle based on the data of the target object collected by the camera;

[0007] The intelligent integrated braking system calls upon the vehicle's radar to obtain the motion data of the obstacle scanned by the radar;

[0008] The intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the obstacle's motion data and the vehicle's speed, requesting the electronic control system to control the vehicle's movement.

[0009] Optionally, the control request is used to request the electronic control system to control the speed of the vehicle.

[0010] Optionally, the control request is used to request the electronic control system to control the distance between the vehicle and the obstacle.

[0011] Optionally, the motion data includes the speed of the obstacle and the distance between the obstacle and the vehicle. Based on the motion data of the obstacle and the speed of the vehicle, the intelligent integrated braking system sends a control request to the vehicle's electronic control system to request the electronic control system to control the vehicle's movement, including:

[0012] The intelligent integrated braking system determines that the vehicle's motion process does not meet the preset safety conditions based on at least one of the speed of the obstacle and the distance between the obstacle and the vehicle, as well as the speed of the vehicle.

[0013] If the vehicle's movement does not meet the safety conditions, the intelligent integrated braking system sends a torque control request to the electronic control system to request the electronic control system to decelerate the vehicle.

[0014] Optionally, the intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the obstacle's motion data and the vehicle's speed, requesting the electronic control system to control the vehicle's movement, including:

[0015] The intelligent integrated braking system determines that the vehicle's motion process meets preset safety conditions based on at least one of the speed of the obstacle and the distance between the obstacle and the vehicle, as well as the speed of the vehicle.

[0016] When the vehicle's movement meets preset safety conditions, the intelligent integrated braking system sends a control request to the electronic control system, requesting the electronic control system to control the vehicle to travel at the vehicle's speed.

[0017] Optionally, the method further includes:

[0018] The intelligent integrated braking system acquires the wheel speed of the vehicle;

[0019] The intelligent integrated braking system determines, based on the vehicle's speed and wheel rotation speed, that the vehicle's slip ratio exceeds a preset vehicle slip ratio range.

[0020] If the vehicle slip ratio exceeds the vehicle slip ratio range, the intelligent integrated braking system sends a torque control request to the vehicle's electronic control system to request the electronic control system to control the vehicle to decelerate and / or activate the anti-lock braking function.

[0021] Optionally, the method further includes:

[0022] The intelligent integrated braking system acquires the status information of the vehicle's combination switch and / or throttle.

[0023] The intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the status information of the combination switch and / or the throttle, requesting the electronic control system to control the vehicle's movement process.

[0024] Optionally, before the intelligent integrated braking system calls the vehicle's camera to obtain data on the target object captured by the camera, the system further includes:

[0025] Obtain the vehicle's condition information;

[0026] Based on the vehicle condition information, it is determined that the vehicle meets the preset crawling conditions;

[0027] When the vehicle meets the creeping conditions, the vehicle is controlled to enter creeping mode.

[0028] According to a second aspect of the present disclosure, a vehicle control device is provided, comprising:

[0029] The first calling module is used to call the vehicle's camera to obtain data of the target object captured by the camera;

[0030] The determination module is used to determine that the target object is an obstacle based on the data of the target object collected by the camera;

[0031] The second calling module is used to call the vehicle's radar to obtain the motion data of the obstacle scanned by the radar;

[0032] The control module is used to send a control request to the vehicle's electronic control system based on the motion data of the obstacle and the speed of the vehicle, so as to request the electronic control system to control the movement of the vehicle.

[0033] According to a third aspect of the present disclosure, a computer-readable medium is provided having a computer program stored thereon that, when executed by a processing device, implements the steps of the method described in any of the first aspects.

[0034] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising:

[0035] A storage device having at least one computer program stored thereon;

[0036] At least one processing means is configured to execute the at least one computer program in the storage device to implement the steps of the method according to any one of the first aspects.

[0037] According to a fifth aspect of the present disclosure, a vehicle is provided, including the electronic equipment described in the fourth aspect.

