Vehicle control method and device, electronic equipment and vehicle

Abstract

The invention discloses a vehicle control method and device, electronic equipment and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: in a parking function state, obtaining a remaining travel distance and a current vehicle speed; under the condition that the remaining traveling distance is smaller than a first distance threshold value and the current vehicle speed is larger than a preset speed threshold value, the remaining traveling distance and the current vehicle speed are calculated, and the target acceleration of the vehicle at the next moment is obtained; and controlling the vehicle to run based on the target acceleration at the next moment. Without the help of additional equipment such as a camera and ultrasonic detection equipment, the working condition when the vehicle passes through the similar obstacle is identified through the related motion data of the vehicle, and the target acceleration at the next moment is obtained according to the remaining traveling distance and the current speed of the current vehicle; therefore, the acceleration and the speed of the vehicle are controlled, it is guaranteed that when the vehicle passes through a deceleration strip and similar obstacles, the vehicle speed cannot be too large, and the collision risk is avoided.

Description

Technical Field

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

[0002] The automatic parking function means that after the driver determines the parking space he wants to park, he touches the car screen to turn on the automatic parking function, and then the vehicle automatically parks the vehicle at a low and stable speed without the driver's operation. However, during the parking process, when the vehicle passes through a speed bump or other high obstacles, the vehicle will increase the driving force to pass through, resulting in a high speed when going down the speed bump, causing the vehicle to slide out far more than the travel distance, which is very likely to cause a collision, and therefore has a greater risk of collision. Summary of the invention

[0003] In view of this, the present application provides a vehicle control method, device, electronic device and vehicle, which can improve the current problem of high vehicle speed and greater collision risk when passing through speed bumps or other higher obstacles during automatic parking.

[0004] In a first aspect, the present application provides a vehicle control method, comprising:

[0005] In the parking function state, obtain the remaining travel distance and current vehicle speed;

[0006] When the remaining travel distance is less than the first distance threshold and the current vehicle speed is greater than the preset speed threshold, the remaining travel distance and the current vehicle speed are calculated to obtain the target acceleration of the vehicle at the next moment;

[0007] Based on the target acceleration at the next moment, the vehicle is controlled to travel.

[0008] Optionally, before calculating the remaining travel distance and the current vehicle speed to obtain the target acceleration of the vehicle at the next moment, the method further includes: obtaining a travel distance correction value; and correcting the remaining travel distance using the travel distance correction value.

[0009] Optionally, obtaining the travel distance correction value includes: obtaining a current target acceleration of the vehicle; and calculating the current target acceleration and a current vehicle speed to obtain the travel distance correction value.

[0010] Optionally, after calculating the target acceleration of the vehicle at the next moment, the method further includes: obtaining the current target acceleration of the vehicle; comparing the absolute value of the current target acceleration with the absolute value of the target acceleration at the next moment, and selecting the target acceleration with the larger absolute value to control the vehicle's driving.

[0011] Optionally, before comparing the absolute value of the current target acceleration with the absolute value of the target acceleration at the next moment and selecting the target acceleration with the larger absolute value to control the vehicle's travel, the method further includes: when the difference between the absolute value of the current target acceleration and the absolute value of the target acceleration at the next moment is greater than a preset threshold, adjusting the target acceleration at the next moment.

[0012] Optionally, when the remaining travel distance is less than or equal to a second distance threshold, the target acceleration of the vehicle at the next moment is no longer calculated, and the vehicle driving is controlled with a pre-calibrated target acceleration; wherein the second distance threshold is less than the first distance threshold.

[0013] In a second aspect, the present application provides a vehicle control device, comprising:

[0014] An acquisition unit is configured to acquire a remaining travel distance and a current vehicle speed in a parking function state;

[0015] a calculation unit configured to calculate the remaining travel distance and the current vehicle speed to obtain a target acceleration of the vehicle at a next moment when the remaining travel distance is less than a first distance threshold and the current vehicle speed is greater than a preset speed threshold;

[0016] The control unit is configured to control the vehicle driving based on the target acceleration at the next moment.

