Auxiliary Driving Method and Device for Subject Three Closed Driving Practice Site

Abstract

The present application provides an assisted driving method and device for a closed driving training ground for subject three, relating to the field of assisted driving. The method includes: determining a target driving speed on the closed driving training ground for subject three; obtaining the current driving speed of a driving training vehicle on the closed driving training ground for subject three; when the current driving speed is greater than the target driving speed, controlling the driving training vehicle to execute a first vehicle speed control strategy; when the current driving speed is less than or equal to the target driving speed, controlling the driving training vehicle to execute a second vehicle speed control strategy; wherein, the first vehicle speed control strategy includes: determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed; the second vehicle speed control strategy includes: releasing the clutch. The present application realizes the precise control of the speed of the driving training vehicle, improves the handling stability of the driving training vehicle, and is also helpful for improving the driving training efficiency.

Description

Technical Field

[0001] This application relates to the field of assisted driving, and particularly to an assisted driving method and device for a closed driving training ground for the third subject of a driving test. Background Art

[0002] Although autonomous driving technology has the potential to improve the safety of highway driving, its high cost limits its popularity in driving training institutions, especially in areas with limited economic conditions. In addition, autonomous driving technology is mainly used for automatic transmission vehicles and has insufficient compatibility with manual transmission vehicles, further narrowing its application scope. Summary of the Invention

[0003] In view of this, embodiments of this application provide an assisted driving method and device for a closed driving training ground for the third subject of a driving test.

[0004] In a first aspect, an embodiment of this application provides an assisted driving method for a closed driving training ground for the third subject of a driving test, which is applied to a braking system. The braking system includes an electronic fence module, a vehicle networking module, a braking module, and a sensor module. The method includes: determining a target driving speed on the closed driving training ground for the third subject of a driving test; obtaining the current driving speed of a driving training vehicle on the closed driving training ground for the third subject of a driving test; when the current driving speed is greater than the target driving speed, controlling the driving training vehicle to execute a first vehicle speed control strategy; when the current driving speed is less than or equal to the target driving speed, controlling the driving training vehicle to execute a second vehicle speed control strategy; where the first vehicle speed control strategy includes: determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed; the second vehicle speed control strategy includes: releasing the clutch.

[0005] In combination with the first aspect, in some implementation manners of the first aspect, the first vehicle speed control strategy and the second vehicle speed control strategy further include: obtaining a plurality of heading angles of the driving training vehicle during driving; calculating a steering wheel angle compensation value based on the plurality of heading angles; calculating the actual steering wheel angle of the driving training vehicle based on the steering wheel angle compensation value; and sending a first execution instruction regarding the actual steering wheel angle to a lower computer, so that the lower computer responds to the first execution instruction and controls the steering wheel of the driving training vehicle.

[0006] In combination with the first aspect, in some implementation manners of the first aspect, calculating the steering wheel angle compensation value based on the heading angle includes: calculating a heading angle variance based on the plurality of heading angles; calculating the steering wheel angle compensation value based on the heading angle variance and the current driving speed.

[0007] In combination with the first aspect, in some implementations of the first aspect, determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed includes: determining a first target acceleration based on the magnitude relationship between the current driving speed and the target driving speed, where the first target acceleration is less than zero; and determining the depression depth of the brake pedal based on the first target acceleration.

[0008] In combination with the first aspect, in some implementations of the first aspect, the method further includes: sending a second execution command regarding the depression depth of the lower brake pedal to the lower computer, so that the lower computer responds to the second execution command to control the brake pedal of the driving training vehicle; and / or, when the driving training vehicle is idling, sending a third execution command regarding stepping on the clutch to the lower computer, so that the lower computer responds to the third execution command to control the clutch of the driving training vehicle.

[0009] In combination with the first aspect, in some implementations of the first aspect, before controlling the driving training vehicle to execute releasing the clutch in the second vehicle speed control strategy, it further includes: when the current driving speed is equal to the target driving speed, determining that the depression depth of the brake pedal is zero; when the current driving speed is less than the target driving speed, determining a second target acceleration based on the magnitude relationship between the current driving speed and the target driving speed, where the second target acceleration is greater than zero; and determining the release depth of the brake pedal according to the second target acceleration.

[0010] In combination with the first aspect, in some implementations of the first aspect, after releasing the clutch, it further includes:

[0011] judging whether the current driving speed of the driving training vehicle matches the vehicle gear; when the current driving speed of the driving training vehicle does not match the vehicle gear, releasing the clutch according to the linkage value in the historical driving data.

[0012] In a second aspect, an embodiment of the present application provides an assisted driving device for a closed driving training ground for the third subject, which is applied to a braking system. The system includes an electronic fence module, a vehicle networking module, a braking module, and a sensor module. The device includes: a determination module, configured to determine the target driving speed in the closed driving training ground for the third subject; an acquisition module, configured to acquire the current driving speed of the driving training vehicle in the closed driving training ground for the third subject; a first control module, configured to control the driving training vehicle to execute a first vehicle speed control strategy when the current driving speed is greater than the target driving speed; a second control module, configured to control the driving training vehicle to execute a second vehicle speed control strategy when the current driving speed is less than or equal to the target driving speed; where the first vehicle speed control strategy includes: determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed; and the second vehicle speed control strategy includes: releasing the clutch.

