Adjusting method and adjusting device for ramp running of vehicle and vehicle

Abstract

The invention provides an adjusting method and device for vehicle ramp running and a vehicle. The adjusting method comprises the steps that for each adjusting period in the running process of a target vehicle, the running speed value and the vehicle body shaking angle value of the target vehicle in the adjusting period are obtained, the detection distance difference value is acquired by differential pulse sensors which are respectively arranged in front of and behind the target vehicle; judging whether the driving speed value, the vehicle body shaking angle value and the detection distance difference value meet preset ramp assistance conditions or not; in response to determining that the ramp assistance condition is met, based on the detection distance difference value, determining adjustment angles corresponding to a seat and auxiliary equipment arranged in the target vehicle; based on the adjusting angles, the seat and the auxiliary equipment are controlled to be adjusted according to the corresponding adjusting angles. By means of the method, the comprehensiveness and stability of view adjustment during ramp driving of the vehicle are improved, and then the safety of vehicle driving is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle ramp driving, and in particular to a method for regulating vehicle ramp driving, a regulating device and a vehicle. Background Art

[0002] When the driver is driving the vehicle on an uphill road, a road with continuous uphill or downhill curves, especially on a road where the vehicle switches between multiple road conditions in a short period of time, for example, passing a flat road, continuous uphill and downhill roads, sharp uphill and downhill roads, and meeting other vehicles on narrow country roads within a period of time, the main driver's seat is fixed and the driver cannot obtain a good field of vision, especially from a flat road to a steep slope. To ensure safety, it is impossible for the driver to manually adjust the seat height when he is concentrating on driving.

[0003] Currently, in the method of adjusting the field of vision when a vehicle is driving uphill, the seat height is generally adjusted by installing a slope sensor, but the stability of the slope sensor is poor and there is a risk of failure in some complex scenarios. In addition, the adjustment is only for the height of the seat, and the adjustment of the driver's field of vision is relatively limited, which reduces the comprehensiveness and stability of the field of vision adjustment when the vehicle is driving on a slope, thereby reducing the safety of vehicle driving. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method, device and vehicle for adjusting vehicle slope driving, by periodically obtaining the driving speed value, body sway angle value and detection distance difference collected by differential pulse sensors in front and rear of the target vehicle during driving of the target vehicle, so as to judge whether the acquired data meets the slope assistance condition. When the slope assistance condition is met, based on the detection distance difference, the adjustment angles corresponding to the seats and auxiliary equipment in the target vehicle are determined and controlled and adjusted, so that the vehicle's driving assistance system can control various driving devices in the vehicle to perform adaptive field of view adjustment based on the changes in the road surface sensed by various sensors, provide a good driving field of view environment for the driver, improve the comprehensiveness and stability of the field of view adjustment of the vehicle when driving on a slope, and thus improve the safety of vehicle driving.

[0005] The present application provides a method for adjusting a vehicle driving on a slope, the method comprising:

[0006] For each adjustment cycle during the driving process of the target vehicle, the driving speed value and the body shaking angle value of the target vehicle in the adjustment cycle, as well as the detection distance difference collected by the differential pulse sensors respectively arranged in front and rear of the target vehicle are obtained;

[0007] Determining whether the driving speed value, the vehicle body sway angle value, and the detection distance difference all meet a preset hill assist condition;

[0008] In response to determining that the hill assist condition is satisfied, determining adjustment angles corresponding to a seat and an auxiliary device provided in the target vehicle, respectively, based on the detection distance difference;

[0009] Based on the adjustment angle, the seat and the auxiliary equipment are controlled to be adjusted according to the corresponding adjustment angles.

[0010] Further, the detection distance difference value collected by the differential pulse sensors respectively arranged in front and behind the target vehicle is obtained by the following steps:

[0011] Acquire a first detection distance value between the target vehicle and a front road surface collected by a first differential pulse sensor disposed in front of the target vehicle, and a second detection distance value between the target vehicle and a rear road surface collected by a second differential pulse sensor disposed behind the target vehicle;

[0012] The first detection distance value is subtracted from the second detection distance value, and an absolute value is taken for the difference calculation result to obtain the detection distance difference.

[0013] Further, the determining whether the driving speed value, the vehicle body sway angle value and the detection distance difference value all meet a preset hill assist condition includes:

[0014] Determining whether the driving speed value belongs to a preset calibrated speed range and whether the vehicle body shaking angle value belongs to a preset calibrated angle range;

[0015] If the driving speed value does not belong to the calibrated speed interval and / or the vehicle body sway angle value does not belong to the calibrated angle interval, it is determined that the preset hill assist condition is not met;

[0016] If the driving speed value belongs to the calibrated speed interval and the vehicle body shaking angle value belongs to the calibrated angle interval, determining whether the detection distance difference value belongs to a preset difference value interval;

[0017] If the detection distance difference does not belong to the difference interval, it is determined that the preset hill assist condition is not met;

[0018] If the detection distance difference belongs to the difference interval, it is determined that the preset hill assist condition is met.

