Ramp working condition driving control method, device and equipment and storage medium

Abstract

The invention discloses a ramp working condition driving control method, device and equipment and a storage medium, and relates to the technical field of intelligent driving, and the ramp working condition driving control method comprises the steps that slope road information is acquired, and a target driving style learning strategy of a target ramp road section is determined according to the slope road information; according to the target driving style learning strategy, self-vehicle driving parameters and / or front-vehicle driving parameters are / is collected; determining ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; and when the target ramp road section is detected, vehicle driving is controlled according to the ramp driving learning parameters of the target ramp road section, so that ramp working condition driving control is completed. According to the scheme, the slope driving parameters better conforming to the habits of the driver can be customized, so that the driving comfort of the driver on the slope road section is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, equipment and storage medium for controlling driving on a slope. Background Art

[0002] When the driver uses the Adaptive Cruise Control (ACC) function, under the premise of improving safety, a single parameter cannot meet the driving habits of different drivers. If the driving assistance system drives too fast or too slow, the driver will tend to exit the function for safety or travel time considerations.

[0003] The existing slope driving control method often determines the driving control parameters of the slope condition by the target cruising speed set by the driver, but does not take the driver's habits into consideration. The designed control system parameters are relatively uniform and cannot learn the driver's operation. How to customize the slope driving parameters that are more in line with the driver's habits to improve the driver's driving comfort on slope sections has become a technical problem to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a method for controlling driving on a slope, aiming to solve the technical problem of how to customize slope driving parameters that are more in line with the driver's habits so as to improve the driver's driving comfort on slope sections.

[0006] To achieve the above objectives, the present application proposes a method for controlling a vehicle on a slope, the method comprising:

[0007] Acquiring slope road information, and determining a target driving style learning strategy for a target slope road section according to the slope road information;

[0008] Collecting the own vehicle driving parameters and / or the preceding vehicle driving parameters according to the target driving style learning strategy;

[0009] Determining the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters;

[0010] When the target ramp road section is detected, the vehicle driving is controlled according to the ramp driving learning parameters of the target ramp road section to complete the ramp condition driving control.

[0011] In one embodiment, the step of determining the slope driving learning parameters of the target slope road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters includes:

[0012] Generating initial driving learning parameters of the target slope section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters;

[0013] When the target ramp road section is detected and the simulated cruise mode is started, the initial driving learning parameters are adjusted to obtain the ramp driving learning parameters of the target ramp road section.

[0014] In one embodiment, the step of generating the initial driving learning parameters of the target slope section according to the driving parameters of the vehicle and / or the driving parameters of the preceding vehicle includes:

[0015] generating at least two of an initial ramp speed, an initial ramp acceleration and a following distance of the target ramp section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters;

[0016] An initial driving learning parameter is determined according to at least two of the initial ramp speed, the initial ramp acceleration, and the following distance.

[0017] In one embodiment, when the target ramp road section is detected and the simulated cruise mode is started, the step of adjusting the initial driving learning parameters to obtain the ramp driving learning parameters of the target ramp road section includes:

[0018] When the target ramp section is detected and the simulated cruise mode is started, obtaining a driver pedal signal of the target ramp section;

[0019] The initial driving learning parameters are adjusted according to the driver pedal signal to obtain the slope driving learning parameters of the target slope section.

[0020] In one embodiment, the step of determining a target driving style learning strategy for a target slope road section according to the slope road information comprises:

[0021] Determine the slope traffic condition result and the slope type according to the slope road information;

[0022] A target driving style learning strategy for the target slope section is determined according to the slope traffic condition result and the slope type.

[0023] In one embodiment, the step of determining the target driving style learning strategy for the target slope section according to the slope traffic condition result and the slope type comprises:

[0024] When it is determined according to the slope traffic condition result that there is no target vehicle on the road ahead, determining according to the slope type that the target driving style learning strategy for the target slope road section is an uphill cruising driving learning strategy or a downhill cruising driving learning strategy;

[0025] When it is determined according to the slope traffic condition result that the target vehicle exists on the road ahead, the target driving style learning strategy for the target slope section is determined according to the slope type as an uphill following driving learning strategy or a downhill following driving learning strategy.

