A vehicle control method, apparatus, device, and storage medium

Abstract

The application discloses a vehicle control method, device, equipment and storage medium, which is used for adjusting the parameters of the vehicle according to the real-time state of the vehicle to improve the performance of the automatic parking function. In the application, the driving data of the vehicle is obtained; each target working condition is determined according to the driving data; the vehicle parameters corresponding to each target working condition are determined; the parking evaluation score of the vehicle is obtained based on the vehicle parameters corresponding to each target working condition; and the parking evaluation score is issued to the vehicle, so that the vehicle adjusts the vehicle parameters according to the parking evaluation score. In the embodiment of the application, the vehicle parameters corresponding to the vehicle are determined according to the driving data of the vehicle, the vehicle is evaluated through the vehicle parameters, and the vehicle is adjusted according to the score of the vehicle, so that the parameters of the vehicle are more timely and more suitable for the state of the vehicle, and the automatic parking function control is more in line with the state of the real vehicle, thereby improving the sensitivity of the function triggering and the smoothness of the driving off.

Description

Technical Field

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

[0002] With the rapid development of technology and the gradual improvement of people's quality of life, more and more vehicles are entering every household and becoming people's main choice for travel. At present, vehicles are becoming increasingly intelligent, among which Automatic Vehicle Hold (AVH or AUTOHOLD) is one of the rapidly developing vehicle technologies.

[0003] In related technologies, the automatic parking control schemes for vehicles cannot automatically adjust and optimize their software control logic and calibration parameters in real time according to the vehicle's status. Locked software logic and parameters cannot meet the needs of the vehicle under different conditions. Affected by factors such as inconsistent vehicle parts condition, wear and tear, and varying loads, the automatic parking function suffers from problems such as insufficient trigger sensitivity, sluggish starting, loud pressure relief noise, and rolling backwards or abnormal noises from secondary pressurization during prolonged parking on steep slopes. Summary of the Invention

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

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0006] Obtain vehicle driving data;

[0007] The target operating condition is determined based on the driving data;

[0008] Based on the target operating conditions, the vehicle parameters to be adjusted are determined;

[0009] The vehicle's parking evaluation score is obtained based on the target operating conditions;

[0010] The parking evaluation score is sent to the vehicle so that the vehicle can adjust the parameters of the vehicle to be adjusted based on 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] Obtain the acceleration, wheel-end drive torque, and drive wheel rolling radius corresponding to the acceleration condition;

[0013] The vehicle weight corresponding to the acceleration condition is obtained based on the acceleration, the wheel-end drive torque, and the rolling radius of the drive wheel.

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

[0015] Obtain the acceleration curve and vehicle weight corresponding to the braking condition;

[0016] The braking force is obtained based on the acceleration curve and the vehicle weight;

[0017] The braking pressure curve corresponding to the braking condition is obtained based on the 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 condition, the vehicle parameters include: a braking force flow rate curve, and determining the vehicle parameters to be adjusted based on the target operating condition includes:

[0020] Obtain the acceleration curve and vehicle weight corresponding to the braking condition;

[0021] The braking force is obtained based on the acceleration curve and the vehicle weight;

[0022] The braking flow curve corresponding to the braking condition is obtained based on the 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: automatic parking function deactivation operating condition and operating noise condition;

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

[0026] Based on the vehicle parameters corresponding to the automatic parking function exit condition, the smoothness score, rolling back score, and boost activation score of the vehicle are determined.

[0027] The operating noise score is determined based on the vehicle parameters corresponding to the operating noise conditions.

[0028] The vehicle's parking evaluation score is obtained based on the ride comfort score, the runaway score, the boost activation score, and the operating noise score.

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

[0030] For each automatic parking function exit condition, the first process is executed to obtain a smoothness score corresponding to each automatic parking function exit condition; based on the smoothness score corresponding to each automatic parking function exit condition, the smoothness score corresponding to the vehicle is obtained.

[0031] The first process includes:

[0032] Braking pressure is obtained through a braking pressure sensor;

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

[0034] The target braking force is obtained based on the braking force corresponding to each braking force curve;

[0035] The target driving force is obtained based on the wheel end drive torque corresponding to the automatic parking function exit condition and the rolling radius of the drive wheel.

[0036] The drag force is obtained based on the target braking force and the target driving force;

[0037] A smoothness score is obtained based on the drag force.

