Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium. The vehicle control method comprises the steps that a current target driving mode of a vehicle is obtained; the target driving mode is a manual driving non-cruising mode, a manual driving cruising mode or an automatic driving mode; obtaining target information corresponding to the target driving mode; the target information at least comprises change conditions of driving parameters of the vehicle; determining a target state of the vehicle according to the target information; and under the condition that the target state is abnormal, emergency braking operation is executed. According to the method, the target state of the vehicle is determined based on the current target driving mode of the vehicle and the change condition of the vehicle driving parameters in the target driving mode, emergency braking is executed under the condition that the target state of the vehicle is abnormal, the accuracy of recognizing the emergency braking requirement of the vehicle can be improved, and the user experience is improved. And the emergency braking effect and the driving safety of the vehicle are improved.

Description

Technical Field

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

[0002] With the rapid development of automotive electronic technology and the advent of the software-defined car era, highly intelligent driving systems that combine electronics and software have become an area of ​​competition among OEMs.

[0003] For scenarios requiring emergency braking, the Automatic Emergency Braking (AEB) system is currently mostly used to identify the vehicle's emergency braking needs. The AEB system is heavily dependent on the perception module (lidar or optical camera), but the perception module is greatly affected by the environment, which may cause the AEB system to misjudge. In addition, the AEB system may also malfunction or fail to trigger. Relying solely on the AEB system poses a great safety risk.

[0004] How to improve the accuracy of identifying vehicle emergency braking needs and improve vehicle emergency braking effects and driving safety has become an urgent problem to be solved. Summary of the invention

[0005] The main purpose of the embodiments of the present application is to propose a vehicle control method, device, electronic device and storage medium, aiming to improve the accuracy of identifying the vehicle's emergency braking needs, as well as to improve the effect of vehicle emergency braking and driving safety.

[0006] The present application provides a vehicle control method, comprising: obtaining a target driving mode currently in which a vehicle is located; the target driving mode is a manual driving non-cruise mode, a manual driving cruise mode or an automatic driving mode; obtaining target information corresponding to the target driving mode; the target information at least includes a change in a driving parameter of the vehicle; according to the target information, determining a target state of the vehicle; wherein, when the target driving mode is the manual driving non-cruise mode, the target state is a control state of the vehicle by the driver of the vehicle; when the target driving mode is the manual driving cruise mode or the automatic driving mode, the target state is a state of a power system of the vehicle; when the target state is abnormal, performing an emergency braking operation.

[0007] In one embodiment, determining the target state of the vehicle based on the target information includes: determining that the target state is abnormal when the target information satisfies a first condition; wherein the first condition includes that the change in the drive parameter is a sudden change in the drive parameter at a first time point; when the target driving mode is the manual driving non-cruise mode, the target information also includes the state of the accelerator pedal of the vehicle; the first condition also includes that the accelerator pedal is in a stepped state at the first time point; when the target driving mode is the manual driving cruise mode or the automatic driving mode, the target information also includes the state of the accelerator pedal; or, the state of the brake pedal and the automatic emergency braking system of the vehicle; the first condition also includes: the accelerator pedal is in a released state at the first time point; or, the brake pedal is in a released state at the first time point and the automatic emergency braking system is in an unbraked state.

[0008] In one embodiment, when the target driving mode is the manual driving non-cruise mode, the acquiring of target information corresponding to the target driving mode includes: if D1 / A1≥a first threshold value, and (D1-A1) / T1≥a second threshold value, determining that the driving parameter has a sudden change at the first time point; wherein D1 is the value of the driving parameter at the first time point in the manual driving non-cruise mode, A1 is the average value of the values ​​of the driving parameter sampled at each first sampling time point in a first time period, and the first time point is located after the first time period; and the first sampling time points are set at equal time intervals T1.

[0009] In one embodiment, when the target driving mode is the manual driving cruise mode, obtaining target information corresponding to the target driving mode includes: if |X i -X|≥ the third threshold, it is determined that the driving parameter has a sudden change at the first time point; wherein X i is the value of the driving parameter in the manual driving cruise mode at the first time point; X is the preset value of the driving parameter in the manual driving cruise mode corresponding to the first time point.

[0010] In one embodiment, when the target driving mode is the automatic driving mode, obtaining the target information corresponding to the target driving mode includes: if (D2-A2) / T2≥a fourth threshold, or (X t -X t-1)≤the fifth threshold, it is determined that the driving parameter mutates at the first time point; wherein D2 is the value of the driving parameter at the first time point in the automatic driving mode, A2 is the average value of the values ​​of the driving parameter sampled at each second sampling time point in the second time period, the first time point is after the second time period; the second sampling time points are set at equal time intervals T2; X t is the value of the driving parameter at the first time point in the automatic driving mode, X t-1 is the value of the driving parameter at a second time point in the automatic driving mode; the second time point is a sampling time point before the first time point.

[0011] In one embodiment, when the target driving mode is the manual driving non-cruise mode or the manual driving cruise mode, before acquiring the target driving mode currently in which the vehicle is located, the vehicle control method further includes: when the vehicle is in the automatic driving mode, if the vehicle speed is higher than a preset speed or the automatic emergency braking system of the vehicle is in a fault state, outputting a prompt message; the prompt message is used to prompt the driver to take over the vehicle; and when it is detected that the steering wheel of the vehicle is in a held state, determining that the vehicle enters the manual driving non-cruise mode or the manual driving cruise mode.

[0012] In one embodiment, the target state abnormality includes: the change of the driving parameter is that the driving parameter suddenly changes at a first time point; the execution of the emergency braking operation includes: determining the driving force of the vehicle according to the power energy consumed by the vehicle when traveling a first distance, the power energy conversion efficiency of the vehicle and the first distance; the first distance is the distance traveled by the vehicle from the previous sampling time point of the first time point to the first time point; determining the load of the vehicle according to the driving force of the vehicle, the acceleration corresponding to the vehicle traveling the first distance and the acceleration of gravity; determining the road adhesion coefficient of the vehicle according to the load of the vehicle and the driving force of the vehicle; determining the braking force required for emergency braking of the vehicle according to the load of the vehicle and the road adhesion coefficient; and controlling the emergency braking of the vehicle according to the braking force.

[0013] In one embodiment, when the target driving mode is the manual driving non-cruise mode, the target information also includes a congestion level of the road on which the vehicle is currently traveling; and the first condition also includes that the congestion level is greater than a preset level.

[0014] In one embodiment, when the vehicle is fuel-driven, the driving parameter is the throttle opening; when the vehicle is battery-driven, the driving parameter is at least one of the driving voltage, driving current, and throttle opening; the execution of the emergency braking operation includes at least one of the following: controlling the throttle of the vehicle to close or disconnecting the high-voltage contactor of the vehicle; controlling the fault warning light of the vehicle to turn on.