[0026] In one embodiment, the step of collecting the driving parameters of the vehicle and / or the preceding vehicle according to the target driving style learning strategy includes:

[0027] When the target driving style learning strategy is a cruise driving learning strategy, collecting driving parameters of the vehicle;

[0028] When the target driving style learning strategy is a vehicle-following driving learning strategy, the own vehicle driving parameters and the preceding vehicle driving parameters are collected.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a ramp driving control device, the ramp driving control device comprising:

[0030] A strategy determination module, used to obtain slope road information and determine a target driving style learning strategy for a target slope road section according to the slope road information;

[0031] A data acquisition module, used for collecting driving parameters of the vehicle and / or the preceding vehicle according to the target driving style learning strategy;

[0032] A parameter learning module, used to determine the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters;

[0033] The driving control module is used to control the vehicle driving according to the ramp driving learning parameters of the target ramp road section when the target ramp road section is detected, so as to complete the ramp working condition driving control.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a slope condition driving control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the slope condition driving control method as described above.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the slope driving control method described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the ramp driving control method described above are implemented.

[0037] One or more technical solutions proposed in this application have at least the following technical effects:

[0038] Acquire slope road information, and determine a target driving style learning strategy for a target slope section according to the slope road information; collect own vehicle driving parameters and / or leading vehicle driving parameters according to the target driving style learning strategy; determine slope driving learning parameters for the target slope section according to the own vehicle driving parameters and / or leading vehicle driving parameters; when the target slope section is detected, control vehicle driving according to the slope driving learning parameters for the target slope section to complete slope condition driving control, determine a target driving style learning strategy corresponding to the target slope section according to the slope road information to obtain the driver's driving needs under different slope conditions, and generate corresponding slope driving learning parameters by collecting the own vehicle and / or leading vehicle driving parameters when the driver is manually driving, so as to customize slope driving parameters that are more in line with the driver's habits and improve the driver's driving comfort on slope sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A flow chart of the first embodiment of the ramp driving control method of the present application;

[0042] Figure 2 A flow chart of the second embodiment of the ramp driving control method of the present application;

[0043] Figure 3 A schematic diagram of a simplified process of a ramp driving control method provided in Embodiment 2 of the present application;

[0044] Figure 4 This is a schematic diagram of the module structure of the ramp driving control device according to an embodiment of the present application;

[0045] Figure 5Schematic diagram of the equipment structure of the hardware operating environment involved in the ramp driving control method in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solutions of the embodiments of this application are:

[0050] Acquiring slope road information, and determining a target driving style learning strategy for a target slope road section according to the slope road information;

[0051] Collecting the own vehicle driving parameters and / or the preceding vehicle driving parameters according to the target driving style learning strategy;

[0052] Determining the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters;

[0053] When the target ramp road section is detected, the vehicle driving is controlled according to the ramp driving learning parameters of the target ramp road section to complete the ramp condition driving control.

[0054] In this embodiment, for ease of description, the following description is based on identifying the vehicle end as the execution subject.

[0055] Because when the driver uses the adaptive cruise control function, a single parameter cannot meet the driving habits of different drivers while improving safety. If the driving assistance system drives too fast or too slow, the driver will tend to exit the function for safety or travel time considerations.

[0056] The existing slope driving control method often determines the driving control parameters of the slope condition by the target cruising speed set by the driver, but does not take the driver's habits into consideration. The designed control system parameters are relatively uniform and cannot learn the driver's operation. How to customize the slope driving parameters that are more in line with the driver's habits to improve the driver's driving comfort on slope sections has become a technical problem to be solved.

[0057] The present application provides a solution, which determines the target driving style learning strategy corresponding to the target slope section according to the slope road information, so as to obtain the driving needs of the driver under different slope conditions, and generates corresponding slope driving learning parameters by collecting the driving parameters of the vehicle and / or the preceding vehicle when the driver is manually driving. It is possible to customize slope driving parameters that are more in line with the driver's habits, thereby improving the driver's driving comfort on slope sections.

[0058] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle terminal, etc. The following takes the vehicle terminal as an example to illustrate this embodiment and the following embodiments.

[0059] Based on this, the embodiment of the present application provides a method for controlling a vehicle in a slope condition, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the ramp driving control method of the present application.

[0060] In this embodiment, the ramp driving control method includes steps S10 to S40:

[0061] Step S10, acquiring slope road information, and determining a target driving style learning strategy for a target slope road section according to the slope road information;

[0062] It should be noted that during the driving process of the vehicle, the slope information of the road ahead will be obtained through the vehicle-mounted height sensor, GPS system, and road slope detection device, and whether the road ahead is a slope section will be determined based on the slope information and the slope threshold preset by the vehicle-side system. When the road ahead is determined to be a slope section, the slope road information will be collected. Specifically, if the preset slope threshold of the uphill section is 5° and the slope threshold of the downhill section is -5°, if the slope value of the target slope section determined based on the slope information is greater than 5° or less than -5°, it can be determined that the road ahead is a slope section.

