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

Abstract

The application discloses a ramp working condition driving control method, device and equipment and a storage medium, relates to the intelligent driving technical field, and discloses a ramp working condition driving control method, which comprises the following steps: acquiring slope road information, and determining a target driving style learning strategy of a target slope road section according to the slope road information; collecting self-vehicle driving parameters and / or preceding vehicle driving parameters according to the target driving style learning strategy; determining ramp driving learning parameters of the target slope road section according to the self-vehicle driving parameters and / or the preceding vehicle driving parameters; when the target slope road section is detected, controlling vehicle driving according to the ramp driving learning parameters of the target slope road section, so as to complete ramp working condition driving control. The scheme can customize slope driving parameters more in line with the driving habits of drivers, so that the comfort of drivers driving on a slope road section is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a hill working condition driving control method and device, equipment and a storage medium. BACKGROUND

[0002] In the use of adaptive cruise control (ACC) function by the driver, 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 hill working condition driving control method often determines the hill working condition driving control parameter through the target cruise speed set by the driver, but does not consider the driving habits of the driver, and the designed control system parameter is relatively uniform and cannot learn the operation of the driver. How to customize the slope driving parameter that is more in line with the driving habits of the driver to improve the comfort of the driver driving on the slope section becomes a technical problem to be solved.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a hill working condition driving control method, which aims to solve the technical problem of how to customize the slope driving parameter that is more in line with the driving habits of the driver to improve the comfort of the driver driving on the slope section.

[0006] To achieve the above purpose, the present application provides a hill working condition driving control method, which comprises:

[0007] Obtaining slope road information and determining a target driving style learning strategy of a target slope road section according to the slope road information;

[0008] Collecting self-vehicle driving parameters and / or front vehicle driving parameters according to the target driving style learning strategy;

[0009] Determining hill driving learning parameters of the target slope road section according to the self-vehicle driving parameters and / or front vehicle driving parameters;

[0010] When the target slope road section is detected, controlling the vehicle to drive according to the hill driving learning parameters of the target slope road section to complete the hill working condition driving control.

[0011] In an embodiment, the step of determining the hill driving learning parameters of the target slope road section according to the self-vehicle driving parameters and / or front vehicle driving parameters comprises:

[0012] generate initial driving learning parameters of the target slope road section according to the self-vehicle driving parameters and / or the preceding vehicle driving parameters;

[0013] adjust the initial driving learning parameters to obtain slope driving learning parameters of the target slope road section when the target slope road section is detected and the simulation cruise mode is started.

[0014] In an embodiment, the step of generating the initial driving learning parameters of the target slope road section according to the self-vehicle driving parameters and / or the preceding vehicle driving parameters comprises:

[0015] generate at least two of an initial slope driving speed, an initial slope acceleration and a following distance of the target slope road section according to the self-vehicle driving parameters and / or the preceding vehicle driving parameters;

[0016] determine the initial driving learning parameters according to at least two of the initial slope driving speed, the initial slope acceleration and the following distance.

[0017] In an embodiment, the step of adjusting the initial driving learning parameters to obtain slope driving learning parameters of the target slope road section when the target slope road section is detected and the simulation cruise mode is started comprises:

[0018] obtain a driver pedal signal of the target slope road section when the target slope road section is detected and the simulation cruise mode is started;

[0019] adjust the initial driving learning parameters according to the driver pedal signal to obtain slope driving learning parameters of the target slope road section.

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

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

[0022] determine the target driving style learning strategy of the target slope road section according to the slope traffic condition result and the slope type.

[0023] In an embodiment, the step of determining the target driving style learning strategy of the target slope road 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 in front of the road, determine the target driving style learning strategy of the target slope road section according to the slope type as an uphill cruise driving learning strategy or a downhill cruise driving learning strategy;

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

[0026] In an embodiment, the step of collecting the self-vehicle driving parameter and / or the front-vehicle driving parameter according to the target driving style learning strategy comprises:

[0027] When the target driving style learning strategy is a cruise driving learning strategy, the self-vehicle driving parameter is collected.

[0028] When the target driving style learning strategy is a following driving learning strategy, the self-vehicle driving parameter and the front-vehicle driving parameter are collected.

