Vehicle control method and device and electronic equipment

Abstract

The embodiment of the invention provides a vehicle control method and device and electronic equipment, and relates to the technical field of vehicles. The method comprises the steps of determining a target basic acceleration according to a current accelerator depth; according to obtained user demand information, determining a target adjustment amount corresponding to the target basic acceleration, the user demand information being used for indicating a target driving environment and / or a target experience level of the user; obtaining a target acceleration according to the target basic acceleration and the target adjustment amount; and controlling the running speed of the vehicle according to the target acceleration. Therefore, the vehicle can be controlled based on the demand of the player, so that the driving experience of the player is improved, and the strong relevance between the driving stimulation and the driving skill is decoupled.

Description

Technical Field

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

[0002] The existing UTV (Utility Terrain Vehicle) dynamics and control are mainly based on the dynamic equations of the whole vehicle and its subsystems, and the vehicle speed, yaw rate, body roll angle, acceleration and other parameters are controlled by using appropriate control algorithms. It usually monitors the vehicle's operating status in real time through a variety of sensors, and adjusts the vehicle's power output, brake distribution, steering force and suspension system through control algorithms, so that it can achieve the target handling performance.

[0003] Existing vehicle system dynamics control methods have been extensively studied in conventional passenger vehicles, but their functions are relatively fixed, usually to ensure that the vehicle can achieve better stability and handling, and they cannot take into account the needs of different players, resulting in limited driving pleasure for players. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, device, electronic device and readable storage medium, which can control the vehicle based on the player's needs, thereby improving the player's driving experience and decoupling the strong correlation between driving stimulation and driving technology.

[0005] The embodiments of the present application can be implemented as follows:

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

[0007] Determine the target base acceleration based on the current throttle depth;

[0008] Determining a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information, wherein the user demand information is used to indicate a target driving environment and / or a target experience level of the user;

[0009] Obtaining a target acceleration according to the target basic acceleration and the target adjustment amount;

[0010] The driving speed of the vehicle is controlled according to the target acceleration.

[0011] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0012] An analysis module, for determining a target base acceleration according to a current throttle depth;

[0013] The analysis module is further used to determine a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information, wherein the user demand information is used to indicate a target driving environment and / or a target experience level of the user;

[0014] The analysis module is further used to obtain a target acceleration according to the target basic acceleration and the target adjustment amount;

[0015] A control module is used to control the driving speed of the vehicle according to the target acceleration.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the vehicle control method described in the aforementioned embodiment.

[0017] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle control method as described in the aforementioned embodiment is implemented.

[0018] The vehicle control method, device, electronic device and readable storage medium provided by the embodiments of the present application first determine the target basic acceleration based on the current throttle depth, and determine the target adjustment amount corresponding to the target basic acceleration based on the obtained user demand information, wherein the user demand information is used to indicate the user's target driving environment and / or target experience level; then, the target acceleration is obtained based on the target basic acceleration and the target adjustment amount, and the vehicle's driving speed is controlled based on the target acceleration. In this way, the vehicle can be controlled based on the player's needs, thereby improving the player's driving experience and decoupling the strong correlation between driving stimulation and driving skills. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A block diagram of an electronic device provided in an embodiment of the present application;

[0021] Figure 2 One of the flow charts of the vehicle control method provided in the embodiment of the present application;

[0022] Figure 3A second flow chart of a vehicle control method provided in an embodiment of the present application;

[0023] Figure 4 A block diagram of a vehicle control device provided in an embodiment of the present application.

[0024] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication unit; 200 - vehicle control device; 210 - analysis module; 220 - control module. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0027] It should be noted that relational terms such as "first" and "second" are used only 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 terms "include", "comprise" or any other variants thereof are 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.

[0028] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0029] Please refer to Figure 1 , Figure 1A block diagram of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 may be, but is not limited to, a vehicle-mounted control device, a server, etc. The electronic device 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0030] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0031] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a vehicle control device 200, and the vehicle control device 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the vehicle control device 200 in the embodiment of the present application, that is, realizing the vehicle control method in the embodiment of the present application.

