Vehicle congestion control method and device and vehicle

Abstract

The application provides a vehicle traffic jam control method, device and vehicle. The method comprises the following steps: judging whether a vehicle-mounted navigation of a vehicle is in an open state; if the vehicle-mounted navigation is in the open state, obtaining vehicle-mounted navigation road conditions and first vehicle speed information, and determining whether the vehicle enters a traffic jam mode according to the vehicle-mounted navigation road conditions and the first vehicle speed information; if the vehicle-mounted navigation is in a closed state, obtaining a pedal depression frequency of an accelerator pedal and a brake pedal of the vehicle and second vehicle speed information, and determining whether the vehicle enters the traffic jam mode according to the pedal depression frequency of the accelerator pedal and the brake pedal and the second vehicle speed information; and if the vehicle enters the traffic jam mode, controlling the vehicle to respond according to a traffic jam control strategy. The application avoids traffic accidents caused by driver negligence or misoperation, optimizes the control strategy of vehicle traffic jam driving, reduces user fatigue, and improves user experience.

Description

TECHNICAL FIELD

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

[0002] With the rapid progress of technology, cars are gradually moving towards a new era of intelligence. Today's cars not only have more efficient engines and more comfortable driving experience, but also have made significant breakthroughs in intelligence. From automatic driving assistance systems to car artificial intelligence assistants, cars are becoming more and more "intelligent", 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 car systems can also provide navigation, entertainment, information query and other services, making the driver's travel more convenient and enjoyable.

[0003] In the related art, with the increase in the number of vehicles, the congestion of roads becomes more and more serious, especially during holidays and rush hours, traffic jams have become one of the road conditions that drivers cannot avoid many times. Under the traffic jam working condition, the driver frequently corrects the steering wheel angle and steps on the accelerator and brake pedals to control the vehicle to accelerate and decelerate, which will accelerate the fatigue of the driver. However, CN115139820A discloses a single pedal mode control method for electric vehicles, according to the driving environment information of the vehicle, the current congestion situation and the distance from the vehicle to different types of obstacles are determined; the distance from the vehicle to different types of obstacles under the current congestion situation is compared with the corresponding safety distance threshold; when 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 triggered by accident in abnormal situation, therefore, it is very necessary to develop a driving mode which can reduce the fatigue of the driver and is not easy to trigger accidents under the traffic jam working condition. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the present application provides a vehicle traffic jam control method, device and vehicle to solve the technical problem that the fatigue of the driver is easy to trigger accidents when the vehicle is in traffic jam.

[0005] In a first aspect, the present application provides a vehicle traffic jam control method, comprising: determining whether a vehicle-mounted navigation of a vehicle is in an open state; if the vehicle-mounted navigation is in the open state, obtaining vehicle-mounted 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-mounted navigation road condition and the first vehicle speed information; if the vehicle-mounted navigation is in a closed state, obtaining a pedal pressing frequency of an accelerator pedal and a pedal pressing frequency of a brake pedal of the vehicle and second vehicle speed information, and determining whether the vehicle enters the traffic jam mode according to the pedal pressing frequency of the accelerator pedal, the pedal pressing frequency of the brake pedal and the second vehicle speed information; and if the vehicle enters the traffic jam mode, controlling the vehicle to respond according to a traffic jam control strategy.

[0006] In some embodiments of the present application, the determining whether the vehicle enters the traffic jam mode according to the vehicle-mounted navigation road condition and the first vehicle speed information comprises: determining road condition information currently experienced by the vehicle according to the vehicle-mounted navigation road condition, determining whether the vehicle enters a congested road section based on the road condition information, determining that the vehicle enters the traffic jam mode if the vehicle enters the congested road section and the first vehicle speed information is lower than a first preset vehicle speed value, and determining that the vehicle remains in a normal driving mode if the vehicle does not enter the congested road section or the first vehicle speed information is not lower than the first preset vehicle speed value.

[0007] In some embodiments of the present application, before the vehicle enters the traffic jam mode, the method further comprises: generating prompt information for inquiring whether to enter the traffic jam mode, informing the prompt information to a driver in the vehicle, the prompt information being voice information or / and text information; if the prompt information feedback is to enter the traffic jam mode, determining that the vehicle enters the traffic jam mode and feeding back to the driver; if the prompt information feedback is not to enter the traffic jam mode and it is monitored that the driver has released a steering wheel, determining that the vehicle enters the traffic jam mode and feeding back to the driver; and if the prompt information feedback is not to enter the traffic jam mode and it is monitored that the driver has not released the steering wheel, determining that the vehicle remains in the normal driving mode.

[0008] In some embodiments of the present application, the determining a condition for the vehicle to exit the traffic jam mode comprises at least one of the following: when the vehicle is not in the congested road section, when it is monitored that the driver holds the steering wheel again, when the vehicle is currently in the congested road section and it is monitored that the vehicle is about to pass through a complex road section, when it is monitored that vehicle speed information of the vehicle in a preset time is all greater than a first preset vehicle speed value, or when it is monitored that a control instruction for exiting the traffic jam mode is generated.

