Vehicle control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, equipment and a storage medium. The vehicle control method and device are used for adjusting parameters of a vehicle according to the real-time state of the vehicle so as to improve the performance of an automatic parking function. The method comprises the steps of obtaining driving data of a vehicle; determining each target working condition according to the driving data; determining vehicle parameters corresponding to each target working condition; obtaining a parking evaluation score of the vehicle based on the vehicle parameter corresponding to each target working condition; and the parking evaluation score is issued to the vehicle so that the vehicle can adjust vehicle parameters according to the parking evaluation score. In the embodiment of the invention, the vehicle parameters corresponding to the vehicle are determined according to the driving data of the vehicle, the vehicle is evaluated according to the vehicle parameters, and the vehicle is adjusted according to the score of the vehicle, so that the vehicle parameters can be ensured to have higher timeliness and better fit the state of the vehicle; therefore, the automatic parking function control is more in line with the real vehicle state, and the function triggering sensitivity and the driving-away smoothness are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device, equipment and storage medium. Background Art

[0002] With the rapid development of science and technology and the gradual improvement of people's quality of life, more and more vehicles have entered every family and become the main choice for people to travel. At present, the intelligence of vehicles is getting higher and higher, among which Automatic Vehicle Hold (AVH or AUTOHOLD) is one of the rapidly developing vehicle technologies.

[0003] The vehicle automatic parking control scheme in the related technology, the software control logic and calibration parameters cannot be automatically adjusted and optimized in real time according to the vehicle status. The locked software logic and parameters cannot meet the needs of the vehicle in different states. Affected by factors such as inconsistent vehicle parts status, wear and tear, and different loads, the automatic parking function has problems such as insufficient trigger sensitivity, a sense of lag when starting, loud pressure relief sound, and sliding down the slope or abnormal noise of secondary boost when staying on a large slope for a long time. Summary of the invention

[0004] In view of this, the present application provides a vehicle control method, device, equipment and storage medium to facilitate adjusting vehicle parameters according to the real-time status of the vehicle to improve the performance of the automatic parking function.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0006] Obtain vehicle driving data;

[0007] determining a target operating condition according to the driving data;

[0008] Determining a vehicle parameter to be adjusted based on the target operating condition;

[0009] Obtaining a parking evaluation score for the vehicle based on the target operating condition;

[0010] The parking evaluation score is sent to the vehicle, so that the vehicle adjusts the vehicle parameters to be adjusted according to the parking evaluation score.

[0011] In some possible embodiments, if the target operating condition is an acceleration operating condition, the vehicle parameters include: vehicle weight, and determining the vehicle parameters to be adjusted based on the target operating condition includes:

[0012] Obtaining the acceleration, wheel-end driving torque and driving wheel rolling radius corresponding to the acceleration condition;

[0013] The vehicle weight corresponding to the acceleration condition is obtained according to the acceleration, the wheel end driving torque and the driving wheel rolling radius.

[0014] In some possible embodiments, if the target operating condition is a braking operating condition, the vehicle parameters include: a braking pressure and a braking force curve, and determining the vehicle parameters to be adjusted based on the target operating condition includes:

[0015] Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition;

[0016] Obtaining a braking force based on the acceleration curve and the vehicle weight;

[0017] Acquiring a brake pressure curve corresponding to the braking condition based on a pressure sensor;

[0018] The braking pressure and braking force curve is obtained based on the braking force and the braking pressure curve.

[0019] In some possible embodiments, if the target operating condition is a braking operating condition, the vehicle parameters include: a braking force flow curve, and the vehicle parameters to be adjusted are determined based on the target operating condition, including:

[0020] Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition;

[0021] Obtaining a braking force based on the acceleration curve and the vehicle weight;

[0022] Acquiring a brake flow curve corresponding to the braking condition based on a chassis controller;

[0023] The braking force flow curve is obtained based on the braking flow curve and the braking force.

[0024] In some possible embodiments, the target operating conditions include: an automatic parking function exiting operating condition and an operating noise operating condition;

[0025] The obtaining of the parking evaluation score of the vehicle based on the target operating condition includes:

[0026] Determining a ride comfort score, a hill-slip score, and a boost activation score corresponding to the vehicle based on vehicle parameters corresponding to an automatic parking function exit condition;

[0027] Determining an operating noise score based on vehicle parameters corresponding to the operating noise condition;

[0028] A parking evaluation score of the vehicle is obtained based on the smoothness score, the hill-rolling score, the boost activation score, and the operating noise score.

[0029] In some possible embodiments, determining the corresponding ride comfort score of the vehicle based on the vehicle parameters corresponding to the automatic parking function exit condition includes:

[0030] For each automatic parking function exit working condition, executing the first process to obtain a ride comfort score corresponding to each automatic parking function exit working condition; and obtaining a ride comfort score corresponding to the vehicle based on the ride comfort score corresponding to each automatic parking function exit working condition;

[0031] The first process includes:

[0032] The brake pressure is obtained by a brake pressure sensor;

[0033] Based on the braking pressure and each braking pressure and braking force curve, a braking force corresponding to each braking pressure and braking force curve is obtained; wherein the braking pressure and braking force curve is obtained when the target working condition is a braking working condition;

[0034] Obtaining a target braking force based on the braking force corresponding to each braking force curve;

[0035] Obtaining a target driving force based on the wheel end driving torque corresponding to the automatic parking function exit condition and the rolling radius of the driving wheel;

[0036] obtaining a drag force based on the target braking force and the target driving force;

[0037] A ride comfort score is derived based on the drag force.

