Vehicle control method, device and unmanned vehicle

Abstract

The present disclosure provides a vehicle control method, device, and unmanned vehicle, relating to the fields of unmanned driving and intelligent assisted driving. The vehicle control method includes: obtaining a carrying state of a target vehicle during driving, wherein the carrying state includes a carrying ramp state of the target vehicle; determining whether the target vehicle satisfies a gear restriction condition based on the carrying ramp state, and obtaining a determination result; and, in response to the determination result indicating that the target vehicle satisfies the gear restriction condition, controlling the target vehicle to travel based on a power output control mode, wherein the power output control mode is configured to control the target vehicle's highest driving gear during driving to be lower than or equal to a preset gear restriction.

Description

Technical Field

[0001] The present disclosure relates to the fields of unmanned driving and intelligent assisted driving, and more specifically, to a vehicle control method, device, and unmanned vehicle. Background Art

[0002] With the rapid development of science and technology, autonomous driving technology is being widely applied in mining operations and other scenarios to improve the efficiency of mineral resource extraction. For example, intelligent autonomous driving technology can be used to control mining vehicles to carry out transportation tasks, thereby achieving efficient transportation of mineral resources in mining areas with complex road conditions and improving mineral extraction efficiency. Summary of the Invention

[0003] In view of this, the present disclosure provides a vehicle control method, device, and unmanned vehicle.

[0004] One aspect of the present disclosure provides a vehicle control method, including: obtaining a carrying state of a target vehicle during driving, wherein the carrying state includes a carrying ramp state of the target vehicle; judging whether the target vehicle satisfies a gear restriction condition based on the carrying ramp state, and obtaining a judgment result; and in response to the judgment result indicating that the target vehicle satisfies the gear restriction condition, controlling the target vehicle to travel based on a power output control mode, wherein the power output control mode is used to control the highest driving gear of the target vehicle during driving to be lower than or equal to a preset restricted gear.

[0005] Another aspect of the present disclosure provides a vehicle control device, including: an acquisition module for acquiring the carrying status of the target vehicle during driving, wherein the above-mentioned carrying status includes the carrying ramp status of the above-mentioned target vehicle; a judgment module for judging whether the above-mentioned target vehicle meets the gear restriction condition based on the above-mentioned carrying ramp status, and obtaining a judgment result; and a control module for controlling the driving of the above-mentioned target vehicle based on a power output control mode in response to the above-mentioned judgment result characterizing that the above-mentioned target vehicle meets the above-mentioned gear restriction condition, wherein the above-mentioned power output control mode is used to control the highest driving gear of the above-mentioned target vehicle during driving to be lower than or equal to a preset restricted gear.

[0006] Another aspect of the present disclosure provides an unmanned vehicle, comprising: the above-mentioned vehicle control device.

[0007] Another aspect of the present invention provides an electronic device, comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the above method.

[0008] Another aspect of the present invention further provides a computer-readable storage medium having a computer program or instructions stored thereon, which implements the steps of the above method when the computer program or instructions are executed by a processor.

[0009] Another aspect of the present invention further provides a computer program product, comprising a computer program or instructions, which implement the steps of the above method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0011] Figure 1 A diagram schematically illustrates an application scenario of a vehicle control method and device according to an embodiment of the present disclosure;

[0012] Figure 2 A flow chart schematically illustrates a vehicle control method according to an embodiment of the present disclosure;

[0013] Figure 3 The following schematically illustrates an application scenario of a vehicle control method according to an embodiment of the present disclosure;

[0014] Figure 4 A diagram schematically illustrates an application scenario of a vehicle control method according to another embodiment of the present disclosure;

[0015] Figure 5 A flow chart schematically illustrates a vehicle control method according to another embodiment of the present disclosure;

[0016] Figure 6 A block diagram schematically illustrates a vehicle control device according to an embodiment of the present disclosure;

[0017] Figure 7 A block diagram of an electronic device suitable for implementing a vehicle control method according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0018] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0019] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0020] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0021] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0022] In the embodiments of this disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of all data involved (including, but not limited to, user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures have been taken to prevent unauthorized access to user personal information data and to safeguard the security of user personal information, network security, and national security.

[0023] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0024] The inventors discovered that the road conditions for unmanned mine vehicles in mining environments are relatively complex. For example, mine environments often feature uphill, downhill, and sharp turns. The high complexity of these road conditions can impact the operation of unmanned mine vehicles. For example, when traveling on roads with steep slopes, unmanned mine vehicles may frequently switch gears. For example, when traveling uphill, unmanned mine vehicles frequently switch gears, which can cause uneven speed and increase energy consumption. Furthermore, frequent gear changes on slopes can lead to loss of power, which can cause the vehicle to roll away.

[0025] Embodiments of the present disclosure provide a vehicle control method, device, and unmanned vehicle. The vehicle control method includes: obtaining a carrying state of a target vehicle during driving, wherein the carrying state includes a carrying ramp state of the target vehicle; determining whether the target vehicle satisfies a gear restriction condition based on the carrying ramp state, and obtaining a determination result; and, in response to the determination result indicating that the target vehicle satisfies the gear restriction condition, controlling the target vehicle to travel based on a power output control mode, wherein the power output control mode is configured to control the target vehicle's highest driving gear during driving to be lower than or equal to a preset restricted gear.

[0026] According to the embodiments of the present disclosure, by obtaining the state of the carrying slope to determine whether the target vehicle meets the gear restriction condition, and if the gear restriction condition is met, the target vehicle is controlled to travel in a gear that is not higher than the preset restricted gear according to the power output control mode. This can achieve the goal of controlling the power output of the target vehicle by limiting the highest driving gear of the target vehicle when the target vehicle is going uphill, thereby avoiding the situation where the target vehicle switches to an overly high gear and stalls during uphill driving. It can also control the speed of the target vehicle during downhill driving by controlling the highest driving gear, thereby avoiding the situation where the brake pads overheat and brake failure occur due to simply controlling the speed by the brake pads, thereby improving the stability and safety of vehicle driving.

[0027] Figure 1 The application scenario diagram of the vehicle control method and device according to the embodiment of the present disclosure is schematically shown.

[0028] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a first vehicle 101, a second vehicle 102, a third vehicle 103, a network 104, and a server 105. The network 104 is used as a medium for providing a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired or wireless communication links or fiber optic cables.