[0015] The present application also provides a vehicle control device, including: a first acquisition module, a second acquisition module, a state determination module and a braking execution module; the first acquisition module is used to acquire the target driving mode currently in which the vehicle is located; the target driving mode is a manual driving non-cruise mode, a manual driving cruise mode or an automatic driving mode; the second acquisition module is used to acquire target information corresponding to the target driving mode; the target information at least includes changes in the driving parameters of the vehicle; the state determination module is used to determine the target state of the vehicle according to the target information; wherein, when the target driving mode is the manual driving non-cruise mode, the target state is the control state of the vehicle by the driver of the vehicle; when the target driving mode is the manual driving cruise mode or the automatic driving mode, the target state is the state of the power system of the vehicle; the braking execution module is used to perform an emergency braking operation when the target state is abnormal.

[0016] The present application also provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned vehicle control method when executing the computer program.

[0017] The present application also 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 above-mentioned vehicle control method is implemented.

[0018] The present application provides a vehicle control method, device, electronic device and storage medium, which determine the target state of the vehicle based on the current target driving mode of the vehicle and the changes in the vehicle driving parameters under the target driving mode, and perform emergency braking when the target state of the vehicle is abnormal, thereby improving the accuracy of identifying the vehicle's emergency braking needs, as well as improving the effect of the vehicle's emergency braking and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of a scenario for identifying a driving mode provided in an embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of the driving parameter change curve provided in the embodiment of the present application. Figure 1 ;

[0022] Figure 4 is a schematic diagram of a specific flow chart of a vehicle control method provided in an embodiment of the present application;

[0023] Figure 5 This is a schematic diagram of the driving parameter change curve provided in the embodiment of the present application. Figure 2 ;

[0024] Figure 6 It is a structural schematic diagram of an emergency braking error avoidance and collision avoidance system provided in an embodiment of the present application;

[0025] Figure 7 It is a schematic diagram of the working principle of the emergency braking error avoidance and collision avoidance system provided in an embodiment of the present application;

[0026] Figure 8 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0027] Fig. 9 It is a schematic diagram of the structure of an embodiment of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0029] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0030] The embodiment of the present application provides a vehicle control method, which aims to improve the accuracy of identifying the vehicle's emergency braking needs and improve the vehicle's emergency braking effect and driving safety.

[0031] The vehicle control method provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the vehicle control method, etc., but is not limited to the above forms.

[0032] The vehicle control method provided in the embodiment of the present application is described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0033] See also Figure 1 , a vehicle control method provided by an embodiment of the present application may include:

[0034] Step S101: obtaining the current target driving mode of the vehicle; the target driving mode is a manual driving non-cruise mode, a manual driving cruise mode or an automatic driving mode;

[0035] Step S102: acquiring target information corresponding to the target driving mode; the target information at least includes changes in driving parameters of the vehicle;

[0036] Step S103: determining a target state of the vehicle according to the target information; wherein, when the target driving mode is a manual driving non-cruise mode, the target state is the state of the vehicle being controlled by the driver of the vehicle; when the target driving mode is a manual driving cruise mode or an automatic driving mode, the target state is the state of the power system of the vehicle;

[0037] Step S104: When the target state is abnormal, perform an emergency braking operation.

[0038] The embodiments of the present application determine the target state of the vehicle based on the current target driving mode of the vehicle and the changes in the vehicle driving parameters under the target driving mode, and perform emergency braking when the target state of the vehicle is abnormal, which can improve the accuracy of identifying the vehicle's emergency braking needs, as well as improve the effect of vehicle emergency braking and driving safety.

[0039] Optionally, the above-mentioned manual driving cruise mode is a mode in which the vehicle's steering wheel is in a held state and the switch of the vehicle's cruise function is in an on state; the above-mentioned manual driving non-cruise mode is a mode in which the vehicle's steering wheel is in a held state but the vehicle's cruise function switch and automatic driving function switch are both in an off state; the above-mentioned automatic driving mode is a mode in which the vehicle's automatic driving function switch is in an on state.

[0040] Optionally, when it is obtained that the vehicle's steering wheel is in a held state and the switch of the vehicle's cruise function is in an on state, it is determined that the vehicle's current target driving mode is a manual driving cruise mode; when it is obtained that the vehicle's steering wheel is in a held state, but the switch of the vehicle's cruise function and the switch of the automatic driving function are both in the off state, it is determined that the vehicle's current target driving mode is a manual driving non-cruise mode; when it is obtained that the switch of the vehicle's automatic driving function is in the on state, it is determined that the vehicle's current target driving mode is an automatic driving mode.

[0041] In one embodiment, when the target driving mode is a manual driving non-cruise mode or a manual driving cruise mode, before the above step S101: obtaining the target driving mode currently in which the vehicle is located, the vehicle control method provided in the embodiment of the present application further includes:

[0042] When the vehicle is in the automatic driving mode, if the vehicle speed is higher than the preset speed or the automatic emergency braking system of the vehicle is in a fault state, a prompt message is output; the prompt message is used to prompt the driver to take over the vehicle;

[0043] When it is detected that the steering wheel of the vehicle is in a held state, it is determined that the vehicle enters a manual driving non-cruise mode or a manual driving cruise mode.

[0044] Optionally, the preset vehicle speed is 115 km / h. Figure 2 As shown, when the vehicle is in automatic driving mode, if the vehicle speed is higher than 115km / h or the vehicle's automatic emergency braking system is in a faulty state, a prompt message that the driver needs to take over the vehicle will be displayed on the vehicle status display screen, and the prompt message that the driver needs to take over the vehicle will be broadcasted through the vehicle audio voice to remind the driver to take over the vehicle in time. Furthermore, when the driver holds the steering wheel, the driving mode sensor circuit set on the steering wheel can detect that the vehicle's steering wheel is in a holding state, so it can be confirmed that the driver has taken over the vehicle and the above prompt message can be turned off, and it can also be determined that the vehicle has entered the manual driving non-cruise mode or the manual driving cruise mode.

[0045] The embodiments of the present application output a prompt message when the vehicle is in the automatic driving mode and the vehicle speed is higher than the preset speed or the AEB system of the vehicle is in a faulty state, so as to facilitate the driver to take over the vehicle in time, thereby improving driving safety. When the steering wheel of the vehicle is monitored to be in a held state, it is determined that the vehicle has entered the manual driving non-cruise mode or the manual driving cruise mode, thereby improving the accuracy of identifying whether the vehicle is in the manual driving non-cruise mode or the manual driving cruise mode.

[0046] In one embodiment, the above step S103: determining the target state of the vehicle according to the target information includes:

[0047] When the target information satisfies the first condition, determining that the target state is abnormal;

[0048] The first condition includes that the change of the driving parameter is that the driving parameter suddenly changes at the first time point;

[0049] When the target driving mode is a manual driving non-cruise mode, the target information further includes a state of an accelerator pedal of the vehicle; the first condition further includes that the accelerator pedal is in a depressed state at a first time point;

[0050] When the target driving mode is manual driving cruise mode or automatic driving mode, the target information also includes the state of the accelerator pedal; or, the state of the vehicle's brake pedal and automatic emergency braking system; the first condition also includes: the accelerator pedal is in a released state at a first point in time; or, the brake pedal is in a released state at a first point in time and the automatic emergency braking system is in an unbraked state at the first point in time.

