Vehicle control method, system and equipment and readable storage medium

Abstract

The invention discloses a vehicle control method, system and device and a readable storage medium, and relates to the technical field of automatic parking. The method specifically comprises the steps that the driving distance, the real-time vehicle speed, the real-time gradient and the real-time hydraulic pressure are obtained; based on the real-time hydraulic pressure and a preset hydraulic pressure threshold value, the response duration of the braking system is determined; determining a minimum parking distance based on the real-time vehicle speed, the response duration of the braking system and a preset deceleration; determining a safe driving distance based on the real-time gradient, the minimum parking distance, a preset gradient threshold value and a preset distance threshold value; and controlling the target vehicle to run based on the running distance and the safe running distance. The technical problem that in the prior art, performance limitation of an actuator of the vehicle is not fully considered is solved.

Description

Technical Field

[0001] The present application relates to the field of automatic parking technology, and in particular to a vehicle control method, system, device and readable storage medium. Background Art

[0002] With the continuous development of automatic parking technology, the parking controller uses radar to determine the distance between the vehicle and the front and rear obstacles and the parking line, and then sends the driving distance and the maximum allowed speed to the actuator. It can be seen that this process identifies the distance to the target through the judgment of the external environment, thereby effectively avoiding collisions or ensuring that the vehicle is parked correctly.

[0003] However, current technology does not fully consider the performance limitations of the vehicle's own actuators. For example, when the vehicle's current speed is 10km / h and the distance to the obstacle is only 1cm, the vehicle's actuator cannot effectively stop the vehicle within such a short distance, which means that the situation has exceeded the safe driving distance that the actuator can achieve.

[0004] Therefore, how to provide a vehicle control method that takes into account the performance limitations of the vehicle's own actuators is an issue that needs to be urgently addressed. Summary of the invention

[0005] The present application provides a vehicle control method, system, device and readable storage medium, which can solve the technical problem existing in the prior art that the performance limitations of the vehicle's own actuators are not fully considered.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, the vehicle control method comprising:

[0007] Get travel distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure;

[0008] Determining a braking system response time based on the real-time hydraulic pressure and a preset hydraulic pressure threshold;

[0009] Determining a minimum stopping distance based on the real-time vehicle speed, the braking system response time and a preset deceleration;

[0010] Determine a safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold;

[0011] The target vehicle is controlled to travel based on the travel distance and the safe travel distance.

[0012] In combination with the first aspect, in one implementation, determining the braking system response time based on the real-time hydraulic pressure and the preset hydraulic pressure threshold comprises:

[0013] If the real-time hydraulic pressure is greater than the preset hydraulic pressure threshold, the preset first time duration is used as the braking system response time duration;

[0014] If the real-time hydraulic pressure is less than or equal to the preset hydraulic pressure threshold, the preset second time length is used as the braking system response time length, and the first time length is less than the second time length.

[0015] In combination with the first aspect, in one implementation, determining the safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold includes:

[0016] If the real-time slope is greater than a preset slope threshold, a preset distance threshold and the minimum stopping distance are summed to obtain a target distance, and the target distance is used as a safe driving distance;

[0017] If the real-time slope is less than or equal to the preset slope threshold, the minimum stopping distance is used as the safe driving distance.

[0018] In combination with the first aspect, in one implementation, controlling the target vehicle to travel based on the travel distance and the safe travel distance includes:

[0019] If the safe driving distance is greater than or equal to the driving distance, the vehicle is controlled to stop;

[0020] If the safe driving distance is less than the driving distance, the target vehicle is controlled to travel based on the real-time vehicle speed and a preset vehicle speed threshold.

[0021] In combination with the first aspect, in one implementation, controlling the target vehicle to travel based on the real-time vehicle speed and the preset vehicle speed threshold includes:

[0022] If the real-time vehicle speed is less than or equal to a preset vehicle speed threshold, controlling the target vehicle to travel based on the real-time vehicle speed;

[0023] If the real-time vehicle speed is greater than the preset vehicle speed threshold, the target vehicle is controlled to travel based on the preset vehicle speed threshold.