[0038] The above technical solution utilizes the vehicle's intelligent integrated braking system, which leverages the vehicle's cameras and radar to determine the speed of obstacles ahead, the distance between the obstacles and the vehicle, and the vehicle's speed. Based on these parameters, the intelligent integrated braking system sends a control request to the vehicle's electronic control system to control the vehicle's movement. Thus, when an obstacle is detected ahead, the driver only needs to focus on steering, achieving automatic speed control while maintaining both traction and safety on complex road surfaces. Furthermore, the intelligent integrated braking system directly utilizes cameras and radar to assess obstacle information in real time. Compared to combining this with driver assistance systems for longitudinal vehicle control, this reduces the interaction of signal variables, lowers the load on the CAN communication system, and correspondingly reduces potential uncertainties, improving the accuracy of the acquired data and ultimately enhancing vehicle control safety.

[0039] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0040] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0041] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0042] Figure 2 This is a flowchart illustrating a vehicle control method according to another exemplary embodiment.

[0043] Figure 3 This is a control schematic diagram of a vehicle control system according to another exemplary embodiment.

[0044] Figure 4 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment.

[0045] Figure 5 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0046] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0047] First and foremost, it should be understood that in crawl mode, the vehicle's computer intervenes. When an obstacle is detected in front of the vehicle, it reduces the vehicle's speed by controlling the brakes, accelerator, and torque output to prevent a collision. The driver only needs to control the steering wheel and adjust the speed using the knobs on the control panel; there is no need to use the accelerator or brake pedals.

[0048] However, the inventors discovered that in the existing vehicle crawl system, the interaction between the vehicle's IPB (Integrated Power Brake) and ADAS (Advanced Driving Assistance System) is mainly achieved through the IPB receiving the vehicle's acceleration signal from the ADAS, converting the acceleration signal into acceleration torque, and then requesting the vehicle's VCU (Vehicle Control Unit) to respond with torque, thereby controlling the vehicle longitudinally.

[0049] Therefore, the above-mentioned method of vehicle control requires interaction between IPB and ADAS to enable IPB to acquire vehicle signals. The control process is relatively cumbersome, and it is impossible to directly call the sensors through IPB to obtain vehicle signals. Furthermore, the interaction between IPB and ADAS may lead to data loss, which in turn affects the normal control of the vehicle.

[0050] In view of this, based on the decoupling of hardware and software in the novel electronic and electrical architecture, sensors / actuators can be modularized and invoked by multiple controllers. This disclosure provides a system architecture for a crawl mode that can directly access the vehicle's cameras and radar via the IPB to acquire motion data of obstacles in front of the vehicle. Based on the acquired motion data, the controller is combined with intelligent sensors / actuators, and torque is directly requested from the VCU via the IPB to control the vehicle's speed. Compared to existing system architectures, this reduces the workload of interaction between various control systems, ensures better communication quality and speed, and avoids data loss caused by interaction between the IPB and ADAS.

[0051] This disclosure provides a vehicle control method, apparatus, storage medium, electronic device, and system to solve the aforementioned technical problems.

[0052] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, including the following steps:

[0053] In step S101, the intelligent integrated braking system calls the vehicle's camera to obtain data of the target object captured by the camera.

[0054] In step S102, the intelligent integrated braking system determines that the target object is an obstacle based on the data of the target object collected by the camera.

[0055] In step S103, the intelligent integrated braking system calls the vehicle's radar to obtain the motion data of the obstacles scanned by the radar.

[0056] In step S104, the intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the obstacle's motion data and the vehicle's speed, requesting the electronic control system to control the vehicle's motion process.

[0057] It should be understood that the vehicle's cameras and radars can be existing components, directly accessed through the vehicle's intelligent integrated braking system to obtain motion data of obstacles in front of the vehicle. Alternatively, they can be newly added cameras and radars used to obtain motion data of obstacles in front of the vehicle; this disclosure does not limit this approach. The obstacle can be a vehicle in front, and the obstacle's motion data can include multiple obstacles in front of the vehicle, each with corresponding data including its speed and distance from the vehicle. If the intelligent integrated braking system determines, based on the data collected by the camera, that the target object is not an obstacle, it will not control the vehicle's movement.