[0051] The driving parameters may suddenly change at any time point, and the first time point represents any time point at which the driving parameters suddenly change.

[0052] Optionally, the state of the accelerator pedal at the first time point is determined based on the signal acquisition result of the accelerator pedal; if the signal acquisition result shows that the accelerator pedal has a signal at the first time point, it is determined that the accelerator pedal is in a depressed state at the first time point; if the signal acquisition result shows that the accelerator pedal has no signal at the first time point, it is determined that the accelerator pedal is in a released state at the first time point. Similarly, the state of the brake pedal at the first time point can be determined based on the signal acquisition result of the brake pedal; if the signal acquisition result of the brake pedal shows that the brake pedal has no signal at the first time point, it is determined that the brake pedal is in a released state at the first time point. Similarly, the state of the automatic emergency braking system at the first time point can be determined based on the signal acquisition result of the automatic emergency braking system; if the signal acquisition result of the automatic emergency braking system shows that the automatic emergency braking system has no signal at the first time point, it is determined that the automatic emergency braking system is in a non-braking state at the first time point.

[0053] The above step S103: determining the target state of the vehicle according to the target information may also include:

[0054] When the target driving mode is the manual driving non-cruise mode, if the driving parameter undergoes a first mutation at a first time point and the accelerator pedal is in a depressed state at the first time point, it is determined that the driver's control state of the vehicle is abnormal; if the driving parameter does not undergo the first mutation at the first time point and / or the accelerator pedal is in a released state at the first time point, it is determined that the driver's control state of the vehicle is normal;

[0055] When the target driving mode is the manual driving cruise mode, if the driving parameter undergoes a second mutation at a first time point and the accelerator pedal is in a released state at the first time point, or if the driving parameter undergoes a third mutation at the first time point, the brake pedal is in a released state at the first time point, and the automatic emergency braking system is in an unbraked state, it is determined that the state of the vehicle's power system is abnormal; if the driving parameter undergoes a second mutation at the first time point and the accelerator pedal is in a stepped state at the first time point, or, if the driving parameter undergoes a third mutation at the first time point, the brake pedal is in a stepped state at the first time point and / or the automatic emergency braking system is in a braked state, or if the driving parameter does not undergo the second mutation and the third mutation at the first time point, it is determined that the state of the vehicle's power system is normal;

[0056] When the target driving mode is the automatic driving mode, if the driving parameter undergoes a fourth mutation at the first time point and the accelerator pedal is in a released state at the first time point, or if the driving parameter undergoes a fifth mutation at the first time point, the brake pedal is in a released state at the first time point, and the automatic emergency braking system is in an unbraked state, then it is determined that the state of the vehicle's power system is abnormal; if the driving parameter undergoes a fourth mutation at the first time point, the accelerator pedal is in a stepped state at the first time point, or, if the driving parameter undergoes a fifth mutation at the first time point, the brake pedal is in a stepped state at the first time point and / or the automatic emergency braking system is in a braking state, or, if the driving parameter does not undergo the fourth mutation and the fifth mutation at the first time point, then it is determined that the state of the vehicle's power system is normal.

[0057] The embodiments of the present application determine that the driver's control state of the vehicle is abnormal by, when the target driving mode is a manual driving non-cruise mode, based on a sudden change in the driving parameters at the first time point and the accelerator pedal being in a pressed state at the first time point, and determine that the state of the vehicle's power system is abnormal by, when the target driving mode is a manual driving cruise mode or an automatic driving mode, based on a sudden change in the driving parameters at the first time point, and further correspondingly combining the accelerator pedal being in a released state at the first time point, or combining the brake pedal being in a released state at the first time point and the automatic emergency braking system being in an unbraked state, the accuracy of determining the abnormal target state of the vehicle in different driving modes can be improved, and further, it can be determined that the vehicle needs emergency braking accurately, thereby improving the vehicle's emergency braking effect and driving safety.

[0058] In one embodiment, when the target driving mode is a manual driving non-cruise mode, the target information further includes a congestion level of the road on which the vehicle is currently traveling, and the first condition further includes that the congestion level is greater than a preset level.

[0059] In the above case where the target driving mode is the manual driving non-cruise mode, if the driving parameter undergoes a first sudden change at a first time point and the accelerator pedal is in a depressed state at the first time point, determining that the driver's control state of the vehicle is abnormal may include:

[0060] When the target driving mode is manual driving non-cruise mode, if the driving parameter undergoes a first sudden change at a first time point, the accelerator pedal is in a depressed state at the first time point, and the congestion level of the road the vehicle is currently traveling on is greater than a preset level, it is determined that the driver's control of the vehicle is abnormal.

[0061] Among them, the abnormal control state of the driver of the vehicle may be that the driver mistakenly stepped on the accelerator pedal. In the above case where the target driving mode is manual driving non-cruise mode, if the driving parameter undergoes a first mutation at a first time point and the accelerator pedal is in a stepped-down state at the first time point, it can be characterized that the driver mistakenly stepped on the accelerator pedal, causing abnormal acceleration of the vehicle. In the case where the target driving mode is manual driving non-cruise mode, on the basis that the driving parameter undergoes a first mutation at a first time point and the accelerator pedal is in a stepped-down state at the first time point, and further combined with the congestion level of the road where the vehicle is currently traveling being greater than a preset level, it can be more certain that the driver's current driving intention is to brake but mistakenly stepped on the accelerator pedal, causing abnormal acceleration of the vehicle.

[0062] The embodiment of the present application can further improve the accuracy of determining that the driver's control state of the vehicle is abnormal in the manual driving non-cruise mode by determining that the driver's control state of the vehicle is abnormal based on the fact that the driving parameters suddenly change at the first time point and the accelerator pedal is in the pressed state at the first time point, and further combining the congestion level of the road currently traveled by the vehicle being greater than a preset level when the target driving mode is the manual driving non-cruise mode.

[0063] Optionally, when the vehicle is fuel-driven, the driving parameter is the throttle opening; when the vehicle is battery-driven, the driving parameter is at least one of the driving voltage, driving current and throttle opening.

[0064] In one embodiment, when the target driving mode is a manual driving non-cruise mode, the step S101: obtaining target information corresponding to the target driving mode includes:

[0065] If D1 / A1≥the first threshold value, and (D1-A1) / T1≥the second threshold value, it is determined that the driving parameter suddenly changes at the first time point;

[0066] Among them, D1 is the value of the driving parameter at the first time point in the manual driving non-cruise mode, A1 is the average value of the driving parameter sampled at each first sampling time point in the first time period, and the first time point is located after the first time period; the first sampling time point is set at the same time interval T1.

[0067] In the case where the vehicle is fuel-driven, the value D1 of the driving parameter at the first time point in the manual driving non-cruise mode is the signal value of the throttle opening at the first time point. Figure 3 As shown, t1 represents the first time point, t2 represents the last first sampling time point of the first time period, the time interval between t1 and t2 is T1, and when the signal value D1 of the throttle opening at the first time point t1 satisfies: D1 / A1≥first threshold value, and (D1-A1) / T1≥second threshold value, the change slope of the signal value of the throttle opening in the time period from t2 to t1 is close to vertical, indicating that the signal value of the throttle opening suddenly changes at the first time point t1.