[0038] In some possible embodiments, the driving data includes: gear position, vehicle speed, brake pedal, accelerator pedal, slip signal, auto hold function activation signal, and auto hold function deactivation signal. Determining each target operating condition based on the driving data includes:

[0039] If the gear being used is in forward or reverse gear, the vehicle speed is increasing within a first preset time period, the brake pedal is not activated, the accelerator pedal is activated 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 gear being used is in forward or reverse gear, the vehicle speed is decreasing within a second preset time period, the brake pedal is activated within the second preset time period, the accelerator pedal is not activated, and the slip signal is less than a preset slip value, then the target operating condition is the braking condition.

[0041] If an automatic parking function activation signal is detected followed by an automatic parking function deactivation signal, then the target operating condition is an automatic parking function deactivation operating condition.

[0042] If the automatic parking function activation signal is detected, and the vehicle's music switch is off and the vehicle's air conditioning switch is off, then the target operating condition is determined to be a noisy operating condition.

[0043] Secondly, embodiments of this application provide a vehicle control device, the device comprising:

[0044] The acquisition module is used to acquire vehicle driving data;

[0045] The operating condition determination module is used to determine the target operating condition based on the driving data;

[0046] The vehicle parameter determination module is used to determine the vehicle parameters to be adjusted based on the target operating conditions.

[0047] The scoring module is used to obtain the parking evaluation score of the vehicle based on the target working condition;

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

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

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

[0051] The vehicle weight corresponding to the acceleration condition is obtained based on the acceleration, the wheel-end drive torque, and the rolling radius of the drive wheel.

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

[0053] Obtain the acceleration curve and vehicle weight corresponding to the braking condition;

[0054] The braking force is obtained based on the acceleration curve and the vehicle weight;

[0055] The braking pressure curve corresponding to the braking condition is obtained based on the 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 condition, then the vehicle parameters include: a braking force flow rate curve, and the vehicle parameter determination module is specifically used for:

[0058] Obtain the acceleration curve and vehicle weight corresponding to the braking condition;

[0059] The braking force is obtained based on the acceleration curve and the vehicle weight;

[0060] The braking flow curve corresponding to the braking condition is obtained based on the 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: automatic parking function deactivation operating condition and operating noise condition; the score determination module is specifically used for:

[0063] Based on the vehicle parameters corresponding to the automatic parking function exit condition, the smoothness score, rolling back score, and boost activation score of the vehicle are determined.

[0064] The operating noise score is determined based on the vehicle parameters corresponding to the operating noise conditions.

[0065] The vehicle's parking evaluation score is obtained based on the ride comfort score, the runaway score, the boost activation score, and the operating noise score.

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

[0067] For each automatic parking function exit condition, the first process is executed to obtain a smoothness score corresponding to each automatic parking function exit condition; based on the smoothness score corresponding to each automatic parking function exit condition, the smoothness score corresponding to the vehicle is obtained.

[0068] The first process includes:

[0069] Braking pressure is obtained through a braking pressure sensor;

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

[0071] The target braking force is obtained based on the braking force corresponding to each braking force curve;

[0072] The target driving force is obtained based on the wheel end drive torque corresponding to the automatic parking function exit condition and the rolling radius of the drive wheel.

[0073] The drag force is obtained based on the target braking force and the target driving force;

[0074] A smoothness score is obtained based on the drag force.

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

[0076] If the gear being used is in forward or reverse gear, the vehicle speed is increasing within a first preset time period, the brake pedal is not activated, the accelerator pedal is activated 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 gear being used is in forward or reverse gear, the vehicle speed is decreasing within a second preset time period, the brake pedal is activated within the second preset time period, the accelerator pedal is not activated, and the slip signal is less than a preset slip value, then the target operating condition is the braking condition.

[0078] If an automatic parking function activation signal is detected followed by an automatic parking function deactivation signal, then the target operating condition is an automatic parking function deactivation operating condition.

[0079] If the automatic parking function activation signal is detected, and the vehicle's music switch is off and the vehicle's air conditioning switch is off, then the target operating condition is determined to be a noisy operating condition.

[0080] Thirdly, another embodiment of this application also provides an electronic device, including 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, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the methods provided in the first aspect embodiment of this application.

[0081] Fourthly, another embodiment of this application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for causing a computer to perform any of the methods provided in the first aspect of this application.