[0019] Furthermore, the auxiliary equipment includes a rearview mirror and a head-up display device; and determining the adjustment angles corresponding to the seat and the auxiliary equipment respectively arranged in the target vehicle based on the detection distance difference includes:

[0020] Based on the detection distance difference, a preset seat adjustment strategy is used to determine a horizontal adjustment angle value and a backrest adjustment angle value corresponding to a seat arranged in the target vehicle;

[0021] Determining the horizontal adjustment angle value as a first adjustment angle value corresponding to the rearview mirror;

[0022] The driver's eye sight angle value collected by a visual camera arranged in the target vehicle is obtained, and based on the eye sight angle value and the detection distance difference, a second adjustment angle value corresponding to the head-up display device is determined.

[0023] Furthermore, based on the adjustment angle, controlling the seat and the auxiliary equipment to be adjusted according to the corresponding adjustment angles respectively includes:

[0024] Controlling a headrest disposed in the seat to be adjusted close to the driver's head according to a preset first headrest adjustment angle, and in response to determining the adjustment angle, controlling the headrest to be adjusted close to the driver's head according to a preset second headrest adjustment angle;

[0025] Based on the horizontal adjustment angle value and the backrest adjustment angle value, controlling the seat to be lifted and adjusted according to the horizontal adjustment angle value, and controlling the backrest provided in the seat to be tilted forward and adjusted according to the backrest adjustment angle value;

[0026] Based on the first adjustment angle value and the second adjustment angle value, the rearview mirror and the head-up display device are controlled to be lifted and adjusted according to the first adjustment angle value and the second adjustment angle value respectively.

[0027] The present application also provides a device for regulating vehicle driving on a slope, the device comprising:

[0028] A data acquisition module is used to acquire the driving speed value and the body shaking angle value of the target vehicle in each adjustment cycle during the driving process of the target vehicle, as well as the detection distance difference collected by the differential pulse sensors respectively arranged in front and rear of the target vehicle;

[0029] A ramp judgment module, used to judge whether the driving speed value, the vehicle body shaking angle value and the detection distance difference all meet the preset ramp assistance conditions;

[0030] an angle determination module, configured to determine, in response to determining that the hill assist condition is satisfied, adjustment angles corresponding to the seat and the auxiliary equipment provided in the target vehicle, respectively, based on the detection distance difference;

[0031] The angle adjustment module is used to control the seat and the auxiliary equipment to adjust according to the corresponding adjustment angles based on the adjustment angle.

[0032] Furthermore, when the data acquisition module is used to acquire the detection distance difference collected by the differential pulse sensors respectively arranged in front and behind the target vehicle, the data acquisition module is used to:

[0033] Acquire a first detection distance value between the target vehicle and a front road surface collected by a first differential pulse sensor disposed in front of the target vehicle, and a second detection distance value between the target vehicle and a rear road surface collected by a second differential pulse sensor disposed behind the target vehicle;

[0034] The first detection distance value is subtracted from the second detection distance value, and an absolute value is taken for the difference calculation result to obtain the detection distance difference.

[0035] Furthermore, when the ramp judgment module is used to judge whether the driving speed value, the vehicle body sway angle value and the detection distance difference value all meet the preset ramp assistance condition, the ramp judgment module is used to:

[0036] Determining whether the driving speed value belongs to a preset calibrated speed range and whether the vehicle body shaking angle value belongs to a preset calibrated angle range;

[0037] If the driving speed value does not belong to the calibrated speed interval and / or the vehicle body sway angle value does not belong to the calibrated angle interval, it is determined that the preset hill assist condition is not met;

[0038] If the driving speed value belongs to the calibrated speed interval and the vehicle body shaking angle value belongs to the calibrated angle interval, determining whether the detection distance difference value belongs to a preset difference value interval;

[0039] If the detection distance difference does not belong to the difference interval, it is determined that the preset hill assist condition is not met;

[0040] If the detection distance difference belongs to the difference interval, it is determined that the preset hill assist condition is met.

[0041] Further, the auxiliary device includes a rearview mirror and a head-up display device; when the angle determination module is used to determine the adjustment angles corresponding to the seat and the auxiliary device respectively arranged in the target vehicle based on the detection distance difference, the angle determination module is used to:

[0042] Based on the detection distance difference, a preset seat adjustment strategy is used to determine a horizontal adjustment angle value and a backrest adjustment angle value corresponding to a seat arranged in the target vehicle;

[0043] Determining the horizontal adjustment angle value as a first adjustment angle value corresponding to the rearview mirror;

[0044] The driver's eye sight angle value collected by a visual camera arranged in the target vehicle is obtained, and based on the eye sight angle value and the detection distance difference, a second adjustment angle value corresponding to the head-up display device is determined.

[0045] Further, when the angle adjustment module is used to control the seat and the auxiliary equipment to be adjusted according to the corresponding adjustment angles based on the adjustment angle, the angle adjustment module is used to:

[0046] Controlling a headrest disposed in the seat to be adjusted close to the driver's head according to a preset first headrest adjustment angle, and in response to determining the adjustment angle, controlling the headrest to be adjusted close to the driver's head according to a preset second headrest adjustment angle;

[0047] Based on the horizontal adjustment angle value and the backrest adjustment angle value, controlling the seat to be lifted and adjusted according to the horizontal adjustment angle value, and controlling the backrest provided in the seat to be tilted forward and adjusted according to the backrest adjustment angle value;

[0048] Based on the first adjustment angle value and the second adjustment angle value, the rearview mirror and the head-up display device are controlled to be lifted and adjusted according to the first adjustment angle value and the second adjustment angle value respectively.

