Vehicle ejection starting control method and device and terminal equipment

Abstract

The invention is suitable for the technical field of vehicle control, and provides a vehicle ejection starting control method and device and terminal device.The method comprises the steps that after it is detected that a driver has an ejection starting intention, the driving track of the vehicle during ejection starting is predicted according to vehicle parameters; evaluating the state of the road according to the road information and the driving track to obtain an evaluation result; and if the evaluation result shows that ejection starting is allowed, the vehicle is controlled to conduct ejection starting. Before the hybrid vehicle is subjected to ejection starting, the driving track of the vehicle during ejection starting is predicted according to the vehicle information, the state of the road is evaluated according to the driving track and the road information collected by the sensor, and ejection starting is performed when the state of the road is the allowable ejection starting. Safety of ejection starting is guaranteed through cooperation of multiple modules, and ejection starting accidents caused by the state of a road are avoided.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control technology, and in particular, relates to a control method, device and terminal equipment for vehicle launch control. Background Art

[0002] Launch Start is a driving assistance function that allows the vehicle to achieve maximum acceleration at the moment of starting, achieve the best acceleration experience, and enhance driving pleasure and power performance. Specifically, Launch Start uses the gearbox to adjust the engine speed to the output platform of the optimal torque, so that the engine starts to output at the maximum torque at the moment of starting, achieving the best acceleration. Since the acceleration during Launch Start is very large and the vehicle's kinetic energy is large, improper driving may cause accidents. Therefore, how to ensure the safety of Launch Start is a problem that needs to be solved at present. Summary of the invention

[0003] The embodiments of the present application provide a control method, device and terminal device for a vehicle launch control, which can ensure the safety of the vehicle during a launch control operation.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle launch control, comprising:

[0005] After detecting that the driver has a launch start intention, predicting the driving trajectory of the vehicle when launching a launch start according to vehicle parameters of the vehicle;

[0006] Acquire road information of the road where the vehicle is located;

[0007] Based on the road information and the driving trajectory, the state of the road is evaluated to obtain an evaluation result, wherein the evaluation result is used to indicate whether the road allows the vehicle to perform a launch start;

[0008] If the evaluation result is that the launch control is allowed, the vehicle is controlled to perform the launch control.

[0009] In the present application, after detecting that the driver has the intention of launching a car, the driving trajectory of the vehicle during launching a car is predicted based on the vehicle parameters; then the state of the road is evaluated based on the road information and the driving trajectory to obtain an evaluation result; if the evaluation result shows that launching a car is allowed, the vehicle is controlled to launch a car. Before the vehicle launches a car, the present application predicts the driving trajectory of the vehicle during launching a car, and evaluates the state of the road based on the driving trajectory. Launching a car is performed when the state of the road allows launching a car, thereby ensuring the safety of launching a car and preventing accidents caused by unsuitable road conditions from occurring during launching a car.

[0010] In a possible implementation manner of the first aspect, the evaluating the state of the road based on the road information and the driving trajectory to obtain an evaluation result includes:

[0011] Based on the road information, determining whether there are obstacles in the road area covered by the driving trajectory, and whether the road surface condition of the road covered by the driving trajectory meets preset requirements;

[0012] If there is an obstacle on the road covered by the driving trajectory, and / or the road surface condition does not meet the preset requirements, determining that the evaluation result of the road is that a launch control is not allowed;

[0013] If there are no obstacles on the road covered by the driving trajectory and the road surface condition meets the preset requirements, it is determined that the evaluation result of the road is that a launch control is allowed.

[0014] In the present application, whether a road can be used for launch control is determined more comprehensively based on obstacle conditions and road conditions, and dangers are discovered in time before launch control to avoid collisions with obstacles during launch control and to avoid dangers caused by poor road conditions, thereby ensuring the safety of launch control.

[0015] In a possible implementation manner of the first aspect,

[0016] After detecting that the driver has an intention to launch a vehicle, the method further includes:

[0017] Controlling the torque of the motor in the vehicle to be preloaded to a first torque;

[0018] Correspondingly, if the evaluation result is that the launch control is allowed, controlling the vehicle to perform the launch control includes:

[0019] If the evaluation result is that launch control is allowed, controlling the torque of the motor to be loaded from the first torque to the maximum torque;

[0020] After detecting an execution instruction for launching the vehicle, the motor is controlled to operate according to the maximum torque to complete the launching of the vehicle.

[0021] In the present application, after detecting that the driver has the intention of launching the vehicle, the motor is torque preloaded so that the vehicle can be loaded with a certain torque before launching the vehicle. After determining that launching the vehicle is allowed, the torque is loaded to the maximum value so that the vehicle can achieve a greater acceleration in a short time when launching the vehicle.

[0022] In a possible implementation manner of the first aspect, after evaluating the state of the road based on the road information and the driving trajectory to obtain an evaluation result, the method further includes:

[0023] If the evaluation result is that the launch control is not allowed, the first torque of the motor is unloaded to prohibit the vehicle from performing the launch control.

