Vehicle control method, controller, vehicle, storage medium and program product

Abstract

The invention relates to a vehicle control method, a controller, a vehicle, a storage medium and a program product, relates to the technical field of automatic driving, and can avoid sudden change of two adjacent vehicle speed gear planning results and improve driving safety. The method comprises the steps that under the condition that a vehicle is located on a first section of road, map reconstruction is conducted on a second section of road to obtain map information of the second section of road, road condition information of the second section of road is determined according to the map information, and the vehicle runs on the first section of road according to first vehicle speed gear information corresponding to the first section of road; the second section of road is a road which is adjacent to the first section of road after the first section of road and is about to be subjected to vehicle speed gear planning; according to the road condition information, vehicle speed gear planning is conducted on the second section of road, and middle vehicle speed gear information is obtained; and performing smooth transition processing on the first vehicle speed gear information and the middle vehicle speed gear information to obtain second vehicle speed gear information, and controlling the vehicle to run on the second section of road according to the second vehicle speed gear information.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular, to a vehicle control method, a controller, a vehicle, a storage medium, and a program product. Background Art

[0002] At present, when the predictive cruise control function on a vehicle performs speed planning, there is a blank period between the previous speed planning and the next speed planning. During this period, the map information of the road for the next speed planning cannot be obtained, so the next speed planning cannot be performed, and the vehicle maintains the speed obtained by the previous speed planning until the next speed planning is completed, ignoring the road conditions in the window period between the two speed planning. When the results of the previous speed planning and the next speed planning are significantly different, the vehicle speed will change suddenly, that is, a speed "step" will occur, resulting in an increased risk of traffic accidents. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, the present disclosure provides a vehicle control method, a controller, a vehicle, a storage medium and a program product.

[0004] In order to achieve the above objectives, in a first aspect, the present disclosure provides a vehicle control method, the method comprising: When the vehicle is located on the first section of road, a map of the second section of road is reconstructed to obtain map information of the second section of road, and road condition information of the second section of road is determined according to the map information, wherein the vehicle travels on the first section of road according to the first vehicle speed gear information corresponding to the first section of road, and the second section of road is a road adjacent to the first section of road and to be subjected to vehicle speed gear planning after the first section of road; According to the road condition information, a vehicle speed gear is planned for the second section of the road to obtain intermediate vehicle speed gear information; The first vehicle speed gear information and the intermediate vehicle speed gear information are smoothly transitioned to obtain second vehicle speed gear information, and the vehicle is controlled to travel on the second section of road according to the second vehicle speed gear information.

[0005] In a second aspect, the present disclosure provides a controller, comprising: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the method described in the first aspect.

[0006] In a third aspect, the present disclosure provides a vehicle, comprising the controller described in the second aspect.

[0007] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in the first aspect when the computer program is executed by a processor.

[0008] In a fifth aspect, the present disclosure provides a computer program product, including a computer program, which implements the method described in the first aspect when executed by a processor.

[0009] Through the above technical scheme, when the vehicle is located on the first section of the road, the speed and gear planning is carried out for the second section of the road to obtain the intermediate speed and gear information, thereby eliminating the blank period between the two plannings; the intermediate speed and gear information and the first speed and gear information corresponding to the first section of the road are smoothly transitioned to obtain the second speed and gear information, thereby avoiding the sudden change of the vehicle speed caused by the large difference between the results of the previous speed planning and the next speed planning, thereby reducing the risk of traffic accidents.

[0010] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a flowchart showing a vehicle control method according to an exemplary embodiment of the present disclosure.

[0012] Figure 2 is a schematic diagram showing a map reconstruction timing according to an exemplary embodiment of the present disclosure.

[0013] Figure 3 2 is a schematic diagram showing the timing of planning vehicle speed gear positions according to an exemplary embodiment of the present disclosure.

[0014] Figure 4 is another flowchart of a vehicle control method according to an exemplary embodiment of the present disclosure.

