Driving mode judgment method, vehicle and computer readable storage medium

Abstract

The invention discloses a driving mode judgment method, a vehicle and a computer readable storage medium, and the driving mode judgment method comprises the following steps: obtaining driving parameters of the vehicle, the driving parameters at least comprise a longitudinal acceleration, a lateral acceleration, a vehicle speed, an accelerator pedal flag bit, a brake pedal flag bit, a reverse gear flag bit, a forward gear flag bit, a creeping flag bit and a torque request flag bit of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and determining a driving mode of the vehicle according to the driving state. According to the driving mode judgment method provided by the embodiment of the invention, the driving state of the vehicle can be accurately monitored and judged, and then the driving mode of the vehicle is accurately determined, so that the vehicle can be more reasonably and accurately controlled according to the driving mode, for example, torque is more reasonably distributed; and optimization of a vehicle chassis control function and improvement of vehicle body control performance are facilitated.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a driving mode determination method, a vehicle and a computer-readable storage medium. Background Art

[0002] When the vehicle is driving, the driver will accelerate, turn or decelerate the vehicle based on the actual road conditions. In different scenarios, the vehicle's motion state is different and the driver's operation is also different. Different suspension, steering, braking and other control strategies need to be adopted for different driving states to achieve the best control effect. Therefore, the vehicle driving state judgment considering the driver's intention is the hub for the implementation of various functional strategies of the chassis. It is particularly important to implement each strategy and give full play to the optimal effect under different driving states of the vehicle.

[0003] Current vehicles generally do not have the function of judging their own driving status or driving mode. For example, when the vehicle is in a driving status such as acceleration, constant speed or braking, current vehicles cannot judge whether they are accelerating, constant speed or braking, and thus cannot accurately and reasonably control the body according to the vehicle's driving status, resulting in a decrease in the control performance of the body and a low user driving experience and comfort. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to propose a driving mode determination method, which can accurately monitor and determine the driving state of a vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable torque distribution, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0005] The invention also provides a driving mode determination device.

[0006] The present invention also provides a vehicle having the driving mode determination device.

[0007] The invention also provides a computer-readable storage medium.

[0008] In order to achieve the above-mentioned purpose, a driving mode determination method is proposed according to a first aspect of an embodiment of the present invention, comprising the following steps: acquiring driving parameters of a vehicle, wherein the driving parameters at least include longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; determining a driving state of the vehicle according to the driving parameters; and determining a driving mode of the vehicle according to the driving state.

[0009] According to the driving mode determination method of the embodiment of the present invention, when the vehicle is driving, the driving parameters of the vehicle are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and the driving mode of the vehicle is determined according to the driving state. Therefore, when the vehicle is driving, the present invention can accurately determine the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0010] According to some embodiments of the present invention, the driving state includes at least: a steady straight driving state, an accelerated straight driving state, a braking state, a starting turning state, a turning acceleration state, a reverse gear driving state, a reverse gear braking state, a creeping driving state, a creeping braking state and at least one of a pedal misoperation state.

[0011] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the longitudinal acceleration is greater than or equal to a first acceleration threshold and less than a second acceleration threshold, and the brake pedal flag is an unactivated flag, and the lateral acceleration is less than a third acceleration threshold, and the forward gear flag is an activated flag, it is judged that the vehicle is in the steady-state straight-moving state.

[0012] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the longitudinal acceleration is greater than a fourth acceleration threshold, and the brake pedal flag is an unactivated flag, and the lateral acceleration is less than a fifth acceleration threshold, and the forward gear flag is an activated flag, it is judged that the vehicle is in the accelerated straight-ahead state.

[0013] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the longitudinal acceleration is less than a sixth acceleration threshold, and the brake pedal flag is an on flag, and the forward gear flag is an on flag, it is judged that the vehicle is in the braking state.

[0014] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the reverse gear flag is not turned on, and the longitudinal acceleration is less than the seventh acceleration threshold, and the lateral acceleration is greater than the eighth acceleration threshold and less than the ninth acceleration threshold, it is judged that the vehicle is in the starting turning state.

[0015] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the longitudinal acceleration is greater than a tenth acceleration threshold, and the reverse gear flag is an unactivated flag, and the lateral acceleration is greater than an eleventh acceleration threshold, it is judged that the vehicle is in the turning acceleration state.

[0016] According to some embodiments of the present invention, determining the driving state of the vehicle according to the driving parameters includes: when the reverse gear flag is an on flag and the torque request flag is a positive torque request flag, judging that the vehicle is in the reverse gear driving state.

[0017] According to some embodiments of the present invention, determining the driving state of the vehicle according to the driving parameters includes: when the reverse gear flag is an on flag and the torque request flag is a negative torque request flag, judging that the vehicle is in the reverse gear braking state.