[0029] In addition, to achieve the above object, the present application further provides a slope working condition driving control device, which comprises:

[0030] A strategy determination module is configured to acquire slope road information and determine a target driving style learning strategy of a target slope road section according to the slope road information;

[0031] A data acquisition module is configured to collect a self-vehicle driving parameter and / or a front-vehicle driving parameter according to the target driving style learning strategy;

[0032] A parameter learning module is configured to determine a slope driving learning parameter of the target slope road section according to the self-vehicle driving parameter and / or the front-vehicle driving parameter;

[0033] A driving control module is configured to control the vehicle driving according to the slope driving learning parameter of the target slope road section when the target slope road section is detected, so as to complete the slope working condition driving control.

[0034] In addition, to achieve the above object, the present application further provides a slope working condition driving control device, which comprises 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 working condition driving control method as described above.

[0035] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the slope working condition driving control method as described above.

[0036] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program realizes the steps of the ramp working condition driving control method when executed by a processor.

[0037] The one or more technical solutions provided in the application have at least the following technical effects:

[0038] The slope road information is acquired, and a target driving style learning strategy of a target slope road section is determined according to the slope road information; the self-vehicle driving parameter and / or the front-vehicle driving parameter are collected according to the target driving style learning strategy; the ramp driving learning parameter of the target slope road section is determined according to the self-vehicle driving parameter and / or the front-vehicle driving parameter; when the target slope road section is detected, the vehicle is controlled to drive according to the ramp driving learning parameter of the target slope road section, so as to complete the ramp working condition driving control; the target driving style learning strategy corresponding to the target slope road section is determined according to the slope road information, so as to acquire the driving demand of the driver under different ramp conditions; the self-vehicle and / or the front-vehicle driving parameter is collected when the driver drives manually, and the corresponding ramp driving learning parameter is generated, so as to customize the slope driving parameter more in line with the driving habit of the driver, and improve the comfort of the driver driving on the slope road section. BRIEF DESCRIPTION OF DRAWINGS

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

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced in the following. Obviously, for those skilled in the field, under the premise of no creative labor, other drawings can also be obtained according to these drawings.

[0041] Figure 1 The flowchart provided for the first embodiment of the ramp working condition driving control method of the application;

[0042] Figure 2 The flowchart provided for the second embodiment of the ramp working condition driving control method of the application;

[0043] Figure 3 The brief flowchart of the ramp working condition driving control method provided for the second embodiment of the application;

[0044] Figure 4 The module structure diagram of the ramp working condition driving control device provided for the embodiment of the application;

[0045] Figure 5A device structure schematic diagram of a hardware operating environment involved in a hill climbing condition driving control method in an embodiment of the present application.

[0046] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

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

[0048] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] The main solution of the embodiment of the present application is:

[0050] Obtain the slope road information, and determine the target driving style learning strategy of the target slope road section according to the slope road information;

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

[0052] Determine the hill climbing learning parameters of the target slope road section according to the ego vehicle driving parameters and / or the preceding vehicle driving parameters;

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

[0054] In the present embodiment, for the convenience of description, the following is described with the recognition of the vehicle end as the execution subject.

[0055] Since in the use of adaptive cruise function by the driver, 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 consideration.

[0056] The existing hill climbing condition driving control method often determines the hill climbing condition driving control parameters through the target cruise speed set by the driver, but does not consider the driving habits of the driver, and the designed control system parameters are relatively uniform, and cannot learn the operation of the driver. How to customize the slope driving parameters that are more in line with the driving habits of the driver to improve the comfort of the driver driving on the slope road section becomes a technical problem to be solved.

[0057] The application provides a solution for determining a target driving style learning strategy of a target slope road section according to slope road information, obtaining driving requirements of a driver under different slope conditions, collecting driving parameters of a host vehicle and / or a preceding vehicle when the driver is driving manually, generating corresponding slope driving learning parameters, customizing slope driving parameters that are more in line with the driving habits of the driver, and improving the comfort of the driver when driving on a slope road section.

[0058] It should be noted that the execution subject of the embodiment can 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, a vehicle end, etc. that can realize the above functions. The embodiment and the following embodiments are described below with the vehicle end as an example.

