Method, device, vehicle and storage medium for controlling vehicle

Abstract

The present application provides a method, device, vehicle and storage medium for controlling a vehicle. When an abnormality occurs in the brake pedal, the vehicle determines whether the vehicle has a gear switching demand. Furthermore, when the vehicle has a gear switching demand, it can respond to the gear switching demand and determine the target gear to be switched by the vehicle, so as to switch the current gear to the target gear. Subsequently, the output torque of the vehicle is limited. That is, when an abnormality occurs in the brake pedal, the method assumes that the brake pedal is in a stepped state by default, that is, the output torque of the vehicle is limited, and the vehicle is controlled to reduce the speed. This can avoid the vehicle from losing control due to a high speed when the vehicle is in a driving state and an abnormality occurs in the brake pedal. In addition, the vehicle responds to the gear switching demand and implements gear switching to cope with an emergency. For example, when the vehicle is in a flameout state and an abnormality occurs in the brake pedal, the vehicle can be moved by gear switching to avoid accidents when the vehicle cannot move due to a brake pedal failure.

Description

Technical Field

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

[0002] With the development of vehicle technology and the improvement of people's living standards, more and more vehicles are entering people's lives. However, there are also more and more vehicle-related problems, including vehicle braking problems.

[0003] Currently, when a vehicle's brake pedal fails, the vehicle cannot use the brake pedal to control the vehicle's deceleration until it stops. If the vehicle needs to brake in an emergency, the vehicle cannot stop using the brake pedal, which may cause a serious traffic accident.

[0004] Therefore, there is an urgent need for a method for controlling a vehicle to improve the driving safety of the vehicle and enhance the vehicle user experience. Summary of the invention

[0005] The present application provides a method, device, vehicle and storage medium for controlling a vehicle, wherein the method can limit the speed of the vehicle and implement gear switching to cope with emergency situations.

[0006] In a first aspect, a method for controlling a vehicle is provided, the method comprising: determining whether the vehicle has a gear switching requirement when an abnormality is detected in a brake pedal in the vehicle; determining a target gear to be switched by the vehicle when the vehicle has a gear switching requirement, and controlling a current gear of the vehicle based on the target gear; and limiting the output torque of the vehicle when the current gear is switched to the target gear.

[0007] In the above technical solution, when an abnormality occurs in the brake pedal of the vehicle, the vehicle determines whether the vehicle has a gear switching demand. Furthermore, when the vehicle has a gear switching demand, it can respond to the gear switching demand and determine the target gear to be switched by the vehicle, so as to switch the current gear to the target gear. Subsequently, the output torque of the vehicle is limited. That is, when an abnormality occurs in the brake pedal, the method assumes that the brake pedal is in a stepped state by default, that is, the output torque of the vehicle is limited, and the vehicle is controlled to reduce the speed. This can avoid the vehicle from losing control due to a high speed when the vehicle is in a driving state and an abnormality occurs in the brake pedal. In addition, the vehicle also responds to the gear switching demand and implements gear switching to cope with emergencies. For example, when the vehicle is in a flameout state and an abnormality occurs in the brake pedal, the vehicle can be moved by gear switching, avoiding accidents caused by the inability to move the vehicle due to a brake pedal failure.

[0008] In combination with the first aspect, in certain possible implementations, when an abnormality is detected in the brake pedal of a vehicle, determining whether the vehicle has a gear switching requirement includes: when the abnormality occurs in the brake pedal and the vehicle is in driving state, determining whether the vehicle has a gear switching requirement based on the vehicle's driving road conditions or driving parameters or the driver's driving behavior; or, when the abnormality occurs in the brake pedal and the vehicle is in the engine-off state, determining whether the vehicle has a gear switching requirement based on whether the driver has a driving intention.

[0009] In the above technical solution, when the brake pedal is abnormal, the vehicle may be in a driving state or an off state. When the vehicle is in different states, the way of determining whether the vehicle has a gear switching demand is different. Therefore, the method determines whether the vehicle has a gear switching demand when the vehicle is in a driving state or an off state. Specifically, when the brake pedal is abnormal and the vehicle is in a driving state, it is determined whether the vehicle has a gear switching demand based on the driving road conditions or driving parameters of the vehicle or the driving behavior of the driver. This is because the driving road conditions (such as uphill, downhill, slippery road surface or dry road surface) will affect the selection of gears. For example, a lower gear is required when going downhill to utilize engine braking, while a higher gear is required when going uphill to obtain a larger torque output. When the engine speed is different, the gear of the vehicle is different, and the driver's reaction and operating habits, such as sudden braking, acceleration, etc., will also affect the judgment of gear switching. When the brake pedal is abnormal and the vehicle is in an off state, it is determined whether the vehicle has a gear switching demand based on whether the driver has a driving intention. This is because when the driver has a driving intention, the gear switching is required to start the vehicle and control the vehicle's driving. The method provides different determination modes according to different states of the vehicle, which can improve the accuracy of determining whether the vehicle has a gear switching requirement.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method for determining whether a vehicle has a gear switching requirement includes: determining that the vehicle has a gear switching requirement when the driving road surface of the vehicle is about to change; or, determining that the vehicle has a gear switching requirement when the speed of the engine in the vehicle changes; or, determining that the vehicle has a gear switching requirement when the vehicle is a manual transmission vehicle and it is detected that the driver manipulates the gear lever by hand; or, determining that the vehicle has a gear switching requirement when it is detected that there is a driver in the driver's seat in the vehicle and the seat belt of the driver's seat is in a wearing state, determining that the vehicle has a gear switching requirement; or, determining that the vehicle has a gear switching requirement when it is detected that the engine in the vehicle switches from an unstarted state to a started state.

[0011] In the above technical solution, the gear of the vehicle is different when the driving road surface is different or when the engine speed is different. Therefore, the above solution determines that the vehicle has a gear switching demand when the driving road surface of the vehicle is about to change, or when the engine speed in the vehicle changes. Furthermore, whether the vehicle has a gear switching demand can also be determined by whether the driver intuitively manipulates the shift lever. The above three determination methods can be considered that the vehicle is in a driving state. However, when the brake pedal in the vehicle is abnormal, the vehicle may also be in a flameout state, at which time the vehicle is stationary, and it can be determined by whether the driver has a driving demand (driving intention). The above solution indirectly determines that the driver has a driving intention by the presence of a driver on the main driver's seat and the seat belt of the main driver's seat is in a wearing state, or the engine is switched from an unstarted state to a started state. This can avoid the situation where it is impossible to determine whether the vehicle has a gear switching demand when the brake pedal is abnormal and the vehicle is in a flameout state.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the target gear to which the vehicle will switch includes: when the driver manipulates the shift lever by hand, determining the target gear to which the vehicle will switch based on the final position of the shift lever; when the driver does not manipulate the shift lever by hand, determining the target gear to which the vehicle will switch based on the current speed of the engine, the current gear and changes in the driving road surface.

