Vehicle jam control method and device and vehicle

Abstract

The invention provides a vehicle traffic jam control method and device and a vehicle. The method comprises the following steps: judging whether a vehicle-mounted navigation of the vehicle is in an on state or not; if the vehicle-mounted navigation is in the on state, obtaining a vehicle-mounted navigation road condition and first vehicle speed information of the vehicle, and determining whether the vehicle enters a traffic jam mode or not according to the vehicle-mounted navigation road condition and the first vehicle speed information; if the vehicle-mounted navigator is in the closed state, the stepping frequency of an accelerator pedal and a brake pedal of the vehicle and second vehicle speed information are obtained, and whether the vehicle enters a traffic jam mode or not is determined according to the stepping frequency of the accelerator pedal and the brake pedal of the vehicle and the second vehicle speed information; if the vehicle enters the traffic jam mode, the vehicle is controlled to respond according to the traffic jam control strategy, traffic accidents caused by negligence or misoperation of a driver are avoided, and by optimizing the control strategy for vehicle traffic jam driving, the fatigue degree of a user is reduced, and the user experience degree is further improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle traffic jam control method, device and vehicle. Background Art

[0002] With the rapid advancement of science and technology, cars are gradually moving towards a new era of intelligence. Today's cars not only have more efficient engines and more comfortable driving experiences, but have also made significant breakthroughs in intelligence. From autonomous driving assistance systems to in-vehicle artificial intelligence assistants, cars are becoming more and more "smart". By integrating various sensors, cameras and radars, cars can perceive the surrounding environment in real time, automatically adjust the driving speed and direction, and ensure driving safety; at the same time, intelligent in-vehicle systems can also provide navigation, entertainment, information query and other services, making drivers' travel more convenient and enjoyable.

[0003] In the related art, with the increase in the number of vehicles, the congestion of roads has become more and more serious, especially during holidays and rush hours, traffic jams have become one of the road conditions that drivers often cannot avoid. In traffic jam conditions, the driver frequently corrects the steering wheel angle and steps on the accelerator and brake pedals to control the acceleration and deceleration of the vehicle, which will accelerate the driver's fatigue. However, CN115139820A discloses a single-pedal mode control method for an electric vehicle, which determines the current congestion situation and the distance from the vehicle to different types of obstacles according to the driving environment information of the vehicle; compares the distance from the vehicle to different types of obstacles under the current congestion situation with the corresponding safety distance threshold; and when it is determined according to the comparison result that the adjustment condition is met, the current deceleration acceleration is adjusted according to the corresponding safety distance threshold when the adjustment condition is met. However, the single-pedal mode of the accelerator pedal is easy to be accidentally touched when an abnormal situation occurs, resulting in an accident. Therefore, it is very necessary to develop a driving method that can reduce the driver's fatigue and not easily trigger an accident under traffic jam conditions. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a vehicle traffic jam control method, device and vehicle to solve the technical problem that vehicles are prone to accidents due to driver fatigue when in traffic jams.

[0005] In a first aspect, the present invention provides a vehicle traffic jam control method, comprising: determining whether the vehicle's on-board navigation is in an on-state; if the on-board navigation is in an on-state, obtaining the vehicle's on-board navigation road condition and first vehicle speed information, and determining whether the vehicle enters a traffic jam mode based on the on-board navigation road condition and the first vehicle speed information; if the on-board navigation is in an off-state, obtaining the vehicle's accelerator pedal and brake pedal depression frequency and second vehicle speed information, and determining whether the vehicle enters the traffic jam mode based on the accelerator pedal depression frequency, the brake pedal depression frequency and the second vehicle speed information; if the vehicle enters the traffic jam mode, controlling the vehicle to respond according to the traffic jam control strategy.

[0006] In some implementations of the present application, determining whether the vehicle enters a traffic jam mode based on the on-board navigation road condition and the first vehicle speed information includes: judging the current road condition information of the vehicle based on the on-board navigation road condition, and determining whether the vehicle enters a congested section based on the road condition information; if the vehicle enters a congested section and the first vehicle speed information is lower than a first preset speed value, determining that the vehicle enters a traffic jam mode; if the vehicle does not enter a congested section or the first vehicle speed information is not lower than a first preset speed value, determining that the vehicle maintains a normal driving mode.

[0007] In some implementations of the present application, before the vehicle enters the traffic jam mode, it also includes: generating a prompt message for asking whether to enter the traffic jam mode, and informing the driver in the vehicle of the prompt message, the prompt message being a voice message and / or a text message; if the prompt message feedback is for entering the traffic jam mode, then it is determined that the vehicle has entered the traffic jam mode, and feedback is given to the driver; if the prompt message feedback is that there is no reply as to whether to enter the traffic jam mode, and it is detected that the driver has released the steering wheel, then it is determined that the vehicle has entered the traffic jam mode, and feedback is given to the driver; if the prompt message feedback is that the vehicle does not enter the traffic jam mode, and it is detected that the driver has released the steering wheel, then it is determined that the vehicle has entered the traffic jam mode, and feedback is given to the driver; if the prompt message feedback is that the vehicle does not enter the traffic jam mode, and it is detected that the driver has not released the steering wheel, then it is determined that the vehicle maintains the normal driving mode.

[0008] In some implementations of the present application, the circumstances under which the vehicle is determined to exit the traffic jam mode include at least one of the following: when the vehicle is not in a congested road section, or when the driver is monitored to hold the steering wheel again, or when the vehicle's current road condition is in a congested road section and the vehicle is monitored to be about to pass through a complex road section, or when the vehicle's speed information within a preset time is monitored to be greater than a first preset speed value, or when a control instruction to exit the traffic jam mode is monitored to be generated.

