Control Method, Device and Storage Medium of a Vehicle

Abstract

The present disclosure relates to the field of vehicle control technologies, and particularly to a control method, device, and storage medium for a vehicle. The method includes: obtaining driver behavior data; obtaining the status information of the vehicle and the environmental information of the environment where the vehicle is currently located; determining the target control parameters of the traction control system (TCS) according to at least one of the driver behavior data, environmental information, and status information and the current driving mode of the vehicle; and performing drive slip control on the vehicle according to the target control parameters of the TCS, so that the TCS system can be triggered and responded to in a timely manner, thereby enhancing driving safety.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and in particular, to a control method, device, and storage medium for a vehicle. Background Art

[0002] The Traction Control System (TCS), also known as the Anti-Slip Regulation (ASR), mainly aims to prevent the driving wheels from slipping during vehicle acceleration to ensure vehicle stability. The role of TCS is to enable the vehicle to obtain the best traction under various driving conditions.

[0003] When the traction control system TCS detects that the slip ratio of the driving wheel exceeds the target slip ratio (TCS trigger threshold), it will reduce the torque of the engine or motor to reduce the slip ratio of the driving wheel and make the vehicle regain stability. The traditional TCS control threshold is generally bound to the driving mode. For example, different TCS control thresholds correspond to the comfort mode and the sport mode respectively. When the driving mode changes from the comfort mode to the sport mode, the target slip ratio in the TCS control threshold increases and the intervention timing becomes later. The change of the TCS control threshold is only related to the driving mode, ignoring the influence of driving behavior, vehicle state, and environmental state on the driving process, and the control effect during the driving process is average. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a control method, device, and storage medium for a vehicle.

[0005] According to a first aspect of an embodiment of the present disclosure, a control method for a vehicle is provided, including:

[0006] Obtaining driver behavior data;

[0007] Obtaining the state information of the vehicle and the environmental information of the environment where the vehicle is currently located;

[0008] Performing anti-slip control on the vehicle according to at least one of the driver behavior data, the environmental information, and the state information of the vehicle and the current driving mode of the vehicle.

[0009] According to a second aspect of an embodiment of the present disclosure, a control device for a vehicle is provided, including:

[0010] An obtaining module, configured to obtain driver behavior data, the state information of the vehicle, and the environmental information of the environment where the vehicle is currently located;

[0011] A control module, configured to perform anti-slip control on the vehicle according to at least one of the driver behavior data, the environmental information, and the state information of the vehicle and the current driving mode of the vehicle.

[0012] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, including: a processor;

[0013] a memory for storing instructions executable by the processor;

[0014] wherein the processor is configured to implement the steps of the method described in the first aspect.

[0015] According to a fourth aspect of the embodiments of the present disclosure, a non-transitory computer-readable storage medium is provided. When the instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal can execute a control method of a vehicle. The method includes:

[0016] Obtaining driver behavior data;

[0017] Obtaining the status information of the vehicle and the environmental information of the environment where the vehicle is currently located;

[0018] Performing drive slip control on the vehicle according to at least one of the driver behavior data, the environmental information, and the status information of the vehicle and the current driving mode of the vehicle.

[0019] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, it implements the control method of the vehicle as described in the first aspect.

[0020] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: obtaining driver behavior data, occupancy information and tire pressure information of the vehicle, and environmental information of the environment where the vehicle is currently located, analyzing the data information from three dimensions of driver behavior, the vehicle itself, and the environment where the vehicle is located, and combining the current driving mode of the vehicle to determine the target control parameters of the TCS, ensuring the accuracy and rationality of the target control parameters of the TCS, and performing drive slip control based on the target control parameters of the TCS to ensure that the TCS can be triggered and responded in a timely manner, increasing driving safety.

[0021] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0023] Figure 1 is a flowchart of a control method of a vehicle shown according to some embodiments of the present disclosure.

[0024] Figure 2It is a flowchart of another vehicle control method shown according to some embodiments of the present disclosure.

[0025] Figure 3 It is a flowchart of another vehicle control method shown according to some embodiments of the present disclosure.

[0026] Figure 4 It is a block diagram of a vehicle control device shown according to some embodiments of the present disclosure.

[0027] Figure 5 It is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed implementation

[0028] Here, some embodiments of the present disclosure will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, variations, and equivalents of the methods, apparatuses, and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be changed as will be apparent after understanding the present disclosure, except for operations that must be performed in a specific order. Additionally, descriptions of features known in the art may be omitted for the sake of clarity and brevity.

[0029] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0030] Figure 1 It is a flowchart of a vehicle control method shown according to some embodiments of the present disclosure. As Figure 1 shown, the vehicle control method includes the following steps:

[0031] S101, obtain driver behavior data.

[0032] In some implementations, the driver behavior data is data related to the driver's driving behavior, such as the number of times the driver turns the steering wheel, the number of times the driver operates the accelerator pedal, the number of times the driver operates the brake pedal, and the continuous driving duration, etc., which is used to reflect the driver's driving proficiency. The more proficient the driver's driving behavior is, the higher the driving safety is.

[0033] In some implementations, the driver behavior data may further include driver information, the rotation amplitude of the steering wheel each time it is turned, the opening degrees of the accelerator pedal and the brake pedal, that is, the magnitude of the rotation amplitude when the steering wheel is turned, as well as the opening degrees of stepping on the accelerator pedal and the brake pedal, so as to reflect the magnitude of the operation amplitude of the current driver's each operation.

