A vehicle control method and device, electronic equipment and storage medium

Abstract

The application provides a vehicle control method and device, electronic equipment and storage medium. The vehicle control method comprises: obtaining a target driving mode in which a vehicle currently locates; 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 comprises a change condition of a driving parameter of the vehicle; determining a target state of the vehicle according to the target information; and performing an emergency braking operation in a case where the target state is abnormal. The application determines the target state of the vehicle based on the target driving mode in which the vehicle currently locates and the change condition of the driving parameter of the vehicle in the target driving mode, and performs the emergency braking in a case where the target state of the vehicle is abnormal, thereby improving the accuracy of identifying the emergency braking demand of the vehicle, and improving the effect of the emergency braking of the vehicle and the driving safety.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of automobile electronic technology and the advent of the era of software-defined cars, highly intelligent driving systems combining electronics and software have become a field that major automakers are competing for.

[0003] For the scene that needs emergency braking, most of the current emergency braking demand of the vehicle is recognized through the autonomous emergency braking (AEB) system, and the AEB system is heavily dependent on the perception module (laser radar or optical camera), but the perception module is greatly affected by the environment, which can cause the AEB system to misjudge, in addition, the AEB system can also have faults, not trigger work and other situations, only relying on the AEB system, there is a great risk of safety.

[0004] How to improve the accuracy of recognizing the emergency braking demand of the vehicle and improve the effect of emergency braking of the vehicle and driving safety has become a problem to be solved. SUMMARY

[0005] The main purpose of the embodiments of the present application is to provide a vehicle control method and device, electronic equipment and storage medium, which aims to improve the accuracy of recognizing the emergency braking demand of the vehicle, and improve the effect of emergency braking of the vehicle and driving safety.

[0006] The present application provides a vehicle control method, comprising: obtaining a target driving mode in which a vehicle currently locates; 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 of a driving parameter of the vehicle; determining a target state of the vehicle according to the target information; wherein, in the case that the target driving mode is the manual driving non-cruise mode, the target state is a control state of a driver of the vehicle to the vehicle; in the case that 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 that the target state is abnormal, performing an emergency braking operation.

[0007] In an embodiment, the determining the target state of the vehicle according to the target information comprises: determining that the target state is abnormal when the target information satisfies a first condition; wherein the first condition comprises that a change of the driving parameter is that the driving parameter is mutated at a first time point; when the target driving mode is the manual driving non-cruise mode, the target information further comprises a state of an accelerator pedal of the vehicle; the first condition further comprises that the accelerator pedal is in a pressed 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 further comprises a state of the accelerator pedal or a state of a brake pedal and an automatic emergency brake system of the vehicle; and the first condition further comprises that 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 brake system is in an unbraked state.

[0008] In an embodiment, when the target driving mode is the manual driving non-cruise mode, the obtaining the target information corresponding to the target driving mode comprises: determining that the driving parameter is mutated at the first time point if D1 / A1 is greater than or equal to a first threshold value and (D1-A1) / T1 is greater than or equal to a second threshold value; wherein D1 is a value of the driving parameter at the first time point in the manual driving non-cruise mode, A1 is an average of 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 arranged at equal time intervals T1.

[0009] In an embodiment, when the target driving mode is the manual driving cruise mode, the obtaining the target information corresponding to the target driving mode comprises: determining that the driving parameter is mutated at the first time point if |X i -X| is greater than or equal to a third threshold value; wherein X i is a value of the driving parameter at the first time point in the manual driving cruise mode; and X is a preset value of the driving parameter corresponding to the first time point in the manual driving cruise mode.

[0010] In an embodiment, when the target driving mode is the automatic driving mode, the obtaining the target information corresponding to the target driving mode comprises: determining that the driving parameter is mutated at the first time point if (D2-A2) / T2 is greater than or equal to a fourth threshold value or (X t -X t-1If D2 ≤ the fifth threshold, then it is determined that the driving parameter underwent a sudden change at the first time point; where D2 is the value of the driving parameter at the first time point in the autonomous driving mode, A2 is the average value of the driving parameter sampled at each second sampling time point in the second time period, and the first time point is located after the second time period; the second sampling time points are set at equal time intervals T2; X t X represents the value of the driving parameter in the autonomous driving mode at the first time point. t-1 The value of the driving parameter in the autonomous driving mode is at a second time point; the second time point is the previous sampling time point of 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 obtaining the target driving mode currently in which the vehicle is located, the vehicle control method further includes: when the vehicle is in an automatic driving mode, if the vehicle speed is higher than a preset speed or the vehicle's automatic emergency braking system is in a malfunctioning 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 vehicle's steering wheel is in a gripped state, determining that the vehicle has entered the manual driving non-cruise mode or the manual driving cruise mode.

