Vehicle sliding control method, vehicle-mounted equipment, vehicle and medium

Abstract

The invention relates to the field of vehicle control, and provides a vehicle sliding control method, vehicle-mounted equipment, a vehicle and a medium. The method comprises the following steps: acquiring driving information of the vehicle and a front vehicle; judging whether the vehicle meets a sliding control condition or not according to the driving information; when it is determined that the vehicle meets the sliding control condition, power parameters of the vehicle are updated to preset values; and in response to the fact that the power parameter is updated to the preset value, sliding control is executed on the vehicle. The method can perform coasting control on the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle coasting control method, vehicle-mounted equipment, a vehicle and a medium. Background Art

[0002] At present, with the rapid development of intelligent driving assistance technology, coasting control as a dynamic control technology has attracted much attention. Most vehicles on the market achieve vehicle coasting control through the installed Advanced Driving Assistance System (ADAS). However, in the process of controlling the movement of the vehicle using the longitudinal driving assistance device of the advanced driving assistance system, the vehicle will repeatedly accelerate or decelerate due to the speed fluctuation of the vehicle in front, so that the throttle opening of the vehicle cannot reach the coasting control value, resulting in the inability to perform coasting control on the vehicle. Summary of the invention

[0003] In view of the above, it is necessary to provide a vehicle coasting control method, vehicle-mounted equipment, vehicle and medium, which can solve the technical problem that the longitudinal driving assistance device cannot perform coasting control on the vehicle during the process of controlling the vehicle movement.

[0004] On the one hand, the present application proposes a vehicle coasting control method, which is applied to a vehicle, and the vehicle coasting control method includes: acquiring driving information of the vehicle and a preceding vehicle; judging whether the vehicle satisfies a coasting control condition based on the driving information; when it is determined that the vehicle satisfies the coasting control condition, updating a power parameter of the vehicle to a preset value; and in response to the power parameter being updated to the preset value, performing coasting control on the vehicle.

[0005] In some embodiments of the present application, the driving information includes the speed of the vehicle, the relative speed between the vehicle and the vehicle in front, the relative distance between the vehicle and the vehicle in front, and the slope of the lane in which the vehicle is currently traveling, and determining whether the vehicle meets the gliding control condition based on the driving information includes: determining a target acceleration of the vehicle based on the relative speed and the relative distance; and determining whether the vehicle meets the gliding control condition based on the speed, the target acceleration and the slope of the lane.

[0006] In some embodiments of the present application, determining the target acceleration of the vehicle based on the relative speed and the relative distance includes: determining a first coefficient of the relative speed; calculating the product of the first coefficient and the relative speed to obtain the target speed; determining a second coefficient of the relative distance; calculating the product of the second coefficient and the relative distance to obtain the target distance; determining a target time based on the target speed and the target distance; and calculating the ratio between the target speed and the target time to obtain the target acceleration of the vehicle.

[0007] In some embodiments of the present application, if the vehicle speed is within a preset first speed range, determining whether the vehicle satisfies the coasting control condition based on the vehicle speed, the target acceleration and the lane slope includes: when the target acceleration is within the preset first acceleration range and the lane slope is within the preset first slope range, determining that the vehicle satisfies the coasting control condition; when the target acceleration is not within the preset first acceleration range and / or the lane slope is not within the preset first slope range, determining that the vehicle does not satisfy the coasting control condition.

[0008] In some embodiments of the present application, if the vehicle speed is within a preset second speed range, the method further includes: when the target acceleration is within the preset second acceleration range and the lane slope is within the preset second slope range, determining that the vehicle satisfies the coasting control condition; when the target acceleration is not within the preset second acceleration range and / or the lane slope is not within the preset second slope range, determining that the vehicle does not satisfy the coasting control condition.

[0009] In some embodiments of the present application, if the vehicle speed is within a preset third speed range, the method further includes: when the target acceleration is within the preset third acceleration range and the lane slope is within the preset third slope range, determining that the vehicle satisfies the coasting control condition; when the target acceleration is not within the preset third acceleration range and / or the lane slope is not within the preset third slope range, determining that the vehicle does not satisfy the coasting control condition, wherein the preset first speed range is smaller than the preset second speed range, and the preset second speed range is smaller than the preset third speed range.

[0010] In some embodiments of the present application, the power parameter includes driving force and / or target acceleration.

[0011] On the other hand, the present application also proposes a vehicle-mounted device, which includes: a storage device storing computer-readable instructions; and a processor executing the computer-readable instructions stored in the storage device to implement a vehicle coasting control method.

[0012] On the other hand, the present application also proposes a vehicle, which includes the above-mentioned on-vehicle device.

[0013] On the other hand, the present application also proposes a storage medium, in which computer-readable instructions are stored. The computer-readable instructions are executed by a processor in a vehicle-mounted device to implement the vehicle coasting control method.