[0068] Optionally, the determination condition of the first mutation is that D1 / A1≥first threshold value, and (D1-A1) / T1≥second threshold value. The above step S103: determining the target state of the vehicle according to the target information may also include:

[0069] If D1 / A1≥the first threshold, (D1-A1) / T1≥the second threshold, and the accelerator pedal is in the depressed state at the first time point, it is determined that the driver's control state of the vehicle is abnormal.

[0070] The first threshold, the second threshold and the first time period can be determined according to actual conditions. It is worth mentioning that the present application does not limit the driving mode of the vehicle in the first time period. The vehicle can be in manual driving non-cruise mode, automatic driving mode or manual driving cruise mode in the first time period.

[0071] The embodiment of the present application uses the conditions of D1 / A1≥first threshold value and (D1-A1) / T1≥second threshold value when the vehicle is in manual driving non-cruise mode, so as to accurately identify the situation where the driving parameter suddenly changes at the first time point. Further combined with the fact that the accelerator pedal is in the depressed state at the first time point, it can accurately identify the abnormal control state of the driver over the vehicle, and further accurately determine that the vehicle needs emergency braking, thereby improving the emergency braking effect and driving safety of the vehicle.

[0072] In one embodiment, when the target driving mode is a manual driving cruise mode, the step S101: obtaining target information corresponding to the target driving mode includes:

[0073] If |X i -X|≥ the third threshold, it is determined that the driving parameter has a sudden change at the first time point;

[0074] Among them, X i is the value of the driving parameter at the first time point in the manual driving cruise mode; X is the preset value of the driving parameter corresponding to the first time point in the manual driving cruise mode.

[0075] In one embodiment, if |X i -X|≥ the third threshold, it is determined that the driving parameter has a sudden change at the first time point, including:

[0076] In the case of a jump in the drive parameters, if (X i -X)≥the third threshold, it is determined that the driving parameter has an upward jump mutation at the first time point;

[0077] In the case of a drop in the drive parameters, if (X i -X)≤the inverse of the third threshold, it is determined that the driving parameter undergoes a downward jump mutation at the first time point.

[0078] Optionally, the determination condition of the second mutation is (X i -X)≥the third threshold, the judgment condition of the third mutation is (X i -X)≤the inverse of the third threshold.

[0079] The above step S103: determining the target state of the vehicle according to the target information may also include:

[0080] When the target driving mode is the manual driving cruise mode, if (X i -X)≥the third threshold value and the accelerator pedal is in a released state at the first time point, it is determined that the state of the power system of the vehicle is abnormal;

[0081] When the target driving mode is the manual driving cruise mode, if (X i -X)≤the opposite of the third threshold value, the brake pedal is in a released state at the first time point and the automatic emergency braking system is in an unbraked state at the first time point, it is determined that the state of the vehicle's power system is abnormal.

[0082] Optionally, when the vehicle is fuel-driven, the value X of the driving parameter at the first time point in the manual driving cruise mode is i is the signal value of the throttle opening at the first time point. Figure 4 As shown, in the case where the signal value of the throttle opening jumps up, if the signal value of the throttle opening at the first time meets the judgment condition of the second mutation, and there is a cruise mode signal at the first time point, but there is no accelerator pedal signal, then it is determined that the state of the vehicle's power system is abnormal and the vehicle is emergency braked; in the case where the signal value of the throttle opening jumps down, if the signal value of the throttle opening at the first time meets the judgment condition of the third mutation, and there is a cruise mode signal at the first time point, but there is no brake pedal signal and automatic emergency brake system signal, then it is determined that the state of the vehicle's power system is abnormal and the vehicle is emergency braked. Among them, the cruise mode signal at the first time point indicates that the cruise function switch of the vehicle is in the on state. In addition, since the driver is required to hold the steering wheel in the cruise mode, the cruise mode signal at the first time point can also indicate that the vehicle is in the manual driving cruise mode at the first time point. The above cruise mode signal corresponds to the on state signal of the cruise function switch, which can be obtained when the cruise function switch is in the on state.

[0083] The third threshold value and the preset value X of the driving parameter corresponding to the first time point in the manual driving cruise mode can be determined according to actual conditions.

[0084] In the embodiment of the present application, when the vehicle is in manual driving cruise mode, |X i -X|≥the third threshold condition can accurately identify the situation where the driving parameter suddenly changes at the first time point. Further combined with the accelerator pedal being in a released state at the first time point, or the brake pedal being in a released state at the first time point and the automatic emergency braking system being in an unbraked state at the first time point, it can accurately identify the abnormal state of the vehicle's power system, and then accurately determine that the vehicle needs emergency braking, thereby improving the vehicle's emergency braking effect and driving safety.

[0085] In one embodiment, when the target driving mode is the automatic driving mode, the step S101 of obtaining target information corresponding to the target driving mode includes:

[0086] If (D2-A2) / T2≥the fourth threshold, or, (X t -X t-1 )≤the fifth threshold, it is determined that the driving parameter mutates at the first time point;

[0087] Wherein, D2 is the value of the driving parameter at the first time point in the automatic driving mode, A2 is the average value of the driving parameter sampled at each second sampling time point in the second time period, the first time point is located after the second time period; the second sampling time points are set at the same time interval T2; X t is the value of the driving parameter at the first time point in the automatic driving mode, X t-1 is the value of the driving parameter at the second time point in the automatic driving mode; the second time point is the previous sampling time point of the first time point.

[0088] The second time period and the first time period may be the same time period or different time periods, and the time interval T2 and the time interval T1 may be the same time interval or different time intervals.

[0089] In one embodiment, if (D2-A2) / T2≥the fourth threshold, or (X t -X t-1 )≤the fifth threshold, it is determined that the driving parameter has a sudden change at the first time point, including:

[0090] In the case where the driving parameter jumps upward, if (D2-A2) / T2≥the fourth threshold, it is determined that the driving parameter jumps upward suddenly at the first time point;

[0091] In the case of a drop in the drive parameters, if (X t -X t-1 )≤the fifth threshold, it is determined that the driving parameter undergoes an upward jump mutation at the first time point.

[0092] Optionally, when the vehicle is fuel-driven, the value D2 of the driving parameter at the first time point in the automatic driving mode is the signal value of the throttle opening at the first time point. Figure 5 As shown, when the signal value of the throttle opening jumps up, and the signal value D2 of the throttle opening at the first time point satisfies: (D2-A2) / T2≥the fourth threshold, the slope of the actual acceleration curve corresponding to the first time point is greater than the slope of the preset acceleration curve, indicating that the throttle opening jumps up suddenly at the first time point. Among them, the slope of the preset acceleration curve = the fourth threshold, and the slope of the actual acceleration curve corresponding to the first time point = (D2-A2) / T2.

[0093] Optionally, the determination condition for the fourth mutation is (D2-A2) / T2≥the fourth threshold value, and the determination condition for the fifth mutation is (X t -X t-1 )≤the fifth threshold.