[0012] In one embodiment, the abnormal target state includes: the change in the driving parameters is that the driving parameters undergo a sudden change at a first time point; the execution of emergency braking includes: determining the driving force of the vehicle based on 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 the previous sampling time point to the first time point; determining the load of the vehicle based on the driving force of the vehicle, the acceleration corresponding to the first distance traveled by the vehicle, and the gravitational acceleration; determining the road adhesion coefficient of the vehicle based on the load of the vehicle and the driving force of the vehicle; determining the braking force required to cause emergency braking of the vehicle based on the load of the vehicle and the road adhesion coefficient; and controlling the emergency braking of the vehicle based on the braking force.

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

[0014] In an embodiment, when the vehicle is fuel-driven, the driving parameter is a throttle opening degree; when the vehicle is battery-driven, the driving parameter is at least one of a driving voltage, a driving current, and a switch opening degree; and the executing the emergency braking operation comprises at least one of: controlling the throttle of the vehicle to be closed or disconnecting a high-voltage contactor of the vehicle; and controlling a fault warning light of the vehicle to be turned on.

[0015] The application further provides a vehicle control device, comprising: a first acquisition module, a second acquisition module, a state determination module, and a braking execution module; the first acquisition module is configured to acquire a target driving mode in which a vehicle currently locates; 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 configured to acquire target information corresponding to the target driving mode; the target information at least comprises a change condition of a driving parameter of the vehicle; the state determination module is configured to determine 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 a 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; and the braking execution module is configured to execute an emergency braking operation when the target state is abnormal.

[0016] The application further provides an electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the vehicle control method.

[0017] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the vehicle control method.

[0018] The vehicle control method, device, electronic device, and storage medium provided by the application can determine a target state of a vehicle based on a target driving mode in which the vehicle currently locates and a change condition of a driving parameter of the vehicle in the target driving mode, and execute an emergency braking operation when the target state of the vehicle is abnormal, thereby improving the accuracy of identifying the emergency braking demand of the vehicle and improving the effect of the emergency braking of the vehicle and the driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 FIG. 1 is a flowchart of a vehicle control method provided by an embodiment of the application;

[0020] Figure 2 FIG. 2 is a schematic diagram of a scenario of identifying a driving mode provided by an embodiment of the application;

[0021] Figure 3 This is a schematic diagram of the driving parameter variation curve provided in the embodiments of this application. Figure 1 ;

[0022] Figure 4 This is a schematic flowchart of the vehicle control method provided in the embodiments of this application;

[0023] Figure 5 This is a schematic diagram of the driving parameter variation curve provided in the embodiments of this application. Figure 2 ;

[0024] Figure 6 This is a schematic diagram of the structure of the emergency braking collision avoidance system provided in the embodiments of this application;

[0025] Figure 7 This is a schematic diagram illustrating the working principle of the emergency braking collision avoidance system provided in this application embodiment;

[0026] Figure 8 This is a schematic diagram of the vehicle control device provided in the embodiments of this application;

[0027] Figure 9 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0029] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0030] This application provides a vehicle control method aimed at improving the accuracy of identifying vehicle emergency braking needs and enhancing vehicle emergency braking performance and driving safety.

[0031] The vehicle control method provided in the embodiments of the present application can be applied to a terminal, can be applied to a server end, and can also be software running in the terminal or the server end. In some embodiments, the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc.; the server end can be configured as a stand-alone physical server, can be configured as a server cluster or a distributed system composed of multiple physical servers, can also be configured as a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, and big data and artificial intelligence platform; and the software can be an application program for implementing the vehicle control method, but is not limited to the above forms.

[0032] The vehicle control method provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Please refer to Figure 1 The vehicle control method provided in the embodiments of the present application can include the following steps.