[0059] Based on this, the application provides a slope working condition driving control method, which is described with reference to Figure 1 , Figure 1 FIG. 1 is a flowchart of a first embodiment of a slope working condition driving control method of the application.

[0060] In the embodiment, the slope working condition driving control method includes steps S10-S40:

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

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

[0063] In addition, it should be noted that the slope road information at least includes slope information and traffic condition information. The target driving style learning strategy is a driving behavior learning rule of the corresponding target slope road section determined according to the slope road information, which is enabled in a manual driving mode and is used to learn the driving style of the driver on a slope road section. According to whether there are other vehicles in the preset range of the front road, the target driving style learning strategy can be divided into a cruise driving learning strategy and a following driving learning strategy. According to the slope type of the front road, 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 end maintenance has a target slope road section database, which can divide the slope road section based on a preset slope range, mark the corresponding slope range for each divided slope road section, and mark the execution of the cruise driving learning strategy and the following driving learning strategy of the road section through the cruise learning flag and the following learning flag. Illustratively, for a road section with slope information Slope, the road section with m i <Slope≤m i+1 is marked as a target slope road section i, where i = 1, 2,..., n, n is the number of divided target slope road sections, m i and m i+1 are preset slope section division values. When initializing the target slope road section database, the cruise learning flag and the following learning flag corresponding to each target slope road section i are 0.

[0065] In addition, it should be understood that during the driving of the vehicle, the driving style learning of the slope road section driven by the vehicle (including cruise learning and following learning) can be determined according to the collected slope road information. If the driving style of the slope road section is determined to be not learned according to the slope road information, the slope road section is determined to be a target slope road section, and the corresponding target driving style learning strategy is obtained to learn the slope driving habit of the driver.

[0066] In a feasible implementation, the target driving style learning strategy of the target slope road section determined according to the slope road information in step S10 can include steps S11-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 the traffic condition information can be obtained according to the slope road information, and whether there is other vehicle in the preset range of the front road can be determined according to the traffic condition information to obtain the slope traffic condition result. The slope type can be determined according to the slope information, and the slope type includes uphill type and downhill type.

[0069] Step S12, determining the target driving style learning strategy of the target slope road section according to the slope traffic condition result and the slope type.

[0070] It should be understood that the slope traffic condition result includes two cases of no vehicle in front and vehicle in front, and the slope type includes two cases of uphill and downhill, and the corresponding target driving style learning strategy can be determined according to the slope traffic condition result and the slope type of the target slope road section. Among them, for the case of no vehicle in front, the target driving style learning strategy only needs to collect the vehicle driving parameter to obtain the target cruise driving parameter; for the case of vehicle in front, the target driving style learning strategy needs to collect the vehicle driving parameter and the front vehicle driving parameter to obtain the target following driving parameter. For the uphill case, the target driving style learning strategy needs to learn the uphill driving speed, the uphill acceleration and the acceleration point; for the downhill case, the target driving style learning strategy needs to learn the downhill driving speed, the downhill deceleration and the deceleration point.

[0071] In a feasible implementation, the step S12 of determining the target driving style learning strategy of the target slope road section according to the slope traffic condition result and the slope type can include: when it is determined according to the slope traffic condition result that there is no target vehicle on the front road, determining the target driving style learning strategy of the target slope road section according to the slope type as an uphill cruise driving learning strategy or a downhill cruise driving learning strategy; when it is determined according to the slope traffic condition result that there is the target vehicle on the front road, determining the target driving style learning strategy of the target slope road section according to the slope type as an uphill following driving learning strategy or a downhill following driving learning strategy.

[0072] It should be understood that the target vehicle is other vehicles existing in the preset range of the front road, and the case of no target vehicle on the front road corresponds to the case of no vehicle in front, and the case of target vehicle on the front road corresponds to the case of vehicle in front. According to the slope traffic condition result, the target driving style learning strategy can be determined as a cruise driving learning strategy or a following driving learning strategy. The slope type includes an uphill type and a downhill type, and according to the slope type being uphill or downhill, the target driving style learning strategy can be determined as an uphill driving learning strategy or a downhill driving learning strategy.