[0014] It can be seen from the above technical solution that in the embodiment of the present application, it is determined whether the vehicle meets the gliding control conditions through the driving information of the vehicle and the vehicle in front. After the vehicle meets the gliding control conditions and the power parameters of the vehicle are updated to preset values, gliding control is performed on the vehicle to avoid the power parameters being unable to reach the preset values ​​during the movement of the vehicle controlled by the longitudinal driving assistance device, thereby realizing gliding control of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the vehicle-mounted equipment provided in an embodiment of the present application.

[0016] Figure 2 It is a flow chart of the vehicle coasting control method provided in an embodiment of the present application.

[0017] Figure 3 It is a flowchart provided in an embodiment of the present application for determining whether a vehicle meets the coasting control conditions.

[0018] Figure 4 It is a schematic diagram of performing coasting control on the vehicle provided in an embodiment of the present application.

[0019] Figure 5 It is a schematic diagram of performing coasting control on the vehicle provided by another embodiment of the present application.

[0020] Figure 6 It is a schematic diagram of performing coasting control on the vehicle provided by another embodiment of the present application.

[0021] Figure 7 It is a schematic diagram of a vehicle provided in another embodiment of the present application.

[0022] Figure 8 It is a structural block diagram of the driving environment perception sensor provided in an embodiment of the present application.

[0023] Fig. 9 It is a functional module diagram of the vehicle glide control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0026] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. The following embodiments and features in the embodiments may be combined with each other without conflict.

[0027] In the automotive field, vehicle fuel consumption is generally reduced by coasting the vehicle. At present, traditional automobiles detect driving information during the driving process of the vehicle. If the driving information reaches the coasting control condition, it will cut off the mechanical connection between the drive device (for example, the engine or motor) and the drive wheel, and stop driving the vehicle (for example, stop the engine or cut off the current) to achieve the coasting control of the vehicle. However, most vehicles control the movement of the vehicle through the installed Advanced Driving Assistance System (ADAS), where the ADAS system includes a longitudinal driving assistance device. In the process of controlling the movement of the vehicle using the longitudinal driving assistance device, the vehicle will repeatedly accelerate or decelerate as the speed of the vehicle in front fluctuates, causing the throttle opening of the vehicle to fail to reach the preset value, resulting in the inability to coast the vehicle.

[0028] Therefore, in order to achieve the glide control of the vehicle, in some embodiments of the present application, it is determined whether the vehicle meets the glide control conditions through the driving information of the vehicle and the vehicle in front. After the vehicle meets the glide control conditions and the power parameters of the vehicle are updated to preset values, glide control is performed on the vehicle to avoid the technical problem that the vehicle cannot be glide controlled due to the failure of the power parameters to reach the preset values ​​during the movement of the vehicle controlled by the longitudinal driving assistance device.

[0029] like Figure 1 , is a schematic diagram of the structure of a vehicle-mounted device for implementing a vehicle coasting control method provided in an embodiment of the present application.

[0030] In an embodiment of the present application, a vehicle coasting control method is applied to one or more vehicle-mounted devices 1. The vehicle-mounted device 1 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored computer-readable instructions, and its hardware includes but is not limited to a microprocessor, an application-specific integrated circuit (ASIC), a programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0031] The vehicle-mounted device 1 can be any electronic product that can perform human-computer interaction with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc.

[0032] The vehicle-mounted device 1 may include a network device and / or a user device. The network device includes, but is not limited to, a single network vehicle-mounted device, a vehicle-mounted device group consisting of multiple network vehicle-mounted devices, or a cloud consisting of a large number of hosts or network vehicle-mounted devices based on cloud computing.

[0033] The network where the vehicle-mounted device 1 is located includes, but is not limited to: the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0034] In the embodiment of the present application, the vehicle-mounted device 1 includes, but is not limited to, a storage device 12, a processor 13, and computer-readable instructions stored in the storage device 12 and executable on the processor 13, such as a vehicle coasting control program.

[0035] Those skilled in the art will understand that the schematic diagram is merely an example of the vehicle-mounted device 1 and does not constitute a limitation on the vehicle-mounted device 1. The vehicle-mounted device 1 may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the vehicle-mounted device 1 may also include input and output devices, network access devices, buses, etc.

[0036] The processor 13 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or a processor or any conventional processor, etc. The processor 13 is the computing core and control center of the vehicle-mounted device 1, and uses various interfaces and lines to connect various parts of the entire vehicle-mounted device 1, and executes the operating system of the vehicle-mounted device 1 and various installed applications, program codes, etc.

[0037] The storage device 12 may be an external storage device and / or an internal storage device of the vehicle-mounted device 1. Furthermore, the storage device 12 may be a storage device in a physical form, such as a memory stick, a TF card (Trans-flash Card), and the like.