[0013] In the above technical solution, the vehicle is divided into a manual transmission vehicle and an automatic transmission vehicle. For a manual transmission vehicle, the driver can control the gear of the vehicle by operating the shift lever. Therefore, the method can determine the target gear to be switched by the vehicle (manual transmission vehicle) based on the final position of the shift lever. In addition, for an automatic transmission vehicle, the method can automatically determine the target gear to be switched by the vehicle based on the current driving conditions and vehicle state of the vehicle. The engine speed is directly related to the power output and fuel efficiency of the engine. The ideal gear shift should be within the range of the engine speed to output the optimal torque, so that the vehicle can have sufficient power and maintain good fuel economy. The current gear is the basis for the vehicle to switch gears. The slope, flatness and wetness of the road surface will affect the traction and stability of the vehicle. By comprehensively considering the above factors, the vehicle can determine the best gear to switch. When the vehicle is driving in the target gear, it can improve fuel efficiency and enhance the power performance of the vehicle.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the current speed of the engine, the current gear and the change of the driving road surface, the target gear to be switched to by the vehicle is determined, including: based on the change of the driving road surface, determining the target gear shift requirement of the vehicle based on the current gear, the target gear shift requirement is used to indicate downshifting or upshifting based on the current gear; from the multiple gears supported by the vehicle, determining at least one candidate gear that matches the target gear shift requirement; when the number of candidate gears is equal to a quantity threshold, determining the at least one candidate gear as the target gear; when the number of candidate gears is greater than the quantity threshold, determining the operating efficiency of the engine when each candidate gear is running at the current speed; and determining the candidate gear corresponding to the highest operating efficiency as the target gear.

[0015] In the above technical solution, when the road conditions change, the gear of the vehicle needs to be adjusted, which can improve the vehicle's handling and stability and reduce the safety hazards caused by improper gear positions. The gears supported by the vehicle include multiple ones. After determining that the vehicle needs to downshift or upshift, the gear that the vehicle can switch to is at least one candidate gear. When the number of candidate gears is equal to the quantity threshold, at least one candidate gear can be directly determined as the target gear, and the quantity threshold is 1. When the number of candidate gears is greater than the quantity threshold, there are multiple gears that the vehicle can select. In order to make the vehicle have a higher operating efficiency during driving, the method determines the operating efficiency of the engine when each candidate gear is running at the current speed, and determines the candidate gear corresponding to the highest operating efficiency as the target gear. This can also help reduce unnecessary fuel consumption, especially under complex road conditions, and can more accurately control fuel consumption, avoid long-term operation at inappropriate speeds, reduce wear on the engine and transmission system, and extend the service life of the vehicle. Therefore, this method can accurately determine the optimal target gear by real-time monitoring of engine speed, current gear and road conditions. Through intelligent shifting logic, it can not only improve driving safety and comfort, but also effectively improve vehicle performance and fuel economy.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the output torque of the vehicle is limited, including: determining the abnormality level based on the abnormal situation of the brake pedal; determining the amplitude of limiting the current output torque of the vehicle based on the abnormality level; determining the target output torque based on the current output torque and the amplitude, and controlling the target motor in the vehicle to output the target output torque.

[0017] In the above technical solution, the abnormality level is determined by the abnormal situation of the brake pedal, and the corresponding torque limit amplitude (amplitude) is matched by the abnormality level, and then the target output torque is determined based on the current output torque. In other words, this method finely limits the output torque by the abnormality level corresponding to the brake pedal, which can prevent the vehicle from losing control due to excessive restriction of the output torque, thereby protecting the safety of the occupants. Furthermore, when the braking torque capacity that the vehicle can obtain is limited, the refined torque limit can help maintain the stability of the vehicle and avoid vehicle sliding or other instability caused by insufficient braking. In addition, when the driver perceives that the torque limit of the vehicle can be intelligently adjusted based on different abnormality levels, he can have more trust in the safety performance of the vehicle, thereby enhancing the user's car experience.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when the vehicle is in a driving state, determining whether the current speed of the vehicle is greater than a speed threshold; when the current speed is greater than the speed threshold, determining the target angle to which the steering wheel is to be turned based on the first position of the target obstacle in the driving direction of the vehicle, the second position of the vehicle and the current angle of the steering wheel; and controlling the steering wheel to rotate at the target angle so that the vehicle rubs against the target obstacle and the driving speed of the vehicle is reduced.

[0019] In the above technical solution, during the driving process of the vehicle, although the method can limit the output torque of the vehicle, it does not exclude the situation that the current speed of the vehicle is relatively large. Therefore, after limiting the output torque of the vehicle, the method determines whether the current speed of the vehicle is greater than the speed threshold, and then when the current speed is greater than the speed threshold, based on the first position of the target obstacle in the driving direction of the vehicle, the second position of the vehicle and the current angle of the steering wheel, determines the target angle to which the steering wheel is to be turned. In this way, the vehicle can control the steering wheel to turn at the target angle, so that the vehicle can drive towards the target obstacle. In this way, the vehicle can rub against the target obstacle, and the purpose of reducing the driving speed of the vehicle can be achieved, which can avoid the vehicle from rolling over when the vehicle is driving on a downhill road and cannot reduce the speed quickly.

[0020] In a second aspect, a device for controlling a vehicle is provided, the device comprising: a determination module, configured to:

[0021] When an abnormality is detected in a brake pedal in a vehicle, determining whether the vehicle has a gear switching requirement; when the vehicle has a gear switching requirement, determining a target gear to be switched to by the vehicle, and controlling the current gear of the vehicle based on the target gear; a control module is used to limit the output torque of the vehicle when the current gear is switched to the target gear.