[0073] Further, the target driving style learning strategy of four cases can be obtained: the target slope road section of the uphill type and no vehicle in front corresponds to the uphill cruise driving learning strategy; the target slope road section of the downhill type and no vehicle in front corresponds to the downhill cruise driving learning strategy; the target slope road section of the uphill type and vehicle in front corresponds to the uphill following driving learning strategy; and the target slope road section of the downhill type and vehicle in front corresponds to the downhill following driving learning strategy.

[0074] Step S20, collecting the vehicle driving parameter and / or the front vehicle driving parameter 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 style. The ego vehicle driving parameter is the dynamic state information of the ego vehicle when the ego vehicle drives on the target slope road section, specifically including ego vehicle speed information, ego vehicle acceleration information, and acceleration point information / deceleration point information. The front vehicle driving parameter is the front vehicle speed information, the front vehicle acceleration information, and the distance from the front vehicle collected when the target vehicle exists in the front road. The ego vehicle driving parameter can be collected by sensors such as wheel speed sensors, accelerometers, gyroscopes, etc. equipped on the ego vehicle, and the front vehicle driving parameter can be collected by vehicle-mounted sensors or external sensors (such as V2X communication).

[0076] In a possible implementation, step S20 can include: when the target driving style learning strategy is a cruise driving learning strategy, collecting ego vehicle driving parameters; and when the target driving style learning strategy is a following driving learning strategy, collecting the ego vehicle driving parameters and the front vehicle driving parameters.

[0077] It should be understood that the cruise driving learning strategy includes an uphill cruise driving learning strategy and a downhill cruise driving learning strategy, and the following driving learning strategy includes an uphill following driving learning strategy and a downhill following driving learning strategy. For the case where there is no vehicle in front, the ego vehicle driving parameters need to be collected according to the cruise driving learning strategy to obtain target cruise driving parameters; and for the case where there is a vehicle in front, the ego vehicle driving parameters and the front vehicle driving parameters need to be collected according to the following driving learning strategy to obtain target following driving parameters.

[0078] Step S30, determining slope driving learning parameters of the target slope road section according to the ego vehicle driving parameters and / or the front vehicle driving parameters;

[0079] It should be noted that the slope driving learning parameters are vehicle dynamic parameters (such as vehicle speed, acceleration, acceleration point, deceleration point, following distance, etc.) used to control the vehicle driving when the adaptive cruise function is started on the target slope road section. The slope 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 slope road section, avoids frequent acceleration and deceleration operations, and maintains a cruise state; and the target following driving parameters are used to adjust the driving behavior of the ego vehicle so that it can smoothly follow the front vehicle, maintain a safe distance, and adapt to the front vehicle. When it is determined that the target driving style learning strategy of the target slope road section is a cruise driving learning strategy, the ego vehicle driving parameters are collected, and the target cruise driving parameters are determined according to the ego vehicle driving parameters. When it is determined that the target driving style learning strategy of the target slope road section is a following driving learning strategy, the ego vehicle driving parameters and the front vehicle driving parameters are collected, and the target following driving parameters are determined according to the ego vehicle driving parameters and the front vehicle driving parameters.

[0080] Step S40, when the target slope road section is detected, the vehicle is controlled to run according to the hill driving learning parameter of the target slope road section to complete the hill driving control.

[0081] It should be understood that when the driving style learning of the target slope road section is completed and the hill driving learning parameter of the target slope road section is obtained, the hill driving learning parameter of the target slope road section is stored in the target slope road section database. For each target slope road section i in the target slope road section database, the learning of the target cruise driving parameter and the target following driving parameter corresponding to the target slope road section i is marked. When the driving style learning of the target cruise driving parameter and the target following driving parameter of the target slope road section i is completed, if the target slope road section i is recognized again during the running of the vehicle, the driver is reminded through the central control screen or voice broadcast to complete the driving style learning of the target slope road section.

[0082] It should be understood that during the running of the vehicle, if a slope road section is recognized, the hill driving learning parameter of the corresponding target slope road section is queried from the target slope road section database according to the slope information and the traffic road condition information of the slope road section. If the query fails, the driver is reminded to learn the target cruise driving parameter or the target following driving parameter corresponding to the target slope road section in the manual driving mode. If the query succeeds and the adaptive cruise function is not started by the driver, the driver is reminded to start the adaptive cruise function, and the vehicle is controlled to run according to the hill driving learning parameter to complete the hill driving control.