[0029] The first vehicle 101, the second vehicle 102, and the third vehicle 103 can each interact with the server 105 via the network 104 to receive or send messages, etc. The first vehicle 101, the second vehicle 102, and the third vehicle 103 can also interact with each other via the network 104 to receive or send messages. The first vehicle 101, the second vehicle 102, and the third vehicle 103 can be unmanned vehicles, or can also include vehicles driven by a driver.

[0030] The first vehicle 101 , the second vehicle 102 , and the third vehicle 103 may be any type of vehicle, such as a mining car, a truck, a car, and the like.

[0031] Server 105 may be a server that provides various services, such as a server that provides background management for the movement and operation status of users utilizing first vehicle 101, second vehicle 102, and third vehicle 103 (for example only). The background management server may analyze and process data such as broadcast messages received from the vehicles, and provide feedback to any of the vehicles.

[0032] It should be noted that the vehicle control method provided in the embodiment of the present disclosure can generally be executed by any one of the first vehicle 101, the second vehicle 102, and the third vehicle 103. The vehicle control device provided in the embodiment of the present disclosure can also be provided in any one of the first vehicle 101, the second vehicle 102, and the third vehicle 103.

[0033] Alternatively, the vehicle control method provided in the embodiment of the present disclosure may also be generally executed by the server 105. Accordingly, the vehicle control device provided in the embodiment of the present disclosure may generally be provided in the server 105. The vehicle control method provided in the embodiment of the present disclosure may also be performed by a server or server cluster that is different from the server 105 and that can communicate with the first vehicle 101, the second vehicle 102, the third vehicle 103 and / or the server 105. Accordingly, the vehicle control device provided in the embodiment of the present disclosure may also be provided in a server or server cluster that is different from the server 105 and that can communicate with the first vehicle 101, the second vehicle 102, the third vehicle 103 and / or the server 105.

[0034] It should be understood that Figure 1 The number of vehicles, networks and servers in the embodiment is only illustrative. Any number of vehicles, networks and servers may be provided as needed.

[0035] Figure 2 A flow chart of a vehicle control method according to an embodiment of the present disclosure is schematically shown.

[0036] like Figure 2 As shown, the vehicle control method includes operations S210 to S230.

[0037] In operation S210 , a carrying status of a target vehicle during driving is acquired.

[0038] According to embodiments of the present disclosure, the target vehicle may be a vehicle capable of carrying a load, such as a mining vehicle, an excavator, or other operational vehicle. Embodiments of the present disclosure do not limit the specific type of the target vehicle. The target vehicle may be a manned vehicle or an unmanned vehicle.

[0039] According to an embodiment of the present disclosure, the transport status may include the operating status of the target vehicle during a transport operation, such as the load weight, the load speed, the engine power, and the like. A transport operation may be an operation in which the target vehicle loads and transports cargo, such as minerals. The transport status may include a loaded transport state, which represents the operating status of the target vehicle during a transport operation with cargo loaded. Alternatively, the transport status may include an empty transport state, which represents the operating status of the target vehicle during a transport operation without cargo loaded.

[0040] According to embodiments of the present disclosure, the transport status may include the transport ramp status of the target vehicle. The transport ramp status may represent the slope of the road on which the target vehicle is traveling during transport operations. The transport ramp status may represent any type of road slope, such as uphill, downhill, or flat. The transport ramp status may include any parameter representing a sloping road, such as the road slope value (also known as the transport ramp value) and the ramp length.

[0041] It should be noted that the target vehicle's carrying status can be obtained based on data collected from the road environment by sensors installed on the target vehicle, or the carrying status can be determined based on a broadcast message sent to the target vehicle by a service terminal or other vehicles, or the carrying status can be obtained from map information or a planned route obtained by the target vehicle. The embodiments of this disclosure do not limit the specific method for obtaining the carrying status.

[0042] In operation S220, it is determined whether the target vehicle meets the gear restriction condition based on the loading slope state, and a determination result is obtained.

[0043] According to an embodiment of the present disclosure, determining whether a target vehicle satisfies a gear restriction condition based on a loading ramp state may include comparing the loading ramp state with a preset state threshold to obtain a state comparison result. Determining whether the target vehicle satisfies the gear restriction condition based on the state comparison result may be performed.

[0044] In operation S230 , in response to the determination result indicating that the target vehicle satisfies the gear restriction condition, the target vehicle is controlled to travel based on the power output control mode.

[0045] According to an embodiment of the present disclosure, the power output control mode is used to control the target vehicle's highest driving gear during driving to be lower than or equal to a preset limit gear. The preset limit gear can indicate the highest driving gear that the target vehicle can reach under the control of the power output control mode. By setting a specific gear level of the preset limit gear, the target vehicle can be controlled to travel based on a lower highest driving gear during driving, thereby avoiding the target vehicle's driving gear repeatedly switching between a range above the preset limit gear and a range below the preset limit gear during driving, reducing the workload of the target vehicle's gearbox, avoiding gear shifting failures due to frequent gear switching, and ensuring that the target vehicle's power system can maintain a relatively stable driving force output, so as to improve the target vehicle's driving safety and driving efficiency during the execution of the carrying task, and reduce the energy consumption level of the power system.

[0046] In one example, the loading ramp state may include a loading gradient value. Determining whether the target vehicle satisfies the gear restriction condition based on the loading ramp state may include comparing the loading gradient value with a preset gradient threshold to obtain a gradient comparison result. If the gradient comparison result indicates that the loading gradient value is greater than the preset gradient threshold, a determination result indicating that the target vehicle satisfies the gear restriction condition may be obtained.

[0047] According to an embodiment of the present disclosure, the carrying ramp state includes the ramp state of the first ramp on which the target vehicle is currently traveling. The first ramp on which the target vehicle is currently traveling may represent the road on which the target vehicle is currently located. The ramp state of the first ramp may include the ramp length, slope value, etc. of the first ramp. The ramp state of the first ramp may be determined based on data collected by the sensors of the target vehicle, for example, the ramp state of the first ramp may be determined based on environmental point cloud data collected by the laser radar of the target vehicle. Alternatively, the ramp state of the first ramp may also be obtained based on other methods, and the embodiments of the present disclosure do not limit the specific method for obtaining the ramp state of the first ramp.

[0048] According to an embodiment of the present disclosure, the ramp state of the second ramp reached by the target vehicle within the preset time period. The second ramp can be the ramp reached by the target vehicle within the preset time period. The preset time period can be determined based on vehicle attributes such as the speed and model of the target vehicle, or the preset time period can be set based on other conditions. The embodiments of the present disclosure do not limit the setting method of the preset time period.

