Driving mode switching control method and system, electronic equipment and storage medium

Abstract

The invention discloses a driving mode switching control method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a vehicle control instruction, and determining a switching request for switching driving modes of a vehicle based on the vehicle control instruction; the current vehicle speed of the vehicle is obtained in real time, and the expected vehicle speed is determined based on the current vehicle speed and the target vehicle speed included in the switching request; the real-time acceleration and the real-time motor torque of the vehicle are dynamically regulated and controlled based on the expected vehicle speed and the current vehicle speed, so that the driving mode of the vehicle is switched to a constant-speed cruise mode; and after switching to the constant-speed cruise mode, continuously acquiring a vehicle driving state, and dynamically regulating and controlling the driving speed of the vehicle based on the vehicle driving state. According to the invention, the acceleration or deceleration response can be adjusted in real time, the driving mode is switched stably and smoothly, and the pause and response delay are significantly reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a driving mode switching control method, system, electronic device and storage medium. Background Art

[0002] Although the traditional cruise control system (CCS) can achieve the function of constant speed driving to a certain extent, its limitations and shortcomings are gradually revealed in complex and changing driving environments. Especially on highways and urban expressways, drivers need to frequently switch between multiple driving modes such as cruise control and adaptive cruise control to ensure driving safety and flexibility.

[0003] Existing intelligent driving systems, such as intelligent cruise control (ICC), monitor vehicle spacing and relative speed information through radar systems, and automatically control the acceleration, deceleration or braking of the car to maintain a safe distance or relative speed with the vehicle in front. This system improves driving safety and comfort, but its cost is high, and there are still problems with the switching between different driving modes, which are not smooth and intelligent enough. Summary of the invention

[0004] In order to solve the above technical problems, the embodiments of the present application provide a driving mode switching control method, system, electronic device, computer-readable storage medium and computer program product.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a driving mode switching control method, comprising:

[0006] Acquiring a vehicle control instruction, and determining a switching request for switching a driving mode of the vehicle based on the vehicle control instruction;

[0007] Acquire the current speed of the vehicle in real time, and determine the expected speed based on the current speed and the target speed included in the switching request;

[0008] Dynamically regulating the real-time acceleration and the real-time motor torque of the vehicle based on the expected vehicle speed and the current vehicle speed to switch the driving mode of the vehicle to a cruise control mode;

[0009] After switching to the cruise control mode, the vehicle driving state is continuously acquired, and the vehicle driving speed is dynamically regulated based on the vehicle driving state.

[0010] The beneficial effects are:

[0011] In the technical solution provided in the embodiment of the present application, a switching request is obtained by obtaining the vehicle control instruction for switching the driving mode; and the desired vehicle speed is obtained based on the current vehicle speed and the target vehicle speed corresponding to the switching request; then the real-time acceleration and real-time motor torque of the vehicle are dynamically adjusted based on the desired vehicle speed and the current vehicle speed, and the driving mode of the vehicle is switched to the cruise control mode. In this way, the present application can adjust the response of acceleration or deceleration in real time, making the speed adjustment more accurate and timely, and smoothly switch the driving mode after receiving the request to switch the driving mode, significantly reducing the sense of frustration and response delay, and making the driving mode switching smoother. In addition, after switching to the cruise control mode, the present application can ensure the stability and reliability of the intelligent driving system by continuously monitoring the driving state of the vehicle and dynamically adjusting the driving speed of the vehicle based on the driving state of the vehicle.

[0012] In a second aspect, the present invention provides a driving mode switching control system, including a request unit, a processing unit, a control unit, and a monitoring unit;

[0013] a request unit, configured to obtain a vehicle control instruction and determine a switching request for switching a driving mode of the vehicle based on the vehicle control instruction;

[0014] a processing unit, configured to obtain a current vehicle speed of the vehicle in real time, and determine a desired vehicle speed based on the current vehicle speed and a target vehicle speed included in the switching request;

[0015] A control unit, configured to dynamically adjust the real-time acceleration and the real-time motor torque of the vehicle based on the desired vehicle speed and the current vehicle speed, so as to switch the driving mode of the vehicle to a cruise control mode;

[0016] The monitoring unit is used to continuously obtain the vehicle driving state after switching to the cruise control mode, and dynamically adjust the vehicle driving speed based on the vehicle driving state.