[0083] The embodiment provides a hill driving control method, slope road information is obtained, a target driving style learning strategy of a target slope road section is determined according to the slope road information, self-vehicle driving parameters and / or front-vehicle driving parameters are collected according to the target driving style learning strategy, hill driving learning parameters of the target slope road section are determined according to the self-vehicle driving parameters and / or the front-vehicle driving parameters, when the target slope road section is detected, the vehicle is controlled to run according to the hill driving learning parameters of the target slope road section to complete the hill driving control. The target driving style learning strategy corresponding to the target slope road section is determined according to the slope road information to obtain the driving demand of the driver under different hill conditions. The driving parameters of the self-vehicle and / or the front-vehicle are collected when the driver drives manually, the corresponding hill driving learning parameters are generated, the hill driving parameters more in line with the driving habit of the driver can be customized, and the comfort of the driver in the hill road section is improved.

[0084] Based on the first embodiment of the application, in the second embodiment of the application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 2 , step S30 can include steps S31-S32:

[0085] In step S31, initial driving learning parameters of the target slope road section are generated according to the self-vehicle driving parameters and / or the front-vehicle driving parameters.

[0086] It should be noted that the self-vehicle driving parameters specifically include self-vehicle speed information, self-vehicle acceleration information, and acceleration point information / deceleration point information. The front-vehicle driving parameters are front-vehicle speed information, front-vehicle acceleration information, and distance to the front vehicle collected when a target vehicle exists on the front road. The initial driving learning parameters at least include initial slope driving speed and initial slope acceleration, and can further include one of initial acceleration point, initial deceleration point, or initial following distance.

[0087] In an available implementation, step S31 can include: generating at least two of initial slope driving speed, initial slope acceleration, and following distance of the target slope road section according to the self-vehicle driving parameters and / or the front-vehicle driving parameters; and determining initial driving learning parameters according to the at least two of initial slope driving speed, initial slope acceleration, and following distance.

[0088] It should be noted that in the process of learning the driving style of the driver, the speed of the driver on the target slope road section, i.e., the self-vehicle speed information, is continuously collected. Through continuous monitoring of the speed data, the speed change trend of the driver when stably driving on the slope can be identified. After the vehicle drives on the slope for a period of time, the speed tends to be stable, forming a balance point. At this time, the acceleration force and the resistance (such as the gravity component caused by the slope, air resistance, friction, etc.) of the vehicle are mutually offset, and finally the final maintained speed of the driver on the target slope road section is obtained. The final maintained speed will be determined as the initial slope driving speed. At the same time, acceleration information caused by the accelerator pedal and deceleration information caused by the brake pedal, i.e., the self-vehicle acceleration information, are also continuously collected. Through analysis of the self-vehicle acceleration information, the acceleration parameter or deceleration parameter most frequently used by the driver is determined as the initial slope acceleration of the target slope road section.

[0089] In addition, it should be noted that for the following scene of the slope road section, the front-vehicle speed information, the front-vehicle acceleration information, and the distance to the front vehicle collected when a target vehicle exists on the front road during driving on the target slope road section are also continuously collected. According to the front-vehicle speed information, the front-vehicle acceleration information, and the distance to the front vehicle, the reaction of the driver to the change of the front-vehicle speed is analyzed to determine the preference of the driver in the following process on the target slope road section, and the following distance is obtained.

[0090] It should be understood that for the scene of no vehicle in front, i.e. the cruise scene, the initial ramp driving speed and the initial ramp acceleration are determined as the initial driving learning parameters and recorded, and the cruise learning flag bit of the target ramp road section is set from 0 to 1; for the scene of no vehicle in front, i.e. the cruise scene, the initial ramp driving speed, the initial ramp acceleration and the following distance are determined as the initial driving learning parameters and recorded, and the following learning flag bit section is set from 0 to 1.

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

[0092] It should be noted that when the driving style learning of the driver on the target ramp road section is completed to obtain the initial driving learning parameters, if the target ramp road section is detected, the driver is reminded to start the simulation cruise mode to supplement the driving data to the initial driving learning parameters to obtain the ramp driving learning parameters. In the simulation cruise mode, the vehicle is controlled to drive on the target ramp road 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 ramp driving learning parameters.