[0058] The above technical solution utilizes the vehicle's intelligent integrated braking system, which leverages the vehicle's cameras and radar to determine the speed of obstacles ahead, the distance between the obstacles and the vehicle, and the vehicle's speed. Based on these parameters, the intelligent integrated braking system sends a control request to the vehicle's electronic control system to control the vehicle's movement. Thus, when an obstacle is detected ahead, the driver only needs to focus on steering, achieving automatic speed control while maintaining both traction and safety on complex road surfaces. Furthermore, the intelligent integrated braking system directly utilizes cameras and radar to assess obstacle information in real time. Compared to combining this with driver assistance systems for longitudinal vehicle control, this reduces the interaction of signal variables, lowers the load on the CAN communication system, and correspondingly reduces potential uncertainties, improving the accuracy of the acquired data and ultimately enhancing vehicle control safety.

[0059] It should be understood that the vehicle control method proposed in this disclosure can be performed in the vehicle's crawl mode, or in other autonomous driving or assisted driving modes, and the embodiments of this disclosure are not limited thereto. Therefore, in possible ways, before obtaining the motion data of obstacles in front of the vehicle by calling the vehicle's camera and radar through the vehicle's intelligent integrated braking system, the following can also be done:

[0060] Obtain vehicle condition information;

[0061] Based on the vehicle condition information, determine that the vehicle meets the preset crawling conditions;

[0062] If the vehicle meets the crawling conditions, control the vehicle to enter crawling mode.

[0063] For example, the vehicle's status information may include the driver's seatbelt information, door information, engine operating status information, intelligent integrated braking system operating status information, vehicle speed, vehicle crawl mode operating status information, and the operating status information of the vehicle's front camera and radar. The preset crawl conditions may include: (1) the driver's seatbelt is fastened; (2) the driver's door is closed; (3) the engine is started or in OK state; (4) the electronic parking brake system is in the released state; (5) the vehicle speed is within the required range; (6) the vehicle crawl mode is available; (7) the vehicle's front camera and radar are available; (8) the crawl mode meets the standby state; (9) the intelligent integrated braking system requests a valid vehicle speed within the required range; and (10) the vehicle's current gear is D or R.

[0064] Specifically, if the vehicle meets the creep conditions in (1)-(7) above, determine whether the vehicle meets the creep conditions in (8), that is, determine whether the vehicle's creep mode meets the standby state. If the vehicle's creep mode meets the standby state, then control the vehicle to enter the standby state of the creep mode. After receiving the control command to enter the creep mode (that is, after the driver presses the creep switch), the intelligent integrated braking system issues a creep request. If the vehicle meets the creep conditions in (9) and (10) above, then control the vehicle to enter the creep mode. The vehicle travels at the preset speed in the creep mode.

[0065] In another possible approach, while the vehicle is in crawl mode, the vehicle's condition information can still be obtained in real time. Based on the vehicle condition information, it can be determined whether the vehicle meets the preset crawl exit conditions. If the vehicle meets the crawl exit conditions, the vehicle can be controlled to exit crawl mode.

[0066] For example, the preset crawl exit conditions may include: (1) the intelligent integrated braking system requests an invalid vehicle speed and / or exceeds the required range; (2) the crawl switch is released; (3) the vehicle's gear is shifted to N or P; (4) the vehicle does not meet the standby state of crawl mode. If the vehicle meets the above crawl exit conditions (1)-(4), the vehicle is controlled to enter the standby state of crawl mode. If the vehicle does not meet any of the above crawl exit conditions (1)-(4), the vehicle is controlled to exit the standby state of crawl mode, and it is determined whether the vehicle meets the above crawl conditions (1)-(7). If the vehicle does not meet the above crawl conditions (1)-(7), the vehicle can be controlled to exit crawl mode.

[0067] In one possible manner, a control request is used to request the electronic control system to control the speed of the vehicle.

[0068] For example, controlling the speed of a vehicle can involve accelerating or decelerating it. For instance, when the obstacle is moving slowly, the intelligent integrated braking system can send a deceleration control request to the vehicle's electronic control system to keep the vehicle's speed within a preset safe speed range; conversely, when the obstacle is moving quickly, the intelligent integrated braking system can send an acceleration control request to the vehicle's electronic control system to control the vehicle to travel at a higher speed while maintaining the vehicle's speed within the preset safe speed range. This disclosure does not limit the method of vehicle speed control.

[0069] In another possible approach, a control request is used to request the electronic control system to control the distance between the vehicle and an obstacle.