[0024] In combination with the first aspect, in one implementation, before the step of controlling the target vehicle to travel based on a preset vehicle speed threshold, the method further includes:

[0025] The first distance is obtained by multiplying the preset coefficient and the travel distance;

[0026] If the safe driving distance is less than the first distance, controlling the real-time vehicle speed to decrease to a preset vehicle speed threshold at a preset speed gradient;

[0027] If the safe driving distance is greater than or equal to the first distance, the real-time vehicle speed is controlled to be directly reduced to a preset vehicle speed threshold.

[0028] In a second aspect, an embodiment of the present application provides a vehicle control system, the vehicle control system comprising:

[0029] A first processing module, which is used to obtain travel distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure;

[0030] A second processing module, which is used to determine the braking system response time based on the real-time hydraulic pressure and a preset hydraulic pressure threshold;

[0031] A third processing module, which is used to determine a minimum stopping distance based on the real-time vehicle speed, the braking system response time and a preset deceleration;

[0032] a fourth processing module, configured to determine a safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold;

[0033] A fifth processing module is used to control the driving of the target vehicle based on the driving distance and the safe driving distance.

[0034] In conjunction with the second aspect, in one implementation, the second processing module is specifically configured to:

[0035] If the real-time hydraulic pressure is greater than the preset hydraulic pressure threshold, the first time duration is used as the braking system response time duration;

[0036] If the real-time hydraulic pressure is less than or equal to the preset hydraulic pressure threshold, the second time period is used as the braking system response time period, and the first time period is less than the second time period.

[0037] In the third aspect, an embodiment of the present application provides a vehicle control device, which includes a processor, a memory, and a vehicle control program stored in the memory and executable by the processor, wherein when the vehicle control program is executed by the processor, the steps of the vehicle control method as described in any one of the preceding items are implemented.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle control program is stored, wherein when the vehicle control program is executed by a processor, the steps of the vehicle control method as described in any one of the preceding items are implemented.

[0039] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0040] By acquiring the driving distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure, the current operating status of the vehicle can be accurately understood; the braking system response time is determined based on the real-time hydraulic pressure and the preset hydraulic pressure threshold; the shortest distance (minimum stopping distance) at which the vehicle can stop safely at the current speed and current braking performance is determined based on the real-time vehicle speed, the braking system response time and the preset deceleration; the safe driving distance is determined based on the real-time slope, the minimum stopping distance, the preset slope threshold and the preset distance threshold, ensuring that the vehicle has enough distance to stop safely even in extreme cases; the driving of the target vehicle is controlled based on the driving distance and the safe driving distance, and the driving status of the vehicle can be adjusted in real time to ensure that the vehicle travels within a safe range, effectively solving the problem that the performance limitations of the vehicle's own actuators are not fully considered in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of a flow chart of an embodiment of a vehicle control method of the present application;

[0042] Figure 2 For this application Figure 1 Detailed flow chart of step S20;

[0043] Figure 3 For this application Figure 1 A detailed flow chart of step S40;

[0044] Figure 4 This is a schematic diagram of the functional modules of an embodiment of a vehicle control system of the present application;

[0045] Figure 5 This is a schematic diagram of the hardware structure of the vehicle control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0048] In a first aspect, an embodiment of the present application provides a vehicle control method.

[0049] In one embodiment, referring to Figure 1 , Figure 1This is a flow chart of an embodiment of a vehicle control method of the present application.

[0050] like Figure 1 As shown, the vehicle control method includes:

[0051] Step S10: Obtain the travel distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure.

[0052] For example, in the embodiment of the present application, the driving distance refers to the distance from the starting position to the target parking space of the vehicle during the parking process; the real-time hydraulic pressure refers to the current pressure of the hydraulic oil in the hydraulic braking system, measured in bar, which can reflect the state of the braking system and help the driving system adjust the braking force to ensure the timeliness and reliability of the braking effect.