[0034] Optionally, the driver behavior data can be collected based on the in-vehicle terminal device, that is, based on the in-vehicle terminal, data such as the rotation amplitude and number of times of the driver turning the steering wheel, the opening degree and number of times of operating the accelerator pedal, the opening degree and number of times of operating the brake pedal, and the continuous driving duration of the vehicle are determined; in some implementations, in order to ensure the reliability and accuracy of data analysis, the real-time obtained driver behavior data can be stored, and then the driver behavior data within a period of time is read from the memory for analysis, and the driving behavior of the driver is judged for safety through the driving data of the driver within a period of time.

[0035] S102, obtain the status information of the vehicle and the environmental information of the current environment where the vehicle is located.

[0036] In some implementations, the status information of the vehicle may include the size information of the vehicle, the passenger information during vehicle driving, and the component information of the vehicle, etc. For example, when the overall size of the vehicle body is long and large, the higher the safety required for the vehicle; the passenger information of the vehicle reflects the number of passengers in the vehicle, and the higher the number of passengers during vehicle driving, the higher the safety required; correspondingly, the component information of the vehicle may be the information of each component of the vehicle, such as whether the tire has abnormal tire pressure, whether the safety of the vehicle seat system is good, whether the seat belt strength is normal, etc., which are information affecting the safety during vehicle driving.

[0037] In some implementations, the environmental information may be the weather condition of the current environment where the vehicle is located and the road condition information of the current environment where the vehicle is located. For example, the vehicle is more likely to have a sliding problem on an uphill section or in rainy or snowy weather. Therefore, by obtaining the environmental information of the current environment where the vehicle is located, it can be determined whether the current driving environment of the vehicle is safe.

[0038] Optionally, the environmental information can be obtained from the server. The server determines whether the current location is a sensitive area according to the location of the vehicle, or obtains the weather information of the current location according to the location of the vehicle, and determines the environmental information of the current environment where the vehicle is located according to whether the current location is a sensitive area or whether it is rainy or snowy weather.

[0039] In some implementations, the sensitive areas can be marked according to the actual road conditions. When the vehicle drives to the marked location, it is determined that the vehicle drives to a sensitive area.

[0040] S103. Perform drive slip control on the vehicle according to at least one of the driver behavior data, environmental information, and vehicle status information and the current driving mode of the vehicle.

[0041] It can be understood that different driving modes will correspond to different drive slip control thresholds. For example, a smaller target slip ratio will be used for drive slip control in the comfort mode, and a larger target slip ratio will be used for drive slip control in the sport mode. Therefore, the basic parameter thresholds corresponding to the current drive slip control can be determined based on the current driving mode. Optionally, the basic parameters may include the target slip ratio and the intervention timing, and may also include parameters such as acceleration and intervention amount, which are not specifically limited.

[0042] The driver behavior data, environmental information, and vehicle status information can respectively characterize the driving safety conditions of the vehicle in different dimensions. For example, the driver behavior data can reflect the driver's driving proficiency, the environmental information can reflect whether the vehicle is in a sensitive area and whether it is rainy, snowy or other weather conditions, and the status information can reflect the current number of passengers in the vehicle and whether there are any abnormalities in each component of the vehicle. When any dimension reflects that there is a potential for unsafe driving of the vehicle, the adaptability of the drive slip control according to the basic parameter thresholds determined by the current driving mode is relatively weak. Therefore, to improve the timeliness and safety of the drive slip control, the basic parameter thresholds can be optimized so that the drive slip control can be triggered in a timely manner even in the case of special insecurity.

[0043] Optionally, the target parameter thresholds in the case of safe driving can be preset in advance. When any of the driver behavior data, environmental information, and vehicle status information reflects that the driving safety of the vehicle is low, the basic parameter thresholds are directly adjusted to the target parameter thresholds.

[0044] Optionally, the safety levels corresponding to the driver behavior data, environmental information, and vehicle status information can also be obtained. Each safety level corresponds to a different safety factor. The basic parameter thresholds are optimized and adjusted based on the safety factor to obtain the target parameter thresholds. For example, the safety factor corresponding to the dimension with the lowest safety level among the three dimensions is obtained, and the basic parameter thresholds are optimized and adjusted with the lowest safety factor to obtain the target parameter thresholds. Or the safety factors in the three dimensions can also be weighted and summed, and the basic parameter thresholds are optimized and adjusted with the weighted safety factor to obtain the target parameter thresholds. The target parameter thresholds are used as the judgment basis for determining whether the vehicle triggers the anti-slip condition, so as to perform drive slip control on the vehicle.

[0045] In this embodiment, driver behavior data, environmental information of the vehicle's location, and status information of the vehicle are obtained. Analyses are performed on information from three dimensions: driver behavior, the vehicle itself, and the vehicle's environment. Combining with the current driving mode of the vehicle, the driving safety of the vehicle is judged, and based on at least one of the driver behavior data, environmental information of the vehicle's location, and status information of the vehicle and the current driving mode of the vehicle, drive slip control is performed on the vehicle, so that the anti-skid system can be triggered more promptly when the vehicle is driving under low safety conditions, increasing driving safety.