[0032] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.

[0033] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0034] Please refer to Figure 2 , Figure 2This is one of the flow diagrams of the vehicle control method provided in the embodiment of the present application. The method is applied to the above-mentioned electronic device. The specific flow of the vehicle control method is described in detail below. In this embodiment, the method may include steps S110 to S140.

[0035] S110, determining a target basic acceleration according to the current throttle depth.

[0036] S120, determining a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information, wherein the user demand information is used to indicate the user's target driving environment and / or target experience level;

[0037] S130, obtaining a target acceleration according to the target basic acceleration and the target adjustment amount.

[0038] S140: Control the driving speed of the vehicle according to the target acceleration.

[0039] In this embodiment, the current throttle depth can be obtained by detection. The throttle is a device on the vehicle. When the user (i.e., the player) steps on the throttle, the throttle depth can be obtained by detection. The vehicle can be a UTV (Utility Terrain Vehicle). The electronic device can pre-store basic accelerations corresponding to different throttle depth ranges. When the current throttle depth is obtained, the basic acceleration corresponding to the throttle depth range where the current throttle depth is located can be used as the target basic acceleration corresponding to the current throttle depth.

[0040] User demand information can also be obtained. Among them, the user can operate his own terminal device so that his own terminal device sends the user demand information to the electronic device; or, the user can directly operate the electronic device so that the electronic device obtains the user demand information, and the electronic device can also obtain the user demand information in other ways, which are not specifically limited here. For example, the electronic device is a server, and the display on the vehicle can display a user interface, which may include options for setting user demand information. The user can make selections and adjustments in the interface, so that the vehicle obtains the user demand information and sends the user demand information to the server. The user demand information is used to indicate the user's target driving environment and / or target experience level, which can be determined in combination with actual needs.

[0041] When the user demand information is obtained, the target adjustment amount can be obtained through analysis. The target adjustment amount is the acceleration adjustment amount corresponding to the target basic acceleration (also referred to as the corresponding acceleration compensation amount). Afterwards, the target basic acceleration is adjusted according to the target adjustment amount to obtain the target acceleration. Then, the driving speed of the vehicle can be controlled according to the target acceleration. In this way, controlling the vehicle based on the player's needs can enhance the player's driving experience and decouple the strong correlation between driving stimulation and driving skills.

[0042] In this embodiment, the target basic acceleration includes lateral acceleration, longitudinal acceleration, and vertical acceleration, and correspondingly, the target adjustment amount includes the adjustment amount of lateral acceleration, longitudinal acceleration, and vertical acceleration. In this way, the speed of the vehicle in three directions can be controlled.

[0043] Optionally, the user demand information includes a target experience level. The electronic device may store different experience levels and first adjustment amounts corresponding to different experience levels pre-configured by the staff. When the target experience level is obtained, the first adjustment amount corresponding to the target experience level may be obtained according to the different experience levels and the first adjustment amounts corresponding to the different experience levels, and the first adjustment amount may be used as the first target adjustment amount corresponding to the target experience level. Different experience levels correspond to different bumpy sensations.

[0044] For example, three experience levels are pre-configured, and the first adjustment amount corresponding to each of the three experience levels can be as follows. Experience level 1 (basic experience): lateral acceleration adjustment amount: low, suitable for novice players; longitudinal acceleration adjustment amount: medium; vertical acceleration adjustment amount: low, to reduce the feeling of bumps. Experience level 2 (intermediate experience): lateral acceleration adjustment amount: medium, suitable for players with certain experience; longitudinal acceleration adjustment amount: high; vertical acceleration adjustment amount: medium, appropriately increase the feeling of bumps. Experience level 3 (advanced experience): lateral acceleration adjustment amount: high, suitable for skilled players; longitudinal acceleration adjustment amount: high, provide faster response; vertical acceleration adjustment amount: high, enhance the feeling of bumps to increase the sense of excitement. The specific values ​​of various adjustment amounts for experience levels in the above configuration can be pre-set by the staff.