[0009] In some implementations of the present application, if the accelerator pedal depression frequency and the brake pedal depression frequency are both greater than the preset frequency times, and the second vehicle speed information is lower than the second preset vehicle speed value; then it is determined that the vehicle enters the traffic jam mode; wherein the first preset vehicle speed value is less than the second preset vehicle speed value; if either the accelerator pedal depression frequency and the brake pedal depression frequency are not greater than the preset frequency times, or the second vehicle speed information is not lower than the second preset vehicle speed value; then it is determined that the vehicle maintains the normal driving mode.

[0010] In some implementations of the present application, the vehicle is controlled to respond according to the traffic jam control strategy, including: if the lane line of the road section where the vehicle is located is clear, controlling the steering wheel angle of the vehicle according to the lane line so that the vehicle is in the middle of the lane line; if the lane line of the road section where the vehicle is located is unclear, obtaining the center axis parameters of the target vehicle directly in front of the vehicle, and controlling the steering wheel angle of the vehicle according to the center axis parameters and the current center axis distance of the vehicle so that the vehicle follows the target vehicle and aligns with the target vehicle.

[0011] In some implementations of the present application, the controlling the vehicle to respond according to the traffic jam control strategy also includes: obtaining whether the automatic parking function of the vehicle is activated; if the automatic parking function is not activated, obtaining the brake pedal status; if the brake pedal status is deeply depressed and the vehicle decelerates to a stop, determining that the automatic parking function is activated to keep the vehicle stationary; if the brake pedal status is not deeply depressed or the vehicle has not decelerated to a stop, controlling the vehicle to output driving torque in the traffic jam mode; if the automatic parking function is activated and the brake pedal status is heavily depressed, determining to exit the automatic parking function to allow the vehicle to output driving torque in the traffic jam mode.

[0012] In some implementations of the present application, the controlling of the vehicle to respond according to the traffic jam control strategy also includes: obtaining the vehicle's current speed information, brake pedal opening, and accelerator pedal opening; determining the first torque of the vehicle based on the vehicle speed information and the accelerator pedal opening, determining the first creep torque of the vehicle in normal driving mode based on the vehicle speed information and the brake pedal opening, and determining the second creep torque of the vehicle in traffic jam mode based on the vehicle speed information and the brake pedal opening; forming a torque set with the sum of the first torque and the first creep torque, and the second creep torque, and determining the driving torque of the vehicle in traffic jam mode based on the maximum value of the torque set.

[0013] In a second aspect, the present invention provides a vehicle traffic jam control device, the device comprising: a judgment module, used to judge whether the vehicle's on-board navigation is in an on-state; a first traffic jam determination module, used to obtain the vehicle's on-board navigation road condition and first vehicle speed information if the on-board navigation is in an on-state, and determine whether the vehicle enters a traffic jam mode according to the on-board navigation road condition and the first vehicle speed information; a second traffic jam determination module, used to obtain the vehicle's accelerator pedal and brake pedal depression frequency and second vehicle speed information if the on-board navigation is in an off-state, and determine whether the vehicle enters the traffic jam mode according to the accelerator pedal depression frequency, the brake pedal depression frequency and the second vehicle speed information; a traffic jam control module, used to control the vehicle to respond according to the traffic jam control strategy if the vehicle enters the traffic jam mode.

[0014] In a third aspect, the present invention provides a vehicle, comprising: a processor, and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the above-mentioned vehicle traffic jam control method.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor of a computer, causes the computer to execute the above-mentioned vehicle traffic jam control method.

[0016] Beneficial effects of the present invention: when the navigation is turned on, the present application determines whether the vehicle enters the traffic jam mode according to the on-board navigation road condition and the first vehicle speed information; when the navigation is turned off, by monitoring the driver's operating behavior (such as the frequency of pressing the accelerator pedal and the brake pedal) and the vehicle speed information, it can accurately determine whether the vehicle enters a traffic jam; in the traffic jam mode, on the one hand, by adopting appropriate control strategies (such as automatic following, automatic braking, etc.), it can improve driving safety and reduce traffic accidents caused by driver negligence or misoperation; on the other hand, the present application reduces the driver's fatigue in traffic jam conditions, improves the driver's driving experience in traffic jam conditions, can adapt to different driving environments and road conditions, has strong adaptability and robustness, and makes driving more convenient and comfortable.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 is a flow chart of a vehicle traffic jam control method shown in an exemplary embodiment of the present invention;

[0020] Figure 2 is a flow chart showing a vehicle entering a traffic jam mode based on vehicle navigation according to an exemplary embodiment of the present invention;

[0021] Figure 3 is a flow chart of a vehicle without on-board navigation entering a traffic jam mode shown in an exemplary embodiment of the present invention;

[0022] Figure 4 is a flow chart of a vehicle exiting a traffic jam mode in a traffic jam mode shown in an exemplary embodiment of the present invention;

[0023] Figure 5 is a flow chart of a steering wheel angle control method in a traffic jam mode shown in an exemplary embodiment of the present invention;

[0024] Figure 6 is a flow chart of a vehicle driving force control method in a traffic jam mode shown in an exemplary embodiment of the present invention;

[0025] Figure 7 is a flow chart of a method for determining a vehicle driving torque in a traffic jam mode, shown in an exemplary embodiment of the present invention;

