Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the gradient of a ramp where the vehicle is located, determining the target vehicle speed of the vehicle, and determining the braking torque of the vehicle on the ramp under the condition that the vehicle runs downhill on the ramp; determining whether to perform braking control on the vehicle according to the gradient, the target vehicle speed and the braking torque; if it is determined that braking control is conducted on the vehicle, the target deceleration of a braking system of the vehicle is determined, and the current acceleration of the vehicle is obtained; determining the acceleration difference between the current acceleration and the target deceleration; and braking control is conducted on the vehicle through a braking system according to the acceleration difference, so that the current acceleration of the vehicle approaches the target deceleration. The vehicle can be braked and controlled in real time according to the acceleration difference between the acceleration of the vehicle and the target deceleration, so that the acceleration change of the vehicle in the downhill process is reduced, it is guaranteed that the vehicle runs at a constant speed on a ramp, and the riding experience feeling is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and more specifically, to a vehicle control method, device, electronic device and storage medium. Background Art

[0002] With the rapid development of science and technology, cars are increasingly used in people's daily lives, and the scene of vehicles driving on ramps has become a common scene. When a car is driving on a ramp, the speed of the vehicle is prone to fluctuate like rowing, the speed control of the car is prone to be unstable, and the acceleration changes greatly, which leads to a poor riding experience for passengers in the car. Therefore, how to improve the riding experience of passengers when the vehicle is driving on a ramp has become an urgent problem to be solved. Summary of the invention

[0003] In view of this, the embodiments of the present application propose a vehicle control method, device, electronic device and storage medium to improve the above-mentioned problems.

[0004] According to a first aspect of an embodiment of the present application, a vehicle control method is provided, the method comprising: when the vehicle is traveling downhill on a slope, determining the slope of the slope on which the vehicle is located, determining the target speed of the vehicle, and determining the braking torque of the vehicle on the slope; determining whether to perform braking control on the vehicle according to the slope, the target speed, and the braking torque; if it is determined that the vehicle is to be braked, determining the target deceleration of the vehicle's braking system and obtaining the current acceleration of the vehicle; determining the acceleration difference between the current acceleration and the target deceleration; and performing braking control on the vehicle according to the acceleration difference through the braking system so that the current acceleration of the vehicle approaches the target deceleration.

[0005] According to a second aspect of an embodiment of the present application, a vehicle control device is provided, the device comprising: a first determination module, for determining the slope of the slope on which the vehicle is located, determining the target speed of the vehicle, and determining the braking torque of the vehicle on the slope when the vehicle is traveling downhill on the slope; a second determination module, for determining whether to perform braking control on the vehicle based on the slope, the target speed, and the braking torque; an acquisition module, for determining the target deceleration of the braking system of the vehicle and acquiring the current acceleration of the vehicle if it is determined that the vehicle is to be braked; a second determination module, for determining the acceleration difference between the current acceleration and the target deceleration; a braking control module, for performing braking control on the vehicle based on the acceleration difference through the braking system so that the current acceleration of the vehicle approaches the target deceleration.

[0006] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; and a memory, wherein computer-readable instructions are stored in the memory, and when the computer-readable instructions are executed by the processor, the vehicle control method as described above is implemented.

[0007] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the vehicle control method as described above is implemented.

[0008] In the scheme of the present application, when a vehicle is traveling downhill on a ramp, the slope of the ramp on which the vehicle is located, the target speed of the vehicle, and the braking torque of the vehicle on the ramp are first determined, and based on the slope, the target speed and the braking torque, it is determined whether to perform braking control on the vehicle. When determining to perform braking control on the vehicle, the target deceleration of the vehicle's braking system and the current acceleration of the vehicle are determined, and then the acceleration difference between the target acceleration and the current acceleration is determined, so that the vehicle can be braked according to the acceleration difference, so that the current acceleration of the vehicle continuously approaches the target deceleration. The scheme of the present application reduces the acceleration change of the vehicle during the downhill process by braking the vehicle according to the acceleration difference between the acceleration of the vehicle and the target deceleration in real time, thereby ensuring that the vehicle travels at a uniform speed on the ramp and improving the riding experience of passengers.

[0009] It is to be understood that both 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

[0010] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 It is a flowchart of a vehicle control method according to an embodiment of the present application.

[0012] Figure 2 It is a schematic diagram of force analysis of a vehicle on a ramp according to an embodiment of the present application.

[0013] Figure 3 It is a flowchart of specific steps of step 120 according to an embodiment of the present application.

[0014] Figure 4It is a flowchart of a vehicle control method according to another embodiment of the present application.

[0015] Figure 5 It is a flowchart of a vehicle control method according to another embodiment of the present application.

[0016] Figure 6 It is a flowchart of a vehicle control method according to another embodiment of the present application.

[0017] Figure 7 It is a block diagram of a vehicle control device according to an embodiment of the present application.

[0018] Figure 8 It is a hardware structure diagram of an electronic device according to an embodiment of the present application.