[0082] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0083] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0084] Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle control method provided in an embodiment of this application;

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

[0086] Figure 3 A schematic diagram of a device in a vehicle for a vehicle control method provided in an embodiment of this application;

[0087] Figure 4 A schematic flowchart illustrating the determination of braking pressure and braking force curves in a vehicle control method provided in this application embodiment;

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

[0089] Figure 6 A schematic diagram of braking pressure for a vehicle control method provided in this application embodiment;

[0090] Figure 7 A schematic flowchart illustrating the process of determining a power flow curve for a vehicle control method provided in this application embodiment;

[0091] Figure 8 A schematic diagram illustrating the process of obtaining a vehicle parking evaluation score based on a target operating condition using a vehicle control method provided in this application embodiment;

[0092] Figure 9 This is a first flowchart illustrating a vehicle control method provided in an embodiment of this application;

[0093] Figure 10 A schematic diagram of an apparatus for a vehicle control method provided in an embodiment of this application;

[0094] Figure 11This is a schematic diagram of an electronic device for a vehicle control method provided in an embodiment of this application. Detailed Implementation

[0095] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0096] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0097] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0098] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0099] The inventors discovered that with the rapid development of technology and the gradual improvement of people's quality of life, more and more vehicles are entering every household and becoming people's main choice for travel. Currently, vehicles are becoming increasingly intelligent, and automatic parking is one of the fastest-developing vehicle technologies.

[0100] In related technologies, the automatic parking control schemes for vehicles cannot automatically adjust and optimize their software control logic and calibration parameters in real time according to the vehicle's status. Locked software logic and parameters cannot meet the needs of the vehicle under different conditions. Affected by factors such as inconsistent vehicle parts condition, wear and tear, and varying loads, the automatic parking function suffers from problems such as insufficient trigger sensitivity, sluggish starting, loud pressure relief noise, and rolling backwards or abnormal noises from secondary pressurization during prolonged parking on steep slopes.

[0101] To address the aforementioned problems, embodiments of this application provide a vehicle control method, apparatus, device, and storage medium to solve these problems. The inventive concept of this application can be summarized as follows: acquiring vehicle driving data; determining each target operating condition based on the driving data; determining the vehicle parameters corresponding to each target operating condition; obtaining a parking evaluation score for the vehicle based on the vehicle parameters corresponding to each target operating condition; and sending the parking evaluation score to the vehicle so that the vehicle adjusts its parameters according to the parking evaluation score.

[0102] In this embodiment, the vehicle parameters are determined based on the vehicle's driving data, and the vehicle is evaluated based on these parameters. The vehicle is then adjusted based on its score, which ensures that the vehicle parameters are more timely and better reflect the vehicle's condition. This makes the automatic parking function control more consistent with the actual vehicle condition, improving the sensitivity of the function trigger and the smoothness of departure.

[0103] For ease of understanding, the vehicle control method provided in this application embodiment will be described in detail below with reference to the accompanying drawings:

[0104] like Figure 1 The diagram illustrates an application scenario of a vehicle control method according to an embodiment of this application. The diagram includes: a vehicle 10 and a cloud platform 20; wherein: the cloud platform 20 acquires driving data from the vehicle 10; determines each target operating condition based on the driving data; determines the vehicle parameters corresponding to each target operating condition; obtains a parking evaluation score for the vehicle 10 based on the vehicle parameters corresponding to each target operating condition; and sends the parking evaluation score to the vehicle 10 so that the vehicle 10 adjusts its vehicle parameters according to the parking evaluation score.

[0105] The description in this application focuses only on a single vehicle 10 and cloud 20. However, 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 adding additional modules to or removing individual modules from the illustrated environment will not change the underlying concept of the exemplary embodiments of this application.

[0106] It should be noted that the vehicle control method proposed in this application is not only applicable to... Figure 1 The application scenarios shown are also applicable to any device with vehicle control requirements. Furthermore, the aforementioned... Figure 1 This example only uses the cloud as the executing entity and does not limit the executing entity. For example, this application can also be executed by a vehicle, or the cloud can execute the steps of obtaining the parking evaluation score and adjusting the vehicle parameters.

[0107] like Figure 2 The diagram shown is a flowchart illustrating a vehicle control method provided in an embodiment of this application, wherein:

[0108] In step 201: Obtain the vehicle's driving data.

[0109] In this embodiment of the application, the vehicle's driving data is reported to the cloud by the vehicle. After each trip, the vehicle uploads the driving data of this trip to the cloud so that the cloud can determine the vehicle's parking evaluation score based on the driving data.

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

[0111] In some possible embodiments, such as Figure 3 As shown, the vehicle includes, but is not limited to: sensors, chassis controllers, automatic parking control software, actuators, satellite positioning modules, connectivity 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, used to acquire information such as wheel speed, master cylinder pressure, acceleration, and steering wheel angle of the vehicle;

[0113] The chassis controller is used to: acquire information collected by sensors, control actuators, and send the acquired information collected by sensors and the status information of actuators to the network module; it is also used to receive control commands 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 vehicle's real-time location information;

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

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

[0118] In summary, vehicle driving data includes, but is not limited to: gear used, vehicle speed, brake pedal, accelerator pedal, slip signal, auto hold function activation signal, and auto hold function deactivation signal.