[0026] Figure 8 is a structural schematic diagram of a vehicle traffic jam control device shown in an exemplary embodiment of the present invention;

[0027] Fig. 9 It is a schematic structural diagram of an electronic device applied to a vehicle, showing an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0029] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the form, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0030] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0031] The "and / or" mentioned in the present invention describes the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0032] The present invention is described in detail below through specific embodiments. Figure 1 , is a schematic diagram of a vehicle traffic jam control method according to an exemplary embodiment of the present invention, wherein the vehicle traffic jam control method comprises:

[0033] Step S101, determining whether the vehicle's in-vehicle navigation is in an on state;

[0034] The vehicle includes new energy vehicles and fuel vehicles, and new energy vehicles include but are not limited to pure electric vehicles, extended-range electric vehicles, plug-in hybrid vehicles, fuel (hydrogen, ethanol) battery vehicles, etc. It should be understood that in-vehicle navigation is carried out using the in-vehicle GPS (Global Positioning System) in conjunction with an electronic map. It can conveniently and accurately tell the driver the shortest or fastest route to the destination, and is a good helper for the driver.

[0035] Specifically, the in-vehicle navigation is integrated into new energy vehicles or fuel vehicles, which will not be described in detail here.

[0036] Step S102, if the vehicle navigation is in the on-board state, obtaining the vehicle navigation road condition and first vehicle speed information of the vehicle, and determining whether the vehicle enters a traffic jam mode according to the vehicle navigation road condition and the first vehicle speed information; if the vehicle enters the traffic jam mode, controlling the vehicle to respond according to the traffic jam control strategy;

[0037] Specifically, the current road condition information of the vehicle is judged according to the on-board navigation road condition, and whether the vehicle enters a congested section is determined based on the road condition information; if the vehicle enters a congested section and the first vehicle speed information is lower than a first preset vehicle speed value, it is determined that the vehicle enters a traffic jam mode; if the vehicle does not enter a congested section or the first vehicle speed information is not lower than a first preset vehicle speed value, it is determined that the vehicle maintains a normal driving mode.

[0038] It should be noted that the traffic information of the on-board navigation can be used to determine whether the current road condition of the vehicle is a congested section. The judgment method based on real-time traffic data is more reliable and accurate than simple sensor data or driver operation.

[0039] The present application not only comprehensively considers the road condition information and vehicle speed information, but also determines that the vehicle has entered the traffic jam mode only when the vehicle enters a congested section and the speed is lower than a preset value. In this way, misjudgment is avoided and the rationality of mode switching is ensured.

[0040] For example, if it is determined that the vehicle is entering a congested road, the vehicle system can make corresponding preparations in advance, such as adjusting the driving strategy, reminding the driver, etc., thereby increasing driving safety and comfort. For another example, in normal driving mode, the vehicle can drive according to the conventional strategy, while in traffic jam mode, the vehicle can automatically adopt a more energy-saving and safe driving strategy, such as reducing unnecessary acceleration and braking. This can not only improve fuel efficiency, but also reduce vehicle wear and tear, thereby improving the driving experience.

[0041] For example, in traffic jam mode, the vehicle will automatically start assisted driving functions such as automatic following and automatic braking. This can reduce the driver's operating burden in congested roads and reduce the risk of safety accidents caused by driver fatigue or negligence.

[0042] Step S103, if the vehicle navigation is in the off state, obtaining the pressing frequency of the accelerator pedal and the brake pedal of the vehicle and the second vehicle speed information, and determining whether the vehicle enters the traffic jam mode according to the pressing frequency of the accelerator pedal, the pressing frequency of the brake pedal and the second vehicle speed information;

[0043] Specifically, if the accelerator pedal depression frequency and the brake pedal depression frequency are both greater than the preset frequency times, and the second vehicle speed information is lower than the second preset vehicle speed value; then it is determined that the vehicle enters the traffic jam mode; wherein the first preset vehicle speed value is less than the second preset vehicle speed value; if the accelerator pedal depression frequency and the brake pedal depression frequency are both not greater than the preset frequency times, or the second vehicle speed information is not lower than the second preset vehicle speed value; then it is determined that the vehicle maintains the normal driving mode.

[0044] Step S104: if the vehicle enters the traffic jam mode, the vehicle is controlled to respond according to the traffic jam control strategy.

[0045] Through the above-mentioned method, when the navigation is turned on, the present application determines whether the vehicle enters the traffic jam mode according to the on-board navigation road condition and the first vehicle speed information; when the navigation is turned off, by monitoring the driver's operating behavior (such as the frequency of pressing the accelerator pedal and the brake pedal) and the vehicle speed information, it can accurately determine whether the vehicle enters the traffic jam situation; in the traffic jam mode, on the one hand, by adopting appropriate control strategies (such as automatic following, automatic braking, etc.), it can improve driving safety and reduce traffic accidents caused by driver negligence or misoperation; on the other hand, the present application reduces the driver's fatigue in traffic jam conditions, improves the driver's driving experience in traffic jam conditions, can adapt to different driving environments and road conditions, has strong adaptability and robustness, and makes driving more convenient and comfortable.

[0046] In some implementations, before the vehicle enters the traffic jam mode, the process further includes:

[0047] Generate a prompt message for asking whether to enter a traffic jam mode, and inform the driver in the vehicle of the prompt message, wherein the prompt message is a voice message and / or a text message;

[0048] If the prompt information feedback is entering a traffic jam mode, determining that the vehicle has entered the traffic jam mode and providing feedback to the driver;

[0049] If the prompt information feedback is that there is no reply as to whether the vehicle has entered the traffic jam mode, and it is detected that the driver has released the steering wheel, it is determined that the vehicle has entered the traffic jam mode, and feedback is given to the driver;

[0050] If the prompt information feedback indicates that the vehicle does not enter the traffic jam mode, and it is detected that the driver has not released the steering wheel, it is determined that the vehicle maintains the normal driving mode.