[0013] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program for executing the assisted driving method for the closed driving training ground for subject three described in the first aspect.

[0014] In a fourth aspect, an embodiment of the present application provides an electronic device, which includes: a processor; a memory for storing instructions executable by the processor; the processor is configured to execute the assisted driving method for the closed driving training ground for subject three described in the first aspect.

[0015] In the present application, when the current driving speed exceeds the target driving speed, the first vehicle speed control strategy realizes precise control of the speed of the driving training vehicle by intelligently adjusting the depression depth of the brake pedal. This dynamic adjustment based on real-time data not only improves the handling stability of the driving training vehicle, but also enhances the sensitivity and response ability of the trainee to vehicle speed control. In contrast, when the current driving speed is less than or equal to the target speed, the second vehicle speed control strategy keeps the vehicle running smoothly by releasing the clutch, avoiding the jitter or instability of the driving training vehicle caused by frequent operations, and ensuring driving comfort and safety. In addition, the solution in this embodiment also helps to improve the driving training efficiency. At the same time, with the intelligent assistance, the trainee can master driving skills faster and improve learning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 The figure shows a schematic flowchart of an assisted driving method for a closed driving training ground for subject three provided by an embodiment of the present application.

[0018] Figure 2 The figure shows a schematic flowchart of an assisted driving method for a closed driving training ground for subject three provided by another embodiment of the present application.

[0019] Figure 3 The figure shows a schematic diagram of the execution of some steps in the first vehicle speed control strategy or the second vehicle speed control strategy provided by an embodiment of the present application.

[0020] Figure 4 The figure shows a schematic flowchart of calculating the steering wheel angle compensation value provided by an embodiment of the present application.

[0021] Figure 5The figure shows a schematic flow chart for determining the depression depth of a brake pedal provided by an embodiment of the present application.

[0022] Figure 6 The figure shows a schematic flow chart of an assisted driving method for a closed driving practice site in Subject 3 provided by another embodiment of the present application.

[0023] Figure 7 The figure shows a schematic structural diagram of an assisted driving device for a closed driving practice site in Subject 3 provided by an embodiment of the present application.

[0024] Figure 8 The figure shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0026] The practical operation link of driving training is the key to cultivating drivers' practical operation ability, including two important parts: low-speed site driving and high-speed road driving. Among them, high-speed road driving training is crucial for trainees to master vehicle control and cope with complex traffic conditions. However, it also faces many challenges, such as high safety risks, uneven distribution of teaching resources, and low training efficiency. Specifically, during high-speed driving, trainees may cause safety accidents due to unskilled operations. The limited and concentrated distribution of high-quality coach resources in urban areas makes it difficult for trainees in some areas to obtain high-quality guidance. In addition, the traditional teaching mode relying on the personal experience of coaches lacks scientific quantitative analysis and personalized teaching plans, affecting training efficiency. Although practicing in a closed site has lower risks than on an open road, problems such as improper operations by trainees, ineffective supervision by coaches, and lagging emergency responses still exist, which are directly related to the personal safety and training quality of trainees.

[0027] However, with the development of technologies such as intelligent monitoring systems, virtual reality simulation training, and big data analysis, it brings the possibility of innovation to traditional driving teaching methods. By effectively integrating these intelligent technologies, not only can the safety of practicing in the closed site of Subject 3 in driving schools be improved, but also the training efficiency can be increased, bringing a more scientific and personalized teaching experience to driving training.

[0028] Figure 1The following is a schematic flowchart of an assisted driving method for a closed driving training ground for Subject 3 provided by an embodiment of the present application. Exemplarily, this method is applied to a braking system, which includes an electronic fence module, a vehicle networking module, a braking module, and a sensor module.

[0029] Specifically, the electronic fence module uses GPS (Global Positioning System) or other positioning technologies to set virtual boundaries on a map. When a driving training vehicle enters or leaves these preset areas, specific actions or notifications can be triggered, thereby providing safety warnings or automatic control when the driving training vehicle approaches a specific area. The vehicle networking module enables real-time information exchange through the communication between the driving training vehicle and other vehicles, infrastructure, pedestrian devices, and cloud servers, pre-warns potential collision risks, optimizes driving routes, and provides real-time traffic information, enhancing the driving training vehicle's perception and response capabilities to the environment. As the core of the active safety system, the braking module not only includes traditional hydraulic or electric braking systems but also covers advanced functions such as automatic emergency braking systems. It monitors obstacles ahead through sensors such as radar and cameras and automatically activates the braking system when a collision risk is predicted to reduce or avoid collision injuries. The sensor module, especially the millimeter-wave and ultrasonic sensing modules, is responsible for detecting the distance, speed, and direction of objects around the vehicle with high precision, supporting functions of advanced driver assistance systems such as adaptive cruise control, blind spot monitoring, and cross-traffic warning, further enhancing the active safety performance of the driving training vehicle. Combining the functions of these modules, the braking system of this solution can provide comprehensive safety protection in various driving scenarios.