[0019] The above-mentioned drawings have shown clear embodiments of the present invention, which will be described in more detail hereinafter. These drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention to computer technicians in this field through specific embodiments. DETAILED DESCRIPTION

[0020] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the present application.

[0023] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. The flowcharts shown in the accompanying drawings are merely exemplary and do not necessarily include all the contents and operations / steps, nor do they necessarily have to be executed in the order described. For example, some operations / steps may be further decomposed, while some operations / steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0024] See also Figure 1 , Figure 1 A vehicle control method provided by an embodiment of the present application is shown. In a specific embodiment, the vehicle control method can be applied to Figure 7 The vehicle control device 400 and the electronic device 500 ( Figure 8 ). The specific process of this embodiment will be described below. Of course, it can be understood that the method can be executed by a vehicle terminal with computing and processing capabilities. Figure 1 The process shown is described in detail, and the vehicle control method may specifically include the following steps:

[0025] Step 110, when the vehicle is traveling downhill on a slope, determining the slope of the slope on which the vehicle is located, determining the target speed of the vehicle, and determining the braking torque of the vehicle on the slope.

[0026] As a method, when it is determined that the vehicle is traveling downhill on a slope, the vehicle will be braked only when it is determined that the vehicle needs to be braked. Therefore, it is necessary to first determine the slope of the slope on which the vehicle is located, the target speed of the vehicle, and the braking torque of the vehicle on the slope. The braking torque of the vehicle on the slope is used to indicate the corresponding braking torque after the driver steps on the brake pedal when the vehicle is traveling on the slope.

[0027] Optionally, the target speed of the vehicle may be determined according to the braking acceleration corresponding to the depth of the brake pedal pressed by the driver and the duration of the brake pedal being pressed. Optionally, the vehicle speed and the depth of the brake pedal before the driver presses the brake pedal may be obtained first, and then the braking acceleration of the vehicle may be determined according to the corresponding relationship between the brake pedal depth and the acceleration, and then the target speed of the vehicle may be determined according to the formula v t =v0+a t *t to determine the target speed of the vehicle, where v0 is the speed of the vehicle before the driver steps on the brake pedal, and a t is the braking acceleration of the vehicle determined according to the depth of the brake pedal depressed, and t is the duration for which the driver depresses the brake pedal.

[0028] Optionally, the slope of the ramp where the vehicle is located can be determined based on the attitude information of the vehicle on the ramp. Optionally, the attitude information of the vehicle can be obtained through the inertial measurement unit of the vehicle, wherein the attitude information of the vehicle may include the coordinates of the vehicle in the world coordinate system and the rotation matrix of the vehicle between different coordinate systems, and then the coordinates of the vehicle in the world coordinate system are transformed according to the rotation matrix to obtain the quaternion of the vehicle, and then the quaternion is converted into Euler angles, and then the determined Euler angles are used to determine the pitch angle in the Euler angles as the ramp angle of the ramp where the vehicle is located, and finally the sine value of the ramp angle is obtained as the slope of the ramp where the vehicle is located. Among them, the rotation matrix can be a transformation matrix between the vehicle in the navigation coordinate system and the vehicle coordinate system with the vehicle as the origin, and the quaternion includes the coordinates of the vehicle, the pitch angle of the vehicle, the roll angle of the vehicle, and the yaw angle of the vehicle.

[0029] In some embodiments, step 110 includes: obtaining the second current speed of the vehicle; determining the delay frame number of the vehicle and the inter-frame time interval of the vehicle, and determining the delay duration of the vehicle based on the delay frame number and the inter-frame time interval; determining a reference acceleration based on the delay duration and the second current speed, and determining the target speed of the vehicle based on the reference acceleration and the predicted duration, wherein the predicted duration is the calibrated acceleration duration of the vehicle.

[0030] As a method, after obtaining the second current speed of the vehicle, low-pass filtering can be performed to filter the obtained initial second current speed to obtain the second current speed after filtering the noise, and then the reference acceleration can be determined based on the second current speed after filtering the noise.

[0031] Optionally, the inter-frame time interval can be preset, and the inter-frame time interval corresponding to each delayed frame is the same, and then according to the formula t′=N*t N To determine the delay length, where N is the number of delay frames, t Nis the time interval between frames. Optionally, the formula v1=a1*t N To determine the reference acceleration, where v1 is the second current vehicle speed and a1 is the reference acceleration.

[0032] Optionally, the predicted duration may be a preset duration, or the duration of time the braking system brakes the vehicle from the time the driver steps on the brake pedal to the time the driver releases the brake pedal. Optionally, the target vehicle speed may be determined according to the formula v2=a1*t1, where v2 is the target vehicle speed and t1 is the predicted duration.

[0033] In some embodiments, step 110 further includes: obtaining the rolling resistance of the vehicle on the ramp and the weight of the vehicle; determining the acceleration resistance of the vehicle based on the reference acceleration and the weight; and determining the braking torque based on the rolling resistance, the acceleration resistance and the weight.