[0094] The above step S103: determining the target state of the vehicle according to the target information may also include:

[0095] When the target driving mode is the automatic driving cruise mode, if (D2-A2) / T2≥the fourth threshold value and the accelerator pedal is in a released state at the first time point, it is determined that the power system state of the vehicle is abnormal;

[0096] When the target driving mode is the automatic driving cruise mode, if (X t -X t-1 )≤the fifth threshold, the brake pedal is in a released state at the first time point, and the automatic emergency braking system is in an unbraked state at the first time point, it is determined that the vehicle's power system state is abnormal.

[0097] The fourth threshold, the fifth threshold and the second time period can be determined according to actual conditions. It is worth mentioning that the present application does not limit the driving mode of the vehicle in the second time period. The vehicle can be in automatic driving mode, manual driving non-cruise mode or manual driving cruise mode in the second time period.

[0098] In the embodiment of the present application, when the vehicle is in the automatic driving cruise mode, (D2-A2) / T2≥the fourth threshold, or (X t -X t-1 )≤the fifth threshold, it can accurately identify the situation where the driving parameter suddenly changes at the first time point, and further combined with the accelerator pedal being in a released state at the first time point, or combined with the brake pedal being in a released state at the first time point and the automatic emergency braking system being in an unbraked state at the first time point, it can accurately identify the abnormal state of the vehicle's power system, and then accurately determine that the vehicle needs emergency braking, thereby improving the vehicle's emergency braking effect and driving safety.

[0099] The target state abnormality in the above step S104 includes: the change of the driving parameter is that the driving parameter suddenly changes at the first time point. In one embodiment, the emergency braking operation in the above step S104 includes:

[0100] Determine the driving force of the vehicle according to the power energy consumed by the vehicle traveling a first distance, the power energy conversion efficiency of the vehicle and the first distance; the first distance is the distance traveled by the vehicle from a sampling time point last at the first time point to the first time point;

[0101] Determining the load of the vehicle according to the driving force of the vehicle, the acceleration corresponding to the first distance traveled by the vehicle, and the acceleration due to gravity;

[0102] Determine the road adhesion coefficient of the vehicle based on the vehicle load and the vehicle driving force;

[0103] Determine the braking force required for emergency braking of the vehicle based on the vehicle load and road adhesion coefficient;

[0104] According to the braking force, the vehicle emergency braking is controlled.

[0105] Optionally, the driving force of the vehicle is calculated by the following formula:

[0106] F = Q*η / s;

[0107] Among them, F is the driving force of the vehicle, Q is the power energy consumed by the vehicle when traveling the first distance, η is the power energy conversion efficiency of the vehicle, and s is the first distance.

[0108] Optionally, the vehicle's load is calculated by the following formula:

[0109] W = F / a / g;

[0110] Wherein, W is the load of the vehicle, a is the acceleration corresponding to the first distance traveled by the vehicle, and g is the acceleration due to gravity. Wherein, the acceleration a can be read by the intelligent navigation system or the vehicle acceleration sensor.

[0111] Optionally, the road adhesion coefficient of the vehicle is calculated by the following formula:

[0112] Φ=F / W d ;

[0113] Where, Φ is the road adhesion coefficient of the vehicle; W d is the vehicle's drive axle load. When the vehicle is driven by four-wheel drive, W d =W, when the vehicle is driven by front wheels, W d =W f =a%×W, when the vehicle is rear-wheel drive, W d =W r =b%×W;W f is the front wheel axle load of the vehicle, W r is the rear wheel axle load of the vehicle, a% is the front axle load distribution coefficient of the vehicle, and b% is the rear axle load distribution coefficient of the vehicle.

[0114] Optionally, the above braking force includes the front wheel brake hydraulic pressure and the rear wheel brake hydraulic pressure. The braking force required for emergency braking of the vehicle can be calculated by the following formula:

[0115] Hf =Φ×W f ×g×R / r1 / f1 / d f 2 / 3.14×4;

[0116] Hr=Φ×W r ×g×R / r2 / f2 / d r 2 / 3.14×4;

[0117] Among them, H f is the front wheel brake hydraulic pressure of the vehicle, H r is the rear wheel brake hydraulic pressure of the vehicle, R is the wheel rolling radius of the vehicle, r1 is the effective radius of the front brake of the vehicle, r2 is the effective radius of the rear brake of the vehicle, f1 is the front brake friction coefficient of the vehicle, f2-the rear brake friction coefficient of the vehicle, d f is the cylinder diameter of the vehicle's front brake pump, d r is the cylinder diameter of the vehicle's rear brake pump.

[0118] In the embodiment of the present application, when it is determined that the target state of the vehicle is abnormal based on a sudden change in the driving parameters of the vehicle at a first time point, the braking force required for emergency braking of the vehicle can be accurately determined based on a first distance traveled by the vehicle from a previous sampling time point of the first time point to the first time point, the power energy consumed by the first distance, and the acceleration corresponding to the first distance, and the emergency braking of the vehicle can be controlled according to the braking force, thereby improving the emergency braking effect of the vehicle and driving safety.

[0119] In one embodiment, the emergency braking operation in step S104 further includes at least one of the following:

[0120] Control the vehicle's throttle to close or disconnect the vehicle's high-voltage contactor;

[0121] Control the vehicle's fault warning light to turn on.

[0122] Optionally, when the vehicle is fuel-driven, the throttle of the vehicle can be closed to stop fuel injection when the vehicle is emergency braked according to the braking force; when the vehicle is battery-driven, the high-voltage contactor of the vehicle can be disconnected to stop power supply when the vehicle is emergency braked according to the braking force. In addition, when the vehicle is emergency braked according to the braking force, the vehicle can also be controlled to turn on the double flash lights for collision warning to prevent rear-end collision with the vehicle behind.

[0123] The embodiments of the present application can further improve driving safety by closing the vehicle's throttle to stop fuel injection or disconnecting the vehicle's high-voltage contactor to stop power supply when controlling the vehicle's emergency braking according to the braking force, and turning on the vehicle's fault warning light to provide a collision warning.

[0124] It is worth mentioning that, when the vehicle is battery-driven, the throttle opening can be replaced by any one of voltage, current, and throttle opening. Optionally, when the driving parameters are at least two of the driving voltage, driving current, and throttle opening, the determination condition for the sudden change of the driving parameters at the first time point is that each of the at least two driving parameters has a sudden change at the first time point.

[0125] like Figure 6 As shown, the embodiment of the present application also provides an Emergency Braking Avoidance Error System (EB-AES), which is composed of three modules: an environmental data acquisition module, a control module, and an execution module. Among them, the environmental data acquisition module includes an accelerator pedal sensor, a brake pedal sensor, a navigation system, a driving mode sensing circuit, a vehicle speed sensor, an AEB system, a yaw angle sensor, a throttle opening sensor (or a motor controller), and a driving function switch, wherein the driving function switch includes a cruise function switch and an automatic driving function switch. When the vehicle is fuel-driven, the control module is a chassis domain control module (Vehicle Motion Control, VMC), and when the vehicle is battery-driven, the control module is a vehicle dynamics control module (Vehicle Dynamics Domain Master, VDDM). The execution module includes a power control module (Power Control Module, PCM), a brake control module (Electronic Stability Controller, ESC), and a body controller (Body Control Module, BCM).