[0024] In the present application, if the evaluation result is that the launch control is not allowed, the preload torque of the motor is unloaded to ensure that the vehicle will not launch the vehicle, and the vehicle remains stationary to ensure the safety of the vehicle and avoid accidents caused by the launch control.

[0025] In a possible implementation manner of the first aspect, after detecting that the driver has a launch start intention, before predicting a driving trajectory of the vehicle during a launch start according to vehicle parameters of the vehicle, the method further includes:

[0026] Acquiring a vehicle state of the vehicle, wherein the vehicle state includes a state of a brake pedal, a state of an accelerator pedal, a gear state, and a motion state of the vehicle;

[0027] When the vehicle state satisfies a preset state, it is determined that the driver has a launch start intention, wherein the preset state includes that the vehicle's motion state is a stationary state, the gear state is that the gear is in a forward gear, the state of the accelerator pedal is that the accelerator pedal is at a maximum opening, and the state of the brake pedal is that the brake pedal is at a maximum stroke.

[0028] In the present application, whether the driver has the intention of launching the vehicle is evaluated based on the state of the vehicle's brake pedal, the state of the accelerator pedal, the gear state and the motion state. The driver's intention can be determined from multiple aspects, making the evaluation of the intention of launching the vehicle more accurate.

[0029] In a possible implementation manner of the first aspect, the vehicle state further includes a driver's safety state, a driving mode of the vehicle, a state of an electronic parking brake system of the vehicle, and a state of a body electronic stability system of the vehicle;

[0030] Correspondingly, the preset state also includes the driver's safety state that the driver has fastened his seat belt, the driving mode is the preset mode, the electronic parking brake system is in an off state, and the vehicle electronic stability system is in an off state, wherein the vehicle is allowed to perform a launch start when the vehicle is in the preset mode.

[0031] In a possible implementation manner of the first aspect, the method further includes:

[0032] Controlling the vehicle computer to display the driving trajectory;

[0033] If the evaluation result is that the launch control is not allowed, the vehicle computer is controlled to display the road information and danger warning information, wherein the danger warning information is a predicted dangerous condition that exists when the vehicle launches.

[0034] In the present application, after the driving trajectory is obtained, the driving trajectory is displayed through the human-machine interface, so that the user can understand the driving trajectory of the vehicle when the launch start is performed, and it is also convenient for the user to judge whether to continue the launch start. When the launch start is not allowed, the human-machine interface displays road information and danger warning information, so that the user can understand the various obstacles on the road, remind the user not to launch the launch start, and ensure the user's driving safety.

[0035] In a second aspect, an embodiment of the present application provides a control device for a vehicle launch control, comprising:

[0036] A trajectory prediction module, for predicting the driving trajectory of the vehicle during a launch start according to vehicle parameters of the vehicle after detecting that the driver has an intention of launching the vehicle;

[0037] An information acquisition module, used to acquire road information of the road where the vehicle is located;

[0038] A road evaluation module, used to evaluate the state of the road based on the road information and the driving trajectory to obtain an evaluation result, wherein the evaluation result is used to indicate whether the road allows the vehicle to perform a launch start;

[0039] The control module is used to control the vehicle to perform a launch control if the evaluation result indicates that the launch control is allowed.

[0040] In a possible implementation manner of the second aspect, the road assessment module may be specifically used to:

[0041] Based on the road information, determining whether there are obstacles in the road area covered by the driving trajectory, and whether the road surface condition of the road covered by the driving trajectory meets preset requirements;

[0042] If there is an obstacle on the road covered by the driving trajectory, and / or the road surface condition does not meet the preset requirements, determining that the evaluation result of the road is that a launch control is not allowed;

[0043] If there are no obstacles on the road covered by the driving trajectory and the road surface condition meets the preset requirements, it is determined that the evaluation result of the road is that a launch control is allowed.

[0044] In a possible implementation manner of the second aspect, the control module may be specifically used to:

[0045] If the evaluation result is that launch control is allowed, controlling the torque of the motor in the vehicle to be preloaded to a first torque;

[0046] After detecting an execution instruction of the launch control of the vehicle, the motor is controlled to operate according to the maximum torque to complete the launch control of the vehicle.

[0047] In a possible implementation manner of the second aspect, the control module may be specifically used to:

[0048] If the evaluation result is that the launch control is not allowed, the vehicle is prohibited from performing the launch control.

[0049] In a possible implementation manner of the second aspect, connected to the trajectory prediction module further includes:

[0050] A state acquisition module, used to acquire the vehicle state of the vehicle, wherein the vehicle state includes the state of the brake pedal, the state of the accelerator pedal, the gear state and the motion state of the vehicle;

[0051] The intention recognition module is used to determine that the driver has an intention to launch a vehicle when the vehicle state satisfies a preset state, wherein the preset state includes that the vehicle's motion state is a stationary state, the gear state is that the gear is in a forward gear, the state of the accelerator pedal is that the accelerator pedal is at a maximum opening, and the state of the brake pedal is that the brake pedal is at a maximum travel.