[0119] In step 202: Determine each target operating condition based on the driving data.

[0120] In this embodiment, the vehicle switches between different operating conditions during operation. Therefore, it is necessary to determine each target operating condition based on the driving data reported by the vehicle. Target operating conditions include, but are not limited to: acceleration condition, braking condition, automatic parking function deactivation condition, and operating noise condition. The vehicle state is different under each operating condition, which will be described below:

[0121] Acceleration condition: The gear is in forward or reverse gear, the vehicle speed is increasing within a first preset time period, the brake pedal is not activated, the accelerator pedal is activated within a first preset time period, and the slip signal is less than the preset slip value.

[0122] In this embodiment of the application, the acceleration condition refers to the acceleration phase that the vehicle is in during driving. When the vehicle is accelerating, the gear used is forward or reverse, and the vehicle speed will increase. At this time, the brake pedal is not activated, while the accelerator pedal is activated. 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 there may be multiple accelerations during the vehicle's operation, and all acceleration conditions need to be determined for the entire driving process.

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

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

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

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

[0128] In this embodiment, the automatic parking function exit condition refers to the situation where the vehicle exits the automatic parking function. It is determined that the vehicle entered the automatic parking function and then exited it, indicating that an automatic parking function exit condition has occurred. Therefore, detecting an automatic parking function activation signal followed by an automatic parking function exit signal indicates that an automatic parking function exit condition has been detected. In this embodiment, the time interval between detecting the automatic parking function activation signal and detecting the automatic parking function exit signal is not limited, but it must be ensured that the detected automatic parking function activation signal and the detected automatic parking function exit signal belong to the same power-on cycle.

[0129] Operating noise condition: When the automatic parking function activation signal is detected, the vehicle's music switch is off and the vehicle's air conditioning switch is off.

[0130] In this embodiment of the application, when the automatic parking function is activated, in order to determine the noise level of the automatic parking function, it is necessary to determine that the vehicle's music switch is off and the vehicle's air conditioning switch is off, so as to ensure that the obtained decibel value can more accurately represent the noise level 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 this embodiment, the vehicle parameters to be adjusted are different for each target operating condition, which will be explained below:

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

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

[0135]

[0136] Where 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 this embodiment of the application, the real-time vehicle weight can be calculated using Formula 1, thereby ensuring that the parking evaluation score obtained in subsequent calculations is more timely.

[0138] It is important to know that during acceleration, the acceleration may not be a fixed value. Therefore, the acceleration corresponding to each acceleration condition can be determined based on the distance the vehicle travels during that acceleration condition, the duration of travel, and the vehicle's initial speed at the start of the acceleration condition.

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

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

[0141] In this embodiment of the application, the acceleration of the vehicle during braking can be obtained using an acceleration sensor, and a curve of acceleration versus time can be plotted, for example: Figure 5 As shown, the starting time for the braking condition is t1 and the ending time is t2. A total of 10 accelerations were measured during the time interval from t1 to t2. The acceleration curve can be obtained from the 10 accelerations and the timestamp corresponding to each acceleration.

[0142] In this step, the vehicle weight can be the vehicle weight pre-stored in the vehicle, or the vehicle weight can be calculated using Formula 1. This application does not limit the method.

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

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

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

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

[0147] For example: acceleration curves such as Figure 5 As shown, there are 10 acceleration values, which can be used to obtain 10 braking forces.

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

[0149] In this embodiment of the application, the braking pressure collected by the pressure sensor is obtained under braking conditions, and then a curve of braking pressure versus time can be plotted; for example: Figure 6 As shown, the starting time for the braking condition is t1 and the ending time is t2. A total of 10 braking pressures were measured during the time interval from t1 to t2. The braking pressure curve can be obtained from the 10 braking pressures and the timestamp corresponding to each braking pressure.

[0150] In step 404: the braking pressure and braking force curves are obtained based on the braking force and braking pressure curves.

[0151] For example: acceleration curves such as Figure 5 As shown, there are 10 acceleration values, which can be used to obtain 10 braking forces. For each braking force, the timestamp of the braking force is determined. Based on the timestamp of the braking force, the corresponding braking pressure is obtained from the braking pressure curve. Thus, the braking pressure corresponding to each braking force can be obtained, and the braking pressure and braking force curve can be obtained.

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

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

[0154] The specific implementation method of this step is the same as that of 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 method of this step is the same as that of step 402, and will not be described again here.

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

[0158] In this embodiment of the 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 rate, and thus the braking flow rate curve constructed by braking flow rate and time can be obtained.