[0038] Combination Figure 2 The storage device 12 in the vehicle-mounted device 1 stores computer-readable instructions, and the processor 13 can execute the computer-readable instructions stored in the storage device 12 to implement the following Figure 2 The vehicle skidding control method is shown.

[0039] like Figure 2 FIG. 2 is a flow chart of a vehicle coasting control method provided by an embodiment of the present application. The vehicle coasting control method is applied to a vehicle, and the vehicle includes an on-board device (e.g. Figure 1 In the vehicle-mounted device 1), according to different requirements, the order of the steps in the flowchart can be changed and some steps can be omitted.

[0040] 201, obtaining driving information of the vehicle and the vehicle ahead.

[0041] In some embodiments of the present application, a vehicle may refer to any vehicle traveling on a road. A front vehicle may refer to one or more vehicles located in front of the vehicle. Driving information may refer to driving parameter information obtained by the vehicle during driving. For example, the speed of the vehicle, the speed of the front vehicle, the relative distance between the vehicle and the obstacle in front (e.g., the front vehicle), the relative speed between the vehicle and the front vehicle, the slope of the lane on which the vehicle is traveling, the driving direction of the vehicle, etc. The present application does not limit the driving information.

[0042] In some embodiments of the present application, the vehicle may include, but is not limited to, an advanced driver assistance system, an on-board device, etc. The advanced driver assistance system may include, but is not limited to, a longitudinal driver assistance device, a camera, a radar device, and multiple sensors (e.g., a wheel speed sensor, etc.). For example, in the process of controlling the movement of the vehicle through the longitudinal driver assistance device, the vehicle's surrounding environment may be acquired through the camera and / or radar device in the vehicle to obtain driving information such as the slope of the lane in which the vehicle is traveling and the distance between the vehicle and the vehicle in front, and the wheel speed sensor may be used to detect the speed of the wheel to obtain the vehicle's speed.

[0043] 202 , judging whether the vehicle meets the coasting control condition according to the driving information.

[0044] In some embodiments of the present application, gliding control refers to adjusting and optimizing the gliding state of the vehicle during driving by enabling the longitudinal control function of the longitudinal driving assistance device of the advanced driving assistance system. The embodiments of the present application can reduce the energy loss of the vehicle through gliding control.

[0045] In some embodiments of the present application, the coasting control condition can be pre-set, and the coasting control condition can be set according to the driving information of the vehicle used in the coasting control. In some embodiments of the present application, the driving information includes the speed of the vehicle, the relative speed of the vehicle and the vehicle in front, the relative distance between the vehicle and the vehicle in front, and the slope of the lane in which the vehicle is currently traveling. Judging whether the vehicle meets the coasting control condition according to the driving information includes: determining the target acceleration of the vehicle according to the relative speed and the relative distance; judging whether the vehicle meets the coasting control condition according to the speed, the target acceleration and the slope of the lane.

[0046] In some embodiments of the present application, determining a target acceleration of a vehicle based on a relative speed and a relative distance includes: determining a first coefficient of the relative speed; calculating the product of the first coefficient and the relative speed to obtain a target speed; determining a second coefficient of the relative distance; calculating the product of the second coefficient and the relative distance to obtain a target distance; determining a target time based on the target speed and the target distance; and calculating the ratio between the target speed and the target time to obtain a target acceleration of the vehicle.

[0047] In some embodiments of the present application, a first association table of historical relative vehicle speeds and historical first coefficients may be pre-established, and the first coefficient is used to represent the relative vehicle speed coefficient. Considering that the relative vehicle speed during vehicle travel is in a dynamic state, after obtaining the relative vehicle speed, it is necessary to obtain the first coefficient corresponding to the relative vehicle speed from the first association table, and optimize and adjust the relative vehicle speed based on the first coefficient to obtain the target vehicle speed, so as to ensure the accuracy of the calculated target vehicle speed.

[0048] In some embodiments of the present application, a second association table of historical relative distances and historical second coefficients may be pre-established, and the second coefficient is used to represent the distance coefficient. Considering that the relative distance during vehicle travel is a dynamically changing state, after obtaining the relative distance, it is necessary to obtain the second coefficient corresponding to the relative distance from the second association table, and optimize and adjust the relative distance based on the second coefficient to obtain the target distance, so as to ensure the accuracy of the calculated target distance of the vehicle.

[0049] In some embodiments of the present application, after obtaining the target vehicle speed and the target distance, the target time can be determined based on the target vehicle speed and the target distance, and then the target acceleration of the vehicle can be obtained, thereby improving the accuracy of the determined target acceleration of the vehicle.

[0050] In some embodiments of the present application, in the process of judging whether a vehicle satisfies the gliding control conditions, the external excitation conditions during the vehicle's driving process are taken into consideration, including the vehicle's target acceleration, vehicle speed, and the slope of the lane in which the vehicle is driving, rather than simply considering the environmental factors of the vehicle's driving, thereby improving the judgment accuracy.