[0017] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle control method described in the first aspect.

[0018] In a fourth aspect, the present application provides an electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the vehicle control method described in the first aspect when executing the computer program.

[0019] In a fifth aspect, the present application provides a vehicle, comprising the vehicle control device as mentioned in the second aspect or the electronic device as mentioned in the fourth aspect.

[0020] By means of the above technical solution, the present application provides a vehicle control method, device, electronic device and vehicle, which first obtains the remaining travel distance and the current vehicle speed in the parking function state. And the remaining travel distance and speed of the vehicle are judged. When the remaining travel distance is less than the first distance threshold and the current vehicle speed is greater than the preset speed threshold, the remaining travel distance and the current vehicle speed are used to calculate the target acceleration of the vehicle at the next moment. Then, based on the target acceleration at the next moment, the vehicle driving is controlled. Without relying on the help of additional equipment such as cameras and ultrasonic detection, the present application identifies the working conditions of the vehicle when it passes through similar obstacles (such as speed bumps) through vehicle-related motion data, and obtains the target acceleration at the next moment according to the current remaining travel distance and current speed of the vehicle, thereby realizing the control of the acceleration and speed of the vehicle, ensuring that the vehicle speed will not be too high when passing through speed bumps and similar obstacles, resulting in overtaking, and avoiding the risk of collision.

[0021] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 A schematic diagram of a vehicle control method provided in an embodiment of the present application is shown;

[0025] Figure 2 A schematic diagram showing a flow chart of another vehicle control method provided in an embodiment of the present application is shown;

[0026] Figure 3 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0027] In order to be able to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In addition, in order to be able to understand the characteristics and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings, and the attached drawings are only for reference purposes and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided by multiple details. However, in the absence of these details, one or more embodiments can still be implemented. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0028] The vehicle control method provided in this embodiment is applied to a vehicle control device, which can be installed in an electronic control unit (ECU) in a vehicle, or in a controller for executing an automatic parking function or a vehicle master controller.

[0029] In order to improve the current problem of high vehicle speed and high collision risk when passing speed bumps or other high obstacles during automatic parking, this embodiment proposes a vehicle control method. Figure 1 As shown, the method includes:

[0030] S101, in the parking function state, obtaining the remaining travel distance and the current vehicle speed.

[0031] The parking function state in this embodiment generally refers to the automatic parking or automatic parking function in the vehicle. After the driver determines the parking space to be parked, the automatic parking function can be turned on by interacting with the vehicle screen. During the whole process, the driver does not need to do anything, and the vehicle will automatically park in the parking space at a low and stable speed.

[0032] Furthermore, the remaining travel distance refers to the distance from a certain target point of the current vehicle to the parking point (usually a straight-line distance). For example, if the vehicle license plate position is used as the vehicle target point, the distance from the target point to the position where the license plate should be after parking will be automatically calculated, and this distance can be used as the remaining travel distance. The current vehicle speed is the vehicle's current speed.

[0033] S102: When the remaining travel distance is less than a first distance threshold and the current vehicle speed is greater than a preset speed threshold, the remaining travel distance and the current vehicle speed are calculated to obtain a target acceleration of the vehicle at the next moment.

[0034] When the remaining distance is less than the first distance threshold and the current vehicle speed is greater than the preset speed threshold, that is, "speed abnormality" occurs in automatic parking, and the speed is higher than the normal value when the remaining distance is already very small, it is determined that a special situation has occurred at this moment. For example, when the vehicle passes through a speed bump or other high obstacle, the speed suddenly increases. At this time, the vehicle target acceleration at the next moment is calculated based on the current remaining distance and speed of the vehicle.