[0018] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the creeping flag is an on flag, and the forward gear flag is an on flag, and the accelerator pedal flag is an off flag, and the vehicle speed is less than a first preset vehicle speed threshold, it is judged that the vehicle is in the creeping driving state.

[0019] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the creep flag is an on flag, and the forward gear flag is an on flag, and the torque request flag is a negative torque request flag, and the vehicle speed is less than a second preset vehicle speed threshold, it is judged that the vehicle is in the creep braking state.

[0020] According to some embodiments of the present invention, the driving state of the vehicle is determined based on the driving parameters, including: when the accelerator pedal flag is an on flag, the brake flag is an on flag, and the creep flag is an on flag, it is judged that the vehicle is in the pedal misoperation state.

[0021] According to some embodiments of the present invention, the driving mode of the vehicle is determined according to the driving state, including: when the vehicle is in the starting turning state or the turning acceleration state, it is judged that the vehicle is in the turning driving mode; when the vehicle is in the braking state or the reverse gear braking state or the creeping braking state or the pedal misoperation state, it is judged that the vehicle is in the energy recovery driving mode; when the vehicle is in the accelerating straight driving state, it is judged that the vehicle is in the acceleration driving mode; when the vehicle is in the steady-state straight driving state or the reverse gear driving state or the creeping driving state, it is judged that the vehicle is in the economic driving mode.

[0022] According to a second aspect of the present invention, an embodiment of a driving mode determination device is proposed, comprising: an acquisition module, used to acquire the driving parameters, wherein the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; a first determination module, used to determine the driving state of the vehicle according to the driving parameters; and a second determination module, used to determine the driving mode of the vehicle according to the driving state.

[0023] According to the driving mode determination device of the second embodiment of the present invention, when the vehicle is traveling, the driving parameters of the vehicle are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and the driving mode of the vehicle is determined according to the driving state. Therefore, when the vehicle is traveling, the present invention can accurately determine the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0024] According to a third aspect embodiment of the present invention, a vehicle is proposed, which includes: a driving mode determination device according to the second aspect embodiment of the present invention; or, the vehicle includes: a processor, a memory, and a driving mode determination program stored in the memory and executable on the processor, wherein when the driving mode determination program is executed by the processor, the driving mode determination method as described in the first aspect embodiment of the present invention is implemented.

[0025] According to the vehicle of the third aspect of the present invention, when the vehicle is traveling, the driving parameters of the vehicle are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and the driving mode of the vehicle is determined according to the driving state. Therefore, when the vehicle is traveling, the present invention can accurately judge the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0026] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a driving mode determination program is stored. When the driving mode determination program is executed by a processor, the driving mode determination method as described in the first aspect of the present invention is implemented.

[0027] According to the computer-readable storage medium of the fourth aspect of the present invention, when the driving mode determination program stored thereon is executed by the processor, when the vehicle is driving, the driving parameters of the vehicle are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and the driving mode of the vehicle is determined according to the driving state. Therefore, when the vehicle is driving, the present invention can accurately determine the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 is a flow chart of a driving mode determination method according to an embodiment of the present invention;

[0031] Figure 2 is a flowchart for determining whether a vehicle is in a steady straight-moving state according to an embodiment of the present invention;

[0032] Figure 3 is a flowchart for determining whether a vehicle is in an accelerating straight-moving state according to an embodiment of the present invention;

[0033] Figure 4 is a flowchart for determining whether a vehicle is in a braking state according to an embodiment of the present invention;

[0034] Figure 5 is a flowchart of determining whether a vehicle is in a starting turning state according to an embodiment of the present invention;

[0035] Figure 6 is a flowchart of determining whether a vehicle is in a turning acceleration state according to an embodiment of the present invention;

[0036] Figure 7 is a flowchart for determining whether a vehicle is in a reverse gear driving state according to an embodiment of the present invention;

[0037] Figure 8 is a flowchart for determining whether a vehicle is in a reverse braking state according to an embodiment of the present invention;

[0038] Fig. 9 is a flowchart for determining whether a vehicle is in creeping driving according to an embodiment of the present invention;

[0039] Fig.10 is a flowchart for determining that a vehicle is in creep braking according to an embodiment of the present invention;

[0040] Fig.11 is a flowchart for determining whether a vehicle is in a pedal misoperation state according to an embodiment of the present invention;

[0041] Fig.12 is a flow chart for determining a driving mode of a vehicle according to one embodiment of the present invention;

[0042] Fig.13 is a structural block diagram of a driving mode determination device according to an embodiment of the present invention;

[0043] Fig.14 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0044] Reference numerals:

[0045] vehicle,

[0046] Driving mode determination device 100, acquisition module 110, first determination module 120, second determination module 130,

[0047] Processor 200 , memory 300 , and driving mode determination program 310 . DETAILED DESCRIPTION

[0048] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0051] In the description of the present invention, "plurality" means two or more than two, and "several" means one or more.