[0017] In a third aspect, the present application also provides an electronic device, comprising: one or more processors; a storage system for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the driving mode switching control method as described above.

[0018] In a fourth aspect, the present application also provides a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer executes the driving mode switching control method as described above.

[0019] In a fifth aspect, the present application further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the driving mode switching control method provided in the above-mentioned various optional embodiments.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 It is a schematic diagram of an implementation environment involved in this application;

[0023] Figure 2 is a flow chart of a driving mode switching control method shown in an exemplary embodiment of the present application;

[0024] Figure 3 is a block diagram of a driving mode switching control system shown in an exemplary embodiment of the present application;

[0025] Figure 4 It is a structural diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application. DETAILED DESCRIPTION

[0026] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of systems and methods consistent with some aspects of the present application as detailed in the attached claims.

[0027] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0028] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0029] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0030] In order to solve the problem of insufficient smoothness and intelligence in the switching process between different driving modes, the embodiments of the present application propose a driving mode switching control method and system, an electronic device, and a computer-readable storage medium, which mainly involve the driving mode switching control technology included in the vehicle control technology. These embodiments will be described in detail below.

[0031] First see Figure 1 , Figure 1 Schematic diagram of an implementation environment involved in the present application. The implementation environment includes a vehicle 10 and a server 20, and the terminal 10 and the server 20 communicate with each other via a wired or wireless network.

[0032] The server 20 is used to obtain the vehicle control instruction, determine the switching request for switching the driving mode of the vehicle based on the vehicle control instruction; obtain the current speed of the vehicle 10 in real time, and determine the expected speed based on the current speed and the target speed included in the switching request; dynamically adjust the real-time acceleration and real-time motor torque of the vehicle 10 based on the expected speed and the current speed to switch the driving mode of the vehicle 10 to the cruise control mode; after switching to the cruise control mode, continuously obtain the vehicle driving state, and dynamically adjust the driving speed of the vehicle 10 based on the vehicle driving state. Compared with the mode switching scheme of the prior art, the driving mode switching control method provided by the present implementation environment can switch the driving mode smoothly, significantly reduce the sense of frustration and response delay, and make the driving mode switching smoother.

[0033] It should be noted that Figure 1The vehicle 10 in the implementation environment shown can be various vehicles that apply the intelligent driving system; the server 20 can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms, etc., and there is no restriction here.

[0034] Figure 2 is a flowchart of a driving mode switching control method shown in an exemplary embodiment of the present application. The method can be applied to Figure 1 The implementation environment shown in Figure 1 The server 20 in the embodiment shown is specifically implemented. In other implementation environments, the method may be implemented by devices in other implementation environments, and this embodiment does not limit this.

[0035] like Figure 2 As shown, in an exemplary embodiment, the driving mode switching control method may include steps S201 to S204, which are described in detail as follows:

[0036] Step S201: acquiring a vehicle control instruction, and determining a switching request for switching a driving mode of the vehicle based on the vehicle control instruction.

[0037] In this embodiment, the vehicle control instruction is a vehicle control instruction issued by a third party under different driving modes. After receiving the vehicle control instruction, a corresponding switching request is obtained, that is, this application supports switching between multiple driving modes.

[0038] Step S202 : acquiring the current speed of the vehicle in real time, and determining the expected speed based on the current speed and the target speed included in the switching request.

[0039] First, the target speed corresponding to the switching request is obtained, and then the current speed is obtained in real time, and the expected speed corresponding to the current speed at the current moment is calculated. The acquisition of the target speed can be achieved by analyzing the driver's habits. Specifically, the preferred cruise speed of each driver is recorded, and the speed is automatically applied when switching to the cruise mode to improve the personalized driving experience.

[0040] Step S203 , dynamically adjusting the real-time acceleration and the real-time motor torque of the vehicle based on the expected vehicle speed and the current vehicle speed, so as to switch the driving mode of the vehicle to the cruise control mode.