[0038] In some possible embodiments, the driving data includes: a gear position, a vehicle speed, a brake pedal, an accelerator pedal, a slip signal, an automatic parking function activation signal, and an automatic parking function exit signal. Determining each target operating condition according to the driving data includes:

[0039] If the used gear is in the forward gear or the reverse gear, the vehicle speed is in an increasing state within a first preset time period, the brake pedal is in an inactive state, the accelerator pedal is in an active state within the first preset time period, and the slip signal is less than a preset slip value, then the target operating condition is an acceleration operating condition;

[0040] If the used gear is in the forward gear or the reverse gear, the vehicle speed is in a decreasing state within a second preset time period, the brake pedal is in an activated state within the second preset time period, the accelerator pedal is in an inactivated state, and the slip signal is less than a preset slip value, then the target operating condition is a braking operating condition;

[0041] If the automatic parking function exit signal is detected after the automatic parking function activation signal is detected, the target operating condition is the automatic parking function exit operating condition;

[0042] If the automatic parking function activation signal is detected, the music switch of the vehicle is in the off state, and the air conditioning switch of the vehicle is in the off state, then the target operating condition is determined to be an operating noise operating condition.

[0043] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0044] An acquisition module, used to acquire the driving data of the vehicle;

[0045] A working condition determination module, used for determining a target working condition according to the driving data;

[0046] A vehicle parameter determination module, used to determine the vehicle parameters to be adjusted based on the target operating condition;

[0047] a score determination module, configured to obtain a parking evaluation score of the vehicle based on the target operating condition;

[0048] The parameter adjustment module is used to send the parking evaluation score to the vehicle, so that the vehicle adjusts the vehicle parameters to be adjusted according to the parking evaluation score.

[0049] In some possible embodiments, if the target operating condition is an acceleration operating condition, the vehicle parameters include: vehicle weight, and the vehicle parameter determination module is specifically used to:

[0050] Obtaining the acceleration, wheel-end driving torque and driving wheel rolling radius corresponding to the acceleration condition;

[0051] The vehicle weight corresponding to the acceleration condition is obtained according to the acceleration, the wheel end driving torque and the driving wheel rolling radius.

[0052] In some possible embodiments, if the target operating condition is a braking operating condition, the vehicle parameters include: a braking pressure and braking force curve, and the vehicle parameter determination module is specifically used to:

[0053] Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition;

[0054] Obtaining a braking force based on the acceleration curve and the vehicle weight;

[0055] Acquiring a brake pressure curve corresponding to the braking condition based on a pressure sensor;

[0056] The braking pressure and braking force curve is obtained based on the braking force and the braking pressure curve.

[0057] In some possible embodiments, if the target operating condition is a braking operating condition, the vehicle parameters include: a braking force flow curve, and the vehicle parameter determination module is specifically used to:

[0058] Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition;

[0059] Obtaining a braking force based on the acceleration curve and the vehicle weight;

[0060] Acquiring a brake flow curve corresponding to the braking condition based on a chassis controller;

[0061] The braking force flow curve is obtained based on the braking flow curve and the braking force.

[0062] In some possible embodiments, the target operating conditions include: an automatic parking function exiting condition and an operating noise condition; and the score determination module is specifically used for:

[0063] Determining a ride comfort score, a hill-slip score, and a boost activation score corresponding to the vehicle based on vehicle parameters corresponding to an automatic parking function exit condition;

[0064] Determining an operating noise score based on vehicle parameters corresponding to the operating noise condition;

[0065] A parking evaluation score of the vehicle is obtained based on the smoothness score, the hill-rolling score, the boost activation score, and the operating noise score.

[0066] In some possible embodiments, the score determination module is specifically used to:

[0067] For each automatic parking function exit working condition, executing the first process to obtain a ride comfort score corresponding to each automatic parking function exit working condition; and obtaining a ride comfort score corresponding to the vehicle based on the ride comfort score corresponding to each automatic parking function exit working condition;

[0068] The first process includes:

[0069] The brake pressure is obtained by a brake pressure sensor;

[0070] Based on the braking pressure and each braking pressure and braking force curve, a braking force corresponding to each braking pressure and braking force curve is obtained; wherein the braking pressure and braking force curve is obtained when the target working condition is a braking working condition;

[0071] Obtaining a target braking force based on the braking force corresponding to each braking force curve;

[0072] Obtaining a target driving force based on the wheel end driving torque corresponding to the automatic parking function exit condition and the rolling radius of the driving wheel;

[0073] obtaining a drag force based on the target braking force and the target driving force;

[0074] A ride comfort score is derived based on the drag force.

[0075] In some possible embodiments, the driving data includes: the gear position, vehicle speed, brake pedal, accelerator pedal, slip signal, automatic parking function activation signal, and automatic parking function exit signal. The operating condition determination module is specifically used to:

[0076] If the used gear is in the forward gear or the reverse gear, the vehicle speed is in an increasing state within a first preset time period, the brake pedal is in an inactive state, the accelerator pedal is in an active state within the first preset time period, and the slip signal is less than a preset slip value, then the target operating condition is an acceleration operating condition;

[0077] If the used gear is in the forward gear or the reverse gear, the vehicle speed is in a decreasing state within a second preset time period, the brake pedal is in an activated state within the second preset time period, the accelerator pedal is in an inactivated state, and the slip signal is less than a preset slip value, then the target operating condition is a braking operating condition;

[0078] If the automatic parking function exit signal is detected after the automatic parking function activation signal is detected, the target operating condition is the automatic parking function exit operating condition;

[0079] If the automatic parking function activation signal is detected, the music switch of the vehicle is in the off state, and the air conditioning switch of the vehicle is in the off state, then the target operating condition is determined to be an operating noise operating condition.

[0080] In the third aspect, another embodiment of the present application also provides an electronic device, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method provided in the embodiment of the first aspect of the present application.

[0081] In a fourth aspect, another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute any method provided in the embodiment of the first aspect of the present application.

