A method for controlling a vehicle, a vehicle and a storage medium

Abstract

The present application provides a method for controlling a vehicle, a vehicle and a storage medium, the method comprising: upon receiving a drift learning request sent by a user, determining a target drift scenario to be learned from a plurality of preset drift scenarios; determining a drift route under the target drift scenario; and providing a target guidance under the target drift scenario to the user based on the drift route, so that the user controls the vehicle to drift according to the drift route based on the target guidance. The method can provide a target guidance under the target drift scenario to the user based on the drift route of the target drift scenario, so as to assist the vehicle in drifting according to the drift route, thereby improving the intelligence of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method for controlling a vehicle, a vehicle and a storage medium in the field of vehicles. Background Art

[0002] With the development of the domestic automobile industry, vehicles are no longer limited to transportation functions. More and more drivers are beginning to pursue driving pleasure, and controlling vehicle drift has become a popular driving technique. It not only provides a thrilling driving experience, but also helps drivers improve their understanding and control of vehicle dynamics.

[0003] Drifting is an advanced driving skill that requires the driver to be able to accurately control the dynamics of the vehicle. Therefore, controlling the vehicle drift usually requires the driver to have certain experience and skills. For novice drivers, drifting is a relatively difficult activity. Novice drivers need to drift under the guidance of professional coaches, and professional coaches often cost a lot, resulting in a poor driving experience for novice drivers. Summary of the invention

[0004] The present application provides a method for controlling a vehicle, a vehicle and a storage medium. The method can provide a user with target guidance in a target drift scenario based on the drift route of the target drift scenario, so as to assist the vehicle in drifting according to the drift route, thereby improving the intelligence of the vehicle and improving the user's vehicle experience.

[0005] In a first aspect, a method for controlling a vehicle is provided, the method comprising: upon receiving a drift learning request sent by a user, determining a target drift scenario to be learned from a plurality of preset drift scenarios; determining a drift route under the target drift scenario; and based on the drift route, providing the user with target guidance under the target drift scenario, so that the user controls the vehicle to drift along the drift route based on the target guidance.

[0006] In the above technical solution, by determining the target drift scene from multiple preset drift scenes, the target guidance in the target drift scene is provided to the user based on the drift route of the target drift scene, so as to assist the vehicle to drift according to the drift route and improve the intelligence of the vehicle. Specifically, the user can control the vehicle to drift according to the drift route based on the target guidance, so as to realize the teaching of the user in the target drift scene, so that the user can learn drifting skills more systematically and efficiently based on the target guidance. Even if the user is a novice driver, he can learn drifting skills based on the target guidance, so that the user no longer needs to rely on experienced coaches or trainers, which reduces the cost of novice users to learn drifting and improves the user's car experience.

[0007] In combination with the first aspect, in some possible implementations, the method also includes: prompting the user to perform a setting operation corresponding to the target drift scenario; detecting that the user has completed the setting operation on the vehicle; and determining a drift route under the target drift scenario, including: after detecting that the user has completed the setting operation on the vehicle, determining the drift route under the target drift scenario based on the setting operation.

[0008] In the above technical solution, by prompting the user with the setting operations corresponding to the target drift scene, the user can set the target drift scene, thereby realizing the flexible adaptation of the drift scene to user needs, and determining the drift route based on the user's setting operations to provide target guidance to the user, thereby realizing the flexible adaptation of teaching to user needs and improving the user's drift experience.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the drift route, target guidance in a target drift scenario is provided to the user, so that the user can control the vehicle to drift along the drift route based on the target guidance, including: determining the control information included in the drift route; based on the control information, determining the target operation that the user needs to perform; based on the target operation, providing the user with target guidance in a target drift scenario, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0010] In the above technical scheme, the drift route is the drift route that the vehicle is going to achieve, and the control information on the drift route is the indicator that the vehicle needs to achieve. During the vehicle drifting process, the target operation that the user needs to perform when the vehicle drifts along the drift route can be determined based on the control information on the drift route. Target guidance is provided to the user based on the target operation, thereby achieving precise target guidance, which allows the user to control the vehicle drift based on the guided target operation during the drifting process, helping the user to understand and master drifting skills in practice, thereby improving the user's drifting ability and improving the efficiency of the user's drift learning.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the control information, determining the target operation that the user needs to perform, including: determining the drift skills to be learned by the user in the target drift scenario; wherein the drift skills include throttle control skills and throttle and steering control skills; when the drift skill is a throttle control skill, based on the control information, determining that the target operation that the user needs to perform is a throttle control operation; when the drift skill is a throttle and steering control skill, based on the control information, determining that the target operation that the user needs to perform includes a throttle control operation and a steering control operation.

[0012] In the above technical solution, two teaching modes are set up: throttle control skills and throttle and steering control skills. In the target drift scenario, users can choose the drift skills they want to learn, which improves the flexibility and safety of teaching, and at the same time avoids safety problems caused by users with poor steering control directly controlling the steering when learning drift.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the throttle control operation includes: one or more of the operations of pressing the throttle when the vehicle starts, maintaining or increasing the throttle when entering drift, correcting the throttle when maintaining drift, and releasing the throttle when exiting drift; the steering control operation includes: one or more of the operations of starting steering when entering drift, correcting the steering when maintaining drift, and returning to the center steering when exiting drift.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the target operation, target guidance in a target drift scenario is provided to the user to guide the user to control the vehicle to drift along the drift route by executing the target operation, including: when the target drift scenario is a fixed circle drift scenario and the target operation includes a throttle control operation, when it is detected that the fixed circle drift preparation is completed, it is determined that the vehicle starts and the user is prompted to press the accelerator; when it is detected that the vehicle speed reaches the fixed circle drift speed, it is determined that the drift is entered and the user is prompted to maintain the throttle or increase the throttle; when it is detected that the vehicle is turning, it is determined that the drift is maintained and the user is prompted to correct the throttle; when When it is detected that the vehicle has completed circular drift, it is determined to exit drift and the user is prompted to release the accelerator to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drift scenario is a circular drift scenario and the target operation includes a steering control operation, when it is detected that the vehicle speed reaches the circular drift speed, it is determined to enter drift and the user is prompted to start steering; when it is detected that the vehicle is turning, it is determined to maintain drift and the user is prompted to correct the steering; when it is detected that the vehicle has completed circular drift, it is determined to exit drift and the user is prompted to return to the normal steering position to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the target operation, target guidance in a target drifting scenario is provided to the user to guide the user to control the vehicle to drift along the drifting route by executing the target operation, including: when the target drifting scenario is a slalom drifting scenario and the target operation includes a throttle control operation, when it is detected that the vehicle has reached a predetermined position, it is determined that the vehicle has started and the user is prompted to perform an operation of stepping on the accelerator; when it is detected that the distance between the vehicle and the slalom object is equal to a preset slalom radius, it is determined that drifting has begun and the user is prompted to perform an operation of maintaining the throttle or increasing the throttle; when it is detected that the vehicle is turning around the slalom, it is determined that the drift is maintained and the user is prompted to perform an operation of correcting the throttle. ; When it is detected that the vehicle has completed drifting around a pole, it is determined to exit drift and the user is prompted to release the accelerator to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drifting scenario is a drifting scenario around a pole and the target operation includes a steering control operation, when it is detected that the distance between the vehicle and the pole object is equal to the preset distance, it is determined to enter drift and the user is prompted to start steering; when it is detected that the vehicle is turning around the pole, it is determined to maintain drift and the user is prompted to correct the steering; when it is detected that the vehicle has completed drifting around the pole, it is determined to exit drift and the user is prompted to return to the normal steering position to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the target operation, target guidance in a target drift scenario is provided to the user to guide the user to control the vehicle to drift along the drift route by executing the target operation, including: when the target drift scenario is an L-type drift scenario or a U-turn drift scenario, and the target operation includes a throttle control operation, when it is detected that the L-type drift preparation or the U-turn drift preparation is completed, it is determined that the vehicle starts and the user is prompted to press the accelerator; when it is detected that the vehicle has traveled a preset distance, it is determined that the drift is entered and the user is prompted to maintain the throttle or increase the throttle; when it is detected that the vehicle is turning, it is determined that the drift is maintained and the user is prompted to correct the throttle; when it is detected that the vehicle is turning, it is determined that the drift is maintained and the user is prompted to correct the throttle; When it is detected that the vehicle has completed an L-shaped drift or a U-turn drift, it is determined to exit the drift and the user is prompted to release the accelerator, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drift scenario is an L-shaped drift scenario or a U-turn drift scenario, and the target operation includes a steering control operation, when it is detected that the vehicle has traveled a preset distance, it is determined to enter the drift and the user is prompted to perform the operation of starting to turn; when it is detected that the vehicle is turning, it is determined to maintain the drift and the user is prompted to perform the operation of correcting the steering; when it is detected that the vehicle has completed an L-shaped drift or a U-turn drift, it is determined to exit the drift and the user is prompted to perform the operation of returning to the center steering, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target drifting scenarios include: fixed circle drifting scenarios, drifting around poles scenarios, L-type drifting scenarios and U-turn drifting scenarios; the user is prompted with setting operations corresponding to the target drifting scenarios, including: when the target drifting scenario is a fixed circle drifting scenario, the user is prompted to set the fixed circle radius and / or the fixed circle drifting direction; when the target drifting scenario is a drifting around poles scenario, the user is prompted to set the pole object, the pole radius and the pole drifting direction; when the target drifting scenario is an L-type drifting scenario or a U-turn drifting scenario, the user is prompted to set the straight-line distance and the drift direction.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, upon receiving a drift learning request sent by a user, the method also includes: adjusting the vehicle's power control system to four-wheel drive mode, adjusting the steering control system to a target power assist mode, adjusting the suspension control system to a target height and target damping state, adjusting the braking control system to a preset drift mode state and turning off the vehicle's electronic stability control system.