[0070] For example, when the obstacle is close to the vehicle, the intelligent integrated braking system can send a deceleration control request to the vehicle's electronic control system to accelerate the vehicle and maintain a safe distance from the obstacle. When the obstacle is far from the vehicle, the intelligent integrated braking system can send an acceleration control request to the vehicle's electronic control system to accelerate the vehicle and control it to travel at a higher speed while maintaining a safe distance from the obstacle. This disclosure does not limit the method of controlling the distance between the vehicle and the obstacle, nor does it limit the method of determining whether the vehicle and the obstacle are within a preset safe distance based on the vehicle speed and the obstacle speed.

[0071] In some possible ways, motion data includes the speed of the obstacle and the distance between the obstacle and the vehicle. Based on the obstacle's motion data and the vehicle's speed, the intelligent integrated braking system sends a control request to the vehicle's electronic control system, requesting the system to control the vehicle's movement. This can be achieved through:

[0072] The intelligent integrated braking system determines that the vehicle's motion does not meet preset safety conditions based on at least one of the obstacle's speed and the distance between the obstacle and the vehicle, as well as the vehicle's speed.

[0073] If the vehicle's movement does not meet safety requirements, the intelligent integrated braking system sends a torque control request to the electronic control system to request the electronic control system to decelerate the vehicle.

[0074] It should be understood that during the process of controlling the vehicle's speed, the moving speed of obstacles in front of the vehicle and the distance between the obstacles and the vehicle can be obtained in real time, as well as the vehicle's speed, and it can be determined in real time whether the obstacles and the vehicle meet the preset safety conditions.

[0075] For example, preset safety conditions may include a preset safe distance between the obstacle and the vehicle, a preset safe speed of the obstacle, and a preset safe speed of the vehicle based on the obstacle's speed and the distance between the obstacle and the vehicle. If the distance between the obstacle and the vehicle is less than the preset safe distance, or the speed of the obstacle is greater than the preset safe speed, or the speed of the vehicle is greater than the preset safe speed, it can be determined that the obstacle and the vehicle do not meet the preset safety conditions. In this case, the vehicle's intelligent integrated braking system can send a torque control request to the vehicle's electronic control system to decelerate the vehicle, thereby allowing the obstacle and the vehicle to travel within the preset safety conditions.

[0076] It should also be understood that vehicle deceleration control can include two types: (1) the torque control request can be a regenerative torque control request, that is, higher energy efficiency can be achieved by recovering the energy generated by friction when the vehicle releases the throttle; (2) the vehicle can be decelerated by actively braking itself. The embodiments of this disclosure do not specifically limit the method of vehicle deceleration control.

[0077] Additionally, when controlling the vehicle to brake and decelerate, if the slip ratio of a wheel exceeds a certain range, the system will determine that the wheel is locked. At this point, the system will release the brake pressure corresponding to that wheel individually, allowing the wheel to resume rolling. Therefore, if the vehicle's movement does not meet safety conditions, the anti-lock braking system can be activated to release the locking pressure on the wheels.

[0078] In one possible manner, the intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the obstacle's motion data and the vehicle's speed, requesting the electronic control system to control the vehicle's movement. This can be achieved through:

[0079] The intelligent integrated braking system determines that the vehicle's motion process meets preset safety conditions based on at least one of the obstacle's speed and the distance between the obstacle and the vehicle, as well as the vehicle's speed.

[0080] When the vehicle's movement meets preset safety conditions, the intelligent integrated braking system sends a control request to the electronic control system, requesting the electronic control system to control the vehicle to travel at the vehicle's speed.

[0081] In addition, the two methods mentioned above can be combined. Specifically, if the vehicle's movement does not meet safety conditions, the intelligent integrated braking system sends a torque control request to the electronic control system, requesting the electronic control system to decelerate the vehicle. If the vehicle's movement meets safety conditions, the intelligent integrated braking system sends a control request to the electronic control system, requesting the electronic control system to control the vehicle to travel at the vehicle's speed, that is, not to decelerate the vehicle or to stop decelerating the vehicle, so that the vehicle maintains its current speed.