[0034] As a method, the rolling resistance can be determined based on the dynamic wheel end rolling resistance model of the vehicle, or it can be pre-calibrated by the vehicle. Optionally, the weight of the vehicle can be determined based on the vehicle code of the vehicle. Before the vehicle leaves the factory, the weight of the vehicle is associated with the vehicle code and stored, so that the weight of the vehicle can be directly obtained after the vehicle code of the vehicle is determined.

[0035] Optionally, the acceleration resistance of the vehicle is determined by the formula Faccel = a1*m, where m is the weight of the vehicle. Figure 2 As shown, the driving force of the vehicle can be determined by analyzing the force on the vehicle, wherein the vehicle on the ramp also includes the slope resistance of gravity on the ramp. Therefore, the braking force can be determined by the formula F=Ff+Faccel+Fslope, wherein Ff is the rolling resistance of the vehicle and Fslope is the slope resistance of gravity on the vehicle. Optionally, the formula Fslope=m*g*cosα can be used, wherein g is the acceleration of gravity and α is the ramp angle of the ramp. Optionally, after the braking force is determined, the braking torque can be determined according to the wheel radius of the vehicle.

[0036] As another way, the target acceleration of the vehicle on the ramp can be determined according to the target speed of the vehicle and the remaining distance of the vehicle on the ramp using the speed trapezoidal planning method, so as to determine the acceleration resistance of the vehicle on the ramp according to the target acceleration.

[0037] Step 120: Determine whether to perform braking control on the vehicle according to the slope, the target vehicle speed and the braking torque.

[0038] As a way, when a vehicle is traveling downhill on a slope, due to the slope (for example, when the slope is large), the driver needs to brake the vehicle in real time, so the vehicle usually fluctuates like a boat, which leads to unstable vehicle speed control, acceleration changes, and poor passenger riding experience. Therefore, when the vehicle is determined to be traveling downhill on a slope, it is first determined that the vehicle needs to be braked by the vehicle's automatic driving system or assisted driving system, so as to improve the passenger riding experience when the vehicle is able to travel downhill on a slope.

[0039] Optionally, whether to brake the vehicle can be determined by determining the slope of the ramp on which the vehicle is located or the speed or acceleration of the vehicle on the ramp. It can also be determined based on real-time data of the vehicle on the ramp.

[0040] As a method, after determining the slope of the ramp on which the vehicle is located, the target speed of the vehicle and the braking torque of the vehicle on the ramp, the slope, target speed and braking torque are judged respectively to determine whether the vehicle currently meets the corresponding preset conditions on the ramp, so as to determine to brake the vehicle when the preset conditions are met.

[0041] Optionally, when determining to perform braking control on the vehicle, the braking flag of the braking system may be set to 1, whereby the vehicle longitudinal control (VLC) unit of the braking system sets the braking deceleration target to 0 according to the remaining distance of the vehicle on the ramp and the maximum speed limit, so that the braking system performs dynamic braking control on the vehicle according to the braking deceleration, i.e., dynamically adjusts the braking torque of the vehicle so that the acceleration of the vehicle approaches 0, thereby ensuring that the vehicle travels at a constant speed on the ramp.

[0042] In some embodiments, Figure 3 As shown, the step 120 includes:

[0043] Step 121, determining whether the slope is greater than a slope threshold, whether the target vehicle speed is greater than a vehicle speed threshold, and whether the braking torque is greater than a torque threshold.

[0044] As a way, since the corresponding slope resistance is too large when the vehicle is driving on a steep slope, which in turn causes the acceleration of the vehicle to increase, it is necessary to determine whether the slope is greater than the slope threshold. Optionally, since the speed of the vehicle when driving on a slope should be controlled within a certain range to ensure the driving safety of the vehicle, it is necessary to determine whether the target speed is greater than the speed threshold. Optionally, since when the vehicle is driving on a slope, if the braking torque is too small, it may cause the vehicle to experience rowing fluctuations on the slope, resulting in a worse riding experience for passengers, it is necessary to determine whether the braking torque is greater than the torque threshold.

[0045] Step 122: If the slope is greater than a slope threshold, the target vehicle speed is greater than a vehicle speed threshold, and the braking torque is greater than a torque threshold, then determine to perform braking control on the vehicle.

[0046] As a way, when the vehicle's slope is greater than a threshold, the vehicle may need to be braked, but if the vehicle's speed is too low on a steep slope, the vehicle does not need to be braked, or the vehicle's braking torque on the steep slope is not large, and the vehicle's driving will not experience rowing fluctuations. Therefore, when the slope is greater than the slope threshold, the target speed is greater than the speed threshold, and the braking torque is greater than the torque threshold, it is determined that the vehicle needs to be braked.

[0047] Step 130: If it is determined to perform braking control on the vehicle, a target deceleration of the braking system of the vehicle is determined and a current acceleration of the vehicle is obtained.