[0046] Figure 2 The flowchart of another vehicle control method shown in some embodiments of the present disclosure is as Figure 2 shown, and the vehicle control method includes the following steps:

[0047] S201, obtain driver behavior data.

[0048] In the embodiments of the present disclosure, the implementation method of step S201 can be implemented in any one of the embodiments of the present disclosure respectively, and no limitation is made here and no further elaboration is provided.

[0049] S202, obtain the status information of the vehicle and the environmental information of the vehicle's current location.

[0050] In some implementations, the status information of the vehicle can be the occupancy information and tire pressure information of the vehicle; the occupancy information of the vehicle refers to the occupancy information of the vehicle seats. The more the vehicle seats are occupied, it means the more people are carried in the vehicle, and the more attention is needed during the vehicle driving process, that is, the higher the required safety; optionally, the occupancy information of the vehicle can be obtained by receiving the seat occupancy signal, and the seat occupancy signal can be displayed on the vehicle's central control display screen to visually determine the current occupancy information of the vehicle.

[0051] The tire pressure information of the vehicle refers to the air pressure inside the vehicle tires, which can be measured based on a tire pressure sensor, or the tire pressure information of the vehicle can be determined from the driving information on the vehicle's dashboard or central control display screen; it can be understood that if the tire pressure information of the vehicle is abnormal, the current safety of the vehicle is relatively low.

[0052] In the embodiments of the present disclosure, the implementation method of step S202 can be implemented in any one of the embodiments of the present disclosure respectively, and no limitation is made here and no further elaboration is provided.

[0053] S203, determine the target control parameters of the traction control system TCS according to at least one of the driver behavior data, environmental information, and status information of the vehicle and the current driving mode of the vehicle.

[0054] In some implementations, different driving modes can correspond to different control parameters of the TCS. For example, in the comfort mode, the target slip ratio in the control parameters of the TCS can be relatively small, and the intervention timing can also be relatively early to ensure driving safety; in the sport mode, the target slip ratio in the control parameters of the TCS increases, and the intervention timing becomes later. Therefore, the control parameters of the TCS are determined according to the current driving mode of the vehicle.

[0055] Furthermore, in order to improve the anti-skid effect, consider whether the driver behavior data, environmental information, occupancy information, and tire pressure information are safe. When there is an unsafe situation, automatically adjust the control parameters of the TCS so that the driver can drive the vehicle safely.

[0056] It can be understood that the driver behavior data can reflect the driver's driving proficiency, the environmental information can reflect whether the vehicle is in a sensitive area and whether it is rainy or snowy, the occupancy information can reflect the passenger-carrying situation of the vehicle, and the tire pressure information reflects whether there is an abnormality in the tire pressure of the vehicle. Therefore, when any one of the conditions that the driver's driving proficiency is low, the vehicle is in a sensitive area, the vehicle is driving in rainy or snowy weather, the vehicle is fully loaded, and there is an abnormal tire pressure of the vehicle is met, it can be determined that the vehicle is driving in a low-safety situation, and the control parameters of the TCS in the current driving mode are adjusted.

[0057] Optionally, safe and stable target control parameters can be preset. When the vehicle is driving in a low-safety situation, directly adjust the control parameters of the TCS in the current driving mode to the preset safe and stable target control parameters; the control parameters of the TCS in the comfort driving mode can also be used as the target control parameters. When the vehicle is driving in a low-safety situation, adjust the control parameters of the TCS in the current driving mode to the target control parameters, that is, the control parameters of the TCS in the comfort mode; or, an adjustment coefficient can also be set. When the vehicle is driving in a low-safety situation, adjust the control parameters of the TCS in the current driving mode based on the adjustment coefficient. For example, reduce the target slip ratio based on the first adjustment coefficient and advance the intervention timing based on the second adjustment coefficient. The first adjustment coefficient and the second adjustment coefficient can be the same or different, and ensure the safe driving of the vehicle based on the target control parameters of the TCS.

[0058] It should be noted that the target slip ratio and the intervention timing are examples of the control parameters of the TCS in this embodiment. In other embodiments, the control parameters of the TCS can also include parameters such as acceleration and intervention amount, which are not specifically limited.

[0059] It can be understood that if the vehicle is not driving in a low-safety situation, the control parameters of the TCS do not need to be adjusted, that is, the control parameters of the TCS corresponding to the current driving mode are used as the target control parameters.

[0060] S204. Perform drive anti-skid control on the vehicle according to the target control parameters of the TCS.

[0061] Determine whether the vehicle triggers the anti-skid condition according to the target control parameters of the TCS, and determine whether to perform drive anti-skid control on the vehicle. For example, judge whether the slip ratio of the driving wheels of the vehicle exceeds the trigger threshold, that is, judge whether the slip ratio of the driving wheels of the vehicle exceeds the target slip ratio in the target control parameters of the TCS, so as to determine whether to reduce the torque of the engine or motor of the vehicle to ensure that the vehicle travels safely and stably. Judging based on the target control parameters of the TCS can ensure that the TCS system can be triggered in time, reduce the probability of the vehicle skidding and losing stability, and increase driving safety.

[0062] In this embodiment, obtain the driver behavior data, the occupancy information and tire pressure information of the vehicle, and the environmental information of the current environment where the vehicle is located. Analyze the information from three dimensions: driver behavior, the vehicle itself, and the environment where the vehicle is located. Combine the current driving mode of the vehicle to determine the target control parameters of the TCS. Integrate the multi-dimensional data information during the vehicle driving process to obtain more accurate and reasonable target control parameters of the TCS, so that the TCS system can be triggered and responded in time, increasing driving safety.