[0049] According to an embodiment of the present disclosure, whether the target vehicle meets the gear restriction condition is judged based on the slope state of the second slope reached by the target vehicle within a preset time period. The driving gear of the target vehicle can be controlled in advance to be equal to or lower than the preset restricted gear based on the power output control mode, so as to avoid the target vehicle from temporarily losing power after reaching the second slope, thereby further improving the driving safety of the target vehicle.

[0050] According to embodiments of the present disclosure, the ramp status may include a carrying gradient value. The carrying gradient value may represent the gradient of a first ramp currently on which the target vehicle is located, or may also represent the gradient of a second ramp reached within a preset time period. It should be noted that the carrying gradient value may be the angle between the ramp and a horizontal plane, or may also be the angle between the ramp and a predetermined surface. Embodiments of the present disclosure do not limit the specific manner in which the carrying gradient value is set.

[0051] According to an embodiment of the present disclosure, judging whether the target vehicle meets the gear restriction condition based on the carrying ramp state, and obtaining the judgment result may include: comparing the carrying slope value with a first preset slope threshold to obtain a slope value comparison result; judging whether the target vehicle meets the gear restriction condition based on the slope value comparison result to obtain a judgment result.

[0052] According to an embodiment of the present disclosure, the slope value comparison result may represent the magnitude relationship between the carrying slope value and a first preset slope threshold. Determining whether the target vehicle satisfies the gear restriction condition based on the slope value comparison result may include determining that the target vehicle satisfies the gear restriction condition if the slope value comparison result indicates that the carrying slope value is greater than or equal to the first preset slope threshold. However, this is not limiting. Subsequent judgment logic conditions may also be executed based on the slope value comparison result to determine whether the target vehicle satisfies the gear restriction condition.

[0053] According to an embodiment of the present disclosure, the vehicle control method may further include: in the process of controlling the target vehicle's driving based on the power output control mode, in response to the target vehicle's carrying gradient value being less than or equal to a second preset gradient threshold, controlling the target vehicle to exit the power output control mode.

[0054] According to an embodiment of the present disclosure, the carrying state of the target vehicle can be obtained based on a preset time interval or other preset conditions during the driving of the target vehicle. In the process of controlling the driving of the target vehicle based on the power output control mode, the real-time carrying state of the target vehicle can also be obtained based on the preset conditions. In the process of the target vehicle being controlled by the power output control mode and driving, it can be determined whether the power output control mode for the target vehicle can be revoked by obtaining the current carrying state of the target vehicle in real time or periodically. In the case where the target vehicle is in the power output control mode and the carrying gradient value of the target vehicle is less than or equal to the second preset gradient threshold value, the target vehicle can be controlled to exit the power output control mode so that the target vehicle can be on a relatively gentle slope or on a flat road, and the restriction on the highest driving gear can be lifted, so that the target vehicle can flexibly and efficiently execute different driving modes based on different types of road conditions, thereby improving the driving efficiency and safety of the target vehicle.

[0055] In one example, the second preset slope threshold can be smaller than the first preset slope threshold, so that when the target vehicle travels from a steeper slope to a gentler slope, the power output control mode can be promptly exited, thereby achieving flexible switching of the control mode for the target vehicle.

[0056] According to an embodiment of the present disclosure, the carrying ramp state may further include the length of the traveled ramp. The target lane length may include the ramp length of a first ramp currently being traveled by the target vehicle. Alternatively, the target lane length may further include the ramp length of a second ramp that the target vehicle will reach within a preset time period. The target lane length may be determined based on the ramp length of the ramp corresponding to the carrying gradient value.

[0057] In one example, the loading slope values ​​of the first ramp or the second ramp are 20°, 25°, and 30°. The ramp lengths corresponding to the loading slope values ​​of 20°, 25°, and 30° can be determined respectively, and the ramp lengths corresponding to the loading slope values ​​of 20°, 25°, and 30° can be accumulated to obtain the target lane length.

[0058] It should be noted that the embodiments of the present disclosure do not limit the specific method for determining the length of the driving slope, as long as it can meet the route length that represents the target vehicle's uphill or downhill driving.

[0059] According to an embodiment of the present disclosure, determining whether a target vehicle satisfies a gear restriction condition based on a carrying ramp state, and obtaining a determination result may further include: comparing the length of the driving ramp with a preset route length threshold to obtain a length comparison result; and determining whether the target vehicle satisfies a gear restriction condition based on the length comparison result to obtain a determination result.

[0060] According to an embodiment of the present disclosure, the length comparison result may indicate the difference between the target lane length and a preset route length threshold. Determining whether the target vehicle satisfies the gear restriction condition based on the length comparison result may include determining that the target vehicle satisfies the gear restriction condition if the length comparison result indicates that the target lane length is greater than or equal to the preset route length threshold. However, this is not limiting, and the determination result may also be determined based on the length comparison result or other judgment logic.

[0061] In one example, whether the target vehicle satisfies the gear restriction condition can be determined based on the length comparison result and the slope comparison result. For example, if the length comparison result indicates that the target lane length is greater than or equal to a preset route length threshold, and the slope comparison result indicates that the carrying slope value is greater than or equal to a first preset slope threshold, then a determination result indicating that the target vehicle satisfies the gear restriction condition can be obtained.

[0062] According to an embodiment of the present disclosure, when a length comparison result indicates that the target lane length is greater than or equal to a preset route length threshold, and when a slope comparison result indicates that the carrying slope value is greater than or equal to a first preset slope threshold, the target vehicle can be controlled based on the power output control mode when the target vehicle is traveling on or about to travel on a long slope. Furthermore, when the target vehicle is traveling on a slope with a large slope value but a short slope length, the target vehicle is not controlled based on the power output control mode, thereby reducing the mode switching frequency of the power output control model, lowering the computing power overhead of the target vehicle, and improving the driving stability of the target vehicle.

[0063] It should be understood that the driving slope length may represent the slope length of the first slope that the target vehicle is currently driving, or may also represent the slope length of the second slope that the target vehicle reaches within a preset time period. The inventors will not elaborate on this.