[0009] In some embodiments of the present application, if the frequency of the accelerator pedal depression and the frequency of the brake pedal depression are both greater than a preset frequency, and the second vehicle speed information is lower than a second preset vehicle speed value, it is determined that the vehicle enters the congestion mode; wherein the first preset vehicle speed value is less than the second preset vehicle speed value; if either the frequency of the accelerator pedal depression or the frequency of the brake pedal depression 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 remains in a normal driving mode.

[0010] In some embodiments of the present application, the control of the vehicle in response to the congestion 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 to make the vehicle in the middle of the lane line; if the lane line of the road section where the vehicle is located is not clear, obtaining the center axis parameter of the target vehicle in front of the vehicle, and controlling the steering wheel angle of the vehicle according to the distance between the center axis parameter and the current center axis of the vehicle to make the vehicle follow and align with the target vehicle.

[0011] In some embodiments of the present application, the control of the vehicle in response to the congestion control strategy further includes: obtaining whether the automatic parking function of the vehicle is activated; if the automatic parking function is not activated, obtaining the brake pedal state; if the brake pedal state is deep depression and the vehicle is decelerated to a stop state, it is determined that the automatic parking function is activated to make the vehicle remain in a stationary state; if the brake pedal state is not deep depression or the vehicle is not decelerated to a stop state, the vehicle is controlled to output driving torque in the congestion mode; if the automatic parking function is activated and the brake pedal state is heavy depression, it is determined to exit the automatic parking function to make the vehicle output driving torque in the congestion mode.

[0012] In some embodiments of the present application, the control of the vehicle in response to the congestion control strategy further includes: obtaining the current vehicle speed information, brake pedal opening and accelerator pedal opening of the vehicle; determining the first torque of the vehicle according to the vehicle speed information and the accelerator pedal opening, determining the first crawling torque of the vehicle in the normal driving mode according to the vehicle speed information and the brake pedal opening, and determining the second crawling torque of the vehicle in the congestion mode according to the vehicle speed information and the brake pedal opening; the sum of the first torque and the first crawling torque, and the second crawling torque form a torque set, and the driving torque of the vehicle in the congestion mode is determined based on the maximum value of the torque set.

[0013] In a second aspect, the present application provides a vehicle traffic jam control device, the device comprising: a judging module for judging whether a vehicle-mounted navigation of a vehicle is in an open state; a first traffic jam determining module for, if the vehicle-mounted navigation is in the open state, acquiring vehicle-mounted navigation road conditions and first vehicle speed information of the vehicle, and determining whether the vehicle enters a traffic jam mode according to the vehicle-mounted navigation road conditions and the first vehicle speed information; a second traffic jam determining module for, if the vehicle-mounted navigation is in a closed state, acquiring a pedal pressing frequency of an accelerator pedal and a pedal pressing frequency of a brake pedal of the vehicle and second vehicle speed information, and determining whether the vehicle enters the traffic jam mode according to the pedal pressing frequency of the accelerator pedal, the pedal pressing frequency of the brake pedal and the second vehicle speed information; and a traffic jam control module for, if the vehicle enters the traffic jam mode, controlling the vehicle to respond according to a traffic jam control strategy.

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

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

[0016] The present application has the following beneficial effects: when the navigation is open, the present application determines whether the vehicle enters a traffic jam mode according to the vehicle-mounted navigation road conditions and the first vehicle speed information; when the navigation is closed, the present application can accurately determine whether the vehicle enters a traffic jam condition by monitoring the operation behavior (such as the pedal pressing frequency of the accelerator pedal and the brake pedal) of the driver and the vehicle speed information; in the traffic jam mode, on the one hand, by adopting appropriate control strategies (such as automatic following, automatic braking, etc.), the driving safety can be improved, and the traffic accidents caused by the negligence or misoperation of the driver can be reduced; on the other hand, the present application relieves the fatigue of the driver in the traffic jam working condition, improves the driving experience of the driver in the traffic jam working condition, can adapt to different driving environments and road conditions, has strong adaptability and robustness, and makes the driving more convenient and comfortable.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application. It is apparent that the drawing in the following description is only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor. In the drawings:

[0019] Figure 1 is a vehicle congestion control method flowchart shown by an exemplary embodiment of the present application;

[0020] Figure 2 is a vehicle entering congestion mode flowchart based on vehicle navigation shown by an exemplary embodiment of the present application;

[0021] Figure 3 is a vehicle entering congestion mode flowchart without vehicle navigation shown by an exemplary embodiment of the present application;

[0022] Figure 4 is a vehicle exiting congestion mode flowchart in congestion mode shown by an exemplary embodiment of the present application;

[0023] Figure 5 is a steering wheel angle control method flowchart in congestion mode shown by an exemplary embodiment of the present application;