[0051] In some embodiments of the present application, if the vehicle meets the coasting control condition, step 203 is executed; if the vehicle does not meet the coasting control condition, step 201 is executed.

[0052] 203. When it is determined that the vehicle meets the coasting control condition, the power parameters of the vehicle are updated to preset values.

[0053] In some embodiments of the present application, the power parameter is used to represent a parameter that can affect the vehicle to perform coasting control. For example, the power parameter may include a driving force and / or a target acceleration. The preset value is used to represent a value that can perform coasting control. In this embodiment, the preset value of the power parameter may be preset. For example, the preset value may be set to 0 or may be set to be infinitely close to 0. Specifically, the embodiments of the present application do not limit the power parameter and the preset value.

[0054] In some embodiments of the present application, if a longitudinal driving assistance device is used to control the movement of the vehicle during driving, the vehicle will repeatedly accelerate or decelerate as the speed of the vehicle in front fluctuates, or even during cruise control or following a vehicle at a constant speed, the vehicle will generate driving force, causing the vehicle's power parameters (driving force, acceleration) to be unable to reach the preset values ​​for executing coasting control, making it impossible for the longitudinal driving assistance device to activate coasting control, resulting in the inability to coast control the vehicle. Therefore, after determining that the vehicle meets the coasting control conditions, the present application triggers a request to update the power parameters to the preset values, replaces the vehicle's power parameters with the preset values, avoids the technical problem that the power parameters cannot reach the preset values ​​during the process of controlling the movement of the vehicle by the longitudinal driving assistance device, and realizes the coasting control of the vehicle.

[0055] 204 , in response to the power parameter being updated to a preset value, executing coasting control on the vehicle.

[0056] In some embodiments of the present application, after determining that the power parameter is updated to a preset value, the gliding control function of the longitudinal driving assistance device is enabled, and gliding control is performed on the vehicle, thereby achieving an energy-saving effect.

[0057] In some embodiments of the present application, whether the vehicle meets the gliding control conditions is determined by the driving information of the vehicle and the vehicle in front. After the vehicle meets the gliding control conditions and the power parameters of the vehicle are updated to preset values, gliding control is performed on the vehicle, thereby avoiding the technical problem that the power parameters cannot reach the preset values ​​during the movement of the vehicle controlled by the longitudinal driving assistance device, thereby achieving gliding control of the vehicle.

[0058] Figure 3 The flowchart of determining whether a vehicle meets the coasting control condition provided by an embodiment of the present application includes the following steps:

[0059] 301 , determining a preset speed range within which a vehicle speed is located, wherein the preset speed range includes a preset first speed range, a preset second speed range, and a preset third speed range.

[0060] In some embodiments of the present application, a speed range can be pre-set, and the preset speed range is used to indicate the speed range in which the vehicle travels. The preset speed range can be set according to the speed conditions required when executing the coasting control. Specifically, the present embodiment does not limit the preset range. For example, the pre-set speed range of the embodiment of the present application may include a first speed range, a second speed range, and a third speed range, wherein the first speed range is smaller than the second speed range, and the second speed range is smaller than the third speed range. For example, the first speed range can be set to 0-60kph, the second speed range can be set to 60kph-100kph, and the third speed range can be set to 100kph-120kph.

[0061] 302 , when the vehicle speed is within a preset first speed range, determine whether the target acceleration is within a preset first acceleration range.

[0062] 303 , determining whether the lane slope is within a preset first slope range.

[0063] In some embodiments of the present application, the first acceleration range and the first slope range can be pre-set. The first acceleration range can be set according to the acceleration conditions required when executing the sliding control. For example, the first acceleration range can be set to -0.5m / s 2 -0.5m / s 2The first slope range can be set according to the road slope condition required when executing the coasting control. For example, the first slope range can be set to -2%-1%.

[0064] In some embodiments of the present application, after determining that the vehicle speed is within a preset first speed range, and the target acceleration and lane slope are within a preset first slope range, it is determined whether the target acceleration is within the preset first acceleration range and whether the lane slope is within the preset first slope range. This allows for a quick determination of whether the vehicle meets the gliding control conditions, thereby facilitating a determination of whether to update the vehicle's power parameters to preset values ​​to achieve gliding control of the vehicle.

[0065] In some embodiments of the present application, if the target acceleration is within a preset first acceleration range and the lane slope is within a preset first slope range, step 304 is executed; if the target acceleration is not within the preset first acceleration range and / or the lane slope is not within the preset first slope range, step 305 is executed.

[0066] 304 , when the target acceleration is within a preset first acceleration range and the lane slope is within a preset first slope range, it is determined that the vehicle meets the coasting control condition.