[0082] Other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0084] Figure 1 A schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application;

[0085] Figure 2 A schematic diagram of the overall process of a vehicle control method provided in an embodiment of the present application;

[0086] Figure 3 A schematic diagram of a device in a vehicle according to a vehicle control method provided by an embodiment of the present application;

[0087] Figure 4 A schematic diagram of a flow chart of determining a braking pressure and braking force curve of a vehicle control method provided in an embodiment of the present application;

[0088] Figure 5 A schematic diagram of an acceleration curve of a vehicle control method provided in an embodiment of the present application;

[0089] Figure 6 A schematic diagram of brake pressure of a vehicle control method provided in an embodiment of the present application;

[0090] Figure 7 A schematic diagram of a flow chart of determining a power flow curve of a vehicle control method provided in an embodiment of the present application;

[0091] Figure 8 A schematic diagram of a flow chart of obtaining a parking evaluation score of a vehicle based on a target working condition in a vehicle control method provided in an embodiment of the present application;

[0092] Fig. 9 A first flow chart of a vehicle control method provided in an embodiment of the present application;

[0093] Fig.10 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0094] Fig.11A schematic diagram of an electronic device for a vehicle control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0095] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0096] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0097] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0098] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0099] The inventor has found that with the rapid development of science and technology and the gradual improvement of people's quality of life, more and more vehicles have entered every family and become the main choice for people to travel. At present, the intelligence of vehicles is getting higher and higher, among which the automatic parking function is one of the rapidly developing vehicle technologies.

[0100] The vehicle automatic parking control scheme in the related technology, the software control logic and calibration parameters cannot be automatically adjusted and optimized in real time according to the vehicle status. The locked software logic and parameters cannot meet the needs of the vehicle in different states. Affected by factors such as inconsistent vehicle parts status, wear and tear, and different loads, the automatic parking function has problems such as insufficient trigger sensitivity, a sense of lag when starting, loud pressure relief sound, and sliding down the slope or abnormal noise of secondary boost when staying on a large slope for a long time.

[0101] In view of the above problems, the embodiments of the present application provide a vehicle control method, device, equipment and storage medium for solving the above problems. The inventive concept of the present application can be summarized as follows: obtaining driving data of the vehicle; determining each target working condition according to the driving data; determining the vehicle parameters corresponding to each target working condition; obtaining the parking evaluation score of the vehicle based on the vehicle parameters corresponding to each target working condition; and sending the parking evaluation score to the vehicle so that the vehicle adjusts the vehicle parameters according to the parking evaluation score.

[0102] In an embodiment of the present application, vehicle parameters corresponding to the vehicle are determined based on the vehicle's driving data, and the vehicle is evaluated based on the vehicle parameters, and the vehicle is adjusted based on the vehicle's score, thereby ensuring that the vehicle parameters are more timely and more in line with the vehicle's status, thereby making the automatic parking function control more consistent with the actual vehicle status, and improving the sensitivity of the function triggering and the smoothness of driving off.

[0103] For ease of understanding, a vehicle control method provided by an embodiment of the present application is described in detail below with reference to the accompanying drawings:

[0104] like Figure 1 As shown, it is an application scenario diagram of a vehicle control method in an embodiment of the present application. The diagram includes: a vehicle 10 and a cloud 20; wherein: the cloud 20 obtains driving data of the vehicle 10; determines each target working condition according to the driving data; determines the vehicle parameters corresponding to each target working condition; obtains the parking evaluation score of the vehicle 10 based on the vehicle parameters corresponding to each target working condition; and sends the parking evaluation score to the vehicle 10 so that the vehicle 10 adjusts the vehicle parameters according to the parking evaluation score.

[0105] The description in this application only details a single vehicle 10 and a cloud 20, but those skilled in the art should understand that the illustrated vehicle 10 and cloud 20 are intended to represent the operation of the vehicle 10 and cloud 20 involved in the technical solution of this application, and do not imply any limitation on the number, type or location of the vehicle 10 and cloud 20. It should be noted that if additional modules are added to the illustrated environment or individual modules are removed therefrom, the underlying concepts of the example embodiments of this application will not be changed.

[0106] It should be noted that the vehicle control method proposed in this application is not only applicable to Figure 1 The application scenario shown is also applicable to any device with vehicle control requirements. Figure 1 The execution subject is only taken as an example of the cloud, and the execution subject is not limited. For example, the present application can also be executed by the vehicle, and the steps of obtaining the parking evaluation score can be executed by the cloud, and the steps of adjusting the vehicle parameters can be executed by the vehicle.

[0107] like Figure 2 FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application, wherein:

[0108] In step 201: the driving data of the vehicle is obtained.

[0109] In an embodiment of the present application, the vehicle's driving data is reported to the cloud by the vehicle. After each driving, the vehicle uploads the driving data of the driving process to the cloud, so that the cloud determines the vehicle's parking evaluation score based on the driving data.

[0110] It is understandable that in addition to uploading the driving data to the cloud after the driving is completed, the vehicle can also upload its own driving data. This application does not limit the timing of the vehicle uploading the driving data.

[0111] In some possible embodiments, Figure 3 As shown, the vehicle includes but is not limited to: sensors, chassis controllers, automatic parking control software, actuators, satellite positioning modules, network modules, and other vehicle controllers; among which:

[0112] Sensors include but are not limited to: wheel speed sensors, master cylinder pressure sensors, acceleration sensors, and steering wheel angle sensors, which are used to obtain information such as the vehicle's wheel speed, master cylinder pressure, acceleration, and steering wheel angle;

[0113] The chassis controller is used to obtain information collected by sensors, control actuators, send the information collected by sensors and the status information of actuators to the network module, and receive control instructions sent by the network module;

[0114] The actuator is used for: braking force control and parking force control;

[0115] The satellite positioning module is used to: obtain the real-time location information of the vehicle;

[0116] The network connection module is used to: obtain information sent by the chassis controller, information sent by other vehicle controllers, and information sent by the satellite positioning module, and send the received information to the cloud; it is also used to receive control instructions sent by the cloud and send the control instructions to the chassis controller;

[0117] Other vehicle controllers are used to obtain other vehicle information related to the automatic parking function and send the obtained information to the module, such as vehicle torque, voice information, etc.

[0118] In summary, the vehicle's driving data includes but is not limited to: gear position, vehicle speed, brake pedal, accelerator pedal, slip signal, automatic parking function activation signal, automatic parking function exit signal, etc.

[0119] In step 202: each target operating condition is determined according to the driving data.