[0053] It is understandable that the driving distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure can all be obtained by the parking controller. By combining the acquisition and real-time monitoring of the above parameters, the vehicle can make smarter and safer decisions during driving, thereby improving the overall driving experience and safety.

[0054] Step S20: Determine the braking system response time based on the real-time hydraulic pressure and the preset hydraulic pressure threshold.

[0055] Exemplarily, in an embodiment of the present application, real-time hydraulic pressure is used to evaluate the working state and performance of the braking system; the preset hydraulic threshold refers to the minimum hydraulic pressure level set in the system design. Only when this pressure is exceeded can the braking system effectively respond. The preset hydraulic threshold can be determined according to actual needs and is not limited here. For example, the preset hydraulic threshold can preferably be 0.5 bar; the braking system response time refers to the time from the driver applying the brake pedal to the braking system actually producing a braking effect.

[0056] Specifically, the braking system response time corresponding to the real-time hydraulic pressure can be determined by judging the relationship between the real-time hydraulic pressure and the preset hydraulic pressure threshold, ensuring that the vehicle can stop quickly in an emergency, thereby ensuring the safety of the driver and passengers.

[0057] Step S30: Determine a minimum stopping distance based on the real-time vehicle speed, the braking system response time and the preset deceleration.

[0058] Exemplarily, in the embodiment of the present application, the preset deceleration refers to the deceleration when the vehicle enters the protection strategy after exceeding the safe driving distance; if this value is set too small, the automatic parking will not be completed smoothly, that is, it is not conducive to the performance of the automatic parking system; if this value is set too large, the operable space of the parking system will become larger, but the deceleration intensity of the vehicle after exceeding the safe driving distance will be greater, resulting in a poor overall vehicle experience; therefore, the preset deceleration cannot be set too large or too small, and it can be obtained based on actual vehicle tests, for example, the preset deceleration a can preferably be 3m / s^2; the minimum stopping distance refers to the shortest distance required for the vehicle to travel from the start of braking to a complete stop at the current speed.

[0059] Specifically, the real-time vehicle speed, the braking system response time, and the preset deceleration are substituted into the following calculation formula to obtain the minimum stopping distance. The calculation formula is as follows:

[0060]

[0061] Where V is the real-time vehicle speed; T1 is the braking system response time; a is the preset deceleration; L min is the minimum stopping distance.

[0062] Step S40: Determine a safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold.

[0063] For example, in an embodiment of the present application, the specific values ​​of the preset slope threshold and the preset distance threshold can be determined according to actual needs and are not limited here. For example, the preset slope threshold may preferably be 5%, and the preset distance threshold may preferably be 10 cm; the real-time slope refers to the slope or inclination of the vehicle's current position, which is used to evaluate the dynamic characteristics of the vehicle when driving on a slope; the safe driving distance refers to the minimum safe distance that should be maintained between the vehicle and obstacles (such as other vehicles, pedestrians, etc.), which can ensure that the vehicle has enough space to brake or avoid during driving to provide safety protection.

[0064] Specifically, the real-time slope can be compared with the preset slope threshold to consider the impact of different slope conditions on parking control, and then the safe driving distance can be determined by combining the comparison result and the preset distance threshold to remind the driver to adjust the driving speed or perform parking control based on the safe driving distance, thereby ensuring safety during driving.

[0065] Step S50: Controlling the target vehicle to travel based on the travel distance and the safe travel distance.

[0066] For example, in the embodiment of the present application, the target vehicle refers to the vehicle currently being controlled by the control system, such as an autonomous vehicle or a vehicle that needs to be parked. Specifically, by judging the relationship between the driving distance and the safe driving distance, different measures can be taken to accurately control the driving of the target vehicle, greatly reduce the risk of collision during parking, and protect the safety of the driver and surrounding personnel.