[0063] In addition, it should be noted that the slope road information at least includes slope information and traffic road condition information. The target driving style learning strategy is a target slope road section driving behavior learning rule determined according to the slope road information, which is enabled in the manual driving mode and is used to learn the driver's driving style on the slope road section. Depending on whether there are other vehicles within the preset range of the road ahead, the target driving style learning strategy can be divided into a cruise driving learning strategy and a follow-up driving learning strategy. According to the type of the slope of the road ahead, the target driving style learning strategy can be divided into an uphill driving learning strategy and a downhill driving learning strategy.

[0064] It should be understood that the vehicle side maintains a database of target slope sections, which can be divided into slope sections based on a preset slope range. For each divided slope section, its corresponding slope range is marked, and the cruise learning flag and the following car learning flag are used to mark the execution of the cruise driving learning strategy and the following car driving learning strategy for the section. For example, for a section with slope information of Slope, m i <Slope≤m i+1 The slope road section is marked as the target slope road section i, where i = 1, 2, ..., n, n is the number of the divided target slope road sections, m i and m i+1 is the preset slope segment division value. When initializing the target slope segment database, the cruise learning flag position and the following vehicle learning flag position corresponding to each target slope segment i are 0.

[0065] In addition, it should be understood that during the driving process of the vehicle, the driving style learning status (including cruise learning and following vehicle learning) of the slope section on which the vehicle is driving will be determined based on the collected slope road information. If it is determined based on the slope road information that the driving style of the slope section has not been learned, the slope section will be determined as a target slope section, and the corresponding target driving style learning strategy will be obtained to learn the driver's slope driving habits.

[0066] In a feasible implementation manner, determining the target driving style learning strategy for the target slope road section according to the slope road information in step S10 may include steps S11 to S12:

[0067] Step S11, determining the slope traffic condition result and the slope type according to the slope road information;

[0068] It should be understood that the slope information and traffic condition information can be obtained based on the slope road information, and the traffic condition information can be used to determine whether there are other vehicles within the preset range of the road ahead, and obtain the slope traffic condition result. The slope type can be determined based on the slope information, and the slope type includes uphill type and downhill type.

[0069] Step S12: determining a target driving style learning strategy for the target slope section according to the slope traffic condition result and the slope type.

[0070] It should be understood that the slope traffic condition results include two situations: no car ahead and car ahead, and the slope type includes two situations: uphill and downhill. The corresponding target driving style learning strategy can be determined according to the slope traffic condition results and slope type of the target slope section. Among them, for the situation where there is no car ahead, the target driving style learning strategy only needs to collect the driving parameters of the vehicle to obtain the target cruise driving parameters; for the situation where there is a car ahead, in addition to collecting the driving parameters of the vehicle ahead, the target driving style learning strategy also needs to collect the driving parameters of the front vehicle to obtain the target following vehicle driving parameters. For the uphill situation, the target driving style learning strategy needs to learn the uphill driving speed, uphill acceleration and acceleration point; for the downhill situation, the target driving style learning strategy needs to learn the downhill driving speed, downhill deceleration and deceleration point.

[0071] In a feasible implementation manner, determining the target driving style learning strategy for the target slope section according to the slope traffic condition results and the slope type in step S12 may include: when it is determined that there is no target vehicle on the road ahead according to the slope traffic condition results, determining the target driving style learning strategy for the target slope section as an uphill cruising driving learning strategy or a downhill cruising driving learning strategy according to the slope type; when it is determined that there is the target vehicle on the road ahead according to the slope traffic condition results, determining the target driving style learning strategy for the target slope section as an uphill following driving learning strategy or a downhill following driving learning strategy according to the slope type.

[0072] It should be understood that the target vehicle is another vehicle within the preset range of the road ahead. The absence of the target vehicle on the road ahead corresponds to the situation where there is no vehicle ahead, and the presence of the target vehicle on the road ahead corresponds to the situation where there is a vehicle ahead. According to the slope traffic condition results, the target driving style learning strategy can be determined to be a cruise driving learning strategy or a follow-up driving learning strategy. The slope type includes an uphill type and a downhill type. According to whether the slope type is uphill or downhill, the target driving style learning strategy can be determined to be an uphill driving learning strategy or a downhill driving learning strategy.