[0041] During the process from receiving the switching request to completing the mode switching, the current vehicle speed corresponding to each moment is changing. Therefore, this embodiment realizes dynamic regulation of the vehicle's real-time acceleration and real-time motor torque during the mode switching process through the current vehicle speed at each moment and the corresponding expected vehicle speed, so as to switch the mode smoothly, significantly reduce the sense of frustration and response delay, and make the driving mode switching smoother.

[0042] Step S204, after switching to the cruise control mode, continuously acquiring the vehicle driving state, and dynamically adjusting the vehicle driving speed based on the vehicle driving state.

[0043] As can be seen from the above, in the method provided in this embodiment, on the one hand, a switching request for switching the driving mode of the vehicle is obtained by obtaining the vehicle control instruction for switching the driving mode; and the expected vehicle speed is obtained based on the current vehicle speed and the target vehicle speed corresponding to the switching request; then the real-time acceleration and real-time motor torque of the vehicle are dynamically adjusted based on the expected vehicle speed and the current vehicle speed, and the driving mode of the vehicle is switched to the cruise control mode. This enables the present application to adjust the response of acceleration or deceleration in real time, making the speed adjustment more accurate and timely, and to switch the driving mode smoothly after receiving the switching request of the driving mode, significantly reducing the sense of frustration and response delay, and making the driving mode switching smoother. On the other hand, in the cruise control mode, by continuously monitoring the driving state of the vehicle and dynamically adjusting the driving speed of the current vehicle in the cruise control mode based on the driving state of the vehicle, the stability and reliability of the intelligent driving system can be ensured.

[0044] In an exemplary embodiment provided by the present application, when the vehicle is in different driving modes, different vehicle control instructions may be generated accordingly. In this embodiment, the vehicle control instruction is at least one of a manual operation instruction, a voice instruction, and a prediction result instruction. Therefore, the specific steps of obtaining the switching request may include:

[0045] In a current driving mode of the vehicle, obtaining a manual operation instruction corresponding to the current driving mode, and obtaining a switching request based on the manual operation instruction;

[0046] Or, obtaining a voice command issued by the driver, and obtaining a switching request corresponding to the voice command in a preset command library;

[0047] Or, obtain a prediction result instruction output by a preset prediction model, and obtain a switching request based on the prediction result instruction.

[0048] In this embodiment, the manual operation command is issued by the driver triggering a specific button or pedal. Preferably, in the manual driving mode, the driver issues a manual operation command to enter the cruise control mode through a specific button on the steering wheel to form a vehicle control command. In the intelligent driving mode, the driver issues a manual operation command to take over the vehicle and enter the cruise control mode by stepping on the brake pedal to form a vehicle control command. In addition, when the vehicle is in the intelligent driving mode, it can be switched to the manual driving mode with one button under the instrument panel.

[0049] In this embodiment, voice commands are applicable to various driving modes. First, the intelligent voice platform of the vehicle application compares the driver's facial features or voice features to ensure that only the driver's commands are recognized and executed. Then, the driver's voice commands are converted into text information using a voice recognition algorithm or a pre-built voice recognition model, and compared with a preset command library to determine the switching request corresponding to the driver's voice command.

[0050] The intelligent voice platform of the vehicle application learns and records the voice characteristics and command habits of the driver in order to more accurately identify and execute the driver's commands. Through continuous learning and optimization, the accuracy and response speed of voice recognition can be gradually improved. In addition, in the intelligent driving mode, the intelligent voice platform of the vehicle application can also intervene by issuing voice prompts based on the current road conditions, prompting the driver to switch driving modes.

[0051] In this embodiment, the prediction result instruction is output by a preset prediction model. When constructing a preset prediction model, the prediction model can be obtained by training based on a large amount of historical data for mode switching (including one or more of driver behavior data, environmental data, and vehicle data); or a mathematical model is formed as a prediction model using a Kalman filter prediction method, and a cyclic prediction is performed based on real-time data and historical data to output a prediction result instruction. When applying the prediction model, the possible driving mode switching needs of the driver are intelligently predicted in combination with the vehicle driving data (such as road conditions, traffic flow) and the driver's behavior pattern, and preparations are made in advance (such as adjusting the vehicle speed, pre-tightening the seat belt, etc.). If the content represented by the prediction result instruction is manual-automatic or automatic-manual, it must be confirmed by the driver before the corresponding prediction result instruction is output.