[0035] It should also be noted that the "target vehicle acceleration at the next moment" proposed in this embodiment cannot be simply understood as the vehicle acceleration at the next moment, because the "acceleration at the next moment" may not necessarily reach the magnitude of the "target acceleration". For example, the target vehicle acceleration at the next moment is -5m / s 2 , but at the next moment the actual acceleration may only be -4m / s 2 . Therefore, the concepts of the two are different, and in the subsequent solutions of this embodiment, the target acceleration is used for calculation and comparison. At the same time, since in the actual control process, a control cycle is in milliseconds, it is possible to achieve the control of the acceleration and speed of the vehicle mentioned in this embodiment, ensuring that the vehicle speed will not be too high when passing through speed bumps and similar obstacles, resulting in overtaking, avoiding the risk of collision, and there will be no problem of poor control effect.

[0036] S103, controlling the vehicle to travel based on the target acceleration at the next moment.

[0037] After the target acceleration at the next moment is calculated, the vehicle will be controlled according to the target acceleration at the next moment, wherein the target acceleration at the next moment may be directly used for control, or may be adjusted or corrected based on the target acceleration.

[0038] In this embodiment, in the parking function state, the remaining travel distance and the current vehicle speed are obtained. The remaining travel distance and speed of the vehicle are judged. When the remaining travel distance is less than the first distance threshold and the current vehicle speed is greater than the preset speed threshold, the remaining travel distance and the current vehicle speed are used to calculate the target acceleration of the vehicle at the next moment. Then, based on the target acceleration at the next moment, the vehicle driving is controlled. Without relying on the help of additional equipment such as cameras and ultrasonic detection, this embodiment identifies the working conditions of the vehicle when it passes through similar obstacles (such as speed bumps) through vehicle-related motion data, and obtains the target acceleration at the next moment based on the current remaining travel distance and current speed of the vehicle, thereby achieving control of the target acceleration and speed of the vehicle, ensuring that the vehicle speed will not be too high when passing through speed bumps and similar obstacles, resulting in overtaking, and avoiding collision risks.

[0039] At the same time, this embodiment uses the vehicle speed and the remaining forward distance of the vehicle to identify the condition of passing the speed bump over a short distance, and outputs a more effective target acceleration at the next moment, which can not only stop the vehicle in time to avoid the risk of collision, but also does not adopt a one-size-fits-all approach to stop the vehicle with a larger target acceleration, thereby ensuring the comfort during parking. It should be noted that the "one-size-fits-all" approach means that in the relevant technology, the error in sensing and identifying the speed bump is large, and the position of the speed bump cannot be accurately confirmed, so it is impossible to adjust the vehicle trajectory in time or issue a braking request in advance. The current solution is to trigger the vehicle emergency braking when the vehicle exceeds a certain distance. Emergency braking includes both the vehicle's own emergency braking to exit the automatic parking function, and the driver's self-intervention to perform emergency braking to exit the parking function. On the one hand, this will exceed a certain distance, which has a greater risk of collision; on the other hand, it will bring a bad driving experience to the driver, affecting the parking comfort.

[0040] Optionally, before calculating the remaining travel distance and the current vehicle speed to obtain the target acceleration of the vehicle at the next moment, the vehicle control method further includes: obtaining a travel distance correction value; and correcting the remaining travel distance using the travel distance correction value.

[0041] In this embodiment, when calculating the target acceleration of the vehicle at the next moment based on the remaining travel distance and the current vehicle speed at the current moment, since the vehicle will continue to travel at a relatively slow speed during the calculation process, there is a certain time lag, so the calculated target acceleration at the next moment will never "catch up" with the actual required target acceleration. Therefore, it is necessary to correct the remaining travel distance, so that the calculated target acceleration at the next moment is more accurate.

[0042] Optionally, obtaining the travel distance correction value includes: obtaining a current target acceleration of the vehicle; and calculating the current target acceleration and the current vehicle speed to obtain the travel distance correction value.