[0082] For example, if the obstacle and vehicle meet safety conditions, and if any of the following occurs: the obstacle's speed is lower than a preset first basic speed, the distance between the obstacle and the vehicle is less than a preset basic distance, or the vehicle's speed is lower than a preset second basic speed, then the intelligent integrated braking system can send an acceleration control request to the vehicle's electronic control system to accelerate the vehicle and maintain its speed. Specifically, the preset first basic speed is lower than a preset safe speed for the obstacle, the preset basic distance is lower than a preset safe distance between the obstacle and the vehicle, and the preset second basic speed is lower than a preset safe speed for the vehicle.

[0083] Among the possible approaches, it is also possible to:

[0084] The intelligent integrated braking system obtains the vehicle's wheel speed;

[0085] The intelligent integrated braking system determines whether the vehicle slip ratio exceeds the preset vehicle slip ratio range based on the vehicle speed and wheel rotation speed.

[0086] When the vehicle slip ratio exceeds the vehicle slip ratio range, the intelligent integrated braking system sends a torque control request to the vehicle's electronic control system to request the electronic control system to control the vehicle to decelerate and / or activate the anti-lock braking function.

[0087] It should be understood that when a vehicle's intelligent integrated braking system detects wheel slippage, it can request the electronic control system to decelerate the vehicle and / or activate the anti-lock braking function. Specifically, the presence of wheel slippage can be determined based on the vehicle's slip ratio. When the vehicle slip ratio exceeds a preset range, wheel slippage is confirmed. In this case, the intelligent integrated braking system can send a torque control request to the vehicle's electronic control system to decelerate the vehicle and / or activate the anti-lock braking function to release the brake pressure on the corresponding wheels, allowing the wheels to resume rolling.

[0088] For example, the vehicle slip ratio can be calculated using the following formula:

[0089]

[0090] Where u is the speed of the vehicle, u w Let ω be the wheel rotational speed, ω be the wheel's rolling angular velocity, and r be the wheel radius. This disclosure does not limit the method used to calculate the vehicle slip ratio.

[0091] Among the possible approaches, it is also possible to:

[0092] The intelligent integrated braking system acquires the status information of the vehicle's combination switches and / or throttle.

[0093] The intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the status information of the combination switch and / or throttle, requesting the electronic control system to control the vehicle's movement.

[0094] It should be understood that during the automatic speed control process of the intelligent integrated braking system, the driver can control the combination switch and / or throttle at any time to control the vehicle's speed. The status information of the combination switch and / or throttle reflects the driver's control intentions. Therefore, the status information of the combination switch and / or throttle can be acquired in real time. Based on this information, the intelligent integrated braking system sends control requests to the vehicle's electronic control system, requesting the system to control the vehicle's movement.

[0095] Of course, manual control by the driver should also be performed within safe vehicle conditions. For example, if it is detected that the driver's control would cause obstacles and the vehicle to no longer meet safe conditions, an alarm can be issued, and the vehicle can be controlled to travel at the maximum speed within the safe range. This disclosure does not limit the method of obtaining vehicle status information from the combination switches and / or accelerator.

[0096] Figure 2This is a flowchart illustrating a vehicle control method according to another exemplary embodiment. The vehicle control method includes the following steps:

[0097] Step S201: Obtain vehicle condition information.

[0098] Step S202: Based on the vehicle condition information, determine whether the vehicle meets the preset crawling conditions. If the vehicle meets the crawling conditions, proceed to step S203.

[0099] Step S203: Control the vehicle to enter crawl mode.

[0100] In step S204, the intelligent integrated braking system calls the vehicle's camera to obtain data of the target object collected by the camera.

[0101] In step S205, the intelligent integrated braking system determines that the target object is an obstacle based on the data of the target object collected by the camera.

[0102] In step S206, the intelligent integrated braking system calls the vehicle's radar to obtain motion data of the obstacles scanned by the radar. The motion data includes the speed of the obstacles and the distance between the obstacles and the vehicle. Then, steps S207 and S209 are executed simultaneously.

[0103] In step S207, the intelligent integrated braking system determines whether the vehicle's movement meets preset safety conditions based on at least one of the obstacle's speed and the distance between the obstacle and the vehicle, as well as the vehicle's speed. If the vehicle's movement does not meet the safety conditions, step 208 is executed; if the vehicle's movement meets the safety conditions, the process returns to step 204.