[0126] Figure 6In the figure, number 1 is the accelerator pedal sensor, which is used to input signals to VMC / VDDM as a condition for judging the state of the accelerator pedal; number 2 is the navigation system, which is used to input signals to VMC / VDDM as a condition for judging the congestion level of the road the vehicle is currently traveling on as one of the conditions for judging whether the driver has stepped on the wrong accelerator pedal; number 3 is the driving mode sensor circuit, which is set on the steering wheel and is used to input signals to VMC / VDDM as a condition for judging manned cruise mode or manned non-cruise mode; number 4 is the vehicle speed sensor, which is used to input signals to VMC / VDDM as a condition for reminding the driver to take over the vehicle and calculating the braking force; number 5 is the AEB system, which is used to input signals to VMC / VDDM as a condition for judging The condition for judging the state of the AEB system; No. 6 is a brake pedal sensor, which is used to input a signal to the VMC / VDDM as a condition for judging the state of the brake pedal; No. 7 is a throttle opening sensor. When the vehicle is fuel-driven, the signal input by the throttle opening sensor to the VMC / VDDM can be used as a condition for judging whether the throttle opening has a sudden change; No. 8 is a motor controller. When the vehicle is battery-driven, the signal input by the motor controller to the VMC / VDDM can be used as a condition for judging whether at least one of the voltage, current and throttle opening has a sudden change; No. 9 is a driving function switch, which is used to input a signal to the VMC / VDDM as a condition for judging the current target driving mode of the vehicle.

[0127] Figure 6 Sequence number 10 is VMC / VDDM. As the central controller, VMC / VDDM is responsible for analyzing the environmental data sent by the environmental data acquisition module, identifying whether the vehicle needs emergency braking, and calculating the braking force when it is identified that the vehicle needs emergency braking, sending a braking command to the ESC, a power cut-off command to the PCM, and a collision warning command to the BCM, so that the PCM, ESC, and BCM work in conjunction to achieve emergency braking to avoid errors and collisions.

[0128] Figure 6 Sequence number 11 is PCM, which is responsible for executing the power cut operation upon receiving the power cut command sent by VMC / VDDM; sequence number 12 is ESC, which is responsible for executing the emergency braking operation upon receiving the braking command sent by VMC / VDDM; sequence number 13 is BCM, which is responsible for turning on the vehicle's fault warning light for collision warning upon receiving the collision warning command sent by VMC / VDDM.

[0129] The vehicle control method provided in the embodiment of the present application can also be applied to the above-mentioned EB-AES system. Figure 7 As shown, the working logic of the above EB-AES system includes the following three steps:

[0130] Logic I: Wake up VMC / VDDM - determine the current target driving mode of the vehicle - determine whether the driving parameters have changed suddenly - determine the accelerator pedal status or the brake pedal status and the AEB system status - determine whether the target state of the vehicle is abnormal - calculate the braking force - drive ESC to perform emergency braking operations.

[0131] Logic II: Wake up VMC / VDDM - determine the current target driving mode of the vehicle - determine whether the driving parameters have changed suddenly - determine the accelerator pedal status or the brake pedal status and the AEB system status - determine whether the target status of the vehicle is abnormal - drive BCM to turn on the fault warning light.

[0132] Logic III: Wake up VMC / VDDM - determine the current target driving mode of the vehicle - determine whether the driving parameters have changed suddenly - determine the accelerator pedal status or the brake pedal status and the AEB system status - determine whether the target state of the vehicle is abnormal - drive control PCM to stop fuel injection or disconnect the high-voltage contactor.

[0133] Regarding the above logic I, please combine Figure 2 and Figure 7 When the vehicle's power system is started, the power system inputs the start signal to the VMC / VDDM through the CAN network to wake up the VMC / VDDM and activate the EB-AES system. At this time, the VMC / VDDM continuously reads the signal of the vehicle speed sensor, the signal of the AEB system and the signal of the automatic driving function switch through the CAN network, and stores the data in the data storage unit of the VMC / VDDM. The analysis and judgment unit of the VMC / VDDM reads the dynamic data from the data storage unit. When the vehicle is in the automatic driving mode and the vehicle speed is higher than the preset speed (such as 115km / h), or when the vehicle's AEB system is in a fault state, the VMC / VDDM sends the prompt information that the vehicle needs the driver to take over to the vehicle status display screen, and the display screen can use warning symbols and prompt sounds to remind the driver to take over the vehicle. Until the driver holds the steering wheel, the driving mode sensor circuit set on the steering wheel will send the signal of the driver holding the steering wheel to the VMC / VDDM through the CAN network. At this time, the VMC / VDDM confirms that the driver has taken over the vehicle and controls the vehicle status display screen to turn off the above prompt information.

[0134] Emergency braking scenario in manual driving non-cruise mode: After confirming that the driver has taken over the vehicle, the VMC / VDDM continuously reads the signal of the throttle opening sensor (or the signal of the motor controller), the signal of the accelerator pedal sensor, the signal of the navigation system, the signal of the cruise function switch and the signal of the automatic driving function switch through the CAN network, and stores the data in the data storage unit of the VMC / VDDM. The data storage unit has data processing capabilities and can filter invalid values ​​and calculate the average of valid values ​​of the drive parameter signal data of the N nodes read through the data storage unit, and then analyze the data processed by the data storage unit through the analysis and judgment unit. If the signal value D1 of the drive parameter at the first time point is consistent with the drive parameter signal value in the first time period during driving, the result will be compared with the result of the analysis and judgment unit. The mean value A1 of the signal value satisfies the following relationship: D1 / A1≥first threshold value K, and (D1-A1) / T1≥second threshold value β1, wherein the first sampling time point is set at the same time interval T1, then VMC / VDDM determines that the driving parameter has a sudden change at the first time point, and if VMC / VDDM obtains that the congestion level of the current road is greater than the preset level T according to the signal analysis of the navigation system, and obtains that the accelerator pedal is in a stepped state at the first time point according to the signal analysis of the accelerator pedal sensor, and obtains that the vehicle is in manual driving non-cruise mode at the first time point according to the signal analysis of the cruise function switch and the signal of the automatic driving function switch, then VMC / VDDM determines that the vehicle driver's control state of the vehicle is abnormal, and the EB-AES system makes an emergency braking decision. Wherein, in the case of fuel-driven vehicle, the above-mentioned driving parameter can be the throttle opening; in the case of battery-driven vehicle, the above-mentioned driving parameter can be at least one of voltage, current, and switch opening.