[0045] Optionally, the user demand information may also include a target terrain type. The electronic device may store different terrain types and second adjustment amounts corresponding to different terrain types pre-configured by the staff. When the target terrain type is obtained, the second target adjustment amount corresponding to the target terrain type may be obtained according to the different terrain types and the second adjustment amounts corresponding to the different terrain types.

[0046] For example, four types of terrain are pre-configured: flat road, mountain / hill, muddy road, and sandy land. The second adjustment amount corresponding to each of the four terrain types can be as follows. Flat road: lateral acceleration adjustment amount: medium; longitudinal acceleration adjustment amount: high; vertical acceleration adjustment amount: low, to maintain stability. Mountain / hill: lateral acceleration adjustment amount: low, to avoid loss of control; longitudinal acceleration adjustment amount: medium; vertical acceleration adjustment amount, medium, to simulate the sense of ups and downs. Muddy road: lateral acceleration adjustment amount: low, to increase stability; longitudinal acceleration adjustment amount: low; vertical acceleration adjustment amount: high, to increase the adjustability of the driving experience. Sandy land: lateral acceleration adjustment amount: low, to enhance grip; longitudinal acceleration adjustment amount: medium; vertical acceleration adjustment amount: medium, to increase driving difficulty. The specific values ​​of various adjustments for terrain types in the above configuration can be pre-set by the staff.

[0047] As a possible implementation, when the target terrain type is obtained, the second adjustment amount corresponding to the target terrain type can be determined according to different terrain types and the second adjustment amounts corresponding to the different terrain types, and the second adjustment amount corresponding to the target terrain type can be directly used as the second target adjustment amount corresponding to the target terrain type. In this way, the second target adjustment amount can be quickly obtained.

[0048] As another possible implementation, the terrain coefficient corresponding to the target experience level can be determined according to the correspondence between different experience levels and different terrain coefficients pre-stored in the electronic device, and the determined terrain coefficient is used as the target terrain coefficient. The specific terrain coefficients corresponding to different experience levels can be determined in advance by the staff in combination with the needs, and are not specifically limited here.

[0049] When the target terrain type is obtained, the second adjustment amount corresponding to the target terrain type can be determined according to different terrain types and the second adjustment amounts corresponding to the different terrain types. Afterwards, the second target adjustment amount can be obtained according to the target terrain coefficient and the second adjustment amount corresponding to the target terrain type. The specific calculation method can be determined according to actual needs. For example, the product of the target terrain coefficient and the second adjustment amount corresponding to the target terrain type is used as the second target adjustment amount. In this way, the second target adjustment amount can be determined in combination with the target experience level and the target terrain type.

[0050] Optionally, in this embodiment, the user demand information may also include a target road condition. The electronic device may store different road conditions and third adjustment amounts corresponding to different road conditions pre-configured by the staff. Road conditions are used to indicate the conditions of the roadbed, road surface, structures and ancillary facilities, etc. When the target road condition is obtained, the third target adjustment amount corresponding to the target road condition may be obtained according to different road conditions and the third adjustment amounts corresponding to different road conditions.

[0051] For example, three types of road conditions (i.e., three types of road conditions) are pre-configured: good road conditions, general road conditions, and bad road conditions. The third adjustment amount corresponding to each of the three road conditions can be as follows. Good road conditions: lateral acceleration adjustment amount: high, to improve reaction speed; longitudinal acceleration adjustment amount: high; vertical acceleration adjustment amount: low, to provide a smooth experience. General road conditions: lateral acceleration adjustment amount: medium; longitudinal acceleration adjustment amount: medium; vertical acceleration adjustment amount: medium, to moderately increase the bumpy feeling. Bad road conditions: lateral acceleration adjustment amount: low, to ensure safety; longitudinal acceleration adjustment amount: low; vertical acceleration adjustment amount: high, to increase the bumpy feeling to enhance the stimulating experience. The specific values ​​of the various adjustment amounts for road conditions in the above configuration can be pre-set by the staff.