[0019] In the above technical solution, when a drift learning request sent by the user is received, the parameters of multiple control systems in the vehicle are actively adjusted to enable the vehicle to have a drift function, thereby reducing user operations and avoiding the situation where novice players do not know how to adjust the parameters of the control system to enable the vehicle to have drift capabilities.

[0020] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when receiving a drift request sent by a user, displaying a parameter adjustment interface for the user to adjust the state parameters of the target control system based on the parameter interface so that the vehicle has drift capability; the target control system includes: a power control system, a steering control system, a suspension control system and a braking control system.

[0021] In summary, the user of this application can set the target drift scene, realize the drift scene to flexibly adapt to user needs, determine the drift route based on the user's setting operation to provide target guidance to the user, realize the auxiliary vehicle drifting according to the drift route, improve the intelligence of the vehicle, and even if the user is a novice driver, he can drive the vehicle to complete the drift based on the target guidance. In addition, in the target drift scene, the user can choose the drift skills he wants to learn, which improves the flexibility and safety of teaching, allowing users to learn drift skills more systematically and efficiently based on the teaching guidance target guidance, so that users no longer rely on experienced coaches or trainers, reducing the cost of novice users to learn drift and improving the user's car experience.

[0022] In a second aspect, a device for controlling a vehicle is provided, the device comprising: a first determination module, for determining a target drift scenario to be learned from a plurality of preset drift scenarios upon receiving a drift learning request sent by a user; a second determination module, for determining a drift route under the target drift scenario; and a guidance module, for providing the user with target guidance under the target drift scenario based on the drift route, so that the user controls the vehicle to drift along the drift route based on the target guidance.

[0023] In combination with the second aspect, in some possible implementations, the device also includes: a prompt module, used to prompt the user with a setting operation corresponding to the target drift scenario; a detection module, used to detect that the user has completed the setting operation on the vehicle; the second determination module is specifically used to determine the drift route under the target drift scenario based on the setting operation after detecting that the user has completed the setting operation on the vehicle.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the guidance module is specifically used to determine the control information included in the drift route; based on the control information, determine the target operation that the user needs to perform; based on the target operation, provide the user with target guidance in the target drift scenario to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the guidance module is specifically used to determine the drift skills to be learned by the user in the target drift scenario; wherein the drift skills include throttle control skills and throttle and steering control skills; when the drift skill is a throttle control skill, based on the control information, it is determined that the target operation that the user needs to perform is a throttle control operation; when the drift skill is a throttle and steering control skill, based on the control information, it is determined that the target operations that the user needs to perform include throttle control operations and steering control operations.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the throttle control operation includes: one or more of the operations of pressing the throttle when the vehicle starts, maintaining or increasing the throttle when entering drift, correcting the throttle when maintaining drift, and releasing the throttle when exiting drift; the steering control operation includes: one or more of the operations of starting steering when entering drift, correcting the steering when maintaining drift, and returning to the center steering when exiting drift.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the guidance module is specifically used to, when the target drift scenario is a fixed circle drift scenario and the target operation includes a throttle control operation, determine that the vehicle starts and prompt the user to perform an operation of stepping on the accelerator when it is detected that the preparation for fixed circle drift is completed; when it is detected that the vehicle speed reaches the fixed circle drift speed, determine that drifting is entered and prompt the user to perform an operation of maintaining the throttle or increasing the throttle; when it is detected that the vehicle is turning, determine that drifting is maintained and prompt the user to perform an operation of correcting the throttle; when it is detected that the vehicle has completed the fixed circle drift, determine that drifting is exited and prompt the user to The user releases the accelerator to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drift scenario is a fixed circle drift scenario and the target operation includes a steering control operation, when it is detected that the vehicle speed reaches the fixed circle drift speed, it is determined to enter drift and the user is prompted to perform the operation of starting steering; when it is detected that the vehicle is turning, it is determined to maintain drift and the user is prompted to perform the operation of correcting the steering; when it is detected that the vehicle has completed the fixed circle drift, it is determined to exit drift and the user is prompted to perform the operation of returning to the center steering, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0028] In combination with the second aspect and the above-mentioned implementation manner, in some possible implementation manners, the guidance module is specifically used for, when the target drifting scenario is a slalom drifting scenario and the target operation includes a throttle control operation, when it is detected that the vehicle has reached a predetermined position, determining that the vehicle has started and prompting the user to perform an operation of stepping on the accelerator; when it is detected that the distance between the vehicle and the slalom object is equal to a preset slalom radius, determining that drifting has begun and prompting the user to perform an operation of maintaining the throttle or increasing the throttle; when it is detected that the vehicle is turning around the slalom, determining that drifting is maintained and prompting the user to perform an operation of correcting the throttle; when it is detected that the vehicle has completed drifting around the slalom, determining that drifting has ended and prompting the user to exit the slalom. The user is prompted to release the accelerator, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drifting scenario is a slalom drifting scenario and the target operation includes a steering control operation, when it is detected that the distance between the vehicle and the slalom object is equal to the preset distance, it is determined to enter drifting and the user is prompted to perform the operation of starting steering; when it is detected that the vehicle is turning around the slalom, it is determined to maintain drifting and the user is prompted to perform the operation of correcting the steering; when it is detected that the vehicle completes drifting around the slalom, it is determined to exit drifting and the user is prompted to perform the operation of returning to the normal steering, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0029] In combination with the second aspect and the above-mentioned implementation manner, in some possible implementation manners, the guidance module is specifically used for, when the target drift scenario is an L-type drift scenario or a U-turn drift scenario, and the target operation includes a throttle control operation, when it is detected that the L-type drift preparation or the U-turn drift preparation is completed, determining that the vehicle starts and prompting the user to perform an operation of stepping on the accelerator; when it is detected that the vehicle has traveled a preset distance, determining that drifting has begun and prompting the user to perform an operation of maintaining the throttle or increasing the throttle; when it is detected that the vehicle is turning, determining that drifting is maintained and prompting the user to perform an operation of correcting the throttle; when it is detected that the vehicle has completed the L-type drift or the U-turn drift, determining that drifting is exited. The user is prompted to release the accelerator to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drift scenario is an L-type drift scenario or a U-turn drift scenario, and the target operation includes a steering control operation, when it is detected that the vehicle has traveled a preset distance, it is determined to enter drift and the user is prompted to perform the operation of starting steering; when it is detected that the vehicle is turning, it is determined to maintain drift and the user is prompted to perform the operation of correcting the steering; when it is detected that the vehicle has completed L-type drift or U-turn drift, it is determined to exit drift and the user is prompted to perform the operation of returning to the center steering, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the target drifting scenarios include: fixed circle drifting scenarios, drifting around poles scenarios, L-type drifting scenarios and U-turn drifting scenarios; the prompt module is specifically used to prompt the user to set the fixed circle radius and / or fixed circle drifting direction when the target drifting scenario is a fixed circle drifting scenario; when the target drifting scenario is a drifting around poles scenario, prompt the user to set the pole object, pole radius and pole drifting direction; when the target drifting scenario is an L-type drifting scenario or a U-turn drifting scenario, prompt the user to set the straight-line distance and drift direction.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, when receiving a drift learning request sent by a user, the device also includes: an adjustment module, used to adjust the vehicle's power control system to four-wheel drive mode, the steering control system to a target power assist mode, the suspension control system to a target height and target damping state, the braking control system to a preset drift mode state and turn off the vehicle's electronic stability control system.

[0032] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a display interface for displaying a parameter adjustment interface when a drift request sent by a user is received, so that the user can adjust the state parameters of the target control system based on the parameter interface so that the vehicle has drift capability; the target control system includes: a power control system, a steering control system, a suspension control system and a braking control system.

[0033] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0034] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0035] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of a drift function control system provided in an embodiment of the present application.

[0037] Figure 2 It is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0038] Figure 3 This is a schematic diagram of an interface provided in an embodiment of the present application.

[0039] Figure 4 It is a schematic flowchart of another method for controlling a vehicle provided in an embodiment of the present application.

[0040] Figure 5 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0041] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0043] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0044] Figure 1 It is a schematic diagram of a drift function control system provided in an embodiment of the present application.

[0045] For example, Figure 1 As shown, the system 100 includes: a driver 10, a human machine interaction system (Human Machine Interaction, HMI) 20, an advanced driver assistance system (Advanced Driver Assistance Systems, ADAS) 30, an electronic control unit (Electronic Control Unit, ECU) 40, a power control system 50, a braking control system 60, a steering control system 70, and a suspension control system 80.

[0046] The driver 10 interacts with the vehicle by operating the HMI 20 and inputs driving instructions and operations to the vehicle.

[0047] The HMI 20 is a human-machine interaction system that receives input from the driver 10, sends the driver's operation request to the main control ECU 40, and converts it into instructions that the vehicle can understand. The HMI 20 can also provide feedback information to the driver 10 to help the driver 10 better control the vehicle.

[0048] ADAS 30 is an intelligent driver assistance system that monitors the environment around the vehicle and provides environmental information to the main control ECU 40 to provide information support for drift control entry and maintenance. ADAS 30 can also provide warnings and suggestions to the driver 10 based on environmental information to help the driver 10 better control the vehicle.

[0049] The main control ECU 40 is the central processor of the vehicle, which communicates with the HMI 20 and the ADAS 30 to collect and process data, and then makes decisions based on the data to control the operating status of the vehicle.

[0050] In some embodiments, the main control ECU 40 is also responsible for integrating and processing data from various subsystems, and making decisions based on the data to control the operating state of the vehicle.

[0051] The main functions of the power control system 50 are: during the drift control process, to maintain a stable power output and to distribute power torque to the front and rear axles of the vehicle so that the vehicle can continue to operate in a drift state.

[0052] The main functions of the brake control system 60 are: actively intervene in vehicle control when the vehicle yaws, so that the vehicle yaws and maintains the vehicle in a stable drift state; when the vehicle state is not sufficient to support drifting, the vehicle is restored to a normal state or stopped through brake control.