[0034] Step S101: Obtain a target driving mode in which a vehicle currently locates; the target driving mode is a manual driving non-cruise mode, a manual driving cruise mode, or an automatic driving mode.

[0035] Step S102: Obtain target information corresponding to the target driving mode; the target information at least includes a change condition of a driving parameter of the vehicle.

[0036] Step S103: Determine a target state of the vehicle according to the target information; wherein, in a case where the target driving mode is the manual driving non-cruise mode, the target state is a control state of the vehicle by a driver of the vehicle; in a case where 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.

[0037] Step S104: In a case where 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 target driving mode in which the vehicle currently locates and the change condition of the driving parameter of the vehicle in the target driving mode, and perform the emergency braking in a case where the target state of the vehicle is abnormal, which can improve the accuracy of identifying the emergency braking demand of the vehicle, and improve the effect of the emergency braking of the vehicle and the driving safety.

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

[0040] Optionally, if it is found that the vehicle's steering wheel is in a gripped state and the vehicle's cruise control function is turned on, the target driving mode of the vehicle is determined to be manual driving cruise mode; if it is found that the vehicle's steering wheel is in a gripped state, but the vehicle's cruise control function and autonomous driving function are both turned off, the target driving mode of the vehicle is determined to be manual driving non-cruise mode; if it is found that the vehicle's autonomous driving function is turned on, the target driving mode of the vehicle is determined to be autonomous driving mode.

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

[0042] If the vehicle is in autonomous driving mode and the vehicle speed exceeds the preset speed or the vehicle's automatic emergency braking system malfunctions, a prompt message will be output; the prompt message is used to prompt the driver to take over the vehicle.

[0043] If the steering wheel is detected to be in a gripped state, determine whether the vehicle is in manual driving non-cruise mode or manual driving cruise mode.

[0044] Optionally, the preset vehicle speed is 115 km / h. For example... Figure 2 As shown, when the vehicle is in autonomous driving mode, if the vehicle speed exceeds 115 km / h or the vehicle's automatic emergency braking system malfunctions, a prompt message requiring driver intervention will be displayed on the vehicle status screen, and a voice prompt requiring driver intervention will be broadcast through the vehicle's audio system to remind the driver to take over the vehicle in a timely manner. Furthermore, if the driver has their hands on the steering wheel, the driving mode sensor circuit located on the steering wheel can detect that the steering wheel is in a gripped state, confirming that the driver has taken over the vehicle and disabling the aforementioned prompt message. Simultaneously, it can be determined whether the vehicle has entered manual driving non-cruise mode or manual driving cruise mode.

[0045] The embodiment of the present application can output prompt information when the vehicle is in an automatic driving mode and the vehicle speed is higher than a preset vehicle speed or the AEB system of the vehicle is in a fault state, so as to facilitate the driver to timely take over the vehicle, improve driving safety, and determine that the vehicle enters a manual driving non-cruise mode or a manual driving cruise mode when it is monitored that the steering wheel of the vehicle is in a holding state, thereby improving the accuracy of identifying that the vehicle is in a manual driving non-cruise mode or a manual driving cruise mode.

[0046] In an embodiment, the step S103 of determining the target state of the vehicle according to the target information comprises:

[0047] In the case where the target information meets the first condition, it is determined that the target state is abnormal.

[0048] The first condition comprises that the change of the driving parameter is that the driving parameter is mutated at the first time point.

[0049] In the case where the target driving mode is the manual driving non-cruise mode, the target information further comprises the state of the accelerator pedal of the vehicle; and the first condition further comprises that the accelerator pedal is in a depressed state at the first time point.

[0050] In the case where the target driving mode is the manual driving cruise mode or the automatic driving mode, the target information further comprises the state of the accelerator pedal, or the state of the brake pedal and the automatic emergency brake system of the vehicle; and the first condition further comprises that 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 brake system is in an unbraking state at the first time point.

[0051] The driving parameter can be mutated at any time point, and the first time point represents any time point at which the driving parameter is mutated.