[0022] In combination with the second aspect, in some possible implementations, the determination module is specifically used to: when an abnormality occurs in the brake pedal and the vehicle is in a driving state, determine whether the vehicle has a gear switching requirement based on the vehicle's driving road conditions or driving parameters or the driver's driving behavior; or, when an abnormality occurs in the brake pedal and the vehicle is in an engine-off state, determine whether the vehicle has a gear switching requirement based on whether the driver has a driving intention.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine that the vehicle has a gear switching requirement when the driving road surface of the vehicle is about to change; or, determine that the vehicle has a gear switching requirement when the speed of the engine in the vehicle changes; or, determine that the vehicle has a gear switching requirement when the vehicle is a manual transmission vehicle and it is detected that the driver manipulates the gear lever by hand; or, determine that the vehicle has a gear switching requirement when it is detected that there is a driver in the driver's seat in the vehicle and the seat belt of the driver's seat is in a wearing state, determine that the vehicle has a gear switching requirement; or, determine that the vehicle has a gear switching requirement when it is detected that the engine in the vehicle switches from an unstarted state to a started state.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: when the driver manipulates the shift lever by hand, determine the target gear to which the vehicle will switch based on the final position of the shift lever; when the driver does not manipulate the shift lever by hand, determine the target gear to which the vehicle will switch based on the current speed of the engine, the current gear and changes in the driving road surface.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine the target gear shift requirement of the vehicle based on the current gear based on the change of the driving road surface, and the target gear shift requirement is used to indicate downshifting or upshifting based on the current gear; determine at least one candidate gear that matches the target gear shift requirement from the multiple gears supported by the vehicle; when the number of candidate gears is equal to a quantity threshold, determine the at least one candidate gear as the target gear; when the number of candidate gears is greater than the quantity threshold, determine the operating efficiency of the engine when each candidate gear runs at the current speed; and determine the candidate gear corresponding to the highest operating efficiency as the target gear.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine the abnormality level based on the abnormal situation of the brake pedal; determine the amplitude of limiting the current output torque of the vehicle based on the abnormality level; the control module is specifically used to determine the target output torque based on the current output torque and the amplitude, and control the target motor in the vehicle to output the target output torque.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is also used to: when the vehicle is in a driving state, determine whether the current speed of the vehicle is greater than a speed threshold; when the current speed is greater than the speed threshold, determine the target angle to which the steering wheel is to be turned based on the first position of the target obstacle in the driving direction of the vehicle, the second position of the vehicle and the current angle of the steering wheel; the device also includes: a rotation module, used to control the steering wheel to rotate at the target angle, so that the vehicle rubs against the target obstacle and reduces the driving speed of the vehicle.

[0028] 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.

[0029] In a fourth aspect, a computer-readable storage medium is provided, which stores an executable program code. When the executable program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of a scenario of using a vehicle provided in an embodiment of the present application;

[0031] Figure 2 is a schematic flow chart of a method for controlling a vehicle provided in an embodiment of the present application;

[0032] Figure 3 is a schematic diagram of determining a target gear position provided in an embodiment of the present application;

[0033] Figure 4 is a schematic diagram of a process for controlling a vehicle provided in an embodiment of the present application;

[0034] Figure 5 is a schematic diagram of the structure of a device for controlling a vehicle provided in an embodiment of the present application;

[0035] Figure 6It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] Figure 1 It is a schematic diagram of a scenario of using a vehicle provided in an embodiment of the present application.

[0039] For example, Figure 1 As shown, the driver can drive vehicle A to various destinations. During the long-term use of vehicle A, vehicle components in vehicle A may malfunction. For example, the brake pedal may have a weakened braking effect, a delayed braking effect, or a complete failure.

[0040] Currently, when a vehicle's brake pedal fails, the vehicle cannot use the brake pedal to control the vehicle's deceleration until it stops. If the vehicle needs to brake in an emergency, the vehicle cannot stop using the brake pedal, which may cause a serious traffic accident.

[0041] In order to solve the above problems, this application proposes a method for controlling a vehicle to improve the driving safety of the vehicle and improve the vehicle user experience. For details, please refer to the following Figure 2 .

[0042] Figure 2 It is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0043] It should be understood that the method for controlling a vehicle provided in the embodiment of the present application can be applied to the following examples: Figure 1 The vehicle shown (eg, vehicle A). Specifically, the method for controlling a vehicle can be applied to a vehicle controller in the vehicle.

[0044] For example, Figure 2 As shown, the method 200 includes:

[0045] Step 201, when an abnormality is detected in the brake pedal of the vehicle, the vehicle controller determines whether the vehicle has a gear switching requirement.

[0046] It should be understood that the "brake pedal abnormality" in the above step 201 means that the response of the brake pedal cannot be the same as expected. In some embodiments, the brake pedal abnormality includes position abnormality, reduced braking efficiency, delayed braking efficiency and complete failure of braking efficiency. Among them, the position abnormality means that the brake pedal is in an abnormal position when it is not stepped on. Reduced braking efficiency means that a greater pedal force or pedal stroke is required to achieve the expected braking force. Delayed braking efficiency means that after the brake pedal is stepped on, the time it takes for the vehicle to respond to deceleration is longer than normal, that is, there is a significant time difference between the time the braking command is issued and the time when the vehicle actually starts to decelerate. Complete failure of braking efficiency means that the vehicle will not have a deceleration response after the brake pedal is stepped on.

[0047] In some embodiments, the method for determining that the brake pedal has an abnormality in step 201 includes: when it is detected that the brake pedal is not stepped on, the vehicle controller detects the current position of the brake pedal through the brake pedal position sensor; when the current position does not match the preset position, the vehicle controller determines that the brake pedal has a position abnormality; or, the vehicle controller detects the force, depth and corresponding vehicle speed change when the brake pedal is stepped on through the pedal force sensor and the pedal travel sensor; when the vehicle speed change does not correspond to the force and / or depth, the vehicle controller determines that the brake pedal has an abnormality in that the braking efficiency is weakened; or, when it is detected that the brake pedal is stepped on, the vehicle controller obtains the first moment when the brake pedal is stepped on and the second moment when the vehicle speed changes; when the time difference between the second moment and the first moment is greater than the preset time difference, the vehicle controller determines that the brake pedal has an abnormality in that the braking efficiency is delayed; or, when it is detected that the brake pedal is stepped on, the vehicle controller detects whether the vehicle speed changes within a preset time period; when the vehicle speed does not change within the preset time period, the vehicle controller determines that the brake pedal has an abnormality in that the braking efficiency is completely ineffective.

[0048] In some embodiments, the method for determining that the current position does not match the preset position includes: when the signal range of the current position exceeds the signal preset range corresponding to the preset position when the brake pedal is not pressed, the vehicle controller determines that the current position does not match the preset position.

[0049] In some embodiments, there is a communication connection between the brake pedal and the brake. When the communication connection between the brake pedal and the brake is achieved through a first line, if the first line is detected to be broken, the vehicle controller determines that the brake pedal has an abnormality in which the braking efficiency is completely lost.