[0063] Figure 3 It is a flowchart of another vehicle control method shown according to some embodiments of the present disclosure. As Figure 3 shown, the vehicle control method includes the following steps:

[0064] S301. Obtain the driver behavior data, and determine the proficiency of the driver according to the driver behavior data.

[0065] In some implementations, the first number of times the driver operates the target component within a set duration can be determined according to the driver behavior data; the second number of times the change rate of the target component is greater than the set threshold value of the target component within a set duration can be determined according to the driver behavior data; the proficiency of the driver can be determined according to the first number and the second number.

[0066] Optionally, the target component can be the steering wheel, the accelerator pedal, and the brake pedal. Therefore, according to the driver behavior data, determine the first number of times the driver operates the steering wheel, the first number of times the driver operates the accelerator pedal, and the first number of times the driver operates the brake pedal within a set duration.

[0067] In some implementations, the driver behavior data may further include the degree of change of the target component for each operation. Therefore, the change rate for each operation can be obtained, that is, the steering wheel angle change rate, the accelerator pedal opening change rate, and the brake pedal opening change rate. When the change rate of the target component is large, the proficiency of the driver in driving the vehicle may be low. Therefore, the second number of times when the change rate is greater than the set threshold value of the target component can be counted.

[0068] Optionally, the set threshold values for different target components can be the same or different; that is, count the second number of times when the steering wheel angle change rate is greater than the set threshold value corresponding to the steering wheel, the second number of times when the accelerator pedal opening change rate is greater than the set threshold value corresponding to the accelerator pedal, and the second number of times when the brake pedal opening change rate is greater than the set threshold value corresponding to the brake pedal.

[0069] Furthermore, the ratio of the second number to the first number can be obtained to determine the frequency at which the change rate of the operation target component exceeds the corresponding set threshold value. The larger the ratio of the second number to the first number, the higher the frequency of exceeding the corresponding set threshold value, and the lower the proficiency of the driver in driving the vehicle.

[0070] Optionally, a frequency threshold can be preset. When the ratio of the second number to the first number corresponding to any target component is greater than the frequency threshold, it is determined that the driver proficiency is low, and the driver is a novice. For example, in this embodiment, the frequency threshold is 0.5. The ratio of the second number of times when the steering wheel angle change rate is greater than the set threshold value corresponding to the steering wheel to the first number of times of operating the steering wheel is greater than the frequency threshold 0.5, then it is determined that the driver is a novice and the driver proficiency is low. Correspondingly, when the ratio of the second number to the first number corresponding to any target component is less than or equal to the frequency threshold, it is determined that the driver proficiency is high.

[0071] In the embodiments of the present disclosure, the implementation method of step S301 can be implemented in any one of the embodiments of the present disclosure respectively, and no limitation is made here and will not be elaborated further.

[0072] S302, obtain the status information of the vehicle, and determine the vehicle safety level of the vehicle according to the status information.

[0073] In some implementations, the status information of the vehicle includes the occupancy information and the tire pressure information of the vehicle.

[0074] In some implementations, the actual number of passengers in the vehicle can be determined according to the occupancy information; that is, according to the occupancy information, determine the seats occupied by the vehicle, and judge whether the current vehicle is full; for example, for a vehicle with a maximum seat number of 5 seats, when the actual number of passengers in the vehicle is greater than or equal to 4, it is considered that the vehicle is full, and the full vehicle can be marked as a vehicle with a low safety level, that is, higher safety and stability are required.

[0075] In some implementations, the number of abnormal tire pressures of the vehicle can also be determined based on the tire pressure information; that is, it is determined whether the tires of the vehicle are normal according to the tire pressure information, and the number of abnormal tire pressures of the vehicle is counted; optionally, when the number of abnormal tire pressures is not 0, it indicates that there is a tire pressure abnormality in the vehicle's tires, and then the vehicle is determined to be a vehicle with a low safety level; that is, when the number of abnormal tire pressures is greater than or equal to 1, the vehicle is determined to be a vehicle with a low safety level.

[0076] In some implementations, if the actual number of passengers indicates that the current vehicle is fully loaded, and / or the number of abnormal tire pressures indicates that there are tires with abnormal tire pressures in the current vehicle, then the safety level of the vehicle is determined to be a low safety level; correspondingly, if the actual number of passengers indicates that the current vehicle is not fully loaded and the number of abnormal tire pressures is 0, then the safety level of the vehicle is determined to be normal.

[0077] In the embodiments of the present disclosure, the implementation method of step S302 can be implemented in any one of the various embodiments of the present disclosure, which is not limited herein and will not be elaborated further.

[0078] S303, obtain the environmental information of the current environment where the vehicle is located, and determine the environmental safety level of the current environment where the vehicle is located according to the environmental information.

[0079] In some implementations, it is possible to determine whether the vehicle is currently in a position where TCS frequently occurs according to the vehicle positioning information in the environmental information; and determine the environmental safety level according to the weather information in the environmental information and whether the vehicle is in a position where TCS frequently occurs.