[0043] Further, calculate the travel distance correction value S offset The formula is as follows:

[0044]

[0045] In this embodiment, the remaining travel distance can be processed to reduce an offset S offset , which is the travel distance correction value. Where V is the current vehicle speed, a ref is the actual target acceleration of the vehicle at present, and time t is a parameter, which is set according to the controller so that the calculated target acceleration at the next moment is more accurate.

[0046] Optionally, after obtaining the vehicle's target acceleration at the next moment, the method further includes: obtaining the vehicle's current target acceleration; comparing the absolute value of the current target acceleration with the absolute value of the target acceleration at the next moment, and selecting the target acceleration with the larger absolute value to control the vehicle's driving.

[0047] In this embodiment, in order to ensure that the vehicle can stop in time, the target acceleration at the next moment is compared with the target acceleration at the current moment, and the larger value is always selected to control the vehicle to travel, thereby ensuring the safety of the vehicle and preventing collision.

[0048] Optionally, before comparing the absolute value of the current target acceleration with the absolute value of the target acceleration at the next moment and selecting the target acceleration with the larger absolute value to control the vehicle's travel, the method also includes: when the difference between the absolute value of the current target acceleration and the absolute value of the target acceleration at the next moment is greater than a preset threshold, adjusting the target acceleration at the next moment.

[0049] In this embodiment, when the remaining driving distance is very small and the calculated target acceleration at the next moment is relatively large, the target acceleration at the next moment can be adjusted. Specifically, under the premise that safety has been ensured, the difference between the absolute values ​​of the two is calculated, and the magnitude of the target acceleration at the next moment is continuously adjusted to stabilize it at a constant value. The slope of the adjustment can also be calibrated, with the purpose of ensuring vehicle comfort. Specifically, since the target acceleration is a vector, both are positive values ​​when the deceleration direction is the positive direction. The above mainly emphasizes that when the difference between the two is relatively large, the target acceleration at the next moment can be adjusted in the direction of the current target acceleration, thereby ensuring vehicle comfort and preventing sudden speed increases or decreases.

[0050] Optionally, after controlling the vehicle's travel based on the target acceleration at the next moment, the method also includes: when the remaining travel distance is less than or equal to a second distance threshold, no longer calculating the vehicle's target acceleration at the next moment, and controlling the vehicle's travel with a pre-calibrated target acceleration; wherein the second distance threshold is less than the first distance threshold.

[0051] In this embodiment, the second distance threshold is less than the first distance threshold, that is, when the automatic parking is about to end and the vehicle is about to stop at the parking position, the remaining travel distance is less than or equal to the second distance threshold, then the above scheme is exited, and the target acceleration of the vehicle at the next moment is no longer calculated, and the vehicle is controlled to travel with the pre-calibrated target acceleration. For example, when the remaining distance is less than 0.2m, the target acceleration at the next moment is no longer calculated, and -5m / s is directly used. 2 The target acceleration is controlled to ensure driving safety.

[0052] like Figure 2FIG. 1 is a flow chart of another vehicle control method provided by an embodiment of the present application, the method comprising:

[0053] S201, in the parking function state, obtaining the remaining travel distance and the current vehicle speed.

[0054] The remaining travel distance refers to the distance from a certain target point of the current vehicle to the parking point (usually a straight-line distance). For example, if the vehicle license plate position is used as the vehicle target point, the distance from the target point to the position where the license plate should be after parking will be automatically calculated, and this distance can be used as the remaining travel distance. The current vehicle speed refers to the vehicle's driving speed at the current moment.

[0055] S202, determine whether the remaining travel distance is less than a first distance threshold, and whether the current vehicle speed is greater than a preset speed threshold. If so, proceed to S2031; if not, proceed to S2032.