[0052] In a possible implementation manner of the second aspect, the vehicle state further includes a driver's safety state, a driving mode of the vehicle, a state of an electronic parking brake system of the vehicle, and a state of a body electronic stability system of the vehicle;

[0053] Correspondingly, the preset state also includes the driver's safety state that the driver has fastened his seat belt, the driving mode is the preset mode, the electronic parking brake system is in an off state, and the vehicle electronic stability system is in an off state, wherein the vehicle is allowed to perform a launch start when the vehicle is in the preset mode.

[0054] In a possible implementation manner of the second aspect, the control module is further configured to:

[0055] Controlling the vehicle computer to display the driving trajectory;

[0056] If the evaluation result is that the launch control is not allowed, the vehicle computer is controlled to display the road information and danger warning information, wherein the danger warning information is a predicted dangerous condition that exists when the vehicle launches.

[0057] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle launch control method described in any one of the first aspects above is implemented.

[0058] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle launch control method described in any one of the first aspects is implemented.

[0059] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the vehicle launch control method described in any one of the first aspects above.

[0060] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0062] Figure 1 It is a flow chart of a method for controlling a vehicle launch start provided by an embodiment of the present application;

[0063] Figure 2 It is a flowchart of a method for evaluating road conditions provided in one embodiment of the present application;

[0064] Figure 3 is a flow chart of a method for determining a launch intention provided by an embodiment of the present application;

[0065] Figure 4 is a schematic diagram of the structure of data transmission in a vehicle provided by an embodiment of the present application;

[0066] Figure 5 is a flowchart of a road status evaluation method provided by another embodiment of the present application;

[0067] Figure 6 It is a structural schematic diagram of a vehicle launch control device provided in one embodiment of the present application;

[0068] Figure 7It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0069] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0070] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0071] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0072] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0073] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0074] In order to improve vehicle performance and meet the needs of different users, the vehicle is equipped with a launch function. When launching the vehicle, the vehicle can accelerate from a standstill to a maximum speed in an instant, providing users with driving pleasure.

[0075] Specifically, the launch control mainly includes two stages, namely the launch control preparation stage and the launch control execution stage.

[0076] After detecting the launch start activation operation or the driver's launch start intention, the vehicle enters the launch start preparation stage. After the vehicle enters the launch start preparation stage, if the launch start operation is detected, the vehicle enters the launch start execution stage, and the vehicle accelerates forward instantly to achieve launch start.

[0077] The launch start activation operation may include the vehicle being switched to a sport mode, the gear position of the vehicle being a forward gear, the brake pedal being at a maximum travel, and the accelerator pedal being at a maximum opening, etc. The launch start operation is an operation of releasing the brake pedal.

[0078] Although launch control can improve vehicle performance and bring driving pleasure to users, the vehicle acceleration and kinetic energy are very large during launch control. If the launch control is performed on a slippery, bumpy or obstacle-filled road and the driver cannot react in time, an accident may occur. Therefore, how to ensure the safety of launch control is the primary issue that needs to be addressed.

[0079] Based on the above problems, the present application proposes a control method for vehicle launch start. Before the launch start, the trajectory of the vehicle during the launch start is predicted; and according to the predicted trajectory, it is determined whether the current road meets the launch start conditions, and the vehicle is controlled to perform the launch start when the current road meets the launch start conditions; if the current road does not meet the launch start conditions, the vehicle is prohibited from performing the launch start to ensure the safety of the launch start.

[0080] The following is a detailed description of the vehicle launch control method according to an embodiment of the present application.

[0081] Figure 1 A schematic flow chart of a vehicle launch control method provided by the present application is shown, referring to Figure 1 , the method is described in detail as follows:

[0082] S101, after detecting that the driver has an intention of launching a vehicle, predicting a driving trajectory of the vehicle when launching a vehicle according to vehicle parameters of the vehicle.

[0083] In the present embodiment, whether the driver has a launch start intention may be determined based on the vehicle state (or whether a launch start activation operation exists).

[0084] In this embodiment, the vehicle parameters may include wheel angles, steering wheel angles, vehicle track, vehicle wheelbase, vehicle length, vehicle width, and the like.

[0085] The vehicle parameters are input into the trajectory calculation model to obtain the vehicle's driving trajectory during launch.

[0086] In this embodiment, the driving trajectory of the vehicle during launch is predicted based on the vehicle parameters and sensor parameters of the vehicle. The sensor parameters may include road parameters collected by a laser radar and road images collected by a camera. The lane line of the road, the position of the road edge, etc. may be determined based on the sensor parameters.

[0087] S102, obtaining road information of the road where the vehicle is located.

[0088] In this embodiment, the road information may include a road image. The road information may also include information about obstacles in the road and the road surface conditions. The obstacles may be pedestrians, vehicles, animals, trees, etc. The road surface conditions may include the smoothness of the road surface and the humidity of the road surface, etc.

[0089] S103, based on the road information and the driving trajectory, evaluating the state of the road to obtain an evaluation result, wherein the evaluation result is used to indicate whether the road allows the vehicle to perform a launch start.

[0090] In this embodiment, the roads covered by the driving trajectory are extracted, and the states of the roads covered by the driving trajectory are evaluated to obtain an evaluation result.