[0073] Furthermore, target driving style learning strategies for four situations can be obtained: the target slope road section with no car ahead and an uphill type corresponds to the uphill cruising driving learning strategy; the target slope road section with no car ahead and a downhill type corresponds to the downhill cruising driving learning strategy; the target slope road section with a car ahead and an uphill type corresponds to the uphill following driving learning strategy; the target slope road section with a car ahead and a downhill type corresponds to the downhill following driving learning strategy.

[0074] Step S20, collecting driving parameters of the vehicle and / or the preceding vehicle according to the target driving style learning strategy;

[0075] It should be understood that different types of target driving style learning strategies correspond to different parameters collected for learning driving styles. The self-vehicle driving parameters are the dynamic state information of the self-vehicle when the self-vehicle is driving on the target slope section, specifically including the self-vehicle speed information, the self-vehicle acceleration information, and the acceleration point information / deceleration point information. The front vehicle driving parameters are the front vehicle speed information, the front vehicle acceleration information and the distance to the front vehicle collected when there is a target vehicle on the road ahead. The self-vehicle driving parameters can be collected through sensors such as wheel speed sensors, accelerometers, gyroscopes, etc. equipped with the self-vehicle, and the front vehicle driving parameters can be collected through vehicle-mounted sensors or external sensors (such as V2X communication).

[0076] In a feasible implementation, step S20 may include: when the target driving style learning strategy is a cruise driving learning strategy, collecting the vehicle driving parameters; when the target driving style learning strategy is a following vehicle driving learning strategy, collecting the vehicle driving parameters and the preceding vehicle driving parameters.

[0077] It should be understood that the cruise driving learning strategy includes the uphill cruise driving learning strategy and the downhill cruise driving learning strategy, and the following car driving learning strategy includes the uphill following car driving learning strategy and the downhill following car driving learning strategy. In the case where there is no car ahead, it is necessary to collect the driving parameters of the vehicle according to the cruise driving learning strategy to obtain the target cruise driving parameters; in the case where there is a car ahead, it is necessary to collect the driving parameters of the vehicle and the driving parameters of the preceding vehicle according to the following car driving learning strategy to obtain the target following car driving parameters.

[0078] Step S30, determining the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters;

[0079] It should be noted that the ramp driving learning parameters are vehicle dynamic parameters (such as vehicle speed, acceleration, acceleration point, deceleration point, following distance, etc.) used to control the vehicle's driving when the vehicle turns on the adaptive cruise function on the target ramp section. The ramp driving learning parameters include target cruise driving parameters and target following driving parameters, wherein the target cruise driving parameters are used to ensure that the vehicle maintains a stable and comfortable driving state on the target ramp section, avoid frequent acceleration and deceleration operations, and maintain a cruising state; the target following driving parameters are used to adjust the driving behavior of the self-vehicle so that it can smoothly follow the front vehicle, maintain a safe distance, and adapt to the front vehicle. When the target driving style learning strategy for the target ramp section is determined to be the cruise driving learning strategy, the self-vehicle driving parameters are collected, and the target cruise driving parameters are determined based on the self-vehicle driving parameters. When the target driving style learning strategy for the target ramp section is determined to be the following driving learning strategy, the self-vehicle driving parameters and the front vehicle driving parameters are collected, and the target following driving parameters are determined based on the self-vehicle driving parameters and the front vehicle driving parameters.

[0080] Step S40, when the target ramp section is detected, the vehicle is controlled to travel according to the ramp driving learning parameters of the target ramp section to complete the ramp condition driving control.

[0081] It should be understood that after the driving style learning of the target ramp road section is completed and the ramp driving learning parameters are obtained, the ramp driving learning parameters corresponding to the target ramp road section will be stored in the target ramp road section database. For each target ramp road section i in the target ramp road section database, the learning status of the target cruise driving parameters and the target following vehicle driving parameters of the target ramp road section will be marked accordingly. After the driving style learning of the target cruise driving parameters and the target following vehicle driving parameters of the target ramp road section i is completed, if the target ramp road section i is recognized again during the driving process of the vehicle, the driver will be reminded through the central control screen or voice broadcast to complete the driving style learning of the target ramp road section.