[0052] As a possible implementation, when the target road condition is obtained, the third adjustment amount corresponding to the target road condition can be determined according to different road conditions and the third adjustment amounts corresponding to the different road conditions, and the third adjustment amount corresponding to the target road condition can be directly used as the third target adjustment amount corresponding to the target road condition. In this way, the third target adjustment amount can be quickly obtained.

[0053] As another possible implementation, the road condition coefficient corresponding to the target experience level can be determined according to the correspondence between different experience levels and different road condition coefficients pre-stored in the electronic device, and the determined road condition coefficient is used as the target road condition coefficient. The specific road condition coefficients corresponding to different experience levels can be determined in advance by the staff in combination with the needs, and are not specifically limited here.

[0054] When the target road condition is obtained, the third adjustment amount corresponding to the target road condition can be determined according to different road conditions and the third adjustment amount corresponding to the different road conditions. Afterwards, the third target adjustment amount can be obtained according to the target road condition coefficient and the third adjustment amount corresponding to the target road condition. The specific calculation method can be determined according to actual needs. For example, the product of the target road condition coefficient and the third adjustment amount corresponding to the target road condition is used as the third target adjustment amount. In this way, the third target adjustment amount can be determined in combination with the target experience level and the target road condition.

[0055] Among them, the specific values ​​of various adjustment amounts regarding experience level, terrain type, and road conditions in the above configuration can be determined by staff based on actual tests to ensure the user's best driving experience.

[0056] After the target adjustment amount corresponding to the user demand information is obtained in the above manner, the target acceleration may be obtained according to the target basic acceleration and the target adjustment amount.

[0057] As a possible implementation method, the user demand information includes a target experience level, a target terrain type and a target road condition, and the target acceleration can be calculated by the following formula: target acceleration = target basic acceleration + a first target adjustment amount corresponding to the target experience level + a second target adjustment amount corresponding to the target terrain type + a third target adjustment amount corresponding to the target road condition.

[0058] When the target basic acceleration and the target adjustment amount correspond to the lateral, longitudinal and vertical directions, the target acceleration can be calculated by the following formula:

[0059] A x '=A x0 +A x1 +(E l TF x )+(E c ·CF x )

[0060] A' y =A y0 +A y1 +(E l TF y )+(E c ·CF y )

[0061] A z '=A z0 +A z1 +(E l TF z )+(E c ·CF z )

[0062] Among them, A x0 Indicates the target base lateral acceleration in the target base acceleration, A y0 Indicates the target base longitudinal acceleration in the target base acceleration, A z0 Indicates the target base vertical acceleration in the target base acceleration; A x ' represents the target lateral acceleration in the target acceleration, A' y Indicates the target longitudinal acceleration in the target acceleration, A z' represents the target vertical acceleration in the target acceleration; A x1 Indicates the longitudinal adjustment amount in the first target adjustment amount, A y1 Indicates the lateral adjustment amount in the first target adjustment amount, A z1 Indicates the vertical adjustment amount in the first target adjustment amount; E l Indicates the target terrain coefficient; TF x Indicates the lateral adjustment amount in the second target adjustment amount, TF y Indicates the longitudinal adjustment amount in the second target adjustment amount, TF z Indicates the vertical adjustment amount in the second target adjustment amount; E c Indicates the target road condition coefficient; CF x Indicates the lateral adjustment amount in the third target adjustment amount, CF y Indicates the longitudinal adjustment amount in the third target adjustment amount, CF z Indicates the vertical adjustment amount in the third target adjustment amount.

[0063] Optionally, after the target acceleration is obtained, the acceleration and suspension system of the vehicle may be controlled directly based on the target acceleration to achieve the target acceleration.