[0056] Through the vehicle's relevant motion data, the vehicle can identify the situation where it passes over a speed bump (similar to an obstacle), such as when the remaining travel distance is small but the vehicle speed is high (a short distance over a speed bump corresponds to this situation). In other words, when the vehicle speed exceeds a certain value at a certain remaining distance, it is considered that the vehicle is at risk of collision, and the target acceleration can no longer be driven according to the target acceleration provided by normal automatic parking, otherwise it will cause the vehicle to overtake and easily collide.

[0057] S2031, obtaining the current target acceleration of the vehicle, and calculating a travel distance correction value based on the current target acceleration and the current vehicle speed.

[0058] When calculating the target acceleration of the vehicle at the next moment based on the remaining travel distance and the current vehicle speed at the current moment, the vehicle will continue to travel at a relatively slow speed during the calculation process, which has a certain time lag. Therefore, the calculated target acceleration at the next moment will never "catch up" with the actual target acceleration required. Therefore, it is necessary to calculate the travel distance correction value to correct the remaining travel distance. This makes the calculated target acceleration at the next moment more accurate.

[0059] The specific method of obtaining the travel distance correction value can be found in the formula part, which will not be repeated here.

[0060] S2032, continue driving in the current state.

[0061] S204: Correct the remaining travel distance using the travel distance correction value.

[0062] The remaining travel distance can be processed to subtract an offset, so that the target acceleration at the next moment can be obtained more accurately.

[0063] S205, calculating the target acceleration of the vehicle at the next moment according to the corrected remaining travel distance and the current vehicle speed.

[0064] Specifically, the target acceleration of the vehicle at the next moment can be calculated according to the following formula:

[0065]

[0066] In the formula, a s is the target acceleration at the next moment (also called Axtar in actual control projects), V is the current vehicle speed, and S is the corrected remaining distance. The smaller the remaining distance, the greater the speed, and the greater the speed calculated at the next moment. It should be noted that since the target acceleration is a vector, the target acceleration calculated at this time needs to take the direction into account. Combined with the scenario mentioned in this embodiment, the a s A negative value is opposite to the direction of travel.

[0067] S206, comparing the absolute value of the current target acceleration with the absolute value of the target acceleration at the next moment, and selecting the target acceleration with the larger absolute value to control the vehicle driving.

[0068] In order to ensure that the vehicle can stop in time, the target acceleration a at the next moment s It can be compared with the current target acceleration, and the larger value is always selected to control the vehicle. Optionally, when the difference between the absolute value of the current target acceleration and the absolute value of the target acceleration at the next moment is greater than a preset threshold, the target acceleration at the next moment can be adjusted to ensure the comfort of the vehicle.

[0069] In addition, after controlling the vehicle's travel based on the target acceleration at the next moment, the method also includes: when the remaining travel distance is less than or equal to a second distance threshold, no longer calculating the vehicle's target acceleration at the next moment, and controlling the vehicle's travel with a pre-calibrated target acceleration; wherein the second distance threshold is less than the first distance threshold.

[0070] In this embodiment, the second distance threshold is less than the first distance threshold, that is, when the automatic parking is about to end and the vehicle is about to stop at the parking position, the remaining travel distance is less than or equal to the second distance threshold, then the above scheme is exited, and the target acceleration of the vehicle at the next moment is no longer calculated, and the vehicle is controlled to travel with the pre-calibrated target acceleration. For example, when the remaining distance is less than 0.2m, the target acceleration at the next moment is no longer calculated, and -5m / s is directly used. 2 The vehicle is driven at the target acceleration to ensure driving safety.

[0071] In the above embodiment, in the parking function state, the remaining travel distance and the current vehicle speed are obtained. The remaining travel distance and speed of the vehicle are judged. When the remaining travel distance is less than the first distance threshold and the current vehicle speed is greater than the preset speed threshold, the remaining travel distance and the current vehicle speed are used to calculate the target acceleration of the vehicle at the next moment. Then, based on the target acceleration at the next moment, the vehicle driving is controlled. This embodiment, without the help of additional equipment such as cameras and ultrasonic detection, identifies the working conditions of the vehicle when it passes through similar obstacles (such as speed bumps) through vehicle-related motion data, and obtains the target acceleration at the next moment based on the current remaining travel distance and current speed of the vehicle, thereby achieving control of the target acceleration and speed of the vehicle, ensuring that the vehicle speed will not be too high when passing through speed bumps and similar obstacles, resulting in overtaking, and avoiding collision risks.