[0024] Figure 6 is a vehicle driving force control method flowchart in congestion mode shown by an exemplary embodiment of the present application;

[0025] Figure 7 is a vehicle driving torque determination method flowchart in congestion mode shown by an exemplary embodiment of the present application;

[0026] Figure 8 is a structure diagram of a vehicle congestion control device shown by an exemplary embodiment of the present application;

[0027] Figure 9 is a structure diagram of an electronic device applied to a vehicle shown by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0028] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the shape, quantity and proportion of each component can be changed at will, 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 will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0031] The term "and / or" used in this disclosure describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

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

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

[0034] The vehicles include new energy vehicles and fuel vehicles. New energy vehicles include but are not limited to pure electric vehicles, extended-range electric vehicles, plug-in hybrid vehicles, fuel cell vehicles (hydrogen, ethanol), etc. It should be understood that in-vehicle navigation utilizes the in-vehicle GPS (Global Positioning System) in conjunction with electronic maps. 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] In step S102, if the vehicle-mounted navigation is in an open state, vehicle-mounted navigation road conditions and first vehicle speed information of the vehicle are acquired, and whether the vehicle enters a traffic jam mode is determined according to the vehicle-mounted navigation road conditions and the first vehicle speed information; if the vehicle enters the traffic jam mode, the vehicle is controlled to respond according to a traffic jam control strategy.

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

[0038] It should be noted that, by using the road condition information of the vehicle-mounted navigation, whether the current road condition of the vehicle is a congested road section can be determined, and the determination mode based on real-time road condition data is more reliable and accurate than pure sensor data or driver operation.

[0039] The present application not only comprehensively considers road condition information and vehicle speed information, but only when the vehicle enters a congested road section and the vehicle speed is lower than a certain preset value, it is determined that the vehicle enters the traffic jam mode, thus avoiding misjudgment and ensuring the rationality of mode switching.

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

[0041] For another example, in the traffic jam mode, the vehicle can automatically start auxiliary driving functions such as automatic following and automatic braking, so as to reduce the operating burden of the driver on the congested road section and reduce the risk of safety accidents caused by driver fatigue or negligence.

[0042] In step S103, if the vehicle-mounted navigation is in a closed state, the frequency of pressing the accelerator pedal and the frequency of pressing the brake pedal of the vehicle and second vehicle speed information are acquired, and whether the vehicle enters the traffic jam mode is determined according to the frequency of pressing the accelerator pedal, the frequency of pressing the brake pedal and the second vehicle speed information.

[0043] Specifically, if the frequency of pressing the accelerator pedal and the frequency of pressing the brake pedal are both greater than a preset frequency, and the second vehicle speed information is lower than a second preset vehicle speed value, 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 frequency of pressing the accelerator pedal or the frequency of pressing the brake pedal is not greater than the preset frequency, or the second vehicle speed information is not lower than the second preset vehicle speed value, it is determined that the vehicle remains in the normal driving mode.

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

[0045] In the above manner, when the navigation is turned on, it is determined whether the vehicle enters the traffic jam mode according to the vehicle navigation road condition and the first vehicle speed information; when the navigation is turned off, it is accurately determined whether the vehicle enters the traffic jam mode by monitoring the operation behavior (such as the frequency of pressing the accelerator pedal and the brake pedal) of the driver and the vehicle speed information; in the traffic jam mode, on the one hand, the driving safety is improved and the traffic accidents caused by the negligence or misoperation of the driver are reduced by taking appropriate control strategies (such as automatic following and automatic braking); on the other hand, the fatigue of the driver in the traffic jam mode is reduced, the driving experience of the driver in the traffic jam mode is improved, different driving environments and road conditions can be adapted, the adaptability and robustness are high, and the driving is more convenient and comfortable.

[0046] In some embodiments, before the vehicle enters the traffic jam mode, the method further comprises:

[0047] generating prompt information for inquiring whether to enter the traffic jam mode, and informing the driver in the vehicle of the prompt information, wherein the prompt information is voice information or / and text information;

[0048] if the feedback of the prompt information is to enter the traffic jam mode, it is determined that the vehicle enters the traffic jam mode, and the driver is fed back;

[0049] if the feedback of the prompt information is not to enter the traffic jam mode, and it is monitored that the driver has released the steering wheel, it is determined that the vehicle enters the traffic jam mode, and the driver is fed back;

[0050] if the feedback of the prompt information is not to enter the traffic jam mode, and it is monitored that the driver has not released the steering wheel, it is determined that the vehicle remains in 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, improving the user experience, and the driver can choose whether to enter the traffic jam mode according to the actual situation, which is more in line with the driving habits and expectations of the driver.

[0052] If the driver chooses not to enter the traffic jam mode and it is detected that the driver does not release the steering wheel, it indicates that the driver still maintains active control of the vehicle, and accordingly it is determined that the vehicle remains in normal driving mode, ensuring the safety of driving. 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 not enter, and if the prompt message feedback is that the driver does not choose (i.e. does not reply within the specified time limit), but it is detected that the driver's hand releases the steering wheel, the traffic jam mode will be entered.