[0052] In addition, the vehicle control instructions can also include gesture instructions. The vehicle recognizes the driver's gestures through cameras or sensors. When the driver makes a specific gesture, a corresponding gesture instruction is generated. By recognizing the gesture instruction, a switching request is obtained to automatically enter the cruise control mode. This increases the diversity of operations, and the driver can interact with the system in a more natural way.

[0053] In this way, through the above-mentioned embodiments, the driver can issue vehicle control instructions in a corresponding manner in various driving modes to easily take over the vehicle and enter the cruise control mode, which simplifies the takeover process and improves driving safety.

[0054] In an exemplary embodiment provided by the present application, the specific steps of dynamically regulating the real-time acceleration and real-time motor torque of the vehicle based on the expected vehicle speed and the current vehicle speed to switch the driving mode of the vehicle to the cruise control mode may include:

[0055] Obtain current driving environment information in real time;

[0056] Determining a target expected vehicle speed based on the driving environment information and the expected vehicle speed;

[0057] Determine a target acceleration based on a vehicle speed difference between a target desired vehicle speed and a current vehicle speed, where the target acceleration is a positive value or a negative value;

[0058] Acquire vehicle physical characteristic data, and obtain target output torque based on the vehicle physical characteristic data and vehicle speed difference;

[0059] According to the target acceleration and target output torque, the vehicle's real-time acceleration and real-time motor torque are dynamically adjusted to control the vehicle's travel and switch the vehicle's driving mode to the cruise mode.

[0060] In this embodiment, after receiving a request to switch the driving mode and dynamically calculating the expected speed based on the current vehicle speed and the target speed, the expected speed is adjusted in real time to obtain the target expected speed, taking into account the current driving environment information, such as the current road conditions (such as speed limit, curves, slopes, etc.) and traffic conditions, to ensure that it meets both the driver's intention and safety requirements. The driving environment information is obtained through integrated radar, camera and other sensors to achieve real-time perception of the surrounding environment (such as weather, road conditions, pedestrians) to ensure driving safety.

[0061] Then, based on the speed difference between the target desired speed and the current speed, the target acceleration is obtained, which is a positive or negative value, and the vehicle physical characteristic data is obtained, and the target output torque is obtained based on the vehicle physical characteristic data and the speed difference. Then, the target acceleration and target output torque are used to dynamically adjust the real-time acceleration and real-time motor torque of the vehicle to control the vehicle's driving, and the vehicle's driving mode is switched to the cruise control mode. When the target acceleration is positive, acceleration control is performed, and when it is negative, deceleration control is performed. Among them, the vehicle physical characteristic data may include one or more of the following:

[0062] 1. Vehicle quality.

[0063] 2. Tire parameters

[0064] Tire specifications and dimensions: including tire width, diameter, etc. These parameters affect the contact area between the tire and the ground, which in turn affects the friction and required torque.

[0065] Tire friction coefficient: The friction coefficient between the tire and the road determines the vehicle's grip and driving stability, and is important for calculating torque requirements under different road conditions.

[0066] 3. Powertrain parameters

[0067] Transmission ratio: Different gears in the transmission have different transmission ratios, which affects the amount of torque output by the engine transmitted to the wheels.

[0068] Final drive ratio: further affects the transmission of torque, ensuring that the wheels receive appropriate torque to drive the vehicle.

[0069] Driving resistance. Air resistance: The air resistance encountered by a vehicle when driving is proportional to the square of the vehicle speed, so as the vehicle speed increases, the required torque will also increase to overcome the air resistance; Rolling resistance: The rolling resistance between the tires and the ground will also affect the vehicle's driving and the required torque.

[0070] In another exemplary embodiment, the specific steps of obtaining the target acceleration based on the vehicle speed difference between the target desired vehicle speed and the current vehicle speed may include:

[0071] Obtaining the opening rate change rate of the pedal in the vehicle;

[0072] Based on a preset acceleration database, determining acceleration data corresponding to the vehicle speed difference and the opening change rate, the acceleration database including the corresponding relationship between the vehicle speed difference and the opening change rate and the acceleration;

[0073] The acceleration data is adjusted using a preset control algorithm to obtain the target acceleration.

