Vehicle control method, control device, vehicle and computer program product

Abstract

The invention discloses a vehicle control method, a vehicle control device, a vehicle and a computer program product. A vehicle is provided with a green hand mode, a user can flexibly select a starting point and a terminal point of a training route, a target ripe driver navigates and drives along the training route to acquire data, and reference driving data is generated. During novice driving, the vehicle provides assistance based on the reference data. Wherein the common road section generates a corresponding vehicle position and speed reference curve in advance by fitting vehicle position and speed data, and a reference speed can be recommended according to the current position during training; a key road section (including traffic lights or obstacles) generates an acceleration reference curve in advance according to the collision time and the actual acceleration, and the acceleration can be recommended according to the current collision scene during training; a recommended rotation angle or speed curve is generated in advance by combining the rotation angle of the steering wheel and the timestamp on the curve road section, and the rotation angle or the rotation speed can be recommended according to the current turning point during training. That is to say, different reference driving data are recommended for vehicles on different road sections, road-section auxiliary training is achieved, the communication feeling between a green driver and the vehicles is enhanced, the communication stability and partner training efficiency are guaranteed, and then the green driver is effectively helped to improve the driving skill.

Description

Technical Field

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

[0002] Many novice drivers usually rely on experienced driving instructors for guidance during their initial driving training due to their lack of actual driving experience. This traditional driving training method mainly involves the instructor delivering instructions to the novice driver to help him gradually master driving skills.

[0003] However, this method has certain limitations. First, the communication between the instructor and the novice driver is usually one-way, that is, the novice driver mainly relies on receiving instructions to adjust the operation, and it is difficult to establish a sense of direct interaction with the vehicle. Secondly, because novice drivers may be under tension and pressure, they are prone to emotional fluctuations and distraction, which in turn affects their driving concentration, and the effect of the training is often unstable.

[0004] Therefore, a vehicle control method that can assist novice drivers in driving is urgently needed. Summary of the invention

[0005] The present application provides a vehicle control method, a vehicle control device, a vehicle and a computer program product, which can enhance the communication sense between novice drivers and vehicles, ensure communication stability and training efficiency, and thus effectively help novices improve their driving skills.

[0006] In a first aspect, the present application provides a vehicle control method, which, in a novice mode of the vehicle, comprises:

[0007] After determining the starting point and the end point of the training route, obtaining driving data of the target experienced driver navigating along the training route;

[0008] determining reference driving data for a training route based on the driving data;

[0009] When the novice driver drives along the training route, the novice driver is assisted in driving training based on the reference data.

[0010] In some embodiments, the training route includes a common section and a key section; the common section is a section without dynamic obstacles and traffic lights, and the key section is a section with obstacles and / or traffic lights and / or curves; the driving data includes first driving data corresponding to the common section and second driving data corresponding to the key section; and the reference driving data of the training route is determined based on the driving data, including:

[0011] determining first reference data based on the first driving data;

[0012] Second reference data is determined based on the second driving data.

[0013] In some embodiments, the first driving data includes multiple sets of vehicle positions and vehicle speeds; determining the first reference data based on the first driving data includes:

[0014] Based on each set of vehicle positions, vehicle speeds, fitting vehicle positions and reference speed curves, the first reference data includes vehicle positions and reference speed curves.

[0015] In some embodiments, the key road section is a curved road section; the second driving data includes a steering angle and a timestamp of a steering wheel of the vehicle corresponding to different turning points; and determining the second reference data based on the second driving data includes:

[0016] Constructing a steering wheel angle curve or a speed curve based on the turning angle and timestamp of each turning point;

[0017] The turning angle curve or the speed curve is smoothed to obtain a turning angle reference curve or a speed reference curve corresponding to each turning point, and the second reference data includes the turning angle reference curve or the speed reference curve.

[0018] In some embodiments, the key road section is a road section with a dynamic obstacle or a traffic light, and the second driving data includes a plurality of relative safety distances and corresponding relative speeds in the process of following the dynamic obstacle, and a plurality of corresponding actual accelerations; determining the second reference data based on the second driving data includes:

[0019] determining a plurality of collision time values ​​based on a plurality of relative safety distances and a plurality of relative speeds;

[0020] Determine a corresponding collision time and acceleration curve family based on each collision time and each actual acceleration;

[0021] An acceleration reference curve is determined according to an envelope of the curve family, and the second reference data includes the acceleration reference curve.

[0022] In some embodiments, assisting a novice driver in driving training based on reference data includes:

[0023] On ordinary roads, the recommended speed is determined based on the current position of the vehicle and the vehicle position and the reference speed curve;

[0024] If the first current speed of the vehicle is less than the recommended speed, the driver is reminded to accelerate to the recommended speed in a target manner;

[0025] If the first current speed of the vehicle is greater than the recommended speed, the braking system of the vehicle is controlled to apply the brakes to remind the driver to decelerate to the recommended speed.

[0026] In some embodiments, assisting a novice driver in driving training based on reference data includes:

[0027] In a road section with a dynamic obstacle or a traffic light, determining a recommended acceleration from an acceleration reference curve based on a current collision time with a current dynamic obstacle or a current stop line; the current collision time is determined based on a relative distance between the vehicle and the current dynamic obstacle or the current stop line and a second current speed of the vehicle;

[0028] If the vehicle's current acceleration is less than the recommended acceleration, the driver is reminded to press the accelerator pedal in a targeted manner;

[0029] If the current acceleration of the vehicle is greater than the recommended acceleration, the control-by-wire system that controls the vehicle decelerates the vehicle to reduce the current acceleration to the recommended acceleration.