[0048] As a method, when determining to brake the vehicle, the vehicle can be braked and controlled according to the real-time acceleration of the vehicle through the vehicle's braking system. Then, the target deceleration of the vehicle's braking force can be determined first, so that the vehicle's acceleration can be controlled near the target deceleration through the vehicle's braking system, and the vehicle's acceleration is gradually approached to the target deceleration, thereby making the vehicle travel smoother on the slope and increasing the passengers' riding experience.

[0049] Optionally, the target deceleration of the braking system for braking control on a ramp can be pre-set, and then, when it is determined that the vehicle needs to be braked, the target deceleration can be directly obtained. Optionally, the target deceleration can be 0, so that the vehicle's braking system controls the vehicle's acceleration to near 0, ensuring that the vehicle travels at a constant speed on the ramp. Optionally, the current acceleration of the vehicle can be detected by an accelerometer to obtain the current acceleration of the vehicle.

[0050] Step 140: Determine the acceleration difference between the current acceleration and the target deceleration.

[0051] As a method, the acceleration difference between the current acceleration and the target deceleration can be determined by subtracting the current acceleration from the target deceleration. Optionally, when subtracting the current acceleration from the target deceleration, the direction relationship between the acceleration direction of the current acceleration and the deceleration direction of the target deceleration can be determined first. If the current acceleration is opposite to the direction of the target deceleration, the current acceleration can be subtracted from the target deceleration, and if the current acceleration is greater than the target deceleration, the direction of the current acceleration is determined as the direction of the acceleration difference. If the current acceleration is less than the target deceleration, the direction of the target deceleration is determined as the direction of the acceleration difference. If the current acceleration is in the same direction as the target deceleration, the current acceleration can be directly subtracted from the target deceleration, and the direction of the acceleration difference determined is the same as the direction of the current acceleration and the target deceleration.

[0052] Step 150: braking the vehicle according to the acceleration difference through the braking system so that the current acceleration of the vehicle approaches the target deceleration.

[0053] As a method, after determining the acceleration difference between the vehicle's current acceleration and the target deceleration, the brake master cylinder pressure can be established through the vehicle's braking system (Integrated power brake, IPB), and the brake master cylinder pressure can be dynamically adjusted according to the acceleration difference, so that the vehicle's current acceleration approaches the target deceleration.

[0054] Optionally, if the acceleration difference is greater than the acceleration difference threshold, it can be determined that the current acceleration is greater than the target deceleration, that is, it can be determined that the current downhill speed of the vehicle is too fast. Therefore, the brake master cylinder pressure of the braking system can be increased through the braking system, and the increased pressure value of the brake master cylinder pressure can be determined according to the acceleration difference, so as to achieve braking control of the vehicle; if the acceleration difference is less than the acceleration difference threshold, it can be determined that the current acceleration is less than the target deceleration, that is, it can be determined that the current downhill speed of the vehicle is too slow. Therefore, the brake master cylinder pressure can be reduced through the braking system, and the reduced pressure value of the brake master cylinder pressure can be determined according to the acceleration difference, so as to achieve braking control of the vehicle.

[0055] Optionally, when braking the vehicle, the vehicle's surrounding environment information can be determined, and whether the vehicle needs to avoid obstacles can be determined based on the surrounding environment information. When it is determined that obstacle avoidance is required, obstacle avoidance control is performed on the vehicle first, thereby ensuring the vehicle's driving safety. Optionally, when braking the vehicle, the remaining distance of the vehicle on the ramp can also be determined. If the remaining distance is less than the distance threshold, the vehicle may not be braked.

[0056] In some embodiments, step 150 includes: performing dynamic braking control on the vehicle according to the acceleration difference through the braking system so that the current acceleration of the vehicle approaches 0 and the vehicle maintains a constant speed on the slope.

[0057] As a way, in order to improve the riding experience of passengers, when the vehicle is traveling on a slope, it should be ensured that the vehicle travels at a uniform speed. Therefore, the acceleration of the vehicle when traveling on a slope should be 0. Then, when the vehicle is dynamically controlled by the braking system according to the determined acceleration difference, if the acceleration difference is greater than 0, the vehicle is decelerated so that the current acceleration of the vehicle approaches 0; if the acceleration difference is less than 0, the vehicle is accelerated so that the current acceleration of the vehicle approaches 0. Optionally, in order to ensure the driving continuity of the vehicle, the vehicle can be braked dynamically based on the acceleration difference of the vehicle in real time.

[0058] In an embodiment of the present application, when a vehicle is traveling downhill on a slope, it is first determined whether to perform braking control on the vehicle, so that when it is determined that the vehicle is to be braked, the target deceleration of the vehicle's braking system and the vehicle's current acceleration are determined, and then the acceleration difference between the target acceleration and the current acceleration is determined, so that the vehicle can be braked according to the acceleration difference, so that the vehicle's current acceleration constantly approaches the target deceleration. The solution of the present application reduces the acceleration change of the vehicle during the downhill process by braking the vehicle in real time according to the acceleration difference between the vehicle's acceleration and the target deceleration, thereby ensuring that the vehicle travels at a uniform speed on the slope and improving the passenger's riding experience.