[0067] The present application accurately understands the current operating status of the vehicle by acquiring the driving distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure; determines the response time of the braking system based on the real-time hydraulic pressure and the preset hydraulic pressure threshold; determines the shortest distance (minimum stopping distance) at which the vehicle can stop safely at the current speed and current braking performance based on the real-time vehicle speed, the response time of the braking system and the preset deceleration; determines the safe driving distance based on the real-time slope, the minimum stopping distance, the preset slope threshold and the preset distance threshold, ensuring that the vehicle has enough distance to stop safely even in extreme situations; controls the driving of the target vehicle based on the driving distance and the safe driving distance, and can adjust the driving status of the vehicle in real time, thereby ensuring that the vehicle travels within a safe range, effectively solving the problem that the prior art does not fully consider the performance limitations of the vehicle's own actuators.

[0068] Further, in one embodiment, referring to Figure 2 As shown, the determining of the braking system response time based on the real-time hydraulic pressure and the preset hydraulic pressure threshold comprises:

[0069] Step S201: if the real-time hydraulic pressure is greater than the preset hydraulic pressure threshold, the first time duration is used as the braking system response time duration;

[0070] Step S202: If the real-time hydraulic pressure is less than or equal to the preset hydraulic pressure threshold, the second time duration is used as the braking system response time duration, and the first time duration is less than the second time duration.

[0071] By way of example, it should be noted that the response time of the braking system is different under different control systems. Therefore, the specific values ​​of the response time of the braking system (the first time and the second time) are related to different control systems and can be obtained through test bench or actual vehicle measurements, which is not limited here. Specifically, when the real-time hydraulic pressure P>the preset hydraulic threshold of 0.5bar, it means that the gap in the braking system has been eliminated, and the response time of the braking system (first time) at this time is relatively short. For example, in the ESC system (Electronic Stability Control), the first time can be preferably 0.1s, and in the Ibooster system (Intelligent Brake Booster) or One box system (Integrated Brake System), the first time can be preferably 0.05s; when the real-time hydraulic pressure p is less than the preset hydraulic threshold of 0.5bar, it means that there is still a gap in the braking system, so the response time of the braking system to eliminate the gap needs to be considered. At this time, the response time of the braking system (second time) is relatively long. For example, in the ESC system, the second time can be preferably 0.15s, and in the Ibooster / One box system, the second time can be preferably 0.1s.

[0072] Further, in one embodiment, referring to Figure 3 As shown, the safe driving distance is determined based on the real-time slope, the minimum stopping distance, the preset slope threshold and the preset distance threshold, including:

[0073] Step S401: If the real-time slope is greater than a preset slope threshold, a preset distance threshold and the minimum stopping distance are summed to obtain a target distance, and the target distance is used as a safe driving distance;

[0074] Step S402: If the real-time slope is less than or equal to the preset slope threshold, the minimum stopping distance is used as the safe driving distance.

[0075] For example, in the embodiment of the present application, the control of the vehicle under the slope condition is more complicated. slp |>When the preset slope threshold is 5%, it means the slope is steep and more safety margin needs to be reserved for the slope. 安全行驶距离 = Minimum stopping distance L min +Preset distance threshold 10cm; when slope |a slp |≤ the preset slope threshold of 5%, indicating that the slope is relatively gentle and there is no need to reserve more safety margin for the slope. 安全行驶距离 =L min .

[0076] Further, in one embodiment, controlling the target vehicle to travel based on the travel distance and the safe travel distance includes:

[0077] If the safe driving distance is greater than or equal to the driving distance, the vehicle is controlled to stop;

[0078] If the safe driving distance is less than the driving distance, the target vehicle is controlled to travel based on the real-time vehicle speed and a preset vehicle speed threshold.