[0091] The evaluation of the road state includes the evaluation of obstacles on the road and the evaluation of the road surface state, etc. The road information and the driving trajectory are input into the evaluation model to evaluate the road state and obtain the evaluation result.

[0092] Alternatively, the state of the road is scored based on the driving trajectory and road information to obtain a road score. If the road score is greater than a preset score, the evaluation result is determined to be that launch control is allowed. If the road score is less than or equal to the preset score, the evaluation result is determined to be that launch control is not allowed. Specifically, the road is scored based on the smoothness, humidity, and obstacles on the road. A corresponding curve graph of smoothness and score is set, and the higher the smoothness, the higher the corresponding score. A corresponding curve graph of humidity and score is set, and the higher the humidity, the lower the score. The score when there is no obstacle on the road is greater than the score when there is an obstacle on the road. Different scores are set for different obstacles according to the type of obstacle, and the obstacle with a greater impact on the safety of the vehicle has a lower corresponding score.

[0093] In this embodiment, the evaluation result may include allowing the launch launch or not allowing the launch launch.

[0094] S104: If the evaluation result is that the launch control is allowed, control the vehicle to perform a launch control.

[0095] In this application, after detecting that the driver has the intention of ejection start, the driving trajectory of the vehicle during ejection start is predicted based on the vehicle parameters; then the state of the road is evaluated based on the road information and the driving trajectory to obtain an evaluation result; if the evaluation result shows that ejection start is allowed, the vehicle is controlled to perform ejection start. Before the vehicle performs ejection start, this application predicts the driving trajectory of the vehicle during ejection start, and evaluates the state of the road based on the driving trajectory, and performs ejection start when the state of the road allows ejection start, thereby ensuring the safety of ejection start and preventing accidents caused by the state of the road.

[0096] In a possible implementation, after step S103, the method may further include:

[0097] If the evaluation result is that the launch control is not allowed, the vehicle is prohibited from performing the launch control.

[0098] In this embodiment, if the evaluation result is that the launch control is not allowed, after receiving the launch control execution instruction of the vehicle, the vehicle is still kept stationary to ensure the safety of the vehicle.

[0099] In another embodiment, if the evaluation result is that launch control is not allowed and the vehicle does not allow launch control due to obstacles on the road, road information continues to be collected at a preset frequency while the vehicle remains stationary, and the state of the road is evaluated based on the road information and vehicle parameters. After the state of the road is restored to allow launch control, the vehicle computer is controlled to display a reminder message and / or send a reminder message to the user's terminal device, and the reminder message is used to prompt the user that the launch control can be performed.

[0100] like Figure 2 As shown, in a possible implementation manner, the implementation process of step S103 may include:

[0101] S1031: Based on the road information, determine whether there are obstacles in the road area covered by the driving trajectory, and whether the road surface condition of the road covered by the driving trajectory meets preset requirements.

[0102] In this embodiment, the road information may include a road image. The driving track of the vehicle during launch start is drawn on the road image to check whether there are obstacles in the area covered by the driving track and whether the road surface condition meets the preset requirements.

[0103] In this embodiment, the preset requirements include that there are no potholes on the road surface, and the road surface is not slippery, etc. Whether the road surface is slippery is determined based on whether there is water accumulation, rain or snow on the road surface. For example, if there is rain or snow on the road surface, the road surface is determined to be slippery; if there is no water accumulation and rain or snow on the road surface, the road surface is determined to be not slippery.

[0104] S1032: If there are obstacles on the road covered by the driving trajectory and / or the road surface condition does not meet preset requirements, determine that the evaluation result of the road is that launch start is not allowed.

[0105] In this embodiment, if there are obstacles on the road covered by the driving trajectory, and / or the road surface condition does not meet the preset requirements, it can be determined that the road surface condition is not suitable for the vehicle to perform a launch control, and it is unsafe for the vehicle to perform a launch control control.

[0106] S1033: If there are no obstacles on the road covered by the driving trajectory and the road surface condition meets a preset requirement, determine that an evaluation result of the road is that a launch control is allowed.

[0107] In this embodiment, if there are no obstacles in the road covered by the driving trajectory and the road surface condition meets the preset requirements, it can be determined that the road surface condition is suitable for the vehicle to perform a launch control, and it is safer for the vehicle to perform a launch control control.

[0108] In the present application, whether a road can be used for launch start can be determined relatively accurately based on the obstacle conditions and road conditions, and dangers can be discovered in time before launch start to avoid the vehicle colliding with obstacles during launch start, and to avoid dangers caused by poor road conditions, thereby ensuring the safety of the vehicle's launch start.

[0109] In a possible implementation, the implementation process of step S104 may include:

[0110] S1041: If the evaluation result is that the launch control is allowed, control the torque of the motor in the vehicle to be preloaded to a first torque.

[0111] In this embodiment, if the evaluation result is that the launch control is allowed, the motor is torque preloaded so that the motor reaches a certain torque before running.

[0112] The first torque may be a maximum torque allowed by the motor, or an optimal torque suitable for torque preloading during launch determined according to motor performance.

[0113] S1042, after detecting an execution instruction for the launch control of the vehicle, controlling the motor to operate according to the maximum torque to complete the launch control of the vehicle.