[0067] In some embodiments of the present application, if the vehicle speed is within a preset first speed range, the target acceleration is within a preset first acceleration range, and the lane slope is within a preset first slope range, it is determined that the vehicle meets the coasting control condition, for example, see Figure 4 As shown, if the vehicle speed is between 0-60kph and the target acceleration is -0.5m / s 2 -0.5m / s 2 If the lane slope is between -2% and 1%, it is determined that the vehicle meets the sliding control conditions. Figure 4 The first frame diagram in the figure indicates that the coasting control can be performed on the vehicle, and other intervals outside the interval occupied by the first frame diagram indicate that the coasting control cannot be performed on the vehicle.

[0068] 305 , when the target acceleration is not within the preset first acceleration range and / or the lane slope is not within the preset first slope range, it is determined that the vehicle does not meet the coasting control condition.

[0069] In some embodiments of the present application, if the vehicle speed is within a preset first speed range, and the target acceleration is not within a preset first acceleration range and / or the lane slope is not within a preset first slope range, it is determined that the vehicle does not meet the coasting control condition. Figure 4 As shown, if the vehicle speed is between 0-60kph and the target acceleration is not -0.5m / s 2 -0.5m / s 2If the vehicle speed is between 0-60 kph and the target acceleration is between -0.5 m / s 2 -0.5m / s 2 If the lane slope is not between -2% and 1%, the vehicle is determined not to meet the coasting control conditions; or, if the vehicle speed is between 0 and 60 kph and the target acceleration is not between -0.5 m / s 2 -0.5m / s 2 If the lane slope is not between -2% and 1%, it is determined that the vehicle does not meet the sliding control conditions.

[0070] 306 , when the vehicle speed is within a preset second speed range, determine whether the target acceleration is within a preset second acceleration range.

[0071] 307 , determining whether the lane slope is within a preset second slope range.

[0072] In some embodiments of the present application, the second acceleration range and the second slope range can be pre-set. Specifically, the second acceleration range and the second slope range setting process can refer to the setting process of the first acceleration range and the first slope range. For example, the second acceleration range can be set to -0.9m / s 2 -0.7m / s 2 , the second slope range can be set to -2.2%-1.3%.

[0073] In some embodiments of the present application, after determining that the vehicle speed is within a preset second speed range, and the target acceleration and lane slope are within a preset second speed range, it is determined whether the target acceleration is within the preset second acceleration range and whether the lane slope is within the preset second slope range. This allows for a quick determination of whether the vehicle meets the gliding control conditions, thereby facilitating a determination of whether to update the vehicle's power parameters to preset values ​​to achieve gliding control of the vehicle.

[0074] In some embodiments of the present application, if the target acceleration is within the preset second acceleration range and the lane slope is within the preset second slope range, step 308 is executed; if the target acceleration is not within the preset second acceleration range and / or the lane slope is not within the preset second slope range, step 309 is executed.

[0075] 308 , when the target acceleration is within a preset second acceleration range and the lane slope is within a preset second slope range, it is determined that the vehicle meets the coasting control condition.

[0076] In some embodiments of the present application, if the vehicle speed is within a preset second speed range, the target acceleration is within a preset second acceleration range, and the lane slope is within a preset second slope range, it is determined that the vehicle meets the coasting control condition, for example, see Figure 5 As shown, if the vehicle speed is between 60kph-100kph and the target acceleration is -0.9m / s 2 -0.7m / s 2 If the lane slope is between -2.2% and 1.3%, it is determined that the vehicle meets the sliding control conditions. Figure 5 The second frame diagram in the figure indicates that the coasting control can be performed on the vehicle, and other intervals outside the interval occupied by the second frame diagram indicate that the coasting control cannot be performed on the vehicle.

[0077] 309 , when the target acceleration is not within the preset second acceleration range and / or the lane slope is not within the preset second slope range, it is determined that the vehicle does not meet the coasting control condition.

[0078] In some embodiments of the present application, if the vehicle speed is within the preset second speed range, and the target acceleration is not within the preset second acceleration range and / or the lane slope is not within the preset second slope range, it is determined that the vehicle does not meet the coasting control condition. Figure 5 As shown, if the vehicle speed is between 60kph-100kph and the target acceleration is not -0.9m / s 2 -0.7m / s 2 If the vehicle speed is between 60 kph and 100 kph and the target acceleration is between -0.9 m / s 2 -0.7m / s 2 If the vehicle speed is between 60 kph and 100 kph and the target acceleration is not between -0.9 m / s 2 -0.7m / s 2 If the lane slope is not between -2.2% and 1.3%, it is determined that the vehicle does not meet the sliding control conditions.

[0079] 310. When the vehicle speed is within a preset third speed range, determine whether the target acceleration is within a preset third acceleration range.

[0080] 311 , determining whether the lane slope is within a preset third slope range.