[0079] Exemplarily, in the embodiment of the present application, the preset vehicle speed threshold is the maximum allowable vehicle speed V during parking. max , the specific value can be determined according to actual needs and is not limited here; if the safe driving distance L 安全行驶距离 ≥ driving distance S, it means that the target vehicle has exceeded the safe driving space and will no longer accept the control of the parking controller. It will directly enter the safety mode and control the vehicle to stop based on the longitudinal controller. If the safe driving distance L 安全行驶距离 < driving distance S, indicating that the target vehicle is in a safe driving space at this time, and can be controlled by the parking controller, that is, the target vehicle is controlled to drive according to the relationship between the real-time vehicle speed and the preset vehicle speed threshold.

[0080] Further, in one embodiment, the controlling the target vehicle to travel based on the real-time vehicle speed and the preset vehicle speed threshold comprises:

[0081] If the real-time vehicle speed is less than or equal to a preset vehicle speed threshold, controlling the target vehicle to travel based on the real-time vehicle speed;

[0082] If the real-time vehicle speed is greater than the preset vehicle speed threshold, the target vehicle is controlled to travel based on the preset vehicle speed threshold.

[0083] Exemplarily, in the embodiment of the present application, at the safe driving distance L 安全行驶距离 < driving distance S, if the real-time vehicle speed V ≤ preset vehicle speed threshold V max , indicating that the current driving environment is relatively safe and the vehicle can maintain the current speed; within the safe driving distance L 安全行驶距离 <In the case of driving distance S, if the real-time vehicle speed V> preset vehicle speed threshold V max , indicating that the current driving speed exceeds the safety range, which may lead to an increased risk of accidents. Therefore, the target vehicle speed can be controlled to be reduced to the preset speed threshold.

[0084] Furthermore, in one embodiment, before the step of controlling the target vehicle to travel based on a preset vehicle speed threshold, the method further includes:

[0085] The first distance is obtained by multiplying the preset coefficient and the travel distance;

[0086] If the safe driving distance is less than the first distance, controlling the real-time vehicle speed to decrease to a preset vehicle speed threshold at a preset speed gradient;

[0087] If the safe driving distance is greater than or equal to the first distance, the real-time vehicle speed is controlled to be directly reduced to a preset vehicle speed threshold.

[0088] Exemplarily, in the embodiment of the present application, the preset coefficient is a constant used to calculate and adjust the vehicle's driving safety performance, which can be obtained based on actual vehicle testing and is not limited here. For example, the preset coefficient can preferably be 0.95; the preset speed gradient can be determined based on actual needs and is not limited here.

[0089] Specifically, a distance reference value (i.e., the first distance L1 = 0.95*S) can be obtained by multiplying the preset coefficient by the driving distance to ensure that the vehicle remains within the safe driving range; if the safe driving distance L 安全行驶距离 < the first distance L1, indicating that the target vehicle is in a safe driving space at this time. The real-time vehicle speed can be gradually reduced based on the preset speed gradient to ensure that the vehicle can decelerate smoothly and avoid the discomfort caused by sudden braking. This strategy not only improves riding comfort, but also reduces the psychological pressure of the driver and passengers, creating a safer driving experience; if the safe driving distance L 安全行驶距离 ≥ the first distance L1, indicating that the target vehicle is about to exceed the safe driving space. In order to ensure safety, the control system can take immediate measures to directly reduce the real-time vehicle speed to the preset speed threshold. This rapid response mechanism helps to quickly restore the vehicle to a safe state and avoid accidents.

[0090] In a second aspect, an embodiment of the present application also provides a vehicle control system.

[0091] In one embodiment, referring to Figure 4 , Figure 4 Schematic diagram of the functional modules of the vehicle control system embodiment of the present application. Figure 4 As shown, the vehicle control system includes:

[0092] A first processing module, which is used to obtain travel distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure;

[0093] A second processing module, which is used to determine the braking system response time based on the real-time hydraulic pressure and a preset hydraulic pressure threshold;

[0094] A third processing module, which is used to determine a minimum stopping distance based on the real-time vehicle speed, the braking system response time and a preset deceleration;

[0095] a fourth processing module, configured to determine a safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold;

[0096] A fifth processing module is used to control the driving of the target vehicle based on the driving distance and the safe driving distance.