[0051] Specifically, by sending a prompt message to the driver asking whether to enter the traffic jam mode, the driver is given more control and the user experience is improved. The driver can choose whether to enter the traffic jam mode according to the actual situation, which is more in line with the driver's driving habits and expectations.

[0052] If the driver chooses not to enter the traffic jam mode, and it is detected that the driver has not released the steering wheel, this means that the driver still maintains active control of the vehicle, and the vehicle is judged to maintain normal driving mode, ensuring driving safety. If the driver chooses not to enter the traffic jam mode, it is determined that the vehicle does not enter the traffic jam mode. If the driver chooses not to enter, it will definitely not enter. If the prompt message feedback indicates that the driver has not selected (i.e., no response within the specified time limit), but it is detected that the driver's hand has released the steering wheel, the traffic jam mode will be entered.

[0053] It should be noted that the prompt information includes voice information and / or text information, which meets the needs and preferences of different drivers and improves the versatility and ease of use of the system; regardless of the driver's choice, clear feedback will be given to allow the driver to clearly understand the current status of the vehicle; in this way, the interactivity between the driver and the system is enhanced.

[0054] In this embodiment, by combining the driver's input and the system's intelligent judgment, the solution can adapt to different driving scenarios and drivers' needs, thereby improving the adaptability and flexibility of the system.

[0055] It should be noted that by obtaining road conditions and vehicle speed information through the on-board navigation, it is possible to determine in real time whether the vehicle has entered a traffic jam mode. Combined with the frequency of pressing the accelerator pedal and brake pedal and the vehicle speed information, it is also possible to more accurately determine the vehicle's traffic jam situation without navigation guidance.

[0056] By judging the vehicle status in real time, the driver does not need to perform additional operations, which improves the level of intelligent driving. Once the vehicle enters the traffic jam mode, it will automatically adopt the traffic jam control strategy to reduce the driver's driving pressure.

[0057] Through the above method, by comprehensively considering various factors and situations, it is possible to accurately judge whether the vehicle has entered a traffic jam mode and adopt corresponding control strategies, thereby improving driving safety, intelligence level and comfort.

[0058] See also Figure 2 , is a flow chart showing a vehicle entering a traffic jam mode based on vehicle navigation according to an exemplary embodiment of the present invention;

[0059] Obtain the vehicle's onboard navigation road condition information and determine the vehicle's current road condition;

[0060] Determine whether the vehicle enters a congested road section, if so, obtain vehicle speed information and determine whether the vehicle speed satisfies the traffic jam mode; if not, determine that the vehicle maintains a normal driving mode;

[0061] Determine whether the vehicle has decelerated to a first preset speed value (which can be set according to demand), for example, 10 kilometers per hour. If so, prompt the user to enter a traffic jam mode. If not, determine that the vehicle maintains a normal driving mode.

[0062] Determine whether the user confirms entering the traffic jam mode. If so, determine that the vehicle has entered the traffic jam mode and prompt the user to enter the traffic jam mode. If not, detect whether the driver has released the steering wheel. If it is detected that the driver has released the steering wheel, determine that the vehicle has entered the traffic jam mode and prompt the user to enter the traffic jam mode; if it is detected that the driver has not released the steering wheel, determine that the vehicle has entered the traffic jam mode and prompt the user to enter the traffic jam mode.

[0063] See also Figure 3 , is a flow chart of a vehicle without on-board navigation entering a traffic jam mode shown in an exemplary embodiment of the present invention;

[0064] Get the vehicle accelerator pedal depression status;

[0065] Determine whether the accelerator pedal is frequently depressed, and if so, obtain the depression state of the brake pedal and determine whether the brake pedal is frequently depressed;

[0066] If so, obtain the vehicle speed information and determine whether the vehicle speed information satisfies the traffic jam mode;

[0067] Determine whether the vehicle speed information is less than a second preset vehicle speed value (which can be set according to demand), such as 20 kilometers per hour; if so, prompt the user to enter the traffic jam mode, and determine whether the user confirms to enter the traffic jam mode; if it is determined to enter the traffic jam mode, determine that the vehicle enters the traffic jam mode and prompt the user to enter the traffic jam mode;

[0068] If it is determined not to enter the traffic jam mode, the vehicle maintains the normal driving mode.

[0069] In this embodiment, when the vehicle is driving with in-vehicle navigation, the navigation road condition and vehicle speed information will be combined to determine whether to enter and exit the traffic jam mode; when the vehicle is driving without in-vehicle navigation, the accelerator pedal pressing frequency, the brake pedal pressing frequency and vehicle speed information will be combined to determine whether to enter the traffic jam mode. In the traffic jam mode of in-vehicle navigation driving, when the steering wheel sensor recognizes that the user is operating the steering wheel, the traffic jam mode will be automatically exited; the user can also enter and exit the traffic jam mode through voice or operation of the main interface.