[0053] It should be noted that the prompt message includes voice information or / and 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, explicit feedback will be given to the driver to clearly understand the current state of the vehicle. In this way, the interactivity between the driver and the system is enhanced.

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

[0055] It should be noted that the road condition and vehicle speed information is obtained through the vehicle navigation, which can determine in real time whether the vehicle enters the traffic jam mode. In combination with the frequency of pressing the accelerator pedal and the brake pedal and the vehicle speed information, the traffic jam situation of the vehicle without navigation guidance can also be more accurately determined.

[0056] By judging the vehicle state in real time, the driver does not need to perform additional operations, improving the intelligent level of driving. Once the traffic jam mode is entered, the traffic jam control strategy will be automatically taken, reducing the driving pressure of the driver.

[0057] In the above manner, various factors and situations are considered to accurately determine whether the vehicle enters the traffic jam mode and take appropriate control strategies, improving the safety, intelligent level and comfort of driving.

[0058] Please refer to Figure 2 is a flowchart of a vehicle entering a traffic jam mode based on vehicle navigation according to an exemplary embodiment of the present application;

[0059] Obtain vehicle navigation road condition information and determine the current road condition of the vehicle;

[0060] determining whether the vehicle enters a congested road section, if yes, obtaining vehicle speed information and determining whether the vehicle speed meets the entering of the traffic jam mode; if no, determining that the vehicle keeps the normal driving mode;

[0061] determining whether the vehicle is decelerated to a first preset vehicle speed value (which can be set according to requirements), for example, 10 km / h, if yes, prompting the user to enter the traffic jam mode, if no, determining that the vehicle keeps the normal driving mode;

[0062] determining whether the user confirms to enter the traffic jam mode, if yes, determining that the vehicle enters the traffic jam mode and prompting the user to enter the traffic jam mode, if no, detecting whether the driver releases the steering wheel, if it is detected that the driver releases the steering wheel, determining that the vehicle enters the traffic jam mode and prompting the user to enter the traffic jam mode, if it is detected that the driver does not release the steering wheel, determining that the vehicle enters the traffic jam mode and prompting the user to enter the traffic jam mode.

[0063] Please refer to Figure 3 is a flowchart of a vehicle entering a traffic jam mode without on-board navigation shown by an exemplary embodiment of the present application;

[0064] obtaining the state of the accelerator pedal being stepped on;

[0065] determining whether the accelerator pedal is frequently stepped on, if yes, obtaining the state of the brake pedal being stepped on and determining whether the brake pedal is frequently stepped on;

[0066] if yes, obtaining vehicle speed information and determining whether the vehicle speed information meets the entering of the traffic jam mode;

[0067] determining whether the vehicle speed information is less than a second preset vehicle speed value (which can be set according to requirements), for example, 20 km / h, if yes, prompting the user to enter the traffic jam mode, determining whether the user confirms to enter the traffic jam mode, if it is determined to enter the traffic jam mode, determining that the vehicle enters the traffic jam mode and prompting the user to enter the traffic jam mode;

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

[0069] In the embodiment, when the vehicle is driven with on-board navigation, it is determined whether to enter and exit the traffic jam mode in combination with the navigation road condition and the vehicle speed information; when the vehicle is driven without on-board navigation, it is determined whether to enter the traffic jam mode in combination with the frequency of the accelerator pedal being stepped on, the frequency of the brake pedal being stepped on and the vehicle speed information. In the traffic jam mode of the on-board navigation, the traffic jam mode will be actively exited when the steering wheel sensor recognizes the user operating the steering wheel; 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 prompt or the main interface operation; when the driver chooses to activate the traffic jam mode, the driver can completely release the steering wheel, at which time the steering wheel will be controlled by the steering system in the traffic jam mode; to avoid the driver's feet cycling between the accelerator and brake pedals, the vehicle's drive and brake torque control will enter the single-pedal mode of the brake pedal control at this time, and the single-pedal mode control of the brake pedal in the traffic jam mode avoids the risks caused by missteps in single-accelerator control.

[0071] In some implementations, determining the situation in which the vehicle exits the traffic jam mode includes at least one of:

[0072] When the vehicle is not in a congested road section, or when the driver is detected to hold the steering wheel again, or when the vehicle is currently in a congested road section and it is detected that the vehicle will pass through a complex road section, or when it is detected that the vehicle's speed information within a preset time is all greater than a first preset vehicle speed value, or when a control instruction for exiting the traffic jam mode is detected.