[0082] It should be understood that during vehicle driving, if a slope section is identified, the slope driving learning parameters of the corresponding target slope section will be queried from the target slope section database based on the slope information and traffic condition information of the slope section. If the query fails, the driver is reminded that he can learn the target cruise driving parameters or target following driving parameters corresponding to the target slope section in manual driving mode; if the query is successful and the driver has not started the adaptive cruise function, the driver is reminded to start the adaptive cruise function and control the vehicle driving according to the slope driving learning parameters to complete the slope condition driving control.

[0083] The present embodiment provides a method for controlling driving on a slope condition, which includes acquiring slope road information, and determining a target driving style learning strategy for a target slope section according to the slope road information; collecting driving parameters of a self-vehicle and / or a preceding vehicle according to the target driving style learning strategy; determining slope driving learning parameters for the target slope section according to the driving parameters of the self-vehicle and / or the preceding vehicle; and controlling vehicle driving according to the slope driving learning parameters for the target slope section when the target slope section is detected to complete driving control on a slope condition, determining a target driving style learning strategy corresponding to the target slope section according to the slope road information to obtain the driving needs of the driver under different slope conditions, and generating corresponding slope driving learning parameters by collecting driving parameters of the self-vehicle and / or the preceding vehicle when the driver is manually driving, so as to customize slope driving parameters that are more in line with the driver's habits and improve the driver's driving comfort on the slope section.

[0084] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , step S30 may include steps S31 to S32:

[0085] Step S31, generating initial driving learning parameters of the target slope section according to the driving parameters of the vehicle and / or the driving parameters of the preceding vehicle;

[0086] It should be noted that the driving parameters of the vehicle specifically include the vehicle speed information, the vehicle acceleration information, and the acceleration point information / deceleration point information. The driving parameters of the preceding vehicle are the preceding vehicle speed information, the preceding vehicle acceleration information, and the distance to the preceding vehicle collected when there is a target vehicle on the road ahead. The initial driving learning parameters include at least the initial ramp driving speed and the initial ramp acceleration, and may also include one of the initial acceleration point, the initial deceleration point, or the initial following distance.

[0087] In a feasible implementation, step S31 may include: generating at least two of the initial ramp driving speed, initial ramp acceleration and following distance of the target ramp section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; determining the initial driving learning parameters according to at least two of the initial ramp driving speed, the initial ramp acceleration and the following distance.

[0088] It should be noted that in the process of learning the driver's driving style, the driver's speed on the target ramp section, that is, the vehicle speed information of the self-vehicle, will be continuously collected. By continuously monitoring the vehicle speed data, the speed change trend of the driver when driving steadily on the ramp can be identified. After the vehicle has been driving on the ramp for a period of time, the speed will tend to stabilize and form a balance point. At this time, the acceleration force and resistance (such as the gravity component caused by the ramp, air resistance, friction, etc.) of the vehicle offset each other, and finally the driver's final maintained speed on the target ramp section is obtained. The final maintained speed will be determined as the initial ramp driving speed. At the same time, the acceleration information caused by the accelerator pedal and the deceleration information caused by the brake pedal, that is, the self-vehicle acceleration information, will also be collected. By analyzing the self-vehicle acceleration information, the acceleration parameter or deceleration parameter used most by the driver is determined as the initial ramp acceleration of the target ramp section.

[0089] In addition, it should be noted that for the following vehicle scenario on a sloped road section, the front vehicle speed information, front vehicle acceleration information and the distance to the front vehicle will be continuously collected when there is a target vehicle on the road ahead when driving on the target slope section. The driver's reaction to the change in the front vehicle speed is analyzed based on the front vehicle speed information, the front vehicle acceleration information and the distance to the front vehicle to determine the driver's preference in the following process on the target slope section and obtain the following distance.

[0090] It should be understood that for the scenario where there is no vehicle ahead, i.e. the cruising scenario, the initial ramp driving speed and the initial ramp acceleration will be determined as the initial driving learning parameters and recorded, and the cruise learning flag of the target ramp section will be set from 0 to 1; for the scenario where there is no vehicle ahead, i.e. the cruising scenario, the initial ramp driving speed, the initial ramp acceleration and the following vehicle distance will be determined as the initial driving learning parameters and recorded, and the following vehicle learning flag will be set from 0 to 1.

[0091] Step S32, when the target slope road section is detected and the simulated cruise mode is started, the initial driving learning parameters are adjusted to obtain the slope driving learning parameters of the target slope road section.