[0052] Optionally, the state of the accelerator pedal at the first time point is determined according to the signal acquisition result of the accelerator pedal; if the signal acquisition result is 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, and if the signal acquisition result is 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 according to the signal acquisition result of the brake pedal; if the signal acquisition result of the brake pedal is 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 brake system at the first time point can be determined according to the signal acquisition result of the automatic emergency brake system; if the signal acquisition result of the automatic emergency brake system is that the automatic emergency brake system has no signal at the first time point, it is determined that the automatic emergency brake system is in an unbraking state at the first time point.

[0053] The step S103 of determining the target state of the vehicle according to the target information can further include:

[0054] In the case that the target driving mode is the manual driving non-cruise mode, if the driving parameter has the first mutation at the first time point and the accelerator pedal is in the depressed state at the first time point, it is determined that the driving state of the driver to the vehicle is abnormal; if the driving parameter has no first mutation at the first time point and / or the accelerator pedal is in the released state at the first time point, it is determined that the driving state of the driver to the vehicle is normal.

[0055] In the case that the target driving mode is the manual driving cruise mode, if the driving parameter has the second mutation at the first time point and the accelerator pedal is in the released state at the first time point, or if the driving parameter has the third mutation at the first time point, the brake pedal is in the released state at the first time point and the automatic emergency brake system is in the non-braking state, it is determined that the state of the power system of the vehicle is abnormal; if the driving parameter has the second mutation at the first time point and the accelerator pedal is in the depressed state at the first time point, or if the driving parameter has the third mutation at the first time point, the brake pedal is in the depressed state at the first time point and / or the automatic emergency brake system is in the braking state, or if the driving parameter has no second mutation and third mutation at the first time point, it is determined that the state of the power system of the vehicle is normal.

[0056] In the case that the target driving mode is the automatic driving mode, if the driving parameter has the fourth mutation at the first time point and the accelerator pedal is in the released state at the first time point, or if the driving parameter has the fifth mutation at the first time point, the brake pedal is in the released state at the first time point and the automatic emergency brake system is in the non-braking state, it is determined that the state of the power system of the vehicle is abnormal; if the driving parameter has the fourth mutation at the first time point and the accelerator pedal is in the depressed state at the first time point, or if the driving parameter has the fifth mutation at the first time point, the brake pedal is in the depressed state at the first time point and / or the automatic emergency brake system is in the braking state, or if the driving parameter has no fourth mutation and fifth mutation at the first time point, it is determined that the state of the power system of the vehicle is normal.

[0057] The embodiment of the application can improve the accuracy of determining the target state abnormality of the vehicle in different driving modes, and thus accurately determine that the vehicle needs to be braked urgently, thereby improving the emergency braking effect of the vehicle and driving safety.

[0058] In an embodiment, in the case that the target driving mode is manual driving non-cruise mode, the target information further includes a congestion level of a current driving road of the vehicle, and the first condition further includes that the congestion level is greater than a preset level.

[0059] In the case that the target driving mode is manual driving non-cruise mode, if the driving parameter has a first mutation at the first time point and the accelerator pedal is in a depressed state at the first time point, it is determined that the driving state of the driver on the vehicle is abnormal, which can include:

[0060] In the case that the target driving mode is manual driving non-cruise mode, if the driving parameter has a first mutation at the first time point, the accelerator pedal is in a depressed state at the first time point, and the congestion level of the current driving road of the vehicle is greater than a preset level, it is determined that the driving state of the driver on the vehicle is abnormal.

[0061] The abnormal driving state of the driver on the vehicle can be that the driver mistakenly steps on the accelerator pedal. In the case that the target driving mode is manual driving non-cruise mode, if the driving parameter has a first mutation at the first time point and the accelerator pedal is in a depressed state at the first time point, it can be represented that the driver mistakenly steps on the accelerator pedal to cause the vehicle to accelerate abnormally. In the case that the target driving mode is manual driving non-cruise mode, on the basis of the driving parameter having a first mutation at the first time point and the accelerator pedal being in a depressed state at the first time point, further in combination with the congestion level of the current driving road of the vehicle being greater than a preset level, it can be more determined that the current driving intention of the driver is to brake but mistakenly steps on the accelerator pedal, causing the vehicle to accelerate abnormally.