[0070] When the vehicle enters a congested road section, the driver can choose whether to activate the traffic jam mode according to the vehicle prompts or main interface operations; when the driver chooses to activate the traffic jam mode, the driver can completely release the steering wheel. At this time, the steering wheel will be controlled by the steering system in the traffic jam mode; to avoid the driver's feet cyclically switching between the accelerator and brake pedals, the vehicle's drive and braking torque control will enter the single-pedal mode controlled by the brake pedal. The single-pedal mode control of the brake pedal in traffic jam mode avoids the risks caused by accidental stepping on the accelerator pedal alone.

[0071] In some implementations, the situation in which the vehicle is determined to exit the traffic jam mode includes at least one of the following:

[0072] When the vehicle is not in a congested road section, or, when the driver is monitored to hold the steering wheel again, or, when the current road condition of the vehicle is in a congested road section and the vehicle is monitored to pass a complex road section, or, when the vehicle speed information within a preset time is monitored to be greater than a first preset speed value, or, when a control instruction to exit the traffic jam mode is monitored.

[0073] See also Figure 4 , is a flow chart of a vehicle exiting a traffic jam mode in a traffic jam mode shown in an exemplary embodiment of the present invention, and is described in detail as follows:

[0074] Obtain the vehicle's onboard navigation road condition information and determine the vehicle's current road condition;

[0075] Determine whether the vehicle is in a congested section. If so, determine whether the vehicle is passing through a complex turning intersection. If not, prompt the user to take over and exit the traffic jam mode.

[0076] If the vehicle is to pass through a complex turning intersection, the user is prompted to take over and enter the takeover mode under the traffic jam mode (the takeover mode is a special state under the traffic jam mode to prevent emergencies and improve passing safety); if the vehicle is not to pass through a complex turning intersection, whether the driver is holding the steering wheel is detected;

[0077] If it is detected that the driver is holding the steering wheel, the user is prompted to take over and enter the takeover mode when the traffic jam mode is activated; if it is detected that the driver is not holding the steering wheel (i.e., both hands are off the steering wheel), the vehicle speed information is obtained and a determination is made whether the vehicle speed satisfies the exit from the traffic jam mode, wherein a determination is made whether the vehicle speed is greater than 20 kilometers per hour. If so, the user is prompted to take over and exit the traffic jam mode; if less than 20 kilometers per hour, a determination is made whether the driver actively exits the traffic jam mode. If so, the user is prompted to take over and exit the traffic jam mode; if the driver does not actively exit the vehicle mode, the vehicle remains in the traffic jam mode.

[0078] It should be noted that in the takeover mode, when the driver takes both hands off the steering wheel, the vehicle will directly enter the traffic jam mode without any other operation. If the traffic jam mode is exited, it is necessary to re-enter the mode and go through the judgment process of entering the traffic jam mode.

[0079] Through the above method, by identifying the vehicle's environment and the driver's behavior and responding accordingly, whether it is by judging whether the vehicle is in a congested road or monitoring whether the driver is holding the steering wheel, the driving mode can be adaptively adjusted according to the actual situation to improve driving convenience and safety.

[0080] When the vehicle is on a congested road, it enters traffic jam mode to optimize driving. Once it detects that the vehicle is about to pass through a complex section (such as an intersection, construction area, etc.), it can adjust the mode in time to ensure the safety of the vehicle in these special sections. Similarly, when the vehicle speed continues to be higher than the first preset speed value, it will exit the traffic jam mode to adapt to the needs of high-speed driving.

[0081] In this embodiment, it is possible to monitor whether the driver is holding the steering wheel and judge whether the driver wants to take over the control of the vehicle based on this. This design respects the driver's wishes and improves the user-friendliness of the system.

[0082] In some implementations, controlling the vehicle to respond according to the traffic jam control strategy includes:

[0083] If the lane line of the road section where the vehicle is located is clear, controlling the steering wheel angle of the vehicle according to the lane line so that the vehicle is located in the middle of the lane line;

[0084] If the lane line of the road section where the vehicle is located is unclear, obtain the center axis parameters of the target vehicle directly in front of the vehicle, and control the steering wheel angle of the vehicle according to the center axis parameters and the current center axis distance of the vehicle, so that the vehicle follows the target vehicle and aligns with the target vehicle.

[0085] See also Figure 5 , is a flow chart of a method for controlling a steering wheel angle in a traffic jam mode shown in an exemplary embodiment of the present invention, which is described in detail as follows:

[0086] Identify lane lines on both sides of the vehicle through cameras;

[0087] Determine whether the lane lines on both sides are clear; if so, obtain the distance from the lane lines on both sides, and obtain the steering wheel angle based on the distance from the lane lines on both sides of the vehicle;

[0088] If not, the state of the vehicle in front of the vehicle is identified through the camera to obtain the center axis parameters of the vehicle in front; the steering wheel angle is determined based on the center axis parameters of the current vehicle and the vehicle in front.

[0089] When the vehicle enters congestion mode, the vehicle's steering wheel will be determined based on the lane lines on both sides of the vehicle and the driving path of the vehicle in front captured by the camera. When the lane lines at both ends of the vehicle are clear, the steering wheel angle is determined based on the lane lines recognized by the cameras on both sides of the vehicle, with the goal of ensuring that the vehicle can stay in the center of the lane; when the lane lines are unclear, the steering wheel angle is determined based on the driving path of the vehicle in front, so that the vehicle follows the target vehicle and aligns with the target vehicle, with the goal of ensuring that the vehicle is aligned with the center axis of the vehicle in front.