[0064] Optionally, after obtaining the target acceleration, it can also be determined whether the target acceleration meets the safety requirements. If it is determined that the target acceleration meets the safety requirements, the target acceleration can be achieved through control. If it is determined that the target acceleration does not meet the safety requirements, the target acceleration can be adjusted to obtain an adjusted target acceleration that meets the safety requirements, and then the vehicle speed is controlled according to the adjusted target acceleration.

[0065] As a possible implementation, a vehicle model can be established (using a Kalman filter to estimate the state). The yaw rate threshold and the roll angle threshold can be calculated by the model, and the above two thresholds are safety thresholds (i.e., safety margins). If the yaw rate and the roll angle corresponding to the target acceleration are greater than the corresponding thresholds, it is determined to be unsafe, and the adjusted target acceleration can be calculated based on the yaw rate threshold and the roll angle threshold, and then control is performed based on the adjusted target acceleration. If the yaw rate and the roll angle corresponding to the target acceleration are not greater than the corresponding thresholds, it is determined to be safe, and the vehicle speed can be controlled according to the target acceleration.

[0066] During the control process, the current yaw rate, roll angle, acceleration, etc. can be obtained in real time, and then the PID algorithm can be used for control. During the control process based on the PID algorithm, the error can be calculated, and then the control output can be calculated based on the error. Among them, the error can be calculated by the following formula:

[0067] Yaw angular velocity error: e ω =ω target -ω current

[0068] Roll angle error: e θ =θ target -θ current

[0069] Acceleration error: e A =A target -A current

[0070] Among them, ω target represents the target value of the yaw rate, ω current Represents the current value of the yaw rate; θ target represents the target value of the roll angle, θ current Indicates the current value of the roll angle; A target Indicates the current value of acceleration, A current Indicates the target value of acceleration (i.e. the target acceleration or the adjusted target acceleration mentioned above.

[0071] Among them, the control can be calculated by the following formula:

[0072]

[0073] Among them, K p Represents the proportional control coefficient, K i Indicates the integral control coefficient, K d represents the differential control coefficient.

[0074] Please refer to Figure 3 , Figure 3 The second flowchart of the vehicle control method provided in the embodiment of the present application. In this embodiment, the method may further include steps S150 to S160.

[0075] Step S150: obtaining a first target control parameter corresponding to the vibration motor and / or a second target control parameter corresponding to the sound effect system according to the target experience level in the user demand information.

[0076] Step S160: controlling the vibration motor according to the first target control parameter, and / or controlling the sound effect system according to the second target control parameter.

[0077] In this embodiment, the electronic device may also store different experience levels and first control parameters of the vibration motor corresponding to the different experience levels, and / or different experience levels and second control parameters of the sound effect system corresponding to the different experience levels, which are pre-configured by the staff. Different experience levels correspond to different first control parameters of the vibration motor, and different experience levels correspond to different second control parameters of the sound effect system. The first control parameter can be used to indicate the vibration frequency of the vibration motor. The second control parameter can be used for the volume, playback object, etc. of the sound effect system.

[0078] In the case where the target experience level is included in the user demand information, the first control parameter corresponding to the target experience level can be determined according to different experience levels and the first control parameters corresponding to the different experience levels, and the first control parameter is used as the first target control parameter, and then the vibration motor is controlled based on the first target control parameter. And / or, the second control parameter corresponding to the target experience level is determined according to different experience levels and the second control parameters corresponding to the different experience levels, and the second control parameter is used as the second target control parameter, and then the sound effect system is controlled according to the second target control parameter. In this way, the intensity and frequency of the external excitation can be adjusted according to the set experience level, and the vibration motor, sound effect system and other equipment can be used to enhance the realism and immersion of the driving experience to match the player's expectations.

[0079] Optionally, the user may set the user demand information only once, or the user may set the user demand information multiple times, and control is performed according to the latest user demand information during the control process.