[0120] In the embodiment of the present application, the vehicle will switch to different working conditions during driving, so it is necessary to determine each target working condition based on the driving data reported by the vehicle, and the target working conditions include but are not limited to: acceleration working condition, braking working condition, automatic parking function exit working condition, working noise working condition. The state of the vehicle corresponding to each working condition is different, which is explained below:

[0121] Acceleration conditions: the gear is in the forward gear or the reverse gear, the vehicle speed is in an increasing state within a first preset time, the brake pedal is in an inactive state, the accelerator pedal is in an active state within a first preset time, and the slip signal is less than a preset slip value.

[0122] That is, in the embodiment of the present application, the acceleration condition is the acceleration stage of the vehicle during driving. When the vehicle accelerates, the gear used is the forward gear or the reverse gear, and the vehicle speed will be in an increasing state. At this time, the brake pedal is not activated, and the accelerator pedal is in the activated state. The slip signal needs to be less than the preset slip value. The slip signal represents the degree of slip between the vehicle's tires and the ground.

[0123] It is understandable that during the driving process of the vehicle, multiple acceleration situations may occur, and all acceleration conditions need to be determined for the entire driving process.

[0124] Braking conditions: the gear is in forward gear or reverse gear, the vehicle speed is in a decreasing state within a second preset time period, the brake pedal is in an activated state within a second preset time period, the accelerator pedal is in an inactivated state, and the slip signal is less than a preset slip value.

[0125] That is, in the embodiment of the present application, the braking condition refers to the braking stage of the vehicle during driving. When the vehicle brakes, the gear used is the forward gear or the reverse gear, and the vehicle speed will be in a decreasing state. At this time, the brake pedal is in the activated state, and the accelerator pedal is in the deactivated state. The slip signal needs to be less than the preset slip value.

[0126] It is understandable that multiple braking situations may occur during the driving process of the vehicle, and all braking conditions need to be determined for the entire driving process.

[0127] Automatic parking function exit condition: After the automatic parking function activation signal is detected, the automatic parking function exit signal is detected.

[0128] That is, in the embodiment of the present application, the automatic parking function exit condition refers to the situation where the vehicle exits from the automatic parking function. It is determined that the vehicle has entered the automatic parking function and then exited the automatic parking function, which means that the automatic parking function exit condition has occurred. Therefore, after the automatic parking function activation signal is detected, the automatic parking function exit signal is detected, which means that the automatic parking function exit condition has been detected. In the embodiment of the present application, there is no limit on the time between the detection of the automatic parking function activation signal and the detection of the automatic parking function exit signal, but it is necessary to ensure that the detected automatic parking function activation signal and the detected automatic parking function exit signal belong to the same power-on cycle.

[0129] Working noise conditions: The automatic parking function activation signal is detected, the vehicle's music switch is in the off state, and the vehicle's air conditioning switch is in the off state.

[0130] That is, in the embodiment of the present application, when the automatic parking function is in an activated state, in order to determine the noise condition of the automatic parking function, it is necessary to determine that the vehicle's music switch is in an off state and the vehicle's air-conditioning switch is in an off state, thereby ensuring that the obtained decibel value can more accurately represent the noise condition of the automatic parking function.

[0131] In step 203: the vehicle parameters to be adjusted are determined based on the target operating conditions.

[0132] In the embodiment of the present application, the vehicle parameters to be adjusted corresponding to each target operating condition are different, which are described below respectively:

[0133] In some possible embodiments, when the target operating condition is an acceleration condition, the vehicle parameter to be adjusted that needs to be determined is the vehicle weight, which can be specifically implemented as follows: obtaining the acceleration, wheel-end drive torque and driving wheel rolling radius corresponding to the acceleration condition; and obtaining the vehicle weight corresponding to the acceleration condition based on the acceleration, wheel-end drive torque and driving wheel rolling radius.

[0134] The above process can be implemented as Formula 1, where:

[0135]

[0136] Among them, m is the vehicle weight, T is the wheel end driving torque, r is the driving wheel rolling radius, and a is the acceleration.

[0137] In the embodiment of the present application, the real-time vehicle weight can be calculated by Formula 1, thereby ensuring that the parking evaluation score obtained by subsequent calculation is more timely.

[0138] It should be noted that during the acceleration process, the acceleration may not be a fixed value, so the acceleration corresponding to each acceleration condition can be determined based on the distance traveled by the vehicle in the acceleration condition, the driving time, and the initial speed of the vehicle when the acceleration condition begins.

[0139] In some possible embodiments, when the target operating condition is a braking operating condition, the vehicle parameters to be adjusted that need to be determined are a braking pressure and braking force curve and a braking force flow curve. The braking pressure and braking force curve can be specifically determined as follows: Figure 4 The steps shown, where:

[0140] In step 401: the acceleration curve and vehicle weight corresponding to the braking condition are obtained.

[0141] In the embodiment of the present application, the acceleration of the vehicle in the braking condition can be obtained by an acceleration sensor, and a curve of acceleration and time can be drawn, for example: Figure 5 As shown, the start time corresponding to the braking condition is t1, and the end time is t2. A total of 10 accelerations are measured in the time period from t1 to t2. The acceleration curve can be obtained according to the 10 accelerations and the timestamp corresponding to each acceleration.

[0142] In this step, the vehicle weight may be a vehicle weight pre-stored in the vehicle, or the vehicle weight may be calculated using Formula 1, which is not limited in the present application.

[0143] In step 402: the braking force is obtained based on the acceleration curve and the vehicle weight.

[0144] In the embodiment of the present application, after obtaining the acceleration curve and the vehicle weight, the braking force can be obtained using Formula 2, where:

[0145] F b =m*a, (Formula 2)

[0146] Among them, F b is the braking force, m is the vehicle weight, and a is the acceleration in the acceleration curve.

[0147] For example: the acceleration curve is Figure 5 As shown, there are 10 acceleration values ​​in total, and 10 braking forces can be obtained.

[0148] In step 403: a brake pressure curve corresponding to the braking condition is obtained based on the pressure sensor.