[0090] Through the above method, when the lane line of the road section where the vehicle is located is clear, the steering wheel angle can be accurately controlled according to the lane line to ensure that the vehicle always stays in the middle of the lane line. This high-precision control helps improve driving safety and stability; when the lane line is unclear, it can intelligently switch to another control strategy. By obtaining the central axis parameters of the target vehicle in front, the relative position of the vehicle's current position and the lane centerline can be estimated, and the steering wheel angle can be adjusted accordingly to keep the vehicle in the center of the lane. This capability enables the vehicle to maintain a stable driving trajectory under various complex road conditions.

[0091] In addition, the vehicle's steering wheel angle can be effectively controlled based on the lane line or the center axis of the target vehicle in front to keep the vehicle in the middle of the lane. This capability reduces the risk of traffic accidents caused by vehicles deviating from the lane and improves driving safety. By intelligently controlling the steering wheel angle, unnecessary steering wheel adjustments can be reduced, making driving smoother and more comfortable.

[0092] In this embodiment, it has strong adaptability and can flexibly switch control strategies under different road conditions, whether it is clear lane lines or blurred lane lines, or even situations without lane lines (such as construction sections or rural roads), the lane keeping function can be achieved in different ways.

[0093] Optionally, in some implementations, the controlling the vehicle to respond according to the traffic jam control strategy further includes:

[0094] Obtaining whether the automatic parking function of the vehicle is activated;

[0095] If the automatic parking function is not activated, a brake pedal state is acquired; if the brake pedal state is deeply depressed and the vehicle is decelerated to a stop state, it is determined that the automatic parking function is activated to keep the vehicle stationary; if the brake pedal state is not deeply depressed or the vehicle is not decelerated to a stop state, the vehicle is controlled to output a driving torque in the traffic jam mode;

[0096] If the automatic parking function is activated and the brake pedal is in a heavily depressed state, it is determined to exit the automatic parking function so that the vehicle outputs driving torque in the traffic jam mode.

[0097] See also Figure 6 , is a flow chart of a vehicle driving force control method in a traffic jam mode shown in an exemplary embodiment of the present invention, which is described in detail as follows:

[0098] Obtain vehicle automatic parking activation status, brake pedal status and vehicle speed information;

[0099] Determine whether the automatic parking is activated, and if so, determine whether the brake pedal is in a heavily depressed state;

[0100] If not, determine whether the vehicle has decelerated to a stop state, and if so, determine whether the brake pedal is deeply depressed;

[0101] If yes, determining that the automatic parking function is activated to keep the vehicle stationary; if no, controlling the vehicle to output driving torque in the traffic jam mode;

[0102] Among them, it is determined whether the brake pedal state is heavily depressed. If so, it is determined that the automatic parking function is exited and the vehicle is controlled to output driving torque in the traffic jam mode; if not, it is determined that the automatic parking function is activated to keep the vehicle stationary.

[0103] In the above manner, by automatically detecting the activation status of the automatic parking function and the operation of the brake pedal, the intelligent management of the automatic parking function is achieved. Without the need for additional operations by the driver, it can automatically determine and execute corresponding control strategies, thereby improving driving convenience and safety.

[0104] When the automatic parking function is not activated, it automatically determines whether the automatic parking function needs to be activated by detecting the brake pedal status and vehicle speed. Once the vehicle decelerates to a stop and the brake pedal is deeply pressed, the automatic parking function will be automatically activated to ensure that the vehicle remains stationary, avoiding safety hazards caused by driver negligence or improper operation.

[0105] In addition, in traffic jam mode, if the automatic parking function is not activated and the brake pedal status does not meet the activation conditions, the vehicle output drive torque is controlled to ensure smooth driving of the vehicle. If the automatic parking function is already activated, if the driver needs to continue driving, he only needs to step on the brake pedal to exit the automatic parking function and restore the vehicle to normal driving state, which can adapt to different driving environments and driver needs.

[0106] The driver can activate, maintain and exit the automatic parking function by simply stepping on the brake pedal. There is no need to perform complicated operations or switch between different driving modes, which reduces the operating difficulty and fatigue of the driver.

[0107] By controlling the activation and exit of the automatic parking function, it helps to reduce unnecessary fuel consumption and emissions. When the automatic parking function is activated, the vehicle remains stationary and does not generate any power output, thereby achieving the goal of energy conservation and emission reduction.

[0108] Optionally, in some implementations, the controlling the vehicle to respond according to the traffic jam control strategy further includes:

[0109] Obtaining the current vehicle speed information, brake pedal opening, and accelerator pedal opening of the vehicle;

[0110] determining a first torque of the vehicle according to the vehicle speed information and the accelerator pedal opening, determining a first creep torque of the vehicle in a normal driving mode according to the vehicle speed information and the brake pedal opening, and determining a second creep torque of the vehicle in a traffic jam mode according to the vehicle speed information and the brake pedal opening;

[0111] The sum of the first torque, the first creep torque, and the second creep torque constitute a torque set, and the driving torque of the vehicle in the traffic jam mode is determined based on a maximum value of the torque set.

[0112] See also Figure 7 , is a flow chart of a method for determining a vehicle driving torque in a traffic jam mode, shown in an exemplary embodiment of the present invention, and is described in detail as follows:

[0113] Obtaining information about the accelerator pedal opening, the brake pedal opening and the vehicle speed of the vehicle, and respectively calculating a first torque T1 of the accelerator pedal opening, a first creep torque T2 in a normal driving mode, and a second creep torque T3 of single brake pedal control in a traffic jam mode based on the above information, wherein the second creep torque T3 is greater than the first creep torque T2;

[0114] The sum of the first torque, the first creep torque, and the second creep torque constitute a torque set, and the traffic jam mode driving torque value is output as Max (T1+T2, T3). The driving torque of the vehicle in the traffic jam mode is determined based on the maximum value of the torque set (T1+T2, T3).