[0030] Specifically, in this embodiment, the assisted driving method for the closed driving training ground for Subject 3 includes the following steps.

[0031] Step S110, determine the target driving speed on the closed driving training ground for Subject 3.

[0032] The target driving speed involves a comprehensive consideration of the site characteristics, training requirements, and safety standards. Exemplarily, first, consider the size and layout of the closed driving training ground for Subject 3 to ensure that the driving training vehicle does not exceed the safe speed limit when driving on the site. Second, refer to the standards and regulations of driving training. In addition, the driving skill level and experience of the trainees also need to be considered to set a speed that is both safe and conducive to skill improvement for them. In actual operation, speed limit signs can also be used or the target driving speed can be set through the guidance of the coach. Once the target driving speed is determined, the current driving speed of the driving training vehicle can be monitored and adjusted through the vehicle speed control system of the driving training vehicle to ensure that it is consistent with the target driving speed or within a safe range.

[0033] Step S120: Obtain the current driving speed of the driver training vehicle in the closed driving practice ground for the third subject test.

[0034] Exemplarily, the speed state of the driver training vehicle is monitored in real time to ensure that the driver training vehicle travels in accordance with the established training requirements and safety standards. In this process, the current driving speed is obtained through the speed sensor built in the driver training vehicle. This speed data will be transmitted to the central control unit or the assisted driving system of the driver training vehicle and compared with the preset target driving speed. This comparison result will determine whether the vehicle speed control strategy needs to be executed next, as described in steps S130 and S140.

[0035] Step S130: When the current driving speed is greater than the target driving speed, control the driver training vehicle to execute the first vehicle speed control strategy.

[0036] The first vehicle speed control strategy is a method for dynamically adjusting the vehicle speed. Its core lies in intelligently calculating the appropriate depth of depressing the brake pedal according to the magnitude relationship between the current driving speed of the driver training vehicle and the preset target driving speed. The purpose of this strategy is to effectively decelerate the driver training vehicle to a safe or target speed when it is speeding, while maintaining the smoothness of the operation and avoiding discomfort or potential dangers caused by sudden braking. Specifically, when the current driving speed of the driver training vehicle exceeds the target driving speed, the braking system will analyze the exceeded amplitude and then determine an appropriate braking force, which can ensure that the driver training vehicle decelerates to the target driving speed and minimize the impact on the trainee as much as possible.

[0037] Step S140: When the current driving speed is less than or equal to the target driving speed, control the driver training vehicle to execute the second vehicle speed control strategy.

[0038] Specifically, the second vehicle speed control strategy is the measure taken when the current driving speed of the driver training vehicle is less than or equal to the target driving speed. Its main purpose is to maintain or fine-tune the vehicle speed to ensure the smooth operation of the driver training vehicle and meet the training requirements. The core of this strategy is to release the clutch, which is a mechanism used to connect or disconnect the engine and the transmission in a manual transmission vehicle. When the clutch is released, the power of the engine is transmitted to the transmission, thereby driving the driver training vehicle.

[0039] It can be understood that in the context of vehicle speed control, releasing the clutch can increase the torque output of the driver training vehicle, thereby appropriately increasing the speed of the driver training vehicle without increasing the engine speed, or maintaining the smooth driving of the driver training vehicle when the current driving speed has reached or is lower than the target speed.

[0040] In addition, in some embodiments, the second vehicle speed control strategy also involves fine-tuning the engine throttle to ensure that the driving training vehicle can accelerate smoothly or maintain the current speed after releasing the clutch, avoiding vehicle jitter or instability caused by improper operation. This strategy also requires precise control of the release timing and force of the clutch. In the assisted driving system, this control is achieved through an automated clutch operating mechanism to reduce the uncertainty of manual operation and improve the safety and efficiency of training.

[0041] In this embodiment, when the current driving speed exceeds the target driving speed, the first vehicle speed control strategy achieves precise control of the speed of the driving training vehicle by intelligently adjusting the depression depth of the brake pedal. This dynamic adjustment based on real-time data not only improves the handling stability of the driving training vehicle but also enhances the sensitivity and response ability of the trainee to vehicle speed control. In contrast, when the current driving speed is less than or equal to the target speed, the second vehicle speed control strategy releases the clutch to keep the vehicle running smoothly, avoiding jitter or instability of the driving training vehicle caused by frequent operations and ensuring driving comfort and safety. In addition, the solution in this embodiment also helps to improve the efficiency of vehicle training. At the same time, trainees can master driving skills faster and improve learning efficiency under intelligent assistance.

[0042] Figure 2 The following is a schematic flow chart of an assisted driving method for a closed driving training ground for Subject 3 provided by another embodiment of the present application. Figure 1 Based on the embodiment shown Figure 2 extends the embodiment shown Figure 2 The differences between the embodiment shown Figure 1 and the embodiment shown

[0043] are described below. The same parts will not be elaborated. Figure 2 As shown

[0044] In step S210, before controlling the driving training vehicle to execute the clutch release in the second vehicle speed control strategy, when the current driving speed is equal to the target driving speed, the depression depth of the brake pedal is determined to be zero; when the current driving speed is less than the target driving speed, based on the magnitude relationship between the current driving speed and the target driving speed, a second target acceleration is determined; and the release depth of the brake pedal is determined according to the second target acceleration.