[0149] In the embodiment of the present application, the brake pressure collected by the pressure sensor is obtained under the braking condition, and then a curve of the brake pressure and time can be drawn; for example: Figure 6 As shown, the starting time corresponding to the braking condition is t1, and the ending time is t2. A total of 10 braking pressures are measured in the time period from t1 to t2. The braking pressure curve can be obtained according to the 10 braking pressures and the timestamp corresponding to each braking pressure.

[0150] In step 404: a braking pressure and braking force curve is obtained based on the braking force and the braking pressure curve.

[0151] For example: the acceleration curve is Figure 5 As shown, there are 10 acceleration values ​​in total, so 10 braking forces can be obtained. For each braking force, the timestamp of the braking force is determined, and the braking pressure corresponding to the braking force is obtained in the braking pressure curve based on the timestamp of the braking force. The braking pressure corresponding to each braking force can be obtained, and then the braking pressure and braking force curve can be obtained.

[0152] In some possible embodiments, the process of determining the braking force flow curve can be specifically implemented as follows: Figure 7 The steps shown, where:

[0153] In step 701: the acceleration curve and vehicle weight corresponding to the braking condition are obtained.

[0154] The specific implementation of this step is the same as step 401 and will not be described again here.

[0155] In step 702: the braking force is obtained based on the acceleration curve and the vehicle weight.

[0156] The specific implementation of this step is the same as step 402 and will not be described again here.

[0157] In step 703: a brake flow curve corresponding to the braking condition is obtained based on the chassis controller.

[0158] In an embodiment of the present application, under braking conditions, a chassis controller is required to control the vehicle to brake. Therefore, the degree to which the chassis controller adjusts the braking pressure under braking conditions is the braking flow, and then a braking flow curve constructed by the braking flow and time can be obtained.

[0159] In step 704: a braking force flow curve is obtained based on the braking flow curve and the braking force.

[0160] For example: the acceleration curve is Figure 5 As shown, there are 10 acceleration values ​​in total, so 10 braking forces can be obtained. For each braking force, the timestamp of the braking force is determined, and the braking force flow corresponding to the braking force is obtained in the braking force flow curve based on the timestamp of the braking force. The braking force flow corresponding to each braking force can be obtained, and then the braking force flow curve can be obtained.

[0161] In step 204: a parking evaluation score of the vehicle is obtained based on the target operating condition.

[0162] In the embodiment of the present application, in order to ensure that the adjusted vehicle parameters are more accurate than the vehicle parameters before the adjustment, it is first necessary to perform a parking evaluation on the vehicle based on the target operating conditions of the vehicle. If the current parking evaluation score is higher than the previous parking evaluation score, the vehicle parameters are adjusted. Otherwise, there is no need to adjust the vehicle parameters.

[0163] In some possible embodiments, obtaining the parking evaluation score of the vehicle based on the target working condition can be specifically implemented as follows: Figure 8 The steps shown, where:

[0164] In step 801: the smoothness score, the hill-rolling score and the boost activation score corresponding to the vehicle are determined based on the vehicle parameters corresponding to the automatic parking function exit condition.

[0165] In the embodiment of the present application, the ride comfort score is obtained based on the vehicle's departure ride comfort, and the departure ride comfort is evaluated by the drag force when the automatic parking function is departed. During the driving process of the vehicle, there may be a process of starting the automatic parking function multiple times and then exiting, or there may be a process of starting the automatic parking function once and then exiting. Therefore, one or more automatic parking function exit conditions may be obtained based on the driving data uploaded by the vehicle. If multiple automatic parking kinetic energy exit conditions are obtained, the mean or mode of the ride comfort scores corresponding to each automatic parking function exit condition can be used as the ride comfort score corresponding to the vehicle.

[0166] In some possible embodiments, obtaining a smoothness score for each automatic parking function exit condition may be implemented as a first process. The first process is as follows: Fig. 9 As shown, where:

[0167] In step 901: the brake pressure is obtained through the brake pressure sensor.

[0168] In the embodiment of the present application, the brake pressure collected by the pressure sensor when the automatic parking function is exited changes with time, so n brake pressures can be obtained when the automatic parking function is exited.

[0169] For example, the start time corresponding to the exit condition of the automatic parking function is t1, and the end time is t2. A total of 10 brake pressures are measured in the time period from t1 to t2.

[0170] In step 902: based on the braking pressure and each braking pressure and braking force curve, the braking force corresponding to each braking pressure and braking force curve is obtained; wherein the braking pressure and braking force curve is obtained when the target operating condition is a braking operating condition.

[0171] In the embodiment of the present application, the braking force can be obtained through the braking pressure and the braking pressure and braking force curve, wherein the construction process of the braking pressure and braking force curve is the same as Figure 4 The steps shown are the same and will not be repeated here.

[0172] In step 903: a target braking force is obtained based on the braking force corresponding to each braking pressure and braking force curve.

[0173] In an embodiment of the present application, after obtaining the braking forces corresponding to multiple braking pressure and braking force curves, the average braking force corresponding to each braking pressure and braking force curve can be used as the target braking force, and the mode of the braking force corresponding to the braking pressure and braking force curve can also be used as the target braking force. The present application does not impose any restrictions on this.

[0174] In step 904: the target driving force is obtained based on the wheel end driving torque corresponding to the automatic parking function exit condition and the rolling radius of the driving wheel.

[0175] In the embodiment of the present application, the target driving force can be obtained by using Formula 3, where:

[0176]

[0177] Among them, F t is the target driving force, T is the wheel end driving torque, and r is the rolling radius of the driving wheel.

[0178] In step 905 : the drag force is obtained based on the target braking force and the target driving force.

[0179] In the embodiment of the present application, after the target braking force and the target driving force are obtained, the smaller value of the target braking force and the target driving force is used as the drag force.

[0180] Specifically, the drag force can be obtained using Formula 4, where:

[0181] F d =min(F b , F t ), (Formula 4)

[0182] Among them, F d is the drag force, F b is the target braking force, F t The driving force for the goal.