[0074] In this embodiment, multiple groups of acceleration data are pre-set to form an acceleration database, and the data in the database is optimized based on actual vehicle debugging and driver preferences. When performing driving mode switching control, the opening change rate of the accelerator pedal or brake pedal is obtained, and the acceleration data in the acceleration database that is most suitable for the vehicle speed difference and the opening change rate is selected in real time; the acceleration data is fine-tuned using a preset control algorithm (such as fuzzy control, neural network, etc.) to obtain the target acceleration, so as to achieve a smoother acceleration or deceleration process.

[0075] In another exemplary embodiment, the specific steps of acquiring vehicle physical characteristic data and obtaining the target output torque based on the vehicle physical characteristic data and the vehicle speed difference may include:

[0076] Determine the driving characteristic parameters of the vehicle according to the physical characteristic data of the vehicle;

[0077] determining a first output torque based on the vehicle speed difference and the driving characteristic parameter;

[0078] Determine the electric drive characteristic parameters of the vehicle according to the physical characteristic data of the vehicle;

[0079] Correcting the first output torque based on the electric drive characteristic parameter to obtain a second output torque;

[0080] The second output torque is adjusted using a torque control algorithm to obtain a target output torque.

[0081] This embodiment uses the difference between the target desired vehicle speed and the current vehicle speed as input, and combines the current vehicle driving characteristic parameters (such as mass, tire friction coefficient, etc.) to calculate the required first output torque in real time. Then, the vehicle's electric drive characteristic parameters, including motor parameters and battery status (such as power, temperature, etc.) are considered to correct the first output torque and obtain the second output torque to ensure that the motor can stably and efficiently output the required torque. Finally, the torque control algorithm is used to adjust the second output torque to obtain the target output torque, thereby achieving a linear output of the torque request.

[0082] In this embodiment, the torque control algorithm is PID control (proportion integration differentiation, referring to proportional, integral, differential control) or model predictive control. When the torque control algorithm is PID control, the required control amount (such as motor current or voltage) is calculated according to the error between the target output torque and the actual torque, thereby adjusting the output torque of the motor. By adjusting the PID parameters (proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd), the linear output of the torque request can be achieved.

[0083] When the torque control algorithm is model predictive control, the torque demand in the future is predicted based on the vehicle's dynamic model and current state (such as vehicle speed, acceleration, etc.), and the optimal torque output is calculated based on the prediction results, that is, the target output torque is further optimized. Then, based on the constraints (such as the maximum output torque of the motor, the battery power limit, etc.), the MPC (Model Predictive Control) algorithm can be used to achieve more accurate and safe torque control to ensure the linear output of the torque request.

[0084] In this embodiment, further, after dynamically regulating the real-time acceleration and the real-time motor torque of the vehicle by using the target acceleration and the target output torque, the steps may also include:

[0085] Obtain the actual output torque data and actual vehicle speed data of the motor corresponding to the vehicle in real time;

[0086] Determine the torque change data and the vehicle speed change data of the motor according to the actual output torque data and the actual vehicle speed data;

[0087] Determine the target control amount according to the torque change data and the vehicle speed change data;

[0088] The real-time motor torque is linearly adjusted based on the target control amount.

[0089] In this embodiment, after the motor starts to output the target output torque, the torque change data and the vehicle speed change data are determined by real-time monitoring and obtaining the actual output torque data and the actual vehicle speed data of the motor. The actual output torque data includes multiple actual output torques obtained in real time, and the actual vehicle speed data includes multiple actual vehicle speeds obtained in real time. Therefore, according to the actual output torque data and the actual vehicle speed data, the torque change data and the vehicle speed change data of the motor including multiple change amounts can be determined. Then, the output torque is adjusted by linear feedback according to the target control amount determined by the torque change data and the vehicle speed change data to ensure the accuracy and stability of the torque output. The adjustment process adopts a smoothing method to avoid abrupt acceleration or deceleration changes.

[0090] In this way, through the above-mentioned embodiments, the present application can adjust the acceleration or deceleration response in real time by dynamically regulating the acceleration of the vehicle and the output torque of the motor respectively, so that the vehicle speed adjustment is more accurate and timely, and the driving mode is switched smoothly after receiving the driving mode switching request, which significantly reduces the frustration and response delay and makes the driving mode switching smoother.