[0104] In step S208, the intelligent integrated braking system sends a torque control request to the electronic control system to decelerate the vehicle and / or activate the anti-lock braking function. Then, steps S209 and S212 are executed simultaneously.

[0105] Step S209: The intelligent integrated braking system acquires the wheel speed of the vehicle.

[0106] In step S210, the intelligent integrated braking system determines whether the vehicle slip ratio exceeds a preset vehicle slip ratio range based on the vehicle speed and wheel rotation speed. If the vehicle slip ratio exceeds the vehicle slip ratio range, return to step 208; otherwise, return to step 209.

[0107] Step S211: The intelligent integrated braking system acquires the status information of the vehicle's combination switch and / or throttle.

[0108] In step S212, the intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the status information of the combination switch and / or throttle, requesting the electronic control system to control the vehicle's movement process.

[0109] Figure 3 This is a control schematic diagram illustrating a vehicle control system according to another exemplary embodiment. For example... Figure 3 As shown, the vehicle control system includes an intelligent integrated braking system controller, a camera, radar, a steering angle sensor, a wheel speed sensor, a yaw sensor, a crawl switch, and a vehicle speed setting module.

[0110] When the crawl switch is pressed, the vehicle receives a control command to enter crawl mode. The intelligent integrated braking system issues a crawl request and, if the vehicle meets the crawl conditions, controls the vehicle to enter crawl mode. The speed setting module sets the vehicle speed after entering crawl mode. Once in crawl mode, the vehicle travels at the preset speed, and at this time, the intelligent integrated braking system controller accesses the vehicle's camera and radar to obtain motion data of obstacles in front of the vehicle. If the obstacle and vehicle do not meet safety conditions, the vehicle's intelligent integrated braking system sends a torque control request to the vehicle's electronic control system. The motor responds with target feedback torque to decelerate the vehicle. If the obstacle and vehicle meet safety conditions, the vehicle's intelligent integrated braking system issues an acceleration request, and the vehicle's hydraulic system responds to this acceleration request to accelerate the vehicle. Angle sensors are used to determine the driver's subjective control intention. Wheel speed sensors determine the vehicle's wheel speed to calculate the vehicle's slip ratio. Wheel speed sensors and yaw sensors are used to determine the vehicle's attitude.

[0111] The above technical solution utilizes the vehicle's intelligent integrated braking system, which leverages the vehicle's cameras and radar to determine the speed of obstacles ahead, the distance between the obstacle and the vehicle, and the vehicle's speed. Based on these parameters, the intelligent integrated braking system sends a control request to the vehicle's electronic control system to control the vehicle's speed. Thus, when an obstacle is detected ahead, the driver only needs to focus on steering. Simultaneously, the system can detect wheel slippage by calculating the vehicle's slip ratio and, if the slip ratio exceeds a preset value, decelerate the vehicle and / or activate the anti-lock braking system. Furthermore, in automatic speed control, the system can adjust the vehicle speed based on the driver's intentions, achieving automatic speed control that balances traction and speed on complex road surfaces. Furthermore, the intelligent integrated braking system directly calls upon cameras and radar to determine information about obstacles in front of the vehicle in real time. Compared to achieving longitudinal vehicle control by combining with a driver assistance system, this reduces the interaction process of signal variables, thereby reducing the uncertainty that may arise in this process, improving the accuracy of the acquired data, and thus improving the safety of vehicle control.

[0112] Figure 4 This is a block diagram illustrating a vehicle control device 400 according to an exemplary embodiment. (Refer to...) Figure 4 The device includes a first calling module 401, a determining module 402, a second calling module 403, and a control module 404.

[0113] The first calling module 401 is used to call the vehicle's camera to obtain data of the target object captured by the camera;

[0114] The determining module 402 is used to determine that the target object is an obstacle based on the data of the target object collected by the camera;

[0115] The second calling module 403 is used to call the vehicle's radar to obtain the motion data of the obstacle scanned by the radar;

[0116] The control module 404 is used to send a control request to the vehicle's electronic control system based on the motion data of the obstacle and the speed of the vehicle, so as to request the electronic control system to control the movement process of the vehicle.