[0081] In some embodiments of the present application, the third acceleration range and the third slope range can be pre-set. Specifically, the setting process of the third acceleration range and the third slope range can refer to the setting process of the first acceleration range and the first slope range. For example, the third acceleration range can be set to -1.1 m / s 2 -0.8m / s 2 , the third slope range can be set to -2.8%-2%.

[0082] In some embodiments of the present application, after determining that the vehicle speed is within a preset third speed range, and the target acceleration and lane slope are within a preset third speed range, it is determined whether the target acceleration is within the preset third acceleration range and whether the lane slope is within the preset third slope range. This allows for a quick determination of whether the vehicle meets the gliding control conditions, thereby facilitating a determination of whether to update the vehicle's power parameters to preset values ​​to achieve gliding control of the vehicle.

[0083] In some embodiments of the present application, if the target acceleration is within a preset third acceleration range and the lane slope is within a preset third slope range, step 312 is executed; if the target acceleration is not within the preset third acceleration range and / or the lane slope is not within the preset third slope range, step 313 is executed.

[0084] 312 , when the target acceleration is within a preset third acceleration range and the lane slope is within a preset third slope range, it is determined that the vehicle meets the coasting control condition.

[0085] In some embodiments of the present application, if the vehicle speed is within a preset third speed range, the target acceleration is within a preset third acceleration range, and the lane slope is within a preset third slope range, it is determined that the vehicle meets the coasting control condition, for example, see Figure 6 As shown, if the vehicle speed is between 100kph-120kph and the target acceleration is -1.1m / s 2 -0.8m / s 2 If the lane slope is between -2.8% and 2%, it is determined that the vehicle meets the glide control conditions. Figure 6 The third frame diagram in the figure indicates that the coasting control can be performed on the vehicle, and other intervals outside the interval occupied by the third frame diagram indicate that the coasting control cannot be performed on the vehicle.

[0086] 313, when the target acceleration is not within the preset third acceleration range and / or the lane slope is not within the preset third slope range, it is determined that the vehicle does not meet the coasting control condition.

[0087] In some embodiments of the present application, if the vehicle speed is within a preset third speed range, and the target acceleration is not within a preset third acceleration range and / or the lane slope is not within a preset third slope range, it is determined that the vehicle does not meet the coasting control condition. Figure 6 As shown, if the vehicle speed is between 100kph-120kph and the target acceleration is not -1.1m / s 2 -0.8m / s 2 If the vehicle speed is between 100 kph and 120 kph and the target acceleration is between -1.1 m / s 2 -0.8m / s 2 If the vehicle speed is between 100 kph and 120 kph and the target acceleration is not between -1.1 m / s 2 -0.8m / s 2 If the lane slope is not between -2.8% and 2%, it is determined that the vehicle does not meet the sliding control conditions.

[0088] In some embodiments of the present application, see Figures 4 to 6 As shown, the interval occupied by the first frame diagram is smaller than the interval occupied by the second frame diagram, which is smaller than the interval occupied by the third frame diagram. It can be determined that as the vehicle speed continues to increase, the probability of executing coasting control will also increase. Therefore, when determining whether the vehicle meets the coasting control conditions, the embodiment of the present application takes into account multiple speed ranges of the vehicle, thereby increasing the probability of achieving coasting control of the vehicle.

[0089] In some embodiments of the present application, a vehicle within a preset range in front of the vehicle can be pre-determined as the vehicle in front. If there are multiple vehicles in front, in the process of determining the target acceleration of the vehicle, an acceleration of the vehicle can be calculated based on each vehicle in front, and the maximum acceleration of the multiple accelerations can be used as the target acceleration of the vehicle.

[0090] Figure 7 It is a schematic diagram of a vehicle provided in another embodiment of the present application, wherein the vehicle includes a driving assistance ECU 70, i.e., a driving assistance control device), wherein the driving assistance ECU 70 includes a longitudinal driving assistance device 71 of any one of the above-mentioned embodiments, and thus has all the above-mentioned beneficial effects, which will not be repeated here.

[0091] In some embodiments of the present application, the vehicle further includes a signal input system, a signal output system and an execution system. The signal input system is configured to input a signal to the longitudinal driving assistance device 71 of the assisted driving system. The signal output system is configured to receive an output signal of the longitudinal driving assistance device 71 and control the execution system to perform corresponding operations according to the output signal.

[0092] In some embodiments of the present application, the signal input system may include but is not limited to: a turn signal switch 101 for detecting the vehicle's turn signal operation information, an accelerator pedal sensor 102 for detecting the vehicle's throttle operation information, a brake pedal sensor 103 for detecting the vehicle's brake operation information, a steering angle sensor 104 for detecting the vehicle's steering operation information, a hand torque sensor 105 for detecting the torque applied to the steering wheel when the driver operates the steering wheel, a vehicle speed sensor 106 for detecting the speed of the vehicle, a radar sensor 107 and a camera sensor 108 for detecting environmental information around the vehicle, a yaw rate sensor 109 for detecting the vehicle's motion state information, a longitudinal acceleration sensor 110 and a lateral acceleration sensor 111, a right front wheel speed sensor 112, a left front wheel speed sensor 113, a right rear wheel speed sensor 114, a left rear wheel speed sensor 115, a GPS signal receiving module 116, an online map 117, and a vehicle time distance switching button 118 for detecting the vehicle's driving distance and time.