[0045] In step S210, first, it is determined whether the current driving speed is equal to the target driving speed. If they are equal, it means that the vehicle has reached the expected speed. At this time, the system determines that the depression depth of the brake pedal is zero, that is, no additional adjustment of the vehicle speed is required to maintain the stability of the current speed.

[0046] If the current driving speed is less than the target driving speed, the system needs to take measures to increase the vehicle speed. At this time, the system calculates a second target acceleration based on the difference between the current driving speed and the target driving speed. This acceleration is a positive value, indicating that the driving training vehicle needs to accelerate to approach or reach the target speed. According to the calculated second target acceleration, the release depth of the brake pedal is determined, that is, the depression depth of the brake pedal needs to be appropriately reduced to reduce the braking force and allow the vehicle to accelerate.

[0047] The above process involves the precise control of vehicle dynamics and real-time response to driving conditions. In this way, the driving training vehicle can more intelligently adapt to different training scenarios and requirements, improving the efficiency and safety of driving training. At the same time, this also helps trainees better understand the principle of vehicle speed control and learn how to adjust the vehicle speed according to needs in actual driving.

[0048] Step S220: After releasing the clutch, determine whether the current driving speed of the driving training vehicle matches the vehicle gear; in the case where the current driving speed of the driving training vehicle does not match the vehicle gear, release the clutch according to the linkage value in the historical driving data.

[0049] In step S220, after releasing the clutch, the system first monitors and determines in real time whether the current driving speed is suitable for the gear of the driving training vehicle. This process involves analyzing the data of the speed sensor of the driving training vehicle, as well as understanding the vehicle transmission system and the knowledge of gear characteristics. If the system determines that the current driving speed matches the gear, the driving training vehicle will continue to drive in the current gear. However, if the system detects that the current driving speed does not match the vehicle gear, adjustments are needed at this time. The system will refer to the linkage value in the historical driving data, that is, the optimal release point of the clutch at different speeds and gears. Exemplarily, these data are collected and learned during previous driving training processes and can reflect how the clutch should be operated to achieve smooth gear shifting at specific speeds and gears.

[0050] According to these historical linkage values, the system automatically adjusts the release depth of the clutch to adapt to the current driving speed and the selected gear, ensuring a smooth connection between the engine and the transmission system and reducing the discomfort of vehicle driving caused by gear mismatch.

[0051] This step mainly involves a judgment and adjustment process carried out after releasing the clutch, aiming to ensure that the driving speed of the driving training vehicle matches the gear of the vehicle, thereby ensuring the smoothness and efficiency of the driving training vehicle, reducing possible errors that trainees may make during driving, and improving driving safety and training efficiency. At the same time, this also helps trainees better learn how to correctly operate the clutch at different speeds and gears and master the skills of smooth driving.

[0052] In some embodiments of the present application, the first vehicle speed control strategy and the second vehicle speed control strategy further include Figure 3 The following steps included.

[0053] Step S310, obtaining multiple heading angles of the driving training vehicle during driving.

[0054] The heading angle refers to the angle between the forward direction of the driving training vehicle and the reference direction (usually the geographic north), and is an important parameter for describing the direction of the driving training vehicle on a plane. Obtaining the heading angle can be achieved through various sensors, such as geomagnetic sensors, inertial measurement units, etc.

[0055] Step S320, calculating a steering wheel angle compensation value based on the multiple heading angles.

[0056] The steering wheel angle compensation value refers to the value for adjusting the steering wheel angle according to the deviation between the actual driving path and the expected path in order to ensure that the driving training vehicle travels along a predetermined trajectory.

[0057] The process of calculating the steering wheel angle compensation value involves analyzing the current driving state of the driving training vehicle, including the control parameters and motion state parameters of the driving training vehicle. By comparing the expected heading and the actual heading of the driving training vehicle, the required steering wheel angle compensation amount is determined. For example, if there is a deviation between the actual heading and the expected heading when the driving training vehicle turns right, a positive compensation value is calculated, indicating that the steering wheel needs to increase the turning angle to the right. Conversely, if the driving training vehicle needs to turn left to correct the heading, a negative compensation value is calculated.

[0058] In some embodiments, the calculation of the steering wheel angle compensation value also takes into account information such as the rotation angle, rotation direction, angular velocity, and angular acceleration of the steering wheel to achieve a more accurate and dynamic compensation effect. Through this comprehensive consideration, the steering wheel angle compensation value can improve the handling stability and driving safety of the vehicle.

[0059] Step S330, calculating the actual steering wheel angle of the driving training vehicle based on the steering wheel angle compensation value.