[0115] For example, when the vehicle enters congestion mode, the vehicle torque will enter the single-pedal mode driven by the brake pedal; when the driver deeply presses the brake pedal to slow the vehicle down to 0, the vehicle's automatic parking will be activated. When the vehicle detects that the brake pedal is gradually released after being deeply pressed in the automatic parking activation state, the automatic parking will exit and respond to the creeping torque of the vehicle's brake pedal opening. At this time, the creeping torque of the vehicle is different from the creeping torque in the vehicle driving mode, ensuring that the vehicle can maintain a higher speed creeping.

[0116] In this embodiment, the vehicle's responses to vehicle speed, accelerator pedal opening and brake pedal opening in different driving modes (normal driving mode and traffic jam mode) are compatible. Especially in traffic jam mode, by adjusting the creep torque, the vehicle can move forward or backward more smoothly when at low speed or stopped, thereby improving driving comfort.

[0117] By accurately calculating and applying the torque in different modes, the energy efficiency of the vehicle can be optimized. For example, in traffic jam mode, by reducing unnecessary torque output, fuel consumption or power consumption can be reduced. In this way, the vehicle control strategy not only provides greater flexibility, but also adjusts the torque output according to actual conditions to adapt to different driving conditions and needs.

[0118] See also Figure 8 , the present invention provides a structural block diagram of a vehicle traffic jam control device 800, the device comprising:

[0119] The judging module 801 is used to judge whether the vehicle navigation system is turned on.

[0120] A first traffic jam determination module 802 is used to obtain the vehicle navigation road condition and first vehicle speed information of the vehicle if the vehicle navigation is in an on-board state, and determine whether the vehicle enters a traffic jam mode according to the vehicle navigation road condition and the first vehicle speed information;

[0121] The second traffic jam determination module 803 is used to obtain the pressing frequency of the accelerator pedal and the brake pedal of the vehicle and the second vehicle speed information if the vehicle navigation is in the off state, and determine whether the vehicle enters the traffic jam mode according to the pressing frequency of the accelerator pedal, the pressing frequency of the brake pedal and the second vehicle speed information;

[0122] The traffic jam control module 804 is used to control the vehicle to respond according to the traffic jam control strategy if the vehicle enters the traffic jam mode.

[0123] It should be noted that the vehicle traffic jam control device provided in the above embodiment and the vehicle traffic jam control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment, and will not be repeated here. In actual applications, the vehicle traffic jam control device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0124] Through the above-mentioned method, when the navigation is turned on, the present application determines whether the vehicle enters the traffic jam mode according to the on-board navigation road condition and the first vehicle speed information; when the navigation is turned off, by monitoring the driver's operating behavior (such as the frequency of pressing the accelerator pedal and the brake pedal) and the vehicle speed information, it can accurately determine whether the vehicle enters the traffic jam situation; in the traffic jam mode, on the one hand, by adopting appropriate control strategies (such as automatic following, automatic braking, etc.), it can improve driving safety and reduce traffic accidents caused by driver negligence or misoperation; on the other hand, the present application reduces the driver's fatigue in traffic jam conditions, improves the driver's driving experience in traffic jam conditions, can adapt to different driving environments and road conditions, has strong adaptability and robustness, and makes driving more convenient and comfortable.

[0125] Fig. 9 The structure diagram of the electronic device applied to the vehicle provided by the embodiment of the present invention is shown. It should be noted that: Fig. 9 The electronic device shown is only an example of a vehicle traffic jam control device and should not bring any limitation to the functions and application scope of the embodiments of the present invention.

[0126] like Fig. 9 As shown, the electronic device includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 902 or the program loaded from the storage part 908 to the random access memory (RAM) 903, such as executing the method described in the above embodiment. In RAM 903, various programs and data required for system operation are also stored. CPU 901, ROM 902 and RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0127] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed, and a removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed, so that a computer program read therefrom is installed into the storage section 908 as needed.

[0128] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 909, and / or installed from a removable medium 911. When the computer program is executed by a central processing unit (CPU) 901, various functions defined in the system of the present invention are executed.

[0129] It should be noted that the computer-readable medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0130] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Among them, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the above-mentioned module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0131] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, limit the units themselves.

[0132] The present invention also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle traffic jam control method provided in each of the above embodiments.

[0133] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A vehicle traffic jam control method, characterized in that: The method comprises: Determine whether the vehicle's in-vehicle navigation is turned on; If the vehicle navigation is in the on-board state, obtaining the vehicle navigation road condition and first vehicle speed information of the vehicle, and determining whether the vehicle enters a traffic jam mode according to the vehicle navigation road condition and the first vehicle speed information; If the vehicle navigation is in the off state, obtaining the pressing frequency of the accelerator pedal and the brake pedal of the vehicle and the second vehicle speed information, and determining whether the vehicle enters the traffic jam mode according to the pressing frequency of the accelerator pedal, the pressing frequency of the brake pedal and the second vehicle speed information; If the vehicle enters the traffic jam mode, the vehicle is controlled to respond according to the traffic jam control strategy.

2. The vehicle traffic jam control method according to claim 1, characterized in that: The determining whether the vehicle enters a traffic jam mode according to the vehicle navigation road condition and the first vehicle speed information includes: Determining the current road condition information of the vehicle according to the onboard navigation road condition, and determining whether the vehicle has entered a congested section based on the road condition information; if the vehicle has entered a congested section and the first vehicle speed information is lower than a first preset vehicle speed value, determining that the vehicle has entered a traffic jam mode; If the vehicle has not entered a congested road section or the first vehicle speed information is not lower than a first preset vehicle speed value, it is determined that the vehicle maintains a normal driving mode.