[0015] Figure 5 is a block diagram of a controller according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0017] As vehicles are rapidly developing towards intelligence and energy conservation, the Predictive Cruise Control (PCC) function on vehicles can achieve predictive planning of the road ahead and determine the road conditions ahead through road reconstruction, which mainly involves information such as the slope of the road ahead of the vehicle and the speed limit; the speed and gear of the entire vehicle can be controlled through the acquired information to achieve intelligent driving and reduce fuel consumption. At present, when the predictive cruise function on the vehicle is performing speed planning, during the speed planning blank period between the end of the previous speed planning and the end of the next speed planning, the previously planned speed is generally used and maintained during the blank period until the next planned speed calculation is completed and the planned speed is called.

[0018] The inventors discovered that during the blank period, the previously planned speed is used and maintained until the next planned speed is calculated and then the planned speed is called. This ignores the road conditions during the window period between the two speed plans. When the results of the previous speed planning and the next speed planning are significantly different, the vehicle speed will suddenly change, that is, a speed "step" will occur, which increases the risk of traffic accidents.

[0019] In view of this, the present disclosure provides a vehicle control method, a controller, a vehicle, a storage medium and a program product, which can avoid sudden changes in two adjacent vehicle speed gear planning results and improve driving safety.

[0020] Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure, which method can be used in a controller such as Figure 1 As shown, the vehicle control method may include the following steps: In step S101, when the vehicle is located on the first section of road, the map of the second section of road is reconstructed to obtain map information of the second section of road, and the road condition information of the second section of road is determined based on the map information, wherein the vehicle travels on the first section of road according to the first speed gear information corresponding to the first section of road, and the second section of road is a road adjacent to the first section of road and after the first section of road for which speed gear planning is to be performed.

[0021] It should be understood that the first section of road may be a road for which vehicle speed gear planning was performed in a previous cycle, and the second section of road may be a road for which vehicle speed gear planning is performed in a current cycle.

[0022] In step S102, the vehicle speed gear is planned for the second section of road according to the road condition information to obtain intermediate vehicle speed gear information.

[0023] In step S103, a smooth transition process is performed on the first vehicle speed gear information and the intermediate vehicle speed gear information to obtain second vehicle speed gear information, and the vehicle is controlled to travel on the second section of road according to the second vehicle speed gear information.

[0024] It is worth noting that before the vehicle reaches the starting position of the second section of road, the second speed gear information corresponding to the second section of road is obtained. The vehicle is controlled to travel at the first speed gear information on the first section of road until the vehicle reaches the starting position of the second section of road, and then the vehicle is controlled to travel at the second speed gear information on the second section of road.

[0025] For example, the vehicle is controlled to travel on the first section of road with the first speed gear information, and before the vehicle travels to the starting position of the second section of road, the map reconstruction and speed gear planning of the second section of road are started to obtain the intermediate speed gear information, and the first speed gear information and the intermediate speed gear information are smoothly transitioned to obtain the second speed gear information corresponding to the second section of road; when the vehicle travels to the starting position of the second section of road, the vehicle is controlled to travel on the second section of road with the second speed gear information.

[0026] In the disclosed embodiment, when the vehicle is controlled to travel on the first section of road with the first speed gear information, the map reconstruction and gear planning of the second section of road are started, and the second speed gear information of the second section of road is obtained before the vehicle travels to the starting position of the second section of road, thereby eliminating the blank period between the two speed gear planning; the second speed gear information is obtained by smooth transition processing of the first speed gear information corresponding to the first section of road and the intermediate speed gear information corresponding to the second section of road, thereby avoiding sudden changes in vehicle speed caused by a large difference between the two planning results, reducing the risk of traffic accidents, and also reducing the number of gear shifts during driving, thereby improving driving efficiency; controlling the vehicle to travel on the second section of road according to the second speed gear information can flexibly respond to various road conditions, such as ramps, curves, intersections, etc., on the basis of avoiding an increase in the manufacturing cost of the entire vehicle, thereby ensuring that the vehicle can maintain the best driving state under different road environments.

[0027] In order to facilitate those skilled in the art to better understand the vehicle control method provided by the present disclosure, the steps of the method are described in detail below.

[0028] In a feasible implementation manner, in step S101, when the vehicle is located on the first section of the road, reconstructing the map of the second section of the road to obtain the map information of the second section of the road may include: Determine a first distance between the vehicle and a starting position of the second road section, or a first time required for the vehicle to travel to the starting position of the second road section; When the first distance or the first duration satisfies a first preset trigger condition, a map of the second section of the road is reconstructed to obtain map information of the second section of the road.