[0080] Wherein, when the electronic device is a server, the electronic device can send the data required for control to the vehicle control device when the data required for control is obtained, and the vehicle control device controls the execution system of the vehicle based on the received data required for control. Wherein, the data required for control may include target acceleration or adjusted target acceleration, first target control parameter, and second target control parameter. The execution system may include a suspension adjuster, an accelerator, a vibration motor, and a sound effect system. In this way, the workload of the vehicle control device can be reduced, and at the same time, players can feel moderate bumps and driving pleasure under single road conditions such as flat roads.

[0081] The above-mentioned vehicle control method can dynamically adjust the UTV driving experience according to the player's personal preferences, thereby achieving personalized driving stimulation; and, by setting different control parameters (including lateral acceleration performance, longitudinal acceleration performance, vertical acceleration performance and external excitation response (vibration motor, sound effect system)) by level, the relationship between the degree of driving stimulation and the player's technical level is decoupled, and all players can experience rich driving pleasure and challenges under different driving conditions.

[0082] Optionally, in this embodiment, the built-in sensors of the vehicle can collect dynamic data during the driving process of the vehicle for storage or other analysis, etc. The dynamic data may include vehicle status data, driving environment data, driving behavior data, external environment data, system status data, etc.

[0083] For example, the current speed and acceleration of the vehicle, the current direction of the vehicle, and the current steering wheel rotation angle can be obtained and recorded, and the above data can be used as vehicle status data.

[0084] The driving environment data may include terrain information, road condition information, and obstacle detection information, etc. Terrain information may be the type of ground collected by sensors (e.g., flat, sloped, rugged, etc.); road condition information is used to describe road conditions; obstacle detection information is used to indicate the obstacle information ahead identified by radar or camera, which may be displayed to the user so that the user can avoid obstacles based on the information.

[0085] The driving behavior data may include driving mode and driving habits. The driving mode is the current driving mode, that is, the mode indicated by the current user demand information, that is, the target experience level, target terrain type and target road condition. The driving habits include the driver's acceleration, braking and steering behaviors.

[0086] The external environment data may include meteorological information and lighting conditions, etc. The meteorological information may include temperature, humidity, wind speed, precipitation, etc. The lighting conditions may include ambient light intensity, daytime or nighttime status, etc.

[0087] The system status data may include battery status, sensor health status, etc. The battery status may include power level, charging status, etc. The sensor health status may include the working status and accuracy of each sensor.

[0088] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing the vehicle control device 200 is given below. Optionally, the vehicle control device 200 can adopt the above Figure 1 The device structure of the electronic device 100 is shown. Figure 4 , Figure 4 The block diagram of the vehicle control device 200 provided in the embodiment of the present application. It should be noted that the basic principle and technical effects of the vehicle control device 200 provided in the present embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for the parts not mentioned in the present embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. In the present embodiment, the vehicle control device 200 may include: an analysis module 210 and a control module 220.

[0089] The analysis module 210 is used to determine the target basic acceleration according to the current throttle depth.

[0090] The analysis module 210 is further configured to determine a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information, wherein the user demand information is used to indicate the user's target driving environment and / or target experience level.

[0091] The analysis module 210 is further configured to obtain a target acceleration according to the target basic acceleration and the target adjustment amount.

[0092] The control module 220 is used to control the driving speed of the vehicle according to the target acceleration.

[0093] In this embodiment, the analysis module 210 is further used to obtain a first target control parameter corresponding to the vibration motor and / or a second target control parameter corresponding to the sound effect system according to the target experience level in the user demand information, wherein different experience levels correspond to different first control parameters of the vibration motor, and different experience levels correspond to different second control parameters of the sound effect system; the control module 220 is further used to: control the vibration motor according to the first target control parameter, and / or control the sound effect system according to the second target control parameter.

[0094] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown in the figure may be fixed in the operating system (OS) of the electronic device 100 and may be Figure 1 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.

[0095] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon, and the computer program implements the vehicle control method when executed by a processor.