[0093] In a possible implementation, step S32 can include: when the target ramp road section is detected and the simulation cruise mode is started, the driver pedal signal of the target ramp road section is obtained; and the initial driving learning parameters are adjusted according to the driver pedal signal to obtain the ramp driving learning parameters of the target ramp road section.

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

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

[0096] In addition, it should be noted that the parameters used in the simulation cruise mode, such as the target slope driving acceleration and the target slope driving speed, should be within the safe parameter range calculated by the system 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 acceleration signals of the accelerator pedal or the deceleration signals of the brake pedal are input by the driver in the simulation cruise mode for multiple times, the parameters (such as the target slope driving acceleration and the target slope driving speed) used most frequently on the slope are memorized as the slope driving learning parameters.

[0097] The embodiment provides a slope working condition driving control method, initial driving learning parameters of the target slope road section are generated according to the driving parameters of the vehicle and / or the driving parameters of the front vehicle; when the target slope road section is detected and the simulation cruise mode is started, the initial driving learning parameters are adjusted to obtain the slope driving learning parameters of the target slope road section. After adaptive adjustment of the initial driving learning parameters, the switching times of the brake pedal and the accelerator pedal can be reduced, and the driving comfort of the driver can be ensured.

[0098] Exemplarily, in order to help understand the implementation process of the slope working condition driving control method obtained after the embodiment one is combined with the above-mentioned embodiment, please refer to Figure 3 , Figure 3 A brief flowchart of a slope working condition driving control method is provided, and specifically:

[0099] In the driver driving style learning stage, it is identified that there is a ramp (target ramp section) in front, the driver is prompted to start learning, driving data is recorded, and initial driving learning parameters are obtained. In the driving data supplement stage, it is identified that there is a ramp with similar slope (i.e., a ramp with a slope range corresponding to the target ramp section is queried in the target ramp section database), simulated driving is started, the driver can step on the brake or accelerate the pedal to adjust the driving parameters (i.e., the initial driving learning parameters), the system memorizes the behavior parameters under the corresponding ramp, and ramp driving learning parameters are obtained. When the adaptive cruise control function of the vehicle is started after adaptive adjustment, if there is no car in front of the ramp, the driving parameters of the driver are called in combination with the slope; if there is a car in front of the ramp, the driving parameters of the driver are called in combination with the slope and the information of the front car.

[0100] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the ramp working condition driving control method of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

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

[0102] The strategy determination module 10 is used for acquiring slope road information and determining a target driving style learning strategy of a target ramp section according to the slope road information;

[0103] The data acquisition module 20 is used for collecting self-vehicle driving parameters and / or front vehicle driving parameters according to the target driving style learning strategy;

[0104] The parameter learning module 30 is used for determining ramp driving learning parameters of the target ramp section according to the self-vehicle driving parameters and / or the front vehicle driving parameters;

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

[0106] In an embodiment, the parameter learning module 30 is further used for generating initial driving learning parameters of the target ramp section according to the self-vehicle driving parameters and / or the front vehicle driving parameters; when the target ramp section is detected and the simulated cruise mode is started, the initial driving learning parameters are adjusted, and the ramp driving learning parameters of the target ramp section are obtained.

[0107] In an embodiment, the parameter learning module 30 is further configured to generate at least two of an initial ramp speed, an initial ramp acceleration and a following distance of the target ramp road section according to the self-vehicle driving parameter and / or the preceding vehicle driving parameter; and determine the initial driving learning parameter according to the at least two of the initial ramp speed, the initial ramp acceleration and the following distance.

[0108] In an embodiment, the parameter learning module 30 is further configured to obtain a driver pedal signal of the target ramp road section when detecting the target ramp road section and starting the simulation cruise mode; and adjust the initial driving learning parameter according to the driver pedal signal to obtain the ramp driving learning parameter of the target ramp road section.

[0109] In an embodiment, the strategy determining module 10 is further configured to determine a slope traffic condition result and a slope type according to the slope road information; and determine the target driving style learning strategy of the target ramp road section according to the slope traffic condition result and the slope type.