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

[0160] For example: acceleration curves such as Figure 5 As shown, there are 10 acceleration values, which can be used to obtain 10 braking forces. For each braking force, the timestamp of the braking force is determined. Based on the timestamp of the braking force, the corresponding braking force flow rate is obtained from the braking force flow rate curve. Thus, the braking force flow rate corresponding to each braking force can be obtained, and the braking force flow rate curve can be obtained.

[0161] In step 204: the vehicle's parking evaluation score is obtained based on the target operating conditions.

[0162] In this embodiment of the application, in order to ensure that the adjusted vehicle parameters are more accurate than the original vehicle parameters, it is first necessary to evaluate the vehicle's parking based on the vehicle's target operating conditions. If the current parking evaluation score is higher than the previous parking evaluation score, then the vehicle parameters are adjusted; otherwise, there is no need to adjust the vehicle parameters.

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

[0164] In step 801: Based on the vehicle parameters corresponding to the automatic parking function exit condition, determine the vehicle's ride comfort score, rollback score, and boost activation score.

[0165] In this embodiment, the ride comfort score is obtained based on the vehicle's departure ride comfort, which is assessed by the magnitude of the drag force when the automatic parking function departs. During vehicle operation, there may be multiple instances of the automatic parking function being activated and then disengaged, or there may be a single instance of the automatic parking function being activated and then disengaged. Therefore, based on the driving data uploaded by the vehicle, one or more automatic parking function disengagement scenarios may be obtained. If multiple automatic parking function disengagement scenarios are obtained, the mean or mode of the ride comfort score corresponding to each automatic parking function disengagement scenario can be used as the vehicle's corresponding ride comfort score.

[0166] In some possible embodiments, obtaining a smoothness score for each automatic parking function exit condition can be implemented as a first procedure, the first procedure being as follows: Figure 9 As shown, where:

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

[0168] In this embodiment of the application, the brake pressure collected by the pressure sensor changes over time when the automatic parking function is disengaged. Therefore, n brake pressures can be obtained when the automatic parking function is disengaged.

[0169] For example, the start time for the automatic parking function to exit the operating condition is t1, and the end time is t2. A total of 10 braking pressures were measured during 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 working condition is the braking working condition.

[0171] In this embodiment, the braking force can be obtained through braking pressure and the braking pressure vs. braking force curve. The process of constructing the braking pressure vs. braking force curve is similar to... Figure 4 The steps shown are the same, and will not be repeated here.

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

[0173] In the embodiments of this application, after obtaining the braking force corresponding to multiple braking pressure and braking force curves, the average braking force in each braking force curve can be used as the target braking force, or the mode of the braking force in each braking pressure and braking force curve can be used as the target braking force. This application does not limit this.

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

[0175] In this embodiment of the application, the target driving force can be obtained using Formula 3, wherein:

[0176]

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

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

[0179] In the embodiments of this application, after obtaining the target braking force and the target driving force, 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 For drag force, F b For target braking force, F t Driven by the goal.

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

[0184] After obtaining the driving force, the ride comfort score can be obtained by integrating the drag force during braking. The braking duration involved in the drag force integration can be the average braking duration for each braking condition, specifically implemented as shown in Formula 5, where:

[0185] P=∫ t F d , (Formula 5)

[0186] Where P is the smoothness score, F d The drag force is t, and the braking time is t.

[0187] In some possible embodiments, the vehicle's runaway score is determined based on the vehicle parameters corresponding to the automatic parking function exit condition. Specifically, this can be implemented as follows: for each automatic parking function exit condition, a second process is executed to obtain the runaway score corresponding to each automatic parking function exit condition; the runaway score corresponding to the vehicle is obtained based on the runaway score corresponding to each automatic parking function exit condition; wherein, the second process can be specifically implemented as follows: obtaining the runaway distance corresponding to the automatic parking function exit condition; and obtaining the runaway score based on the runaway distance.

[0188] In this embodiment of the application, the maximum wheel speed corresponding to the automatic parking function being activated can be recorded, and the vehicle's rollback distance can be obtained based on the maximum wheel speed. The rollback distance of the vehicle is then used as the vehicle's rollback score.

[0189] In some possible embodiments, the boost activation score corresponding to the vehicle is determined based on the vehicle parameters corresponding to the automatic parking function exit condition. Specifically, this can be implemented as follows: for each automatic parking function exit condition, a third process is executed to obtain the boost activation score corresponding to each automatic parking function exit condition; the boost activation score corresponding to the vehicle is obtained based on the boost activation score corresponding to each automatic parking function exit condition; wherein, the third process includes: obtaining the number of booster triggers corresponding to the automatic parking function exit condition; and obtaining the boost activation score based on the number of booster triggers.