[0049] An embodiment of the present application also provides a vehicle, which applies the steps of the above-mentioned method for adjusting vehicle ramp driving.

[0050] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the vehicle ramp driving adjustment method as described above are performed.

[0051] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for adjusting the vehicle ramp driving are executed.

[0052] The embodiments of the present application provide an adjustment method, an adjustment device and a vehicle for vehicle ramp driving, wherein the adjustment method comprises: for each adjustment period during the driving process of the target vehicle, obtaining a driving speed value and a body sway angle value of the target vehicle in the adjustment period, as well as a detection distance difference value collected by differential pulse sensors respectively arranged at the front and rear of the target vehicle; judging whether the driving speed value, the body sway angle value and the detection distance difference value all satisfy a preset ramp assist condition; in response to determining that the ramp assist condition is satisfied, determining, based on the detection distance difference value, the adjustment angles corresponding to the seats and auxiliary equipment respectively arranged in the target vehicle; and based on the adjustment angles, controlling the seats and the auxiliary equipment to be adjusted respectively according to the corresponding adjustment angles.

[0053] Compared with the method of adjusting the seat height by installing a slope sensor in the prior art, the method periodically obtains the driving speed value, body shaking angle value and detection distance difference collected by the differential pulse sensors in front and rear of the target vehicle during the driving process to determine whether the acquired data meets the slope assistance condition. When the slope assistance condition is met, the adjustment angles corresponding to the seat and auxiliary equipment in the target vehicle are determined based on the detection distance difference and controlled and adjusted. The vehicle's driving assistance system controls various driving devices in the vehicle to perform adaptive field of view adjustment based on the changes in the road surface sensed by various sensors, thereby providing the driver with a good driving field of view environment, improving the comprehensiveness and stability of the field of view adjustment when the vehicle is driving on a slope, and thereby improving the safety of vehicle driving.

[0054] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] 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.

[0056] Figure 1 A flow chart of a method for adjusting a vehicle driving on a slope provided in an embodiment of the present application;

[0057] Figure 2 A data acquisition schematic diagram of a differential pulse sensor provided in an embodiment of the present application;

[0058] Figure 3A schematic diagram of adjusting the angle of a seat provided in an embodiment of the present application;

[0059] Figure 4 A schematic diagram of the structure of a vehicle ramp driving adjustment device provided in an embodiment of the present application;

[0060] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0062] Research has found that the driver cannot obtain a good field of vision when driving a vehicle on an uphill road, a road with continuous uphill or downhill curves. For example, the vehicle drives through flat roads, continuous uphill and downhill roads, sharp uphill and downhill roads, and meets other vehicles on narrow country roads within a period of time. It is impossible for the driver to manually adjust the seat height when he is concentrating on driving.

[0063] Currently, in the method of adjusting the field of vision when a vehicle is driving uphill, the seat height is generally adjusted by installing a slope sensor, but the stability of the slope sensor is poor and there is a risk of failure in some complex scenarios. In addition, the adjustment is only for the height of the seat, and the adjustment of the driver's field of vision is relatively limited, which reduces the comprehensiveness and stability of the field of vision adjustment when the vehicle is driving on a slope, thereby reducing the safety of vehicle driving.

[0064] Exemplarily, by acquiring time-series data of road images in front of the vehicle, the road image time-series data is input into a pre-trained road condition recognition model to obtain real-time road condition information in front of the vehicle, and using a pre-trained seat posture prediction model to obtain seat posture parameters, the vehicle seat of the target vehicle is adjusted and controlled. However, this method only broadly describes the operation process of the vehicle, and the adjustment of the seat posture is not comprehensive and cannot cover a variety of complex situations. The adjusted vehicle equipment is also relatively simple.

[0065] In addition, there are some methods that use a slope sensor to determine the slope value of the road section where the vehicle is located. When the slope value is greater than the slope adjustment threshold, the adjustment amount of the seat posture parameters is determined to adjust the seat posture based on the slope value and the adjustment model that characterizes the constraint relationship between the slope value and the adjustment amount of the seat posture parameters. However, this method only describes the linkage adjustment between the seat and the vehicle body, and is relatively limited to the driver's field of view adjustment, reducing the comprehensiveness and stability of the field of view adjustment when the vehicle is driving on a slope.

[0066] Based on this, an embodiment of the present application provides a method for adjusting vehicle slope driving, by periodically obtaining the driving speed value, body sway angle value and detection distance difference collected by the differential pulse sensors in front and rear of the target vehicle during the driving process, to determine whether the acquired data meets the slope assistance condition. When the slope assistance condition is met, based on the detection distance difference, the adjustment angles corresponding to the seats and auxiliary equipment in the target vehicle are determined and controlled and adjusted, so that the vehicle's driving assistance system can control various driving devices in the vehicle to perform adaptive field of view adjustment based on the changes in the road surface sensed by various sensors, provide a good driving field of view environment for the driver, improve the comprehensiveness and stability of the field of view adjustment when the vehicle is driving on a slope, and thus improve the safety of vehicle driving.