[0059] See also Figure 4 , Figure 4 The control method of a vehicle provided by an embodiment of the present application is shown. Figure 4 The process shown is described in detail, and the vehicle control method may specifically include the following steps:

[0060] Step 210, when the vehicle is traveling downhill on a ramp, determining the slope of the ramp on which the vehicle is located, determining the target speed of the vehicle, and determining the braking torque of the vehicle on the ramp.

[0061] Step 220: Determine whether to perform braking control on the vehicle according to the slope, the target vehicle speed and the braking torque.

[0062] Step 230: If it is determined to perform braking control on the vehicle, then determine the target deceleration of the braking system of the vehicle and obtain the current acceleration of the vehicle.

[0063] Step 240: Determine the acceleration difference between the current acceleration and the target deceleration.

[0064] The specific step descriptions of step 210 to step 240 may refer to step 110 to step 140, which will not be repeated here.

[0065] Step 250: If the acceleration difference is greater than the acceleration threshold, the braking deceleration of the vehicle is determined, and the vehicle is braked according to the braking deceleration.

[0066] As a way, when it is determined that the acceleration difference is greater than the acceleration threshold, it can be determined that the current acceleration is greater than the target deceleration, thereby determining that the current vehicle's moving speed is increasing. In order to ensure the safe driving of the vehicle on the slope, the vehicle's braking deceleration can be determined according to the acceleration difference, thereby controlling the vehicle by braking deceleration. Optionally, the acceleration threshold can be set according to actual needs, and no specific limitation is made here.

[0067] As one way, the force analysis of the vehicle on the slope can be performed based on the weight of the vehicle and the current acceleration of the vehicle, so as to determine the resultant force of the vehicle, and then determine the braking torque of the vehicle based on the resultant force. As another way, the braking deceleration of the vehicle can be determined based on the acceleration difference, so that the braking system of the vehicle can determine the braking torque of the vehicle based on the determined braking deceleration, so as to control the braking of the vehicle through the braking torque.

[0068] Step 260: If the acceleration difference is less than the acceleration threshold, the braking acceleration of the vehicle is determined, and the vehicle is braked according to the braking acceleration.

[0069] As a method, when it is determined that the acceleration difference is less than the acceleration threshold, it can be determined that the current acceleration is less than the target deceleration, thereby determining that the current vehicle's moving speed is constantly decreasing. In order to ensure that the vehicle can travel at a constant speed on the slope, this can be achieved by increasing the vehicle's acceleration. Optionally, the braking acceleration of the vehicle's braking system can be determined based on the vehicle's acceleration difference, so that the vehicle can be braked and controlled by the braking acceleration. Optionally, the acceleration threshold can be set according to actual needs, and no specific limitation is made here.

[0070] As one way, the force analysis of the vehicle on the ramp can be performed based on the weight of the vehicle and the current acceleration of the vehicle to determine the resultant force of the vehicle, and then the driving torque of the vehicle can be determined based on the resultant force, so that the acceleration of the vehicle is close to the target deceleration based on the driving torque, so as to achieve uniform speed driving of the vehicle on the ramp. As another way, the braking acceleration of the vehicle can be determined based on the acceleration difference, so that the braking system of the vehicle can determine the braking torque of the vehicle based on the determined braking acceleration, so as to control the braking of the vehicle through the braking torque. Optionally, the depth of the brake pedal of the vehicle can also be determined based on the acceleration difference, so as to control the braking of the vehicle by controlling the depth of the brake pedal of the vehicle.

[0071] In this embodiment, the braking deceleration or braking acceleration of the vehicle is determined according to the magnitude relationship between the acceleration difference and the acceleration threshold, and the vehicle can be braked according to the braking deceleration or braking acceleration of the vehicle, thereby ensuring the accuracy of the braking control of the vehicle.

[0072] See also Figure 5 , Figure 5 The control method of a vehicle provided by an embodiment of the present application is shown. Figure 5 The process shown is described in detail, and the vehicle control method may specifically include the following steps:

[0073] Step 310, when the vehicle is traveling downhill on a ramp, determining the slope of the ramp on which the vehicle is located, determining the target speed of the vehicle, and determining the braking torque of the vehicle on the ramp;

[0074] Step 320: Determine whether to perform braking control on the vehicle according to the slope, the target vehicle speed and the braking torque.

[0075] Step 330: If it is determined to perform braking control on the vehicle, then the target deceleration of the braking system of the vehicle is determined and the current acceleration of the vehicle is obtained.

[0076] Step 340: Determine the acceleration difference between the current acceleration and the target deceleration.

[0077] Step 350: braking the vehicle according to the acceleration difference through the braking system so that the current acceleration of the vehicle approaches the target deceleration.

[0078] The specific step descriptions of step 310 to step 350 may refer to step 110 to step 150 and will not be repeated here.

[0079] Step 360: During the process of braking the vehicle, a first current vehicle speed and a target vehicle speed of the vehicle are obtained.