[0052] The following describes a driving mode determination method, a vehicle, and a computer-readable storage medium according to embodiments of the present invention with reference to the accompanying drawings.

[0053] The following combination Figure 1-Figure 12 A driving mode determination method according to an embodiment of the present invention is described.

[0054] like Figure 1 As shown, the driving mode determination method according to an embodiment of the present invention includes the following steps:

[0055] Step S1: Acquire the driving parameters of the vehicle, which at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle.

[0056] Specifically, the longitudinal acceleration, lateral acceleration and vehicle speed of the vehicle can be detected by corresponding sensors. That is, a plurality of sensors can be arranged on the vehicle, and the plurality of sensors can be used to detect the longitudinal acceleration, lateral acceleration and vehicle speed of the vehicle respectively.

[0057] In addition, the accelerator pedal flag can be detected and output by the relevant control unit of the vehicle. Specifically, the corresponding accelerator pedal flag can be output according to the opening of the accelerator pedal. For example, when the driver steps on the accelerator pedal so that the accelerator pedal opening is greater than the first preset value, and before the accelerator pedal opening drops to the second preset value, the accelerator pedal is considered to be open. At this time, the control unit can output the accelerator pedal flag as an open flag, such as 1, otherwise it can output the accelerator pedal flag as a non-open flag, such as 0. Among them, the first preset value can be 0.5, and the second preset value can be 0.1.

[0058] In addition, the brake pedal flag bit can also be detected and output by the relevant control unit of the vehicle. Specifically, the corresponding brake pedal flag bit can be output according to the opening degree of the brake pedal. For example, when the brake pedal status bit rises and remains for more than one signal cycle, it can be considered that the brake pedal is turned on, that is, the user steps on the brake pedal. At this time, the control unit outputs the brake pedal flag bit as an open flag bit, such as 1, otherwise the brake pedal flag bit can be output as a non-open flag bit, such as 0. Among them, the brake pedal status bit rising can mean that the brake pedal opening degree is greater than the preset opening degree.

[0059] In addition, the reverse gear flag can be detected and output by the relevant control unit of the vehicle. When the vehicle is engaged in the reverse gear, the control unit can output the reverse gear flag as an on flag, such as 1, otherwise the reverse gear flag can be output as an off flag, such as 0. Similarly, the forward gear flag can also be detected and output by the relevant control unit of the vehicle. When the vehicle is engaged in the forward gear, the control unit can output the forward gear flag as an on flag, such as 1, otherwise the forward gear flag can be output as an off flag, such as 0.

[0060] In addition, when the vehicle is in creep mode, the control unit can output the creep flag as an on flag, such as 1, otherwise, the creep flag can be output as an off flag, such as 0. The creep mode is also a low-speed cruise driving assistance mode. When the creep flag is on, the driver can only control the steering wheel without the need to operate the accelerator pedal and the brake pedal. The vehicle can be controlled by itself and release the vehicle torque according to the feedback of the road conditions. By distributing the braking force of the four wheels, the wheels can be prevented from slipping.

[0061] In addition, the torque request flag can output a corresponding flag according to the torque request input by the driver. Specifically, when the driver has an acceleration request, a positive torque request flag such as 1 can be output. Otherwise, when the vehicle is in a non-accelerating driving state such as deceleration, braking or coasting, a negative torque request flag such as -1 can be output.

[0062] Step S2: Determine the driving state of the vehicle according to the driving parameters.

[0063] Specifically, when the vehicle is driving, the vehicle's driving state can be judged based on one or more of multiple data information such as the vehicle's longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag, so as to accurately obtain the vehicle's turning, straight driving, acceleration, constant speed or braking states.

[0064] Specifically, the driving state of the vehicle includes at least one of a steady straight driving state, an accelerated straight driving state, a braking state, a start turning state, a turning acceleration state, a reverse gear driving state, a reverse gear braking state, a creeping driving state, a creeping braking state, and a pedal misoperation state. In other words, the driving state of the vehicle may include a part or all of the above driving states. Of course, on the basis of including at least one of the above driving states, the vehicle may also be provided with other driving states.

[0065] Step S3: Determine the driving mode of the vehicle according to the driving status.

[0066] As a result, the vehicle can more accurately determine the driving mode of the vehicle according to the driving status, so that the vehicle can make corresponding controls in different states such as turning, going straight, accelerating, constant speed or braking. For example, the suspension can be controlled in different ways under different driving states, so that the vehicle body can remain stable when the vehicle is in different driving modes, the vehicle's driving stability is better, the vehicle can have the best control effect under different driving states, and the applicability is stronger.