[0029] Among them, the first preset trigger condition can be that the vehicle can complete the map reconstruction, speed gear planning and smooth transition processing of the second section of the road during the process of traveling the first distance, or it can be that the first time duration is greater than or equal to the time duration required for map reconstruction, speed gear planning and smooth transition processing of the second section of the road.

[0030] It is worth noting that each road section is divided into several small sections, and the distance of each small section can be used as a waypoint, or the time required for the vehicle to travel each small section can be used as a waypoint. According to the waypoint the vehicle is currently at on the road it is traveling on, it is determined whether to reconstruct the map of the next road section and plan the speed gear.

[0031] For example, Figure 2 As shown, the first section of road and the second section of road are equally divided into 10 small sections respectively; for the first section of road, the first distance between the vehicle and the starting position of the second section of road can be the distance between the current waypoint of the vehicle on the first section of road and the zero waypoint of the second section of road, and the first time required for the vehicle to travel to the starting position of the second section of road can be the time required for the vehicle to travel from the current waypoint of the first section of road to the zero waypoint of the second section of road.

[0032] In the disclosed embodiment, the distance between the vehicle and the starting position of the second section of the road or the required time is monitored in real time, and the map is reconstructed when the trigger conditions are met. This can ensure that the map information of the second section of the road is the latest and most accurate, and help avoid unreliable map information due to road changes (such as construction, closures, diversions, etc.), thereby improving the accuracy and reliability of the vehicle speed gear planning results.

[0033] In a feasible implementation manner, when the first distance or the first duration satisfies a first preset trigger condition, reconstructing a map of the second section of the road to obtain map information of the second section of the road may include: When the first distance is greater than or equal to a first preset distance, map reconstruction is performed on the second section of the road to obtain map information of the second section of the road, and the first preset distance is determined based on a third time required for map reconstruction, speed gear planning, and smooth transition processing on the second section of the road and the first speed gear information; or When the first time duration is greater than or equal to the third time duration, map reconstruction is performed on the second section of the road to obtain map information of the second section of the road.

[0034] The first preset distance is the distance that the vehicle travels for a third period of time at the first vehicle speed gear information.

[0035] It is worth mentioning that map reconstruction, vehicle speed gear planning and smooth transition processing all require a certain amount of time. In order to ensure that the vehicle has obtained the second speed gear planning information before driving to the starting position of the second section of the road, it can be determined whether to trigger map reconstruction based on the waypoints.

[0036] For example, based on the first distance, the map of the second section of road is reconstructed: like Figure 2 As shown, when the distance between the seventh waypoint of the first section of the road and the zero waypoint of the second section of the road is equal to the distance that the vehicle travels for the third time length with the first speed gear information, in order to ensure that the second speed gear information of the second section of the road is obtained when the vehicle travels to the starting position of the second section of the road, it is necessary to reconstruct the map of the second section of the road during the process of the vehicle traveling from the zero waypoint to the seventh waypoint of the first section of the road. Taking the seventh waypoint as an example, when the vehicle travels to the seventh waypoint, the map reconstruction of the second section of the road begins, and when the vehicle travels to the eighth waypoint of the first section of the road, the map reconstruction of the second section of the road is completed, the map information of the second section of the road is obtained, and the road condition information of the second section of the road is obtained according to the map information.

[0037] For example, based on the first duration, the map of the second section of road is reconstructed: like Figure 2 As shown, when the first duration of the vehicle driving from the seventh waypoint of the first section of the road to the zero waypoint of the second section of the road is equal to the third duration required for map reconstruction, speed gear planning and smooth transition processing of the two sections of the road, in order to ensure that the second speed gear information of the second section of the road is obtained when the vehicle drives to the starting position of the second section of the road, it is necessary to reconstruct the map of the second section of the road during the process of the vehicle driving from the zero waypoint to the seventh waypoint of the first section of the road. Taking the seventh waypoint as an example, when the vehicle drives to the seventh waypoint, the map reconstruction of the second section of the road begins, and when the vehicle drives to the eighth waypoint of the first section of the road, the map reconstruction of the second section of the road is completed, the map information of the second section of the road is obtained, and the road condition information of the second section of the road is obtained based on the map information.