[0067] See also Figure 1 , Figure 1 This is a flow chart of a method for adjusting a vehicle driving on a slope provided in an embodiment of the present application. Figure 1 As shown in the figure, the adjustment method for vehicle ramp driving provided by the embodiment of the present application includes:

[0068] S101. For each adjustment cycle during the driving process of the target vehicle, obtain the driving speed value and the body shaking angle value of the target vehicle in the adjustment cycle, as well as the detection distance difference collected by the differential pulse sensors respectively arranged in front and rear of the target vehicle.

[0069] It should be noted that specific scenarios during the target vehicle's driving process may include: the driver is driving the target vehicle on an uphill road or a road with continuous uphill bends, for example, within a period of time, the vehicle drives through flat roads, continuous uphill and downhill roads, sharp uphill and downhill turns, and meeting other vehicles on narrow country roads.

[0070] For example, on a two-way unmarked third-level road at the village level, the road is on an uphill or steep slope with continuous turns. At this time, the driver's driving vision is poor and the driving speed can only be controlled at around 0-20Km / h, especially for high-chassis vehicles such as SUVs, the center of the seat is lower on flat roads to ensure good driving and control.

[0071] In this way, when the target vehicle is driving uphill or uphill with many bends, under normal circumstances, in order to see the road conditions ahead clearly, the driver's first reaction will be to automatically lift the back of the head off the backrest and stretch the neck to see the road conditions in front of the vehicle, which reduces the safety of driving the vehicle. It is necessary to judge a variety of data during the vehicle's driving process to trigger the hill assist conditions.

[0072] In this step, for each adjustment cycle during the driving process of the target vehicle, the speed sensor in the target vehicle is used to periodically obtain the driving speed value of the target vehicle in the adjustment cycle, and the body level sensor in the target vehicle is used to periodically obtain the body shaking angle value.

[0073] Here, the time step corresponding to the adjustment cycle can be specifically calibrated according to the specific road scene and the needs of the driver.

[0074] Furthermore, the detection distance difference between the front and rear of the target vehicle is collected by using differential pulse sensors respectively arranged in front and rear of the target vehicle.

[0075] In one embodiment of the present application, in a specific implementation, the step of obtaining the detection distance difference value collected by the differential pulse sensors respectively arranged in front and behind the target vehicle in step S101 may include:

[0076] S1011. Obtain a first detection distance value between the target vehicle and the road ahead collected by a first differential pulse sensor disposed in front of the target vehicle, and a second detection distance value between the target vehicle and the road ahead collected by a second differential pulse sensor disposed behind the target vehicle.

[0077] In this step, a first differential pulse sensor arranged in front of the target vehicle and a second differential pulse sensor arranged behind the target vehicle are used to respectively collect a first detection distance value between the target vehicle and the front road surface, and a second detection distance value between the target vehicle and the rear road surface.

[0078] Here, according to the principle of TOF (Time of Flight) differential pulse calculation ramp, that is, the differential pulse measurement technology based on the differential pulse sensor, the distance is calculated by measuring the time it takes for the optical signal to be transmitted and received, which has the characteristics of high precision, high speed and strong anti-interference ability.

[0079] Specifically, the differential pulse sensor emits light pulses, which hit the ramp surface and are reflected back, that is, an extremely short light pulse is emitted to the slope surface to be measured through a transmitter (Tx), and the transmitter usually includes a laser light source (for example, VCSEL), a laser driving circuit ASIC, and optical components for beam control (such as a collimating lens or a diffractive optical element) and a filter; then, the differential pulse sensor receives the light pulse reflected back from the ramp surface, that is, the light pulse hits the slope surface and is reflected back and is captured by a receiver (Rx), which includes a lens and a filter at the receiving end, as well as an image sensor (for example, CIS, SPAD or SiPM) and an image signal processor (ISP).

[0080] Furthermore, based on the flight time of the light pulse determined by the transmitter and receiver of each differential pulse sensor and the preset speed of light value, a preset distance calculation formula is used to calculate a first detection distance value between the target vehicle and the road ahead and a second detection distance value between the target vehicle and the road behind.

[0081] Here, the expression of the distance calculation formula is as follows.

[0082]

[0083] Among them, d represents the first detection distance value or the second detection distance value; t represents the light pulse flight time collected by the first differential pulse sensor or the light pulse flight time collected by the second differential pulse sensor; c represents a preset light speed value.

[0084] For example, see Figure 2 , Figure 2 This is a data acquisition schematic diagram of a differential pulse sensor provided in an embodiment of the present application. Figure 2 As shown in the figure, when the vehicle is on a flat road, the first differential pulse sensor and the second differential pulse sensor respectively collect the default detection distance Y and the default detection distance X; when the vehicle is traveling uphill, the first differential pulse sensor and the second differential pulse sensor respectively collect the first detection distance (A) and the second detection distance (B).

[0085] Among them, when the target vehicle is driving normally on a flat road, due to the slight uneven test error on the ground, the difference between the default detection distances X and Y is very small; when the vehicle is about to go uphill, the first detection distance (A) gradually decreases from the default detection distance Y to a certain value, and the second detection distance (B) also gradually decreases from the default detection distance X to a stable value. When the difference between A and B tends to a stable difference, it means that the vehicle is completely on an uphill road. At this time, the slope can be further calculated by the difference between A and B and the difference between X and Y.