[0092] It should be noted that after the driver's driving style learning on the target slope section is completed and the initial driving learning parameters are obtained, if the target slope section is detected, the driver will be reminded to start the simulated cruise mode to supplement the initial driving learning parameters with driving data to obtain the slope driving learning parameters. In the simulated cruise mode, the vehicle is controlled to drive on the target slope section according to the initial driving learning parameters, and the adjustment signal of the driver is received to adjust the initial driving learning parameters to obtain the slope driving learning parameters.

[0093] In a feasible implementation, step S32 may include: when the target ramp section is detected and the simulated cruise mode is started, obtaining a driver pedal signal of the target ramp section; adjusting the initial driving learning parameters according to the driver pedal signal to obtain the ramp driving learning parameters of the target ramp section.

[0094] It should be noted that the driver's pedal signal includes an acceleration signal caused by the accelerator pedal and a deceleration signal caused by the brake pedal. When the target ramp section is detected, the driver will be reminded to start the simulated cruise mode. In the simulated cruise mode, the target cruising speed set by the driver is obtained, and the initial ramp driving speed and the initial ramp acceleration are obtained according to the initial driving learning parameters. The difference between the initial ramp driving speed and the target cruising speed is calculated to obtain the ramp speed offset value, and the vehicle is accelerated or decelerated according to the ramp speed offset value and the initial ramp acceleration (acceleration when the ramp speed offset value is greater than 0, and deceleration when the ramp speed offset value is less than 0) until the vehicle reaches the initial ramp driving speed, and the vehicle is controlled to drive at the initial ramp driving speed on the target ramp section until the driving process of the target ramp section is completed.

[0095] It should be understood that during the driving process on the target slope section, if the driver feels that the driving experience generated by the initial driving learning parameters does not meet expectations, the initial driving learning parameters of the vehicle can be adjusted through the accelerator pedal or brake pedal signal. The acceleration signal of the accelerator pedal or the deceleration signal of the brake pedal transmitted during the acceleration process or the deceleration process is used to adjust the initial slope driving acceleration to obtain the target slope driving acceleration. The accelerator pedal or brake pedal signal transmitted after reaching the initial slope driving acceleration is used to adjust the initial slope driving speed to obtain the target slope driving speed. The target slope driving acceleration, target slope driving speed and following distance are determined as slope driving learning parameters.

[0096] In addition, it should be noted that the parameters used in the simulated cruise mode (such as the target ramp acceleration and the target ramp speed) should be within the parameter range calculated by the system to ensure safety, so as to ensure that the driver adjusts the driving tendency according to the acceleration obtained by the accelerator pedal or the brake pedal within the safe range. If the driver inputs the acceleration signal of the accelerator pedal or the deceleration signal of the brake pedal multiple times in the simulated cruise mode, the parameters used most times for the slope (such as the target ramp acceleration and the target ramp speed) are memorized as the slope driving learning parameters.

[0097] The present embodiment provides a driving control method for a slope condition, wherein initial driving learning parameters for the target slope section are generated according to the driving parameters of the vehicle and / or the driving parameters of the preceding vehicle; when the target slope section is detected and the simulated cruise mode is started, the initial driving learning parameters are adjusted to obtain the slope driving learning parameters for the target slope section; after the initial driving learning parameters are adaptively adjusted, the switching times of the brake pedal and the accelerator pedal can be reduced, thereby ensuring that the driving meets the driver's personal comfort preference.

[0098] For example, in order to help understand the implementation process of the ramp driving control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 3 , Figure 3 A brief flow chart of a ramp driving control method is provided, specifically:

[0099] In the driver's driving style learning stage, a ramp is identified ahead (target ramp section), the driver is prompted to start learning, driving data is recorded, and initial driving learning parameters are obtained. In the driving data supplementation stage, a ramp with a similar slope is identified (i.e. a ramp with a slope range corresponding to the target ramp section is queried in the target ramp section database), and simulated driving begins. The driver can step on the brake or accelerator to adjust the driving parameters (i.e. initial driving learning parameters), and the system memorizes the corresponding ramp down behavior parameters to obtain the ramp driving learning parameters. When the vehicle starts the adaptive cruise function after adaptive adjustment, if there is no car on the ramp ahead, the driver's driving parameters are called in combination with the slope; if there is a car on the ramp ahead, the driver's driving parameters are called in combination with the ramp and the front vehicle information.