[0050] It should be understood that when an abnormality occurs in the brake pedal, the vehicle may be in a driving state or in an off state. Among them, when the vehicle is in a driving state, the abnormality of the brake pedal can be specifically determined by the above scheme: "the vehicle controller detects the force, depth and corresponding vehicle speed change when the brake pedal is stepped on through the pedal force sensor and the pedal travel sensor; when the vehicle speed change does not correspond to the force and / or depth, the vehicle controller determines that the brake pedal has an abnormality of reduced braking efficiency; or, when the brake pedal is detected to be stepped on, the vehicle controller obtains the first moment when the brake pedal is stepped on and the second moment when the vehicle speed changes; when the time difference between the second moment and the first moment is greater than the preset time difference, the vehicle controller determines that the brake pedal has an abnormality of delayed braking efficiency; or, when the brake pedal is detected to be stepped on, the vehicle controller detects whether the vehicle speed changes within a preset time length; when the vehicle speed does not change within the preset time length, the vehicle controller determines that the brake pedal has an abnormality of complete failure of braking efficiency." When the vehicle is in the off state, the above scheme can be used to specifically determine that the brake pedal has an abnormality: "When it is detected that the brake pedal is not pressed, the vehicle controller detects the current position of the brake pedal through the brake pedal position sensor; when the current position does not match the preset position, the vehicle controller determines that the brake pedal has a position abnormality; or, when there is a communication connection between the brake pedal and the brake, and the communication connection between the brake pedal and the brake is achieved through a first line, if it is detected that the first line is broken, the vehicle controller determines that the brake pedal has an abnormality in which the braking efficiency is completely lost."

[0051] The question "whether the vehicle has a gear shift requirement" is discussed in two ways as follows.

[0052] In one possible implementation, step 201 includes: when an abnormality occurs in the brake pedal and the vehicle is in a driving state, the vehicle controller determines whether the vehicle has a gear switching requirement based on the vehicle's driving road conditions or driving parameters or the driver's driving behavior; or, when an abnormality occurs in the brake pedal and the vehicle is in an off state, the vehicle controller determines whether the vehicle has a gear switching requirement based on whether the driver has a driving intention.

[0053] It should be understood that the above scheme discusses whether the vehicle has a gear switching requirement in two ways. Specifically, the first way is: when the vehicle is in driving state, based on the vehicle's driving road conditions or driving parameters or the driver's driving behavior, it is determined whether the vehicle has a gear switching requirement. The second way is: when the vehicle is in an off state, based on whether the driver has a driving intention, it is determined whether the vehicle has a gear switching requirement. It should also be understood that when the driver has a driving intention, the vehicle needs to be started before the vehicle can be controlled to drive. The vehicle has a process of switching from a parking gear to a forward gear (or a reverse gear). Therefore, the vehicle has a gear switching requirement.

[0054] It should also be understood that the "driving road conditions" in the above scheme refer to the road conditions on which the vehicle is driving, including the physical conditions of the road, such as flatness, wetness, road surface type and slope, etc. The "driving parameters" in the above scheme are used to describe the working state of the vehicle during driving, including driving speed, driving acceleration, engine speed and fuel consumption per 100 kilometers, etc. The "driving behavior of the driver" in the above scheme refers to the various operations of the driver when controlling the vehicle, including operating the gear lever, turning the steering wheel and stepping on the brake pedal, etc.

[0055] In the above technical solution, when the brake pedal is abnormal, the vehicle may be in a driving state or an off state. When the vehicle is in different states, the way of determining whether the vehicle has a gear switching demand is different. Therefore, the method determines whether the vehicle has a gear switching demand when the vehicle is in a driving state or an off state. Specifically, when the brake pedal is abnormal and the vehicle is in a driving state, it is determined whether the vehicle has a gear switching demand based on the driving road conditions or driving parameters of the vehicle or the driving behavior of the driver. This is because the driving road conditions (such as uphill, downhill, slippery road surface or dry road surface) will affect the selection of gears. For example, a lower gear is required when going downhill to utilize engine braking, while a higher gear is required when going uphill to obtain a larger torque output. When the engine speed is different, the gear of the vehicle is different, and the driver's reaction and operating habits, such as sudden braking, acceleration, etc., will also affect the judgment of gear switching. When the brake pedal is abnormal and the vehicle is in an off state, it is determined whether the vehicle has a gear switching demand based on whether the driver has a driving intention. This is because when the driver has a driving intention, the gear switching is required to start the vehicle and control the vehicle's driving. The method provides different determination methods according to different states of the vehicle, which can improve the accuracy of determining whether the vehicle has a gear switching requirement.

[0056] In one possible implementation, a method for determining whether a vehicle has a gear switching requirement includes: when the driving surface of the vehicle is about to change, the vehicle controller determines that the vehicle has a gear switching requirement; or, when the speed of the engine in the vehicle changes, the vehicle controller determines that the vehicle has a gear switching requirement; or, when the vehicle is a manual transmission vehicle and it is detected that the driver manipulates the shift lever by hand, the vehicle controller determines that the vehicle has a gear switching requirement; or, when it is detected that there is a driver in the main driver's seat in the vehicle and the seat belt of the main driver's seat is in a wearing state, the vehicle controller determines that the vehicle has a gear switching requirement; or, when it is detected that the engine in the vehicle switches from an unstarted state to a started state, the vehicle controller determines that the vehicle has a gear switching requirement.

[0057] It should be understood that in the above solution, "the driver manipulates the gear lever by hand", it indicates that the driver needs to shift gears and the vehicle has a gear switching requirement.

[0058] It should also be understood that the above scheme "when the vehicle's driving road surface is about to change, the vehicle controller determines that the vehicle has a gear switching requirement; or, when the engine speed in the vehicle changes, the vehicle controller determines that the vehicle has a gear switching requirement; or, when the vehicle is a manual transmission vehicle and it is detected that the driver manipulates the shift lever by hand, the vehicle controller determines that the vehicle has a gear switching requirement" specifically means that the vehicle is determined to have a gear switching requirement when the vehicle is in driving. The above scheme "when it is detected that there is a driver in the main driver's seat in the vehicle and the seat belt of the main driver's seat is in a wearing state, the vehicle controller determines that the vehicle has a gear switching requirement; or, when it is detected that the engine in the vehicle switches from an unstarted state to a started state, the vehicle controller determines that the vehicle has a gear switching requirement" specifically means that the vehicle is determined to have a gear switching requirement when the vehicle is in an off state.

[0059] In the above technical solution, the gear of the vehicle is different when the driving road surface is different or when the engine speed is different. Therefore, the above solution determines that the vehicle has a gear switching demand when the driving road surface of the vehicle is about to change, or when the engine speed in the vehicle changes. Furthermore, whether the vehicle has a gear switching demand can also be determined by whether the driver intuitively manipulates the shift lever. The above three determination methods can be considered that the vehicle is in a driving state. However, when the brake pedal in the vehicle is abnormal, the vehicle may also be in a flameout state, at which time the vehicle is stationary, and it can be determined by whether the driver has a driving demand (driving intention). The above solution indirectly determines that the driver has a driving intention by the presence of a driver on the main driver's seat and the seat belt of the main driver's seat is in a wearing state, or the engine is switched from an unstarted state to a started state. This can avoid the situation where it is impossible to determine whether the vehicle has a gear switching demand when the brake pedal is abnormal and the vehicle is in a flameout state.