[0086] S1012: Subtract the first detection distance value from the second detection distance value, and take an absolute value of the difference calculation result to obtain the detection distance difference.

[0087] In this step, the first detection distance value is subtracted from the second detection distance value, and the absolute value of the difference calculation result is taken, and the absolute value is determined as the obtained detection distance difference.

[0088] Here, if the first detection distance value is less than the second detection distance value, it indicates that the target vehicle is traveling uphill at this time; if the first detection distance value is greater than the second detection distance value, it indicates that the target vehicle is traveling downhill at this time; if the first detection distance value is close to the second detection distance value, it indicates that the target vehicle is traveling on a flat road at this time.

[0089] S102: Determine whether the driving speed value, the vehicle body sway angle value, and the detection distance difference all meet a preset hill assist condition.

[0090] In an embodiment of the present application, the preset hill assist condition includes that the driving speed value belongs to the calibrated speed interval, the vehicle body sway angle value belongs to the calibrated angle interval, and the detection distance difference belongs to the difference interval.

[0091] Here, based on the judgment of the driving speed value and the vehicle body sway angle value, it is confirmed that the road on which the target vehicle is traveling is a driving scene with continuous turns and low speed; based on the judgment of the detection distance difference value, it is confirmed that the road on which the target vehicle is traveling is an uphill or steep slope section.

[0092] Furthermore, to determine whether the road the target vehicle is traveling on is a continuous turn, the steering wheel sensor can be used to detect the direction within a certain period of time to determine whether there are multiple large-scale rotations; to determine whether the road the target vehicle is traveling on is uphill, the four tire pressure sensors can be used to detect the front and rear tire pressures of the vehicle. If the rear tire pressure is less than the front tire pressure, it is determined that the road the target vehicle is traveling on is uphill.

[0093] Here, the preset hill assist condition may further include detecting that the driver's head leaves the headrest using the headrest sensor, that is, the headrest sensor indicates that the headrest pressure sensor becomes 0 or the sensor changes greatly.

[0094] In addition, the vehicle system issues a voice message "the hill start assist system is being activated". If it does not need to be activated, the driver issues a voice message "stop" to trigger the hill start assist system if the preset conditions are not met.

[0095] In one implementation of the present application, during specific implementation, step S102 may include:

[0096] S1021. Determine whether the driving speed value belongs to a preset calibrated speed range and whether the vehicle body shaking angle value belongs to a preset calibrated angle range.

[0097] In the embodiment of the present application, the calibrated speed range is generally set to (0km / h, 20km / h), and may also be specifically calibrated according to the actual driving scenario and the driver's driving needs, and the present application will no longer limit this; the calibrated angle range may be specifically calibrated according to the actual driving scenario and the driver's driving needs.

[0098] S1022: If the driving speed value does not belong to the calibrated speed interval and / or the vehicle body sway angle value does not belong to the calibrated angle interval, it is determined that a preset hill assist condition is not satisfied.

[0099] For example, for a vehicle driving condition on a flat road, the driver is driving at a normal and uniform speed, and the driver's head maintains normal pressure contact with the headrest.

[0100] S1023: If the driving speed value belongs to the calibrated speed interval and the vehicle body shaking angle value belongs to the calibrated angle interval, determine whether the detection distance difference belongs to a preset difference interval.

[0101] In this step, after determining that the driving speed value and the vehicle body sway angle value both meet the corresponding hill assist conditions, a further determination is made as to whether the detection distance difference belongs to a preset difference interval.

[0102] Here, the preset difference interval can be specifically calibrated by analyzing the default detection distance of the front and rear of the vehicle on a flat road, for example, by analyzing Figure 2 The default detection distances X and Y shown in are used to specifically calibrate the preset difference range.

[0103] S1024: If the detection distance difference does not belong to the difference interval, it is determined that a preset hill assist condition is not satisfied.

[0104] For example, in scenarios such as a continuous and smooth long slope on a highway, an uphill tunnel, or going up to an underground garage, the driver drives the target vehicle at a normal and constant speed, which does not meet the preset hill assist conditions.

[0105] S1025: If the detection distance difference belongs to the difference interval, it is determined that a preset ramp assist condition is met.

[0106] In this step, after determining that the driving speed value and the vehicle body sway angle value both meet the corresponding hill assist conditions, the difference interval to which the detection distance difference belongs is also determined, and it can be determined that the target vehicle meets the preset hill assist conditions.

[0107] S103: In response to determining that the hill assist condition is satisfied, determining adjustment angles corresponding to the seat and the auxiliary equipment provided in the target vehicle based on the detection distance difference.

[0108] It should be noted that the existing adjustment methods generally only consider the linkage between the vehicle body posture and the seat. In fact, when a smart car or an ordinary gasoline car is on an uphill section with continuous multiple bends, only adjusting the seat is not enough to provide the driver with a good field of vision. Various emergencies may also be encountered during driving, such as continuous uphill narrow roads, 180-degree sharp bends, meeting other cars on narrow roads, driving on the edge of cliffs, etc.

[0109] In an embodiment of the present application, in response to determining that the hill assist condition is met, the target vehicle triggers the hill assist system to link various modules provided in the target vehicle to actively adjust the seats and auxiliary equipment in the target vehicle to ensure the driver's field of vision and driving safety.