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

[0063] Optionally, when the vehicle is fuel-powered, the driving parameter is the throttle opening; when the vehicle is battery-powered, 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 manual driving non-cruise mode, step S101 above: obtaining target information corresponding to the target driving mode includes:

[0065] If D1 / A1 ≥ the first threshold and (D1-A1) / T1 ≥ the second threshold, then it is determined that the driving parameter has a sudden change at the first time point;

[0066] Where D1 is the value of the driving parameter at the first time point in 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 time interval T1 between the first sampling time points is set.

[0067] When the vehicle is fuel-powered, the value of the driving parameter D1 at the first time point in manual driving non-cruise mode is the signal value of the throttle opening at the first time point. For example... Figure 3 As shown, t1 represents the first time point, t2 represents the last sampling time point of the first time period, and the time interval between t1 and t2 is T1. When the signal value D1 of the throttle opening at the first time point t1 satisfies the following conditions: D1 / A1≥the first threshold and (D1-A1) / T1≥the second threshold, the slope of the change 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 undergoes a sudden change at the first time point t1.

[0068] Optionally, the determination condition for the first mutation is that D1 / A1 ≥ a first threshold and (D1-A1) / T1 ≥ a second threshold. Step S103: Determining the target state of the vehicle based on the target information may further include:

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

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

[0071] The application can accurately identify the case that the driving parameter mutates at the first time point by using the condition that D1 / A1 is greater than the first threshold value and (D1-A1) / T1 is greater than the second threshold value when the vehicle is in a manual driving non-cruise mode. Further, in combination with the fact that the accelerator pedal is in a depressed state at the first time point, the abnormality of the driver's control state of the vehicle can be accurately identified, and it can be accurately determined that the vehicle needs to be braked urgently, thereby improving the emergency braking effect of the vehicle and driving safety.

[0072] In an embodiment, in the case that the target driving mode is a manual driving cruise mode, the step S101 of obtaining target information corresponding to the target driving mode comprises:

[0073] If |X i -X| is greater than a third threshold value, it is determined that the driving parameter mutates at the first time point.

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

[0075] In an embodiment, if |X i -X| is greater than a third threshold value, it is determined that the driving parameter mutates at the first time point, comprising:

[0076] In the case that the driving parameter jumps up, if (X i -X) is greater than the third threshold value, it is determined that the driving parameter jumps up at the first time point.

[0077] In the case that the driving parameter jumps down, if (X i -X) is less than the opposite of the third threshold value, it is determined that the driving parameter jumps down at the first time point.

[0078] Optionally, the determination condition of the second mutation is (X i -X) is greater than the third threshold value, and the determination condition of the third mutation is (X i -X) is less than the opposite of the third threshold value.

[0079] The step S103 of determining the target state of the vehicle according to the target information can further comprise:

[0080] If the target driving mode is manual cruise control mode, then (X) i If -X)≥3th threshold and the accelerator pedal is in the released state at the first time point, then the state of the vehicle's power system is determined to be abnormal.

[0081] If the target driving mode is manual cruise control mode, then (X) i If -X)≤ the negative of the third threshold, the brake pedal is in the released state at the first time point, and the automatic emergency braking system is in the non-braking state at the first time point, then the state of the vehicle's power system is determined to be abnormal.

[0082] Optionally, when the vehicle is fuel-powered, the value X of the driving parameter at the first time point in manual cruise mode is... i This is the signal value of the throttle opening at the first time point. For example... Figure 4 As shown, if the throttle opening signal value jumps upwards, and if the throttle opening signal value at the first moment meets the second abrupt change judgment condition mentioned above, and there is a cruise mode signal at the first moment but no accelerator pedal signal, then it is determined that the vehicle's power system is in an abnormal state, and an emergency braking operation is performed on the vehicle. If the throttle opening signal value jumps downwards, and if the throttle opening signal value at the first moment meets the third abrupt change judgment condition mentioned above, and there is a cruise mode signal at the first moment but no brake pedal signal or automatic emergency braking system signal, then it is determined that the vehicle's power system is in an abnormal state, and an emergency braking operation is performed on the vehicle. The presence of a cruise mode signal at the first moment indicates that the vehicle's cruise control switch is in the active state. Furthermore, since the driver is required to hold the steering wheel in cruise mode, the presence of a cruise mode signal at the first moment also indicates that the vehicle is in manual driving cruise mode at the first moment. The cruise mode signal corresponds to the cruise control switch's active state signal, which can be obtained when the cruise control switch is in the active state.