[0110] In an embodiment, the strategy determining module 10 is further configured to determine the target driving style learning strategy of the target ramp road section as an uphill cruise driving learning strategy or a downhill cruise driving learning strategy according to the slope type when determining that there is no target vehicle in front of the road according to the slope traffic condition result; and determine the target driving style learning strategy of the target ramp road section as an uphill following driving learning strategy or a downhill following driving learning strategy according to the slope type when determining that there is the target vehicle in front of the road according to the slope traffic condition result.

[0111] In an embodiment, the data acquisition module 20 is further configured to collect the self-vehicle driving parameter when the target driving style learning strategy is the cruise driving learning strategy; and collect the self-vehicle driving parameter and the preceding vehicle driving parameter when the target driving style learning strategy is the following driving learning strategy.

[0112] The ramp working condition driving control device provided by the present application adopts the ramp working condition driving control method in the above embodiments, and can solve the technical problem of how to customize ramp driving parameters that are more in line with the driving habits of drivers to improve the comfort of drivers driving on ramp road sections. Compared with the prior art, the ramp working condition driving control device provided by the present application has the same beneficial effects as the ramp working condition driving control method provided by the above embodiments, and other technical features in the ramp working condition driving control device are the same as the features disclosed in the above embodiments, which will not be repeated here.

[0113] The application provides a hill condition driving control device, which comprises at least one processor and a memory connected with the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the hill condition driving control method in the first embodiment.

[0114] Reference will be made to the following description Figure 5 which shows a structural diagram of a hill condition driving control device suitable for implementing the embodiments of the application. The hill condition driving control device in the embodiments of the application can include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (for example, vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 5 The hill condition driving control device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the application.

[0115] As Figure 5As shown, the hill driving control device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for the hill driving control device to operate are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, 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.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the hill driving control device to communicate with other devices wirelessly or by wire to exchange data. Although the hill driving control device with various systems is shown in the figure, it should be understood that all the shown systems are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0116] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

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

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

[0119] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any changes and modifications that can be made to the application in accordance with the principles of the application would be readily apparent to those skilled in the art and the present application is therefore not limited to the description and examples contained herein but is only limited by the claims.

[0120] The application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e., a computer program) for performing the slope driving condition driving control method in the above-described embodiments.

[0121] The computer readable storage medium provided by the application may, for example, be a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more conductive wires, a portable computer diskette, 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 the present embodiment, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted in any suitable medium, including but not limited to electrical wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0122] The above computer readable storage medium can be included in the slope driving condition driving control device; or can exist separately and not be assembled into the slope driving condition driving control device.

[0123] The above computer readable storage medium carries one or more programs, which, when executed by the slope driving condition driving control device, cause the slope driving condition driving control device to:

[0124] acquire slope road information, and determine a target driving style learning strategy of a target slope road section according to the slope road information;

[0125] collect self-vehicle driving parameters and / or preceding vehicle driving parameters according to the target driving style learning strategy;

[0126] determine slope driving learning parameters of the target slope road section according to the self-vehicle driving parameters and / or the preceding vehicle driving parameters;

[0127] control vehicle driving according to the slope driving learning parameters of the target slope road section when the target slope road section is detected, to complete slope working condition driving control.

[0128] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0129] The computer program instructions can also be loaded onto a computer or other programmable information processing apparatus to cause a series of operations to be performed on the computer or other programmable information processing apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable information processing apparatus implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0130] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

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

[0132] The present application also provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the hill working condition driving control method as described above.

[0133] The computer program product provided by the present application can solve the technical problem of how to customize hill driving parameters more in line with the driving habits of the driver to improve the comfort of the driver driving on the hill section. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the hill working condition driving control method provided by the above-mentioned embodiments, and will not be repeated here.

[0134] The above only describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields based on the technical concept of the present application, and the content of the present application specification and drawings are included in the patent protection scope of the present application.