[0190] In this embodiment of the application, the number of times the turbocharger is triggered when the automatic parking function is active can be recorded, and the number of times the turbocharger is triggered can be used as the turbocharger activation score.

[0191] In step 802: the working noise score is determined based on the vehicle parameters corresponding to the working noise condition.

[0192] In this embodiment, after filtering out the operating noise conditions, the average noise level in decibels under each operating noise condition can be used as the operating noise score. If there are multiple operating noise conditions, the average of the noise levels in decibels corresponding to each of the multiple operating noise conditions can be used as the operating noise score.

[0193] In step 803: Based on the ride comfort score, runaway score, boost activation score, and operating noise score, the vehicle's parking evaluation score is obtained.

[0194] In this embodiment of the application, after obtaining the ride comfort score, runaway score, boost activation score and operating noise score, the ride comfort score, runaway score, boost activation score and operating noise score can be weighted to obtain the vehicle's parking evaluation score.

[0195] It should be noted that in this embodiment of the application, the weights corresponding to the smoothness score, the run-flat score, the boost activation score, and the operating noise score are not limited, and can be set according to the situation.

[0196] In step 205: The parking evaluation score is sent to the vehicle so that the vehicle can adjust the parameters of the vehicle to be adjusted based on the parking evaluation score.

[0197] In this embodiment of the 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 previously received parking evaluation score. If the parking evaluation score is greater than the previously received parking evaluation score, the vehicle parameters to be adjusted are adjusted.

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

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

[0200] Where 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] The stability coefficient is used to prevent vehicle malfunctions caused by drastic changes in vehicle parameters, and B is a value pre-configured in the vehicle.

[0202] It is important to know that for each braking force in the braking pressure and braking force curve, an adjustment value needs to be obtained through Formula 6. 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 update method of the braking flow curve is the same as that of the braking pressure and braking force curve, and will not be elaborated here.

[0203] Formula 6 can be used to determine the vehicle's real-time weight, braking pressure, and braking force. In this embodiment, considering that the vehicle weight is used to calculate the activation threshold and exit torque threshold of the automatic parking function, updating the vehicle weight can avoid problems such as insufficient braking force causing vehicle rollback and secondary pressurization noise caused by an excessively low activation threshold; it can also avoid problems such as excessive braking force causing start-up sluggishness caused by an excessively high activation threshold; it can avoid problems such as rollback after starting caused by an excessively low exit torque threshold; and it can avoid problems such as start-up sluggishness caused by an excessively high exit torque threshold.

[0204] Secondly, the brake pressure and braking force curves can be used to calculate the activation pressure threshold of the automatic parking function. Therefore, updating the brake pressure can update the brake pressure and braking force curves, thereby avoiding pressure threshold deviations caused by differences in vehicle braking systems. This can also avoid problems such as insufficient braking force causing vehicle rollover and secondary pressurization noise caused by an excessively low activation threshold, and can also avoid problems such as excessive braking force causing start-up sluggishness caused by an excessively high activation threshold.

[0205] Finally, the brake flow curve can be used to calculate the pressure relief rate of the automatic parking function or the pressure build-up flow during secondary pressurization. Therefore, updating the brake flow curve can avoid deviations in pressure relief rate and pressure build-up flow caused by differences in vehicle braking systems. It can also prevent starting sluggishness caused by excessively low pressure relief rate, excessive pressure relief noise caused by excessively high pressure relief rate, vehicle slippage caused by insufficient pressure build-up flow, and excessive pressure build-up noise caused by excessive pressure build-up flow.

[0206] In summary, the vehicle control method provided in this application can continuously optimize the automatic parking function based on the actual state of each vehicle, unaffected by factors such as inconsistent component conditions, component aging, or different loads, making the automatic parking function control more consistent with the actual vehicle conditions. By analyzing vehicle conditions based on real-vehicle data, the control logic and parameters are optimized, improving the smoothness of departure, reducing operating noise, and preventing insufficient braking force from causing rollover.

[0207] It is understandable that the steps described above, which involve the vehicle receiving the parking evaluation score and adjusting the vehicle parameters to be adjusted, can also be performed by the cloud. That is, after the cloud obtains the parking evaluation score, it compares the parking evaluation score with the previously calculated parking evaluation score. If the parking evaluation score is greater than the previously calculated parking evaluation score, 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 can update 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 the embodiments of this application, as follows... Figure 9 As shown, the following describes a vehicle control device 100 provided in an embodiment of this application. The device includes:

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

[0210] The working condition determination module 1002 is used to determine the target working condition based on the driving data;

[0211] The vehicle parameter determination module 1003 is used to determine the vehicle parameters to be adjusted based on the target operating conditions.