[0067] Thus, the above driving mode determination method, when the vehicle is driving, obtains the driving parameters of the vehicle, the driving parameters at least including the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; determines the driving state of the vehicle according to the driving parameters; and determines the driving mode of the vehicle according to the driving state. Therefore, when the vehicle is driving, the present invention can accurately determine the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0068] In some specific embodiments of the present invention, Figure 2As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the longitudinal acceleration is greater than or equal to the first acceleration threshold and less than the second acceleration threshold, and the brake pedal flag is an unopened flag, and the lateral acceleration is less than the third acceleration threshold, and the forward gear flag is an open flag, it is judged that the vehicle is in a steady straight-moving state.

[0069] Among them, the first acceleration threshold, the second acceleration threshold and the third acceleration threshold can all be pre-calibrated values, which can be obtained based on multiple experimental data, and the first acceleration threshold, the second acceleration threshold and the third acceleration threshold can be stored in the vehicle's memory. In this way, when the controller obtains the longitudinal acceleration and lateral acceleration of the vehicle during current driving, it can be directly compared with the first acceleration threshold, the second acceleration threshold and the third acceleration threshold stored in the memory, thereby more quickly determining the current driving state of the vehicle.

[0070] For example, the first acceleration threshold may be 0 m / s2, and the second acceleration threshold may be 2 m / s2, that is, the longitudinal acceleration is greater than or equal to 0 m / s2 and less than 2 m / s2. In other words, when the vehicle is accelerating at a constant speed or with a smaller longitudinal acceleration, and the brake pedal is not in the open position, the vehicle is not braked, and it can be determined that the vehicle is driving relatively smoothly.

[0071] In addition, the third acceleration threshold may be 4 m / s2, and the forward gear flag is an on flag, that is, when the vehicle is in a forward state and the lateral acceleration of the vehicle is small, it can be determined that the vehicle is in a straight-ahead state.

[0072] In summary, when the vehicle meets the above conditions, it can be judged that the vehicle is running relatively smoothly and the vehicle is moving straight, that is, the vehicle is in a steady straight-moving state.

[0073] In some specific embodiments of the present invention, Figure 3 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the longitudinal acceleration is greater than the fourth acceleration threshold, and the brake pedal flag is an unactivated flag, and the lateral acceleration is less than the fifth acceleration threshold, and the forward gear flag is an activated flag, it is judged that the vehicle is in an accelerated straight-ahead state.

[0074] Among them, the fourth acceleration threshold and the fifth acceleration threshold can both be pre-calibrated values, which can be obtained based on multiple experimental data, and the fourth acceleration threshold and the fifth acceleration threshold can be stored in the vehicle's memory. In this way, when the controller obtains the longitudinal acceleration and lateral acceleration of the vehicle during current driving, it can be directly compared with the fourth acceleration threshold and the fifth acceleration threshold stored in the memory, thereby more quickly determining the vehicle's current driving state.

[0075] For example, the fourth acceleration threshold may be 2m / s2, that is, the longitudinal acceleration is greater than 2m / s2. That is to say, when the vehicle accelerates with a larger longitudinal acceleration, the brake pedal is in the off position and the forward gear position is in the on position, the vehicle is not braking and is in a forward state. At this time, it can be determined that the vehicle is accelerating.

[0076] Furthermore, the fifth acceleration threshold may be 2 m / s2, that is, the lateral acceleration is less than 2 m / s2. In other words, when the lateral acceleration of the vehicle is small, it can be determined that the vehicle is in a straight-moving state.

[0077] In summary, when the vehicle meets the above conditions, it can be determined that the vehicle is in an accelerated driving state and the vehicle is traveling straight, that is, the vehicle is in an accelerated straight driving state.

[0078] In some specific embodiments of the present invention, Figure 4 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the longitudinal acceleration is less than the sixth acceleration threshold, and the brake pedal flag is the on flag, and the forward gear flag is the on flag, it is judged that the vehicle is in a braking state.

[0079] Among them, the sixth acceleration threshold can be a pre-calibrated value, which can be obtained based on multiple experimental data, and the sixth acceleration threshold can be stored in the vehicle's memory. In this way, when the controller obtains the longitudinal acceleration of the vehicle during current driving, it can be directly compared with the sixth acceleration threshold stored in the memory, thereby quickly determining the vehicle's current driving state.

[0080] For example, the sixth acceleration threshold can be 0m / s2, that is, when the longitudinal acceleration of the vehicle is less than 0m / s2, the vehicle is in a deceleration state, the brake pedal is in the on position and the forward gear flag is in the on position, the vehicle is in a forward state and the vehicle is braking, then it can be judged that the vehicle is in a braking driving state.

[0081] In some specific embodiments of the present invention, Figure 5 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the reverse gear flag is not turned on, and the longitudinal acceleration is less than the seventh acceleration threshold, and the lateral acceleration is greater than the eighth acceleration threshold and less than the ninth acceleration threshold, it is judged that the vehicle is in a starting turning state.