[0110] Here, the seat may include a headrest and a backrest; the auxiliary equipment includes but is not limited to a rearview mirror and a head-up display device, etc.; wherein the rearview mirror may include left and right rearview mirrors and a central rearview mirror.

[0111] In one embodiment of the present application, in a specific implementation, the step of determining the adjustment angles corresponding to the seat and the auxiliary equipment respectively provided in the target vehicle based on the detection distance difference in step S103 may include:

[0112] S1031. Based on the detection distance difference, a preset seat adjustment strategy is used to determine a horizontal adjustment angle value and a backrest adjustment angle value corresponding to a seat arranged in the target vehicle.

[0113] In this step, during the specific implementation, first, based on the detection distance difference, the slope value of the slope on which the target vehicle is located is determined; then, half of the absolute value of the slope value is determined as the horizontal adjustment angle value corresponding to the seat in the target vehicle; finally, based on the strategy that the seat back automatically fits the back and provides a certain pressure, the backrest adjustment angle value corresponding to the seat back is determined.

[0114] Here, the horizontal adjustment angle value and the backrest adjustment angle value can be adaptively adjusted for the purpose of raising the driver's sitting position to obtain an additional field of vision.

[0115] S1032: Determine the horizontal adjustment angle value as a first adjustment angle value corresponding to the rearview mirror.

[0116] In the embodiment of the present application, since the target vehicle is driving on a normal flat road, the door handles of the front door and the rear door where the driver's eyes can see the left and right rearview mirrors are considered to be in the best position; when the target vehicle is driving uphill, the driver's center of gravity becomes higher due to the raised seat. At this time, the angles of the left and right rearview mirrors and the central rearview mirror are not optimal and need to be consistent with the horizontal adjustment angle value corresponding to the seat.

[0117] S1033, obtaining the driver's eye sight angle value collected by a visual camera arranged in the target vehicle, and determining a second adjustment angle value corresponding to the head-up display device based on the eye sight angle value and the detection distance difference.

[0118] In this step, a visual camera is set near the head-up display device, that is, above the steering wheel, to capture the driver's eyes. By collecting the driver's eye line of sight angle value, the second adjustment angle value of the head-up display device projected on the front windshield is dynamically adjusted so that the driver can have a good visual experience.

[0119] S104: Based on the adjustment angle, control the seat and the auxiliary equipment to be adjusted according to the corresponding adjustment angles.

[0120] In one implementation of the present application, during specific implementation, step S104 may include:

[0121] S1041. Control a headrest disposed in the seat to be adjusted close to the driver's head according to a preset first headrest adjustment angle, and in response to determining the adjustment angle, control the headrest to be adjusted close to the driver's head according to a preset second headrest adjustment angle.

[0122] In this step, at the moment when the target vehicle goes from a flat road to an uphill road, due to the large body vibration caused by the bumps, in order to protect the driver, the seat headrest automatically moves forward to fit the back of the driver's head according to the first headrest adjustment angle to provide one-third of the support capacity. At this time, the driver's body will also vibrate, and the headrest should not be too close.

[0123] Further, in response to the adjustment angle being determined, when the center of gravity of the driver is facing backward, the headrest is controlled to be adjusted close to the direction of the driver's head according to the second headrest adjustment angle.

[0124] Among them, the first headrest adjustment angle is generally set to 1 / 3 of the preset angle value between the headrest and the driver's head; the second headrest adjustment angle is generally set to the preset angle value between the headrest and the driver's head.

[0125] S1042. Based on the horizontal adjustment angle value and the backrest adjustment angle value, control the seat to be lifted and adjusted according to the horizontal adjustment angle value, and control the backrest arranged in the seat to be tilted forward and adjusted according to the backrest adjustment angle value.

[0126] For details, please refer to Figure 3 , Figure 3 This is a schematic diagram of the adjustment angle of a seat provided in an embodiment of the present application. Figure 3 As shown in , when the target vehicle travels on an uphill road with a ramp angle of P, the original seat back angle is B. After controlling the seat to be lifted up according to the horizontal adjustment angle value A, and controlling the seat back to be tilted forward according to the back adjustment angle value C, a newly added field of view area can be obtained.

[0127] S1043: Based on the first adjustment angle value and the second adjustment angle value, control the rearview mirror and the head-up display device to be lifted and adjusted according to the first adjustment angle value and the second adjustment angle value respectively.

[0128] The method for adjusting vehicle ramp driving provided in the embodiment of the present application periodically obtains the driving speed value, the body sway angle value and the detection distance difference collected by the differential pulse sensors in front and rear of the target vehicle during the driving process of the target vehicle to determine whether the acquired data meets the ramp assistance condition. When the ramp assistance condition is met, the adjustment angles corresponding to the seats and auxiliary equipment in the target vehicle are determined based on the detection distance difference and controlled and adjusted, so that the vehicle's driving assistance system can control various driving devices in the vehicle to perform adaptive field of view adjustment based on the changes in the road surface sensed by various sensors, provide a good driving field of view environment for the driver, improve the comprehensiveness and stability of the field of view adjustment when the vehicle is driving on a slope, and thus improve the safety of vehicle driving.