[0091] In an exemplary embodiment provided by the present application, after switching to the cruise control mode, the specific steps of continuously acquiring the vehicle driving state and dynamically adjusting the vehicle driving speed based on the vehicle driving state may include:

[0092] After switching to the cruise control mode, the vehicle's driving status is continuously acquired;

[0093] After monitoring the pedal signal transmitted by the driver, the vehicle's driving speed is dynamically adjusted based on the pedal signal and the vehicle's driving status.

[0094] In this embodiment, during the cruise control mode, the vehicle driving state, the signal input of the accelerator pedal and the brake pedal are continuously monitored to ensure that the driver's need for acceleration or deceleration can be accurately identified. The monitoring can be achieved through vehicle self-checking or through a remote monitoring system.

[0095] Preferably, if it is detected that the brake pedal is pressed quickly, the driver's intention of emergency braking is recognized, the cruise control mode is immediately interrupted, and the emergency braking procedure is initiated to ensure driving safety.

[0096] When the accelerator pedal signal is detected, the driver's driving intention is identified, and the vehicle's acceleration response is adjusted in real time to ensure that the vehicle accelerates as the driver expects. Similarly, the vehicle's deceleration response is adjusted in real time according to the brake pedal signal input to achieve smooth deceleration.

[0097] In addition, emergency braking intention and driving intention can also be obtained through pre-calibration or inference based on the driver's behavior and historical data. For example, machine learning algorithms can be used to analyze the driver's pedal operation habits, identify and predict the driver's acceleration or deceleration intention, and adjust the vehicle response in advance to improve driving smoothness.

[0098] In another exemplary embodiment provided by the present application, in the cruise control mode, the status of each vehicle system is also monitored in real time. Once an abnormality is detected (such as engine failure, insufficient tire pressure), an early warning is immediately issued, and self-protection measures (such as deceleration, parking) are taken when necessary to prevent accidents, thereby achieving fault warning and self-protection.

[0099] In this way, through the above-mentioned embodiments, the present application ensures the stability and reliability of the driving system by continuously monitoring the vehicle's operating status and making fine adjustments, which helps to extend the service life of vehicle equipment and reduce the failure rate and potential risks caused by system failures.

[0100] Figure 3 FIG. 3 is a block diagram of a driving mode switching control system 300 shown in an exemplary embodiment of the present application. Figure 3 As shown, the system includes:

[0101] The request unit 301 is used to obtain a vehicle control instruction and determine a switching request for switching a driving mode of the vehicle based on the vehicle control instruction;

[0102] The processing unit 302 is used to obtain the current speed of the vehicle in real time, and determine the expected speed based on the current speed and the target speed included in the switching request;

[0103] A control unit 303 is used to dynamically adjust the real-time acceleration and real-time motor torque of the vehicle based on the expected vehicle speed and the current vehicle speed, so as to switch the driving mode of the vehicle to the cruise control mode;

[0104] The monitoring unit 304 is used to continuously obtain the vehicle driving state after switching to the cruise control mode, and dynamically adjust the vehicle driving speed based on the vehicle driving state.

[0105] The system applies the driving mode switching control method provided by the present application. The request unit 301 obtains the switching request by obtaining the vehicle control instruction for switching the driving mode; and obtains the desired vehicle speed based on the current vehicle speed and the target vehicle speed corresponding to the switching request through the processing unit 302; then the control unit 303 dynamically adjusts the real-time acceleration and real-time motor torque of the vehicle based on the desired vehicle speed and the current vehicle speed, and switches the driving mode of the vehicle to the cruise control mode. In this way, the present application can adjust the response of acceleration or deceleration in real time, making the speed adjustment more accurate and timely, and smoothly switch the driving mode after receiving the switching request of the driving mode, significantly reducing the sense of frustration and response delay, and making the driving mode switching smoother. In addition, in the cruise control mode, the present application continuously monitors the driving state of the vehicle through the monitoring unit 304, and drives the control unit 303 to dynamically adjust the driving speed of the current vehicle in the cruise control mode based on the driving state of the vehicle, which can ensure the stability and reliability of the intelligent driving system.