[0082] Among them, the seventh acceleration threshold, the eighth acceleration threshold and the ninth acceleration threshold can all be pre-calibrated values, which can be obtained based on multiple experimental data, and the seventh acceleration threshold, the eighth acceleration threshold and the ninth acceleration threshold can be stored in the vehicle's memory. In this way, when the controller obtains the longitudinal acceleration and lateral acceleration of the vehicle during current driving, it can be directly compared with the seventh acceleration threshold, the eighth acceleration threshold and the ninth acceleration threshold stored in the memory, thereby more quickly determining the current driving state of the vehicle.

[0083] For example, the seventh acceleration threshold may be 2 m / s2, that is, the longitudinal acceleration is less than 2 m / s2. That is to say, when the vehicle accelerates with a larger longitudinal acceleration and the reverse gear flag is not turned on, the vehicle is in a forward state. At this time, it can be determined that the vehicle is accelerating forward.

[0084] Furthermore, the eighth acceleration threshold may be 2 m / s2, and the ninth acceleration threshold may be 4 m / s2, that is, when the lateral acceleration of the vehicle is large, it can be determined that the vehicle is in a turning state.

[0085] In summary, when the vehicle meets the above conditions, it can be determined that the vehicle is in an accelerating state and the vehicle is turning, that is, the vehicle is in a starting turning state.

[0086] In some specific embodiments of the present invention, Figure 6 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the longitudinal acceleration is greater than the tenth acceleration threshold, and the reverse gear flag is not turned on, and the lateral acceleration is greater than the eleventh acceleration threshold, it is judged that the vehicle is in a turning acceleration state.

[0087] Among them, the tenth acceleration threshold and the eleventh acceleration threshold can both be pre-calibrated values, which can be obtained based on multiple experimental data, and the tenth acceleration threshold and the eleventh acceleration threshold can be stored in the vehicle's memory. In this way, when the controller obtains the longitudinal acceleration and lateral acceleration of the vehicle during current driving, it can be directly compared with the tenth acceleration threshold and the eleventh acceleration threshold stored in the memory, thereby more quickly determining the current driving state of the vehicle.

[0088] For example, the tenth acceleration threshold may be 0m / s2, that is, when the longitudinal acceleration of the vehicle is greater than 0m / s2, it is considered that the vehicle is accelerating in the longitudinal direction of the vehicle. When the reverse gear flag is not turned on, it is considered that the vehicle is moving forward. Then, when the longitudinal acceleration of the vehicle is greater than 0m / s2 and the reverse gear flag is not turned on, it is considered that the vehicle is accelerating forward.

[0089] In a specific example, the eleventh acceleration threshold may be 4 m / s2, that is, when the lateral acceleration of the vehicle is greater than 4 m / s2, it is considered that the lateral acceleration of the vehicle is large, and it can be determined that the vehicle is in a turning state.

[0090] In summary, when the vehicle meets the above conditions, that is, when the longitudinal acceleration of the vehicle is greater than 0m / s2, the reverse gear flag is not turned on, and the lateral acceleration of the vehicle is greater than 4m / s2, it can be judged that the vehicle is in an accelerating forward state and the vehicle is turning, that is, the vehicle is in a turning acceleration state.

[0091] In some specific embodiments of the present invention, Figure 7 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the reverse gear flag is the on flag and the torque request flag is the positive torque request flag, it is determined that the vehicle is in the reverse gear driving state. That is, the vehicle is in reverse gear and the vehicle has an acceleration demand. At this time, it can be determined that the vehicle is driving backward, that is, it can be determined that the vehicle is in the reverse gear driving state.

[0092] In some specific embodiments of the present invention, Figure 8 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the reverse gear flag is the on flag and the torque request flag is the negative torque request flag, it is determined that the vehicle is in the reverse gear braking state. That is, the vehicle is in reverse gear and the vehicle has a deceleration requirement. At this time, it can be determined that the vehicle is traveling backward and in a braking state, that is, it can be determined that the vehicle is in the reverse gear braking state.

[0093] In some specific embodiments of the present invention, Fig. 9 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the creeping flag is the on flag, the forward gear flag is the on flag, the accelerator pedal flag is the off flag, and the vehicle speed is less than the first preset vehicle speed threshold, it is judged that the vehicle is in a creeping driving state.

[0094] Among them, the first preset vehicle speed threshold can be a pre-calibrated value. For example, the first preset vehicle speed threshold can be 4m / s, which can be obtained based on multiple experimental data, and the first preset vehicle speed threshold can be stored in the vehicle's memory. In this way, when the controller obtains the vehicle's current driving speed, it can be directly compared with the first preset vehicle speed threshold stored in the memory, and then the current driving state of the vehicle can be determined more quickly.