[0038] In the disclosed embodiment, whether to reconstruct the map of the second section of road is determined based on the distance between the vehicle and the starting position of the second section of road and the third time period that the vehicle travels at the first speed gear information, or the time required for the vehicle to travel to the starting position of the second section of road and the third time period, thereby ensuring that there is sufficient time to reconstruct the map of the second section of road, plan the speed gear, and perform smooth transition processing before the vehicle approaches the second section of road. The first preset distance and the third time period can be flexibly adjusted according to different road types and traffic conditions to adapt to different driving environments, allowing the driver to more calmly cope with upcoming road changes and reduce stress and anxiety during driving.

[0039] In a feasible implementation manner, in step S102, the vehicle speed gear planning for the second section of road according to the road condition information to obtain the intermediate vehicle speed gear information may include: Determine a second distance between the vehicle and the starting position of the second road section, or a second duration required for the vehicle to travel to the starting position of the second road section, wherein the second distance is less than the first distance, and the second duration is less than the first duration, wherein the first distance is the distance between the vehicle and the starting position of the second road section, and the first duration is the duration required for the vehicle to travel to the starting position of the second road section; When the second distance or the second duration satisfies a second preset trigger condition, the vehicle speed gear is planned for the second section of the road according to the road condition information to obtain intermediate vehicle speed gear information.

[0040] Among them, the second preset trigger condition can be that the vehicle can complete the speed gear planning and smooth transition processing for the second section of road during the process of traveling the second distance, or it can be that the second time period is greater than or equal to the time required for speed gear planning and smooth transition processing for the second section of road.

[0041] It is worth noting that whether to plan the speed gear for the next section of the road can be determined based on the current waypoint of the vehicle on the road being traveled.

[0042] For example, Figure 3 As shown, the first section of road and the second section of road are equally divided into 10 small sections respectively; for the first section of road, the second distance between the vehicle and the starting position of the second section of road can be the distance between the current waypoint of the vehicle on the first section of road and the zero waypoint of the second section of road, and the second time required for the vehicle to travel to the starting position of the second section of road can be the time required for the vehicle to travel from the current waypoint of the first section of road to the zero waypoint of the second section of road.

[0043] In the disclosed embodiment, the distance or time required between the vehicle and the starting position of the second section of road is monitored in real time, and the vehicle speed gear is planned when the trigger condition is met. This can ensure that the second vehicle speed gear information of the second section of road is consistent with the current road condition information of the second section of road, further improving the accuracy and reliability of the vehicle speed gear planning results.

[0044] In a feasible implementation manner, when the second distance or the second duration satisfies a second preset trigger condition, the vehicle speed gear planning for the second section of the road according to the road condition information to obtain the intermediate vehicle speed gear information may include: When the second distance is greater than or equal to the second preset distance, the intermediate vehicle speed gear information is obtained by performing vehicle speed gear planning for the second section of the road according to the road condition information, wherein the second preset distance is determined according to the fourth duration required for vehicle speed gear planning and smooth transition processing for the second section of the road and the first vehicle speed gear information; or When the second time duration is greater than or equal to the fourth time duration, the vehicle speed gear is planned for the second section of road according to the road condition information to obtain intermediate vehicle speed gear information.

[0045] The second preset distance is the distance that the vehicle travels for a fourth period of time at the first vehicle speed gear information.

[0046] It is worth noting that the vehicle speed gear planning requires a certain amount of time. In order to ensure that the vehicle has obtained the second vehicle speed gear planning information before driving to the starting position of the second section of the road, it can be determined whether to trigger the vehicle speed gear planning based on the waypoint.