[0030] In some embodiments, assisting a novice driver in driving training based on reference data includes:

[0031] On the curved road section, determining a recommended turning angle or a recommended speed from a turning angle reference curve or a speed reference curve based on a current turning point of the vehicle;

[0032] When the current steering wheel angle is less than the recommended steering wheel angle or the current steering wheel speed is less than the recommended speed, correcting the current steering wheel angle or the current steering wheel speed to the recommended steering wheel angle or the recommended speed;

[0033] When the current steering wheel angle is greater than the recommended angle or the current steering wheel speed is greater than the recommended speed, the steering wheel power assistance level is reduced until the current steering wheel angle or the current speed is corrected to the recommended angle or the recommended speed, and then the steering wheel power assistance level is restored.

[0034] In a second aspect, the present application provides a vehicle control device, the control device comprising a novice module, the novice module being used to:

[0035] After determining the starting point and the end point of the training route, obtaining driving data of the target experienced driver navigating along the training route;

[0036] determining reference driving data for a training route based on the driving data;

[0037] When the novice driver drives along the training route, the novice driver is assisted in driving training based on the reference data.

[0038] In a third aspect, the present application provides a vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the computer program.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect are implemented.

[0040] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, it implements the steps of the method of the first aspect.

[0041] The first aspect of the present application has the beneficial effect compared with the prior art: in order to improve the flexibility and personalization of the actual vehicle training for novice drivers, the novice driver can independently select the starting point and end point of the training route without being restricted to a fixed training route. After determining the route, the target experienced driver (such as a skilled driver or a professional coach around the novice driver) navigates along the route, collects driving data during driving, and generates corresponding reference driving data. When the novice driver is driving along the training route, the vehicle can provide assistance based on the reference driving data to enhance the sense of communication between the novice driver and the vehicle. Compared with the communication between the accompanying person and the novice driver, vehicle accompanying can ensure the emotional stability and accompanying efficiency during the training process, thereby effectively helping novices improve their driving skills.

[0042] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0045] Figure 2 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0046] Figure 3 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0048] Explanation of terms

[0049] Novice driver: refers to a driver with little driving experience and immature driving skills, who usually needs to improve their driving skills through repeated training and practice.

[0050] Experienced driver: refers to a driver with rich driving experience and skilled operating skills, who can better deal with complex road conditions and can usually serve as a sparring partner or instructor for novice drivers.

[0051] Time to Collision (TTC): refers to the time required for a vehicle to collide with an obstacle in front (or the vehicle in front) at the current speed. It is usually used to assess potential risks and take braking measures in advance. It can be calculated by the relative distance to the obstacle in front and the relative speed between the vehicle and the obstacle in front.

[0052] Braking system: A system used to slow down or stop the movement of a vehicle, including traditional hydraulic brakes (mechanical connection) and modern electronically controlled braking systems, to ensure the safety and stability of the vehicle during driving. Through this braking system. In this application, when necessary, for example, when a novice driver's speed is too high, the driver can be intervened in his driving operation by controlling the vehicle to slow down, thereby ensuring driving safety.

[0053] By-wire System: A control system that replaces traditional mechanical or hydraulic connections with electronic signals, such as wire control braking and wire control steering. It has the advantages of quick response, energy saving, and weight reduction, and can be better integrated with autonomous driving and advanced driver assistance systems (ADAS).

[0054] Electronic Power Steering (EPS) is a technology that uses electric motors to provide steering assistance for vehicles. Unlike traditional hydraulic power steering, EPS uses sensors to detect the driver's steering wheel operation force and vehicle driving conditions (such as vehicle speed, turning angle, etc.), and the electronic control unit (ECU) calculates the required steering assistance force and drives the steering mechanism through the electric motor for precise assistance. This technology has the advantages of rapid response and energy saving and high efficiency. At the same time, it can also realize variable power assistance and intelligent steering functions, improving driving comfort and safety.

[0055] At present, the traditional driving training method has certain limitations. First, the communication between the trainer and the novice driver is usually one-way, that is, the novice driver mainly relies on receiving instructions to adjust the operation, and it is difficult to establish a direct sense of interaction with the vehicle. Secondly, because novice drivers may be under tension and pressure, they are prone to emotional fluctuations and distractions, which in turn affects their driving concentration, and the training effect is often unstable.

[0056] In order to improve the training effect, the present application proposes a vehicle control method, which can enhance the communication sense between the novice driver and the vehicle, ensure the stability of communication and the training efficiency, and thus effectively help the novice improve his driving skills. The control method proposed in the present application will be described below through specific embodiments.

[0057] The vehicle control method provided in the embodiments of the present application can be applied to the vehicle or other electronic devices, such as other electronic devices that establish a communication connection with the vehicle to control the vehicle, such as mobile phones, tablet computers, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), etc. The embodiments of the present application do not impose any restrictions on the specific types of electronic devices.

[0058] In order to illustrate the technical solution proposed in this application, each embodiment will be described below using a vehicle as the execution subject.

[0059] Figure 1 A schematic flow chart of a vehicle control method provided by the present application is shown. The vehicle is configured with a novice mode. In the novice mode, the control method includes:

[0060] Step 110: After determining the starting point and the end point of the training route, the vehicle obtains driving data of the target experienced driver navigating along the training route.