[0080] As a method, in the process of braking control of a vehicle, since there is a certain difference between the actual braking torque acting on the vehicle and the determined braking torque acting on the vehicle, in order to avoid the problem of poor braking effect caused by the continuous accumulation of differences, the vehicle's first current speed and the vehicle's target speed can be obtained first, and then based on the first current speed and the target speed, it is determined whether to perform braking compensation on the vehicle, thereby ensuring that braking compensation can be performed on the vehicle in a timely manner, making the vehicle's braking control more accurate.

[0081] Optionally, the target speed of the vehicle may refer to the speed of the vehicle when driving downhill on a ramp, and the target speed may be the speed set by the driver, or may be the speed determined by the vehicle's automatic driving system or assisted driving system according to environmental information of the vehicle's environment. The target speeds for driving downhill on ramps in different scenarios may be different, for example, the target speed for driving downhill in an underground parking lot may be different from the target speed for driving downhill on a highway.

[0082] Step 370: Determine the speed difference between the first current vehicle speed and the target vehicle speed.

[0083] As a method, the speed difference between the first current vehicle speed and the target vehicle speed can be determined by subtracting the first current vehicle speed from the target vehicle speed. Optionally, due to certain errors in the braking control process of the vehicle, due to certain errors in the actual braking torque acting on the vehicle and the determined braking torque acting on the vehicle, the errors accumulate continuously during the continuous braking control of the vehicle, and there is a certain error between the real-time vehicle speed and the target vehicle speed. When the error is large enough, the vehicle cannot travel at a constant speed at the target vehicle speed on the slope, so it is necessary to determine the speed difference between the first current vehicle speed and the target vehicle speed, so as to determine whether to perform braking compensation on the vehicle based on the speed difference.

[0084] Step 380: If the speed difference is greater than the speed difference threshold, determine to perform braking control compensation on the vehicle.

[0085] As a method, when it is determined that the speed difference is greater than the speed difference threshold, it can be determined that the current speed of the vehicle cannot reach the target speed, that is, it can be determined that the current braking control error accumulation is too large. Therefore, it can be determined that the vehicle needs to be braked for compensation, so as to ensure the safety of the vehicle driving downhill on the slope and the accuracy of the vehicle's braking control.

[0086] Step 390, determining an integral control coefficient of the PID controller of the vehicle, and determining a compensation braking torque of the vehicle according to the integral control coefficient, so as to perform braking control compensation on the vehicle according to the compensation braking torque through the PID controller.

[0087] As a method, when a vehicle is driving downhill on a slope, due to the braking control error of the braking system, the actual speed of the vehicle is lower than the target speed, or the resistance of the road surface causes the speed of the vehicle to gradually decrease. Therefore, a PID (Proportional-Integral-Differential) controller can be used to perform braking control compensation on the vehicle. The PID controller includes a control loop feedback device, and the control loop feedback device can be used to compensate for the control error. Therefore, in this embodiment, after determining that the vehicle needs to be braked, in order to compensate for the braking control error delicately and smoothly, the integral control coefficient in the integral controller can be adjusted to a smaller integral control coefficient. Then, based on the smaller integral control coefficient, the braking compensation torque of the vehicle is determined after each braking control of the vehicle. Then, after each braking control of the vehicle, the braking control compensation of the vehicle is performed based on the determined compensation braking torque.

[0088] Optionally, when performing braking control compensation on a vehicle, it can be determined by determining the braking force of the vehicle and the rolling resistance of the vehicle on a ramp, wherein the rolling resistance of the vehicle is related to the real-time acceleration of the vehicle. The braking force of the vehicle can be determined by performing a force analysis on the vehicle, and when performing a force analysis on the vehicle, it is determined based on the ramp resistance, rolling resistance and acceleration resistance of the vehicle on the ramp. Therefore, there is no need to repeatedly calculate and process the ramp resistance when determining the braking compensation torque of the vehicle.

[0089] In this embodiment, during the process of braking control of the vehicle, it is determined whether to perform braking control compensation on the vehicle based on the first current speed of the vehicle and the target speed of the vehicle. When determining whether to perform braking control compensation on the vehicle, the integral control coefficient in the PID controller is determined, so that the compensatory braking torque of the vehicle can be determined according to the integral control coefficient. In this way, the vehicle is braked by the compensatory braking torque, thereby avoiding the problem of inaccurate braking control caused by the accumulation of errors in the braking control, and improving the accuracy of the vehicle's braking control.