[0183] In step 906 : a ride comfort score is obtained based on the drag force.

[0184] After the driving force is obtained, the smoothness score can be obtained by integrating the drag force during braking, wherein the braking time involved in the drag force integration can be the average of the braking time corresponding to each braking condition, which can be specifically implemented as Formula 5, wherein:

[0185] P = ∫ t F d , (Formula 5)

[0186] Among them, P is the ride comfort score, F d is the drag force, and t is the braking time.

[0187] In some possible embodiments, a rolling hill score corresponding to the vehicle is determined based on vehicle parameters corresponding to the automatic parking function exit condition, which can be specifically implemented as follows: for each automatic parking function exit condition, executing the second process to obtain a rolling hill score corresponding to each automatic parking function exit condition; obtaining a rolling hill score corresponding to the vehicle based on the rolling hill score corresponding to each automatic parking function exit condition; wherein the second process can be specifically implemented as follows: obtaining a rolling hill distance corresponding to the automatic parking function exit condition; and obtaining a rolling hill score based on the rolling hill distance.

[0188] That is, in the embodiment of the present application, by recording the corresponding maximum wheel speed when the automatic parking function is in an activated state, the rolling slope distance of the vehicle can be obtained based on the maximum wheel speed, and the rolling slope distance of the vehicle can be used as the rolling slope score of the vehicle.

[0189] In some possible embodiments, a boost activation score corresponding to the vehicle is determined based on vehicle parameters corresponding to the automatic parking function exit condition, which can be specifically implemented as follows: for each automatic parking function exit condition, executing the third process to obtain the boost activation score corresponding to each automatic parking function exit condition; obtaining the boost activation score corresponding to the vehicle based on the boost activation score corresponding to each automatic parking function exit condition; wherein the third process includes: obtaining the number of supercharger triggering times corresponding to the automatic parking function exit condition; and obtaining the boost activation score based on the number of supercharger triggering times.

[0190] That is, in the embodiment of the present application, the count of supercharger triggering when the automatic parking function is in an activated state can be recorded, and the number of supercharger triggering times can be used as the supercharger activation score.

[0191] In step 802: determining an operating noise score based on vehicle parameters corresponding to the operating noise condition.

[0192] In the embodiment of the present application, after the working noise conditions are screened out, the noise decibel average value under the working noise conditions can be used as the working noise score. When there are multiple working noise conditions, the average of the noise decibel average values ​​corresponding to the multiple working noise conditions can be used as the working noise score.

[0193] In step 803: based on the smoothness score, the slope rolling score, the boost activation score and the operating noise score, the parking evaluation score of the vehicle is obtained.

[0194] In an embodiment of the present application, after obtaining the smoothness score, the hill-rolling score, the boost activation score and the operating noise score, the smoothness score, the hill-rolling score, the boost activation score and the operating noise score can be weighted to obtain the parking evaluation score of the vehicle.

[0195] It should be noted that in the embodiment of the present application, there is no limitation on the weights corresponding to the smoothness score, the hill-climbing score, the boost activation score and the operating noise score, and they can be set according to the circumstances.

[0196] In step 205: the parking evaluation score is sent to the vehicle, so that the vehicle adjusts the vehicle parameters to be adjusted according to the parking evaluation score.

[0197] In an embodiment of the present application, after obtaining the parking evaluation score, the parking evaluation score is sent to the vehicle. After receiving the parking evaluation score, the vehicle needs to determine whether the parking evaluation score is greater than the parking evaluation score received last time; if the parking evaluation score is greater than the parking evaluation score received last time, the vehicle parameters to be adjusted are adjusted.

[0198] In some possible embodiments, the vehicle adjusts the vehicle parameters to be adjusted according to the parking evaluation score. Specifically, Formula 6 may be used to obtain the adjustment value corresponding to each vehicle parameter to be adjusted:

[0199] A2=A1+c*(A1-B), (Formula 6)

[0200] Among them, A2 is the adjustment value corresponding to the parameter to be adjusted, A1 is the vehicle parameter to be adjusted, B is the initial value corresponding to the vehicle parameter to be adjusted, and c is the stability coefficient.

[0201] Among them, the stability factor is used to prevent vehicle driving failure caused by drastic changes in vehicle parameters, and B is a value pre-configured in the vehicle.

[0202] It should be noted that for each braking force in the braking pressure and braking force curve, an adjustment value must be obtained through Formula 6, and then a new braking pressure and braking force curve is constructed based on the adjustment value. The new braking pressure and braking force curve is used to update the braking pressure and braking force curve stored in the vehicle. The updating method of the braking flow curve is the same as the updating method of the braking pressure and braking force curve, which will not be repeated here.

[0203] Formula 6 can be used to determine the real-time vehicle weight, brake pressure and braking force. In the embodiment of the present application, considering that the vehicle weight is used to calculate the activation threshold of the automatic parking function and the departure exit torque threshold, updating the vehicle weight can avoid the problems of slipping due to insufficient braking force and secondary boost noise caused by the activation threshold being too low; it can also avoid the problem of starting drag due to excessive braking force caused by the activation threshold being too high; it can avoid the problem of slipping after starting caused by the departure exit torque threshold being too low; it can avoid the problem of starting drag caused by the departure exit torque threshold being too high.

[0204] Secondly, the brake pressure and brake force curve can be used to calculate the activation pressure threshold of the automatic parking function. Therefore, updating the brake pressure can realize the updating of the brake pressure and brake force curve, thereby avoiding the pressure threshold deviation caused by differences in vehicle braking systems, and avoiding the problems of insufficient braking force, slipping, and secondary boost noise caused by the activation threshold being too low; it can also avoid the problem of starting delay caused by excessive braking force caused by the activation threshold being too high.