[0053] The main functions of the steering control system 70 are: to provide stable assistance to the driver during drift control, and to support the main control ECU 40 in fine-tuning the drift control process.

[0054] The main function of the suspension control system 80 is to adjust the front and rear suspension height and / or damping during drift control to provide the driver with a stable driving experience.

[0055] Figure 2 is a schematic flow chart of a method for controlling a vehicle provided in an embodiment of the present application. The method is applied to a vehicle including Figure 1 Vehicle with the system shown.

[0056] For example, Figure 2 As shown, the method 200 includes:

[0057] Step 201, upon receiving a drift learning request sent by a user, determining a target drift scenario to be learned from a plurality of preset drift scenarios;

[0058] Step 202, determining a drifting route in a target drifting scenario;

[0059] Step 203 : providing target guidance in a target drifting scenario to the user based on the drifting route, so that the user can control the vehicle to drift along the drifting route based on the target guidance.

[0060] exist Figure 2 In the illustrated embodiment, by determining a target drift scenario from a plurality of preset drift scenarios, target guidance in the target drift scenario is provided to the user based on the drift route of the target drift scenario, thereby assisting the vehicle in drifting according to the drift route and improving the intelligence of the vehicle. Specifically, the user can control the vehicle to drift according to the drift route based on the target guidance, thereby teaching the user in the target drift scenario, allowing the user to learn drifting skills more systematically and efficiently based on the target guidance. Even if the user is a novice driver, the user can learn drifting skills based on the target guidance, so that the user no longer relies on experienced coaches or trainers, reducing the cost of drift learning for novice users and improving the user's car experience.

[0061] Below Figure 2 The specific implementation method of each step in the embodiment shown is described in detail:

[0062] In step 201, the drift learning request is a request sent by a user to indicate that the user currently wants to learn drift.

[0063] The preset drifting scene is a scene defined in advance that includes specific drifting actions, for example, it may include: a fixed circle drifting scene, a slalom drifting scene, an L-shaped drifting scene, a U-turn drifting scene, and the like.

[0064] Circle drifting refers to drifting on a circular track. Slalom drifting refers to drifting on a road with cones or obstacles. L-shaped drifting refers to drifting on an L-shaped track. U-turn drifting refers to drifting on a 180-degree curve.

[0065] The drift learning request may include relevant information of the target drift scene that the user wants to learn. After receiving the drift learning request from the user, the vehicle may analyze the drift learning request to obtain relevant information, and determine the target drift scene that the user wants to learn from multiple preset drift scenes based on the relevant information.

[0066] In some embodiments, two modes, namely, a novice mode and a player mode, may be pre-set in the vehicle. When the vehicle detects that the user selects the novice mode, it determines that the user's drift learning request is received.

[0067] Specifically, Figure 1 The HMI 20 shown includes a large screen arranged in front of the vehicle, and a button for selection is integrated on the large screen for the user to send a request or control command to the vehicle. Specifically, a novice mode button and a player mode button may be integrated on the large screen. When the HMI 20 detects that the user clicks the novice mode button on the large screen, the vehicle detects that the user selects the novice mode, and at this time determines that the user's drift learning request is received.

[0068] After the HMI 20 detects that the user clicks the novice mode button on the vehicle computer screen, it updates the display interface of the vehicle computer screen and displays the selection buttons for the user to select multiple preset drift scenes, such as: U-turn drift button, slalom drift button, circle drift button, L-shaped drift button, etc. The HMI 20 detects the user's click operation in real time and determines the drift scene clicked by the user as the target drift scene.

[0069] Exemplarily, the HMI 20 detects that the user clicks the circle drift button, and the HMI 20 sends a circle drift control request to the main control ECU 40, and the main control ECU 40 determines that the target drift scenario is the circle drift scenario.

[0070] In some embodiments, after the HMI 20 detects that the user clicks a button of a target drifting scene, the HMI 20 will also play an operation demonstration video corresponding to the target drifting scene to the user.

[0071] In one possible implementation, upon receiving a drift learning request sent by a user, the method further includes: adjusting the vehicle's power control system to a four-wheel drive mode, adjusting the steering control system to a target power assist mode, adjusting the suspension control system to a target height and a target damping state, adjusting the braking control system to a preset drift mode state, and turning off the vehicle's electronic stability control system.

[0072] As in the above embodiment, after detecting that the user has selected the learning mode, the vehicle determines that it has received the user's drift learning request and determines that the user currently needs to learn drift. At this time, the vehicle automatically adjusts the state of the entire vehicle to make the state of the entire vehicle reach the state that is easiest to enter drift.

[0073] like Figure 1 As shown, the vehicle includes a power control system, a steering control system, a brake control system and a suspension control system, and adjusting the state of the whole vehicle specifically includes adjusting the states of the above-mentioned multiple control systems. Specifically, when the driver selects the novice mode button on the large screen of the vehicle, the HMI 20 communicates with the main control ECU and sends a drift learning request to the main control ECU 40. After receiving the drift learning request, the main control ECU 40 starts to adjust the states of the various systems of the whole vehicle, including: adjusting the power control system of the vehicle to the four-wheel drive mode, adjusting the steering control system to the target power mode, adjusting the suspension control system to the target height and target damping state, adjusting the brake control system to the preset drift mode state and turning off the electronic stability control system of the vehicle.

[0074] The power control system is used to control the vehicle's torque output. The four-wheel drive mode means setting the vehicle to four-wheel drive, that is, both the front and rear wheels have torque output, which can provide better traction and vehicle control.

[0075] The steering control system may include three assist modes: strong assist mode, medium assist mode and low assist mode. The target assist mode may be low assist mode, so that the user can feel the tire grip more clearly and improve the user's control over vehicle steering.

[0076] The height of the suspension control system affects the center of gravity and stability of the vehicle. The target height is the suspension height at which the vehicle can achieve stable drift, which is usually a lower height. The damping force of the suspension control system also affects the stability of the vehicle. The target damping state is the damping state at which the vehicle can achieve stable drift, which is usually a high damping state. Setting the vehicle's suspension control system to a low height and high damping state can improve vehicle stability and handling.

[0077] In drift mode, the brake control system may not intervene as actively as in normal driving to allow the driver to perform drifting actions. The preset drift mode state is a special setting of the brake control system to adapt to the special needs of drifting. For example, in the preset drift mode, the vehicle will adjust the brake pressure to make the rear wheels lose grip more easily, so that the vehicle can enter a drift state.

[0078] The Electronic Stability Control (ESC) is used to help the vehicle maintain stability and prevent loss of control. When it is determined that the user needs drifting instruction, the electronic stability control system can be turned off to allow the vehicle to drift.

[0079] In some embodiments, after the vehicle automatically adjusts the vehicle state, it is necessary to detect again whether the above-mentioned multiple control systems have correctly entered the preset parameter state. If any control system has not correctly entered the preset parameter state, repeat the above configuration operation. If any control system has not correctly entered the preset parameter state, the main control ECU 40 issues an exit command to restore each system to a normal state and interacts with the HMI 20 to inform the driver that the function cannot be activated temporarily. When all the above systems enter the preset state within the set time, the main control ECU 40 interacts with the HMI 20 to inform the driver that the function has entered the ready state.

[0080] In the above method, when a drift learning request sent by the user is received, the parameters of multiple control systems in the vehicle are actively adjusted to enable the vehicle to have a drift function, thereby reducing user operations and avoiding the situation where novice players do not know how to adjust the parameters of the control system to enable the vehicle to have drift capabilities.

[0081] In step 202, the drifting route is the driving route of the vehicle when the vehicle is controlled to drift. Different drifting actions are performed in different scenarios, and accordingly, the vehicle has different drifting routes in different scenarios.

[0082] The vehicle can generate a drift route based on the target drift scene selected by the user and the current location of the vehicle. For example, if the target scene selected by the user is L-shaped drift, and the scene the vehicle is currently in is a wide scene with no obstacles 100m away, the determined drift route can be an L-shaped steering drift at 110m.

[0083] In one possible implementation, the method also includes: prompting the user to perform a setting operation corresponding to the target drift scenario; detecting that the user has completed the setting operation on the vehicle; and determining a drift route under the target drift scenario, including: after detecting that the user has completed the setting operation on the vehicle, determining the drift route under the target drift scenario based on the setting operation.

[0084] The setting operation refers to the setting operation that the drift user needs to perform in order to achieve the target drift scenario.

[0085] Different drifting scenarios require different setting operations to generate relevant reference data of the drifting route under the drifting scenario. After determining the target drifting scenario, the HMI 20 can prompt the user through the vehicle screen to perform the setting operation corresponding to the target drifting scenario selected by the user, and the user can complete the setting operation based on the prompt.

[0086] After the vehicle detects that the user has completed the setting operation, relevant reference data for generating a drift route in a target drift scenario can be obtained based on the setting operation, and then the drift route in the target drift scenario can be determined based on the relevant reference data.

[0087] In the above method, by prompting the user with the setting operation corresponding to the target drift scene, the user can set the target drift scene, thereby realizing the flexible adaptation of the drift scene to user needs, and determining the drift route based on the user's setting operation to provide target guidance to the user, thereby realizing the flexible adaptation of teaching to user needs and improving the user's drift experience.

[0088] In one possible implementation, the target drifting scenarios include: a circle drifting scenario, a pole drifting scenario, an L-shaped drifting scenario, and a U-turn drifting scenario; the user is prompted with setting operations corresponding to the target drifting scenarios, including: when the target drifting scenario is a circle drifting scenario, the user is prompted to set the circle radius and / or the circle drifting direction; when the target drifting scenario is a pole drifting scenario, the user is prompted to set the pole object, pole radius, and pole drifting direction; when the target drifting scenario is an L-shaped drifting scenario or a U-turn drifting scenario, the user is prompted to set the straight-ahead distance and drift direction.