[0093] In some embodiments of the present application, the GPS signal receiving module 116 receives a global positioning system (i.e., GPS) signal, and obtains the vehicle's driving position, distance from the target ramp, ramp speed limit information, lane information, etc. based on the positioning information and map data of the online map 117.

[0094] In some embodiments of the present application, the signal output system may include but is not limited to: an engine ECU 701 , a brake ECU 702 , a steering ECU 703 , and an information display ECU 704 .

[0095] In some embodiments of the present application, the execution system may include, but is not limited to: an engine 711, a brake system 712, a steering system 713, and an information display device 714. The engine ECU 701 controls the engine 711 according to the output signal, and mainly performs acceleration control. The brake ECU 702 controls the brake system 712, and mainly performs deceleration control. The steering ECU 703 controls the steering system 713, and mainly performs lateral steering control. The information display ECU 704 controls the information display device 714, and mainly provides the driver with a display of vehicle status and function control status information.

[0096] In some embodiments of the present application, the driving environment of the vehicle may also be identified through a driving environment perception sensor. Figure 8 is a structural block diagram of the driving environment perception sensor provided in the embodiment of the present application, such as Figure 8 As shown, the driving environment perception sensors installed on the current vehicle may include but are not limited to: a left rear corner radar device 801 and a right rear corner radar device 802 installed near the left and right taillights behind the current vehicle, a front radar device 803 installed directly in front of the current vehicle, and a rear radar device 804 installed directly behind the current vehicle, a front radar device 805 installed in the left front of the current vehicle, and a rear radar device 806 installed in the right front of the current vehicle, which are used to detect blind spots around the current vehicle within a medium and short range, and can detect information such as the distance, speed, acceleration and azimuth angle of other vehicles in the driving environment of the current vehicle; a camera 807 installed in front of the current vehicle, a camera 808 on the left side of the vehicle, and a camera 809 on the right side of the vehicle, which are used to provide the driver with a clear image of the driving environment.

[0097] In some embodiments of the present application, the radar device may include but is not limited to other types of sensors such as ultrasonic radar, millimeter wave radar, laser radar, etc. In order to ensure the integrity of the driving environment of the detected vehicle, this embodiment does not limit the number of sensors, and sensors can also be installed at other locations of the current vehicle.

[0098] In some embodiments of the present application, the driving environment perception sensor is used to detect the driving environment of the vehicle, and the present application does not limit the type of sensor (radar, laser radar, ultrasonic wave, camera, etc.). For example, the sensor for detecting the driving environment can detect and identify the speed, relative speed, position, angle, size, etc. of the surrounding objects of the current vehicle.

[0099] like Fig. 9 , which is a functional module diagram of a coasting control device for a vehicle provided in an embodiment of the present application. The coasting control device 91 of the vehicle is operated on the vehicle, the vehicle includes an on-board device, the on-board device runs a storage device, the storage device includes a plurality of storage units, and the coasting control device 91 of the vehicle includes an acquisition module 910, a judgment module 911, an update module 912 and an execution module 913. The module / unit referred to in the present application refers to a series of computer-readable instruction segments that can be acquired by the processor 13 and can complete a fixed function, which are stored in the storage device 12.

[0100] The acquisition module 910 is used to acquire the driving information of the vehicle and the vehicle ahead. The judgment module 911 is used to judge whether the vehicle meets the coasting control condition according to the driving information. The updating module 912 is used to update the power parameter of the vehicle to a preset value when it is determined that the vehicle meets the coasting control condition. The execution module 913 is used to execute the coasting control on the vehicle in response to the power parameter being updated to the preset value.

[0101] If the module / unit integrated in the vehicle-mounted device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also instruct the relevant hardware to complete it through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by the processor, the steps of the above-mentioned method embodiments can be implemented.

[0102] The computer-readable instructions include computer-readable instruction codes, which may be in source code form, object code form, executable files, or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer-readable instruction codes, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM).

[0103] The storage device 12 can be used to store computer-readable instructions and / or modules. The processor 13 implements various functions of the vehicle-mounted device 1 by running or executing the computer-readable instructions and / or modules stored in the storage device 12 and calling the data stored in the storage device 12. The storage device 12 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the vehicle-mounted device, etc. The storage device 12 can include non-volatile and volatile storage devices, such as: a hard disk, a memory, a plug-in hard disk, a smart storage card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other storage devices.