[0061] Novice drivers are easily affected by the social facilitation effect during driving practice, that is, for familiar or skilled operations, the attention of the instructor can improve their performance; but when faced with unfamiliar or complex tasks, the attention of the instructor may cause tension and anxiety, which in turn affects driving efficiency and stability. In addition, in traditional real-car training, novice drivers are prone to reduce the effectiveness of training due to emotional fluctuations. In order to reduce emotional fluctuations during driving practice and improve the effectiveness of training, stable automatic training can be provided by the vehicle to replace traditional training.

[0062] Considering that the familiarity of the training route can easily affect the training effect, in order to improve the personalization of the training, the vehicle can generate a corresponding training route based on the starting and ending points selected by the novice driver. In this way, the novice driver can customize the training route according to his own needs and familiarity, thereby improving the pertinence and effect of the training.

[0063] In order to more effectively assist novice driver training, after the training route is determined, the target skilled driver can first navigate and drive along the route. The target skilled driver can be a relative or friend familiar to the novice driver, or a driving instructor with professional capabilities. For familiar relatives and friends, they can drive according to the habits of the novice driver, so that the vehicle can record driving data that fits the personalized needs of the novice driver and generate more targeted reference data; for professional coaches, their driving operations are standard and their handling of complex road conditions is more comprehensive, so that the vehicle can record standardized and comprehensive driving data, providing novice drivers with higher quality and more comprehensive reference data. Specifically, the driver can entrust different skilled drivers to complete the generation of the training route based on convenience, so that the vehicle can provide effective auxiliary training.

[0064] As novice drivers continue to practice, their skills continue to improve. In order to further improve the driving skills of novice drivers, different stages of training can be provided for novice drivers.

[0065] For example, a novice driver can customize the difficulty of the training route; the vehicle can also mark the difficulty of the training route in purple or red according to the complexity of different sections in the training route. The vehicle can evaluate the overall difficulty by analyzing the different sections in the training route. For example, simple straight sections and slight curves may be evaluated as low difficulty, sections containing intersections and traffic lights may be evaluated as medium difficulty, and sections with sharp turns and many obstacles may be evaluated as high difficulty. The vehicle comprehensively calculates the difficulty of the entire training route based on the proportion and difficulty weight of each section, thereby providing personalized training suggestions for novice drivers.

[0066] Accordingly, after completing the training, the vehicle can evaluate the novice driver's proficiency in the current training route. When the proficiency reaches a preset threshold, the vehicle will remind the novice driver to switch to a more difficult training route, thereby helping him or her gradually improve his or her driving skills.

[0067] For example, for a training route that has been generated, a novice driver can make full use of the route to practice multiple times, gradually improve his driving skills through repeated training, and reach a higher level of proficiency, so as to be trained to cope with more complex road conditions.

[0068] Step 120: The vehicle determines reference driving data for the training route based on the driving data.

[0069] Step 130 : When the novice driver drives along the training route, the vehicle assists the novice driver in driving training based on the reference data.

[0070] After acquiring driving data, the vehicle can extract representative and reference-valued feature data and generate reference driving data for the training route, thereby providing accurate auxiliary guidance for novice drivers. Specifically, when the novice driver is practicing along the training route, the vehicle can use the reference data as a benchmark to measure the deviation of his driving operation in real time, and enhance the communication between the novice driver and the vehicle by providing targeted correction suggestions or auxiliary prompts, so as to help him master driving skills more efficiently.

[0071] In this embodiment, in order to enhance the flexibility and personalization of the actual vehicle training for novice drivers, novice drivers can independently select the starting point and end point of the training route without being restricted to a fixed training route. After determining the route, the target experienced driver (such as a skilled driver or professional coach around the novice driver) navigates along the route, and the vehicle collects driving data during the driving process to generate corresponding reference driving data. When the novice driver is driving along the training route, the vehicle can provide assistance based on the reference driving data to enhance the communication sense between the novice driver and the vehicle. Compared with the communication between the accompanying person and the novice driver, vehicle accompanying can ensure the emotional stability and accompanying efficiency during the communication process, thereby effectively helping novices improve their driving skills.

[0072] In some embodiments, different road sections have different characteristics, and the corresponding driving operations are also different. In order to provide comprehensive and accurate training services, the training routes can be divided into ordinary sections and key sections. Ordinary sections refer to sections without dynamic obstacles and traffic lights, such as straight sections and curved sections, which are suitable for practicing basic driving skills; key sections contain obstacles, traffic lights and / or curves, which are suitable for training complex driving skills and comprehensive coping capabilities. Through such a division, more targeted training guidance can be provided according to the characteristics of different sections, helping novice drivers to comprehensively improve their driving abilities.

[0073] Similarly, driving data can also be classified and managed according to the different characteristics of the road sections, including the first driving data and the second driving data. The first driving data corresponding to ordinary sections mainly records basic driving behaviors, such as vehicle speed, position changes, etc.; the second driving data corresponding to key sections focuses on recording information related to complex operations, such as acceleration and deceleration characteristics, steering wheel rotation angle and angular velocity, relative distance to obstacles, etc. Through this division, reference driving data for different sections can be generated more effectively, providing more refined auxiliary support for novice drivers.

[0074] Correspondingly, different road sections can generate corresponding reference data based on corresponding driving data. Specifically, for ordinary road sections, the vehicle can generate first reference data based on the first driving data to assist basic driving operations; for key road sections, the vehicle can generate second reference data based on the second driving data to guide complex driving tasks, thereby achieving targeted assistance for novice drivers.