[0212] The scoring determination module 1004 is used to obtain the parking evaluation score of the vehicle based on the target working condition;

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

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

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

[0216] The vehicle weight corresponding to the acceleration condition is obtained based on the acceleration, the wheel-end drive torque, and the rolling radius of the drive wheel.

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

[0218] Obtain the acceleration curve and vehicle weight corresponding to the braking condition;

[0219] The braking force is obtained based on the acceleration curve and the vehicle weight;

[0220] The braking pressure curve corresponding to the braking condition is obtained based on the 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, then the vehicle parameters include: a braking force flow rate curve, and the vehicle parameter determination module 1003 is specifically used for:

[0223] Obtain the acceleration curve and vehicle weight corresponding to the braking condition;

[0224] The braking force is obtained based on the acceleration curve and the vehicle weight;

[0225] The braking flow curve corresponding to the braking condition is obtained based on the 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: automatic parking function deactivation operating condition and operating noise condition; the score determination module 1004 is specifically used for:

[0228] Based on the vehicle parameters corresponding to the automatic parking function exit condition, the smoothness score, rolling back score, and boost activation score of the vehicle are determined.

[0229] The operating noise score is determined based on the vehicle parameters corresponding to the operating noise conditions.

[0230] The vehicle's parking evaluation score is obtained based on the ride comfort score, the runaway score, the boost activation score, and the operating noise score.

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

[0232] For each automatic parking function exit condition, the first process is executed to obtain a smoothness score corresponding to each automatic parking function exit condition; based on the smoothness score corresponding to each automatic parking function exit condition, the smoothness score corresponding to the vehicle is obtained.

[0233] The first process includes:

[0234] Braking pressure is obtained through a braking pressure sensor;

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

[0236] The target braking force is obtained based on the braking force corresponding to each braking force curve;

[0237] The target driving force is obtained based on the wheel end drive torque corresponding to the automatic parking function exit condition and the rolling radius of the drive wheel.

[0238] The drag force is obtained based on the target braking force and the target driving force;

[0239] A smoothness score is obtained based on the drag force.

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

[0241] If the gear being used is in forward or reverse gear, the vehicle speed is increasing within a first preset time period, the brake pedal is not activated, the accelerator pedal is activated 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 gear being used is in forward or reverse gear, the vehicle speed is decreasing within a second preset time period, the brake pedal is activated within the second preset time period, the accelerator pedal is not activated, and the slip signal is less than a preset slip value, then the target operating condition is the braking condition.

[0243] If an automatic parking function activation signal is detected followed by an automatic parking function deactivation signal, then the target operating condition is an automatic parking function deactivation operating condition.

[0244] If the automatic parking function activation signal is detected, and the vehicle's music switch is off and the vehicle's air conditioning switch is off, then the target operating condition is determined to be a noisy operating condition.

[0245] Corresponding to the above embodiments, this application also provides an electronic device. Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 1100 may include a processor 1101, a memory 1102, and a communication unit 1103. These components communicate through one or more buses. Those skilled in the art will understand 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 topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0246] The communication unit 1103 is used to establish a communication channel, enabling the electronic device to communicate with other devices. It receives user data from other devices or sends user data to other devices.

[0247] The processor 1101 serves as the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes software programs and / or modules stored in the memory 1102, and calls data stored in the memory to perform various functions and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 1101 may consist only of a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0248] Memory 1102 is used to store the execution instructions of processor 1101. Memory 1102 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, 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 storage, flash memory, magnetic disk or optical disk.

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

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

[0251] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or certain parts of the embodiments of the present invention.

[0252] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments and terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain vehicle driving data; The target operating condition is determined based on the driving data; Based on the target operating condition, the vehicle parameters to be adjusted are determined; if the target operating condition is an acceleration condition, the vehicle parameters include: vehicle weight; if the target operating condition is a braking condition, the vehicle parameters include: braking pressure and braking force curve, or braking force flow curve. The vehicle's parking evaluation score is obtained based on the automatic parking function exit condition and the operating noise condition; wherein, obtaining the vehicle's parking evaluation score based on the automatic parking function exit condition and the operating noise condition includes: determining the vehicle's smoothness score, rollback score, and boost activation score based on the vehicle parameters corresponding to the automatic parking function exit condition; determining the operating noise score based on the vehicle parameters corresponding to the operating noise condition; and obtaining the vehicle's parking evaluation score based on the smoothness score, the rollback score, the boost activation score, and the operating noise score. Among them, the operating noise condition is the condition corresponding to the detection of the automatic parking function activation signal, the vehicle's music switch being in the off state, and the vehicle's air conditioning switch being in the off state; the boost activation score is the count of booster triggering when the vehicle's automatic parking function is in the activated state. The parking evaluation score is sent to the vehicle so that the vehicle can adjust the parameters of the vehicle to be adjusted based on the parking evaluation score.