[0060] Exemplarily, in this embodiment, first, the actual steering angle data of the current steering wheel is obtained from the sensors of the driver training vehicle, including the absolute steering angle, the rotation direction, and the angular velocity of the steering wheel, etc. Then, based on the calculated steering angle compensation value, this actual steering angle data is adjusted. The adjustment process involves adding the compensation value to the current steering wheel angle to obtain an actual steering wheel angle. For example, if the driver training vehicle needs to turn more to the right to maintain the correct driving trajectory, the steering angle compensation value is positive, and the system will turn the steering wheel to the right by an additional angle. Conversely, if the right turn angle needs to be reduced, the compensation value will be negative, and the system will reduce the right turn angle of the steering wheel.

[0061] Step S340, send the first execution instruction regarding the actual steering wheel angle to the lower computer so that the lower computer responds to the first execution instruction to control the steering wheel of the driver training vehicle.

[0062] The first execution instruction is a specific control signal, which is sent to the lower computer through the communication network inside the driver training vehicle. The lower computer, that is, the electronic control unit directly controlling the steering wheel actuator, after receiving the first execution instruction, will convert the instruction into corresponding mechanical actions and rotate the steering wheel to a predetermined angle through a motor or other drivers. Through such a control loop, the steering wheel of the driver training vehicle can be accurately controlled, thereby helping the trainee learn how to correctly control the driving direction of the vehicle in different training scenarios, improving driving skills and safety. At the same time, this intelligent control method also provides an efficient teaching aid for the coach.

[0063] In this embodiment, by obtaining multiple heading angles of the driver training vehicle, the driving state of the driver training vehicle relative to the predetermined trajectory can be monitored in real time, providing accurate data support for subsequent control decisions. Then, based on these heading angle data, the steering angle compensation value is calculated, and this compensation value reflects the steering adjustment required for the driver training vehicle to stay on the predetermined trajectory. Such dynamic adjustment enables the driver training vehicle to respond more smoothly and accurately to driving instructions, reducing the risk of deviation from the trajectory caused by improper human operation. Then, the actual steering wheel angle is calculated according to the steering angle compensation value, ensuring that the steering angle of the steering wheel precisely matches the expected driving direction of the driver training vehicle, improving the accuracy of controlling the driver training vehicle. Finally, the execution instruction of the actual steering wheel angle is sent to the lower computer, and the lower computer responds to this instruction to precisely control the steering wheel to the corresponding angle, realizing the precise control of the vehicle driving direction. This closed-loop control process not only improves the safety of driving training but also helps trainees master driving skills faster through intelligent auxiliary means, and at the same time provides a standardized teaching tool for the coach.

[0064] Figure 4The following is a schematic flowchart for calculating the steering wheel angle compensation value provided by an embodiment of the present application. Based on Figure 3 the embodiment shown, an extended Figure 4 embodiment is derived. The following focuses on Figure 4 the differences between the embodiment shown and Figure 3 the embodiment shown. The similarities will not be elaborated further.

[0065] As Figure 4 shown, in this embodiment, based on the heading angle, calculating the steering wheel angle compensation value includes the following steps.

[0066] Step S410: Calculate the variance of the heading angles based on multiple heading angles.

[0067] Exemplarily, the multiple heading angles are respectively denoted as h1, h2, h3... h n , where n represents the number of heading angles.

[0068] Mean of the heading angles

[0069] Variance of the heading angles

[0070] Step S420: Calculate the steering wheel angle compensation value based on the variance of the heading angles and the current driving speed.

[0071] The variance of the heading angles is a statistic that measures the degree of deviation between the actual heading of the driving training vehicle and the expected heading, and it reflects the stability of the driving direction of the driving training vehicle. The current driving speed is the distance traveled by the driving training vehicle within a specific time, and it affects the response degree of the driving training vehicle to the steering command.

[0072] Exemplarily, when the variance of the heading angles is less than the preset variance threshold and the current driving speed is greater than the preset speed threshold, calculate the steering wheel angle compensation value. For example, the preset variance threshold = 0.2, and the preset speed threshold = 3 m / s.

[0073] It can be understood that when the variance of the heading angles is less than the preset variance threshold, it indicates that the driving direction of the driving training vehicle is relatively stable and the deviation from the expected heading is small. When the current driving speed is greater than the preset speed threshold, it means that the driving training vehicle is in a relatively fast driving state, and more precise steering adjustments are required to avoid vehicle instability caused by excessive speed.

[0074] Further, by combining the two parameters of the course angle variance and the current driving speed, a comprehensive algorithm is used to calculate the steering wheel angle compensation value. Exemplarily, this algorithm adopts the proportional (P), integral (I), derivative (D) control strategy, or other control theories, such as fuzzy logic control or adaptive control strategy. The algorithm calculates an appropriate compensation value according to the magnitude of the course angle variance and the current driving speed, so as to adjust the steering wheel to an appropriate angle, ensuring that the driving training vehicle can smoothly and accurately travel along the predetermined trajectory.

[0075] In this embodiment, by calculating the variance based on multiple course angles, the stability of the driving direction of the driving training vehicle can be evaluated. Further, by comprehensively considering the course angle variance and the current driving speed and calculating the steering wheel angle compensation value, the steering wheel angle can be dynamically adjusted to ensure that the driving training vehicle smoothly and accurately travels along the predetermined trajectory. Finally, this intelligent control process not only improves the accuracy of vehicle control, but also enhances driving safety. At the same time, it provides an efficient teaching aid for the coach, ensuring the standardization and efficiency of the teaching process.