[0205] Finally, the brake flow curve can be used to calculate the pressure release rate of the automatic parking function or the pressure build-up flow during secondary boosting. Therefore, updating the brake flow curve can avoid deviations in the pressure release rate and pressure build-up flow caused by differences in the vehicle braking systems. It can also avoid starting delays due to too low a pressure release rate, excessive pressure release noise due to too high a pressure release rate, re-slipping due to insufficient pressure build-up flow, and excessive pressure build-up noise due to excessive pressure build-up flow.

[0206] In summary, the vehicle control method provided in the embodiment of the present application can continuously optimize the automatic parking function according to the actual state of each vehicle, and is not affected by factors such as inconsistent component states, aging of components, and different loads, so that the automatic parking function control is more in line with the actual vehicle state. The vehicle state is analyzed according to the actual vehicle data, and the control logic and parameters are optimized to improve the driving smoothness, reduce the working noise, and avoid sliding down the slope due to insufficient braking force.

[0207] It can be understood that the above-mentioned steps of receiving the parking evaluation score and adjusting the vehicle parameters to be adjusted, which are performed by the vehicle, can also be performed by the cloud, that is, after obtaining the parking evaluation score, the cloud compares the parking evaluation score with the parking evaluation score calculated last time. If the parking evaluation score is greater than the parking evaluation score calculated last time, Formula 6 is used to determine the vehicle parameters to be adjusted, and the calculated vehicle parameters to be adjusted are sent to the vehicle, so that the vehicle updates the parameters stored in the vehicle according to the received vehicle parameters to be adjusted.

[0208] Based on the same inventive concept, after introducing a vehicle control method provided by an embodiment of the present application, as shown in FIG. Fig. 9 As shown, a vehicle control device 100 provided in an embodiment of the present application is described below, and the device includes:

[0209] The acquisition module 1001 is used to acquire the driving data of the vehicle;

[0210] A working condition determination module 1002, configured to determine a target working condition according to the driving data;

[0211] A vehicle parameter determination module 1003, used to determine the vehicle parameters to be adjusted based on the target operating condition;

[0212] A score determination module 1004, configured to obtain a parking evaluation score of the vehicle based on the target operating condition;

[0213] The parameter adjustment module 1005 is used to send the parking evaluation score to the vehicle, so that the vehicle adjusts the vehicle parameters to be adjusted according to the parking evaluation score.

[0214] In some possible embodiments, if the target operating condition is an acceleration operating condition, the vehicle parameters include: vehicle weight, and the vehicle parameter determination module 1003 is specifically used to:

[0215] Obtaining the acceleration, wheel-end driving torque and driving wheel rolling radius corresponding to the acceleration condition;

[0216] The vehicle weight corresponding to the acceleration condition is obtained according to the acceleration, the wheel end driving torque and the driving wheel rolling radius.

[0217] In some possible embodiments, if the target operating condition is a braking operating condition, the vehicle parameters include: a braking pressure and braking force curve, and the vehicle parameter determination module 1003 is specifically used to:

[0218] Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition;

[0219] Obtaining a braking force based on the acceleration curve and the vehicle weight;

[0220] Acquiring a brake pressure curve corresponding to the braking condition based on a pressure sensor;

[0221] The braking pressure and braking force curve is obtained based on the braking force and the braking pressure curve.

[0222] In some possible embodiments, if the target operating condition is a braking operating condition, the vehicle parameters include: a braking force flow curve, and the vehicle parameter determination module 1003 is specifically used to:

[0223] Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition;

[0224] Obtaining a braking force based on the acceleration curve and the vehicle weight;

[0225] Acquiring a brake flow curve corresponding to the braking condition based on a chassis controller;

[0226] The braking force flow curve is obtained based on the braking flow curve and the braking force.

[0227] In some possible embodiments, the target operating conditions include: an automatic parking function exiting operating condition and an operating noise operating condition; the score determination module 1004 is specifically used for:

[0228] Determining a ride comfort score, a hill-slip score, and a boost activation score corresponding to the vehicle based on vehicle parameters corresponding to an automatic parking function exit condition;

[0229] Determining an operating noise score based on vehicle parameters corresponding to the operating noise condition;

[0230] A parking evaluation score of the vehicle is obtained based on the smoothness score, the hill-rolling score, the boost activation score, and the operating noise score.

[0231] In some possible embodiments, the score determination module 1004 is specifically configured to:

[0232] For each automatic parking function exit working condition, executing the first process to obtain a ride comfort score corresponding to each automatic parking function exit working condition; and obtaining a ride comfort score corresponding to the vehicle based on the ride comfort score corresponding to each automatic parking function exit working condition;

[0233] The first process includes:

[0234] The brake pressure is obtained by a brake pressure sensor;

[0235] Based on the braking pressure and each braking pressure and braking force curve, a braking force corresponding to each braking pressure and braking force curve is obtained; wherein the braking pressure and braking force curve is obtained when the target working condition is a braking working condition;

[0236] Obtaining a target braking force based on the braking force corresponding to each braking force curve;

[0237] Obtaining a target driving force based on the wheel end driving torque corresponding to the automatic parking function exit condition and the rolling radius of the driving wheel;

[0238] obtaining a drag force based on the target braking force and the target driving force;

[0239] A ride comfort score is derived based on the drag force.

[0240] In some possible embodiments, the driving data includes: a gear position, a vehicle speed, a brake pedal, an accelerator pedal, a slip signal, an automatic parking function activation signal, and an automatic parking function exit signal. The operating condition determination module 1002 is specifically used to:

[0241] If the used gear is in the forward gear or the reverse gear, the vehicle speed is in an increasing state within a first preset time period, the brake pedal is in an inactive state, the accelerator pedal is in an active state within the first preset time period, and the slip signal is less than a preset slip value, then the target operating condition is an acceleration operating condition;

[0242] If the used gear is in the forward gear or the reverse gear, the vehicle speed is in a decreasing state within a second preset time period, the brake pedal is in an activated state within the second preset time period, the accelerator pedal is in an inactivated state, and the slip signal is less than a preset slip value, then the target operating condition is a braking operating condition;

[0243] If the automatic parking function exit signal is detected after the automatic parking function activation signal is detected, the target operating condition is the automatic parking function exit operating condition;

[0244] If the automatic parking function activation signal is detected, the music switch of the vehicle is in the off state, and the air conditioning switch of the vehicle is in the off state, then the target operating condition is determined to be an operating noise operating condition.