2. The method according to claim 1, characterized in that, If the target operating condition is an acceleration operating condition, then the vehicle parameters include: vehicle weight. Determining the vehicle parameters to be adjusted based on the target operating condition includes: Obtain the acceleration, wheel-end drive torque, and drive wheel rolling radius corresponding to the acceleration condition; The vehicle weight corresponding to the acceleration condition is obtained based on the acceleration, the wheel-end drive torque, and the rolling radius of the drive wheel.

3. The method according to claim 1, characterized in that, If the target operating condition is a braking condition, then the vehicle parameters include: braking pressure and braking force curves. Determining the vehicle parameters to be adjusted based on the target operating condition includes: Obtain the acceleration curve and vehicle weight corresponding to the braking condition; The braking force is obtained based on the acceleration curve and the vehicle weight; The braking pressure curve corresponding to the braking condition is obtained based on the 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, then the vehicle parameters include: a braking force flow rate curve. Determining the vehicle parameters to be adjusted based on the target operating condition includes: Obtain the acceleration curve and vehicle weight corresponding to the braking condition; The braking force is obtained based on the acceleration curve and the vehicle weight; The braking flow curve corresponding to the braking condition is obtained based on the 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 method of determining the vehicle's ride comfort score based on the vehicle parameters corresponding to the automatic parking function exit condition includes: For each automatic parking function exit condition, the first process is executed to obtain a smoothness score corresponding to each automatic parking function exit condition; based on the smoothness score corresponding to each automatic parking function exit condition, the smoothness score corresponding to the vehicle is obtained. The first process includes: Braking pressure is obtained through a braking pressure sensor; Based on the braking pressure and each braking pressure versus braking force curve, the braking force corresponding to each braking pressure versus braking force curve is obtained; wherein, the braking pressure versus braking force curve is obtained when the target operating condition is the braking condition; The target braking force is obtained based on the braking force corresponding to each braking force curve; The target driving force is obtained based on the wheel end drive torque corresponding to the automatic parking function exit condition and the rolling radius of the drive wheel. The drag force is obtained based on the target braking force and the target driving force; A smoothness score is obtained based on the drag force.

6. The method according to any one of claims 1-5, characterized in that, The driving data includes: gear position, vehicle speed, brake pedal position, accelerator pedal position, coasting signal, automatic parking function activation signal, and automatic parking function deactivation signal. Determining each target operating condition based on the driving data includes: If the gear being used is in forward or reverse gear, the vehicle speed is increasing within a first preset time period, the brake pedal is not activated, the accelerator pedal is activated 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 gear being used is in forward or reverse gear, the vehicle speed is decreasing within a second preset time period, the brake pedal is activated within the second preset time period, the accelerator pedal is not activated, and the slip signal is less than a preset slip value, then the target operating condition is the braking condition. If an automatic parking function activation signal is detected followed by an automatic parking function deactivation signal, then the target operating condition is an automatic parking function deactivation operating condition. If the automatic parking function activation signal is detected, and the vehicle's music switch is off and the vehicle's air conditioning switch is off, then the target operating condition is determined to be a noisy operating condition.

7. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire vehicle driving data; The operating condition determination module is used to determine the target operating condition based on the driving data; The vehicle parameter determination module is used to determine the vehicle parameters to be adjusted based on the target operating condition; if the target operating condition is an acceleration condition, the vehicle parameters include: vehicle weight; if the target operating condition is a braking condition, the vehicle parameters include: braking pressure and braking force curve, or braking force flow curve. The scoring module is used to obtain the parking evaluation score of the vehicle based on the automatic parking function exit condition and the operating noise condition; specifically, it is used to: determine the smoothness score, rollback score, and boost activation score of the vehicle based on the vehicle parameters corresponding to the automatic parking function exit condition; determine the operating noise score based on the vehicle parameters corresponding to the operating noise condition; and obtain the parking evaluation score of the vehicle based on the smoothness score, the rollback score, the boost activation score, and the operating noise score. Among them, the operating noise condition is the condition corresponding to the detection of the automatic parking function activation signal, the vehicle's music switch being in the off state, and the vehicle's air conditioning switch being in the off state; the boost activation score is the count of booster triggering when the vehicle's automatic parking function is in the activated state. The parameter adjustment module is used to send the parking evaluation score to the vehicle so that the vehicle can adjust the parameters of the vehicle to be adjusted according to the parking evaluation score.

8. An electronic device, characterized in that, It includes 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 perform the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1-6.

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