[0076] Figure 5 The following shows a schematic flowchart of determining the depression depth of the brake pedal provided by an embodiment of the present application. Figure 1 Based on the embodiment shown Figure 5 an extended embodiment is derived. Figure 5 The differences between the embodiment shown Figure 1 and the embodiment shown

[0077] will be mainly described below. Figure 5 As shown, in this embodiment, based on the magnitude relationship between the current driving speed and the target driving speed, determining the depression depth of the brake pedal includes the following steps.

[0078] Step S510: Based on the magnitude relationship between the current driving speed and the target driving speed, determine the first target acceleration.

[0079] In this step, the system first evaluates the difference between the current driving speed and the target driving speed, and calculates a first target acceleration according to the difference. This acceleration is a negative value, indicating that the driving training vehicle needs to decelerate. For example, if the target driving speed is 30 km / h and the current driving speed is 50 km / h, the system calculates a first target acceleration of -2 m / s 2 , which means that the driving training vehicle needs to approach the target driving speed at a deceleration rate of 2 meters per second.

[0080] Step S520: Based on the first target acceleration, determine the depression depth of the brake pedal.

[0081] There is a specific mapping relationship between the first target acceleration and the depression depth of the brake pedal, which converts the dynamic requirements of the driving training vehicle into physical actions that can be performed by the driver or the autonomous driving system.

[0082] Exemplarily, this mapping relationship can be determined through a series of experiments and simulations. For example, if the driving training vehicle needs to quickly decelerate from a relatively high speed to the target driving speed, the required first target acceleration will be negative and have a relatively large absolute value. In this case, the mapping relationship will require a relatively large depression depth to provide sufficient braking force. On the contrary, if only a slight speed adjustment is needed, the absolute value of the first target acceleration will be smaller, and the mapping relationship will correspondingly require a smaller depression depth. Additionally, this mapping relationship must also consider the comfort and safety in actual driving, avoiding causing discomfort to passengers or ensuring a rapid response in emergency situations. Exemplarily, in practical applications, this mapping relationship is implemented as a look-up table or a mathematical formula and stored in the vehicle's control unit. When braking is required, the system calculates the required depression depth based on the first target acceleration and controls the brake pedal to the corresponding depth through an actuator, thereby achieving precise braking control.

[0083] Continuing with the foregoing example, the first target acceleration is -2 m / s². Based on this acceleration and the mapping relationship, it is calculated that the brake pedal needs to be depressed to a depth of 30% to achieve a smooth deceleration to the target speed. Additionally, throughout the process, the system will continuously monitor the vehicle speed and dynamically adjust the depression depth of the brake pedal to ensure that the vehicle can safely and accurately reach the target driving speed.

[0084] In this embodiment, by calculating the first target acceleration, the required deceleration can be determined, ensuring that the driving training vehicle decelerates to the target driving speed at an appropriate rate. This not only improves driving safety but also enhances riding comfort. Secondly, determining the depression depth of the brake pedal based on the first target acceleration enables the braking force to precisely match the actual driving requirements, avoiding potential risks caused by excessive or insufficient braking force. This precise control helps reduce the instability and possible sudden stops of the driving training vehicle during deceleration, thereby improving the stability of handling.

[0085] Figure 6 The following shows a schematic flowchart of an assisted driving method for a closed driving training site in the third subject provided by another embodiment of the present application. Figure 1 Based on the embodiment shown Figure 6 extends the embodiment shown Figure 6 The differences between the embodiment shown Figure 1 and the embodiment shown will be emphasized below, and the same parts will not be elaborated.

[0086] As Figure 6As shown, in this embodiment, the method further includes the following steps.

[0087] Step S610: Send a second execution command regarding the depression depth of the lower brake pedal to the lower computer.

[0088] The purpose of step S610 is to facilitate the lower computer to respond to the second execution command and control the brake pedal of the driving training vehicle. Exemplarily, this step can be completed through the vehicle-mounted communication network. After receiving the command, the lower computer will parse and execute it, controlling the brake system to brake at a predetermined depth to ensure that the driving training vehicle can decelerate to a safe or target speed in a timely manner.

[0089] The solution in this step improves the handling responsiveness and safety of the driving training vehicle. Especially in the case of emergency deceleration, it can respond quickly and reduce the risk of accidents.

[0090] Step S620: When the driving training vehicle is idling, send a third execution command regarding stepping on the clutch to the lower computer.

[0091] The vehicle is idling means that the engine of the driving training vehicle is in a state without load, that is, the handbrake or footbrake of the driving training vehicle is activated, and the engine runs at the lowest stable speed. In the idling state, the driving training vehicle will not move, and the engine only maintains its own operation without outputting power externally.

[0092] In this step, when the driving training vehicle is idling, the brake system will issue a command to step on the clutch to facilitate the lower computer to respond to this command and control the clutch of the driving training vehicle. Specifically, the lower computer controls the operation of the clutch according to this command to adapt to the driving training requirements in the idling state.