[0090] Figure 6 A flow chart of a vehicle control method according to an embodiment of the present application is shown as follows: Figure 8As shown, the braking torque or driving torque of the vehicle, the slope of the ramp on which the vehicle is located, and the predicted speed of the vehicle after the predicted time are first determined, and the braking flag of the braking flag control unit of the braking system of the vehicle is determined according to the braking torque or driving torque of the vehicle, the slope, and the predicted speed, so that when it is determined that the braking flag is set to 1, it is determined that the vehicle is braked, or when the braking flag is not set to 1, the vehicle is braked or driven by a PID controller. When determining to brake the vehicle, determine the ramp speed control preprocessing unit of the VLC to set the braking deceleration target to 0, and combine the braking identification position set to 1 and the braking deceleration target set to 0 to brake the vehicle. When there is no obstacle in the mining, and the target remaining distance and maximum speed limit of the vehicle on the ramp determined by the VLC do not change suddenly, remove the ramp resistance of the vehicle on the ramp, and determine the braking torque according to the braking deceleration target set to 0. When the calculated braking torque makes the braking deceleration target less than 0, the braking deceleration target is dynamically adjusted from the 0 state to the latest calculated braking deceleration target, and the ramp control unit of the VLC dynamically adjusts the brake master cylinder pressure according to the latest calculated braking deceleration target, so that the vehicle maintains a uniform speed on the ramp. In addition, the PID controller of the braking system is used to brake the vehicle according to the current speed and predicted speed of the vehicle, so that the control force output by the vehicle can be more accurate. Optionally, when it is determined that the vehicle needs to avoid obstacles, the vehicle is controlled to avoid obstacles through the ramp control unit of the vehicle's VLC, so as to ensure the driving safety of the vehicle.

[0091] Figure 7 is a block diagram of a vehicle control device according to an embodiment of the present application, such as Figure 7 As shown, the control device 400 of the vehicle includes: a first determination module 410 , a second determination module 420 , an acquisition module 430 , a third determination module 440 and a braking control module 450 .

[0092] The first determination module 410 is used to determine the slope of the slope on which the vehicle is located, determine the target speed of the vehicle, and determine the braking torque of the vehicle on the slope when the vehicle is traveling downhill on the slope; the second determination module 420 is used to determine whether to perform braking control on the vehicle based on the slope, the target speed, and the braking torque; the acquisition module 430 is used to determine the target deceleration of the braking system of the vehicle and obtain the current acceleration of the vehicle if it is determined that the vehicle is to be braked; the third determination module 440 is used to determine the acceleration difference between the current acceleration and the target deceleration; the braking control module 450 is used to perform braking control on the vehicle through the braking system based on the acceleration difference so that the current acceleration of the vehicle approaches the target deceleration.

[0093] In some embodiments, the braking control module 440 includes: a first braking control submodule, which is used to determine the braking deceleration of the vehicle if the acceleration difference is greater than the acceleration threshold, and to perform braking control on the vehicle according to the braking deceleration; and a second braking control submodule, which is used to determine the braking acceleration of the vehicle if the acceleration difference is less than the acceleration threshold, and to perform braking control on the vehicle according to the braking acceleration.

[0094] In some embodiments, the braking control module 440 also includes: a third braking control submodule, which is used to perform dynamic braking control on the vehicle according to the acceleration difference through the braking system so that the current acceleration of the vehicle approaches 0 and the vehicle maintains a constant speed on the slope.

[0095] In some embodiments, the control device 400 of the vehicle also includes: a vehicle speed acquisition module, used to acquire a first current vehicle speed of the vehicle and a target vehicle speed of the vehicle during the process of performing braking control on the vehicle; a speed difference determination module, used to determine the speed difference between the first current vehicle speed and the target vehicle speed; a compensation determination module, used to determine whether to perform braking control compensation on the vehicle if the speed difference is greater than a speed difference threshold; a braking control compensation module, used to determine an integral control coefficient of a PID controller of the vehicle, and determine a compensation braking torque of the vehicle based on the integral control coefficient, so as to perform braking control compensation on the vehicle according to the compensation braking torque through the PID controller.

[0096] In some embodiments, the first determination module 410 includes: a first determination submodule, used to determine whether the slope is greater than a slope threshold, whether the target vehicle speed is greater than a vehicle speed threshold, and whether the braking torque is greater than a torque threshold; and a second determination submodule, used to determine whether to perform braking control on the vehicle if the slope is greater than the slope threshold, the target vehicle speed is greater than the vehicle speed threshold, and the braking torque is greater than the torque threshold.

[0097] In some embodiments, the first determination submodule includes: a first acquisition unit, used to acquire the second current vehicle speed of the vehicle; a determination unit, used to determine the number of delayed frames of the vehicle and the time interval between frames of the vehicle, and determine the delay duration of the vehicle based on the number of delayed frames and the time interval between frames; a target speed determination unit, used to determine a reference acceleration based on the delay duration and the second current vehicle speed, and determine the target speed of the vehicle based on the reference acceleration and the predicted duration, wherein the predicted duration is the calibrated acceleration duration of the vehicle.

[0098] In some embodiments, the first determination submodule also includes: a second acquisition unit, used to acquire the rolling resistance of the vehicle on the ramp and the weight of the vehicle; an acceleration resistance determination unit, used to determine the acceleration resistance of the vehicle according to the reference acceleration and the weight; and a braking torque determination unit, used to determine the braking torque according to the rolling resistance, the acceleration resistance and the weight.