[0060] In some embodiments, when the driving surface of the vehicle is about to change, the vehicle controller determines that the vehicle has a gear switching requirement, including any of the following: when the driving surface is about to switch between any two of a flat road, a downhill road, and an uphill road, the vehicle controller determines that the vehicle has a gear switching requirement, and the flat road is a road with a first slope, and the difference between the first slope and the zero slope is less than a preset slope; when the driving surface is about to switch between a wet road and a dry road, the vehicle controller determines that the vehicle has a gear switching requirement; when the driving surface is about to switch between a muddy road and a hard road, the vehicle controller determines that the vehicle has a gear switching requirement; when the driving surface is about to switch between an urban road and a highway, the vehicle controller determines that the vehicle has a gear switching requirement.

[0061] In some embodiments, when the engine speed in the vehicle changes, the vehicle controller determines that the vehicle has a gear switching requirement, including: when the engine speed switches from a first speed range to a second speed range, the vehicle controller determines that the vehicle has a gear switching requirement, and the first speed range and the second speed range correspond to different vehicle operating conditions.

[0062] In some embodiments, the first speed range corresponds to a starting condition, and the second speed range corresponds to a driving condition.

[0063] In some embodiments, a method for determining whether a seat belt of a driver's seat is in a wearing state includes: a vehicle controller acquiring an upper body image of the driver through a vehicle-mounted camera; the vehicle controller extracting features of a target area in the upper body image to obtain a target feature, wherein the target area is used to indicate an area in the upper body image where the seat belt is located when the seat belt is worn, and the target area is determined based on different positions of multiple drivers in the vehicle when multiple drivers with different upper body lengths sit in the driver's seat at a target position; when the target feature indicates that a seat belt exists in the target area, the vehicle controller determines that the seat belt of the driver's seat is in a wearing state; or, a seat belt wearing warning system is installed in the vehicle, and when the seat belt wearing warning system does not sound an alarm, the vehicle controller determines that the seat belt of the driver's seat is in a wearing state.

[0064] In some embodiments, the target position is the frontmost position or the rearmost position of the driver's seat that can be slidably adjusted.

[0065] It should be understood that the "driver's upper body image" in the above scheme refers to the image of the body part (upper body) above the driver's upper limbs from a visual perspective. It should also be understood that in order to make the upper body image completely include the driver's upper body, this method has requirements for the location and shooting angle of the vehicle-mounted camera. In some embodiments, the vehicle-mounted camera is installed in front of the main driver's seat, and the shooting angle of the vehicle-mounted camera is greater than a°, and the shooting angle is related to the width of the main driver's seat.

[0066] In some embodiments, after step 201, the vehicle controller controls the vehicle display or voice output device to output an alarm signal, where the alarm signal is used to indicate that an abnormality has occurred in the brake pedal.

[0067] Step 202: When the vehicle has a gear switching requirement, the vehicle controller determines a target gear to be switched by the vehicle, and controls the current gear of the vehicle based on the target gear.

[0068] It should be understood that "controlling the current gear of the vehicle based on the target gear" in the above step 202 means that the vehicle controller sends a control instruction to the gear controller, and the control instruction includes the target gear to be switched; the gear controller performs gear addition and subtraction operations through the gearbox to switch to the target gear.

[0069] In one possible implementation, the vehicle controller in step 202 determines the target gear to which the vehicle will switch, including: when the driver manipulates the shift lever by hand, the vehicle controller determines the target gear to which the vehicle will switch based on the final position of the shift lever; when the driver does not manipulate the shift lever by hand, the vehicle controller determines the target gear to which the vehicle will switch based on the current engine speed, the current gear and changes in the driving road surface.

[0070] It should be understood that in the above scheme, in a manual transmission vehicle, the gear shift is performed by the driver operating the shift lever, and when the shift lever is in different positions, the vehicle corresponds to different gears.

[0071] In the above technical solution, the vehicle is divided into a manual transmission vehicle and an automatic transmission vehicle. For a manual transmission vehicle, the driver can control the gear of the vehicle by operating the shift lever. Therefore, the method can determine the target gear to be switched by the vehicle (manual transmission vehicle) based on the final position of the shift lever. In addition, for an automatic transmission vehicle, the method can automatically determine the target gear to be switched by the vehicle based on the current driving conditions and vehicle state of the vehicle. The engine speed is directly related to the power output and fuel efficiency of the engine. The ideal gear shift should be within the range of the engine speed to output the optimal torque, so that the vehicle can have sufficient power and maintain good fuel economy. The current gear is the basis for the vehicle to switch gears. The slope, flatness and wetness of the road surface will affect the traction and stability of the vehicle. By comprehensively considering the above factors, the vehicle can determine the best gear to switch. When the vehicle is driving in the target gear, it can improve fuel efficiency and enhance the power performance of the vehicle.

[0072] In some embodiments, the vehicle controller determines the target gear to be switched by the vehicle based on the final position of the shift lever, including: when the final position is the middle position of the shift lever's motion range, the vehicle controller determines the neutral gear as the target gear; when the final position is the upper left corner position of the shift lever's motion range, the vehicle controller determines the starting gear as the target gear; when the final position is the lower right corner position of the shift lever's motion range, the vehicle controller determines the reverse gear as the target gear; when the final position is other positions within the shift lever's motion range, the vehicle controller determines the forward gear as the target gear, and the other positions do not include the middle position, the upper left corner position, and the lower right corner position.

[0073] It should be understood that in the above solution, it is assumed that the shift lever can be in a normal working state.

[0074] In some embodiments, when the final position is other positions within the range of motion of the shift lever, the vehicle controller determines the forward gear as the target gear, including: when the other position is the lower left corner position, the vehicle controller determines the 2nd gear among the forward gears as the target gear; when the other position is the upper right corner position, the vehicle controller determines the 5th gear among the forward gears as the target gear; when the other position is directly above the middle position, the vehicle controller determines the 3rd gear among the forward gears as the target gear; when the other position is directly below the middle position, the vehicle controller determines the 4th gear among the forward gears as the target gear.

[0075] Figure 3 It is a schematic diagram of determining a target gear position provided in an embodiment of the present application.