[0093] The solution in this step optimizes the handling process during driving training, enabling trainees to obtain an effective training experience even in the idling state, and at the same time ensuring the smooth operation of the driving training vehicle in different operating states.

[0094] Above, in combination with Figures 1 to 6 , the embodiments of the assisted driving method for the closed driving training ground of subject three in this application are described in detail. Next, in combination with Figure 7 , the embodiments of the assisted driving device for the closed driving training ground of subject three in this application are described in detail. It should be understood that the description of the embodiments of the assisted driving method for the closed driving training ground of subject three corresponds to the description of the embodiments of the assisted driving device for the closed driving training ground of subject three. Therefore, for the parts not described in detail, reference can be made to the previous method embodiments.

[0095] Figure 7 The following shows a schematic structural diagram of an assisted driving device for a closed driving training ground of subject three provided in an embodiment of this application. AsFigure 7 As shown in Figure 7 , the auxiliary driving device for the closed driving training ground of Subject 3 provided by the embodiments of the present application includes:

[0096] A determination module 710, configured to determine a target driving speed on the closed driving training ground of Subject 3;

[0097] An acquisition module 720, configured to acquire the current driving speed of the driving training vehicle on the closed driving training ground of Subject 3;

[0098] A first control module 730, configured to control the driving training vehicle to execute a first vehicle speed control strategy when the current driving speed is greater than the target driving speed;

[0099] A second control module 740, configured to control the driving training vehicle to execute a second vehicle speed control strategy when the current driving speed is less than or equal to the target driving speed;

[0100] Wherein, the first vehicle speed control strategy includes: determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed; the second vehicle speed control strategy includes: releasing the clutch.

[0101] In an embodiment of the present application, the first control module 730 and / or the second control module 740 are further configured to acquire a plurality of heading angles of the driving training vehicle during driving; calculate a steering wheel angle compensation value based on the plurality of heading angles; calculate the actual steering wheel angle of the driving training vehicle based on the steering wheel angle compensation value; and send a first execution instruction regarding the actual steering wheel angle to the lower computer, so that the lower computer responds to the first execution instruction to control the steering wheel of the driving training vehicle.

[0102] In an embodiment of the present application, the first control module 730 and / or the second control module 740 are further configured to calculate a heading angle variance based on the plurality of heading angles; calculate a steering wheel angle compensation value based on the heading angle variance and the current driving speed.

[0103] In an embodiment of the present application, the first control module 730 is further configured to determine a first target acceleration based on the magnitude relationship between the current driving speed and the target driving speed, and the first target acceleration is less than zero; determine the depression depth of the brake pedal based on the first target acceleration.

[0104] In an embodiment of the present application, the first control module 730 is further configured to send a second execution command regarding the depression depth of the lower brake pedal to the lower computer, so that the lower computer responds to the second execution command to control the brake pedal of the driving training vehicle; and / or, when the driving training vehicle is idling, send a third execution command regarding stepping on the clutch to the lower computer, so that the lower computer responds to the third execution command to control the clutch of the driving training vehicle.

[0105] In an embodiment of the present application, the second control module 740 is further configured to determine that the depression depth of the brake pedal is zero when the current driving speed is equal to the target driving speed; when the current driving speed is less than the target driving speed, determine a second target acceleration based on the magnitude relationship between the current driving speed and the target driving speed, where the second target acceleration is greater than zero; and determine the release depth of the brake pedal according to the second target acceleration.

[0106] In an embodiment of the present application, the second control module 740 is further configured to determine whether the current driving speed of the driving training vehicle matches the vehicle gear; when the current driving speed of the driving training vehicle does not match the vehicle gear, release the clutch according to the linkage value in the historical driving data.

[0107] Next, Figure 8 an electronic device according to an embodiment of the present application will be described. Figure 8 The following shows a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0108] As Figure 8 shown, the electronic device 80 includes one or more processors 801 and a memory 802.

[0109] The processor 801 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 80 to perform desired functions.

[0110] The memory 802 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 801 may run the program instructions to implement the auxiliary driving methods for the closed driving training ground of subject three and / or other desired functions described above in various embodiments of the present application. Various contents such as the target driving speed, current driving speed, first vehicle speed control strategy, second vehicle speed control strategy, etc. may also be stored in the computer-readable storage medium.

[0111] In one example, the electronic device 80 may further include: an input device 803 and an output device 804, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0112] The input device 803 may include, for example, a keyboard, a mouse, and the like.

[0113] The output device 804 may output various information to the outside, including the target driving speed, the current driving speed, the first vehicle speed control strategy, the second vehicle speed control strategy, and the like. The output device 804 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and the like.

[0114] Of course, for simplicity, Figure 8 only some of the components related to the present application in the electronic device 80 are shown, and components such as a bus, an input / output interface, and the like are omitted. In addition, according to specific application scenarios, the electronic device 80 may further include any other appropriate components.

[0115] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the assisted driving method for a closed driving practice site of subject three described above in this specification according to various embodiments of the present application.

[0116] The computer program product may be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0117] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, and the computer program instructions, when run by a processor, cause the processor to execute the steps in the assisted driving method for a closed driving practice site of subject three described above in this specification according to various embodiments of the present application.