[0100] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the slope driving control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0101] This application also provides a ramp driving control device, please refer to Figure 4 , the ramp driving control device comprises:

[0102] A strategy determination module 10 is used to obtain slope road information and determine a target driving style learning strategy for a target slope road section according to the slope road information;

[0103] A data acquisition module 20, configured to collect driving parameters of the vehicle and / or the preceding vehicle according to the target driving style learning strategy;

[0104] A parameter learning module 30, configured to determine a ramp driving learning parameter of the target ramp road section according to the own vehicle driving parameter and / or the preceding vehicle driving parameter;

[0105] The driving control module 40 is used to control the vehicle driving according to the ramp driving learning parameters of the target ramp road section when the target ramp road section is detected, so as to complete the ramp condition driving control.

[0106] In one embodiment, the parameter learning module 30 is further used to generate initial driving learning parameters of the target ramp road section according to the driving parameters of the vehicle and / or the driving parameters of the preceding vehicle; when the target ramp road section is detected and the simulated cruise mode is started, the initial driving learning parameters are adjusted to obtain the ramp driving learning parameters of the target ramp road section.

[0107] In one embodiment, the parameter learning module 30 is further used to generate at least two of the initial ramp driving speed, the initial ramp acceleration and the following distance of the target ramp section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; and determine the initial driving learning parameters according to at least two of the initial ramp driving speed, the initial ramp acceleration and the following distance.

[0108] In one embodiment, the parameter learning module 30 is further used to obtain the driver's pedal signal of the target ramp section when the target ramp section is detected and the simulated cruise mode is started; and adjust the initial driving learning parameters according to the driver's pedal signal to obtain the ramp driving learning parameters of the target ramp section.

[0109] In one embodiment, the strategy determination module 10 is further used to determine the slope traffic condition result and the slope type according to the slope road information; and determine the target driving style learning strategy of the target slope section according to the slope traffic condition result and the slope type.

[0110] In one embodiment, the strategy determination module 10 is further used to determine that the target driving style learning strategy for the target slope section is an uphill cruising driving learning strategy or a downhill cruising driving learning strategy according to the slope type when it is determined that there is no target vehicle on the road ahead according to the slope traffic condition results; and to determine that the target driving style learning strategy for the target slope section is an uphill following driving learning strategy or a downhill following driving learning strategy according to the slope type when it is determined that there is a target vehicle on the road ahead according to the slope traffic condition results.

[0111] In one embodiment, the data acquisition module 20 is further used to collect the vehicle driving parameters when the target driving style learning strategy is the cruise driving learning strategy; and to collect the vehicle driving parameters and the preceding vehicle driving parameters when the target driving style learning strategy is the following vehicle driving learning strategy.

[0112] The ramp driving control device provided by the present application adopts the ramp driving control method in the above embodiment, which can solve the technical problem of how to customize the slope driving parameters that are more in line with the driver's habits to improve the driver's comfort when driving on the slope section. Compared with the prior art, the beneficial effects of the ramp driving control device provided by the present application are the same as the beneficial effects of the ramp driving control method provided by the above embodiment, and the other technical features of the ramp driving control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0113] The present application provides a ramp condition driving control device, the ramp condition driving control device comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the ramp condition driving control method in the above-mentioned embodiment one.

[0114] Reference below Figure 5 , which shows a schematic diagram of the structure of a ramp driving control device suitable for implementing the embodiment of the present application. The ramp driving control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The slope driving control 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 5As shown, the ramp driving control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. Various programs and data required for the operation of the ramp driving control device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the ramp operating condition driving control device to communicate with other devices wirelessly or by wire to exchange data. Although the ramp operating condition driving control device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0116] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code 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 device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0117] The ramp driving control device provided by the present application adopts the ramp driving control method in the above embodiment, which can solve the technical problem of how to customize the slope driving parameters that are more in line with the driver's habits to improve the driver's comfort when driving on the slope section. Compared with the prior art, the beneficial effects of the ramp driving control device provided by the present application are the same as the beneficial effects of the ramp driving control method provided by the above embodiment, and the other technical features of the ramp driving control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0118] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0119] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0120] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the ramp driving control method in the above-mentioned embodiment.

[0121] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, 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 or 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 this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0122] The computer-readable storage medium may be included in the hill-operating condition driving control device; or may exist independently without being assembled into the hill-operating condition driving control device.