[0076] For example, Figure 3 As shown in (a) in FIG. 1 , a top view of the shift lever is given. When the final position of the shift lever is the middle position of the shift lever motion range, the vehicle controller determines the neutral gear as the target gear position. At this time, the shift lever is pushed to the middle. Figure 3 As shown in (b) in the figure, a top view of the shift lever is given. When the final position is the upper left corner of the shift lever's motion range, the vehicle controller determines the starting gear (1st gear) as the target gear. At this time, the shift lever is pushed to the upper left corner. Figure 3 As shown in (c) in the figure, a top view of the shift lever is given. When the final position is the lower right corner of the shift lever's motion range, the vehicle controller determines the reverse gear as the target gear. At this time, the shift lever is pushed to the lower right corner. Figure 3 As shown in (d) in FIG. 1 , a top view of the shift lever is given. When the final position is directly above the intermediate position, the vehicle controller determines the forward gear 3 as the target gear. At this time, the shift lever is pushed directly upward. Figure 3 "1" on the center shift lever indicates 1st gear, "2" indicates 2nd gear, "3" indicates 3rd gear, "4" indicates 4th gear, "5" indicates 5th gear, and "R" indicates reverse gear.

[0077] In one possible implementation, the vehicle controller determines the target gear to be switched by the vehicle based on the current speed of the engine, the current gear and changes in the driving road surface, including: the vehicle controller determines the target gear shift requirement of the vehicle based on the current gear based on the changes in the driving road surface, and the target gear shift requirement is used to indicate downshifting or upshifting based on the current gear; the vehicle controller determines at least one candidate gear that matches the target gear shift requirement from multiple gears supported by the vehicle; when the number of candidate gears is equal to a quantity threshold, the vehicle controller determines the at least one candidate gear as the target gear; when the number of candidate gears is greater than the quantity threshold, the vehicle controller determines the operating efficiency of the engine when each candidate gear is running at the current speed; the vehicle controller determines the candidate gear corresponding to the highest operating efficiency as the target gear.

[0078] It should be understood that in the above scheme, based on the change of the driving road surface, it can be determined whether the vehicle is downshifting or upshifting based on the current gear. Usually, the vehicle supports multiple gears. When the vehicle is a manual transmission vehicle, the gears supported by the vehicle include neutral, parking, reverse and forward gears. The forward gear includes starting, 2nd, 3rd, 4th and 5th gears. When the vehicle is in driving state, the current gear of the vehicle is one of the multiple gears. When downshifting or upshifting based on the current gear, there is at least one gear that the vehicle can switch, that is, at least one candidate gear. Therefore, it is necessary to further determine a gear from at least one candidate gear as the target gear.

[0079] It should also be understood that the "quantity threshold" in the above scheme is 1.

[0080] It should also be understood that the vehicle controller can determine the operating efficiency of the engine when it is running at the current speed in each candidate gear based on the engine's operating efficiency mapping table. The operating efficiency mapping table is obtained in advance based on engine characteristic testing and shows the operating efficiency (expected fuel efficiency and output power) of the engine under different speeds and different gear conditions.

[0081] In the above technical solution, when the road conditions change, the gear of the vehicle needs to be adjusted, which can improve the vehicle's handling and stability and reduce the safety hazards caused by improper gear positions. The gears supported by the vehicle include multiple ones. After determining that the vehicle needs to downshift or upshift, the gear that the vehicle can switch to is at least one candidate gear. When the number of candidate gears is equal to the quantity threshold, at least one candidate gear can be directly determined as the target gear, and the quantity threshold is 1. When the number of candidate gears is greater than the quantity threshold, there are multiple gears that the vehicle can select. In order to make the vehicle have a higher operating efficiency during driving, the method determines the operating efficiency of the engine when each candidate gear is running at the current speed, and determines the candidate gear corresponding to the highest operating efficiency as the target gear. This can also help reduce unnecessary fuel consumption, especially under complex road conditions, and can more accurately control fuel consumption, avoid long-term operation at inappropriate speeds, reduce wear on the engine and transmission system, and extend the service life of the vehicle. Therefore, this method can accurately determine the optimal target gear by real-time monitoring of engine speed, current gear and road conditions. Through intelligent shifting logic, it can not only improve driving safety and comfort, but also effectively improve vehicle performance and fuel economy.

[0082] In some embodiments, the vehicle controller determines a target gear shift requirement of the vehicle based on the current gear position based on changes in the driving road surface, including: when the driving road surface switches from a flat road surface to an uphill road surface, the vehicle controller determines a downshift based on the current gear position as the target gear shift requirement, and, multiple gear positions include neutral, parking, reverse, starting, 2nd, 3rd, 4th and 5th gears, and the vehicle controller determines at least one candidate gear position that matches the target gear shift requirement from the multiple gear positions supported by the vehicle, including: when the current gear position is 4th gear, the vehicle controller selects 2nd gear and 3rd gear that are lower than 4th gear from starting, 2nd, 3rd, 4th and 5th gears, and determines 2nd and 3rd gears as at least one candidate gear position; when the current gear position is 3rd gear, the vehicle controller selects 2nd gear that is lower than 3rd gear from starting, 2nd, 3rd, 4th and 5th gears, and determines 2nd gear and 3rd gear as at least one candidate gear position; when the current gear position is 3rd gear, the vehicle controller selects 2nd gear that is lower than 3rd gear from starting, 2nd, 3rd, 4th and 5th gears, and determines 2nd gear as at least one candidate gear position.

[0083] It should be understood that in the above scheme, the starting gear is one of the forward gears and is mainly used in the starting stage of the vehicle. After starting, the vehicle mainly uses the 2nd gear, 3rd gear, 4th gear and 5th gear when moving forward. When reversing, the vehicle uses the reverse gear. When the vehicle is parked for a long time, the parking gear can be used; when the vehicle is temporarily parked, the neutral gear can be used.

[0084] It should also be understood that in the above scheme, when the current gear is 3rd gear, at least one candidate gear has only one 2nd gear, so the vehicle controller can directly determine 2nd gear as the target gear.

[0085] Step 203: When the current gear is switched to the target gear, the vehicle controller limits the output torque of the vehicle.

[0086] It should be understood that "limiting the output torque of the vehicle" in the above step 203 refers to controlling the maximum output torque of the target motor. In the vehicle, the output torque of the target motor is converted into the rotational power of the wheels through the vehicle's transmission system, thereby driving the vehicle forward. If the maximum output torque of the target motor is limited, the wheel speed will be limited, thereby achieving the purpose of limiting the driving speed of the vehicle.

[0087] In some embodiments, the target motor is an AC asynchronous motor or a permanent magnet synchronous motor.

[0088] In one possible implementation, the vehicle controller in step 203 limits the output torque of the vehicle, including: the vehicle controller determines the abnormality level based on the abnormality of the brake pedal; the vehicle controller determines the amplitude of limiting the current output torque of the vehicle based on the abnormality level; the vehicle controller determines the target output torque based on the current output torque and the amplitude, and controls the target motor in the vehicle to output the target output torque.