[0114] In this embodiment, if the driver has the intention of launching a vehicle, the brake pedal of the vehicle is at the maximum travel. If the vehicle wants to start, the brake pedal needs to be released. Therefore, the execution instruction of launching a vehicle can detect the instruction generated after the user releases the brake pedal.

[0115] In another embodiment, if a launch control execution instruction is detected before the evaluation result is obtained, the launch control execution is prohibited, the launch control execution instruction received this time is ignored, and the launch control execution process is terminated.

[0116] In the present application, when it is determined that a launch start can be performed, the motor is torque preloaded so that the vehicle can be loaded with a certain torque before the launch start is performed, so that the vehicle starts faster when the launch start is performed and the vehicle reaches a greater acceleration in a short time.

[0117] In one possible implementation, after detecting that the driver has the intention of launch start, the torque of the motor can be preloaded, that is, the torque of the motor can be preloaded in the preparation stage of the launch start; after determining that the launch start is allowed, the torque of the motor is controlled to be loaded to the maximum value, so that the vehicle can start quickly and achieve the purpose of the launch start.

[0118] Specifically, after detecting that the driver has an intention to launch the vehicle, the method may further include:

[0119] Controlling the torque of the motor in the vehicle to be preloaded to a first torque;

[0120] Accordingly, step S104 may further include:

[0121] If the evaluation result is that the launch control is allowed, the torque of the motor is controlled to be loaded from the first torque to the maximum torque; after detecting the execution instruction of the launch control of the vehicle, the motor is controlled to operate according to the maximum torque to complete the launch control of the vehicle.

[0122] Correspondingly, if the evaluation result is that the launch control is not allowed, the preload torque of the motor may be unloaded, that is, the first torque of the motor may be unloaded, and the launch control of the vehicle may be prohibited.

[0123] In the present application, after detecting that the driver has the intention of launching the vehicle, the motor is torque preloaded so that the vehicle can be loaded with a certain torque before launching the vehicle. After determining that launching the vehicle is allowed, the torque is loaded to the maximum value so that the vehicle can achieve a greater acceleration in a short time when launching the vehicle.

[0124] If the evaluation result is that launch control is not allowed, the preload torque of the motor is unloaded to ensure that the vehicle will not launch control, and the vehicle remains stationary to ensure vehicle safety and avoid accidents caused by launch control. Figure 3 As shown, in a possible implementation manner, the implementation process of step S101 may include:

[0125] S1011, obtaining a vehicle state of the vehicle, wherein the vehicle state includes a state of a brake pedal, a state of an accelerator pedal, a gear state, and a motion state of the vehicle.

[0126] S1012, when the vehicle state satisfies a preset state, determining that the driver has an intention to launch a launch start, wherein the preset state includes that the vehicle's motion state is a stationary state, the gear state is that the gear is in a forward gear, the state of the accelerator pedal is that the accelerator pedal is at a maximum opening, and the state of the brake pedal is that the brake pedal is at a maximum stroke.

[0127] In this embodiment, the preset state may also include first detecting that the brake pedal is at its maximum stroke and then detecting that the accelerator pedal is at its maximum opening, that is, first detecting that the brake pedal is fully depressed and then detecting that the accelerator pedal is fully depressed.

[0128] In another embodiment, the vehicle status further includes a driver's safety status, a driving mode of the vehicle, a status of an electronic parking brake system of the vehicle, and a status of an electronic stability system of the vehicle.

[0129] Correspondingly, the preset state also includes the driver's safety state that the driver has fastened his seat belt, the driving mode is the preset mode, the electronic parking brake system is in an off state, and the vehicle electronic stability system is in an off state, wherein the vehicle is allowed to perform a launch start when the vehicle is in the preset mode.

[0130] In this embodiment, whether the driver is wearing a seat belt can be determined based on the collected in-vehicle image, or based on the state of the seat belt on the driver's seat.

[0131] The preset mode is a mode determined according to needs, for example, the preset mode may be a sports mode or the like.

[0132] The Electronic Park Brake (EPB) system uses an electronic control unit to control the motor to drive the brake caliper to clamp or release the brake disc to achieve the parking brake function. Under normal circumstances, it can ensure that the vehicle is parked reliably and prevent the vehicle from slipping. Launch start requires that the vehicle can transmit the engine power to the wheels without hindrance at the moment of starting, driving the vehicle to accelerate forward quickly. If the EPB is turned on, when the vehicle is ready for launch start and the engine outputs power, the power must first overcome the braking force applied by the EPB, which is like starting with the brakes. It will greatly affect the starting speed and acceleration, and the vehicle cannot rush out in the best state, wasting energy that should be converted into the vehicle's forward power.

[0133] The Electronic Stability Program (ESP) is a car safety system designed to improve the stability and operational control performance of the vehicle in emergency situations. Specifically, when the vehicle is in an unstable state such as oversteer or understeer, the engine power output is limited to ensure the vehicle's driving stability. Launch control requires the vehicle to output full power at the moment of starting in order to achieve maximum acceleration and the fastest starting speed. If ESP is not turned off, it will automatically limit the engine's torque output when it detects wheel slippage or vehicle instability, making it impossible to achieve the maximum power required for launch control, resulting in a slow starting speed and insufficient power.