[0095] That is to say, if the vehicle is in creep mode and is moving forward, the driver has not stepped on the accelerator pedal, and the vehicle is traveling at a low speed, it can be determined that the vehicle is in creep mode. At this time, the driver only needs to control the steering wheel but does not need to control the accelerator pedal and brake pedal.

[0096] In some specific embodiments of the present invention, Fig.10 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the creep flag is the on flag, the forward gear flag is the on flag, the torque request flag is the negative torque request flag, and the vehicle speed is less than the second preset vehicle speed threshold, it is judged that the vehicle is in a creep braking state.

[0097] Among them, the second preset vehicle speed threshold can be a pre-calibrated value. For example, the second preset vehicle speed threshold can be 4m / s, which can be obtained based on multiple experimental data, and the second preset vehicle speed threshold can be stored in the vehicle's memory. In this way, when the controller obtains the vehicle's current driving speed, it can be directly compared with the second preset vehicle speed threshold stored in the memory, and then the current driving state of the vehicle can be determined more quickly.

[0098] That is to say, when the vehicle starts the creep mode and the vehicle moves at a lower speed, the torque request flag is a negative torque request flag. At this time, the vehicle has a deceleration demand, and it can be determined that the vehicle is braking in the creep mode, that is, the vehicle is in a creep braking state.

[0099] In some specific embodiments of the present invention, Fig.11 As shown, the driving state of the vehicle is determined according to the driving parameters, including: when the accelerator pedal flag is the on flag, the brake flag is the on flag, and the creep flag is the on flag, it is judged that the vehicle is in a pedal misoperation state.

[0100] Among them, the pedal misoperation state is that the driver presses the accelerator pedal and the brake pedal at the same time. At this time, it is considered that the driver misoperated, that is, mistakenly stepped on one of the pedals, such as mistakenly stepping on the accelerator pedal while braking, or mistakenly stepping on the brake pedal while accelerating. At this time, it can be considered that the vehicle is in the pedal misoperation state. It should be noted that in the pedal misoperation state, the control unit can only execute the signal of the brake pedal and ignore the signal of the accelerator pedal to improve driving safety.

[0101] In some specific embodiments of the present invention, Fig.12 As shown, the driving mode of the vehicle is determined according to the driving state, including: when the vehicle is in a starting turning state or a turning acceleration state, it is judged that the vehicle is in a turning driving mode; when the vehicle is in a braking state or a reverse gear braking state or a creeping braking state or a pedal misoperation state, it is judged that the vehicle is in an energy recovery driving mode; when the vehicle is in an accelerating straight driving state, it is judged that the vehicle is in an acceleration driving mode; when the vehicle is in a steady straight driving state or a reverse gear driving state or a creeping driving state, it is judged that the vehicle is in an economic driving mode.

[0102] That is to say, the vehicle's driving mode can be divided into turning driving mode, energy recovery driving mode, acceleration driving mode or economical driving mode. In this way, the vehicle can control the body according to the above four driving modes, so that the vehicle can have better control performance in the above four driving modes and the vehicle's driving stability is better.

[0103] In addition, it should be noted that the driving modes in the embodiments of the present invention may have priorities, that is, when a driving mode with a higher priority is triggered, the vehicle is considered to be in this mode, that is, a high priority mode may cover a low priority driving mode. Specifically, the priorities are, from high to low, turning driving mode, energy recovery driving mode, acceleration driving mode and economical driving mode.

[0104] In summary, according to the driving mode determination method of the embodiment of the present invention, when the vehicle is driving, the driving parameters of the vehicle are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and the driving mode of the vehicle is determined according to the driving state. Therefore, when the vehicle is driving, the present invention can accurately determine the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0105] The driving mode determination device 100 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0106] Fig.13 is a structural block diagram of a driving mode determination device 100 according to an embodiment of the present invention. Fig.13 As shown, the driving mode determination device 100 includes an acquisition module 110 , a first determination module 120 and a second determination module 130 .

[0107] Specifically, the acquisition module 110 is used to acquire driving parameters, which include at least the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle.

[0108] The first determination module 120 is used to determine the driving state of the vehicle according to the driving parameters.

[0109] The second determination module 130 is used to determine the driving mode of the vehicle according to the driving state.

[0110] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, and the driving state includes at least: a steady straight driving state, an accelerated straight driving state, a braking state, a starting turning state, a turning acceleration state, a reverse gear driving state, a reverse gear braking state, a creeping driving state, a creeping braking state and at least one of a pedal misoperation state.

[0111] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, including: when the longitudinal acceleration is greater than or equal to the first acceleration threshold and less than the second acceleration threshold, and the brake pedal flag is an unopened flag, and the lateral acceleration is less than the third acceleration threshold, and the torque request flag is a positive torque request flag, it is judged that the vehicle is in a steady straight driving state.