[0075] In this embodiment, the vehicle generates different reference data by combining different road sections and corresponding driving data, which can significantly improve the pertinence and effectiveness of auxiliary training. The first reference data generated by ordinary road sections can provide stable basic driving guidance for novice drivers, while the second reference data generated by key road sections focuses on the ability to cope with complex operations, such as the handling of dynamic obstacles, the response of traffic lights, and driving skills on curves. Through this method of generating reference data by classification, the vehicle can provide novice drivers with more accurate training assistance based on the characteristics of the road section, comprehensively improve driving skills, while reducing information irrelevant to the current road section, and enhancing the efficiency and experience of the driving process.

[0076] In some embodiments, driving on ordinary roads mainly tests the driver's ability to control the vehicle speed at different positions. The first driving data includes multiple sets of corresponding relationships between vehicle positions and vehicle speeds. These data reflect the driving characteristics of experienced drivers on the road section by recording the speed changes of the vehicle at different positions. In order to accurately extract data with reference value, the vehicle can be fitted based on these position and speed data to generate a vehicle position and reference speed curve, thereby forming the first reference data. This reference data provides clear speed guidance for novice drivers, helping them to better master basic driving skills.

[0077] For example, when fitting the vehicle position and reference speed curve, there may be multiple fitting methods, such as spline interpolation, exponential fitting, Gaussian fitting, linear regression, neural network fitting, polynomial fitting, etc.

[0078] For example, taking the pentaminc fitting in the polynomial fitting as an example, it has high flexibility and accuracy, and can fully capture the complex relationship between the vehicle position and speed change. Through this method, the vehicle can generate a smooth and continuous vehicle position and reference speed curve, avoiding discontinuous or unreasonable speed recommendations caused by data fluctuations, thereby improving the practice quality and safety of novice drivers.

[0079] For example, on a certain ordinary road section, the driving data of an experienced driver records several vehicle positions and corresponding vehicle speeds. Based on these data, the vehicle generates a vehicle position and reference speed curve through pentaminc fitting:

[0080] v(x)=a0+a1x+a2x 2 +a3x 3 +a4x 4 +a5x 5

[0081] Among them, v(x) represents the reference speed corresponding to the position, and a0, a1, ..., a5 are the coefficients of the fitted polynomial. Through this curve, the vehicle can provide recommended speeds at different positions for novice drivers to ensure that their driving process is smooth and close to the driving style of experienced drivers.

[0082] Exemplarily, in order to further improve the safety of speed recommendations, the vehicle can multiply the upper limit of a safety factor based on the fitted vehicle position and reference speed curve. Specifically, by introducing the safety factor, the recommended speed is reduced accordingly, thereby providing additional conservatism and avoiding safety hazards caused by factors such as changes in road conditions and driver reactions. For example, when the safety factor is set to 0.9, the recommended speed is 10% lower than the fitted value, ensuring that the recommended speed is more conservative and stable. This not only improves driving safety, but also allows the safety factor to be flexibly adjusted according to different road sections or environments, and provides novice drivers with more reliable auxiliary training, reducing the psychological pressure of novice drivers and enhancing driving confidence.

[0083] In some embodiments, based on the vehicle position and the reference speed curve, during the novice driver's driving training, the vehicle can achieve driving training by following the steps below:

[0084] Step A1: On a normal road section, the vehicle determines a recommended speed based on the current position of the vehicle and the vehicle position and reference speed curve.

[0085] Step A2: If the first current speed of the vehicle is less than the recommended speed, the vehicle reminds the driver to accelerate to the recommended speed in a target manner.

[0086] Step A3: If the first current speed of the vehicle is greater than the recommended speed, the vehicle controls the braking system of the vehicle to apply the brakes to remind the driver to decelerate to the recommended speed.

[0087] On ordinary roads, the vehicle determines the recommended speed based on the current position and the pre-generated vehicle position and reference speed curve. If the current speed is lower than the recommended speed, in order to ensure driving safety, the vehicle does not directly control acceleration, but reminds the driver to accelerate to the recommended speed through a pop-up prompt box on the display or voice broadcast, such as the prompt "The recommended speed is 60km / h, please speed up." Of course, the two target methods can be used in combination to prevent novice drivers from missing information due to nervousness. If the current speed is higher than the recommended speed, the vehicle intervenes and brakes by controlling the braking system to remind the driver to slow down to the recommended speed, thereby ensuring driving safety.

[0088] In this embodiment, on ordinary roads, the vehicle provides a recommended speed based on the vehicle position and the reference speed curve, and makes real-time adjustments based on the vehicle's current speed, which can effectively guide novice drivers to maintain a safe speed. By reminding the driver to accelerate or decelerate to the recommended speed, it not only enhances the communication between the novice driver and the vehicle, but also avoids potential safety hazards caused by improper driving operations, thereby improving the training effect, enabling novice drivers to better control the vehicle and improve their driving skills.

[0089] In some embodiments, there are multiple key sections, such as curved sections. In addition to testing the driver's control of speed, curved sections also test the driver's ability to control the steering wheel, especially the steering angle and speed of the steering wheel. When driving on a curved road, the driver needs to adjust the steering wheel's rotation amplitude and speed in a timely manner according to factors such as the radius of the curve and the vehicle speed to ensure that the turn is completed safely and smoothly. Therefore, in curved sections, the vehicle can provide corresponding auxiliary guidance based on steering wheel operation data, such as angle and speed, to help novice drivers better master turning skills and improve driving stability.