[0096] In summary, the embodiments of the present application provide a vehicle control method, device, electronic device and readable storage medium, firstly determining the target basic acceleration based on the current throttle depth, and determining the target adjustment amount corresponding to the target basic acceleration based on the obtained user demand information, wherein the user demand information is used to indicate the user's target driving environment and / or target experience level; then, according to the target basic acceleration and the target adjustment amount, the target acceleration is obtained, and then the driving speed of the vehicle is controlled according to the target acceleration. In this way, the vehicle can be controlled based on the player's needs, thereby improving the player's driving experience and decoupling the strong correlation between driving stimulation and driving skills.

[0097] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that 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, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0098] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0099] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0100] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Determine the target base acceleration based on the current throttle depth; Determining a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information, wherein the user demand information is used to indicate a target driving environment and / or a target experience level of the user; Obtaining a target acceleration according to the target basic acceleration and the target adjustment amount; The driving speed of the vehicle is controlled according to the target acceleration.

2. The method according to claim 1, characterized in that The user demand information includes the target experience level, and determining the target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information includes: According to different experience levels and first adjustment amounts corresponding to different experience levels, a first target adjustment amount corresponding to the target experience level is obtained, wherein different experience levels correspond to different bumpy sensations.

3. The method according to claim 2, characterized in that The user demand information also includes a target terrain type, and determining a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information also includes: According to different terrain types and the second adjustment amounts corresponding to the different terrain types, a second target adjustment amount corresponding to the target terrain type is obtained.

4. The method according to claim 3, characterized in that The obtaining, according to different terrain types and the second adjustment amounts corresponding to the different terrain types, the second target adjustment amount corresponding to the target terrain type comprises: According to different terrain types and second adjustment amounts corresponding to different terrain types, obtaining a second adjustment amount corresponding to the target terrain type; The second target adjustment amount is obtained according to the target terrain coefficient corresponding to the target experience level and the second adjustment amount corresponding to the target terrain type.

5. The method according to claim 2, characterized in that: The user demand information also includes a target road condition, and determining a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information also includes: According to different road conditions and the third adjustment amounts corresponding to the different road conditions, a third target adjustment amount corresponding to the target road condition is obtained.

6. The method according to claim 5, characterized in that The obtaining, according to different road conditions and the third adjustment amounts corresponding to the different road conditions, the third target adjustment amount corresponding to the target road condition comprises: Obtaining a third adjustment amount corresponding to the target road condition according to different road conditions and third adjustment amounts corresponding to the different road conditions; The third target adjustment amount is obtained according to the target road condition coefficient corresponding to the target experience level and the third adjustment amount corresponding to the target road condition.

7. The method according to any one of claims 1 to 6, characterized in that: The target basic acceleration includes lateral acceleration, longitudinal acceleration, and vertical acceleration, and the target adjustment amount includes an adjustment amount of lateral acceleration, an adjustment amount of longitudinal acceleration, and an adjustment amount of vertical acceleration; and / or, The controlling the driving speed of the vehicle according to the target acceleration comprises: Determining whether the target acceleration meets safety requirements; If the target acceleration does not meet the safety requirement, adjusting the target acceleration to obtain an adjusted target acceleration that meets the safety requirement; The vehicle speed is controlled according to the adjusted target acceleration.

8. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: According to the target experience level in the user demand information, a first target control parameter corresponding to the vibration motor and / or a second target control parameter corresponding to the sound effect system is obtained, wherein different experience levels correspond to different first control parameters of the vibration motor, and different experience levels correspond to different second control parameters of the sound effect system; The vibration motor is controlled according to the first target control parameter, and / or the sound effect system is controlled according to the second target control parameter.

9. A vehicle control device, characterized in that: The device comprises: An analysis module, for determining a target base acceleration according to a current throttle depth; The analysis module is further used to determine a target adjustment amount corresponding to the target basic acceleration according to the obtained user demand information, wherein the user demand information is used to indicate a target driving environment and / or a target experience level of the user; The analysis module is further used to obtain a target acceleration according to the target basic acceleration and the target adjustment amount; A control module is used to control the driving speed of the vehicle according to the target acceleration.

10. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the vehicle control method described in any one of claims 1-8.

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