[0097] Furthermore, in one embodiment, the second processing module is specifically configured to:

[0098] If the real-time hydraulic pressure is greater than the preset hydraulic pressure threshold, the first time duration is used as the braking system response time duration;

[0099] If the real-time hydraulic pressure is less than or equal to the preset hydraulic pressure threshold, the second time period is used as the braking system response time period, and the first time period is less than the second time period.

[0100] Furthermore, in one embodiment, the fourth processing module is specifically used for:

[0101] If the real-time slope is greater than a preset slope threshold, a preset distance threshold and the minimum stopping distance are summed to obtain a target distance, and the target distance is used as a safe driving distance;

[0102] If the real-time slope is less than or equal to the preset slope threshold, the minimum stopping distance is used as the safe driving distance.

[0103] Furthermore, in one embodiment, the fifth processing module is specifically used for:

[0104] If the safe driving distance is greater than or equal to the driving distance, controlling the vehicle to stop;

[0105] If the safe driving distance is less than the driving distance, the target vehicle is controlled to travel based on the real-time vehicle speed and a preset vehicle speed threshold.

[0106] Furthermore, in one embodiment, the fifth processing module is further configured to:

[0107] If the real-time vehicle speed is less than or equal to the preset vehicle speed threshold, controlling the target vehicle to travel based on the real-time vehicle speed;

[0108] If the real-time vehicle speed is greater than the preset vehicle speed threshold, the target vehicle is controlled to travel based on the preset vehicle speed threshold.

[0109] Furthermore, in one embodiment, the fifth processing module is further configured to:

[0110] A first distance is obtained by multiplying a preset coefficient and a travel distance;

[0111] If the safe driving distance is less than the first distance, controlling the real-time vehicle speed to decrease to a preset vehicle speed threshold at a preset speed gradient;

[0112] If the safe driving distance is greater than or equal to the first distance, the real-time vehicle speed is controlled to be directly reduced to a preset vehicle speed threshold.

[0113] The present application accurately understands the current operating status of the vehicle by acquiring the driving distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure; determines the response time of the braking system based on the real-time hydraulic pressure and the preset hydraulic pressure threshold; determines the shortest distance (minimum stopping distance) at which the vehicle can stop safely at the current speed and current braking performance based on the real-time vehicle speed, the response time of the braking system and the preset deceleration; determines the safe driving distance based on the real-time slope, the minimum stopping distance, the preset slope threshold and the preset distance threshold, ensuring that the vehicle has enough distance to stop safely even in extreme situations; controls the driving of the target vehicle based on the driving distance and the safe driving distance, and can adjust the driving status of the vehicle in real time, thereby ensuring that the vehicle travels within a safe range, effectively solving the problem that the prior art does not fully consider the performance limitations of the vehicle's own actuators.

[0114] Among them, the functional implementation of each module in the above-mentioned vehicle control system corresponds to the various steps in the above-mentioned vehicle control method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0115] In a third aspect, an embodiment of the present application provides a vehicle control device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0116] Reference Figure 5 , Figure 5 Schematic diagram of the hardware structure of the vehicle control device involved in the embodiment of the present application. In the embodiment of the present application, the vehicle control device may include a processor, a memory, a communication interface and a communication bus.

[0117] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0118] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, which are used to interconnect the devices inside the vehicle control device, and interfaces used to interconnect the vehicle control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0119] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0120] The processor may be a general-purpose processor, which may call the vehicle control program stored in the memory and execute the vehicle control method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the vehicle control program is called may refer to the various embodiments of the vehicle control method of the present application, which will not be described in detail here.

[0121] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0122] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0123] A vehicle control program is stored on the readable storage medium of the present application, wherein when the vehicle control program is executed by the processor, the steps of the vehicle control method as described above are implemented.

[0124] Among them, the method implemented when the vehicle control program is executed can refer to the various embodiments of the vehicle control method of the present application, and will not be repeated here.