[0090] Specifically, the second driving data may include the turning angle and time stamp of the steering wheel of the vehicle corresponding to different turning points. Based on the second driving data, the vehicle may determine the second reference data corresponding to the curved road section by the following steps:

[0091] Step B1: The vehicle constructs a steering wheel angle curve or a speed curve based on the turning angle and time stamp of each turning point.

[0092] Step B2: The vehicle performs smoothing processing on the turning angle curve or the speed curve to obtain a turning angle reference curve or a speed reference curve corresponding to each turning point.

[0093] The vehicle first constructs the steering wheel angle curve or speed curve based on the turning angle and timestamp data of each turning point, and reflects the driver's operating characteristics during different turns by recording the changes in the turning angle or speed at different time points. Next, the vehicle smoothes these turning curves to remove noise and fluctuations in the data to ensure that the curves are smoother and more stable, thereby generating a turning angle reference curve or speed reference curve corresponding to the turning section, that is, obtaining the second reference data corresponding to the turning section. The smoothed reference curve can provide novice drivers with more accurate and stable turning operation assistance.

[0094] For example, the angle curve or the rotation speed curve may be smoothed by using a first-order filter, a Savitzky-Golay filter, a Gaussian filter or the like.

[0095] Among them, the first-order filter smoothes the curve by calculating the weighted average of each data point and its surrounding points. It can make the data present a more stable trend by reducing the amplitude of rapid fluctuations and removing high-frequency noise.

[0096] Savitzky-Golay filtering uses a polynomial fit (usually quadratic or cubic) to perform a weighted average of each data point and its neighboring points. This method can effectively smooth the curve while preserving local trends and details.

[0097] Gaussian filtering is based on the weighted average of the Gaussian function, which assigns different weights to each data point. Data points farther away from the current point have lower weights, while points closer to the current point have higher weights, thereby smoothing the data and effectively reducing noise while retaining the overall shape of the curve.

[0098] In some embodiments, based on the turning angle reference curve or the speed reference curve, during the driving practice of the novice driver, the vehicle can implement the following steps to practice with the novice driver:

[0099] Step C1: On a curved road section, the vehicle determines a recommended turning angle or a recommended rotation speed from a turning angle reference curve or a rotation speed reference curve based on a current turning point of the vehicle.

[0100] Step C2: When the current steering wheel angle is less than the recommended steering wheel angle or the current steering wheel speed is less than the recommended speed, the vehicle corrects the current steering wheel angle or the current speed to the recommended steering wheel angle or the recommended speed.

[0101] Step C3: when the current steering wheel angle is greater than the recommended angle or the current steering wheel speed is greater than the recommended speed, the vehicle reduces the power assist level until the current steering wheel angle or the current speed is corrected to the recommended angle or the recommended speed, and then restores the steering wheel power assist level.

[0102] On curved roads, the vehicle determines the recommended angle or recommended speed from the angle reference curve or speed reference curve based on the current turning point. If the current steering wheel angle or speed is lower than the recommended value, the vehicle can intervene to actively correct it, increase the steering wheel angle or speed to the recommended value, and help the driver complete the turning operation smoothly. Conversely, if the current angle or speed is higher than the recommended value, the vehicle will reduce the power level by reducing the steering force so that the driver can clearly feel that the steering wheel feels heavier, thereby reducing the current angle or current speed gradually reduced to the recommended value, and then restore the normal power level. This precise auxiliary control not only improves the control ability of novice drivers in curves, but also effectively ensures driving safety.

[0103] For example, the vehicle can correct the steering wheel angle or speed by controlling any system such as the electronic power steering system, the steer-by-wire system (SBW), the advanced driver assistance system (ADAS), etc.; the vehicle can adjust the horizontal steering wheel power through the collaboration of the power steering system, the steer-by-wire system and the electronic stability control system (ESC / VDC).

[0104] Taking the electronic power steering system as an example, the electronic power steering system can receive data from vehicle sensors, such as vehicle speed, steering angle sensor, steering wheel torque sensor, etc., and calculate the ideal steering assist value, so that novice drivers can still increase the steering wheel angle or speed ratio to the recommended value with the current force.

[0105] In this embodiment, if the current steering wheel angle or speed is lower than the recommended value, it indicates that the steering force applied by the novice driver is insufficient. To ensure that the vehicle passes the curved road smoothly, the vehicle can actively correct the current steering angle or speed to the recommended value to avoid the inability to pass the curve due to understeering; if the current steering wheel angle or speed is higher than the recommended value, the vehicle can reduce the strength of the steering wheel power level so that the driver feels greater steering resistance, thereby reducing the risk of oversteering, and finally correct the angle or speed to the recommended value to ensure the safety and smoothness of driving on the curve.

[0106] In some embodiments, in order to ensure driving safety and avoid collisions between vehicles and dynamic obstacles or crossing the stop line of traffic lights, the driver's starting and braking speed is crucial in key sections with dynamic obstacles or traffic lights. The vehicle can generate a corresponding acceleration reference curve based on real-time collision time (TTC) and actual acceleration data, and perform auxiliary training based on this. Through accurate acceleration reference, the vehicle can help the driver adjust the starting and braking behavior in complex sections, thereby improving safety and reducing potential dangers.

[0107] Specifically, the second driving data may include a plurality of relative safety distances and corresponding relative speeds in the process of following a dynamic obstacle, as well as a plurality of corresponding actual accelerations. Based on the second driving data, the vehicle may determine the second reference data corresponding to the dynamic obstacle or the traffic light section through the following steps:

[0108] Step D1: The vehicle determines a plurality of collision time values ​​based on a plurality of relative safety distances and a plurality of relative speeds.