[0073] Please refer to Figure 4 is a traffic jam mode vehicle exit traffic jam mode flowchart shown in an exemplary embodiment of the present application, which is described in detail as follows:

[0074] Obtain vehicle on-board navigation road condition information and determine the current road condition of the vehicle;

[0075] Determine whether the vehicle is in a congested road section, if it is in a congested road section, determine whether the vehicle will pass through a complex turning intersection, if it is not in a congested road section, prompt the user to take over and exit the traffic jam mode;

[0076] If the vehicle is to pass through a complex turning intersection, prompt the user to take over and enter the takeover mode under the activation of the traffic jam mode (this takeover mode is a special state in the traffic jam mode, to prevent sudden situations and improve safety); if the vehicle does not pass through a complex turning intersection, detect whether the driver is holding the steering wheel;

[0077] If it is detected that the driver is holding the steering wheel, prompt the user to take over and enter the takeover mode under the activation of the traffic jam mode; if it is detected that the driver is not holding the steering wheel (i.e., both hands are away from the steering wheel), obtain vehicle speed information and determine whether the speed meets the exit condition of the traffic jam mode, wherein it is determined whether the speed is greater than 20 kilometers per hour, if it is greater than 20 kilometers per hour, prompt the user to take over and exit the traffic jam mode; if it is less than 20 kilometers per hour, determine whether the driver voluntarily exits the traffic jam mode, if the driver voluntarily exits the traffic jam mode, prompt the user to take over and exit the traffic jam mode; if the driver does not voluntarily exit the traffic jam mode, the vehicle remains in the traffic jam mode.

[0078] It should be noted that in the takeover mode, when the driver's hands are away from the steering wheel, the vehicle directly enters the traffic jam mode without other operations. If the traffic jam mode is exited, it needs to be re-entered, and the judgment process of entering the traffic jam mode needs to be performed again.

[0079] In the above manner, by identifying the environment in which the vehicle is located and the behavior of the driver, and making corresponding responses accordingly, whether by judging whether the vehicle is in a congested section of road or monitoring whether the driver is holding the steering wheel, the driving mode can be adaptively adjusted according to the actual situation, improving the convenience and safety of driving.

[0080] When the vehicle is in a congested section of road, the traffic jam mode is entered to optimize driving, and once it is monitored that the vehicle is about to pass through a complex section of road (such as an intersection, a construction area, etc.), the mode can be adjusted in time to ensure the safety of the vehicle in driving through these special sections of road; similarly, when the vehicle speed is continuously higher than the first preset vehicle speed value, the traffic jam mode is also exited to adapt to the demand for high-speed driving.

[0081] In this embodiment, it can be monitored whether the driver is holding the steering wheel, and whether the driver wants to take over the control of the vehicle is judged accordingly, which respects the will of the driver and improves the user friendliness of the system.

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

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

[0084] If the lane lines of the section of road where the vehicle is located are not clear, the center axis parameters of the target vehicle in front of the vehicle are obtained, and the steering wheel angle of the vehicle is controlled according to the distance between the center axis parameters and the current center axis of the vehicle so that the vehicle follows the target vehicle and aligns with the target vehicle.

[0085] Please refer to Figure 5 is a flow chart of a steering wheel angle control method in a traffic jam mode, which is an exemplary embodiment of the present application, and is described in detail as follows:

[0086] The lane lines on both sides of the vehicle are identified by the camera;

[0087] It is judged whether the lane lines on both sides are clear; if yes, the distances from the lane lines on both sides are obtained, and the steering wheel angle is obtained according to the distances 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 by the camera, the center axis parameters of the vehicle in front are obtained, and the steering wheel angle is determined according to the center axis parameters of the vehicle in front and the current center axis of the vehicle.

[0089] When the vehicle enters the congestion mode, the vehicle steering wheel will be determined according to the lane lines on both sides of the vehicle collected by the camera and the driving path of the front vehicle. When the lane lines on both sides of the vehicle are clear, the steering wheel angle is determined according to the lane lines recognized by the cameras on both sides of the vehicle, and the target is to ensure that the vehicle can remain in the center of the lane; when the lane lines are not clear, the steering wheel angle is determined according to the driving path of the front vehicle, so that the vehicle follows the target vehicle and aligns with the target vehicle, and the target is to ensure that the vehicle aligns with the center axis of the front vehicle.

[0090] In the above manner, when the lane lines of the road section where the vehicle is located are clear, the steering wheel angle can be accurately controlled according to the lane lines to ensure that the vehicle always remains in the middle of the lane line, and such high-precision control helps to improve the safety and stability of driving; when the lane lines are not clear, it can be intelligently switched to another control strategy, and by obtaining the center axis parameters of the target vehicle in front, the relative position of the current position of the vehicle to the center line of the lane can be estimated, and the steering wheel angle is adjusted accordingly to keep the vehicle in the center of the lane. This ability enables the vehicle to maintain a stable driving trajectory under various complex road conditions.

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

[0092] In this embodiment, it has strong adaptability and can flexibly switch control strategies under different road conditions. Whether the lane lines are clear or blurred, or even there are no lane lines (such as construction sections or rural roads), the lane keeping function can be realized in different ways.