[0047] For example, based on the second distance, the map of the second section of road is reconstructed: like Figure 3 As shown, when the distance between the eighth road point of the first section of the road and the zero road point of the second section of the road is equal to the distance that the vehicle travels for the fourth time length with the first speed gear information, in order to ensure that the second speed gear information of the second section of the road is obtained when the vehicle travels to the starting position of the second section of the road, it is necessary to plan the speed gear for the second section of the road when the vehicle completes the map reconstruction of the second section of the road and travels to the eighth road point of the first section of the road. Taking the eighth road point as an example, when the vehicle travels to the eighth road point and completes the map reconstruction of the second section of the road and obtains the road condition information of the second section of the road, the speed gear planning of the second section of the road is carried out according to the road condition information, and the speed gear planning of the second section of the road is completed before the vehicle travels to the ninth road point to obtain the intermediate speed gear information, and the smooth transition processing of the first speed gear information and the intermediate speed gear information is completed before the vehicle travels to the tenth road point of the first section of the road, so as to obtain the second speed gear information before the vehicle travels to the zero road point of the second section of the road.

[0048] For example, according to the second duration, the speed gear is planned for the second section of road: like Figure 3 As shown, when the first duration of the vehicle traveling from the eighth road point of the first section of the road to the zero road point of the second section of the road is equal to the fourth duration required for speed and gear planning for the two sections of the road, in order to ensure that the second speed and gear information of the second section of the road is obtained when the vehicle travels to the starting position of the second section of the road, it is necessary to plan the speed and gear for the second section of the road when the vehicle completes the map reconstruction of the second section of the road and travels to the eighth road point of the first section of the road. Taking the eighth road point as an example, when the vehicle travels to the eighth road point and completes the map reconstruction of the second section of the road and obtains the road condition information of the second section of the road, the speed and gear planning of the second section of the road is carried out according to the road condition information, the speed and gear planning of the second section of the road is completed before the vehicle travels to the ninth road point, and the intermediate speed and gear information is obtained, and the smooth transition processing of the first speed and gear information and the intermediate speed and gear information is completed before the vehicle travels to the tenth road point of the first section of the road, so as to obtain the second speed and gear information before the vehicle travels to the zero road point of the second section of the road.

[0049] In the disclosed embodiment, whether to plan the speed trajectory for the second section of road is determined based on the distance between the vehicle and the starting position of the second section of road and the fourth time period for the vehicle to travel at the first speed gear information, or the time period required for the vehicle to travel to the starting position of the second section of road and the fourth time period, thereby ensuring that there is sufficient time to plan the speed gear for the second section of road before the vehicle approaches the second section of road. The second preset distance and the fourth time period can be flexibly adjusted according to different road types and traffic conditions to adapt to different driving environments, allowing the driver to more calmly cope with upcoming road changes and reduce stress and anxiety during driving.

[0050] In a feasible implementation manner, the first vehicle speed gear position information includes a first vehicle speed curve and a first gear position curve, and the intermediate vehicle speed gear position information includes an intermediate vehicle speed curve and an intermediate gear position curve; In step S103, the step of performing smooth transition processing on the first vehicle speed gear position information and the intermediate vehicle speed gear position information to obtain the second vehicle speed gear position information may include: Performing linear fitting on the data points on the first vehicle speed curve and the data points on the intermediate vehicle speed curve to obtain a second vehicle speed curve; Performing linear fitting on the data points on the first gear curve and the data points on the intermediate gear curve to obtain a second gear curve; The second vehicle speed curve and the second gear position curve are used as second vehicle speed gear position information.

[0051] In the disclosed embodiment, the vehicle speed curves and gear curves of the two cycles are respectively smoothly transitioned by linear fitting to obtain the vehicle speed curve and gear curve of the second section of the road. This eliminates the "steps" in the planning results of the two cycles and avoids sudden changes in vehicle speed caused by a large difference between the two planning results, thereby reducing the risk of traffic accidents and reducing the number of gear changes during driving, thereby improving driving efficiency.

[0052] like Figure 4 As shown, the complete process of the vehicle control method provided by the embodiment of the present disclosure may include the following steps: In step S401, the vehicle is controlled to start driving from the zero waypoint of the current road according to the first vehicle speed gear information, and the first position information of the vehicle on the current road is obtained. The first vehicle speed gear information is the information obtained by planning the vehicle speed gear for the current road in the previous cycle.

[0053] In step S402, it is determined whether the vehicle is at the seventh waypoint according to the first position information. If yes, step S403 is executed; if no, the process returns to step S401.