[0109] Throughout the training route, the driver may encounter multiple dynamic obstacles and / or traffic lights, so the vehicle can collect the relative distance and relative speed to each obstacle or traffic light to calculate the collision time in different situations. These collision time values ​​can help determine the reaction time that the driver needs to take in specific situations to ensure safe driving.

[0110] Step D2: The vehicle determines a corresponding collision time and acceleration curve family based on each collision time and each actual acceleration.

[0111] Based on the actual acceleration changes of the vehicle at each key section and the calculated results of the collision time, the vehicle can generate a series of acceleration curves, namely a family of curves. The family of curves reflects the relationship between different collision times and corresponding accelerations, and is used to provide the driver with more accurate acceleration or braking guidance.

[0112] Step D3: The vehicle determines an acceleration reference curve according to the envelope of the curve family.

[0113] By calculating the upper and lower envelopes of the curve family. Specifically, the vehicle can compare the values ​​of multiple curves at the same time point to find the maximum and minimum values ​​at each time point, thereby constructing the upper envelope and lower envelope. That is, first collect the data of multiple curves, and compare the values ​​of these curves at each time point to determine the maximum value (upper envelope) and minimum value (lower envelope) at that point.

[0114] The envelope can effectively reflect the extreme value range of all curves, providing a reliable basis for subsequent data analysis and reference data generation. Therefore, based on the envelope, the vehicle can find the best acceleration range and generate a recommended acceleration reference curve, which is the second reference data, to help the driver make timely acceleration and deceleration responses when facing obstacles or traffic lights, thereby improving safety and comfort.

[0115] In this embodiment, the vehicle calculates the collision time based on multiple relative safety distances and speeds, and generates a collision time and acceleration curve family based on the actual acceleration, which can provide accurate acceleration reference data. This ensures timely response to different dynamic obstacles and traffic light scenarios, thereby adjusting the acceleration or braking force in a timely and reasonable manner to improve driving safety. The acceleration reference curve determined based on the envelope of the curve family can provide the best acceleration recommendations for novice drivers, enhancing the driver's adaptability and reaction efficiency to the driving environment.

[0116] In some embodiments, based on the acceleration reference curve, during the driving practice of the novice driver, the vehicle can implement the following steps to practice with the novice driver:

[0117] Step E1: On a road section with dynamic obstacles or traffic lights, the vehicle determines a recommended acceleration from an acceleration reference curve based on a current collision time with a current dynamic obstacle or a current stop line.

[0118] The current collision time is determined based on a relative distance between the vehicle and a current dynamic obstacle or a current stop line and a second current speed of the vehicle.

[0119] Step E2: If the current acceleration of the vehicle is less than the recommended acceleration, the vehicle reminds the driver to step on the accelerator pedal in a targeted manner.

[0120] Step E3: If the current acceleration of the vehicle is greater than the recommended acceleration, the wire control system controlling the vehicle decelerates the vehicle to reduce the current acceleration to the recommended acceleration.

[0121] On roads with dynamic obstacles or traffic lights, the vehicle calculates the collision time with the obstacle or stop line in real time and determines the recommended acceleration based on the acceleration reference curve. If the current acceleration is lower than the recommended acceleration, the vehicle reminds the driver to accelerate to ensure timely passing or stopping; if the current acceleration is higher than the recommended acceleration, the vehicle can decelerate through the control line control system to ensure safe parking or avoid collision. Through these operations, the vehicle can effectively guide novice drivers to drive safely on complex roads, reduce driving errors, and improve driving safety.

[0122] Among them, when the vehicle is decelerating through the control line control system, the brake pedal will change. Novice drivers can gradually train themselves to step on the brake pedal by sensing these changes. This change is usually manifested as an adjustment of the resistance or feedback force of the pedal. Novice drivers can improve their ability to control the braking force by adapting to these subtle changes. As training continues, drivers can understand and operate the brake system more accurately, thereby improving the stability and safety of novice driving.

[0123] In this embodiment, the vehicle's training based on the acceleration reference curve can provide accurate acceleration or deceleration guidance through real-time collision time and acceleration requirements, helping novice drivers maintain a suitable speed in front of dynamic obstacles or traffic lights, improving safety and driving skills. At the same time, at high acceleration, the vehicle intervenes in deceleration in a timely manner, which not only ensures driving safety, but also helps novices perceive changes in the brake pedal, train their pedaling feel, and further control the braking force.

[0124] In combination with the above embodiments, it can be seen that in the vehicle control method of the present application, the vehicle is equipped with a novice mode, and the user can flexibly select the starting point and end point of the training route. The target experienced driver navigates along the training route to collect driving data and generate reference driving data. During the novice driving process, the vehicle provides assistance based on the reference data: the ordinary road section pre-generates a speed reference curve by fitting the vehicle position and speed data, and the speed can be recommended according to the current position during training; the key road section (including traffic lights or obstacles) pre-generates an acceleration reference curve based on the collision time and actual acceleration, and the acceleration can be recommended according to the current collision scenario during training; the curved road section combines the steering wheel rotation angle and timestamp to pre-generate a recommended rotation angle or speed curve, and the rotation angle or rotation speed can be recommended according to the current turning point during training, that is, different sections of vehicles can achieve segment-based auxiliary training by recommending different reference driving data, so as to enhance the communication sense between the novice driver and the vehicle, ensure the stability of communication and the efficiency of training, and effectively help novices improve their driving skills.