[0123] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the ramp driving control device, the ramp driving control device:

[0124] Acquiring slope road information, and determining a target driving style learning strategy for a target slope road section according to the slope road information;

[0125] Collecting the own vehicle driving parameters and / or the preceding vehicle driving parameters according to the target driving style learning strategy;

[0126] Determining the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters;

[0127] When the target ramp road section is detected, the vehicle driving is controlled according to the ramp driving learning parameters of the target ramp road section to complete the ramp condition driving control.

[0128] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart 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.

[0130] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0131] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned ramp driving control method, and can solve the technical problem of how to customize the slope driving parameters that are more in line with the driver's habits to improve the driver's driving comfort on the slope section. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the ramp driving control method provided in the above-mentioned embodiment, and will not be repeated here.

[0132] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned ramp driving control method when executed by a processor.

[0133] The computer program product provided by the present application can solve the technical problem of how to customize slope driving parameters that are more in line with the driver's habits to improve the driver's comfort when driving on sloped roads. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the slope driving control method provided by the above embodiment, which will not be repeated here.

[0134] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for controlling a vehicle on a slope, characterized in that: The ramp driving control method comprises: Acquiring slope road information, and determining a target driving style learning strategy for a target slope road section according to the slope road information; Collecting the own vehicle driving parameters and / or the preceding vehicle driving parameters according to the target driving style learning strategy; Determining the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; When the target ramp road section is detected, the vehicle driving is controlled according to the ramp driving learning parameters of the target ramp road section to complete the ramp condition driving control.

2. The method according to claim 1, characterized in that The step of determining the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters comprises: Generating initial driving learning parameters of the target slope section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; When the target ramp road section is detected and the simulated cruise mode is started, the initial driving learning parameters are adjusted to obtain the ramp driving learning parameters of the target ramp road section.

3. The method according to claim 2, characterized in that The step of generating the initial driving learning parameters of the target slope section according to the driving parameters of the own vehicle and / or the driving parameters of the preceding vehicle comprises: generating at least two of an initial ramp speed, an initial ramp acceleration and a following distance of the target ramp section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; An initial driving learning parameter is determined according to at least two of the initial ramp speed, the initial ramp acceleration, and the following distance.

4. The method according to claim 2, characterized in that The step of adjusting the initial driving learning parameters to obtain the ramp driving learning parameters of the target ramp road section when the target ramp road section is detected and the simulated cruise mode is started includes: When the target ramp section is detected and the simulated cruise mode is started, obtaining a driver pedal signal of the target ramp section; The initial driving learning parameters are adjusted according to the driver pedal signal to obtain the slope driving learning parameters of the target slope section.

5. The method according to claim 1, characterized in that The step of determining the target driving style learning strategy for the target slope road section according to the slope road information comprises: Determine the slope traffic condition result and the slope type according to the slope road information; A target driving style learning strategy for the target slope section is determined according to the slope traffic condition result and the slope type.

6. The method according to claim 5, characterized in that The step of determining the target driving style learning strategy for the target slope section according to the slope traffic condition result and the slope type comprises: When it is determined according to the slope traffic condition result that there is no target vehicle on the road ahead, determining according to the slope type that the target driving style learning strategy for the target slope road section is an uphill cruising driving learning strategy or a downhill cruising driving learning strategy; When it is determined according to the slope traffic condition result that the target vehicle exists on the road ahead, the target driving style learning strategy for the target slope section is determined according to the slope type as an uphill following driving learning strategy or a downhill following driving learning strategy.

7. The method according to any one of claims 1 to 6, characterized in that The step of collecting the driving parameters of the vehicle and / or the driving parameters of the preceding vehicle according to the target driving style learning strategy comprises: When the target driving style learning strategy is a cruise driving learning strategy, collecting driving parameters of the vehicle; When the target driving style learning strategy is a vehicle-following driving learning strategy, the own vehicle driving parameters and the preceding vehicle driving parameters are collected.

8. A driving control device for a vehicle on a slope, characterized in that: The device comprises: A strategy determination module, used to obtain slope road information and determine a target driving style learning strategy for a target slope road section according to the slope road information; A data acquisition module, used for collecting driving parameters of the vehicle and / or the preceding vehicle according to the target driving style learning strategy; A parameter learning module, used to determine the ramp driving learning parameters of the target ramp road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; The driving control module is used to control the vehicle driving according to the ramp driving learning parameters of the target ramp road section when the target ramp road section is detected, so as to complete the ramp working condition driving control.

9. A driving control device for a vehicle under slope conditions, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the ramp driving control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the ramp driving control method as described in any one of claims 1 to 7 are implemented.

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