[0135] Emergency braking scenario in manual driving cruise mode: Please combine Figure 4 and Figure 7 , VMC / VDDM continuously reads the throttle opening sensor signal (or motor controller signal), accelerator pedal sensor signal, brake pedal sensor signal, AEB system signal and cruise function switch signal through the CAN network. In the case of a jump in the signal value of the drive parameter, if VMC / VDDM analyzes the throttle opening sensor signal (or motor controller signal), the signal value X of the drive parameter at the first time point i The preset value X corresponding to the first time point of the driving parameter in the manual driving cruise mode satisfies the following relationship: (X i-X)≥ the third threshold value H, and at the same time, VMC / VDDM obtains that the accelerator pedal is in the released state at the first time point based on the signal analysis of the accelerator pedal sensor, and obtains that the vehicle is in the manual driving cruise mode at the first time point based on the signal analysis of the cruise function switch, then VMC / VDDM determines that the state of the vehicle power system is abnormal, and the EB-AES system makes an emergency braking decision. In the case where the signal value of the driving parameter jumps downward, if VMC / VDDM obtains based on the signal analysis of the throttle opening sensor (or the signal of the motor controller), X i and X satisfy the following relationship: (X i -X)≤-H, and at the same time, VMC / VDDM obtains that the brake pedal is in a released state at the first time point based on the signal analysis of the brake pedal sensor, and obtains that the AEB system is in an unbraked state at the first time point based on the signal analysis of the AEB system, and obtains that the vehicle is in manual driving cruise mode at the first time point based on the signal analysis of the cruise function switch, then VMC / VDDM determines that the state of the vehicle power system is abnormal, and the EB-AES system makes an emergency braking decision.

[0136] Emergency braking scenarios in autonomous driving mode: Figure 5 and Figure 7 , VMC / VDDM continuously reads the signal of the throttle opening sensor (or the signal of the motor controller), the signal of the accelerator pedal sensor, the signal of the brake pedal sensor, the signal of the AEB system and the signal of the automatic driving function switch through the CAN network. In the case where the signal value of the driving parameter jumps up, if VMC / VDDM analyzes the signal of the throttle opening sensor (or the signal of the motor controller), the signal value D2 of the driving parameter at the first time point and the average value A2 of the signal value of the driving parameter at each second sampling time point in the second time period satisfy the following relationship: (D2-A2) / T2≥the fourth threshold value β2, wherein the second sampling time points are set at equal time intervals T2, and the fourth threshold value β2 can be Figure 5 The slope of the acceleration curve is preset in the VMC / VDDM. At the same time, the VMC / VDDM obtains that the accelerator pedal is in the released state at the first time point based on the signal analysis of the accelerator pedal sensor, and the vehicle is in the automatic driving mode at the first time point based on the signal analysis of the automatic driving function switch. Then the VMC / VDDM determines that the state of the vehicle power system is abnormal, and the EB-AES system makes an emergency braking decision. In the case where the signal value of the drive parameter jumps downward, if the VMC / VDDM obtains that the signal value X of the drive parameter at the first time point is higher than the signal value X of the throttle opening sensor (or the signal of the motor controller) according to the analysis of the throttle opening sensor, the VMC / VDDM will determine that the signal value X of the drive parameter at the first time point is higher than the signal value X of the throttle opening sensor (or the signal of the motor controller). t The signal value X of the driving parameter at the previous sampling time point at the first time point t-1 Satisfies the following relationship: (X t -X t-1)≤the fifth threshold value h, and at the same time, VMC / VDDM obtains that the brake pedal is in a released state at the first time point according to the signal analysis of the brake pedal sensor, and obtains that the AEB system is in an unbraked state at the first time point according to the signal analysis of the AEB system, and obtains that the vehicle is in the automatic driving mode at the first time point according to the signal analysis of the automatic driving function switch, then VMC / VDDM determines that the state of the vehicle power system is abnormal, and the EB-AES system makes an emergency braking decision.

[0137] When the EB-AES system makes an emergency braking decision, the VMC / VDDM reads the signal of the vehicle speed sensor through the CAN network, calculates the first distance traveled by the vehicle from the last driving parameter sampling time point to the first time point and the acceleration reading corresponding to the first distance, and obtains the braking force required for emergency braking of the vehicle through system simulation calculation based on the first distance and the corresponding acceleration, and sends the braking command and the calculated braking force to the ESC. After receiving the braking command, the ESC drives the brake for emergency braking according to the braking force. During the emergency braking process, the ESC can combine its own control strategy to perform dynamic braking control such as anti-lock, anti-skid, and stability control on the vehicle. Further, when the VMC / VDDM reads that the vehicle speed is zero through the CAN network, it controls the ESC to perform parking operations to ensure that the vehicle is in a stable parking state after emergency braking. In addition, when the EB-AES system completes an emergency braking or the vehicle is in a stable parking state, the data stored in the data storage unit of the VMC / VDDM will be cleared until the next time the VMC / VDDM receives data sent by the environmental data acquisition module, and the EB-AES system enters the next round of reading, analysis, judgment, etc.

[0138] For the above logic II, the process of judging whether the target state of the vehicle is abnormal is the same as the above logic I, and will not be repeated here. In the case that EB-AES makes an emergency braking decision, the VMC / VDDM can also send a power cut-off command to the PCM. In response to the power cut-off command, the PCM controls the throttle valve to close to stop fuel injection or disconnects the high-voltage contactor to stop power supply.

[0139] For the above logic III, the process of judging whether the target state of the vehicle is abnormal is the same as the above logic I, which will not be repeated here. When EB-AES makes an emergency braking decision, VMC / VDDM also sends a collision warning command to BCM. In response to the collision warning command sent by VMC / VDDM, BCM turns on the double flash for collision warning to prevent rear-end collision with the vehicle behind.

[0140] It is worth mentioning that the EB-AES system provided in the embodiment of the present application is compatible with the AEB system. When the AEB system fails, fails or is not triggered, the EB-AES system does not need to rely on optical sensing devices, so that the vehicle always has an emergency braking error avoidance and collision avoidance function, which can improve driving safety. When the AEB system works normally, if the AEB system and the EB-AES system initiate braking commands at the same time, the ESC shall be based on the braking commands of the preset system. The preset system can be any one of the AEB system and the EB-AES system, which can be determined according to the accuracy of the braking commands.

[0141] The EB-AES system provided in the embodiment of the present application integrates software and hardware by utilizing existing technical modules, so that the vehicle has a reliable emergency braking error avoidance and collision avoidance function.

[0142] See also Figure 8 The embodiment of the present application also provides a vehicle control device 800 that can implement the above-mentioned vehicle control method. The system includes: a first acquisition module 801, a second acquisition module 802, a state determination module 803 and a braking execution module 804.

[0143] The first acquisition module 801 is used to acquire the target driving mode currently in which the vehicle is located; the target driving mode is a manual driving non-cruise mode, a manual driving cruise mode or an automatic driving mode;

[0144] The second acquisition module 802 is used to acquire target information corresponding to the target driving mode; the target information at least includes the change of the driving parameters of the vehicle;

[0145] The state determination module 803 is used to determine the target state of the vehicle according to the target information; wherein, when the target driving mode is a manual driving non-cruise mode, the target state is the control state of the vehicle by the driver of the vehicle; when the target driving mode is a manual driving cruise mode or an automatic driving mode, the target state is the state of the power system of the vehicle;

[0146] The brake execution module 804 is used to execute an emergency braking operation when the target state is abnormal.