[0125] Optionally, the novice mode can be divided into a first sub-mode and a second sub-mode. In the first sub-mode, the novice driver can customize the training route and guide the experienced driver to navigate along the training route based on the training route to obtain driving data and generate corresponding reference data. In the second sub-mode, the driver is mainly allowed to select the generated training route independently, and then the vehicle provides training services based on the selected training route. During the training process, for the current vehicle speed is too low or the acceleration is too low, in order to ensure safety, only the corresponding recommended value and speed-up reminder are provided; for the current vehicle speed is too high, the acceleration is too high, and the steering wheel rotation angle or speed does not match the recommendation, the vehicle directly intervenes. During the intervention process, the novice driver can intuitively feel the changes in the vehicle hardware, such as the adjustment of the pedal resistance or feedback force, or the change in the steering wheel power level. In this way, under the premise of ensuring driving safety, the communication between the vehicle and the novice driver can be improved, and the operation of the novice driver can be corrected to assist him in improving his driving skills.

[0126] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0127] Corresponding to the vehicle control method of the above embodiment, Figure 2 A structural block diagram of a vehicle control device 2 provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0128] Reference Figure 2 In the novice mode of the vehicle, the control device 2 of the vehicle includes:

[0129] The acquisition module 21 is used to acquire the driving data of the target experienced driver navigating along the training route after determining the starting point and the end point of the training route;

[0130] A determination module 22, configured to determine reference driving data for a training route based on the driving data;

[0131] The training module 23 is used to assist the novice driver in driving training based on reference data when the novice driver drives along the training route.

[0132] Optionally, the training route includes an ordinary section and a key section; the ordinary section is a section without dynamic obstacles and traffic lights, and the key section is a section with obstacles and / or traffic lights and / or curves; the driving data includes first driving data corresponding to the ordinary section and second driving data corresponding to the key section; the determination module 22 includes:

[0133] A first determining unit, configured to determine first reference data based on first driving data;

[0134] The second determining unit is configured to determine second reference data based on second driving data.

[0135] Optionally, the first driving data includes multiple sets of vehicle positions and vehicle speeds, and the first determining unit is specifically configured to:

[0136] Based on each set of vehicle positions, vehicle speeds, fitting vehicle positions and reference speed curves, the first reference data includes vehicle positions and reference speed curves.

[0137] Optionally, the key road section is a curved road section; the second driving data includes a steering wheel rotation angle and a timestamp of the vehicle corresponding to different turning points; the prompt unit includes a determination subunit, and the second determination unit is used to:

[0138] Constructing a steering wheel angle curve or a speed curve based on the turning angle and timestamp of each turning point;

[0139] The rotation curve is smoothed to obtain a rotation angle reference curve or a rotation speed reference curve corresponding to each turning point, and the second reference data includes the rotation angle reference curve or the rotation speed reference curve.

[0140] Optionally, the key section is a section with dynamic obstacles or traffic lights, and the second driving data includes a plurality of relative safety distances and corresponding relative speeds in the process of following the dynamic obstacle, and a plurality of corresponding actual accelerations; the second determining unit is specifically used for:

[0141] determining a plurality of collision time values ​​based on a plurality of relative safety distances and a plurality of relative speeds;

[0142] Determine a corresponding collision time and acceleration curve family based on each collision time and each actual acceleration;

[0143] An acceleration reference curve is determined according to an envelope of the curve family, and the second reference data includes the acceleration reference curve.

[0144] Optionally, the training module 23 is specifically used for:

[0145] On ordinary roads, the recommended speed is determined based on the current position of the vehicle and the vehicle position and the reference speed curve;

[0146] If the first current speed of the vehicle is less than the recommended speed, the driver is reminded to accelerate to the recommended speed in a target manner;

[0147] If the first current speed of the vehicle is greater than the recommended speed, the braking system of the vehicle is controlled to apply the brakes to remind the driver to decelerate to the recommended speed.

[0148] Optionally, the training module 23 is specifically used for:

[0149] In a road section with a dynamic obstacle or a traffic light, determining a recommended acceleration from an acceleration reference curve based on a current collision time with a current dynamic obstacle or a current stop line; the current collision time is determined based on a relative distance between the vehicle and the current dynamic obstacle or the current stop line and a second current speed of the vehicle;

[0150] If the vehicle's current acceleration is less than the recommended acceleration, the driver is reminded to press the accelerator pedal in a targeted manner;

[0151] If the current acceleration of the vehicle is greater than the recommended acceleration, the control-by-wire system that controls the vehicle decelerates the vehicle to reduce the current acceleration to the recommended acceleration.

[0152] Optionally, the training module 23 is specifically used for:

[0153] On the curved road section, determining a recommended turning angle or a recommended speed from a turning angle reference curve or a speed reference curve based on a current turning point of the vehicle;

[0154] When the current steering wheel angle is less than the recommended steering wheel angle or the current steering wheel speed is less than the recommended speed, correcting the current steering wheel angle or the current steering wheel speed to the recommended steering wheel angle or the recommended speed;

[0155] When the current steering wheel angle is greater than the recommended angle or the current steering wheel speed is greater than the recommended speed, the steering wheel power assistance level is reduced until the current steering wheel angle or the current speed is corrected to the recommended angle or the recommended speed, and then the steering wheel power assistance level is restored.

[0156] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0157] Figure 3 This is a schematic diagram of the physical structure of a vehicle provided in one embodiment of the present application. Figure 3 As shown, the vehicle 3 of this embodiment includes a multimedia host 30, and the multimedia host 30 includes at least one processor 31 ( Figure 3 Only one processor is shown in the figure), a memory 32, and a computer program 33 stored in the memory 32 and executable on at least one processor 31. When the processor 31 executes the computer program 33, the steps in the above-mentioned method for identifying a button of any multimedia host are implemented, for example Figure 1 Steps 110-130 are shown.