[0054] In step S403, the map of the next section of the road is reconstructed to obtain the map information of the next section of the road, and the road condition information of the next section of the road is determined according to the map information.

[0055] In step S404, the second position information of the vehicle on the current road is reacquired.

[0056] In step S405, it is determined whether the vehicle is at the eighth waypoint according to the second position information. If yes, step S406 is executed; if no, the process returns to step S404.

[0057] In step S406, the vehicle speed gear is planned for the next section of the road according to the road condition information to obtain the intermediate vehicle speed gear information.

[0058] In step S407, the first vehicle speed gear information and the intermediate vehicle speed gear information are smoothly transitioned, the second vehicle speed gear information is obtained before the tenth waypoint, and the second vehicle speed gear information is used as the first vehicle speed gear information of the next cycle.

[0059] In step S408, the speed gear planning of this cycle is completed until the vehicle reaches the starting position of the next section of the road, and the process returns to step S401.

[0060] In the disclosed embodiment, when the vehicle is controlled to travel on the current road with the first vehicle speed gear information, the map reconstruction and gear planning for the next section of the road are started, and the second vehicle speed gear information for the next section of the road is obtained before the vehicle travels to the starting position of the next section of the road, thereby eliminating the blank period between the two vehicle speed gear planning; the second vehicle speed gear information is obtained by smooth transition processing of the first vehicle speed gear information corresponding to the current road and the intermediate vehicle speed gear information corresponding to the next section of the road, thereby avoiding a sudden change in vehicle speed caused by a large difference between the two planning results, reducing the risk of traffic accidents, and also reducing the number of gear shifts during driving, thereby improving driving efficiency; when the vehicle travels to the starting position of the second section of the road, the second section of the road is used as the new current road, and the vehicle is controlled to travel on the new current road according to the second vehicle speed gear information, thereby avoiding an increase in the manufacturing cost of the entire vehicle and flexibly responding to various road conditions, such as ramps, curves, intersections, etc., thereby ensuring that the vehicle can maintain the best driving state under different road environments.

[0061] Based on the same inventive concept, Figure 5 As shown, the present disclosure provides a controller, comprising: A memory 501 on which a computer program is stored; The processor 502 is used to execute the computer program in the memory to implement the above-mentioned vehicle control method.

[0062] When the vehicle is controlled to travel on the first section of road with the first speed gear information, the map reconstruction and gear planning of the second section of road are started, and the second speed gear information of the second section of road is obtained before the vehicle travels to the starting position of the second section of road, thereby eliminating the blank period between the two speed gear planning; the second speed gear information is obtained by smooth transition processing of the first speed gear information corresponding to the first section of road and the intermediate speed gear information corresponding to the second section of road, thereby avoiding sudden changes in vehicle speed caused by large differences between the two planning results, reducing the risk of traffic accidents, and also reducing the number of gear shifting during driving, thereby improving driving efficiency; controlling the vehicle to travel on the second section of road according to the second speed gear information can flexibly respond to various road conditions, such as ramps, curves, intersections, etc., on the basis of avoiding an increase in the manufacturing cost of the entire vehicle, thereby ensuring that the vehicle can maintain the best driving state under different road environments.

[0063] Based on the same inventive concept, the present disclosure provides a vehicle including the above-mentioned controller.

[0064] When the vehicle is controlled to travel on the first section of road with the first speed gear information, the map reconstruction and gear planning of the second section of road are started, and the second speed gear information of the second section of road is obtained before the vehicle travels to the starting position of the second section of road, thereby eliminating the blank period between the two speed gear planning; the second speed gear information is obtained by smooth transition processing of the first speed gear information corresponding to the first section of road and the intermediate speed gear information corresponding to the second section of road, thereby avoiding sudden changes in vehicle speed caused by large differences between the two planning results, reducing the risk of traffic accidents, and also reducing the number of gear shifting during driving, thereby improving driving efficiency; controlling the vehicle to travel on the second section of road according to the second speed gear information can flexibly respond to various road conditions, such as ramps, curves, intersections, etc., on the basis of avoiding an increase in the manufacturing cost of the entire vehicle, thereby ensuring that the vehicle can maintain the best driving state under different road environments.