[0089] The setting operation corresponding to the fixed circle drifting scene includes: setting the fixed circle radius and / or the fixed circle drifting direction. The fixed circle radius is the radius of the drifting route in the fixed circle drifting scene, and the fixed circle drifting direction is the direction of the drifting route, including clockwise and counterclockwise.

[0090] The user can set the fixed circle radius and / or the fixed circle drift direction by himself. When the user sets the fixed circle radius, the relevant reference data is the set radius value. At this time, a circular route can be generated as a drift route based on the set radius value. When the user sets the fixed circle drift direction, the relevant reference data is the set direction. At this time, a circular route with a turning direction can be generated as a drift route based on the system default radius value and direction. When the user sets the fixed circle radius and the fixed circle drift direction, the relevant reference data is the set radius value and the set direction. At this time, a circular route with a turning direction can be generated as a drift route based on the set radius value and direction.

[0091] For example, the target drifting scene is a fixed circle drifting scene. After detecting that the user clicks the button of the fixed circle drifting scene, the vehicle prompts the user to set the fixed circle radius and fixed circle drifting direction based on the vehicle computer screen. Assuming that the user sets the fixed circle radius to 10m and the fixed circle drifting direction to clockwise, a drifting route with a radius of 10m and a clockwise direction is generated.

[0092] The setting operations corresponding to the slalom drifting scene include: setting the slalom object, slalom radius and slalom drifting direction. The slalom object is the center around which the vehicle is drifting, the slalom radius is the distance between the vehicle and the slalom object in the slalom drifting scene, and the slalom drifting direction is the direction of the drifting route, including clockwise and counterclockwise.

[0093] The user can set the object, radius and drift direction of the slalom by himself, where the object is usually a cone. After the user sets the object, radius and drift direction, the relevant reference data is the position of the object, the set radius value and the direction. At this time, based on the position, radius and direction of the object, a circular route with the position of the object as the center, the set radius value as the radius and the set direction as the turning direction can be generated as the drift route.

[0094] For example, the target drifting scene is a drifting around a pole. After detecting that the user clicks the button for the drifting around a pole scene, the vehicle prompts the user to set the pole object, pole radius, and pole drift direction based on the vehicle screen. Assuming that the user sets the pole radius to 10m and the pole drift direction to clockwise, a drift route with a radius of 10m and a clockwise direction is generated with the position of the pole object as the center.

[0095] It is understandable that there can be multiple or one slalom object. When there are multiple slalom objects, the corresponding drifting scene can also be an 8-shaped drifting scene. In the 8-shaped drifting scene, the slalom directions between two adjacent slalom objects are opposite, and the set slalom direction defaults to the direction in which the vehicle drifts around the first slalom object. Based on the positions of multiple slalom objects, slalom radius and slalom drifting direction, an 8-shaped drifting scene can be generated.

[0096] After setting the slalom object, the main control ECU 40 activates the ADAS 30 system, and the ADAS 30 detects the cone barrel information around the vehicle and displays the identified cone barrel to the user on the large screen of the vehicle. The user can select the cone barrel for anchoring. After selecting the cone barrel, the user sets the radius of the slalom around the selected cone barrel and the drift direction of the slalom around the selected cone barrel. The direction of the vehicle's circling and the radius of the slalom around can be selected.

[0097] The setting operations corresponding to the L-shaped drift scenario and the U-turn drift scenario include: straight distance and drift direction, where the straight distance is the distance of the vehicle's straight-line travel, and the drift direction is the direction of the vehicle's L-shaped drift or U-turn drift, including left and right. When the user sets the straight distance and drift direction, the relevant reference data is the set straight distance value and drift direction. At this time, a drift route can be generated based on the straight distance value and drift direction.

[0098] For example, the target drifting scenario is an L-shaped drifting scenario. After detecting that the user clicks the L-shaped drifting scenario button, the vehicle prompts the user to set the straight distance and drift direction based on the vehicle computer screen. Assuming that the user sets the straight distance to 10m and the drift direction to the right, an L-shaped drifting route can be generated that turns right after going straight for 10m.

[0099] In step 203 , target guidance refers to guidance provided by the vehicle system to the user on how to control the vehicle to drift.

[0100] The vehicle system will provide users with detailed drift target guidance based on the determined drift route, such as how to control the vehicle's speed, when to steer, when to brake, etc. Users can control the vehicle's speed, direction, and brakes according to the target guidance to achieve the drift route in the target drift scenario.

[0101] In one possible implementation, based on the drift route, teaching in a target drift scenario is provided to the user, so that the user can control the vehicle to drift along the drift route based on the teaching content, including: determining the control information included in the drift route; based on the control information, determining the target operation that the user needs to perform; based on the target operation, providing the user with target guidance in the target drift scenario, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0102] The control information refers to the target parameters that the vehicle needs to achieve when it reaches each position in the drift route during the drift process. The target parameters may include parameters such as vehicle speed and steering angle.

[0103] It is understandable that the generated drift route may include control information of the vehicle at each position on the drift route. After obtaining the drift route, the control information may be obtained from the drift route, and then based on the control information, it is determined which operations the user needs to perform on the vehicle to make the vehicle drift based on the drift route, and these operations are determined as target operations. Among them, the target operation may include a throttle control operation and / or a steering control operation.

[0104] Specifically, the current operating parameters of the vehicle can be obtained to determine the current state of the vehicle. Based on the current state of the vehicle, target control information corresponding to the current state of the vehicle can be determined from the control information. Then, the target control information and the current operating parameters of the vehicle can be compared to determine the target operation that the user needs to perform.

[0105] It can be understood that the drift route includes multiple control stages, and different control stages correspond to different control continuations. The vehicle is currently in one of the multiple control stages. The target control stage that the vehicle is currently in can be determined, and the control information of the target control stage can be determined as the target control information. Then, the target operation that the user currently needs to perform is determined based on the target control information.

[0106] Exemplarily, the drift route includes the first stage, the second stage and the third stage. The current state of the vehicle is the first stage. Assuming that the control information corresponding to the first stage is to control the vehicle speed to reach the target speed V, then controlling the vehicle speed to reach the target speed V is determined as the target control information, and the target operation that the user needs to perform is determined based on the target speed V.

[0107] Further, the current vehicle speed and the target vehicle speed V may be obtained for comparison. When it is determined that the current vehicle speed is less than the target vehicle speed V, the target operation may be, for example, an operation of stepping on the accelerator to accelerate. When it is determined that the current vehicle speed is greater than the target vehicle speed V, the target operation may be, for example, an operation of stepping on the brake or releasing the accelerator to decelerate. When it is determined that the current vehicle speed is greater than the target vehicle speed V, the target operation may be, for example, an operation of maintaining the accelerator to maintain the vehicle speed.

[0108] After determining the target operation that the user needs to perform, the target operation can be displayed to the user based on the large screen of the vehicle machine of the HMI 20, so as to provide the user with target guidance in the target drifting scenario. The user can control the vehicle based on the displayed target operation so that the vehicle drifts according to the drifting route.

[0109] In the above method, the drift route is the drift route that the vehicle is going to achieve, and the control information on the drift route is the indicator that the vehicle needs to achieve. During the vehicle drifting process, the target operation that the user needs to perform when the vehicle drifts along the drift route can be determined based on the control information on the drift route. Target guidance is provided to the user based on the target operation, thereby achieving precise target guidance, which allows the user to control the vehicle drift based on the guided target operation during the drifting process, helping the user to understand and master drifting skills in practice, thereby improving the user's drifting ability and improving the efficiency of the user's drift learning.

[0110] In one possible implementation, based on the control information, determining the target operation that the user needs to perform includes: determining the drift skill to be learned by the user in a target drift scenario; wherein the drift skill includes a throttle control skill and a throttle and steering control skill; when the drift skill is a throttle control skill, based on the control information, determining that the target operation that the user needs to perform is a throttle control operation; when the drift skill is a throttle and steering control skill, based on the control information, determining that the target operation that the user needs to perform includes a throttle control operation and a steering control operation.

[0111] The drift learning request may also include the drifting skills that the user wants to learn. After determining the target drifting scenario, the drifting skills to be learned by the user in the target drifting scenario may be determined by analyzing the drift learning request. The drifting skills include the throttle control skills and the throttle and steering control skills.

[0112] In some embodiments, after selecting a target drift scenario, the user can select the drift skill that he wants to learn in the target drift scenario.

[0113] For example, after playing the operation demonstration video corresponding to the target drifting scene, the large screen of the HMI 20 can update the display interface and display the learning mode selection button, and the learning mode selection button can include: a throttle control button and a throttle + steering control button. When the vehicle detects that the user clicks the throttle control button, it determines that the drifting skill that the user wants to learn is the throttle control skill. When the vehicle detects that the user clicks the throttle + steering control button, it determines that the drifting skill that the user wants to learn is the throttle and steering control skill.

[0114] When the drift skill is a throttle control skill, it indicates that the user wants to learn throttle control in the target drift scenario. At this time, the throttle control operation can be determined based on the control information, and the determined throttle control operation is used as the target operation. When the drift skill is a throttle and steering control skill, it indicates that the user wants to learn throttle and steering control in the target drift scenario. At this time, the throttle control operation and steering control operation can be determined based on the control information, and the determined throttle control operation and steering control operation are used as the target operation.

[0115] In the above method, two teaching modes are set, namely, throttle control skills and throttle and steering control skills. In the target drift scenario, users can choose the drift skills they want to learn, which improves the flexibility and safety of teaching, while avoiding safety problems caused by users with poor steering control directly controlling the steering when learning drift.

[0116] In one possible implementation, the throttle control operation includes: one or more of the operations of pressing the throttle when the vehicle starts, maintaining or increasing the throttle when entering drift, correcting the throttle when maintaining drift, and releasing the throttle when exiting drift; the steering control operation includes: one or more of the operations of starting steering when entering drift, correcting the steering when maintaining drift, and returning to the center steering when exiting drift.