[0064] According to an embodiment of the present disclosure, the carrying state includes overloaded state information, which indicates that the carrying capacity of the target vehicle is greater than or equal to a preset carrying capacity threshold. The carrying capacity may indicate the weight of the cargo loaded on the target vehicle. Alternatively, the carrying capacity may indicate the volume of the cargo loaded on the target vehicle. Alternatively, the carrying capacity may indicate the total weight of the target vehicle, which may be the total weight of the target vehicle loaded with cargo or the total weight of the target vehicle unloaded.

[0065] According to an embodiment of the present disclosure, the overload status information can be determined based on data collected by sensors installed on the target vehicle, or the overload status information can be obtained by any device such as other vehicles or cloud service terminals based on the collection of carrying status information of the target vehicle.

[0066] According to an embodiment of the present disclosure, determining whether the target vehicle meets the gear restriction condition based on the carrying ramp state, and obtaining the determination result may further include: determining whether the gear restriction condition is met based on the heavy load state information.

[0067] According to an embodiment of the present disclosure, determining whether the gear restriction condition is satisfied based on the heavy-load state information may include: determining that the target vehicle satisfies the gear restriction condition in response to the heavy-load state information.

[0068] According to an embodiment of the present disclosure, determining whether the gear restriction condition is met based on the overload status information may also include: in response to the overload status information, when the length comparison result indicates that the target lane length is greater than or equal to a preset route length threshold, and / or when the slope value comparison result indicates that the carrying slope value is greater than or equal to a first preset slope threshold, obtaining a judgment result indicating that the target vehicle meets the gear restriction condition.

[0069] According to an embodiment of the present disclosure, whether the target vehicle satisfies the gear restriction condition can be determined based on any one of the slope comparison result, the length comparison result, and the overload status information. Alternatively, whether the target vehicle satisfies the gear restriction condition can be determined based on a combination of any two or three of the slope comparison result, the length comparison result, and the overload status information.

[0070] According to an embodiment of the present disclosure, controlling the target vehicle's travel based on the power output control mode may include: determining a target limit gear from a multi-level preset limit gear based on the target vehicle's current carrying status; and controlling the target vehicle's travel based on a target driving gear that matches the target limit gear, so that the target vehicle's travel gear during driving is lower than or equal to the target limit gear.

[0071] According to an embodiment of the present disclosure, a target vehicle can switch between multiple driving gears based on a shifting logic during driving to achieve a target carrying speed or target torque. The multiple preset gears can be arranged in a hierarchy of preset gears. For example, the multiple preset gears can be 2nd, 3rd, and 4th gears. If the target limit gear is 3rd, the target vehicle can be controlled to switch between 1st, 2nd, and 3rd gears during driving based on the power output control mode. It is understood that the highest driving gear controlled by the power output control mode during driving can be 3rd. This allows for flexible determination of the appropriate power output control mode based on the target vehicle's current carrying status, allowing the target vehicle to use the determined target limit gear as the highest driving gear when driving on a slope. This prevents frequent gear switching for the target vehicle, reduces fuel consumption, and ensures that the torque of the target vehicle meets power requirements while driving on a slope. At the same time, it can also ensure that the target vehicle controls the highest driving gear based on the target limited gear during downhill driving, so as to control the target vehicle from driving too fast during downhill driving, and reduce the participation of braking systems such as brake pads in speed control during downhill driving, thereby improving the driving stability and safety of the target vehicle.

[0072] According to an embodiment of the present disclosure, the current carrying status includes at least one of the following: current vehicle speed, current throttle opening information, and current engine speed.

[0073] In one example, the current vehicle speed may include the speed of the target vehicle traveling on a first ramp, or may also include the current speed of the target vehicle when entering a second ramp within a preset time period. Multiple preset gear limits may correspond to multiple preset speed intervals, respectively. Based on matching the current vehicle speed with the multiple preset speed intervals, a target preset speed interval matching the current vehicle speed may be determined, and further, a target gear limit matching the current vehicle speed may be determined.

[0074] According to an embodiment of the present disclosure, the multi-level preset limit gears can be arranged from low to high according to the gear hierarchy, and the multi-level preset vehicle speed intervals can also be arranged from low to high based on the vehicle speed represented by the preset vehicle speed intervals, so that when the current speed of the target vehicle is faster, a higher target limit gear can be determined, which can ensure that the speed of the target vehicle controlled based on the power output control mode will not drop too quickly, thereby improving the smoothness and stability of controlling the target vehicle.

[0075] In one example, a target restricted gear can be determined from a plurality of preset restricted gears based on the current throttle opening information. For example, the plurality of preset restricted gears can correspond one-to-one with a plurality of preset throttle opening intervals. By matching the current throttle opening information with the plurality of preset throttle opening intervals, a target preset throttle opening interval that matches the current throttle opening information can be determined, thereby further determining a target restricted gear that matches the current vehicle speed.

[0076] It should be noted that the throttle opening information can be determined based on the displacement of the target vehicle's accelerator pedal, or the throttle opening information can also be determined based on the target vehicle's fuel injection amount. The embodiments of the present disclosure do not limit the specific method for determining the throttle opening information, as long as it can represent the current level of fuel supply to the target vehicle's engine.

[0077] In one example, a target limit gear can be determined from a plurality of preset limit gears based on the current engine speed. For example, the plurality of preset limit gears can correspond to a plurality of preset speed ranges. Based on matching the current engine speed with the plurality of preset speed ranges, a target preset speed range matching the current engine speed can be determined, and thus a target limit gear matching the current vehicle speed can be determined.

[0078] According to an embodiment of the present disclosure, the target limit gear may be determined based on any one or a combination of multiple of the current vehicle speed, the current throttle opening information, and the current engine speed.

[0079] In one example, different weight parameters can be assigned to the current vehicle speed, the current throttle opening information, and the current engine speed. Three target limit gears can be determined based on the current vehicle speed, the current throttle opening information, and the current engine speed. The target limit gear related to the power output control mode can be determined based on the respective weight parameters of the current vehicle speed, the current throttle opening information, and the current engine speed.

[0080] According to an embodiment of the present disclosure, controlling the target vehicle's driving based on the power output control mode may also include: determining a target engine speed; and controlling the throttle opening of the target vehicle based on the target engine speed so that the actual engine speed of the target vehicle is within a speed range corresponding to the target engine speed.

[0081] According to an embodiment of the present disclosure, the target engine speed may represent a speed value or speed range that the actual engine speed of the target vehicle needs to reach during the process of controlling the target vehicle's driving based on the power output control mode. For example, if the target engine speed is 1500 rpm, the actual engine speed of the target vehicle may be controlled to be equal to or close to 1500 rpm based on the throttle opening of the target vehicle and the target limit gear.