[0104] Exemplarily, the computer-readable instructions may be divided into one or more modules / units, one or more modules / units are stored in the storage device 12, and are executed by the processor 13 to complete the present application. One or more modules / units may be a series of computer-readable instruction segments capable of completing specific functions, and the computer-readable instruction segments are used to describe the execution process of the computer-readable instructions in the vehicle-mounted device 1. For example, the computer-readable instructions may be divided into an acquisition module 910, a judgment module 911, an update module 912, and an execution module 913.

[0105] For details on the functions of each module / unit, please refer to the above Figure 2-8 The detailed description is not repeated here.

[0106] In some embodiments of the present application, it is determined whether the vehicle meets the gliding control conditions based on the driving information of the vehicle and the vehicle in front. After the vehicle meets the gliding control conditions and the power parameters of the vehicle are updated to preset values, gliding control is performed on the vehicle to avoid the technical problem that the power parameters cannot reach the preset values ​​during the movement of the vehicle controlled by the longitudinal driving assistance device, thereby achieving gliding control of the vehicle.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed systems, 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 is only a logical function division, and there may be other division methods in actual implementation.

[0108] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0110] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present application is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0111] In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

Claims

1. A vehicle coasting control method, applied to a vehicle, characterized in that: The vehicle skidding control method comprises: Acquiring driving information of the vehicle and the vehicle ahead; determining whether the vehicle meets a coasting control condition according to the driving information; When it is determined that the vehicle satisfies the coasting control condition, updating the power parameter of the vehicle to a preset value; In response to the power parameter being updated to the preset value, coasting control is performed on the vehicle.

2. The vehicle coasting control method according to claim 1, characterized in that: The driving information includes the speed of the vehicle, the relative speed between the vehicle and the vehicle ahead, the relative distance between the vehicle and the vehicle ahead, and the slope of the lane in which the vehicle is currently driving. The determining whether the vehicle satisfies the coasting control condition based on the driving information includes: determining a target acceleration of the vehicle according to the relative vehicle speed and the relative distance; It is determined whether the vehicle satisfies a coasting control condition according to the vehicle speed, the target acceleration and the lane slope.

3. The vehicle coasting control method according to claim 2, characterized in that: Determining the target acceleration of the vehicle according to the relative vehicle speed and the relative distance comprises: determining a first coefficient of the relative vehicle speed; Calculating the product of the first coefficient and the relative vehicle speed to obtain a target vehicle speed; determining a second coefficient of the relative distance; Calculating the product of the second coefficient and the relative distance to obtain a target distance; Determine a target time according to the target vehicle speed and the target distance; The ratio between the target vehicle speed and the target time is calculated to obtain the target acceleration of the vehicle.

4. The vehicle coasting control method according to claim 2, characterized in that: If the vehicle speed is within a preset first speed range, judging whether the vehicle satisfies the coasting control condition according to the vehicle speed, the target acceleration and the lane slope includes: When the target acceleration is within a preset first acceleration range and the lane slope is within a preset first slope range, determining that the vehicle meets a coasting control condition; When the target acceleration is not within the preset first acceleration range and / or the lane slope is not within the preset first slope range, it is determined that the vehicle does not meet the coasting control condition.

5. The vehicle coasting control method according to claim 4, characterized in that: If the vehicle speed is within a preset second speed range, the method further includes: When the target acceleration is within a preset second acceleration range and the lane slope is within a preset second slope range, determining that the vehicle meets a coasting control condition; When the target acceleration is not within the preset second acceleration range and / or the lane slope is not within the preset second slope range, it is determined that the vehicle does not meet the coasting control condition.

6. The vehicle coasting control method according to claim 5, characterized in that: If the vehicle speed is within a preset third speed range, the method further includes: When the target acceleration is within a preset third acceleration range and the lane slope is within a preset third slope range, determining that the vehicle meets a coasting control condition; When the target acceleration is not within the preset third acceleration range and / or the lane slope is not within the preset third slope range, it is determined that the vehicle does not meet the coasting control condition, wherein the preset first speed range is smaller than the preset second speed range, and the preset second speed range is smaller than the preset third speed range.

7. The vehicle coasting control method according to claim 1, characterized in that: The power parameters include driving force and / or target acceleration.

8. A vehicle-mounted device, characterized in that: The vehicle-mounted equipment includes: a storage device storing computer-readable instructions; and A processor executes the computer-readable instructions stored in the storage device to implement the vehicle coasting control method as described in any one of claims 1 to 7.

9. A vehicle, characterized in that: The vehicle includes the vehicle-mounted device according to claim 8.

10. A storage medium, characterized in that: The storage medium stores computer-readable instructions, and the computer-readable instructions are executed by a processor in the vehicle-mounted device to implement the vehicle coasting control method as described in any one of claims 1 to 7.

Images