[0117] The drift route may specifically include multiple control stages such as vehicle starting stage, entering drift stage, maintaining drift stage and exiting drift stage.

[0118] During the vehicle starting phase, the vehicle speed is usually low, while the vehicle needs to achieve drift at a higher speed. Therefore, the corresponding throttle control operation during the vehicle starting phase is usually to step on the accelerator to accelerate the vehicle. Steering is usually not required during the starting phase, so there is usually no steering control operation during the starting phase.

[0119] The drift route may include preset conditions for the vehicle to enter drift. When it is determined that the vehicle meets the preset conditions, it is determined that the vehicle will start drifting (i.e., enter drifting). To start drifting, the vehicle usually needs to maintain or increase the vehicle speed, so the corresponding throttle operation when the vehicle enters drifting may be an operation of maintaining the throttle or an operation of increasing the throttle. When the vehicle enters drifting, the vehicle will start turning, so the corresponding steering operation when the vehicle enters drifting is an operation of starting steering.

[0120] It is understandable that when a vehicle enters drifting, the rear wheels of the vehicle usually need to slip, so the throttle control operation when entering drifting is usually to quickly increase the throttle so that the rear wheels of the vehicle lose grip during the drifting process and slip.

[0121] When the vehicle maintains the drifting stage, it is usually necessary to change the speed of the vehicle dynamically in real time (including increasing or decreasing the speed). Therefore, the corresponding throttle operation of the vehicle during the drifting process is the operation of correcting the throttle. The vehicle also needs to change the steering of the vehicle in real time and dynamically during the drifting process, so the corresponding steering operation of the vehicle during the drifting process is the operation of correcting the steering. Among them, the specific operation of correcting the throttle and the operation of correcting the steering are determined based on the current state of the vehicle. For example, if the current steering angle is not enough for the preset angle of the current position, the operation of correcting the steering is the operation of continuing to turn. If the current steering angle exceeds the preset angle of the current position, the operation of correcting the steering is the operation of slightly returning to the correct steering.

[0122] After the vehicle completes drifting, it usually exits the drifting. At this time, the vehicle needs to reduce the speed and restore the user's control of the vehicle. Therefore, the corresponding throttle control operation when the vehicle exits drifting is to release the throttle. When the vehicle completes drifting, the body also needs to return to the center to resume normal driving. Therefore, the corresponding steering control operation when the vehicle exits drifting is to return to the center steering operation.

[0123] In some embodiments, the target drifting scene may be any one of a plurality of preset drifting scenes. In different drifting scenes, the states of the plurality of control stages for determining that the vehicle reaches the drifting route are different. The following embodiments describe this situation in detail:

[0124] In one possible implementation, based on the target operation, target guidance in a target drift scenario is provided to the user to guide the user to control the vehicle to drift along the drift route by executing the target operation, including: when the target drift scenario is a fixed circle drift scenario and the target operation includes a throttle control operation, when it is detected that the fixed circle drift preparation is completed, it is determined that the vehicle starts and the user is prompted to press the accelerator; when it is detected that the vehicle speed reaches the fixed circle drift speed, it is determined that drifting has begun and the user is prompted to maintain the throttle or increase the throttle; when it is detected that the vehicle is turning, it is determined that the drift is maintained and the user is prompted to correct the throttle; when it is detected that the vehicle completes the rotation, it is determined that the drift is maintained and the user is prompted to correct the throttle; When drifting in a circle, it is determined that the vehicle should exit drifting and the user is prompted to release the accelerator to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drifting scenario is a circle drifting scenario and the target operation includes a steering control operation, when it is detected that the vehicle speed reaches the circle drifting speed, it is determined that the vehicle should enter drifting and the user is prompted to start steering; when it is detected that the vehicle is turning, it is determined that the vehicle should maintain drifting and the user is prompted to correct the steering; when it is detected that the vehicle has completed circle drifting, it is determined that the vehicle should exit drifting and the user is prompted to return to the normal steering position to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0125] When the target drift scenario is a circular drift scenario, the throttle control operation includes: the operation of pressing the accelerator when it is detected that the vehicle has completed the preparation for circular drift, the operation of maintaining or increasing the throttle when it is detected that the vehicle speed reaches the circular drift speed, the operation of correcting the throttle when it is detected that the vehicle is turning, and the operation of releasing the accelerator when it is detected that the vehicle has completed the circular drift; the steering control operation includes: the operation of starting to turn when it is detected that the vehicle speed reaches the circular drift speed, the operation of correcting the steering when it is detected that the vehicle is turning, and the operation of returning to the normal steering when it is detected that the vehicle has completed the circular drift.

[0126] Specifically, when the target drifting scene selected by the user is the fixed circle drifting scene, after the vehicle detects that the user has completed the corresponding setting operation in the fixed circle drifting scene, a pop-up window will be displayed on the large screen of the vehicle computer to confirm with the user whether the vehicle has completed the fixed circle drifting preparation. The pop-up window includes an OK option button and a Cancel selection button. When the vehicle detects that the user clicks the OK option button, it determines that the vehicle has completed the fixed circle drifting preparation. At this time, it determines that the vehicle is in the starting stage of the fixed circle drifting scene, and prompts the user to step on the accelerator.

[0127] After the user steps on the accelerator, the vehicle starts to accelerate. To achieve fixed circle drift, the vehicle needs to reach the preset fixed circle drift speed. When the vehicle detects that the speed has reached the fixed circle drift speed, it determines that the vehicle can start drifting. At this time, it is determined that the vehicle is in the drifting stage. If the drift skill that the user wants to learn is the throttle control skill, the user is prompted to maintain the throttle or increase the throttle. If the drift skill that the user wants to learn is the throttle and steering control skill, the user is prompted to maintain the throttle or increase the throttle, and the user is prompted to start steering.

[0128] In some embodiments, if the user sets the circular drift direction in the circular drift scenario, and the drift skill the user wants to learn is the throttle control skill, the main control ECU will actively control the vehicle to turn according to the set circular drift direction when the vehicle enters the drift.

[0129] In some embodiments, if the user sets the circle drift direction in the circle drift scenario, then when the drift skill the user wants to learn is the throttle control skill, the user can be prompted to slightly turn the steering wheel when the vehicle enters the drift. After the user controls the steering wheel, the main control ECU takes over the steering of the vehicle and controls the steering of the vehicle according to the user's steering direction.

[0130] When the vehicle starts to turn, it means that the vehicle starts to drift. Therefore, when the vehicle turns, it can be determined that the vehicle is in the process of drifting, that is, the vehicle is in the stage of maintaining drift. If the drift skill that the user wants to learn is the throttle control skill, the user is prompted to correct the throttle operation. If the drift skill that the user wants to learn is the throttle and steering control skill, the user is prompted to correct the throttle operation and the steering operation.

[0131] In some embodiments, if the drifting skill that the user wants to learn is the throttle control skill, during the drifting process of the vehicle, the main control ECU will actively correct the steering of the vehicle.

[0132] When the radius of the vehicle's drifting route is detected to be the fixed circle radius set by the user, it can be determined that the vehicle has completed the fixed circle drift. If the drift skill the user wants to learn is the throttle control skill, the user is prompted to release the throttle. If the drift skill the user wants to learn is the throttle and steering control skill, the user is prompted to release the throttle and return to the center steering.

[0133] In some embodiments, it is also possible to determine that the user wants to exit drifting when it is detected that the user releases the throttle, and prompt the user to exit the throttle control operation, or the throttle control operation and the steering control operation, of the drifting phase.

[0134] In a possible implementation, based on the target operation, target guidance in a target drifting scenario is provided to the user to guide the user to control the vehicle to drift along the drifting route by executing the target operation, including: when the target drifting scenario is a slalom drifting scenario and the target operation includes a throttle control operation, when it is detected that the vehicle has reached a predetermined position, it is determined that the vehicle has started and the user is prompted to step on the accelerator; when it is detected that the distance between the vehicle and the slalom object is equal to a preset slalom radius, it is determined that the drift has begun and the user is prompted to maintain the throttle or increase the throttle; when it is detected that the vehicle is turning around the slalom, it is determined that the drift is maintained and the user is prompted to correct the throttle; when it is detected that the vehicle has completed the rotation, it is determined that the drift is maintained and the user is prompted to correct the throttle; When drifting around a pole is completed, it is determined to exit drift and the user is prompted to release the accelerator to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drifting scenario is a pole drifting scenario and the target operation includes a steering control operation, when it is detected that the distance between the vehicle and the pole object is equal to the preset distance, it is determined to enter drift and the user is prompted to start steering; when it is detected that the vehicle is turning around the pole, it is determined to maintain drift and the user is prompted to correct the steering; when it is detected that the vehicle has completed drifting around the pole, it is determined to exit drift and the user is prompted to return to the normal steering position to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0135] When the target drifting scenario is a drifting scenario around a pole, the throttle control operation includes: the operation of stepping on the throttle when it is detected that the vehicle reaches a predetermined position, the operation of maintaining or increasing the throttle when it is detected that the distance between the vehicle and the object around the pole is equal to the preset distance, the operation of correcting the throttle when it is detected that the vehicle is turning around the pole, and the operation of releasing the throttle when it is detected that the vehicle completes drifting around the pole; the steering control operation includes: the operation of starting to turn when it is detected that the distance between the vehicle and the object around the pole is equal to the preset distance, the operation of correcting the steering when it is detected that the vehicle is turning around the pole, and the operation of returning to the normal steering when it is detected that the vehicle completes drifting around the pole.

[0136] Specifically, when the target drifting scene selected by the user is a slalom drifting scene, after the vehicle detects the slalom object set by the user, it will instruct the user to drive the vehicle away from the slalom object to a predetermined position. The predetermined position can usually be determined based on the distance between the vehicle and the slalom object. The predetermined position can be, for example, a first distance from the slalom object. The first distance is greater than the slalom radius. When it is determined that the vehicle has reached the predetermined position, it is determined that the vehicle is in the starting stage of the slalom drifting scene, and the user is prompted to step on the accelerator.