[0082] According to an embodiment of the present disclosure, the speed interval corresponding to the target engine speed can be an engine speed interval that includes the target engine speed. For example, if the target engine speed is 1500 rpm, the engine speed interval can be 1400 rpm to 1550 rpm. By controlling the actual throttle opening of the target vehicle, the actual engine speed of the target vehicle in the power output control mode can be placed in the engine speed interval of 1400 rpm to 1550 rpm, and the target vehicle can be controlled to travel by the target limited gear position to avoid the target vehicle's engine speed being too high when driving on a slope or when driving with a heavy load, thereby increasing the target vehicle's energy consumption, and avoiding the target vehicle's stalling due to a rapid decrease in engine speed, thereby reducing the target vehicle's energy consumption level and achieving the technical effect of improving driving safety.

[0083] Figure 3 The application scenario diagram of the vehicle control method according to the embodiment of the present disclosure is schematically shown.

[0084] like Figure 3As shown, target vehicle 301 is traveling in a mining operation environment. Target vehicle 301 can obtain the slope value and ramp length of the road it is traveling on using sensors, and determine the loading ramp state based on the slope value and ramp length. When target vehicle 301 reaches first node N311, it can be determined that the first slope value of the first driving ramp 310 currently being traveled by target vehicle 301 is 30°. If the slope value comparison result indicates that the first slope value is greater than a first preset slope threshold, it can be determined that target vehicle 301 meets the gear restriction condition. Based on the speed of target vehicle 301, the target restricted gear can be determined to be 2nd gear. Based on the target restricted gear, the highest driving gear of the target vehicle during travel on first driving ramp 310 is controlled to be no higher than 2nd gear. Simultaneously, the actual throttle opening of target vehicle 301 can be controlled to keep the engine speed of target vehicle 301 within a speed range corresponding to the target engine speed, thereby preventing excessive fuel consumption caused by excessive engine speed of target vehicle 301 during travel on first driving ramp 310.

[0085] When the target vehicle reaches the second node N321, the sensor can obtain a second slope value of 10 degrees on the second driving ramp 320 currently being driven by the target vehicle 301. In response to the second slope value of 10 degrees being less than the second preset slope threshold, the target vehicle 301 can be controlled to exit the power output control mode. The target vehicle 301 can then travel on the second driving ramp 320 based on the path planning method or power control mode entered between the first driving ramp 310.

[0086] Figure 4 The following schematically shows an application scenario diagram of a vehicle control method according to another embodiment of the present disclosure.

[0087] like Figure 4As shown, target vehicle 401 is traveling in a mining operation environment. Target vehicle 401 can obtain the slope value and ramp length of the road it is traveling on based on sensors, and determine the carrying ramp state based on the slope value and ramp length. When target vehicle 401 reaches third node N411, it can be determined that the third slope value of the third driving ramp 410 on which target vehicle 401 is currently traveling is 40°. If the slope value comparison result indicates that the third slope value is greater than the third preset slope threshold, it can be determined that the judgment result indicates that target vehicle 401 meets the gear restriction condition. Based on the speed of target vehicle 401, it can be determined that the target restricted gear is 2nd gear. Based on the target restricted gear, the highest driving gear of the target vehicle during the process of traveling on the third driving ramp 410 is controlled to be no higher than 2nd gear. At the same time, the engine speed of the target vehicle 401 can be controlled within a speed range corresponding to the target engine speed by controlling the actual throttle opening of the target vehicle 401, so as to avoid excessive fuel resource consumption caused by excessive speed of the target vehicle 401 when driving on the third driving slope 410. At the same time, the speed of the target vehicle 401 can be controlled not to be higher than 2nd gear by controlling the driving gear of the target vehicle to not be too fast, so as to improve the safety of the target vehicle 401 during downhill driving.

[0088] When the target vehicle reaches the fourth node N421, the sensor can obtain a fourth slope value of 10 degrees for the fourth driving ramp 420 on which the target vehicle 401 is currently traveling. In response to the fourth slope value 10° being less than the fourth preset slope threshold, the target vehicle 401 can be controlled to exit the power output control mode. The target vehicle 401 can then travel on the fourth driving ramp 420 based on the path planning method or power control mode before entering the third driving ramp 410.

[0089] According to an embodiment of the present disclosure, determining the target engine speed may include determining the target engine speed based on at least one of attribute information and environmental information of the target vehicle.

[0090] According to an embodiment of the present disclosure, the target engine speed may be determined based on attribute information of the target vehicle.

[0091] According to an embodiment of the present disclosure, the attribute information of the target vehicle may include at least one of the following: vehicle type, load, and vehicle speed.

[0092] According to an embodiment of the present disclosure, the target engine speed may be determined based on the model of the target vehicle, thereby preventing the target engine speed from exceeding the rated engine speed of the target vehicle of the model.

[0093] In one example, the target engine speed can be determined based on the optimal economic speed range corresponding to the vehicle model. The optimal economic speed range indicates that the efficiency of converting fuel energy into kinetic energy of the engine is higher within the optimal economic speed range. This can be understood as a speed range that results in lower engine fuel consumption.

[0094] In one example, the target engine speed can be determined based on the speed of the target vehicle, so that the target engine speed is adapted to the current speed of the target vehicle, thereby improving the smoothness and stability of the target vehicle in the power output control mode.

[0095] In one example, the target engine speed can be determined based on the target vehicle's load. This allows a higher target engine speed to be set for a target vehicle with a higher load. This allows the target vehicle's engine to provide higher driving force, preventing the target vehicle from stalling in its lane and potentially causing a safety accident, thereby improving driving safety.

[0096] It should be noted that the target engine speed may be determined based on any one or more of the target vehicle's vehicle type, load, and speed.

[0097] According to an embodiment of the present disclosure, the environmental information includes at least one of the following: a carrying slope value, and a carrying ramp length.

[0098] In one example, the target engine speed can be determined based on the carrying gradient value of the first slope on which the target vehicle is traveling. Alternatively, the target engine speed can be determined based on the carrying gradient value of the second slope on which the target vehicle is traveling during a preset period of time. A carrying gradient value corresponding to the carrying gradient value can be determined based on the mapping relationship between the carrying gradient value and the preset engine speed. The higher the carrying gradient value, the higher the target engine speed determined based on the carrying gradient value can be. This allows the target vehicle traveling in the power output control mode to travel on a slope based on a higher speed and the corresponding target limited gear position, thereby ensuring that the target vehicle has sufficient driving force when traveling on the slope and preventing the target vehicle from stalling and causing a safety accident.