[0117] Optionally, the control request is used to request the electronic control system to control the speed of the vehicle.

[0118] Optionally, the control request is used to request the electronic control system to control the distance between the vehicle and the obstacle.

[0119] Optionally, the motion data includes the speed of the obstacle and the distance between the obstacle and the vehicle, and the control module 404 is used to:

[0120] The intelligent integrated braking system determines that the vehicle's motion process does not meet the preset safety conditions based on at least one of the speed of the obstacle and the distance between the obstacle and the vehicle, as well as the speed of the vehicle.

[0121] If the vehicle's movement does not meet the safety conditions, the intelligent integrated braking system sends a torque control request to the electronic control system to request the electronic control system to decelerate the vehicle.

[0122] The control module 404 is used for:

[0123] The intelligent integrated braking system determines that the vehicle's motion process meets preset safety conditions based on at least one of the speed of the obstacle and the distance between the obstacle and the vehicle, as well as the speed of the vehicle.

[0124] When the obstacle and the vehicle meet the safety conditions, the intelligent integrated braking system sends a control request to the electronic control system, requesting the electronic control system to control the vehicle to run at the vehicle's speed.

[0125] The vehicle control device 400 also includes:

[0126] The first acquisition module is used to acquire the wheel speed of the vehicle;

[0127] The first determining submodule is used by the intelligent integrated braking system to determine whether the vehicle slip ratio exceeds a preset vehicle slip ratio range based on the vehicle speed and the wheel rotation speed.

[0128] The first control submodule is used to, when the vehicle slip ratio exceeds the vehicle slip ratio range, send a torque control request to the vehicle's electronic control system to request the electronic control system to control the vehicle to decelerate and / or activate the anti-lock braking function.

[0129] The vehicle control device 400 also includes:

[0130] The second acquisition module is used to acquire the status information of the vehicle's combination switch and / or throttle.

[0131] The second control submodule is used by the intelligent integrated braking system to send a control request to the vehicle's electronic control system based on the status information of the combination switch and / or the throttle, so as to request the electronic control system to control the movement process of the vehicle.

[0132] The vehicle control device 400 also includes:

[0133] The third acquisition module is used to acquire vehicle condition information before the intelligent integrated braking system calls the vehicle's camera to obtain data of the target object collected by the camera;

[0134] The second determining submodule is used to determine, based on the vehicle condition information, whether the vehicle meets the preset crawling conditions;

[0135] The third control submodule is used to control the vehicle to enter the crawl mode when the vehicle meets the crawling conditions.

[0136] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0137] Based on the same inventive concept, embodiments of this disclosure also provide a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method provided in this disclosure.

[0138] Figure 5 This is a block diagram illustrating an electronic device 500 according to an exemplary embodiment. For example... Figure 5 As shown, the electronic device 500 may include a processor 501 and a memory 502. The electronic device 500 may also include one or more of a multimedia component 503, an input / output (I / O) interface 504, and a communication component 505.

[0139] The processor 501 controls the overall operation of the electronic device 500 to complete all or part of the steps in the vehicle control method described above. The memory 502 stores various types of data to support the operation of the electronic device 500. This data may include, for example, instructions for any application or method operating on the electronic device 500, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 503 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 502 or transmitted via communication component 505. The audio component also includes at least one speaker for outputting audio signals. I / O interface 504 provides an interface between processor 501 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 505 is used for wired or wireless communication between electronic device 500 and other electronic devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 505 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0140] In an exemplary embodiment, the electronic device 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle control method described above.

[0141] In another exemplary embodiment, a computer-readable medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the computer-readable medium may be the memory 502 including the program instructions, which may be executed by the processor 501 of the electronic device 500 to complete the vehicle control method described above.

[0142] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle control method described above when executed by the programmable device.

[0143] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0144] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0145] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle control method, characterized in that, An intelligent integrated braking system, connected to an advanced driver assistance system (ADAS), is used to receive acceleration signals from the ADAS when the vehicle is not in crawl mode, convert the acceleration signals into acceleration torque, and request the vehicle's electronic control system to respond with acceleration torque. The method includes: When the vehicle is in crawl mode, the intelligent integrated braking system calls the vehicle's camera to obtain data of the target object captured by the camera; The intelligent integrated braking system determines that the target object is an obstacle based on the data of the target object collected by the camera; The intelligent integrated braking system calls upon the vehicle's radar to obtain the motion data of the obstacle scanned by the radar; The intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the obstacle's motion data and the vehicle's speed, requesting the electronic control system to control the vehicle's movement.