[0137] When a vehicle is drifting around a pole, there is a pole radius. When the distance between the vehicle and the pole object is equal to the pole radius, the vehicle is determined to start drifting, and the vehicle is determined to be in the drifting stage. If the drift skill that the user wants to learn is the throttle control skill, the user is prompted to maintain the throttle or increase the throttle. If the drift skill that the user wants to learn is the throttle and steering control skill, the user is prompted to maintain the throttle or increase the throttle, and the user is prompted to start steering.

[0138] As in the above embodiment, when the drifting skill that the user wants to learn is the throttle control skill, the main control ECU controls the steering of the vehicle according to the set drifting direction around the pole.

[0139] When the vehicle starts to drift around the pole, the vehicle rotates around the pole. Therefore, when the vehicle rotates around the pole, it is determined that the vehicle is in the drifting stage, that is, the vehicle is in the drifting process. If the drifting skill that the user wants to learn is the throttle control skill, the user is prompted to correct the throttle operation. If the drifting skill that the user wants to learn is the throttle and steering control skill, the user is prompted to correct the throttle operation and the steering operation.

[0140] When the radius of the vehicle's drifting route is detected to be the radius of the slalom set by the user, it can be determined that the vehicle has completed the slalom drift. If the drifting skill that the user wants to learn is the throttle control skill, the user is prompted to release the throttle. If the drifting skill that the user wants to learn is the throttle and steering control skill, the user is prompted to release the throttle and return to the center steering.

[0141] In some embodiments, when the drifting scene around the slalom is an 8-shaped drifting scene, if the drifting skill that the user wants to learn is the throttle control skill, the main control ECU will control the vehicle to change lanes at the appropriate position around the slalom. For example, when the current position of the vehicle is on the line between two objects around the slalom, the vehicle can be controlled to reversely steer to achieve a figure-8 drift. If the drifting skill that the user wants to learn is the throttle and steering control skill, the vehicle will prompt the user to control the vehicle to reversely steer at an appropriate time. The appropriate time may be, for example, when the current position of the vehicle is determined to be on the line between two objects around the slalom.

[0142] In one possible implementation, based on the target operation, target guidance in a target drift scenario is provided to the user to guide the user to control the vehicle to drift along the drift route by executing the target operation, including: when the target drift scenario is an L-shaped drift scenario or a U-turn drift scenario, and the target operation includes a throttle control operation, when it is detected that the L-shaped drift preparation or the U-turn drift preparation is completed, it is determined that the vehicle starts and the user is prompted to press the accelerator; when it is detected that the vehicle has traveled a preset distance, it is determined that the drift is entered and the user is prompted to maintain the throttle or increase the throttle; when it is detected that the vehicle is turning, it is determined that the drift is maintained and the user is prompted to correct the throttle; when it is detected that the vehicle completes the L-shaped drift, the vehicle starts and the user is prompted to press the accelerator; When drifting or drifting around a U-turn, it is determined that drifting is exited and the user is prompted to release the accelerator, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation; when the target drifting scenario is an L-type drifting scenario or a U-turn drifting scenario, and the target operation includes a steering control operation, when it is detected that the vehicle has traveled a preset distance, it is determined that drifting is entered and the user is prompted to start steering; when it is detected that the vehicle is turning, it is determined that drifting is maintained and the user is prompted to correct the steering; when it is detected that the vehicle has completed L-type drifting or U-turn drifting, it is determined that drifting is exited and the user is prompted to return to the center steering position, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0143] When the target drift scenario is an L-shaped drift scenario or a U-turn drift scenario, the throttle control operation includes: the operation of stepping on the accelerator when it is detected that the vehicle has completed the L-shaped drift scenario or is preparing for a U-turn drift, the operation of maintaining or increasing the throttle when it is detected that the vehicle has traveled a preset distance, the operation of correcting the throttle when it is detected that the vehicle is turning, and the operation of releasing the accelerator when it is detected that the vehicle has completed the L-shaped drift or the U-turn drift; the steering control operation includes: the operation of starting to turn when it is detected that the vehicle has traveled a preset distance, the operation of correcting the steering when it is detected that the vehicle is turning, and the operation of returning to the normal steering when it is detected that the vehicle has completed the L-shaped drift or the U-turn drift.

[0144] Specifically, when the target drifting scenario selected by the user is an L-shaped drifting scenario or a U-turn drifting scenario, after the vehicle detects that the user has completed the corresponding setting operation in the L-shaped drifting scenario or the U-turn drifting scenario, a pop-up window will be displayed on the large screen of the vehicle computer to confirm with the user whether the vehicle has completed the L-shaped drifting or U-turn drifting preparation. The pop-up window includes an OK option button and a Cancel selection button. When the vehicle detects that the user clicks the OK option button, it determines that the vehicle has completed the L-shaped drifting or U-turn drifting preparation. At this time, it determines that the vehicle is in the starting stage of L-shaped drifting or U-turn drifting, and prompts the user to step on the accelerator.

[0145] After the user steps on the accelerator, the vehicle starts to accelerate and move forward. The straight-line driving distance of the vehicle is set in advance, that is, the preset distance. When it is determined that the straight-line driving distance of the vehicle is equal to the preset distance, it can be determined that the vehicle can start drifting. At this time, it is determined that the vehicle is in the drifting stage. If the drifting skill that the user wants to learn is the throttle control skill, the user is prompted to maintain the throttle or increase the throttle. If the drifting skill that the user wants to learn is the throttle and steering control skill, the user is prompted to maintain the throttle or increase the throttle, and the user is prompted to start steering.

[0146] As in the above embodiment, when the drifting skill that the user wants to learn is the throttle control skill, the main control ECU controls the steering of the vehicle according to the set drifting direction.

[0147] When the vehicle starts to turn, it means that the vehicle starts to drift. Therefore, when the vehicle turns, it can be determined that the vehicle is in the drifting stage, that is, the vehicle is in the drifting process. If the drifting skill that the user wants to learn is the throttle control skill, the user is prompted to correct the throttle operation. If the drifting skill that the user wants to learn is the throttle and steering control skill, the user is prompted to correct the throttle operation and the steering operation.

[0148] It can be understood that the steering angles of L-type drift and U-turn drift are different, so the amplitude of steering correction during drifting is also different, and the correction amplitude of U-turn drift is greater than that of L-type drift.

[0149] In one possible implementation, the method also includes: upon receiving a drift request sent by a user, displaying a parameter adjustment interface for the user to adjust the state parameters of the target control system based on the parameter interface so that the vehicle has drift capability; the target control system includes: a power control system, a steering control system, a suspension control system and a braking control system.

[0150] Specifically, when the vehicle receives a drift request sent by the user, it displays an interface for adjusting the parameters of the vehicle's power control system, steering control system, suspension control system and braking control system, so that the user can adjust the state parameters of the power control system, steering control system, suspension control system and braking control system based on the interface, so that the vehicle has the ability to drift.

[0151] Among them, the drift request is different from the drift learning request. The drift request user indicates that the user currently wants to drift and does not need to learn.

[0152] As in the above embodiment, two modes, a novice mode and a player mode, can be set in advance in the vehicle. When the vehicle detects that the user selects the player mode, it is determined that the user's drift request is received. Specifically, when the HMI 20 detects that the user clicks the player mode button on the large screen of the vehicle, the vehicle detects that the user selects the player mode, and at this time, it is determined that the user's drift request is received.

[0153] After the HMI 20 detects that the user clicks the player mode button on the vehicle screen, it updates the display interface of the vehicle screen and displays the interface for adjusting the parameters of the power control system, steering control system, suspension control system and brake control system. The interface may specifically include the brake control system control mode option; the suspension control system height and damping setting box; the steering control system power assist mode option; and the power control system torque output mode option.

[0154] Figure 3 This is a schematic diagram of an interface provided in an embodiment of the present application.

[0155] For example, Figure 3 As shown, the interface 300 includes:

[0156] Option buttons of the power control system 50: four-wheel drive mode button 301, front-wheel drive mode button 302, rear-wheel drive mode button 303. Option buttons of the brake control system 60: high-frequency control button 304, medium-frequency control button 305, low-frequency control button 306, and off button 307. Option buttons of the steering control system 70: strong power button 308, medium power button 309, low power button 310, and height input box 311 and damping input box 312 of the suspension control system 80.

[0157] The user can click the option button or enter the target value in the input box to adjust the power control system, steering control system, suspension control system and braking control system so that the vehicle can enter a drift state.

[0158] Exemplarily, the user can click the four-wheel drive mode button 301 to set the power control system to the four-wheel drive mode, click the off button 307 to turn off the vehicle's braking control system, click the low power button 310 to set the steering control system to low power, enter a lower height value in the height input box 311, and enter a larger damping value in the damping input box 312 so that the vehicle can enter a drift state.

[0159] Figure 4 It is a schematic flowchart of another method for controlling a vehicle provided in an embodiment of the present application.

[0160] For example, Figure 4 As shown, the method 400 includes:

[0161] Step 401, detecting that a user clicks a drift mode button, and displaying a player mode button and a novice mode button;

[0162] Step 402, detecting that the user clicks the player mode button, and displaying the adjustment interface;

[0163] Step 403: The user adjusts the parameters in the adjustment interface, and drifts automatically after the adjustment.

[0164] Among them, the drift mode button can be integrated on the large screen of the car computer, or it can be a mechanical button integrated in the front of the vehicle. When it is detected that the user clicks the drift mode button, the player mode button and the novice mode button are displayed on the large screen of the car computer for the user to select the drift mode.