[0129] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of a vehicle ramp driving adjustment device provided in an embodiment of the present application. Figure 4 As shown in , the regulating device 400 comprises:

[0130] The data acquisition module 410 is used to acquire the driving speed value and the body shaking angle value of the target vehicle in each adjustment cycle during the driving process of the target vehicle, as well as the detection distance difference collected by the differential pulse sensors respectively arranged in front and rear of the target vehicle;

[0131] The ramp judgment module 420 is used to judge whether the driving speed value, the vehicle body shaking angle value and the detection distance difference all meet the preset ramp assistance conditions;

[0132] An angle determination module 430, for determining, in response to determining that the hill assist condition is satisfied, adjustment angles corresponding to the seat and the auxiliary equipment provided in the target vehicle, respectively, based on the detection distance difference;

[0133] The angle adjustment module 440 is used to control the seat and the auxiliary equipment to be adjusted according to the corresponding adjustment angles based on the adjustment angle.

[0134] Furthermore, when the data acquisition module 410 is used to acquire the detection distance difference collected by the differential pulse sensors respectively arranged in front and behind the target vehicle, the data acquisition module 410 is used to:

[0135] Acquire a first detection distance value between the target vehicle and a front road surface collected by a first differential pulse sensor disposed in front of the target vehicle, and a second detection distance value between the target vehicle and a rear road surface collected by a second differential pulse sensor disposed behind the target vehicle;

[0136] The first detection distance value is subtracted from the second detection distance value, and an absolute value is taken for the difference calculation result to obtain the detection distance difference.

[0137] Further, when the ramp judgment module 420 is used to judge whether the driving speed value, the vehicle body shaking angle value and the detection distance difference value all meet the preset ramp assistance condition, the ramp judgment module 420 is used to:

[0138] Determining whether the driving speed value belongs to a preset calibrated speed range and whether the vehicle body shaking angle value belongs to a preset calibrated angle range;

[0139] If the driving speed value does not belong to the calibrated speed interval and / or the vehicle body sway angle value does not belong to the calibrated angle interval, it is determined that the preset hill assist condition is not met;

[0140] If the driving speed value belongs to the calibrated speed interval and the vehicle body shaking angle value belongs to the calibrated angle interval, determining whether the detection distance difference value belongs to a preset difference value interval;

[0141] If the detection distance difference does not belong to the difference interval, it is determined that the preset hill assist condition is not met;

[0142] If the detection distance difference belongs to the difference interval, it is determined that the preset hill assist condition is met.

[0143] Further, the auxiliary device includes a rearview mirror and a head-up display device; when the angle determination module 430 is used to determine the adjustment angles corresponding to the seat and the auxiliary device respectively arranged in the target vehicle based on the detection distance difference, the angle determination module 430 is used to:

[0144] Based on the detection distance difference, a preset seat adjustment strategy is used to determine a horizontal adjustment angle value and a backrest adjustment angle value corresponding to a seat arranged in the target vehicle;

[0145] Determining the horizontal adjustment angle value as a first adjustment angle value corresponding to the rearview mirror;

[0146] The driver's eye sight angle value collected by a visual camera arranged in the target vehicle is obtained, and based on the eye sight angle value and the detection distance difference, a second adjustment angle value corresponding to the head-up display device is determined.

[0147] Further, when the angle adjustment module 440 is used to control the seat and the auxiliary equipment to be adjusted according to the corresponding adjustment angles based on the adjustment angle, the angle adjustment module 440 is used to:

[0148] Controlling a headrest disposed in the seat to be adjusted close to the driver's head according to a preset first headrest adjustment angle, and in response to determining the adjustment angle, controlling the headrest to be adjusted close to the driver's head according to a preset second headrest adjustment angle;

[0149] Based on the horizontal adjustment angle value and the backrest adjustment angle value, controlling the seat to be lifted and adjusted according to the horizontal adjustment angle value, and controlling the backrest provided in the seat to be tilted forward and adjusted according to the backrest adjustment angle value;

[0150] Based on the first adjustment angle value and the second adjustment angle value, the rearview mirror and the head-up display device are controlled to be lifted and adjusted according to the first adjustment angle value and the second adjustment angle value respectively.

[0151] The vehicle ramp driving adjustment device provided in the embodiment of the present application periodically obtains the driving speed value, the body sway angle value and the detection distance difference collected by the differential pulse sensors in front and rear of the target vehicle during the driving process of the target vehicle to determine whether the acquired data meets the ramp assistance condition. When the ramp assistance condition is met, the adjustment angles corresponding to the seats and auxiliary equipment in the target vehicle are determined based on the detection distance difference and controlled and adjusted, so that the vehicle's driving assistance system can control various driving devices in the vehicle to perform adaptive field of view adjustment based on the changes in the road surface sensed by various sensors, provide a good driving field of view environment for the driver, improve the comprehensiveness and stability of the field of view adjustment when the vehicle is driving on a slope, and thus improve the safety of vehicle driving.

[0152] The present application also provides a vehicle, which can perform the above Figure 1 The specific implementation of the steps of the method for adjusting the vehicle's ramp driving in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0153] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .

[0154] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 The specific implementation of the steps of the method for adjusting the vehicle's ramp driving in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0155] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the method for adjusting the vehicle's ramp driving in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0156] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0157] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, 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 communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0158] The units described 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.

[0159] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0160] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for 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 method 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.