[0093] Optionally, in some implementations, the control of the vehicle in response to the congestion 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, obtaining the brake pedal state; if the brake pedal state is deep pressing and the vehicle is decelerated to a stopped state, determining that the automatic parking function is activated to keep the vehicle in a stationary state; if the brake pedal state is not deep pressing or the vehicle is not decelerated to a stopped state, controlling the vehicle to output a driving torque in the congestion mode;

[0096] If the automatic parking function is activated and the brake pedal state is heavy pressing, it is determined to exit the automatic parking function to make the vehicle output driving torque in the traffic jam mode.

[0097] Referring to Figure 6 is a flow chart of a vehicle driving force control method in a traffic jam mode according to an exemplary embodiment of the present application, which is described in detail as follows:

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

[0099] Determine whether the automatic parking is activated, if yes, determine whether the brake pedal state is heavy pressing;

[0100] If no, determine whether the vehicle is decelerated to a stop state, if yes, determine whether the brake pedal state is deep pressing;

[0101] If yes, it is determined that the automatic parking function is activated to make the vehicle keep still; if no, control the vehicle to output driving torque in the traffic jam mode;

[0102] If yes, it is determined that the automatic parking function is activated to make the vehicle keep still; if no, control the vehicle to output driving torque in the traffic jam mode;

[0103] In the above manner, by automatically detecting the activation state of the automatic parking function and the operation of the brake pedal, intelligent management of the automatic parking function is realized, without the need for additional operation by the driver, and the corresponding control strategy can be automatically determined and executed, improving the convenience and safety of driving.

[0104] When the automatic parking function is not activated, by detecting the brake pedal state and the vehicle speed, it is automatically determined whether the automatic parking function needs to be activated, and once the vehicle is decelerated to a stop state and the brake pedal is deeply pressed, the automatic parking function is automatically activated to ensure that the vehicle keeps still, avoiding safety hazards caused by the driver's negligence or improper operation.

[0105] In addition, in the traffic jam mode, if the automatic parking function is not activated and the brake pedal state does not meet the activation condition, by controlling the vehicle to output driving torque, it is ensured that the vehicle can smoothly drive. And in the case where the automatic parking function has been activated, if the driver needs to continue driving, he only needs to press the brake pedal again to exit the automatic parking function, so that the vehicle returns to the normal driving state, which can adapt to different driving environments and driver needs.

[0106] The driver only needs to activate, maintain and exit the automatic parking function by stepping on the brake pedal, without complicated operation or switching different driving modes, thereby reducing the operation difficulty and fatigue of the driver.

[0107] By controlling the activation and exit of the automatic parking function, unnecessary fuel consumption and emissions are reduced, and when the automatic parking function is activated, the vehicle is kept in a stationary state without any power output, thereby achieving the purpose of energy saving and emission reduction.

[0108] Optionally, in some embodiments, the control of the vehicle in response to the traffic jam control strategy further comprises:

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

[0110] According to the vehicle speed information and the accelerator pedal opening degree, a first torque of the vehicle is determined, according to the vehicle speed information and the brake pedal opening degree, a first crawling torque of the vehicle in normal driving mode is determined, and according to the vehicle speed information and the brake pedal opening degree, a second crawling torque of the vehicle in traffic jam mode is determined;

[0111] The sum of the first torque and the first crawling torque, and the second crawling torque form a torque set, and the maximum value of the torque set is determined to determine the driving torque of the vehicle in traffic jam mode.

[0112] Referring to Figure 7 is a flow chart of a vehicle driving torque determination method in traffic jam mode according to an exemplary embodiment of the present application, which is described in detail as follows:

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

[0114] The sum of the first torque and the first crawling torque, and the second crawling torque form a torque set, and the output traffic jam mode driving torque value is Max(T1+T2, T3), and the maximum value of the torque set (T1+T2, T3) is determined to determine the driving torque of the vehicle in traffic jam mode.

[0115] For example, when the vehicle enters the congestion mode, the vehicle torque will enter the brake pedal driven single pedal mode; when the driver deeply presses the brake pedal to reduce the vehicle speed to 0, the vehicle automatic parking will be activated, and when the vehicle detects that the brake pedal is gradually released after being deeply pressed in the automatic parking activated state, the automatic parking will be exited, and the creep torque is responded to the opening degree of the vehicle brake pedal. At this time, the creep torque of the vehicle is different from that in the whole vehicle driving mode, which ensures that the vehicle can maintain a higher creep speed.

[0116] In the embodiment, the response of the vehicle to the vehicle speed, the accelerator pedal opening degree and the brake pedal opening degree in different driving modes (normal driving mode and congestion mode) is compatible, especially in the congestion mode, by adjusting the creep torque, the vehicle can move forward or backward more smoothly at low speed or stop, and the driving comfort is improved.