[0080] Optionally, the vehicle positioning information can be the Global Positioning System (GPS) positioning of the vehicle, and it is determined whether the GPS positioning of the vehicle is in a position where TCS frequently occurs; where the position where TCS frequently occurs can be known in advance, for example, the position where TCS frequently occurs is determined through the driving information of historical vehicles. When the vehicle is in a position where TCS frequently occurs, it is determined that the environmental safety level of the current environment where the vehicle is located is relatively low.

[0081] In some implementations, it is also possible to send a reporting message to the server, and the reporting message includes the triggering position when the vehicle triggers TCS; that is, the triggering position information when the vehicle triggers TCS during the driving process is reported, so that the server can record the position information where TCS is triggered.

[0082] It can be understood that the server can determine one or more frequent TCS positions based on the reported information of historical vehicles, that is, the server can determine the frequent TCS positions according to the trigger positions of historical vehicles when the TCS is triggered; correspondingly, the vehicle can obtain one or more frequent TCS positions returned by the server and determine whether the trigger position when the vehicle currently triggers the TCS is a frequent TCS position; in response to the trigger position when the vehicle triggers the TCS being the same as one of the frequent TCS positions, it is determined that the vehicle is in a frequent TCS position.

[0083] Optionally, the weather information in the environmental information may include special weather information such as rainy or snowy weather with slippery road surfaces. When the weather of the vehicle's current environment is rainy or snowy weather, it is determined that the environmental safety level of the vehicle's current environment is relatively low. That is, when the vehicle positioning information shows that the vehicle is in a frequent TCS position, and / or the weather information shows that the vehicle is in rainy or snowy weather with slippery road surfaces, the environmental safety level of the vehicle's current environment is relatively low; correspondingly, when the vehicle is not in a frequent TCS position and the weather is not rainy or snowy weather, the environmental safety level of the vehicle's current environment is good.

[0084] In the embodiments of the present disclosure, the implementation method of step S303 can be implemented in any one of the embodiments of the present disclosure, and no limitation is made here and no further description is given.

[0085] S304, determine the target control parameter of the TCS according to at least one of the driver's proficiency, vehicle safety level, and environmental safety level and the current driving mode of the vehicle.

[0086] It can be understood that the basic control parameter of the corresponding TCS can be obtained according to the current driving mode of the vehicle. In some implementations, it can be determined whether to adjust the basic control parameter according to at least one of the driver's proficiency, vehicle safety level, and environmental safety level; in response to the need to adjust the basic control parameter of the TCS, obtain the target control parameter of the TCS corresponding to the target driving mode; adjust the basic control parameter of the TCS to the target control parameter of the TCS.

[0087] Optionally, the adjustment critical value corresponding to each dimension can be obtained, and the actual value of each dimension can be compared with its respective adjustment critical value. The dimensions include the driver proficiency dimension, the vehicle safety dimension, and the environmental safety dimension; if there is at least one reference dimension whose value is less than its corresponding adjustment critical value, it is determined that the basic control parameter needs to be adjusted.

[0088] That is to say, obtain the adjustment critical values corresponding to the driver proficiency dimension, vehicle safety dimension, and environmental safety dimension respectively, and compare the actual data of the driver proficiency, vehicle safety, and environmental safety actually obtained with their respective adjustment critical values; when there is at least one dimension of actual data less than its corresponding adjustment critical value, for example, the adjustment critical value of the environmental safety dimension is good, and the current environmental safety of the vehicle is low safety, less than its corresponding adjustment critical value, it is determined that the basic control parameters need to be adjusted.

[0089] Optionally, the target driving mode can be a comfort mode, that is, a mode with relatively safe and stable driving. When it is determined that the basic control parameters of the TCS need to be adjusted, obtain the target control parameters of the TCS corresponding to the target driving mode, that is, the target control parameters of the TCS corresponding to the comfort mode, and adjust the basic control parameters of the TCS of the current driving mode of the vehicle to the target control parameters.

[0090] It can be understood that if it is determined that the basic control parameters of the TCS do not need to be adjusted, then the basic control parameters of the TCS in the current driving mode of the vehicle are the target control parameters of the TCS.

[0091] In the embodiments of the present disclosure, the implementation method of step S304 can be implemented in any one of the embodiments of the present disclosure, and no limitation is made here and will not be elaborated further.

[0092] S305, perform drive slip control on the vehicle according to the target control parameters of the TCS.

[0093] In the embodiments of the present disclosure, the implementation method of step S305 can be implemented in any one of the embodiments of the present disclosure, and no limitation is made here and will not be elaborated further.

[0094] In this embodiment, based on the driver behavior data, the occupancy information and tire pressure information of the vehicle, and the environmental information of the current environment where the vehicle is located, the driver proficiency, vehicle safety, and environmental safety of the environment are respectively obtained. Based on the safety levels of multiple dimensions for auxiliary judgment, it is determined whether the basic control parameters of the TCS in the current driving mode need to be adjusted. When any one of the driver proficiency, vehicle safety, or environmental safety indicates low vehicle driving safety, the basic control parameters of the TCS are adjusted to obtain the target control parameters of the TCS, so as to ensure that the vehicle can drive smoothly and safely, enabling the TCS to be triggered in time and reducing the probability of slipping and instability.

[0095] Figure 4 It is a block diagram of a control device for a vehicle shown according to some embodiments of the present disclosure. Refer to Figure 4 , the device includes an acquisition module 401 and a control module 402.