[0134] In a possible implementation, the above method may further include:

[0135] The vehicle computer controls the vehicle to display the driving trajectory.

[0136] If the evaluation result is that the launch control is not allowed, the vehicle computer is controlled to display the road information and danger warning information, wherein the danger warning information is a predicted dangerous condition that exists when the vehicle launches.

[0137] In this embodiment, after the driving trajectory is obtained, the driving trajectory is displayed through the human-machine interface, so that the user can understand the driving trajectory of the vehicle during the launch start, and it is also convenient for the user to judge whether to continue the launch start.

[0138] When launch control is not allowed, the road information is displayed through the human-computer interface so that the user can understand the various obstacles on the road and the road conditions.

[0139] The danger warning information may be text information and / or animation information, etc. The danger warning information may also include marked obstacles that pose a threat to the launch control.

[0140] In the present application, when the launch control is not allowed, road information and danger warning information are displayed to the user, so that the user can understand that the launch control is dangerous and be reminded to terminate the launch control.

[0141] In one possible implementation, a vehicle controller and a vehicle perception system are present in the vehicle.

[0142] After the vehicle controller determines that the driver has the intention to launch the vehicle (that is, recognizes the launch activation operation), it controls the vehicle to enter the launch preparation stage. In the launch preparation stage, the vehicle waits for the vehicle perception system to send the evaluation result of the road state. After the vehicle controller receives the evaluation result sent by the vehicle perception system, it determines whether to execute the launch according to the evaluation result.

[0143] After the vehicle perception system recognizes the driver's intention to launch the vehicle, it predicts the vehicle's driving trajectory during the launch-start operation based on the perceived vehicle parameters; then, based on the perceived road information and driving trajectory, it evaluates the road status to obtain an evaluation result, and sends the evaluation result to the vehicle controller.

[0144] Specifically, refer to Figure 4 , the application method is explained.

[0145] S11, the vehicle controller and the vehicle perception system both obtain vehicle signals.

[0146] In this embodiment, the vehicle signal may include a brake pedal signal, an accelerator pedal signal, a driving mode signal, a gear position signal, etc.

[0147] S12, the entire controller obtains the vehicle state according to the vehicle signal, determines the driver's intention to launch a launch according to the vehicle state, and waits for the vehicle perception system to send an assessment result of the road state.

[0148] The vehicle perception system obtains the vehicle status based on the vehicle signal and determines that the driver has the intention of launching the vehicle based on the vehicle status.

[0149] In this embodiment, the method for determining whether the driver has the intention of launching is:

[0150] The brake pedal is detected to be fully depressed (the brake pedal is at its maximum travel) and then the accelerator pedal is detected to be fully depressed (the accelerator pedal is at its maximum opening); the vehicle is in sport mode; the vehicle is in a forward gear; the driver has fastened his seat belt; the vehicle is stationary; the EPB is off; and the ESP is off.

[0151] S13, the vehicle perception system obtains vehicle parameters and predicts the driving trajectory of the vehicle during launch start according to the vehicle parameters.

[0152] S14, the vehicle perception system obtains road information collected by various sensors.

[0153] S15, the vehicle perception system performs a state assessment on the road area covered by the driving trajectory according to the road information and the driving trajectory to obtain an assessment result.

[0154] like Figure 5 As shown, in this embodiment, the method for obtaining the evaluation result includes:

[0155] Determine whether there is a person in the road area covered by the driving trajectory. If there is a person in the road area covered by the driving trajectory, the evaluation result obtained is that the launch control is not allowed.

[0156] If there is no person in the road area covered by the driving trajectory, determine whether there is a vehicle in the road area covered by the driving trajectory.

[0157] If there is a vehicle in the road area covered by the driving trajectory, the evaluation result is that launch control is not allowed.

[0158] If there is no vehicle in the road area covered by the driving trajectory, determine whether there are other obstacles in the road area covered by the driving trajectory, such as fences, flower beds, trees, etc.

[0159] If there are other obstacles in the road area covered by the driving trajectory, the evaluation result is that launch control is not allowed.

[0160] If there are no other obstacles in the road area covered by the driving trajectory, determine whether there is a pothole area in the road area covered by the driving trajectory.

[0161] If there are potholes in the road area covered by the driving trajectory, the evaluation result is that launch start is not allowed.

[0162] If there is no pothole area in the road area covered by the driving track, determine whether there is a slippery area in the road area covered by the driving track.

[0163] If there is a slippery area in the road area covered by the driving trajectory, the evaluation result is that launch start is not allowed.

[0164] If there is no slippery area in the road area covered by the driving trajectory, the evaluation result is that launch control is allowed.

[0165] S16, the vehicle perception system sends the evaluation result to the vehicle controller.

[0166] S17, the vehicle controller receives the evaluation result sent by the vehicle perception system.

[0167] S18, the vehicle controller determines whether to execute a launch control according to the evaluation result.