[0072] At the same time, this embodiment uses the vehicle speed and the remaining forward distance of the vehicle to identify the condition of crossing a speed bump over a short distance, and outputs a more effective target acceleration for the next moment. It can stop the vehicle in time to avoid the risk of collision, and does not adopt a one-size-fits-all approach to stop the vehicle with a larger target acceleration, thereby ensuring comfort during parking.

[0073] Further, as Figure 1 and Figure 2 The specific implementation of the method shown in the embodiment provides a vehicle control device, such as Figure 3 As shown, the device includes: an acquisition unit 301, a calculation unit 302, and a control unit 303.

[0074] The acquisition unit 301 is configured to acquire the remaining travel distance and the current vehicle speed in the parking function state;

[0075] The calculation unit 302 is configured to calculate the target acceleration of the vehicle at the next moment by using the remaining travel distance and the current vehicle speed when the remaining travel distance is less than a first distance threshold and the current vehicle speed is greater than a preset speed threshold;

[0076] The control unit 303 is configured to control the vehicle driving based on the target acceleration at the next moment.

[0077] In a specific application scenario, the acquisition unit 301 is specifically configured to acquire a travel distance correction value; and use the travel distance correction value to correct the remaining travel distance.

[0078] In a specific application scenario, the acquisition unit 301 is further configured to acquire the current target acceleration of the vehicle; calculate the current target acceleration and the current vehicle speed to obtain the travel distance correction value.

[0079] In a specific application scenario, the calculation unit 302 is further configured to obtain the current target acceleration of the vehicle; compare the absolute value of the current target acceleration with the absolute value of the target acceleration at the next moment, and select the target acceleration with the larger absolute value to control the vehicle driving.

[0080] In a specific application scenario, the calculation unit 302 is further configured to adjust the target acceleration at the next moment when the difference between the absolute value of the current target acceleration and the absolute value of the target acceleration at the next moment is greater than a preset threshold.

[0081] In a specific application scenario, the control unit 303 is further configured to no longer calculate the vehicle's target acceleration at the next moment when the remaining travel distance is less than or equal to a second distance threshold, and to control the vehicle's travel with a pre-calibrated target acceleration; wherein the second distance threshold is less than the first distance threshold.

[0082] It should be noted that for other corresponding descriptions of the functional units involved in the vehicle control device provided in this embodiment, reference can be made to Figure 1 and Figure 2 The corresponding description in will not be repeated here.

[0083] Based on the above Figure 1 and Figure 2 The method shown in the embodiment also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned Figure 1 and Figure 2 The method shown.

[0084] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of the present application.

[0085] Based on the above Figure 1 and Figure 2 The method shown, and Figure 3 In order to achieve the above-mentioned purpose, the embodiment of the present application further provides an electronic device, which can be configured on a computer side or a vehicle side, etc. The device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-mentioned Figure 1 and Figure 2 The method shown.

[0086] Based on the above electronic device, the embodiment of the present application further provides a vehicle, which may specifically include: Figure 3 The device shown in the figure or the electronic device as described above. The vehicle can be a new energy vehicle or a traditional vehicle.

[0087] Optionally, the above-mentioned physical device may also include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0088] Those skilled in the art will appreciate that the above-mentioned physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or a combination of certain components, or different arrangements of components.