[0099] According to one aspect of the embodiments of the present application, an electronic device is also provided, such as Figure 8 As shown, the electronic device 500 includes a processor 510 and one or more memories 520. The one or more memories 520 are used to store program instructions executed by the processor 510. When the processor 510 executes the program instructions, the above-mentioned vehicle control method is implemented.

[0100] Furthermore, the processor 510 may include one or more processing cores. The processor 510 runs or executes instructions, programs, code sets or instruction sets stored in the memory 520, and calls data stored in the memory 520. Optionally, the processor 510 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 510 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor, but may be implemented separately through a communication chip.

[0101] According to one aspect of the present application, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist independently without being assembled into the electronic device. The above computer-readable storage medium carries computer-readable instructions, and when the computer-readable storage instructions are executed by a processor, the method in any of the above embodiments is implemented.

[0102] It should be noted that the computer-readable medium shown in the embodiment of the present application 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, - but not limited to - 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 application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the 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.

[0103] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0104] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, 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 realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order 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 a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0106] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When a vehicle is traveling downhill on a slope, determining the slope of the slope on which the vehicle is located, determining a target speed of the vehicle, and determining a braking torque of the vehicle on the slope; determining whether to perform braking control on the vehicle according to the slope, the target vehicle speed and the braking torque; If it is determined to perform braking control on the vehicle, determining a target deceleration of a braking system of the vehicle and acquiring a current acceleration of the vehicle; determining an acceleration difference between the current acceleration and the target deceleration; The vehicle is braked and controlled by the braking system according to the acceleration difference so that the current acceleration of the vehicle approaches the target deceleration.

2. The method according to claim 1, characterized in that The step of controlling the vehicle by braking the vehicle according to the acceleration difference by the braking system includes: If the acceleration difference is greater than the acceleration threshold, determining the braking deceleration of the vehicle, and performing braking control on the vehicle according to the braking deceleration; If the acceleration difference is less than the acceleration threshold, a braking acceleration of the vehicle is determined, and braking control of the vehicle is performed according to the braking acceleration.

3. The method according to claim 1, characterized in that: The target deceleration is 0, and the vehicle is braked and controlled by the braking system according to the acceleration difference so that the current acceleration of the vehicle approaches the target deceleration, including: The vehicle is dynamically braked according to the acceleration difference by the braking system, so that the current acceleration of the vehicle approaches 0 and the vehicle maintains a constant speed on the slope.

4. The method according to claim 1, characterized in that: The method further comprises: In the process of performing braking control on the vehicle, obtaining a first current vehicle speed of the vehicle and a target vehicle speed of the vehicle; determining a speed difference between the first current vehicle speed and the target vehicle speed; If the speed difference is greater than a speed difference threshold, determining to perform brake control compensation on the vehicle; An integral control coefficient of a PID controller of the vehicle is determined, and a compensation braking torque of the vehicle is determined according to the integral control coefficient, so as to perform braking control compensation on the vehicle according to the compensation braking torque through the PID controller.

5. The method according to claim 1, characterized in that The determining whether to perform braking control on the vehicle according to the slope, the target vehicle speed and the braking torque includes: Determining whether the slope is greater than a slope threshold, whether the target vehicle speed is greater than a vehicle speed threshold, and whether the braking torque is greater than a torque threshold; If the slope is greater than a slope threshold, the target vehicle speed is greater than a vehicle speed threshold, and the braking torque is greater than a torque threshold, it is determined to perform braking control on the vehicle.

6. The method according to claim 1, characterized in that The determining the target speed of the vehicle comprises: Acquire a second current speed of the vehicle; Determine the number of delayed frames of the vehicle and the time interval between frames of the vehicle, and determine the delay duration of the vehicle according to the number of delayed frames and the time interval between frames; A reference acceleration is determined based on the delay duration and the second current vehicle speed, and a target vehicle speed is determined based on the reference acceleration and a predicted duration, wherein the predicted duration is a calibrated acceleration duration for the vehicle.

7. The method according to claim 6, characterized in that The determining the braking torque of the vehicle on the ramp comprises: Obtaining the rolling resistance of the vehicle on the ramp and the weight of the vehicle; determining an acceleration resistance of the vehicle according to the reference acceleration and the weight; The braking torque is determined based on the rolling resistance, the acceleration resistance, and the weight.

8. A vehicle control method, characterized in that: The method comprises: A first determination module is used to determine the slope of the ramp on which the vehicle is located, determine the target speed of the vehicle, and determine the braking torque of the vehicle on the ramp when the vehicle is traveling downhill on the ramp; A second determination module, configured to determine whether to perform braking control on the vehicle according to the slope, the target vehicle speed and the braking torque; an acquisition module, configured to determine a target deceleration of a braking system of the vehicle and acquire a current acceleration of the vehicle if it is determined that braking control is to be performed on the vehicle; A third determination module, configured to determine an acceleration difference between the current acceleration and the target deceleration; A braking control module is used to perform braking control on the vehicle according to the acceleration difference through the braking system so that the current acceleration of the vehicle approaches the target deceleration.

9. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 7.

Images