[0106] In another exemplary embodiment, the vehicle control instruction is at least one of a manual operation instruction, a voice instruction and a prediction result instruction; the request unit 301 is also used to obtain a manual operation instruction corresponding to the current driving mode of the vehicle, and obtain a switching request based on the manual operation instruction; or, obtain a voice instruction issued by the driver, and obtain a switching request corresponding to the voice instruction in a preset instruction library; or, obtain a prediction result instruction output by a preset prediction model, and obtain a switching request based on the prediction result instruction.

[0107] In another exemplary embodiment, the control unit 303 is also used to obtain the current driving environment information in real time; determine the target expected vehicle speed based on the driving environment information and the expected vehicle speed; determine the target acceleration based on the speed difference between the target expected vehicle speed and the current vehicle speed, and the target acceleration is a positive or negative value; obtain vehicle physical characteristic data, and obtain the target output torque based on the vehicle physical characteristic data and the speed difference; dynamically adjust the real-time acceleration and real-time motor torque of the vehicle according to the target acceleration and the target output torque to control the vehicle's driving and switch the vehicle's driving mode to the cruise control mode.

[0108] In another exemplary embodiment, the control unit 303 is also used to obtain the opening change rate of the pedal in the vehicle; based on a preset acceleration database, determine the acceleration data corresponding to the vehicle speed difference and the opening change rate, the acceleration database includes the corresponding relationship between the vehicle speed difference and the opening change rate and the acceleration; use the preset control algorithm to adjust the acceleration data to obtain the target acceleration.

[0109] In another exemplary embodiment, the control unit 303 is also used to determine the driving characteristic parameters of the vehicle based on the physical characteristic data of the vehicle; determine the first output torque based on the vehicle speed difference and the driving characteristic parameters; determine the electric drive characteristic parameters of the vehicle based on the physical characteristic data of the vehicle; correct the first output torque based on the electric drive characteristic parameters to obtain the second output torque; and adjust the second output torque using a torque control algorithm to obtain a target output torque.

[0110] In another exemplary embodiment, the control unit 303 is also used to obtain in real time the actual output torque data and actual vehicle speed data of the motor corresponding to the vehicle; determine the torque change data and vehicle speed change data of the motor based on the actual output torque data and the actual vehicle speed data; determine the target control amount based on the torque change data and the vehicle speed change data; and linearly adjust the real-time motor torque based on the target control amount.

[0111] In another exemplary embodiment, the system further includes: a monitoring unit for continuously acquiring the vehicle driving status after switching to the cruise control mode; after monitoring the pedal signal transmitted by the driver, dynamically adjusting the vehicle driving speed based on the pedal signal and the vehicle driving status.

[0112] It should be noted that the driving mode switching control system provided in the above embodiment and the driving mode switching control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In actual application, the driving mode switching control system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0113] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage system for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the driving mode switching control method provided in the above-mentioned embodiments.

[0114] Figure 4 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 4 The computer system 400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] like Figure 4As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method in the above embodiment. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, ROM 402 and RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0116] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0117] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 409, and / or installed from a removable medium 411. When the computer program is executed by a central processing unit (CPU) 401, various functions defined in the system of the present application are executed.

[0118] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, system or device. A computer program contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0119] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0121] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the driving mode switching control method as described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0122] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the driving mode switching control method provided in each of the above embodiments.

[0123] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A driving mode switching control method, characterized in that: The method comprises: Acquiring a vehicle control instruction, and determining a switching request for switching a driving mode of the vehicle based on the vehicle control instruction; Acquire the current speed of the vehicle in real time, and determine the expected speed based on the current speed and the target speed included in the switching request; Dynamically regulating the real-time acceleration and the real-time motor torque of the vehicle based on the expected vehicle speed and the current vehicle speed to switch the driving mode of the vehicle to a cruise control mode; After switching to the cruise control mode, the vehicle driving state is continuously acquired, and the vehicle driving speed is dynamically regulated based on the vehicle driving state.