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

[0118] Referring to Figure 8 A vehicle congestion control device 800 structure diagram is provided for the application, and the device comprises:

[0119] A judgment module 801 is configured to judge whether the vehicle navigation is in an open state;

[0120] A first congestion determination module 802 is configured to acquire the vehicle navigation road condition and the first vehicle speed information of the vehicle if the vehicle navigation is in the open state, and determine whether the vehicle enters the congestion mode according to the vehicle navigation road condition and the first vehicle speed information;

[0121] A second congestion determination module 803 is configured to acquire the pressing frequency of the accelerator pedal and the brake pedal and the second vehicle speed information of the vehicle if the vehicle navigation is in the closed state, and determine whether the vehicle enters the congestion mode according to the pressing frequency of the accelerator pedal, the pressing frequency of the brake pedal and the second vehicle speed information;

[0122] A congestion control module 804 is configured to control the vehicle to respond according to the congestion control strategy if the vehicle enters the congestion 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 embodiments, which will not be repeated here. The vehicle traffic jam control device provided in the above embodiment can be divided into different functional modules according to the needs in actual application, i.e., the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.

[0124] In the above manner, when the navigation is turned on, whether the vehicle enters the traffic jam mode is determined according to the vehicle navigation road condition and the first vehicle speed information; when the navigation is turned off, whether the vehicle enters the traffic jam condition can be accurately determined by monitoring the operation behavior (such as the frequency of stepping on the accelerator pedal and the brake pedal) of the driver and the vehicle speed information; in the traffic jam mode, on the one hand, by adopting appropriate control strategies (such as automatic following and automatic braking), the driving safety can be improved, and the traffic accidents caused by the negligence or misoperation of the driver can be reduced; on the other hand, the driver's fatigue in the traffic jam condition is reduced, the driving experience of the driver in the traffic jam condition is improved, different driving environments and road conditions can be adapted, the adaptability and robustness are strong, and the driving is more convenient and comfortable.

[0125] Figure 9 A structure diagram of an electronic device suitable for implementing the vehicle electronic device provided by the embodiment of the present application is shown. It should be noted that, Figure 9 The electronic device shown is only an example of the vehicle traffic jam control device, and should not bring any limitation to the function and application scope of the embodiment of the present application.

[0126] As Figure 9 shown, the electronic device includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 902 or programs loaded from a storage portion 908 to a random access memory (RAM) 903, such as performing the method described in the above embodiment. In the RAM 903, various programs and data required for system operation are also stored. The CPU 901, the ROM 902, and the RAM 903 are connected to each other through 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 part 906 including a keyboard, a mouse, etc.; an output part 907 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage part 908 including a hard disk, etc.; and a communication part 909 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as necessary, and a removable media 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 910 as necessary, so that a computer program read out therefrom is installed in the storage part 908 as necessary.

[0128] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication part 909, and / or installed from the removable media 911. When the computer program is executed by the central processing unit (CPU) 901, various functions defined in the system of the present application are executed.

[0129] It should be noted that the computer-readable medium in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may, for example, be an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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 (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable computer programs. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit programs for use by or in connection with an instruction execution system, apparatus or device. The computer programs contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination of the above.

[0130] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In the flowcharts or block diagrams, each block can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0131] The units described in the embodiments of the present application can be implemented in the form of software, or can be implemented in the form of hardware, and the described units can also be arranged in a processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0132] The present application also provides a computer program product or computer program, which comprises computer instructions stored in a computer readable storage medium. The processor of the 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 congestion control method provided in each of the above embodiments.

[0133] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present application should be covered by the claims of the present application.

Claims

1. A vehicle congestion control method characterized by comprising: The method comprises: determining whether the vehicle-mounted navigation of a vehicle is in an open state; if the vehicle-mounted navigation is in the open state, obtaining vehicle-mounted 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-mounted navigation road condition and the first vehicle speed information; if the vehicle-mounted navigation is in a closed state, obtaining the frequency of pressing the accelerator pedal and the brake pedal and second vehicle speed information of the vehicle, and determining whether the vehicle enters the traffic jam mode according to the frequency of pressing the accelerator pedal, the frequency of pressing the brake pedal 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; wherein the current vehicle speed information, brake pedal opening degree and accelerator pedal opening degree of the vehicle are obtained; the first torque of the vehicle is determined according to the vehicle speed information and the accelerator pedal opening degree; the first creep torque of the vehicle in the normal driving mode is determined according to the vehicle speed information and the brake pedal opening degree; and the second creep torque of the vehicle in the traffic jam mode is determined according to the vehicle speed information and the brake pedal opening degree; the sum of the first torque and the first creep torque, and the second creep torque form a torque set, and the driving torque of the vehicle in the traffic jam mode is determined based on the maximum value of the torque set.

2. The vehicle congestion control method according to claim 1, characterized by, The determination of whether the vehicle enters the traffic jam mode according to the vehicle-mounted navigation road condition and the first vehicle speed information comprises: determining the current road condition information of the vehicle according to the vehicle-mounted navigation road condition, and determining whether the vehicle enters a congested road section based on the road condition information; if the vehicle enters the congested road section and the first vehicle speed information is lower than a first preset vehicle speed value, it is determined that the vehicle enters the traffic jam mode; if the vehicle does not enter the congested road section or the first vehicle speed information is not lower than the first preset vehicle speed value, it is determined that the vehicle remains in the normal driving mode.