[0096] An acquisition module 401, configured to acquire driver behavior data, status information of the vehicle, and environmental information of the environment where the vehicle is currently located;

[0097] A control module 402, configured to perform drive anti-skid control on the vehicle according to at least one of the driver behavior data, environmental information, and status information of the vehicle and the current driving mode of the vehicle.

[0098] In some implementations, the control module 402 includes:

[0099] Determine the target control parameters of the traction control system TCS according to at least one of the driver behavior data, environmental information, and status information of the vehicle and the current driving mode of the vehicle;

[0100] Perform drive anti-skid control on the vehicle according to the target control parameters of the TCS.

[0101] In some implementations, the control module 402 includes:

[0102] Determine the proficiency of the driver according to the driver behavior data;

[0103] Determine the vehicle safety level of the vehicle according to the status information of the vehicle such as occupancy information and tire pressure information;

[0104] Determine the environmental safety level of the environment where the vehicle is currently located according to the environmental information;

[0105] Determine the target control parameters of the TCS according to at least one of the current driving mode of the vehicle, the proficiency of the driver, the vehicle safety level, and the environmental safety level and the current driving mode of the vehicle.

[0106] In some implementations, the control module 402 includes:

[0107] Judge whether to adjust the basic control parameters according to at least one of the proficiency of the driver, the vehicle safety level, and the environmental safety level;

[0108] In response to the need to adjust the basic control parameters of the TCS, obtain the target control parameters of the TCS corresponding to the target driving mode;

[0109] Adjust the basic control parameters of the TCS to the target control parameters of the TCS.

[0110] In some implementations, the control module 402 includes:

[0111] Obtain the adjustment critical value corresponding to each dimension, and compare the actual value of each dimension with its respective adjustment critical value. The dimensions include the driver proficiency dimension, the vehicle safety dimension, and the environmental safety dimension;

[0112] If there is at least one value of the reference dimension that is less than its corresponding adjustment threshold value, it is determined that the basic control parameter needs to be adjusted.

[0113] In some implementations, the control module 402 includes:

[0114] Determine the first number of times the driver operates the target component within a set duration according to the driver behavior data;

[0115] Determine the second number of times the change rate of the target component is greater than the set threshold value of the target component within a set duration according to the driver behavior data;

[0116] Determine the proficiency of the driver according to the first number of times and the second number of times.

[0117] In some implementations, the status information of the vehicle includes occupancy information and tire pressure information, and the control module 402 includes:

[0118] Determine the actual number of passengers in the vehicle according to the occupancy information;

[0119] Determine the number of abnormal tire pressures of the vehicle according to the tire pressure information;

[0120] Determine the vehicle safety level of the vehicle according to the actual number of passengers and the number of abnormal tire pressures.

[0121] In some implementations, the control module 402 includes:

[0122] Determine whether the vehicle is currently in a location where TCS frequently occurs according to the vehicle positioning information in the environmental information;

[0123] Determine the environmental safety level according to the weather information in the environmental information and whether the vehicle is in a location where TCS frequently occurs.

[0124] In some implementations, the device 400 further includes:

[0125] Send a reporting message to the server, and the reporting message includes the triggering location when the vehicle triggers TCS;

[0126] Obtain one or more TCS frequent occurrence locations returned by the server, and the TCS frequent occurrence locations are determined based on the reporting information of historical vehicles;

[0127] In response to the triggering location when the vehicle triggers TCS being the same as one of the TCS frequent occurrence locations, determine that the vehicle is in a location where TCS frequently occurs.

[0128] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0129] In this embodiment, based on the driver behavior data, the occupancy information and tire pressure information of the vehicle, and the environmental information of the current environment where the vehicle is located, the driver proficiency, vehicle safety, and environmental safety of the environment are respectively obtained. Based on the safety levels in multiple dimensions, an auxiliary judgment is made to determine whether it is necessary to adjust the basic control parameters of the TCS for the current driving mode. When any of the driver proficiency, vehicle safety, or environmental safety indicates a low vehicle driving safety, the basic control parameters of the TCS are adjusted to obtain the target control parameters of the TCS, so as to ensure that the vehicle can drive smoothly and safely, enabling the TCS to be triggered in a timely manner and reducing the probability of skidding and instability.

[0130] Figure 5 FIG. 4 is a block diagram of a vehicle 500 shown according to an exemplary embodiment. For example, the vehicle 500 can be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 500 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0131] Referring to Figure 5 , the vehicle 500 may include various subsystems. For example, the infotainment system 510, the perception system 520, the decision control system 530, the drive system 540, and the computing platform 550. Among them, the vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 500 can be interconnected by wired or wireless means.

[0132] In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, and a navigation system, etc.

[0133] The perception system 520 may include several sensors for sensing the information of the environment around the vehicle 500. For example, the perception system 520 may include a global positioning system (the global positioning system can be a GPS system, or a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0134] The decision control system 530 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0135] The drive system 540 may include components that provide power motion for the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission system, and wheels. The engine can be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert the energy provided by the energy source into mechanical energy.

[0136] Some or all functions of vehicle 500 are controlled by computing platform 550. The computing platform 550 may include at least one processor 551 and a memory 552. The processor 551 may execute instructions 553 stored in the memory 552.