[0099] In one example, the target engine speed can be determined based on the length of a first ramp traveled by the target vehicle. Alternatively, the target engine speed can be determined based on the length of a second ramp traveled by the target vehicle during a preset period. A higher target engine speed can be determined for the length of the ramp, thereby enabling the target vehicle traveling in power output control mode to travel on a longer ramp based on the higher engine speed and the corresponding target limit gear position. This ensures sufficient driving force for the target vehicle on the ramp and prevents the target vehicle from stalling and causing a safety accident.

[0100] According to embodiments of the present disclosure, a target engine speed can be determined based on the loading gradient value and the loading ramp length. For example, different intermediate engine speeds can be determined based on the loading gradient value and the loading ramp length, respectively. These intermediate engine speeds can then be weighted and summed based on the weights assigned to each of the loading gradient value and the loading ramp length to obtain the target engine speed. Determining the target engine speed based on the loading gradient value and the loading ramp length allows the target engine speed to be more accurately adapted to the target vehicle's current driving environment, thereby improving the target vehicle's ride comfort and safety while reducing fuel consumption.

[0101] According to an embodiment of the present disclosure, the target engine speed may also be determined based on attribute information and environmental information of the target vehicle.

[0102] According to an embodiment of the present disclosure, the vehicle control method may further include: in the process of controlling the driving of the target vehicle based on the power output control mode, detecting the actual throttle opening of the target vehicle; in response to the actual throttle opening being lower than the target lower limit opening corresponding to the target engine speed, and the duration of the actual throttle opening being lower than the target lower limit opening meeting a preset duration threshold, controlling the target vehicle to exit the power output control mode.

[0103] According to an embodiment of the present disclosure, when the actual throttle opening is lower than the target lower limit opening corresponding to the target engine speed, it can be indicated that the target vehicle can still travel relatively smoothly on the road it is currently traveling despite the actual throttle opening being lower than the target lower limit opening. When the duration for which the actual throttle opening is lower than the target lower limit opening meets a preset duration threshold, it can be indicated that the target vehicle is able to control vehicle travel based on the lower throttle opening, thereby allowing the target vehicle's engine to have more driving force available for higher gear travel. Thus, when the actual throttle opening is lower than the target lower limit opening corresponding to the target engine speed, and the duration for which the actual throttle opening is lower than the target lower limit opening meets the preset duration threshold, the target vehicle is controlled to exit the power output control mode, thereby freeing up the target vehicle's power output capacity, thereby ensuring that the target vehicle can efficiently complete its carrying mission.

[0104] It should be noted that the target engine speed may be associated with the target vehicle's carrying gradient. The target lower limit opening may also correspond to the target vehicle's carrying gradient.

[0105] Figure 5 A flow chart of a vehicle control method according to another embodiment of the present disclosure is schematically shown.

[0106] like Figure 5 As shown, the vehicle control method of this embodiment may include operations S510 to S540.

[0107] In operation S510 , it is determined whether the gear restriction condition is satisfied. The determination can be based on at least one of the currently acquired heavy-load state information of the target vehicle, the carrying gradient value, and the carrying ramp length.

[0108] For example, when the target vehicle is heavily loaded and the slope it is currently traveling on is uphill and the gradient is greater than a, a determination result indicating that the target vehicle meets the gear restriction condition is obtained, where b < a, a, and b represent the first and second preset slope thresholds, respectively.

[0109] When the judgment result indicates that the target vehicle meets the gear restriction condition, operation S520 is performed to enter the gear restriction sub-mode. When entering the gear restriction sub-mode, the speed control exit flag can be set to 0. After entering the gear restriction sub-mode, the target restricted gear is determined to be 3 gears based on the current speed and actual driving gear of the target vehicle. Among them, the target vehicle can include 4 forward gears, and the multi-level preset restricted gears can be 1 to 3 gears respectively. The multi-level preset restricted gears can be respectively associated with the vehicle speed intervals (0, vlimit1), (vlimit1, vlimit2), (vlimit2, vlimit3). vlimit1, vlimit2, vlimit3 represent preset vehicle speed values ​​that increase in sequence.

[0110] It should be noted that, if the current speed of the target vehicle is a speed in (0, vlimit1) and the current driving gear is 1st gear, the target limit gear can be determined to be 1st gear. If the current speed of the target vehicle is a speed in (vlimit1, vlimit2) and the current driving gear is 1st gear or 2nd gear, the target limit gear can be determined to be 2nd gear. If the current speed of the target vehicle is a speed in (vlimit2, vlimit3) and the current driving gear is 1st gear, 2nd gear, or 3rd gear, the target limit gear can be determined to be 3rd gear.

[0111] At operation S530, the engine speed control submode is entered. After entering the gear limit submode, to prevent the target vehicle's engine speed from overshooting, a target engine speed is determined for uphill driving based on the target vehicle's model. The target vehicle's throttle position is controlled using the PI (Proportional-Integral) or PID (Proportional-Integral-Derivative) principles to maintain the target vehicle's engine speed within the speed range corresponding to the target engine speed. Based on the target vehicle's current target engine speed, the associated throttle position range is determined as [throttle_l, throttle_u], where throttle_l and throttle_u represent the target lower and upper limits of the throttle position range. If the actual throttle opening of the target vehicle is lower than the target lower limit opening throttle_1 for t seconds, indicating that the engine of the target vehicle has sufficient driving force to drive in a higher gear, it is determined that gear restriction is not required at this time, and operation S540 is executed to exit the power output control mode and set the speed control exit flag to 1. By repeatedly executing operations S510 to S540, flexible control of the target vehicle can be achieved when the target vehicle is driving in a mining operation environment with relatively complex road conditions, thereby improving the driving safety of the target vehicle.

[0112] Based on the vehicle control method provided in the above embodiments, an embodiment of the present disclosure further provides a vehicle control device.

[0113] Figure 6 A block diagram schematically shows a vehicle control device according to an embodiment of the present disclosure.

[0114] like Figure 6 As shown, the vehicle control device 600 includes an acquisition module 610 , a judgment module 620 and a control module 630 .

[0115] The acquisition module 610 is used to acquire the carrying status of the target vehicle during driving, wherein the carrying status includes the carrying ramp status of the target vehicle.