3. The vehicle congestion control method according to claim 2, characterized by, Before the vehicle enters the traffic jam mode, the method further comprises: generating prompt information for inquiring whether to enter the traffic jam mode, and informing the driver in the vehicle of the prompt information, wherein the prompt information is voice information or / and text information; if the prompt information feedback is to enter the traffic jam mode, it is determined that the vehicle enters the traffic jam mode, and feedback is given to the driver; if the prompt information feedback is not to enter the traffic jam mode, and it is monitored that the driver has released the steering wheel, it is determined that the vehicle enters the traffic jam mode, and feedback is given to the driver; if the prompt information feedback is not to enter the traffic jam mode, and it is monitored that the driver has not released the steering wheel, it is determined that the vehicle remains in the normal driving mode.

4. The vehicle congestion control method according to claim 1, characterized by, The conditions for determining that the vehicle exits the traffic jam mode include at least one of the following: when the vehicle is not in the congested road section, or when it is monitored that the driver holds the steering wheel again, or when the current road condition of the vehicle is in the congested road section and it is monitored that the vehicle is about to pass through a complex road section, or when it is monitored that the vehicle speed information of the vehicle within a preset time is all greater than a first preset vehicle speed value, or when it is monitored that a control instruction for exiting the traffic jam mode is generated.

5. The vehicle congestion control method according to claim 2, characterized by, The determination of whether the vehicle enters the traffic jam mode according to the frequency of the accelerator pedal depression, the frequency of the brake pedal depression and the second vehicle speed information comprises: If the frequency of the accelerator pedal depression and the frequency of the brake pedal depression are both greater than a preset frequency and the second vehicle speed information is lower than a 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 frequency of the accelerator pedal depression or the frequency of the brake pedal depression 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 remains in a normal driving mode.

6. The vehicle congestion control method according to any one of claims 1 to 5, characterized by, The control of the vehicle to respond according to the traffic jam control strategy comprises: If the lane line of the road section where the vehicle is located is clear, the steering wheel angle of the vehicle is controlled 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 not clear, the center axis parameter of a target vehicle in front of the vehicle is obtained, and the steering wheel angle of the vehicle is controlled according to the distance between the center axis parameter and the current center axis of the vehicle so that the vehicle follows and aligns with the target vehicle.

7. The vehicle congestion control method according to claim 6, characterized by, The control of the vehicle to respond according to the traffic jam control strategy further comprises: Obtaining whether the automatic parking function of the vehicle is activated; If the automatic parking function is not activated, the brake pedal state is obtained; if the brake pedal state is deep depression and the vehicle is decelerated to a stop state, it is determined that the automatic parking function is activated so that the vehicle remains in a stationary state; if the brake pedal state is not deep depression or the vehicle is not decelerated to a stop state, the vehicle is controlled to output driving torque in the traffic jam mode; If the automatic parking function is activated and the brake pedal state is heavy depression, it is determined that the automatic parking function is exited so that the vehicle outputs driving torque in the traffic jam mode.

8. A vehicle congestion control device characterized by comprising: The device comprises: A judgment module for judging whether the vehicle-mounted navigation of a vehicle is in an open state; A first traffic jam determination module for obtaining vehicle-mounted navigation road conditions and first vehicle speed information of the vehicle if the vehicle-mounted navigation is in the open state, and determining whether the vehicle enters a traffic jam mode according to the vehicle-mounted navigation road conditions and the first vehicle speed information; if the vehicle enters the traffic jam mode, the vehicle is controlled to respond according to a traffic jam control strategy; A second traffic jam determination module for obtaining the frequency of the accelerator pedal depression, the frequency of the brake pedal depression and the second vehicle speed information of the vehicle if the vehicle-mounted navigation is in a closed state, and determining whether the vehicle enters the traffic jam mode according to the frequency of the accelerator pedal depression, the frequency of the brake pedal depression and the second vehicle speed information. A traffic jam control module is configured to control the vehicle to respond according to the traffic jam control strategy if the vehicle enters the traffic jam mode; wherein current vehicle speed information, brake pedal opening and accelerator pedal opening are obtained; a first torque of the vehicle is determined according to the vehicle speed information and the accelerator pedal opening, a first crawling torque of the vehicle in a normal driving mode is determined according to the vehicle speed information and the brake pedal opening, and a second crawling torque of the vehicle in the traffic jam mode is determined according to the vehicle speed information and the brake pedal opening; a sum of the first torque and the first crawling torque, and the second crawling torque form a torque set, and a driving torque of the vehicle in the traffic jam mode is determined based on a maximum value of the torque set.

9. A vehicle characterized by comprising: Comprise: A processor is configured to store a memory executable by the processor; wherein the processor is configured to execute the instructions to implement the vehicle traffic jam control method according to any one of claims 1 to 7.

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