[0158] The processor 31 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0159] In some embodiments, the memory 32 may be an internal storage unit of the multimedia host 30, such as a hard disk or memory of the multimedia host 30. In other embodiments, the memory 32 may also be an external storage device of the multimedia host 30, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the multimedia host 30.

[0160] Furthermore, the memory 32 may include both an internal storage unit of the multimedia host 30 and an external storage device. The memory 32 is used to store operating devices, applications, boot loaders, data, and other programs, such as program codes of computer programs, etc. The memory 32 may also be used to temporarily store data that has been output or is to be output.

[0161] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0162] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0163] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle can implement the steps in the above-mentioned method embodiments when the computer program product is executed.

[0164] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / vehicle, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0165] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0166] Those of ordinary skill 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 depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0167] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the above modules or units is 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. Another point is that the mutual coupling or direct coupling or communication connection 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.

[0168] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0169] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: In the vehicle's novice mode, it includes: After determining the starting point and the end point of the training route, obtaining driving data of the target experienced driver navigating along the training route; determining reference driving data for the training route based on the driving data; When the novice driver drives along the training route, the novice driver is assisted in driving training based on the reference data.

2. The control method according to claim 1, characterized in that: The training route includes an ordinary road section and a key road section; the ordinary road section is a road section without dynamic obstacles and traffic lights, and the key road section is a road section with obstacles and / or traffic lights and / or curves; the driving data includes first driving data corresponding to the ordinary road section and second driving data corresponding to the key road section; The determining the reference driving data of the training route based on the driving data comprises: determining the first reference data based on the first driving data; The second reference data is determined based on the second driving data.

3. The control method according to claim 2, characterized in that: The first driving data includes multiple sets of vehicle positions and vehicle speeds; and determining the first reference data based on the first driving data includes: Based on each set of the vehicle position, the vehicle speed, the vehicle position and the reference speed curve, the first reference data includes the vehicle position and the reference speed curve.

4. The control method according to claim 2, characterized in that: The key road section is a curved road section; the second driving data includes a steering angle and a timestamp of the steering wheel of the vehicle corresponding to different turning points; The determining the second reference data based on the second driving data comprises: Constructing a turning angle curve or a speed curve of the steering wheel based on the turning angle and the timestamp of each turning point; The turning angle curve or the speed curve is smoothed to obtain a turning angle reference curve or a speed reference curve corresponding to each turning point, and the second reference data includes the turning angle reference curve or the speed reference curve.

5. The control method according to any one of claims 2 to 4, characterized in that: The key road section is a road section with a dynamic obstacle or a traffic light, and the second driving data includes a plurality of relative safety distances and corresponding relative speeds in the process of following the dynamic obstacle, and a plurality of corresponding actual accelerations; The determining the second reference data based on the second driving data comprises: determining a plurality of collision time values ​​based on a plurality of the relative safety distances and a plurality of relative speeds; Determining a corresponding collision time and acceleration curve family based on each of the collision times and each of the actual accelerations; An acceleration reference curve is determined according to an envelope of the curve family, and the second reference data includes the acceleration reference curve.

6. The control method according to claim 3, characterized in that: The step of assisting the novice driver in driving training based on the reference data comprises: On the ordinary road section, determining a recommended speed based on the current position of the vehicle and the vehicle position and a reference speed curve; If the first current speed of the vehicle is less than the recommended speed, reminding the driver to accelerate with the recommended speed as a target in a target manner; If the first current speed of the vehicle is greater than the recommended speed, the braking system of the vehicle is controlled to apply the brakes to remind the driver to decelerate to the recommended speed.

7. The control method according to claim 5, characterized in that: The step of assisting the novice driver in driving training based on the reference data comprises: In the road section with the dynamic obstacle or the traffic light, determining the recommended acceleration from the acceleration reference curve based on the current collision time with the current dynamic obstacle or the current stop line; the current collision time is determined based on the relative distance between the vehicle and the current dynamic obstacle or the current stop line and the second current speed of the vehicle; If the current acceleration of the vehicle is less than the recommended acceleration, reminding the driver to step on the accelerator pedal in a targeted manner; If the current acceleration of the vehicle is greater than the recommended acceleration, a control-by-wire system that controls the vehicle decelerates the vehicle to reduce the current acceleration to the recommended acceleration.

8. The control method according to claim 4, characterized in that: The step of assisting the novice driver in driving training based on the reference data comprises: On the curved road section, determining a recommended turning angle or a recommended rotation speed from the turning angle reference curve or the rotation speed reference curve based on a current turning point of the vehicle; When the current steering wheel angle is smaller than the recommended steering wheel angle or the current rotation speed of the steering wheel is smaller than the recommended rotation speed, correcting the current steering wheel angle or the current rotation speed to the recommended steering wheel angle or the recommended rotation speed; When the current steering wheel angle is greater than the recommended steering wheel angle or the current steering wheel speed is greater than the recommended speed, the steering wheel power assistance level is reduced until the current steering wheel angle or the current speed is corrected to the recommended steering wheel angle or the recommended speed, and then the steering wheel power assistance level is restored.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle control method according to any one of claims 1 to 8 is implemented.

10. A computer program product, wherein the computer program product stores a computer program, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 8 is implemented.

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