[0112] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, including: when the longitudinal acceleration is greater than the fourth acceleration threshold, and the brake pedal flag is an unopened flag, and the lateral acceleration is less than the fifth acceleration threshold, and the torque request flag is a positive torque request flag, it is judged that the vehicle is in an accelerating straight-ahead state.

[0113] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, including: when the longitudinal acceleration is less than the sixth acceleration threshold, and the brake pedal flag is the on flag, and the torque request flag is the positive torque request flag, it is judged that the vehicle is in a braking state.

[0114] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle according to the driving parameters, including: when the reverse gear flag is not turned on, and the longitudinal acceleration is less than the seventh acceleration threshold, and the lateral acceleration is greater than the eighth acceleration threshold and less than the ninth acceleration threshold, and the torque request flag is the positive torque request flag, it is judged that the vehicle is in a starting turning state.

[0115] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, including: when the longitudinal acceleration is greater than the tenth acceleration threshold, and the reverse gear flag is not turned on, and the lateral acceleration is greater than the eleventh acceleration threshold, it is judged that the vehicle is in a turning acceleration state.

[0116] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle according to the driving parameters, including: when the reverse gear flag is the on flag and the torque request flag is the positive torque request flag, it is determined that the vehicle is in the reverse gear driving state.

[0117] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle according to the driving parameters, including: when the reverse gear flag is the on flag and the torque request flag is the positive torque request flag, it is determined that the vehicle is in the reverse gear braking state.

[0118] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, including: when the creep flag is an on flag, and the forward gear flag is an on flag, and the torque request flag is a positive torque request flag, and the accelerator pedal flag is an off flag, and the vehicle speed is less than a first preset vehicle speed threshold, it is judged that the vehicle is in a creeping driving state.

[0119] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, including: when the creep flag is the on flag, the forward gear flag is the on flag, the torque request flag is the negative torque request flag, and the vehicle speed is less than the second preset vehicle speed threshold, it is judged that the vehicle is in a creep braking state.

[0120] In one embodiment of the present invention, the first determination module 120 determines the driving state of the vehicle based on the driving parameters, including: when the accelerator pedal flag is the on flag, the brake flag is the on flag, and the creep flag is the on flag, it is judged that the vehicle is in a pedal misoperation state.

[0121] In one embodiment of the present invention, the second determination module 130 determines the driving mode of the vehicle according to the driving state, including: when the vehicle is in a starting turning state or a turning acceleration state, it is judged that the vehicle is in a turning driving mode; when the vehicle is in a braking state or a reverse gear braking state or a creeping braking state or a pedal misoperation state, it is judged that the vehicle is in an energy recovery driving mode; when the vehicle is in an accelerating straight driving state, it is judged that the vehicle is in an acceleration driving mode; when the vehicle is in a steady straight driving state or a reverse gear driving state or a creeping driving state, it is judged that the vehicle is in an economic driving mode.

[0122] According to the driving mode determination device 100 of the embodiment of the present invention, when the vehicle is driving, the driving parameters of the vehicle are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and the driving mode of the vehicle is determined according to the driving state. Therefore, when the vehicle is driving, the present invention can accurately determine the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and determine the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0123] A vehicle 1 according to an embodiment of the present invention will be described below with reference to the drawings.

[0124] In some specific embodiments of the present invention, the vehicle 1 includes the driving mode determination device 100 according to the above-mentioned embodiment of the present invention.

[0125] In some other specific embodiments of the present invention, Fig.14 As shown, the vehicle 1 includes a processor 200, a memory 300, and a driving mode determination program 310 stored in the memory 300 and executable on the processor 200. When the driving mode determination program 310 is executed by the processor 200, the driving mode determination method according to the above-mentioned embodiment of the present invention is implemented.

[0126] According to the vehicle 1 of the embodiment of the present invention, when the vehicle 1 is traveling, the driving parameters of the vehicle 1 are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag, and torque request flag of the vehicle 1; the driving state of the vehicle 1 is determined according to the driving parameters; and the driving mode of the vehicle 1 is determined according to the driving state. Therefore, when the vehicle 1 is traveling, the present invention can accurately determine the driving state of the vehicle 1 according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle 1 according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle 1, and then accurately determine the driving mode of the vehicle 1, so as to facilitate more reasonable and accurate control of the vehicle 1 according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the chassis control function of the vehicle 1 and improving the control performance of the vehicle body.

[0127] The following describes a computer-readable storage medium according to an embodiment of the present invention with reference to the accompanying drawings. The computer-readable storage medium stores a driving mode determination program 310. When the driving mode determination program 310 is executed by the processor 200, the driving mode determination method according to the above embodiment of the present invention is implemented.