[0089] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the above-mentioned physical device, and supports the operation of the information processing program and other software and / or programs. The network communication module is used to realize the communication between the components inside the storage medium, and the communication with other hardware and software in the information processing physical device.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general hardware platforms, or by hardware. Applying the solution of this embodiment, first, in the parking function state, the remaining travel distance and the current vehicle speed are obtained. And the remaining travel distance and speed of the vehicle are judged. When the remaining travel distance is less than the first distance threshold and the current vehicle speed is greater than the preset speed threshold, the remaining travel distance and the current vehicle speed are used to calculate the target acceleration of the vehicle at the next moment. Then based on the target acceleration at the next moment, the vehicle is controlled to travel. Compared with the related art, the present application, without relying on the help of additional equipment such as cameras and ultrasonic detection, identifies the working conditions when the vehicle passes through similar obstacles (such as speed bumps) through vehicle-related motion data, and obtains the target acceleration at the next moment according to the remaining travel distance and current speed of the current vehicle, thereby realizing the control of the acceleration and speed of the vehicle, ensuring that the vehicle speed will not be too large when passing through speed bumps and similar obstacles, resulting in overtaking, and avoiding collision risks.

[0091] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0092] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features of the present application.

[0093] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The term "and / or" as used in this application refers to any and all possible combinations of one or more associated listings. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or including (comprising) refer to the existence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or these groups. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method or device including the elements. In this document, each embodiment may focus on the differences from other embodiments, and the same or similar parts between the embodiments may refer to each other. For the methods, devices, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts may refer to the description of the method part.

[0094] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0095] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0096] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A vehicle control method, characterized in that: include: In the parking function state, obtain the remaining travel distance and current vehicle speed; When the remaining travel distance is less than the first distance threshold and the current vehicle speed is greater than the preset speed threshold, the remaining travel distance and the current vehicle speed are calculated to obtain the target acceleration of the vehicle at the next moment; The vehicle is controlled to travel based on the target acceleration at the next moment.

2. The method according to claim 1, characterized in that Before calculating the remaining travel distance and the current vehicle speed to obtain the target acceleration of the vehicle at the next moment, the method further includes: Get the travel distance correction value; The remaining travel distance is corrected using the travel distance correction value.

3. The method according to claim 2, characterized in that The obtaining of the travel distance correction value comprises: Get the current target acceleration of the vehicle; The current target acceleration and the current vehicle speed are calculated to obtain the travel distance correction value.

4. The method according to claim 1, characterized in that: After obtaining the target acceleration of the vehicle at the next moment, the method further includes: Get the current target acceleration of the vehicle; The absolute value of the current target acceleration is compared with the absolute value of the target acceleration at the next moment, and the target acceleration with the larger absolute value is selected to control the vehicle driving.

5. The method according to claim 4, characterized in that Before comparing the absolute value of the current target acceleration with the absolute value of the target acceleration at the next moment and selecting the target acceleration with the larger absolute value to control the vehicle to travel, the method further includes: When the difference between the absolute value of the current target acceleration and the absolute value of the target acceleration at the next moment is greater than a preset threshold, the target acceleration at the next moment is adjusted.

6. The method according to claim 1, characterized in that After controlling the vehicle to travel based on the next moment target acceleration, the method further includes: When the remaining travel distance is less than or equal to the second distance threshold, the target acceleration of the vehicle at the next moment is no longer calculated, and the vehicle is controlled to travel with the pre-calibrated target acceleration; The second distance threshold is smaller than the first distance threshold.

7. A vehicle control device, characterized in that: include: An acquisition unit is configured to acquire a remaining travel distance and a current vehicle speed in a parking function state; a calculation unit configured to calculate the remaining travel distance and the current vehicle speed to obtain a target acceleration of the vehicle at a next moment when the remaining travel distance is less than a first distance threshold and the current vehicle speed is greater than a preset speed threshold; The control unit is configured to control the vehicle driving based on the target acceleration at the next moment.

8. 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.

9. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: include: The device as claimed in claim 7 or the electronic device as claimed in claim 9.

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