[0116] The judgment module 620 is used to judge whether the target vehicle meets the gear restriction condition based on the state of the carrying ramp and obtain a judgment result.

[0117] The control module 630 is used to control the target vehicle to travel based on a power output control mode in response to a judgment result indicating that the target vehicle meets the gear restriction condition, wherein the power output control mode is used to control the target vehicle's highest driving gear during driving to be lower than or equal to a preset restricted gear.

[0118] According to an embodiment of the present disclosure, the carrying slope state includes a slope state of a first slope on which the target vehicle is currently traveling, or a slope state of a second slope that the target vehicle has reached in a preset period of time.

[0119] According to an embodiment of the present disclosure, the slope status includes a carrying slope value.

[0120] According to an embodiment of the present disclosure, the judgment module 620 includes: a slope value comparison result obtaining unit and a first judgment result obtaining unit.

[0121] The slope value comparison result obtaining unit is used to compare the carrying slope value with a first preset slope threshold value to obtain a slope value comparison result.

[0122] The first judgment result obtaining unit is used to judge whether the target vehicle meets the gear restriction condition based on the slope value comparison result, and obtain a judgment result.

[0123] According to an embodiment of the present disclosure, the loading ramp state includes a driving ramp length.

[0124] According to an embodiment of the present disclosure, the judgment module 620 includes: a length comparison result obtaining unit and a second judgment result obtaining unit.

[0125] The length comparison result obtaining unit is used to compare the length of the driving slope with a preset route length threshold to obtain a length comparison result.

[0126] The second judgment result obtaining unit is used to judge whether the target vehicle meets the gear restriction condition according to the length comparison result, and obtain a judgment result.

[0127] According to an embodiment of the present disclosure, the carrying status includes heavy-load status information, and the heavy-load status information indicates that the carrying capacity of the target vehicle is greater than or equal to a preset carrying capacity threshold.

[0128] According to an embodiment of the present disclosure, the judgment module 620 includes a first determination unit.

[0129] The first determining unit is configured to determine whether a gear restriction condition is satisfied based on the heavy load status information.

[0130] According to an embodiment of the present disclosure, the vehicle control device further includes a first exit control module.

[0131] The first exit control module is used to control the target vehicle to exit the power output control mode in response to a carrying gradient value of the target vehicle being less than or equal to a second preset gradient threshold during the process of controlling the target vehicle to travel based on the power output control mode.

[0132] According to an embodiment of the present disclosure, the control module 630 includes: a second determination unit and a throttle opening control unit.

[0133] The second determining unit is configured to determine a target engine speed.

[0134] The throttle opening control unit is used to control the throttle opening of the target vehicle based on the target engine speed so that the actual engine speed of the target vehicle is located in a speed range corresponding to the target engine speed.

[0135] According to an embodiment of the present disclosure, the second determining unit includes:

[0136] The target engine speed determination subunit is configured to determine the target engine speed based on at least one of attribute information and environmental information of the target vehicle.

[0137] According to an embodiment of the present disclosure, the attribute information of the target vehicle includes at least one of the following: vehicle type, load, and vehicle speed.

[0138] According to an embodiment of the present disclosure, the environmental information includes at least one of the following: a carrying slope value, and a carrying ramp length.

[0139] According to an embodiment of the present disclosure, the vehicle control device further includes:

[0140] The detection module is used to detect the actual throttle opening of the target vehicle during the process of controlling the target vehicle to travel based on the power output control mode.

[0141] The second exit control module is configured to control the target vehicle to exit the power output control mode in response to an actual throttle opening being lower than a target lower limit opening corresponding to a target engine speed, and a duration for which the actual throttle opening is lower than the target lower limit opening meeting a preset duration threshold.

[0142] According to an embodiment of the present disclosure, the control module 630 includes: a target limit gear determination unit and a control unit.

[0143] The target limit gear position determining unit is used to determine the target limit gear position from a plurality of preset limit gear positions based on the current carrying state of the target vehicle.

[0144] The control unit is used to control the target vehicle to travel based on the target travel gear that matches the target limit gear, so that the travel gear of the target vehicle during travel is lower than or equal to the target limit gear.

[0145] According to an embodiment of the present disclosure, the current carrying status includes at least one of the following: current vehicle speed, current throttle opening information, and current engine speed.

[0146] According to the embodiments of the present invention, any number of modules, units, and sub-units, or at least part of the functions of any number of them, can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, units, and sub-units can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, units, and sub-units can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging the circuit, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or in an appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, units, and sub-units can be at least partially implemented as a computer program module, which can perform the corresponding functions when the computer program module is executed.

[0147] For example, any multiple of the acquisition module 610, the judgment module 620, and the control module 630 can be combined into a single module / unit / sub-unit, or any one of these modules / units / sub-units can be split into multiple modules / units / sub-units. Alternatively, at least part of the functionality of one or more of these modules / units / sub-units can be combined with at least part of the functionality of other modules / units / sub-units and implemented in a single module / unit / sub-unit. According to an embodiment of the present disclosure, at least one of the acquisition module 610, the judgment module 620, and the control module 630 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented in hardware or firmware by any other reasonable means of integrating or packaging circuits, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of these. Alternatively, at least one of the acquisition module 610 , the determination module 620 and the control module 630 may be at least partially implemented as a computer program module, and when the computer program module is executed, the corresponding function may be executed.

[0148] It should be noted that the vehicle control device part in the embodiment of the present disclosure corresponds to the vehicle control method part in the embodiment of the present disclosure. The description of the vehicle control device part specifically refers to the vehicle control method part and will not be repeated here.

[0149] Based on the above vehicle control method and vehicle control device, the present invention also provides an unmanned vehicle.

[0150] According to an embodiment of the present disclosure, an unmanned vehicle includes the vehicle control device provided in the above embodiment, and is configured to execute the vehicle control method provided in the above embodiment.

[0151] Figure 7 A block diagram of an electronic device suitable for implementing a vehicle control method according to an embodiment of the present disclosure is schematically shown. Figure 7 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0152] like Figure 7 As shown, the electronic device 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage portion 708 into a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0153] Various programs and data required for the operation of the electronic device 700 are stored in the RAM 703. The processor 701, ROM 702, and RAM 703 are connected to each other via a bus 704. The processor 701 executes the various operations of the method flow according to the embodiment of the present disclosure by executing the programs in the ROM 702 and / or RAM 703. It should be noted that the programs may also be stored in one or more memories other than the ROM 702 and RAM 703. The processor 701 may also execute the various operations of the method flow according to the embodiment of the present disclosure by executing the programs stored in the one or more memories.