2. The method according to claim 1, characterized in that The vehicle control instruction is at least one of a manual operation instruction, a voice instruction, and a prediction result instruction; the obtaining of the vehicle control instruction and determining a switching request for switching the driving mode of the vehicle based on the vehicle control instruction includes: In a current driving mode of the vehicle, obtaining a manual operation instruction corresponding to the current driving mode, and obtaining a switching request based on the manual operation instruction; Or, obtaining a voice command issued by the driver, and obtaining a switching request corresponding to the voice command in a preset command library; Or, obtain a prediction result instruction output by a preset prediction model, and obtain a switching request based on the prediction result instruction.

3. The method according to claim 1, characterized in that The dynamically regulating the real-time acceleration and the real-time motor torque of the vehicle based on the expected vehicle speed and the current vehicle speed to switch the driving mode of the vehicle to the cruise control mode includes: Obtain current driving environment information in real time; Determining a target expected vehicle speed based on the driving environment information and the expected vehicle speed; Determining a target acceleration based on a vehicle speed difference between the target desired vehicle speed and the current vehicle speed, wherein the target acceleration is a positive value or a negative value; Acquiring vehicle physical characteristic data, and obtaining a target output torque based on the vehicle physical characteristic data and the vehicle speed difference; According to the target acceleration and the target output torque, the real-time acceleration and the real-time motor torque of the vehicle are dynamically adjusted to control the driving of the vehicle and switch the driving mode of the vehicle to the cruise mode.

4. The method according to claim 3, characterized in that The determining of the target acceleration based on the vehicle speed difference between the target expected vehicle speed and the current vehicle speed includes: Obtaining the opening change rate of the pedal in the vehicle; Determining acceleration data corresponding to the vehicle speed difference and the opening change rate based on a preset acceleration database, wherein the acceleration database includes a correspondence between the vehicle speed difference and the opening change rate and acceleration; The acceleration data is adjusted using a preset control algorithm to obtain a target acceleration.

5. The method according to claim 3, characterized in that: The acquiring of the vehicle physical characteristic data and obtaining the target output torque based on the vehicle physical characteristic data and the vehicle speed difference includes: Determining a driving characteristic parameter of the vehicle according to the vehicle physical characteristic data; determining a first output torque based on the vehicle speed difference and the driving characteristic parameter; Determining electric drive characteristic parameters of the vehicle according to the vehicle physical characteristic data; Correcting the first output torque based on the electric drive characteristic parameter to obtain a second output torque; The second output torque is adjusted using a torque control algorithm to obtain a target output torque.

6. The method according to claim 3, characterized in that: After dynamically regulating the real-time acceleration and the real-time motor torque of the vehicle according to the target acceleration and the target output torque, the method further includes: Obtain the actual output torque data and actual vehicle speed data of the motor corresponding to the vehicle in real time; Determining torque change data and vehicle speed change data of the motor according to the actual output torque data and the actual vehicle speed data; determining a target control amount according to the torque change data and the vehicle speed change data; The real-time motor torque is linearly adjusted based on the target control amount.

7. The method according to claim 1, characterized in that After switching to the cruise control mode, continuously acquiring the vehicle driving state and dynamically adjusting the vehicle driving speed based on the vehicle driving state include: After switching to the cruise control mode, continuously acquiring the vehicle driving status; After the pedal signal transmitted by the driver is monitored, the driving speed of the vehicle is dynamically regulated based on the pedal signal and the driving state of the vehicle.

8. A driving mode switching control system, characterized in that: include: a request unit, configured to obtain a vehicle control instruction and determine a switching request for switching a driving mode of the vehicle based on the vehicle control instruction; a processing unit, configured to obtain a current vehicle speed of the vehicle in real time, and determine a desired vehicle speed based on the current vehicle speed and a target vehicle speed included in the switching request; A control unit, configured to dynamically adjust the real-time acceleration and the real-time motor torque of the vehicle based on the desired vehicle speed and the current vehicle speed, so as to switch the driving mode of the vehicle to a cruise control mode; The monitoring unit is used to continuously obtain the vehicle driving state after switching to the cruise control mode, and dynamically adjust the vehicle driving speed based on the vehicle driving state.

9. An electronic device, characterized in that: include: one or more processors; A storage system for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the driving mode switching control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the driving mode switching control method according to any one of claims 1 to 7.

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