[0125] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0126] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0127] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0128] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0129] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0130] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0131] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle control method comprises: Get travel distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure; Determining a braking system response time based on the real-time hydraulic pressure and a preset hydraulic pressure threshold; Determining a minimum stopping distance based on the real-time vehicle speed, the braking system response time and a preset deceleration; Determine a safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold; The target vehicle is controlled to travel based on the travel distance and the safe travel distance.

2. The vehicle control method according to claim 1, characterized in that: The step of determining the braking system response time based on the real-time hydraulic pressure and the preset hydraulic pressure threshold comprises: If the real-time hydraulic pressure is greater than the preset hydraulic pressure threshold, the preset first time duration is used as the braking system response time duration; If the real-time hydraulic pressure is less than or equal to the preset hydraulic pressure threshold, the preset second time length is used as the braking system response time length, and the first time length is less than the second time length.

3. The vehicle control method according to claim 1, characterized in that: The step of determining the safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold comprises: If the real-time slope is greater than a preset slope threshold, a preset distance threshold and the minimum stopping distance are summed to obtain a target distance, and the target distance is used as a safe driving distance; If the real-time slope is less than or equal to the preset slope threshold, the minimum stopping distance is used as the safe driving distance.

4. The vehicle control method according to claim 1, characterized in that: The controlling the target vehicle to travel based on the travel distance and the safe travel distance includes: If the safe driving distance is greater than or equal to the driving distance, the vehicle is controlled to stop; If the safe driving distance is less than the driving distance, the target vehicle is controlled to travel based on the real-time vehicle speed and a preset vehicle speed threshold.

5. The vehicle control method according to claim 4, characterized in that: The method of controlling the target vehicle to travel based on the real-time vehicle speed and the preset vehicle speed threshold comprises: If the real-time vehicle speed is less than or equal to a preset vehicle speed threshold, controlling the target vehicle to travel based on the real-time vehicle speed; If the real-time vehicle speed is greater than the preset vehicle speed threshold, the target vehicle is controlled to travel based on the preset vehicle speed threshold.

6. The vehicle control method according to claim 5, characterized in that: Before the step of controlling the target vehicle to travel based on the preset vehicle speed threshold, the method further includes: The first distance is obtained by multiplying the preset coefficient and the travel distance; If the safe driving distance is less than the first distance, controlling the real-time vehicle speed to decrease to a preset vehicle speed threshold at a preset speed gradient; If the safe driving distance is greater than or equal to the first distance, the real-time vehicle speed is controlled to be directly reduced to a preset vehicle speed threshold.

7. A vehicle control system, characterized in that: The vehicle control system comprises: A first processing module, which is used to obtain travel distance, real-time vehicle speed, real-time slope and real-time hydraulic pressure; A second processing module, which is used to determine the braking system response time based on the real-time hydraulic pressure and a preset hydraulic pressure threshold; A third processing module, which is used to determine a minimum stopping distance based on the real-time vehicle speed, the braking system response time and a preset deceleration; a fourth processing module, configured to determine a safe driving distance based on the real-time slope, the minimum stopping distance, a preset slope threshold and a preset distance threshold; A fifth processing module is used to control the driving of the target vehicle based on the driving distance and the safe driving distance.

8. The vehicle control system according to claim 7, characterized in that: The second processing module is specifically used for: If the real-time hydraulic pressure is greater than the preset hydraulic pressure threshold, the first time duration is used as the braking system response time duration; If the real-time hydraulic pressure is less than or equal to the preset hydraulic pressure threshold, the second time period is used as the braking system response time period, and the first time period is less than the second time period.

9. A vehicle control device, characterized in that: The vehicle control device includes a processor, a memory, and a vehicle control program stored in the memory and executable by the processor, wherein when the vehicle control program is executed by the processor, the steps of the vehicle control method as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle control program, wherein when the vehicle control program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 6 are implemented.

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