[0089] It should be understood that the "abnormal situation occurring in the brake pedal" in the above scheme corresponds to the "abnormal position, weakened braking efficiency, delayed braking efficiency and complete failure of braking efficiency" in the implementation of step 201.

[0090] In the above technical solution, the abnormality level is determined by the abnormal situation of the brake pedal, and the corresponding torque limit amplitude (amplitude) is matched by the abnormality level, and then the target output torque is determined based on the current output torque. In other words, this method finely limits the output torque by the abnormality level corresponding to the brake pedal, which can prevent the vehicle from losing control due to excessive restriction of the output torque, thereby protecting the safety of the occupants. Furthermore, when the braking torque capacity that the vehicle can obtain is limited, the refined torque limit can help maintain the stability of the vehicle and avoid vehicle sliding or other instability caused by insufficient braking. In addition, when the driver perceives that the torque limit of the vehicle can be intelligently adjusted based on different abnormality levels, he can have more trust in the safety performance of the vehicle, thereby enhancing the user's car experience.

[0091] In some embodiments, the vehicle controller determines the abnormality level based on the abnormal situation occurring in the brake pedal, including: when the abnormal situation is weakened braking efficiency, the vehicle controller determines that the abnormality level is the first level; when the abnormal situation is delayed braking efficiency or position abnormality, the vehicle controller determines that the abnormality level is the second level; when the abnormal situation is complete failure of braking efficiency, the vehicle controller determines that the abnormality level is the third level, the first level is lower than the second level, and the second level is lower than the third level.

[0092] In some embodiments, the vehicle controller determines the amplitude of limiting the current output torque of the vehicle based on the abnormality level, including: the vehicle controller compares the abnormality level with multiple abnormality levels, and determines a target abnormality level that matches the abnormality level from the multiple abnormality levels; the vehicle controller determines the target amplitude corresponding to the target abnormality level as the amplitude of limiting the current output torque.

[0093] In some embodiments, the vehicle controller determines the target output torque based on the current output torque and the amplitude, including: the vehicle controller determines the product of the current output torque and the amplitude as the torque reduction amount; the vehicle controller determines the difference between the current output torque and the torque reduction amount as the target output torque.

[0094] The vehicle control process after “limiting the output torque of the vehicle” is discussed below.

[0095] In one possible implementation, after step 203, the method 200 further includes: when the vehicle is in a driving state, the vehicle controller determines whether the current speed of the vehicle is greater than a speed threshold; when the current speed is greater than the speed threshold, the vehicle controller determines the target angle to which the steering wheel is to be turned based on the first position of the target obstacle in the driving direction of the vehicle, the second position of the vehicle and the current angle of the steering wheel; the vehicle controller controls the steering wheel to rotate at the target angle so that the rigid part of the vehicle rubs against the target obstacle to reduce the driving speed of the vehicle.

[0096] It should be understood that the "target obstacle" in the above scheme is a buffer obstacle with friction effect. The target obstacle cannot be an object with vital signs. The target obstacle includes sand pits, rock piles, dirt piles and special emergency parking strips.

[0097] It should also be understood that the "first position" and the "second position" in the above scheme are both represented by coordinates.

[0098] In the above technical solution, during the driving process of the vehicle, although the method can limit the output torque of the vehicle, it does not exclude the situation that the current speed of the vehicle is relatively large. Therefore, after limiting the output torque of the vehicle, the method determines whether the current speed of the vehicle is greater than the speed threshold, and then when the current speed is greater than the speed threshold, based on the position of the target obstacle in the driving direction of the vehicle relative to the vehicle, determines the target angle to which the steering wheel is to be turned. In this way, the vehicle can control the steering wheel to turn at the target angle, so that the vehicle can drive towards the target obstacle. In this way, the rigid parts in the vehicle can rub against the target obstacle, and the purpose of reducing the driving speed of the vehicle can be achieved, which can avoid the vehicle from rolling over when the vehicle is driving on a downhill road and cannot reduce the speed quickly.

[0099] In some embodiments, the vehicle controller determines the target angle to which the steering wheel is to be turned based on a first position of the target obstacle in the vehicle's traveling direction, a second position of the vehicle, and a current angle of the steering wheel, including: the vehicle controller determines the angular deviation between the target obstacle and the vehicle based on the first position and the second position; the vehicle controller determines the difference between the angular deviation and the current angle as the target angle.

[0100] In some embodiments, the vehicle controller determines the angle deviation between the target obstacle and the vehicle based on the first position and the second position, including: the vehicle controller determines the angle deviation based on the following formula (1);

[0101] (1)

[0102] Among them, the coordinates corresponding to the first position are , the coordinates corresponding to the second position are , is the angle deviation.

[0103] Figure 4 It is a schematic diagram of a process flow for controlling a vehicle provided in an embodiment of the present application.

[0104] For example, Figure 4 As shown, when the brake pedal in the vehicle is abnormal and the vehicle has a gear switching requirement, the gear processing module in the vehicle can respond to the gear switching requirement based on the target gear to be switched by the vehicle, and at the same time, the vehicle controller limits the output torque of the vehicle. In addition, the vehicle controller outputs an alarm signal through the vehicle display or voice output device in the vehicle to prompt that the brake pedal is abnormal.

[0105] Figure 5 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0106] For example, Figure 5 As shown, the device 500 includes:

[0107] The determination module 501 is used to:

[0108] When an abnormality is detected in a brake pedal of a vehicle, determining whether the vehicle has a gear shifting requirement;

[0109] When the vehicle has a gear switching requirement, determining a target gear to be switched by the vehicle, and controlling the current gear of the vehicle based on the target gear;

[0110] The control module 502 is used to limit the output torque of the vehicle when the current gear is switched to the target gear.

[0111] Optionally, the determination module 501 is specifically used to: when an abnormality occurs in the brake pedal and the vehicle is in a driving state, determine whether the vehicle has a gear switching requirement based on the vehicle's driving road conditions or driving parameters or the driver's driving behavior; or, when an abnormality occurs in the brake pedal and the vehicle is in an engine-off state, determine whether the vehicle has a gear switching requirement based on whether the driver has a driving intention.

[0112] Optionally, the determination module 501 is further specifically used to: determine that the vehicle has a gear switching requirement when the driving road of the vehicle is about to change; or, determine that the vehicle has a gear switching requirement when the speed of the engine in the vehicle changes; or, determine that the vehicle has a gear switching requirement when the vehicle is a manual transmission vehicle and it is detected that the driver manipulates the gear lever by hand; or, determine that the vehicle has a gear switching requirement when it is detected that there is a driver in the driver's seat in the vehicle and the seat belt of the driver's seat is in a wearing state; or, determine that the vehicle has a gear switching requirement when it is detected that the engine in the vehicle switches from an unstarted state to a started state.