[0245] Corresponding to the above embodiments, the present application also provides an electronic device. Fig.11 The schematic diagram of the structure of an electronic device provided in an embodiment of the present invention is as follows. The electronic device 1100 may include: a processor 1101, a memory 1102, and a communication unit 1103. These components communicate via one or more buses. It can be understood by those skilled in the art that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiment of the present invention. It may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0246] The communication unit 1103 is used to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0247] The processor 1101 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs and / or modules stored in the memory 1102, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 1101 can include only a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0248] Memory 1102 is used to store execution instructions of processor 1101. Memory 1102 can be implemented by any type of volatile or non-volatile storage device or a combination of them, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0249] When the execution instructions in the memory 1102 are executed by the processor 1101, the electronic device 1100 can execute Figure 2 Some or all of the steps in the illustrated embodiments.

[0250] In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the vehicle control method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0251] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present invention or certain parts of the embodiments.

[0252] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtain vehicle driving data; determining a target operating condition according to the driving data; Determining a vehicle parameter to be adjusted based on the target operating condition; Obtaining a parking evaluation score for the vehicle based on the target operating condition; The parking evaluation score is sent to the vehicle, so that the vehicle adjusts the vehicle parameters to be adjusted according to the parking evaluation score.

2. The method according to claim 1, characterized in that If the target operating condition is an acceleration operating condition, the vehicle parameters include: vehicle weight, and the vehicle parameters to be adjusted are determined based on the target operating condition, including: Obtaining the acceleration, wheel-end driving torque and driving wheel rolling radius corresponding to the acceleration condition; The vehicle weight corresponding to the acceleration condition is obtained according to the acceleration, the wheel end driving torque and the driving wheel rolling radius.

3. The method according to claim 1, characterized in that If the target operating condition is a braking condition, the vehicle parameters include: a braking pressure and a braking force curve, and the vehicle parameters to be adjusted are determined based on the target operating condition, including: Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition; Obtaining a braking force based on the acceleration curve and the vehicle weight; Acquiring a brake pressure curve corresponding to the braking condition based on a pressure sensor; The braking pressure and braking force curve is obtained based on the braking force and the braking pressure curve.

4. The method according to claim 1, characterized in that: If the target operating condition is a braking condition, the vehicle parameters include: a braking force flow curve, and the vehicle parameters to be adjusted are determined based on the target operating condition, including: Obtaining an acceleration curve and a vehicle weight corresponding to the braking condition; Obtaining a braking force based on the acceleration curve and the vehicle weight; Acquiring a brake flow curve corresponding to the braking condition based on a chassis controller; The braking force flow curve is obtained based on the braking flow curve and the braking force.

5. The method according to claim 1, characterized in that The target operating conditions include: automatic parking function exit operating condition and working noise operating condition; The obtaining of the parking evaluation score of the vehicle based on the target operating condition includes: Determining a ride comfort score, a hill-slip score, and a boost activation score corresponding to the vehicle based on vehicle parameters corresponding to an automatic parking function exit condition; Determining an operating noise score based on vehicle parameters corresponding to the operating noise condition; A parking evaluation score of the vehicle is obtained based on the smoothness score, the hill-rolling score, the boost activation score, and the operating noise score.

6. The method according to claim 5, characterized in that The determining the corresponding ride comfort score of the vehicle based on the vehicle parameters corresponding to the automatic parking function exit condition includes: For each automatic parking function exit working condition, executing the first process to obtain a ride comfort score corresponding to each automatic parking function exit working condition; and obtaining a ride comfort score corresponding to the vehicle based on the ride comfort score corresponding to each automatic parking function exit working condition; The first process includes: The brake pressure is obtained by a brake pressure sensor; Based on the braking pressure and each braking pressure and braking force curve, a braking force corresponding to each braking pressure and braking force curve is obtained; wherein the braking pressure and braking force curve is obtained when the target working condition is a braking working condition; Obtaining a target braking force based on the braking force corresponding to each braking force curve; Obtaining a target driving force based on the wheel end driving torque corresponding to the automatic parking function exit condition and the rolling radius of the driving wheel; obtaining a drag force based on the target braking force and the target driving force; A ride comfort score is derived based on the drag force.

7. The method according to any one of claims 1 to 6, characterized in that: The driving data includes: the gear position, vehicle speed, brake pedal, accelerator pedal, slip signal, automatic parking function activation signal, and automatic parking function exit signal. The determining of each target working condition based on the driving data includes: If the used gear is in the forward gear or the reverse gear, the vehicle speed is in an increasing state within a first preset time period, the brake pedal is in an inactive state, the accelerator pedal is in an active state within the first preset time period, and the slip signal is less than a preset slip value, then the target operating condition is an acceleration operating condition; If the used gear is in the forward gear or the reverse gear, the vehicle speed is in a decreasing state within a second preset time period, the brake pedal is in an activated state within the second preset time period, the accelerator pedal is in an inactivated state, and the slip signal is less than a preset slip value, then the target operating condition is a braking operating condition; If the automatic parking function exit signal is detected after the automatic parking function activation signal is detected, the target operating condition is the automatic parking function exit operating condition; If the automatic parking function activation signal is detected, the music switch of the vehicle is in the off state, and the air conditioning switch of the vehicle is in the off state, then the target operating condition is determined to be an operating noise operating condition.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, used to acquire the driving data of the vehicle; A working condition determination module, used for determining a target working condition according to the driving data; A vehicle parameter determination module, used to determine the vehicle parameters to be adjusted based on the target operating condition; a score determination module, configured to obtain a parking evaluation score of the vehicle based on the target operating condition; The parameter adjustment module is used to send the parking evaluation score to the vehicle, so that the vehicle adjusts the vehicle parameters to be adjusted according to the parking evaluation score.

9. An electronic device, characterized in that: The device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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