[0128] According to the computer-readable storage medium of the embodiment of the present invention, when the driving mode determination program 310 stored thereon is executed by the processor 200, when the vehicle is driving, the driving parameters of the vehicle are obtained, and the driving parameters at least include the longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag and torque request flag of the vehicle; the driving state of the vehicle is determined according to the driving parameters; and the driving mode of the vehicle is determined according to the driving state. Therefore, when the vehicle is driving, the present invention can accurately determine the driving state of the vehicle according to the multiple driving parameters obtained, and then accurately determine the driving mode of the vehicle according to the driving state, that is, it can accurately monitor and judge the driving state of the vehicle, and then accurately determine the driving mode of the vehicle, so as to facilitate more reasonable and accurate control of the vehicle according to the driving mode, such as more reasonable distribution of torque, which is conducive to optimizing the vehicle chassis control function and improving the control performance of the vehicle body.

[0129] In the description of this specification, the description with reference to the terms "specific embodiment", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0130] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A driving mode determination method, characterized in that: The following steps are involved: Acquiring driving parameters of the vehicle, the driving parameters at least including longitudinal acceleration, lateral acceleration, vehicle speed, accelerator pedal flag, brake pedal flag, reverse gear flag, forward gear flag, creep flag, and torque request flag of the vehicle; determining a driving state of the vehicle according to the driving parameters; A driving mode of the vehicle is determined according to the driving state.

2. The driving mode determination method according to claim 1, characterized in that: The driving state includes at least: a steady straight driving state, an accelerated straight driving state, a braking state, a starting turning state, a turning acceleration state, a reverse gear driving state, a reverse gear braking state, a creeping driving state, a creeping braking state and at least one of a pedal misoperation state.

3. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the longitudinal acceleration is greater than or equal to the first acceleration threshold and less than the second acceleration threshold, and the brake pedal flag is an unactivated flag, and the lateral acceleration is less than the third acceleration threshold, and the forward gear flag is an activated flag, it is determined that the vehicle is in the steady straight-ahead state.

4. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the longitudinal acceleration is greater than a fourth acceleration threshold, and the brake pedal flag is an unactivated flag, and the lateral acceleration is less than a fifth acceleration threshold, and the forward gear flag is an activated flag, it is determined that the vehicle is in the accelerated straight-ahead state.

5. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the longitudinal acceleration is less than a sixth acceleration threshold, and the brake pedal flag is an on flag, and the forward gear flag is an on flag, it is determined that the vehicle is in the braking state.

6. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the reverse gear flag is not turned on, and the longitudinal acceleration is less than a seventh acceleration threshold, and the lateral acceleration is greater than an eighth acceleration threshold and less than a ninth acceleration threshold, it is determined that the vehicle is in the starting turning state.

7. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the longitudinal acceleration is greater than a tenth acceleration threshold, and the reverse gear flag is an unactivated flag, and the lateral acceleration is greater than an eleventh acceleration threshold, it is determined that the vehicle is in the turning acceleration state.

8. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the reverse gear flag is an on flag and the torque request flag is a positive torque request flag, it is determined that the vehicle is in the reverse gear driving state.

9. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the reverse gear flag is an on flag and the torque request flag is a negative torque request flag, it is determined that the vehicle is in the reverse gear braking state.

10. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the creep flag is an on flag, the forward gear flag is an on flag, the accelerator pedal flag is an off flag, and the vehicle speed is less than a first preset vehicle speed threshold, it is determined that the vehicle is in the creep driving state.

11. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the creep flag is an on flag, the forward gear flag is an on flag, the torque request flag is a negative torque request flag, and the vehicle speed is less than a second preset vehicle speed threshold, it is determined that the vehicle is in the creep braking state.

12. The driving mode determination method according to claim 2, characterized in that: Determining the driving state of the vehicle according to the driving parameter includes: When the accelerator pedal flag is an on flag, the brake flag is an on flag, and the creep flag is an on flag, it is determined that the vehicle is in the pedal misoperation state.

13. The driving mode determination method according to claim 2, characterized in that: Determining a driving mode of the vehicle according to the driving state includes: When the vehicle is in the starting turning state or the turning acceleration state, determining that the vehicle is in a turning driving mode; When the vehicle is in the braking state, the reverse braking state, the creep braking state, or the pedal misoperation state, determining that the vehicle is in the energy recovery driving mode; When the vehicle is in the accelerated straight-ahead state, determining that the vehicle is in an accelerated driving mode; When the vehicle is in the steady straight driving state, the reverse gear driving state, or the creeping driving state, it is determined that the vehicle is in the economical driving mode.

14. A vehicle, characterized in that: include: A processor, a memory, and a driving mode determination program stored in the memory and executable on the processor, wherein when the driving mode determination program is executed by the processor, the driving mode determination method according to any one of claims 1 to 13 is implemented.

15. A computer-readable storage medium, characterized in that: A driving mode determination program is stored on a computer-readable storage medium, and when the driving mode determination program is executed by a processor, the driving mode determination method according to any one of claims 1 to 13 is implemented.

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