[0168] In this embodiment, if the evaluation result is that the launch control is allowed, the vehicle controller controls the motor torque preload to preload the motor torque to a first torque, at which time the driving torque generated by the motor is balanced with the braking force generated by the braking system, and the vehicle is stationary. After detecting the execution instruction of the launch control of the vehicle, the vehicle controller controls the motor to operate at the maximum torque to complete the launch control of the vehicle.

[0169] If the evaluation result is that launch start is not allowed, the vehicle controller prohibits the vehicle from launching the vehicle, and the vehicle controller will not preload the motor torque.

[0170] In another embodiment, after the vehicle perception system obtains the driving trajectory of the vehicle during the launch start, it sends the driving trajectory to the vehicle computer. After receiving the driving trajectory sent by the vehicle perception system, the vehicle computer displays the driving trajectory.

[0171] In another embodiment, after the vehicle perception system obtains the road state and the road evaluation result, it sends the evaluation result to the vehicle computer. After receiving the evaluation result sent by the vehicle perception system, the vehicle computer displays the road state and the road evaluation result.

[0172] If the evaluation result is that launch control is not allowed, the road status includes danger warning information to remind the user that launch control is dangerous. For example, the danger warning information may be "there is an obstacle ahead, not suitable for launch control".

[0173] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0174] Corresponding to the vehicle launch control method described in the above embodiment, Figure 6 A structural block diagram of a vehicle launch control device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0175] Reference Figure 6 The device 200 may include: a trajectory prediction module 210, an information acquisition module 220, a road evaluation module 230 and a control module 240.

[0176] The trajectory prediction module 210 is used to predict the driving trajectory of the vehicle during the launch start according to the vehicle parameters of the vehicle after detecting that the driver has the launch start intention;

[0177] An information acquisition module 220 is used to acquire road information of the road where the vehicle is located;

[0178] A road evaluation module 230, configured to evaluate the state of the road based on the road information and the driving trajectory to obtain an evaluation result, wherein the evaluation result is used to indicate whether the road allows the vehicle to perform a launch start;

[0179] The control module 240 is configured to control the vehicle to perform a launch control if the evaluation result indicates that the launch control is permitted.

[0180] In a possible implementation, the road assessment module 230 may be specifically used to:

[0181] Based on the road information, determining whether there are obstacles in the road area covered by the driving trajectory, and whether the road surface condition of the road covered by the driving trajectory meets preset requirements;

[0182] If there is an obstacle on the road covered by the driving trajectory, and / or the road surface condition does not meet the preset requirements, determining that the evaluation result of the road is that a launch control is not allowed;

[0183] If there are no obstacles on the road covered by the driving trajectory and the road surface condition meets the preset requirements, it is determined that the evaluation result of the road is that a launch control is allowed.

[0184] In a possible implementation, the control module 240 may be specifically configured to:

[0185] If the evaluation result is that launch control is allowed, controlling the torque of the motor in the vehicle to be preloaded to a first torque;

[0186] After detecting an execution instruction of the launch control of the vehicle, the motor is controlled to operate according to the maximum torque to complete the launch control of the vehicle.

[0187] In a possible implementation, the control module 240 may be specifically configured to:

[0188] If the evaluation result is that the launch control is not allowed, the vehicle is prohibited from performing the launch control.

[0189] In a possible implementation, the trajectory prediction module 210 is also connected to:

[0190] A state acquisition module, used to acquire the vehicle state of the vehicle, wherein the vehicle state includes the state of the brake pedal, the state of the accelerator pedal, the gear state and the motion state of the vehicle;

[0191] The intention recognition module is used to determine that the driver has an intention to launch a vehicle when the vehicle state satisfies a preset state, wherein the preset state includes that the vehicle's motion state is a stationary state, the gear state is that the gear is in a forward gear, the state of the accelerator pedal is that the accelerator pedal is at a maximum opening, and the state of the brake pedal is that the brake pedal is at a maximum travel.

[0192] In a possible implementation, the vehicle status further includes a driver's safety status, a driving mode of the vehicle, a status of an electronic parking brake system of the vehicle, and a status of a body electronic stability system of the vehicle;

[0193] Correspondingly, the preset state also includes the driver's safety state that the driver has fastened his seat belt, the driving mode is the preset mode, the electronic parking brake system is in an off state, and the vehicle electronic stability system is in an off state, wherein the vehicle is allowed to perform a launch start when the vehicle is in the preset mode.

[0194] In a possible implementation, the control module 240 is further configured to:

[0195] Controlling the vehicle computer to display the driving trajectory;

[0196] If the evaluation result is that the launch control is not allowed, the vehicle computer is controlled to display the road information and danger warning information, wherein the danger warning information is a predicted dangerous condition that exists when the vehicle launches.

[0197] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0198] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0199] The present application also provides a terminal device, see Figure 7 The terminal device 400 may include: at least one processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one processor 410. When the processor 410 executes the computer program, the steps in any of the above-mentioned method embodiments are implemented, for example Figure 1 Steps S101 to S104 in the illustrated embodiment. Alternatively, when the processor 410 executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented, for example Figure 6 The functions of the trajectory prediction module 210 to the control module 240 are shown.