3. The vehicle traffic jam control method according to claim 2, characterized in that: Before the vehicle enters the traffic jam mode, the method further includes: Generate a prompt message for asking whether to enter a traffic jam mode, and inform the driver in the vehicle of the prompt message, wherein the prompt message is a voice message and / or a text message; If the prompt information feedback is entering a traffic jam mode, determining that the vehicle has entered the traffic jam mode and providing feedback to the driver; If the prompt information feedback is that there is no reply as to whether the vehicle has entered the traffic jam mode, and it is detected that the driver has released the steering wheel, it is determined that the vehicle has entered the traffic jam mode, and feedback is given to the driver; If the prompt information feedback indicates that the vehicle does not enter the traffic jam mode, and it is detected that the driver has not released the steering wheel, it is determined that the vehicle maintains the normal driving mode.

4. The vehicle traffic jam control method according to claim 1, characterized in that: The situation in which the vehicle is determined to exit the traffic jam mode includes at least one of the following: When the vehicle is not in a congested road section, or, when the driver is monitored to hold the steering wheel again, or, when the current road condition of the vehicle is in a congested road section and the vehicle is monitored to pass a complex road section, or, when the vehicle speed information within a preset time is monitored to be greater than a first preset speed value, or, when a control instruction to exit the traffic jam mode is monitored.

5. The vehicle traffic jam control method according to claim 2, characterized in that: The determining whether the vehicle enters the traffic jam mode according to the pressing frequency of the accelerator pedal, the pressing frequency of the brake pedal, and the second vehicle speed information includes: If the pressing frequency of the accelerator pedal and the pressing frequency of the brake pedal are both greater than the preset frequency times, and the second vehicle speed information is lower than the second preset vehicle speed value; it is determined that the vehicle enters the traffic jam mode; wherein the first preset vehicle speed value is lower than the second preset vehicle speed value; If either the pressing frequency of the accelerator pedal or the pressing frequency of the brake pedal is not greater than a preset frequency, or the second vehicle speed information is not lower than a second preset vehicle speed value; it is determined that the vehicle maintains a normal driving mode.

6. The vehicle traffic jam control method according to any one of claims 1 to 5, characterized in that: The controlling the vehicle to respond according to the traffic jam control strategy includes: If the lane line of the road section where the vehicle is located is clear, controlling the steering wheel angle of the vehicle according to the lane line so that the vehicle is located in the middle of the lane line; If the lane line of the road section where the vehicle is located is unclear, obtain the center axis parameters of the target vehicle directly in front of the vehicle, and control the steering wheel angle of the vehicle according to the center axis parameters and the current center axis distance of the vehicle, so that the vehicle follows the target vehicle and aligns with the target vehicle.

7. The vehicle traffic jam control method according to claim 6, characterized in that: The controlling the vehicle to respond according to the traffic jam control strategy also includes: Obtaining whether the automatic parking function of the vehicle is activated; If the automatic parking function is not activated, a brake pedal state is acquired; if the brake pedal state is deeply depressed and the vehicle is decelerated to a stop state, it is determined that the automatic parking function is activated to keep the vehicle stationary; if the brake pedal state is not deeply depressed or the vehicle is not decelerated to a stop state, the vehicle is controlled to output a driving torque in the traffic jam mode; If the automatic parking function is activated and the brake pedal is in a heavily depressed state, it is determined to exit the automatic parking function so that the vehicle outputs driving torque in the traffic jam mode.

8. The vehicle traffic jam control method according to claim 7, characterized in that: The controlling the vehicle to respond according to the traffic jam control strategy also includes: Obtaining the current vehicle speed information, brake pedal opening, and accelerator pedal opening of the vehicle; determining a first torque of the vehicle according to the vehicle speed information and the accelerator pedal opening, determining a first creep torque of the vehicle in a normal driving mode according to the vehicle speed information and the brake pedal opening, and determining a second creep torque of the vehicle in a traffic jam mode according to the vehicle speed information and the brake pedal opening; The sum of the first torque, the first creep torque, and the second creep torque constitute a torque set, and the driving torque of the vehicle in the traffic jam mode is determined based on a maximum value of the torque set.

9. A vehicle traffic jam control device, characterized in that: The device comprises: A judgment module, used to judge whether the vehicle's in-vehicle navigation is in an on state; a first traffic jam determination module, configured to obtain the vehicle navigation road condition and first vehicle speed information of the vehicle if the vehicle navigation is in an on-board state, and determine whether the vehicle enters a traffic jam mode according to the vehicle navigation road condition and the first vehicle speed information; if the vehicle enters the traffic jam mode, control the vehicle to respond according to a traffic jam control strategy; a second traffic jam determination module, configured to obtain, if the vehicle navigation is in an off state, a pressing frequency of an accelerator pedal and a brake pedal of the vehicle and second vehicle speed information, and determine whether the vehicle enters the traffic jam mode according to the pressing frequency of the accelerator pedal, the pressing frequency of the brake pedal and the second vehicle speed information; The traffic jam control module is used to control the vehicle to respond according to the traffic jam control strategy if the vehicle enters the traffic jam mode.

10. A vehicle, characterized in that: include: A processor, and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the vehicle traffic jam control method as described in any one of claims 1 to 8.

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