[0113] Optionally, the determination module 501 is further specifically used to: determine the target gear to be switched by the vehicle based on the final position of the gear lever when the driver manipulates the gear lever by hand; and determine the target gear to be switched by the vehicle based on the current engine speed, the current gear and changes in the driving road surface when the driver does not manipulate the gear lever by hand.

[0114] Optionally, the determination module 501 is further specifically used to: determine a target gear shift requirement of the vehicle based on the current gear based on changes in the driving road surface, the target gear shift requirement being used to indicate downshifting or upshifting based on the current gear; determine at least one candidate gear that matches the target gear shift requirement from the multiple gears supported by the vehicle; when the number of candidate gears is equal to a quantity threshold, determine the at least one candidate gear as the target gear; when the number of candidate gears is greater than the quantity threshold, determine the operating efficiency of the engine when each candidate gear runs at the current speed; and determine the candidate gear corresponding to the highest operating efficiency as the target gear.

[0115] Optionally, the determination module 501 is further specifically used to: determine the abnormality level based on the abnormal situation of the brake pedal; determine the amplitude of limiting the current output torque of the vehicle based on the abnormality level; the control module 502 is specifically used to determine the target output torque based on the current output torque and the amplitude, and control the target motor in the vehicle to output the target output torque.

[0116] Optionally, the determination module 501 is also used to: determine whether the current speed of the vehicle is greater than a speed threshold when the vehicle is in a driving state; and determine the target angle to which the steering wheel is to be turned based on the first position of the target obstacle in the driving direction of the vehicle, the second position of the vehicle and the current angle of the steering wheel when the current speed is greater than the speed threshold; the device 500 also includes a rotation module, which is used to control the steering wheel to rotate at the target angle so that the rigid part of the vehicle rubs against the target obstacle to reduce the driving speed of the vehicle.

[0117] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0118] 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 603, and the processor 602 is used to call and execute the executable program code 603 to perform a method for controlling a vehicle.

[0119] 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.

[0120] 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.

[0121] In the case of dividing each functional module according to each function, the device may also include a determination module, a control module, a rotation module, etc. It should be noted that all relevant contents involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0122] 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.

[0123] 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 related executable program codes, etc.

[0124] 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.

[0125] 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.

[0126] This embodiment also provides a computer-readable storage medium, in which an executable program code is stored. When the executable 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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 where an abnormality is detected in a brake pedal of a vehicle, determining whether the vehicle has a gear shifting requirement; In the case where the vehicle has a gear switching requirement, determining a target gear to be switched by the vehicle, and controlling a current gear of the vehicle based on the target gear; When the current gear is switched to the target gear, limiting the output torque of the vehicle; Wherein, determining the target gear position to be switched by the vehicle includes: When the driver manipulates the shift lever by hand, determining a target gear position to be switched by the vehicle based on the final position of the shift lever; In the case that the driver does not manipulate the shift lever manually, a target gear to be switched by the vehicle is determined based on a current speed of an engine in the vehicle, a current gear, and a change in a driving road surface of the vehicle.

2. The method according to claim 1, characterized in that The step of determining whether the vehicle has a gear shift requirement when an abnormality is detected in a brake pedal of the vehicle includes: In the case where the brake pedal is abnormal and the vehicle is in driving state, determining whether the vehicle has a gear switching requirement based on the driving road condition or driving parameters of the vehicle or the driving behavior of the driver; or, In a case where an abnormality occurs in the brake pedal and the vehicle is in an ignition-off state, whether the vehicle has a gear switching demand is determined based on whether the driver has a driving intention.

3. The method according to claim 1 or 2, characterized in that: The method for determining that the vehicle has a gear switching requirement includes: In the case where the driving road surface is about to change, determining that the vehicle has a gear switching requirement; or, In the case where the rotation speed of the engine changes, determining that the vehicle has a gear switching requirement; or, When the vehicle is a manual transmission vehicle and it is detected that the driver manipulates the shift lever by hand, determining that the vehicle has a gear shifting requirement; or, In the case where it is detected that there is a driver on the main driver's seat in the vehicle and the seat belt of the main driver's seat is in a wearing state, determining that the vehicle has a gear shifting requirement; or, When it is detected that the engine is switched from the unstarted state to the started state, it is determined that the vehicle has a gear switching requirement.

4. The method according to claim 1, characterized in that: The determining of a target gear to be switched by the vehicle based on a current speed of an engine in the vehicle, a current gear and a change in a driving road surface of the vehicle comprises: Determining a target gear shift requirement of the vehicle at the current gear position based on a change in the driving road surface, the target gear shift requirement being used to indicate a downshift or upshift based on the current gear position; Determining at least one candidate gear that matches the target gear shift requirement from a plurality of gears supported by the vehicle; When the number of candidate gear positions is equal to the number threshold, determining the at least one candidate gear position as the target gear position; When the number of the candidate gears is greater than the number threshold, determining the operating efficiency of the engine when each candidate gear is operated at the current speed; The candidate gear position corresponding to the highest operating efficiency is determined as the target gear position.

5. The method according to claim 1, characterized in that: The limiting the output torque of the vehicle includes: determining an abnormality level based on the abnormality of the brake pedal; determining, based on the abnormality level, a magnitude of limiting a current output torque of the vehicle; Based on the current output torque and the magnitude, a target output torque is determined, and a target motor in the vehicle is controlled to output the target output torque.

6. The method according to claim 1, characterized in that The method further comprises: When the vehicle is in a driving state, determining whether a current speed of the vehicle is greater than a speed threshold; When the current speed is greater than the speed threshold, determining a target angle to which the steering wheel is to be turned based on a first position of a target obstacle in a traveling direction of the vehicle, a second position of the vehicle, and a current angle of the steering wheel; The steering wheel is controlled to rotate at the target angle so that the vehicle rubs against the target obstacle to reduce the driving speed of the vehicle.

7. A device for controlling a vehicle, characterized in that: The device comprises: Identify modules for: In the case where an abnormality is detected in a brake pedal of a vehicle, determining whether the vehicle has a gear shifting requirement; In the case where the vehicle has a gear switching requirement, determining a target gear to be switched by the vehicle, and controlling a current gear of the vehicle based on the target gear; A control module, configured to limit the output torque of the vehicle when the current gear is switched to the target gear; The determining module is specifically used for: When the driver manipulates the shift lever by hand, determining a target gear position to be switched by the vehicle based on the final position of the shift lever; In the case that the driver does not manipulate the shift lever manually, a target gear to be switched by the vehicle is determined based on a current speed of an engine in the vehicle, a current gear, and a change in a driving road surface of the vehicle.

8. 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 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an executable program code, and when the executable program code is executed, the method according to any one of claims 1 to 6 is implemented.

Images