[0118] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0119] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purposes of illustration and facilitating understanding, rather than limitations. These details do not limit the present application to necessarily adopt the above specific details for implementation.

[0120] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0121] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0122] The above description of the disclosed aspects enables any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0123] The foregoing description has been presented for purposes of illustration and description. In addition, this description is not intended to limit embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and sub-combinations.

Claims

1. An assisted driving method for a closed driving practice site for subject three, characterized in that: Applied to a braking system, the braking system includes an electronic fence module, a vehicle networking module, a braking module and a sensor module, and the method includes: Determine the target driving speed in the closed driving practice area for subject 3; Obtain the current driving speed of the driving training vehicle in the closed driving training ground for subject three; When the current driving speed is greater than the target driving speed, controlling the driving training vehicle to execute a first vehicle speed control strategy; When the current driving speed is less than or equal to the target driving speed, controlling the driving training vehicle to execute a second vehicle speed control strategy; Wherein, the first vehicle speed control strategy includes: determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed, the depression depth being able to control the driving training vehicle to decelerate to a safe driving speed or the target driving speed while maintaining the stability of the operation; The second vehicle speed control strategy includes: releasing the clutch; After releasing the clutch, the method further comprises: Determining whether the current driving speed of the driving training vehicle matches the vehicle gear position; When the current driving speed of the driving training vehicle does not match the vehicle gear, the clutch is released according to the linkage value in the historical driving data.

2. The assisted driving method for the closed driving training ground of subject three according to claim 1 is characterized in that: The first vehicle speed control strategy and the second vehicle speed control strategy further include: Acquiring multiple heading angles of the driving training vehicle during driving; Calculating a steering wheel angle compensation value based on the multiple heading angles; Calculating an actual steering wheel angle of the driving training vehicle based on the steering wheel angle compensation value; A first execution instruction regarding the actual steering wheel angle is sent to a lower computer, so that the lower computer responds to the first execution instruction to control the steering wheel of the driving training vehicle.

3. The assisted driving method for the closed driving training ground of subject 3 according to claim 2 is characterized in that: The calculating the steering wheel angle compensation value based on the heading angle comprises: Calculating a heading angle variance based on the multiple heading angles; The steering wheel angle compensation value is calculated based on the heading angle variance and the current driving speed.

4. The assisted driving method for a closed driving practice field for subject three according to any one of claims 1 to 3, characterized in that: The step of determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed includes: Determining a first target acceleration based on a magnitude relationship between the current driving speed and the target driving speed, wherein the first target acceleration is less than zero; Based on the first target acceleration, a depression depth of the brake pedal is determined.

5. The assisted driving method for a closed driving practice field for subject three according to any one of claims 1 to 3, characterized in that: Also includes: sending a second execution command about the stepping depth of the brake pedal to a lower computer, so that the lower computer responds to the second execution command to control the brake pedal of the driving training vehicle; And / or, when the driving training vehicle is idling, a third execution command regarding clutch pressing is sent to the lower computer, so that the lower computer responds to the third execution command to control the clutch of the driving training vehicle.

6. The assisted driving method for a closed driving practice field for subject three according to any one of claims 1 to 3, characterized in that: Before controlling the driving training vehicle to release the clutch in the second vehicle speed control strategy, the method further includes: When the current driving speed is equal to the target driving speed, determining that the depression depth of the brake pedal is zero; When the current driving speed is lower than the target driving speed, a second target acceleration is determined based on the magnitude relationship between the current driving speed and the target driving speed, and the second target acceleration is greater than zero; and a release depth of the brake pedal is determined according to the second target acceleration.

7. An auxiliary driving device for a closed driving practice site for subject three, characterized in that: Applied to a braking system, the braking system includes an electronic fence module, a vehicle networking module, a braking module and a sensor module, and the device includes: A determination module, used to determine the target driving speed in the closed driving practice area of ​​subject three; An acquisition module is used to acquire the current driving speed of the driving training vehicle in the closed driving training ground of the subject three; A first control module, configured to control the driving training vehicle to execute a first vehicle speed control strategy when the current driving speed is greater than the target driving speed; A second control module, configured to control the driving training vehicle to execute a second vehicle speed control strategy when the current driving speed is less than or equal to the target driving speed; Wherein, the first vehicle speed control strategy includes: determining the depression depth of the brake pedal based on the magnitude relationship between the current driving speed and the target driving speed, the depression depth being able to control the driving training vehicle to decelerate to a safe driving speed or the target driving speed while maintaining the stability of the operation; The second vehicle speed control strategy includes: releasing the clutch; After releasing the clutch, the method further comprises: Determining whether the current driving speed of the driving training vehicle matches the vehicle gear position; When the current driving speed of the driving training vehicle does not match the vehicle gear, the clutch is released according to the linkage value in the historical driving data.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the assisted driving method for the closed driving training ground of Subject 3 as described in any one of Claims 1 to 6 above.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the assisted driving method for the closed driving training ground of Subject 3 as described in any one of Claims 1 to 6 above.

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