[0165] When it is detected that the user clicks the player mode button, it is determined that the user does not need teaching at the moment and is an experienced player. At this time, the following is displayed: Figure 3 The adjustment interface shown in the figure includes the brake control system control mode option; the suspension control system height and damping setting box; the steering control system power mode option; and the power control system torque output mode option. Users can adjust the parameters of the above control systems in the adjustment interface to enable the vehicle to drift, and then drive the car to drift by itself after adjustment.

[0166] Step 404, detecting that the user clicks the novice mode button;

[0167] Step 405, automatically adjusting the parameters of multiple control systems to preset parameters;

[0168] Step 406, determining whether each system has entered a preset parameter state; if so, executing step 407, otherwise executing step 405;

[0169] Among them, multiple control systems include: brake control system, suspension control system, steering control system, power control system

[0170] When the user clicks the novice mode button, it can be determined that the user may be a novice driver. At this time, the vehicle automatically adjusts the parameters of the braking control system, suspension control system, steering control system, and power control system to their corresponding preset parameters. The specific adjustment is as described in the above embodiment and will not be repeated here.

[0171] Step 407, the driver selects a target drifting scene from a plurality of preset drifting scenes;

[0172] Step 408, selecting the learning mode as the throttle mode;

[0173] Step 409, instructing the driver to start, instructing the driver to turn, and taking over the steering to automatically perform steering control;

[0174] Among them, multiple preset drifting scenes include: fixed circle drifting scene, slalom drifting scene, L-shaped drifting scene and U-turn drifting scene, etc. The learning mode includes throttle mode and steering and throttle mode.

[0175] The user selects the throttle mode to determine that the drifting skill that the user wants to learn is the throttle control skill. The specific content of instructing the driver to start is usually to instruct the driver to step on the accelerator.

[0176] When it is determined in throttle mode that the vehicle can enter drift, it can also instruct the driver to steer, and after detecting that the driver is steering, it takes over the steering and automatically controls the steering of the vehicle.

[0177] Step 410, determining whether the vehicle throttle input meets the drift requirement, if yes, executing step 412, otherwise executing step 411;

[0178] Step 411, instructing the driver to correct the throttle;

[0179] Step 412, instructing the driver to maintain the throttle;

[0180] Among them, the current vehicle speed and the target speed during drifting can be obtained for comparison to determine whether the vehicle's throttle input meets the drift requirements. When the current speed is greater than the target speed or less than the target speed, it is determined that the vehicle's throttle input does not meet the drift requirements, and the driver is instructed to correct the throttle.

[0181] Specifically, the driver may be instructed to reduce the throttle when the current vehicle speed is greater than the target vehicle speed, and may be instructed to increase the throttle when the current vehicle speed is less than the target vehicle speed.

[0182] Step 413, determining whether the driver releases the accelerator; if so, executing step 414, otherwise executing step 412;

[0183] Step 414, instruct the driver to continue to release the accelerator.

[0184] If it is detected that the driver releases the accelerator during the drifting process, it can be determined that the user wants to exit the drifting, and the driver is instructed to continue to release the accelerator to exit the drifting.

[0185] Step 415, after determining that the vehicle has stopped, summarize the current teaching.

[0186] After the vehicle is determined to have stopped, it can be determined that the vehicle drift mode has ended. The main control ECU begins to summarize the drift process and makes operational suggestions to the driver based on the parameters that have been corrected multiple times by the vehicle system.

[0187] In some embodiments, when the user selects the steering and throttle control mode, after step 409, while executing steps 410 to 412, it is determined whether the vehicle steering input meets the drift requirement. If it does, the driver is instructed to maintain the steering, and if it does not, the driver is instructed to correct the steering. In step 413, after it is determined that the driver releases the throttle, the driver needs to be instructed to return to the normal steering position.

[0188] In some embodiments, the vehicle also includes a fuzzy control mode. In the fuzzy control mode, the main control ECU will intelligently identify the driver's operation and make operational suggestions to the driver based on the driver's control of the vehicle to maintain the vehicle drift state.

[0189] In summary, the user of this application can set the target drift scene, realize the drift scene to flexibly adapt to user needs, determine the drift route based on the user's setting operation to provide target guidance to the user, realize the auxiliary vehicle drifting according to the drift route, and improve the intelligence of the vehicle. Even if the user is a novice driver, he can drive the vehicle to complete the drift based on the target guidance. In addition, in the target drift scene, the user can choose the drift skills he wants to learn, which improves the flexibility and safety of teaching, allowing users to learn drift skills more systematically and efficiently based on target guidance, so that users no longer rely on experienced coaches or trainers, reducing the cost of novice users to learn drift and improving the user's car experience.

[0190] Figure 5 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0191] For example, Figure 5 As shown, the device 500 includes:

[0192] A first determining module 501 is configured to determine a target drift scenario to be learned from a plurality of preset drift scenarios when a drift learning request sent by a user is received;

[0193] The second determination module 502 is used to determine the drift route in the target drift scenario;

[0194] The guidance module 503 is used to provide the user with target guidance in a target drifting scenario based on the drifting route, so that the user can control the vehicle to drift according to the drifting route based on the target guidance.

[0195] In one possible implementation, the device also includes: a prompt module, used to prompt the user with a setting operation corresponding to the target drift scenario; a detection module, used to detect that the user has completed the setting operation on the vehicle; the second determination module 502 is specifically used to determine the drift route under the target drift scenario based on the setting operation after detecting that the user has completed the setting operation on the vehicle.

[0196] In one possible implementation, the guidance module 503 is specifically used to determine the control information included in the drift route; based on the control information, determine the target operation that the user needs to perform; based on the target operation, provide the user with target guidance in the target drift scenario to guide the user to control the vehicle to drift along the drift route by performing the target operation.

[0197] In one possible implementation, the guidance module 503 is specifically used to determine the drift skills to be learned by the user in a target drift scenario; wherein the drift skills include throttle control skills and throttle and steering control skills; when the drift skill is a throttle control skill, based on the control information, it is determined that the target operation that the user needs to perform is a throttle control operation; when the drift skill is a throttle and steering control skill, based on the control information, it is determined that the target operations that the user needs to perform include throttle control operations and steering control operations.

[0198] In one possible implementation, the throttle control operation includes: one or more of the operations of pressing the throttle when the vehicle starts, maintaining or increasing the throttle when entering drift, correcting the throttle when maintaining drift, and releasing the throttle when exiting drift; the steering control operation includes: one or more of the operations of starting steering when entering drift, correcting the steering when maintaining drift, and returning to the center steering when exiting drift.

[0199] In one possible implementation, the guidance module 503 is specifically used to, when the target drifting scenario is a fixed circle drifting scenario and the target operation includes a throttle control operation, determine that the vehicle has started and prompt the user to press the accelerator when it is detected that the preparation for the fixed circle drifting is completed; determine that the vehicle has entered the drifting phase and prompt the user to maintain or increase the throttle when it is detected that the vehicle speed has reached the fixed circle drifting speed; determine that the vehicle has maintained the drifting phase and prompt the user to correct the throttle when it is detected that the vehicle has completed the fixed circle drifting phase; determine that the vehicle has exited the drifting phase and prompt the user to release the throttle when it is detected that the vehicle speed has reached the fixed circle drifting speed. The throttle is operated to guide the user to control the vehicle to drift along the drift route by executing the target operation; when the target drift scenario is a fixed circle drift scenario and the target operation includes a steering control operation, when it is detected that the vehicle speed reaches the fixed circle drift speed, it is determined to enter drift and the user is prompted to execute the operation of starting steering; when it is detected that the vehicle is turning, it is determined to maintain drift and the user is prompted to execute the operation of correcting the steering; when it is detected that the vehicle completes the fixed circle drift, it is determined to exit drift and the user is prompted to execute the operation of returning to the center steering, so as to guide the user to control the vehicle to drift along the drift route by executing the target operation.

[0200] In a possible implementation, the guidance module 503 is specifically used for, when the target drifting scene is a slalom drifting scene and the target operation includes a throttle control operation, determining that the vehicle starts and prompting the user to step on the accelerator when it is detected that the vehicle reaches a predetermined position; determining that the vehicle enters drifting and prompting the user to maintain or increase the throttle when it is detected that the distance between the vehicle and the slalom object is equal to a preset slalom radius; determining that the vehicle rotates around the slalom and maintaining the drift and prompting the user to correct the throttle; determining that the vehicle exits drifting and prompting the user to release the throttle when it is detected that the vehicle completes the slalom drift The operation of opening the throttle is to guide the user to control the vehicle to drift along the drift route by executing the target operation; when the target drift scenario is a slalom drift scenario and the target operation includes a steering control operation, when it is detected that the distance between the vehicle and the slalom object is equal to the preset distance, it is determined to enter the drift and the user is prompted to execute the operation of starting the steering; when it is detected that the vehicle is turning around the slalom, it is determined to maintain the drift and the user is prompted to execute the operation of correcting the steering; when it is detected that the vehicle has completed the drift around the slalom, it is determined to exit the drift and the user is prompted to execute the operation of returning to the center steering, so as to guide the user to control the vehicle to drift along the drift route by executing the target operation.

[0201] In one possible implementation, the guidance module 503 is specifically used for, when the target drifting scenario is an L-shaped drifting scenario or a U-turn drifting scenario, and the target operation includes a throttle control operation, when it is detected that the L-shaped drifting preparation or the U-turn drifting preparation is completed, determining that the vehicle is started and prompting the user to perform an operation of stepping on the accelerator; when it is detected that the vehicle has traveled a preset distance, determining that drifting has begun and prompting the user to perform an operation of maintaining the throttle or increasing the throttle; when it is detected that the vehicle is turning, determining that drifting is maintained and prompting the user to perform an operation of correcting the throttle; when it is detected that the vehicle has completed an L-shaped drift or a U-turn drift, determining that drifting is exited and prompting the user to perform an operation of The accelerator is released to guide the user to control the vehicle to drift along the drift route by executing the target operation; when the target drift scenario is an L-type drift scenario or a U-turn drift scenario, and the target operation includes a steering control operation, when it is detected that the vehicle has traveled a preset distance, it is determined to enter drift and the user is prompted to start steering; when it is detected that the vehicle is turning, it is determined to maintain drift and the user is prompted to correct the steering; when it is detected that the vehicle has completed L-type drift or U-turn drift, it is determined to exit drift and the user is prompted to return to the center steering operation, so as to guide the user to control the vehicle to drift along the drift route by executing the target operation.