Claims

1. A method for controlling driving on a slope, characterized in that: The ramp driving control method includes: Acquiring slope road information, and determining a target driving style learning strategy for a target slope road section based on the slope road information; collecting driving parameters of the ego vehicle and / or the preceding vehicle according to the target driving style learning strategy, wherein the ego vehicle driving parameters are dynamic state information of the ego vehicle when driving on the target slope section, including ego vehicle speed information, ego vehicle acceleration information, and acceleration / deceleration point information; and the preceding vehicle driving parameters are the preceding vehicle speed information, preceding vehicle acceleration information, and distance to the preceding vehicle collected when the target vehicle is present on the road ahead; determining a slope driving learning parameter for the target slope section based on the own vehicle driving parameter and / or the preceding vehicle driving parameter, wherein the slope driving learning parameter is a vehicle dynamic parameter used to control vehicle driving when the adaptive cruise control function is enabled on the target slope section; When the target slope road section is detected, the vehicle is controlled to travel according to the slope driving learning parameters of the target slope road section to complete the slope condition driving control; The step of determining the slope driving learning parameters of the target slope road section based on the own vehicle driving parameters and / or the preceding vehicle driving parameters includes: generating initial driving learning parameters for the target slope section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; 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.

2. The method according to claim 1, wherein The step of generating the initial driving learning parameters of the target slope road section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters includes: generating at least two of an initial ramp speed, an initial ramp acceleration, and a following distance for the target ramp section according to the own vehicle driving parameters and / or the preceding vehicle driving parameters; Initial driving learning parameters are determined based on at least two of the initial ramp driving speed, the initial ramp acceleration, and the following distance, wherein the initial driving learning parameters include at least the initial ramp driving speed and the initial ramp acceleration, and may also include one of an initial acceleration point, an initial deceleration point, or the following distance.

3. The method according to claim 1, wherein The step of adjusting the initial driving learning parameters to obtain the slope driving learning parameters of the target slope road section when the target slope road section is detected and the simulated cruise mode is started includes: When the target slope road section is detected and the simulated cruise mode is activated, obtaining a driver pedal signal of the target slope road 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 road section.

4. The method according to claim 1, wherein The step of determining the target driving style learning strategy for the target slope road section according to the slope road information includes: Determining the slope traffic condition and 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.

5. The method according to claim 4, wherein The step of determining the target driving style learning strategy for the target slope road section according to the slope traffic condition result and the slope type includes: 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 road section is determined to be an uphill following driving learning strategy or a downhill following driving learning strategy according to the slope type.

6. The method according to any one of claims 1 to 5, characterized in that The step of collecting the driving parameters of the vehicle and / or the preceding vehicle according to the target driving style learning strategy includes: When the target driving style learning strategy is a cruise driving learning strategy, collecting vehicle driving parameters; 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.

7. A driving control device for a vehicle on a slope, characterized in that: The device comprises: a strategy determination module, configured to obtain slope road information and determine a target driving style learning strategy for a target slope road section based on the slope road information; a data acquisition module, configured to collect driving parameters of the ego vehicle and / or the preceding vehicle according to the target driving style learning strategy, wherein the ego vehicle driving parameters are dynamic state information of the ego vehicle when driving on the target slope section, including ego vehicle speed information, ego vehicle acceleration information, and acceleration / deceleration point information; and the preceding vehicle driving parameters are the preceding vehicle speed information, preceding vehicle acceleration information, and distance to the preceding vehicle collected when the target vehicle is present on the road ahead; a parameter learning module, configured to determine slope driving learning parameters for the target slope section based on the own vehicle driving parameters and / or the preceding vehicle driving parameters, wherein the slope driving learning parameters are vehicle dynamic parameters used to control vehicle driving when the adaptive cruise control function is enabled on the target slope section; A driving control module is used to control the vehicle driving according to the slope driving learning parameters of the target slope road section when the target slope road section is detected, so as to complete the driving control of the slope working condition; The parameter learning module is further configured to generate initial driving learning parameters for the target slope road section based on the own vehicle driving parameters and / or the preceding vehicle driving parameters; and when the target slope road section is detected and the simulated cruise mode is activated, adjust the initial driving learning parameters to obtain the slope driving learning parameters for the target slope road section.

8. A driving control device for a vehicle on a slope, characterized in that: The device includes: 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 method for controlling driving in a slope condition according to any one of claims 1 to 6.

9. 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 slope driving control method according to any one of claims 1 to 6 are implemented.

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