[0154] According to an embodiment of the present disclosure, electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to bus 704. Electronic device 700 may also include one or more of the following components connected to I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section 708 including a hard disk; and a communication section 709 including a network interface card such as a LAN card or modem. Communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to I / O interface 705 as needed. Removable media 711, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed in drive 710 as needed, so that computer programs read from the removable media can be installed into storage section 708 as needed.

[0155] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the processor 701, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0156] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not be incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, and when executed, implements the method according to the embodiments of the present disclosure.

[0157] According to embodiments of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples include, but are not limited to, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0158] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 702 and / or the RAM 703 described above and / or one or more memories other than the ROM 702 and the RAM 703 .

[0159] An embodiment of the present disclosure also includes a computer program product, which includes a computer program containing program code for executing the method provided by the embodiment of the present disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the vehicle control method provided by the embodiment of the present disclosure.

[0160] When the computer program is executed by the processor 701, the above functions defined in the system / device of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0161] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal on a network medium, downloaded and installed via the communication portion 709, and / or installed from a removable medium 711. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0162] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect via the Internet).

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, as well as the combination of boxes in the block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or operations, or can be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or coupled in various ways, and all of these combinations and / or couplings fall within the scope of the present disclosure.

[0164] The above describes the embodiments of the present disclosure. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. Without departing from the scope of the present disclosure, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A vehicle control method, comprising: Acquiring a carrying state of a target vehicle during driving, wherein the carrying state includes a carrying ramp state of the target vehicle; Determining whether the target vehicle meets the gear restriction condition based on the state of the carrying ramp, and obtaining a determination result; and In response to the determination result indicating that the target vehicle satisfies the gear restriction condition, controlling the target vehicle to travel based on a power output control mode, wherein the power output control mode is used to control the highest driving gear of the target vehicle during travel to be lower than or equal to a preset restricted gear; During the process of controlling the target vehicle to travel based on the power output control mode, detecting an actual throttle opening of the target vehicle; In response to the actual throttle opening being lower than a target lower limit opening corresponding to a target engine speed, and a duration for which the actual throttle opening is lower than the target lower limit opening meeting a preset duration threshold, controlling the target vehicle to exit the power output control mode; The target engine speed represents a speed value or speed range that the actual engine speed of the target vehicle should reach when the target vehicle is controlled to travel in a power output control mode.

2. The method according to claim 1, wherein The carrying slope state includes a slope state of a first slope on which the target vehicle is currently traveling, or a slope state of a second slope that the target vehicle has reached within a preset period of time.

3. The method according to claim 2, wherein: The carrying ramp state includes a carrying slope value; Wherein, judging whether the target vehicle meets the gear restriction condition based on the state of the carrying ramp, the judgment result includes: Compare the carrying gradient value with a first preset gradient threshold to obtain a gradient value comparison result, Based on the slope value comparison result, it is determined whether the target vehicle meets the gear restriction condition to obtain the determination result.

4. The method according to claim 1, 2 or 3, wherein: The carrying ramp state includes the length of the driving ramp; Wherein, judging whether the target vehicle meets the gear restriction condition based on the state of the carrying ramp, the judgment result includes: Comparing the length of the driving slope with a preset route length threshold to obtain a length comparison result; and According to the length comparison result, it is determined whether the target vehicle meets the gear restriction condition to obtain the determination result.

5. The method according to any one of claims 1 to 3, wherein The carrying state includes heavy-load state information, wherein the heavy-load state information indicates that the carrying capacity of the target vehicle is greater than or equal to a preset carrying capacity threshold. Whether the target vehicle satisfies the gear restriction condition is determined based on the carrying ramp state, and the determination result includes: Based on the heavy load state information, it is determined whether the gear restriction condition is satisfied.

6. The method according to claim 2, further comprising: During the process of controlling the target vehicle to travel based on the power output control mode, in response to a carrying gradient value of the target vehicle being less than or equal to a second preset gradient threshold, the target vehicle is controlled to exit the power output control mode.

7. The method according to claim 1, in, Controlling the target vehicle to travel based on the power output control mode includes: determining a target engine speed; and The accelerator opening of the target vehicle is controlled based on the target engine speed so that the actual engine speed of the target vehicle is within a speed range corresponding to the target engine speed.

8. The method according to claim 7, wherein: Determining the target engine speed includes: The target engine speed is determined based on at least one of attribute information and environmental information of the target vehicle.

9. The method according to claim 8, wherein The attribute information of the target vehicle includes at least one of the following: vehicle type, load, and speed; the environmental information includes at least one of the following: carrying slope value and carrying ramp length.

10. The method according to claim 1 or 7, wherein: Controlling the target vehicle to travel based on the power output control mode includes: Determining a target restricted gear position from a plurality of preset restricted gear positions based on a current carrying state of the target vehicle; and Based on the target driving gear that matches the target limit gear, controlling the target vehicle to travel so that the driving gear of the target vehicle during driving is lower than or equal to the target limit gear; The current carrying status includes at least one of the following: current vehicle speed, current throttle opening information, and current engine speed.

11. A vehicle control device comprising: An acquisition module, configured to acquire a carrying state of a target vehicle during driving, wherein the carrying state includes a carrying ramp state of the target vehicle; a judgment module, configured to judge whether the target vehicle satisfies a gear restriction condition based on the state of the carrying ramp, and obtain a judgment result; and a control module, configured to control the target vehicle to travel based on a power output control mode in response to the determination result indicating that the target vehicle satisfies the gear restriction condition, wherein the power output control mode is configured to control the target vehicle to have a maximum travel gear lower than or equal to a preset limit gear during travel; a detection module, configured to detect an actual throttle opening of the target vehicle during the process of controlling the target vehicle to travel based on the power output control mode; a second exit control module, configured to control the target vehicle to exit the power output control mode in response to the actual throttle opening being lower than a target lower limit opening corresponding to a target engine speed, and a duration for which the actual throttle opening is lower than the target lower limit opening meeting a preset duration threshold; The target engine speed represents a speed value or speed range that the actual engine speed of the target vehicle should reach when the target vehicle is controlled to travel in a power output control mode.

12. An unmanned vehicle comprising: The vehicle control device according to claim 11.

Images