[0200] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 420, and executed by the processor 410 to complete the present application. The one or more modules / units may be a series of computer program segments capable of completing specific functions, and the program segments are used to describe the execution process of the computer program in the terminal device 400.

[0201] Those skilled in the art will understand that Figure 7 It is only an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0202] The processor 410 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0203] The memory 420 may be an internal storage unit of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory 420 is used to store the computer program and other programs and data required by the terminal device. The memory 420 may also be used to temporarily store data that has been output or is to be output.

[0204] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0205] The vehicle launch control method provided in the embodiment of the present application can be applied to terminal devices such as computers, tablet computers, laptop computers, netbooks, personal digital assistants (PDAs), etc. The embodiment of the present application does not impose any restrictions on the specific type of terminal devices.

[0206] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0207] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0208] In the embodiments provided in the present application, it should be understood that the disclosed terminal equipment, devices and methods can be implemented in other ways. For example, the terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0209] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0210] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0211] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0212] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0213] Similarly, as a computer program product, when the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0214] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0215] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle launch control method, characterized in that: include: After detecting that the driver has a launch start intention, predicting the driving trajectory of the vehicle when launching a launch start according to vehicle parameters of the vehicle; Acquire road information of the road where the vehicle is located; Based on the road information and the driving trajectory, the state of the road is evaluated to obtain an evaluation result, wherein the evaluation result is used to indicate whether the road allows the vehicle to perform a launch start; If the evaluation result is that the launch control is allowed, the vehicle is controlled to perform the launch control.

2. The vehicle launch control method according to claim 1, characterized in that: The step of evaluating the state of the road based on the road information and the driving trajectory to obtain an evaluation result includes: Based on the road information, determining whether there are obstacles in the road area covered by the driving trajectory, and whether the road surface condition of the road covered by the driving trajectory meets preset requirements; If there is an obstacle on the road covered by the driving trajectory, and / or the road surface condition does not meet the preset requirements, determining that the evaluation result of the road is that a launch control is not allowed; If there are no obstacles on the road covered by the driving trajectory and the road surface condition meets the preset requirements, it is determined that the evaluation result of the road is that a launch control is allowed.

3. The vehicle launch control method according to claim 1, characterized in that: After detecting that the driver has an intention to launch a vehicle, the method further includes: Controlling the torque of the motor in the vehicle to be preloaded to a first torque; Correspondingly, if the evaluation result is that the launch control is allowed, controlling the vehicle to perform the launch control includes: If the evaluation result is that launch control is allowed, controlling the torque of the motor to be loaded from the first torque to the maximum torque; After detecting an execution instruction for launching the vehicle, the motor is controlled to operate according to the maximum torque to complete the launching of the vehicle.

4. The vehicle launch control method according to claim 3, characterized in that: After evaluating the state of the road based on the road information and the driving trajectory and obtaining an evaluation result, the method further includes: If the evaluation result is that the launch control is not allowed, the first torque of the motor is unloaded to prohibit the vehicle from performing the launch control.

5. The vehicle launch control method according to claim 1, characterized in that: After detecting that the driver has a launch start intention, before predicting the driving trajectory of the vehicle during a launch start according to vehicle parameters of the vehicle, the method further includes: Acquiring a vehicle state of the vehicle, wherein the vehicle state includes a state of a brake pedal, a state of an accelerator pedal, a gear state, and a motion state of the vehicle; When the vehicle state satisfies a preset state, it is determined that the driver has a launch start intention, wherein the preset state includes that the vehicle's motion state is a stationary state, the gear state is a forward gear, the accelerator pedal state is a maximum opening, and the brake pedal state is a maximum travel.

6. The vehicle launch control method according to claim 5, characterized in that: include: The vehicle status also includes a driver's safety status, a driving mode of the vehicle, a status of an electronic parking brake system of the vehicle, and a status of a body electronic stability system of the vehicle; Correspondingly, the preset state also includes the driver's safety state that the driver has fastened his seat belt, the driving mode is the preset mode, the electronic parking brake system is in an off state, and the vehicle electronic stability system is in an off state, wherein the vehicle is allowed to perform a launch start when the vehicle is in the preset mode.

7. The vehicle launch control method according to claim 4, characterized in that: The method further comprises: Controlling the vehicle computer to display the driving trajectory; If the evaluation result is that the launch control is not allowed, the vehicle computer is controlled to display the road information and danger warning information, wherein the danger warning information is a predicted dangerous condition that exists when the vehicle launches.

8. A vehicle launch control device, characterized in that: include: A trajectory prediction module, for predicting the driving trajectory of the vehicle during a launch start according to vehicle parameters of the vehicle after detecting that the driver has an intention of launching the vehicle; An information acquisition module, used to acquire road information of the road where the vehicle is located; A road evaluation module, used to evaluate the state of the road based on the road information and the driving trajectory to obtain an evaluation result, wherein the evaluation result is used to indicate whether the road allows the vehicle to perform a launch start; The control module is used to control the vehicle to perform a launch control if the evaluation result indicates that the launch control is allowed.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle launch control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle launch control method according to any one of claims 1 to 7 is implemented.

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