[0137] The processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0138] The memory 552 may 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 memory, flash memory, a magnetic disk, or an optical disk.

[0139] In addition to the instructions 553, the memory 552 may also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 552 can be used by the computing platform 550.

[0140] In an embodiment of the present disclosure, the processor 551 may execute the instructions 553 to complete all or part of the steps of the above-described vehicle control method.

[0141] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the vehicle control method provided by the present disclosure are implemented.

[0142] In addition, as used herein, the word "exemplary" is used to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the word exemplary is intended to present concepts in a concrete fashion. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from the context, "X applies A or B" is intended to mean any of the natural inclusive permutations. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied under any one of the foregoing instances. Additionally, unless specified otherwise or clear from the context that it is referring to the singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0143] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding the specification and the drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. Specifically with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may, as may be desired and advantageous for any given or particular application, be combined with one or more other features of other implementations. Further, with respect to the use of "comprises", "comprising", "has", "having", "includes", or variants thereof in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "including".

[0144] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0145] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

[0146] In the foregoing detailed description, reference has been made to the accompanying drawings, in which specific aspects in which the present disclosure may be practiced are shown by way of illustration. In this regard, directional or positional relationship-indicating terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. may be used with reference to the orientation of the described figures. Since the components of the described device may be positioned in a plurality of different orientations, the directional terms may be used for illustrative purposes and not be limiting. It should be understood that other aspects may be utilized and structural or logical changes may be made without departing from the concepts of the present disclosure. Accordingly, the following detailed description should not be taken in a limiting sense.

[0147] It should be understood that, unless otherwise specifically noted, the features of some embodiments of the various present disclosures described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more thereof; similarly, "at least one of..." includes any one of the related listed items and any combination of any two or more thereof.

[0148] It should be understood that, unless otherwise clearly specified and limited, the terms such as "engage", "attach", "mount", "connect", "couple", "fix", etc. used in the embodiments of the present disclosure should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integral; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure may be understood according to specific circumstances.

[0149] In addition, the word "above" used with respect to a component, element, or layer of material formed "above" or located "above" a surface may be used herein to mean that the component, element, or layer of material is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are disposed between the surface and the component, element, or layer of material. However, the word "above" used with respect to a component, element, or layer of material formed "above" or located "above" a surface may also optionally have a specific meaning: the component, element, or layer of material is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, e.g., in direct contact with the surface.

[0150] Although terms such as "first", "second", and "third" may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, part, region, layer, or section from another. Thus, the first component, part, region, layer, or section mentioned in the examples described herein may also be referred to as the second component, part, region, layer, or section without departing from the teachings of the various examples. Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description herein, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and explicitly defined.

[0151] It should be understood that spatial relative terms, such as "above", "upper", "below", and "lower", are used herein to describe the relationship of one element shown in the figures to another element. In addition to the orientation depicted in the figures, such spatial relative terms are also intended to encompass different orientations of the device during use or operation. For example, if the device in the figures is flipped, an element described as "above" or "upper" relative to another element will then be "below" or "lower" relative to that other element. Thus, depending on the spatial orientation of the device, the term "above" encompasses both the above and below orientations. The device may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

Claims

1. A vehicle control method, characterized in that: include: Obtain driver behavior data; Acquiring vehicle status information and environmental information of the vehicle's current environment; determining a target control parameter of a traction control system TCS according to the driver behavior data, the environmental information, at least one of the state information of the vehicle and a current driving mode of the vehicle; performing drive anti-skid control on the vehicle according to target control parameters of the TCS; The determining, according to at least one of the driver behavior data, the environmental information, and the vehicle state information and the current driving mode of the vehicle, a target control parameter of a traction control system TCS comprises: determining the driver's proficiency based on the driver behavior data; Determining a vehicle safety level of the vehicle according to the status information of the vehicle; Determining the environmental safety of the vehicle's current environment based on the environmental information; determining a target control parameter of the TCS according to at least one of the driver's proficiency, the vehicle safety and the environmental safety, and a current driving mode of the vehicle; The determining the target control parameter of the TCS according to at least one of the proficiency of the driver, the safety of the vehicle and the safety of the environment and the current driving mode of the vehicle comprises: Determining basic control parameters of the TCS according to a current driving mode of the vehicle; Determining whether to adjust the basic control parameter according to at least one of the proficiency of the driver, the safety of the vehicle, and the safety of the environment; In response to the need to adjust the basic control parameters of the TCS, obtaining target control parameters of the TCS corresponding to the target driving mode; The basic control parameters of the TCS are adjusted to the target control parameters of the TCS.

2. The vehicle control method according to claim 1, characterized in that: The determining whether to adjust the basic control parameter according to at least one of the driver's proficiency, the vehicle safety and the environmental safety includes: Obtaining an adjustment threshold corresponding to each dimension, and comparing an actual value of each dimension with the respective adjustment threshold, the dimensions including a driver proficiency dimension, a vehicle safety dimension, and an environmental safety dimension; If there is at least one reference dimension whose value is smaller than its corresponding adjustment critical value, it is determined that the basic control parameter needs to be adjusted.

3. The vehicle control method according to any one of claims 1 to 2, characterized in that: Determining the driver's proficiency based on the driver behavior data includes: Determining, based on the driver behavior data, a first number of times the driver operates a target component within a set time period; Determining, based on the driver behavior data, a second number of times that a rate of change of the target component within the set time period is greater than a set threshold value of the target component; The proficiency of the driver is determined based on the first number of times and the second number of times.