[0147] The vehicle control device provided in the embodiment of the present application can implement each step of the above-mentioned vehicle control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0148] The embodiment of the present application also provides an electronic device, including a processor and a memory, the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, each step of the above-mentioned vehicle control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. It should be noted that the electronic device in the embodiment of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0149] Fig. 9 A schematic diagram of the hardware structure of an electronic device for implementing an embodiment of the present application is provided, wherein the electronic device includes:

[0150] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0151] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the vehicle control method of the embodiment of this application;

[0152] Input / output interface 903, used to implement information input and output;

[0153] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0154] A bus 905 that transmits information between various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0155] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0156] The electronic device provided in the embodiment of the present application can implement each step of the above-mentioned vehicle control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0157] An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various steps of the above-mentioned vehicle control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0158] The processor is the processor in the electronic device described in the above embodiment. The computer-readable storage medium includes a computer-readable storage medium such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0159] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various steps of the above-mentioned vehicle control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0160] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0161] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various steps of the above-mentioned vehicle control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0162] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not delete the existence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0163] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0164] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtaining a target driving mode currently in which the vehicle is located; the target driving mode is a manual driving non-cruise mode, a manual driving cruise mode, or an automatic driving mode; Acquiring target information corresponding to the target driving mode; the target information at least includes a change in a driving parameter of the vehicle; Determining a target state of the vehicle according to the target information; wherein, when the target driving mode is the manual driving non-cruise mode, the target state is a control state of the vehicle by the driver of the vehicle; and when the target driving mode is the manual driving cruise mode or the automatic driving mode, the target state is a state of a power system of the vehicle; In the case where the target state is abnormal, an emergency braking operation is performed.

2. The vehicle control method according to claim 1, characterized in that: Determining the target state of the vehicle according to the target information includes: When the target information satisfies a first condition, determining that the target state is abnormal; Wherein, the first condition includes that the change of the driving parameter is that the driving parameter suddenly changes at a first time point; When the target driving mode is the manual driving non-cruise mode, the target information further includes a state of an accelerator pedal of the vehicle; the first condition further includes that the accelerator pedal is in a depressed state at the first time point; When the target driving mode is the manual driving cruise mode or the automatic driving mode, the target information also includes the state of the accelerator pedal; or, the state of the brake pedal and the automatic emergency braking system of the vehicle; the first condition also includes: the accelerator pedal is in a released state at the first time point; or, the brake pedal is in a released state at the first time point and the automatic emergency braking system is in an unbraked state.

3. The vehicle control method according to claim 2, characterized in that: When the target driving mode is the manual driving non-cruise mode, the acquiring target information corresponding to the target driving mode includes: If D1 / A1≥the first threshold value, and (D1-A1) / T1≥the second threshold value, it is determined that the driving parameter suddenly changes at the first time point; Among them, D1 is the value of the driving parameter at the first time point in the manual driving non-cruise mode, A1 is the average value of the driving parameter sampled at each first sampling time point in the first time period, and the first time point is located after the first time period; the first sampling time point is set at a time interval T1.

4. The vehicle control method according to claim 2, characterized in that: When the target driving mode is the manual driving cruise mode, the acquiring target information corresponding to the target driving mode includes: If |X i -X|≥ a third threshold, it is determined that the driving parameter has a sudden change at the first time point; Among them, X i is the value of the driving parameter in the manual driving cruise mode at the first time point; X is the preset value of the driving parameter in the manual driving cruise mode corresponding to the first time point.

5. The vehicle control method according to claim 2, characterized in that: When the target driving mode is the automatic driving mode, the acquiring target information corresponding to the target driving mode includes: If (D2-A2) / T2≥the fourth threshold, or, (X t -X t-1 )≤a fifth threshold, it is determined that the driving parameter mutates at the first time point; Wherein, D2 is the value of the driving parameter at the first time point in the automatic driving mode, A2 is the average value of the driving parameter sampled at each second sampling time point in the second time period, the first time point is after the second time period; the second sampling time points are set at equal time intervals T2; X t is the value of the driving parameter at the first time point in the automatic driving mode, X t-1 is the value of the driving parameter at a second time point in the automatic driving mode; the second time point is a sampling time point before the first time point.

6. The vehicle control method according to claim 1, characterized in that: When the target driving mode is the manual driving non-cruise mode or the manual driving cruise mode, before acquiring the target driving mode currently in which the vehicle is located, the vehicle control method further includes: When the vehicle is in the automatic driving mode, if the vehicle speed is higher than a preset speed or the automatic emergency braking system of the vehicle is in a fault state, a prompt message is output; the prompt message is used to prompt the driver to take over the vehicle; In the case where it is monitored that the steering wheel of the vehicle is in a held state, it is determined that the vehicle enters the manual driving non-cruise mode or the manual driving cruise mode.

7. The vehicle control method according to claim 1, characterized in that: The target state abnormality includes: the change of the driving parameter is that the driving parameter suddenly changes at a first time point; The performing of the emergency braking operation comprises: Determine the driving force of the vehicle according to the power energy consumed by the vehicle traveling a first distance, the power energy conversion efficiency of the vehicle and the first distance; the first distance is the distance traveled by the vehicle from a sampling time point last before the first time point to the first time point; determining a load of the vehicle according to a driving force of the vehicle, an acceleration corresponding to the vehicle traveling the first distance, and a gravity acceleration; determining a road adhesion coefficient of the vehicle according to the load of the vehicle and the driving force of the vehicle; Determining the braking force required for emergency braking of the vehicle according to the load of the vehicle and the road adhesion coefficient; The vehicle is controlled to perform emergency braking according to the braking force.

8. The vehicle control method according to claim 2, characterized in that: When the target driving mode is the manual driving non-cruise mode, the target information further includes a congestion level of the road on which the vehicle is currently traveling; and the first condition further includes that the congestion level is greater than a preset level.

9. The vehicle control method according to claim 1, characterized in that: When the vehicle is fuel-driven, the driving parameter is the throttle opening; when the vehicle is battery-driven, the driving parameter is at least one of the driving voltage, the driving current and the throttle opening; The performing of the emergency braking operation includes at least one of the following: Controlling a throttle valve of the vehicle to close or disconnecting a high-voltage contactor of the vehicle; Control the fault warning light of the vehicle to turn on.

10. A vehicle control device, characterized in that: include: A first acquisition module, a second acquisition module, a state determination module and a braking execution module; The first acquisition module is used to acquire the target driving mode currently in which the vehicle is located; the target driving mode is a manual driving non-cruise mode, a manual driving cruise mode or an automatic driving mode; The second acquisition module is used to acquire target information corresponding to the target driving mode; the target information at least includes a change in a driving parameter of the vehicle; The state determination module is used to determine the target state of the vehicle according to the target information; wherein, when the target driving mode is the manual driving non-cruise mode, the target state is the control state of the vehicle by the driver of the vehicle; when the target driving mode is the manual driving cruise mode or the automatic driving mode, the target state is the state of the power system of the vehicle; The brake execution module is used to execute an emergency braking operation when the target state is abnormal.

11. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the vehicle control method according to any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 9 is implemented.

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