[0161] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for regulating vehicle driving on a slope, characterized in that: The adjustment method comprises: For each adjustment cycle during the driving process of the target vehicle, the driving speed value and the body shaking angle value of the target vehicle in the adjustment cycle, as well as the detection distance difference collected by the differential pulse sensors respectively arranged in front and rear of the target vehicle are obtained; Determining whether the driving speed value, the vehicle body sway angle value, and the detection distance difference all meet a preset hill assist condition; In response to determining that the hill assist condition is satisfied, determining adjustment angles corresponding to a seat and an auxiliary device provided in the target vehicle, respectively, based on the detection distance difference; Based on the adjustment angle, the seat and the auxiliary equipment are controlled to be adjusted according to the corresponding adjustment angles.

2. The method according to claim 1, characterized in that The detection distance difference value collected by the differential pulse sensors respectively arranged in front and behind the target vehicle is obtained by the following steps: Acquire a first detection distance value between the target vehicle and a front road surface collected by a first differential pulse sensor disposed in front of the target vehicle, and a second detection distance value between the target vehicle and a rear road surface collected by a second differential pulse sensor disposed behind the target vehicle; The first detection distance value is subtracted from the second detection distance value, and an absolute value is taken for the difference calculation result to obtain the detection distance difference.

3. The method according to claim 1, characterized in that The determining whether the driving speed value, the vehicle body shaking angle value, and the detection distance difference value all meet a preset hill assist condition includes: Determining whether the driving speed value belongs to a preset calibrated speed range and whether the vehicle body shaking angle value belongs to a preset calibrated angle range; If the driving speed value does not belong to the calibrated speed interval and / or the vehicle body sway angle value does not belong to the calibrated angle interval, it is determined that the preset hill assist condition is not met; If the driving speed value belongs to the calibrated speed interval and the vehicle body shaking angle value belongs to the calibrated angle interval, determining whether the detection distance difference value belongs to a preset difference value interval; If the detection distance difference does not belong to the difference interval, it is determined that the preset hill assist condition is not met; If the detection distance difference belongs to the difference interval, it is determined that the preset hill assist condition is met.

4. The method according to claim 1, characterized in that The auxiliary equipment includes a rearview mirror and a head-up display device; and the determining, based on the detection distance difference, the adjustment angles corresponding to the seat and the auxiliary equipment respectively arranged in the target vehicle includes: Based on the detection distance difference, a preset seat adjustment strategy is used to determine a horizontal adjustment angle value and a backrest adjustment angle value corresponding to a seat arranged in the target vehicle; Determining the horizontal adjustment angle value as a first adjustment angle value corresponding to the rearview mirror; The driver's eye sight angle value collected by a visual camera arranged in the target vehicle is obtained, and based on the eye sight angle value and the distance measurement difference value, a second adjustment angle value corresponding to the head-up display device is determined.

5. The method according to claim 4, characterized in that The controlling the seat and the auxiliary equipment to be adjusted according to the corresponding adjustment angles respectively based on the adjustment angles includes: Controlling a headrest disposed in the seat to be adjusted close to the driver's head according to a preset first headrest adjustment angle, and in response to determining the adjustment angle, controlling the headrest to be adjusted close to the driver's head according to a preset second headrest adjustment angle; Based on the horizontal adjustment angle value and the backrest adjustment angle value, controlling the seat to be lifted and adjusted according to the horizontal adjustment angle value, and controlling the backrest provided in the seat to be tilted forward and adjusted according to the backrest adjustment angle value; Based on the first adjustment angle value and the second adjustment angle value, the rearview mirror and the head-up display device are controlled to be lifted and adjusted according to the first adjustment angle value and the second adjustment angle value respectively.

6. A vehicle ramp adjustment device, characterized in that: The regulating device comprises: A data acquisition module is used to acquire the driving speed value and the body shaking angle value of the target vehicle in each adjustment cycle during the driving process of the target vehicle, as well as the detection distance difference collected by the differential pulse sensors respectively arranged in front and rear of the target vehicle; A ramp judgment module, used to judge whether the driving speed value, the vehicle body shaking angle value and the detection distance difference all meet the preset ramp assistance conditions; an angle determination module, configured to determine, in response to determining that the hill assist condition is satisfied, adjustment angles corresponding to the seat and the auxiliary equipment provided in the target vehicle, respectively, based on the detection distance difference; The angle adjustment module is used to control the seat and the auxiliary equipment to adjust according to the corresponding adjustment angles based on the adjustment angle.

7. The device according to claim 6, characterized in that When the data acquisition module is used to acquire the detection distance difference collected by the differential pulse sensors respectively arranged in front and behind the target vehicle, the data acquisition module is used to: Acquire a first detection distance value between the target vehicle and a front road surface collected by a first differential pulse sensor disposed in front of the target vehicle, and a second detection distance value between the target vehicle and a rear road surface collected by a second differential pulse sensor disposed behind the target vehicle; The first detection distance value is subtracted from the second detection distance value, and an absolute value is taken for the difference calculation result to obtain the detection distance difference.

8. A vehicle, characterized in that: The vehicle applies the steps of the vehicle slope driving adjustment method described in any one of claims 1 to 5.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the vehicle ramp driving adjustment method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for regulating vehicle ramp driving as claimed in any one of claims 1 to 5 are executed.

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