[0202] In one possible implementation, the target drifting scenarios include: a circle drifting scenario, a pole drifting scenario, an L-type drifting scenario and a U-turn drifting scenario; the prompt module is specifically used to prompt the user to set the circle radius and / or the circle drifting direction when the target drifting scenario is a circle drifting scenario; when the target drifting scenario is a pole drifting scenario, prompt the user to set the pole object, pole radius and pole drifting direction; when the target drifting scenario is an L-type drifting scenario or a U-turn drifting scenario, prompt the user to set the straight-ahead distance and drift direction.

[0203] In one possible implementation, upon receiving a drift learning request sent by a user, the device further includes: an adjustment module, for adjusting the vehicle's power control system to a four-wheel drive mode, adjusting the steering control system to a target power assist mode, adjusting the suspension control system to a target height and a target damping state, adjusting the braking control system to a preset drift mode state and shutting down the vehicle's electronic stability control system.

[0204] In one possible implementation, the device also includes: a display interface for displaying a parameter adjustment interface when a drift request sent by a user is received, so that the user can adjust the state parameters of the target control system based on the parameter interface so that the vehicle has drift capability; the target control system includes: a power control system, a steering control system, a suspension control system and a braking control system.

[0205] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0206] For example, Figure 6 As shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 6011, and the processor 602 is used to call and execute the executable program code 6011 to perform a method for controlling a vehicle.

[0207] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a method for controlling a vehicle provided in an embodiment of the present application.

[0208] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0209] In the case of dividing each functional module according to each function, the device may also include a first determination module, a second determination module and a guidance module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0210] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0211] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0212] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0213] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0214] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0215] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling a vehicle provided in the above embodiment.

[0216] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0217] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0218] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0219] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that: The method comprises: In the case of receiving a drift learning request sent by a user, determining a target drift scenario to be learned from a plurality of preset drift scenarios; the preset drift scenario is a scenario defined in advance and including a specific drift action; Prompting the user to perform a setting operation corresponding to the target drift scenario; detecting that the user has completed the setting operation on the vehicle; After detecting that the user completes the setting operation on the vehicle, obtaining relevant reference data for generating a drift route in a target drift scenario based on the setting operation, and determining the drift route in the target drift scenario based on the relevant reference data; Based on the drift route, providing the user with target guidance in the target drift scenario, so that the user controls the vehicle to drift along the drift route based on the target guidance; The target drifting scenarios include: a fixed circle drifting scenario, a slalom drifting scenario, an L-shaped drifting scenario, and a U-turn drifting scenario; and the prompting of the user with the setting operation corresponding to the target drifting scenario includes: When the target drifting scene is a fixed circle drifting scene, prompting the user to set a fixed circle radius and / or a fixed circle drifting direction; When the target drifting scene is a drifting around a pile scene, prompting the user to set a drifting around a pile object, a drifting around a pile radius, and a drifting around a pile direction; When the target drifting scenario is an L-shaped drifting scenario or a U-turn drifting scenario, the user is prompted to set a straight-ahead distance and a drifting direction.

2. The method according to claim 1, characterized in that The providing the user with target guidance in the target drifting scenario based on the drifting route, so that the user controls the vehicle to drift along the drifting route based on the target guidance, includes: Determining control information included in the drift route; Based on the control information, determining a target operation that the user needs to perform; Based on the target operation, target guidance in the target drift scenario is provided to the user to guide the user to control the vehicle to drift along the drift route by performing the target operation.

3. The method according to claim 2, characterized in that The determining, based on the control information, a target operation that needs to be performed by the user includes: Determining the drifting skills to be learned by the user in the target drifting scenario; wherein the drifting skills include throttle control skills and throttle and steering control skills; When the drift skill is a throttle control skill, determining, based on the control information, that the target operation to be performed by the user is a throttle control operation; When the drifting skill is a throttle and steering control skill, based on the control information, it is determined that the target operation that the user needs to perform includes a throttle control operation and a steering control operation.

4. The method according to claim 3, characterized in that The throttle control operation includes one or more of: pressing the throttle when the vehicle starts, maintaining or increasing the throttle when entering drift, correcting the throttle when maintaining drift, and releasing the throttle when exiting drift; The steering control operation includes one or more of an operation of starting steering when entering drift, an operation of correcting steering when maintaining drift, and an operation of returning to the center of steering when exiting drift.

5. The method according to claim 4, characterized in that The providing the user with target guidance in the target drifting scenario based on the target operation, so as to guide the user to control the vehicle to drift along the drifting route by executing the target operation, includes: In the case where the target drifting scenario is a fixed circle drifting scenario and the target operation includes the throttle control operation, when it is detected that the fixed circle drifting preparation is completed, it is determined that the vehicle starts and the user is prompted to perform the operation of stepping on the accelerator; when it is detected that the vehicle speed reaches the fixed circle drifting speed, it is determined that the drifting is entered and the user is prompted to perform the operation of maintaining the throttle or increasing the throttle; when it is detected that the vehicle is turning, it is determined that the drift is maintained and the user is prompted to perform the operation of correcting the throttle; when it is detected that the vehicle completes the fixed circle drifting, it is determined that the drift is exited and the user is prompted to perform the operation of releasing the throttle, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation; In the case where the target drift scenario is a fixed circle drift scenario and the target operation includes the steering control operation, when it is detected that the vehicle speed reaches the fixed circle drift speed, it is determined to enter drift and the user is prompted to perform the operation of starting steering; when it is detected that the vehicle is turning, it is determined to maintain drift and the user is prompted to perform the operation of correcting steering; when it is detected that the vehicle completes the fixed circle drift, it is determined to exit drift and the user is prompted to perform the operation of returning to the center steering, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

6. The method according to claim 4, characterized in that The providing the user with target guidance in the target drifting scenario based on the target operation, so as to guide the user to control the vehicle to drift along the drifting route by executing the target operation, includes: In the case where the target drifting scenario is a slalom drifting scenario and the target operation includes the throttle control operation, when it is detected that the vehicle has reached a predetermined position, it is determined that the vehicle has started and the user is prompted to perform the operation of stepping on the accelerator; when it is detected that the distance between the vehicle and the slalom object is equal to a preset slalom radius, it is determined that drifting has begun and the user is prompted to perform the operation of maintaining or increasing the throttle; when it is detected that the vehicle is turning around the slalom, it is determined that drifting has been maintained and the user is prompted to perform the operation of correcting the throttle; when it is detected that the vehicle has completed drifting around the slalom, it is determined that drifting has been exited and the user is prompted to perform the operation of releasing the throttle, so as to guide the user to control the vehicle to drift along the drifting route by performing the target operation; In the case where the target drifting scenario is a slalom drifting scenario and the target operation includes the steering control operation, when it is detected that the distance between the vehicle and the slalom object is equal to the preset distance, it is determined to enter drifting and the user is prompted to perform the operation of starting steering; when it is detected that the vehicle is turning around the slalom, it is determined to maintain drifting and the user is prompted to perform the operation of correcting steering; when it is detected that the vehicle completes drifting around the slalom, it is determined to exit drifting and the user is prompted to perform the operation of returning to the center steering, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

7. The method according to claim 4, characterized in that The providing the user with target guidance in the target drifting scenario based on the target operation, so as to guide the user to control the vehicle to drift along the drifting route by executing the target operation, includes: In the case where the target drifting scenario is an L-shaped drifting scenario or a U-turn drifting scenario, and the target operation includes the throttle control operation, when it is detected that the L-shaped drifting preparation or the U-turn drifting preparation is completed, it is determined that the vehicle starts and the user is prompted to perform the operation of stepping on the accelerator; when it is detected that the vehicle has traveled a preset distance, it is determined that drifting is entered and the user is prompted to perform the operation of maintaining the throttle or increasing the throttle; when it is detected that the vehicle is turning, it is determined that drifting is maintained and the user is prompted to perform the operation of correcting the throttle; when it is detected that the vehicle has completed L-shaped drifting or U-turn drifting, it is determined that drifting is exited and the user is prompted to perform the operation of releasing the throttle, so as to guide the user to control the vehicle to drift along the drifting route by performing the target operation; In the case where the target drift scenario is an L-type drift scenario or a U-turn drift scenario, and the target operation includes the steering control operation, when it is detected that the vehicle has traveled a preset distance, it is determined that drifting has begun and the user is prompted to perform the operation of starting steering; when it is detected that the vehicle is turning, it is determined that drifting has been maintained and the user is prompted to perform the operation of correcting steering; when it is detected that the vehicle has completed L-type drifting or U-turn drifting, it is determined that drifting has been exited and the user is prompted to perform the operation of returning to center steering, so as to guide the user to control the vehicle to drift along the drift route by performing the target operation.

8. The method according to claim 1, characterized in that In the case of receiving a drift learning request sent by a user, the method further includes: The power control system of the vehicle is adjusted to the four-wheel drive mode, the steering control system is adjusted to the target power assist mode, the suspension control system is adjusted to the target height and target damping state, the braking control system is adjusted to the preset drift mode state and the electronic stability control system of the vehicle is turned off.

9. The method according to claim 1, characterized in that: The method further comprises: When a drift request is received from the user, a parameter adjustment interface is displayed so that the user can adjust the state parameters of the target control system based on the parameter interface so that the vehicle has drift capability; the target control system includes: a power control system, a steering control system, a suspension control system and a braking control system.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method according to any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 9 is implemented.

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