4. The vehicle control method according to any one of claims 1 to 2, characterized in that: The vehicle status information includes occupancy information and tire pressure information, and determining the vehicle safety level of the vehicle according to the vehicle status information includes: Determining the actual number of passengers in the vehicle according to the occupancy information; Determining the number of abnormal tire pressures of the vehicle according to the tire pressure information; The vehicle safety level of the vehicle is determined according to the actual number of passengers and the number of abnormal tire pressures.

5. The vehicle control method according to any one of claims 1 to 2, characterized in that: Determining the environmental safety of the current environment of the vehicle according to the environmental information includes: Determine whether the vehicle is currently in a TCS-frequent location based on the vehicle positioning information in the environmental information; The environmental safety level is determined based on weather information in the environmental information and whether the vehicle is in a TCS-prone location.

6. The vehicle control method according to any one of claims 1 to 2, characterized in that: The method further comprises: Sending reporting information to a server, wherein the reporting information includes a triggering position of the vehicle when the TCS is triggered; Obtain one or more TCS frequent locations returned by the server, wherein the TCS frequent locations are determined based on the reported information of the historical vehicles; In response to the triggering position of the vehicle when the TCS is triggered being the same as one of the TCS frequent-occurrence positions, it is determined that the vehicle is in the TCS frequent-occurrence position.

7. A vehicle control device, characterized in that: include: An acquisition module, used to acquire driver behavior data, vehicle status information, and environmental information of the vehicle's current environment; a control module, configured to perform drive anti-skid control on the vehicle according to at least one of the driver behavior data, the environmental information, and the vehicle status information and a current driving mode of the vehicle; The control module comprises: determining a target control parameter of a traction control system TCS according to the driver behavior data, the environmental information, at least one of the state information of the vehicle and a current driving mode of the vehicle; performing drive anti-skid control on the vehicle according to target control parameters of the TCS; determining the driver's proficiency based on the driver behavior data; Determining a vehicle safety level of the vehicle according to the status information of the vehicle; Determining the environmental safety of the vehicle's current environment based on the environmental information; determining a target control parameter of the TCS according to at least one of the driver's proficiency, the vehicle safety and the environmental safety, and a current driving mode of the vehicle; Determining basic control parameters of the TCS according to a current driving mode of the vehicle; Determining whether to adjust the basic control parameter according to at least one of the proficiency of the driver, the safety of the vehicle, and the safety of the environment; In response to the need to adjust the basic control parameters of the TCS, obtaining target control parameters of the TCS corresponding to the target driving mode; The basic control parameters of the TCS are adjusted to the target control parameters of the TCS.

8. The vehicle control device according to claim 7, characterized in that: The control module comprises: Obtaining an adjustment threshold corresponding to each dimension, and comparing an actual value of each dimension with the respective adjustment threshold, the dimensions including a driver proficiency dimension, a vehicle safety dimension, and an environmental safety dimension; If there is at least one reference dimension whose value is smaller than its corresponding adjustment critical value, it is determined that the basic control parameter needs to be adjusted.

9. The vehicle control device according to any one of claims 7-8, characterized in that: The control module comprises: Determining, based on the driver behavior data, a first number of times the driver operates a target component within a set time period; Determining, based on the driver behavior data, a second number of times that a rate of change of the target component within the set time period is greater than a set threshold value of the target component; The proficiency of the driver is determined based on the first number of times and the second number of times.

10. The vehicle control device according to any one of claims 7 to 8, characterized in that: The vehicle status information includes occupancy information and tire pressure information, and the control module includes: Determining the actual number of passengers in the vehicle according to the occupancy information; Determining the number of abnormal tire pressures of the vehicle according to the tire pressure information; The vehicle safety level of the vehicle is determined according to the actual number of passengers and the number of abnormal tire pressures.

11. The vehicle control device according to any one of claims 7 to 8, characterized in that: The control module comprises: Determine whether the vehicle is currently in a TCS-frequent location based on the vehicle positioning information in the environmental information; The environmental safety level is determined based on weather information in the environmental information and whether the vehicle is in a TCS-prone location.

12. The vehicle control device according to any one of claims 7 to 8, characterized in that: The device also includes: Sending reporting information to a server, wherein the reporting information includes a triggering position of the vehicle when the TCS is triggered; Obtain one or more TCS frequent locations returned by the server, wherein the TCS frequent locations are determined based on the reported information of the historical vehicles; In response to the triggering position of the vehicle when the TCS is triggered being the same as one of the TCS frequent-occurrence positions, it is determined that the vehicle is in the TCS frequent-occurrence position.

13. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to: implement the steps of the method described in any one of claims 1-6.

14. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform the steps of any one of claims 1 to 6, the method comprising: Obtain driver behavior data; Acquiring vehicle status information and environmental information of the vehicle's current environment; determining a target control parameter of a traction control system TCS according to the driver behavior data, the environmental information, at least one of the state information of the vehicle and a current driving mode of the vehicle; The vehicle is subjected to driving anti-slip control according to the target control parameter of the TCS.

15. A computer program product, characterized in that The method comprises a computer program, which implements the steps of the method according to any one of claims 1 to 6 when the computer program is executed by a processor.

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