2. The method according to claim 1, characterized in that, The control request is used to request the electronic control system to control the speed of the vehicle.

3. The method according to claim 1, characterized in that, The control request is used to request the electronic control system to control the distance between the vehicle and the obstacle.

4. The method according to claim 2, characterized in that, The motion data includes the speed of the obstacle and the distance between the obstacle and the vehicle. Based on the motion data of the obstacle and the speed of the vehicle, the intelligent integrated braking system sends a control request to the vehicle's electronic control system to request the electronic control system to control the vehicle's movement, including: The intelligent integrated braking system determines that the vehicle's movement does not meet preset safety conditions based on at least one of the speed of the obstacle, the distance between the obstacle and the vehicle, and the speed of the vehicle. The safety conditions include preset safe speed of the obstacle or preset safe speed of the vehicle. If the vehicle's movement does not meet the safety conditions, the intelligent integrated braking system sends a torque control request to the electronic control system to request the electronic control system to decelerate the vehicle.

5. The method according to claim 2, characterized in that, The intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the obstacle's motion data and the vehicle's speed, requesting the electronic control system to control the vehicle's movement, including: The intelligent integrated braking system determines that the vehicle's motion process meets preset safety conditions based on at least one of the speed of the obstacle, the distance between the obstacle and the vehicle, and the speed of the vehicle. The safety conditions include preset safe speed of the obstacle or preset safe speed of the vehicle. When the vehicle's movement meets preset safety conditions, the intelligent integrated braking system sends a control request to the electronic control system, requesting the electronic control system to control the vehicle to travel at the vehicle's speed.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The intelligent integrated braking system acquires the wheel speed of the vehicle; The intelligent integrated braking system determines, based on the vehicle's speed and wheel rotation speed, that the vehicle's slip ratio exceeds a preset vehicle slip ratio range. If the vehicle slip ratio exceeds the vehicle slip ratio range, the intelligent integrated braking system sends a torque control request to the vehicle's electronic control system to request the electronic control system to control the vehicle to decelerate and / or activate the anti-lock braking function.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: The intelligent integrated braking system acquires the status information of the vehicle's combination switch and / or throttle. The intelligent integrated braking system sends a control request to the vehicle's electronic control system based on the status information of the combination switch and / or the throttle, requesting the electronic control system to control the vehicle's movement process.

8. The method according to any one of claims 1-7, characterized in that, Before the intelligent integrated braking system calls the vehicle's camera to obtain data about the target object captured by the camera, it also includes: Obtain the vehicle's condition information; Based on the vehicle condition information, it is determined that the vehicle meets the preset crawling conditions; When the vehicle meets the creeping conditions, the vehicle is controlled to enter creeping mode.

9. A vehicle control device, characterized in that, An intelligent integrated braking system, connected to an advanced driver assistance system (ADAS), is used to receive acceleration signals from the ADAS when the vehicle is not in crawl mode, convert the acceleration signals into acceleration torque, and request the vehicle's electronic control system to respond with acceleration torque. The device includes: The first calling module is used to call the vehicle's camera when the vehicle is in crawl mode in order to obtain data of the target object collected by the camera; The determination module is used to determine that the target object is an obstacle based on the data of the target object collected by the camera; The second calling module is used to call the vehicle's radar to obtain the motion data of the obstacle scanned by the radar; The control module is used to send a control request to the vehicle's electronic control system based on the motion data of the obstacle and the speed of the vehicle, so as to request the electronic control system to control the movement of the vehicle.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processing device, it implements the steps of the method described in any one of claims 1-8.

11. An electronic device, characterized in that, include: A storage device having at least one computer program stored thereon; At least one processing means is configured to execute the at least one computer program in the storage device to implement the steps of the method according to any one of claims 1-8.

12. A vehicle, characterized in that, Includes the electronic device as described in claim 11.

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