[0065] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 501 including program instructions, and the above-mentioned program instructions can be executed by the processor 502 of the controller to complete the above-mentioned vehicle control method.

[0066] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a processor. When the computer program is executed by the processor, the steps of the above-mentioned vehicle control method are implemented.

[0067] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0068] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0069] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is located on the first section of road, a map of the second section of road is reconstructed to obtain map information of the second section of road, and road condition information of the second section of road is determined according to the map information, wherein the vehicle travels on the first section of road according to the first vehicle speed gear information corresponding to the first section of road, and the second section of road is a road adjacent to the first section of road and to be subjected to vehicle speed gear planning after the first section of road; According to the road condition information, a vehicle speed gear is planned for the second section of the road to obtain intermediate vehicle speed gear information; The first vehicle speed gear information and the intermediate vehicle speed gear information are smoothly transitioned to obtain second vehicle speed gear information, and the vehicle is controlled to travel on the second section of road according to the second vehicle speed gear information.

2. The vehicle control method according to claim 1, characterized in that: When the vehicle is located on the first section of the road, reconstructing the map of the second section of the road to obtain map information of the second section of the road includes: Determine a first distance between the vehicle and a starting position of the second road section, or a first time required for the vehicle to travel to the starting position of the second road section; When the first distance or the first duration satisfies a first preset trigger condition, a map of the second section of the road is reconstructed to obtain map information of the second section of the road.

3. The vehicle control method according to claim 1, characterized in that: The vehicle speed gear planning for the second section of road according to the road condition information to obtain the intermediate vehicle speed gear information includes: Determine a second distance between the vehicle and the starting position of the second road section, or a second duration required for the vehicle to travel to the starting position of the second road section, wherein the second distance is less than the first distance, and the second duration is less than the first duration, wherein the first distance is the distance between the vehicle and the starting position of the second road section, and the first duration is the duration required for the vehicle to travel to the starting position of the second road section; When the second distance or the second duration satisfies a second preset trigger condition, the vehicle speed gear is planned for the second section of the road according to the road condition information to obtain intermediate vehicle speed gear information.

4. The vehicle control method according to claim 2, characterized in that: When the first distance or the first duration satisfies a first preset trigger condition, reconstructing a map of the second section of the road to obtain map information of the second section of the road includes: When the first distance is greater than or equal to a first preset distance, map reconstruction is performed on the second section of the road to obtain map information of the second section of the road, and the first preset distance is determined based on a third time required for map reconstruction, speed gear planning, and smooth transition processing on the second section of the road and the first speed gear information; or When the first time duration is greater than or equal to the third time duration, map reconstruction is performed on the second section of the road to obtain map information of the second section of the road.

5. The vehicle control method according to claim 3, characterized in that: When the second distance or the second duration satisfies a second preset trigger condition, the vehicle speed gear planning for the second section of the road according to the road condition information to obtain the intermediate vehicle speed gear information includes: When the second distance is greater than or equal to the second preset distance, the intermediate vehicle speed gear information is obtained by performing vehicle speed gear planning for the second section of the road according to the road condition information, wherein the second preset distance is determined according to the fourth duration required for vehicle speed gear planning and smooth transition processing for the second section of the road and the first vehicle speed gear information; or When the second time duration is greater than or equal to the fourth time duration, the vehicle speed gear is planned for the second section of the road according to the road condition information to obtain intermediate vehicle speed gear information.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that: The first vehicle speed and gear position information includes a first vehicle speed curve and a first gear position curve, and the intermediate vehicle speed and gear position information includes an intermediate vehicle speed curve and an intermediate gear position curve; The step of performing smooth transition processing on the first vehicle speed gear position information and the intermediate vehicle speed gear position information to obtain the second vehicle speed gear position information includes: Performing linear fitting on the data points on the first vehicle speed curve and the data points on the intermediate vehicle speed curve to obtain a second vehicle speed curve; Performing linear fitting on the data points on the first gear curve and the data points on the intermediate gear curve to obtain a second gear curve; The second vehicle speed curve and the second gear position curve are used as second vehicle speed gear position information.

7. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 6.

8. A vehicle, characterized in that: Comprising the controller as claimed in claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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