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

[0084] This application embodiment uses |X when the vehicle is in manual driving cruise mode. i The condition that -X|≥ the third threshold can accurately identify situations where the driving parameters change abruptly at the first time point. Furthermore, by combining the accelerator pedal being in the released state at the first time point, or by combining the brake pedal being in the released state at the first time point and the automatic emergency braking system being in the non-braking state at the first time point, the abnormal state of the vehicle's power system can be accurately identified, thereby accurately determining that the vehicle needs emergency braking, thus improving the vehicle's emergency braking effect and driving safety.

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

[0086] If (D2-A2) / T2 ≥ the fourth threshold, or, (X t -X t-1 If the value is less than or equal to the fifth threshold, then the driving parameter is determined to have a sudden change at the first time point;

[0087] Where D2 is the value of the driving parameter at the first time point in autonomous driving mode, A2 is the average value of the driving parameter sampled at each of the second sampling time points in the second time period, and the first time point is located after the second time period; the second sampling time points are set at equal time intervals T2; X t X represents the value of the driving parameters at the first time point in autonomous driving mode. t-1 This represents the value of the driving parameters at the second time point in autonomous driving mode; the second time point is the sampling time point preceding the first time point.

[0088] The second time period can be the same time period as the first time period or a different time period, and the time interval T2 can be the same time interval or a different time interval than the time interval T1.

[0089] In one embodiment, if (D2-A2) / T2 ≥ the fourth threshold, or, (X t -X t-1 If the threshold is less than or equal to the fifth threshold, then the driving parameter is determined to have a sudden change at the first time point, including:

[0090] If (D2-A2) / T2 ≥ the fourth threshold, then it is determined that the driving parameter has undergone an upward jump at the first time point.

[0091] In the case of a downward jump in the driving parameters, if (X) t -X t-1 If the value is less than or equal to the fifth threshold, then it is determined that the driving parameter has undergone an upward jump at the first time point.

[0092] Optionally, when the vehicle is fuel-powered, the value of the driving parameter D2 at the first time point in autonomous driving mode is the signal value of the throttle opening at the first time point. For example... Figure 5 As shown, when the throttle opening signal value jumps upward, and the throttle opening signal value D2 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 undergoes a sudden upward jump at the first time point. Wherein, 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 of the fourth mutation is (D2-A2) / T2≥a fourth threshold, and the determination condition of the fifth mutation is (X t -X t-1 )≤a fifth threshold.

[0094] The step S103 further includes:

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

[0096] In the case that the target driving mode is the automatic driving cruise mode, if (X t -X t-1 )≤the fifth threshold, the brake pedal is in the released state at the first time point, and the automatic emergency brake system is in the non-braking state at the first time point, it is determined that the power system state of the vehicle 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 application does not limit the driving mode of the vehicle in the second time period. The vehicle can be in the automatic driving mode, or in the manual driving non-cruise mode or the manual driving cruise mode.

[0098] The application can accurately identify the case that the driving parameter is mutated at the first time point by using the condition that (D2-A2) / T2≥the fourth threshold or (X t -X t-1 )≤the fifth threshold in the case that the vehicle is in the automatic driving cruise mode. Further, in combination with the accelerator pedal being in the released state at the first time point, or in combination with the brake pedal being in the released state at the first time point and the automatic emergency brake system being in the non-braking state at the first time point, the power system state of the vehicle can be accurately identified as abnormal, and the vehicle can be accurately determined to need emergency braking, thereby improving the emergency braking effect and driving safety of the vehicle.

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

[0100] The driving force of the vehicle is determined according to the power energy consumed by the vehicle for traveling the 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 last sampling 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 gravitational acceleration;

[0102] determining the road adhesion coefficient of the vehicle according to the load of the vehicle and the driving force of the vehicle;

[0103] determining the braking force required for the emergency braking of the vehicle according to the load of the vehicle and the road adhesion coefficient of the vehicle;

[0104] controlling the emergency braking of the vehicle according to the braking force.

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

[0106] F = Q * η / s;

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

[0108] Optionally, the load of the vehicle 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 gravitational acceleration. The acceleration a can be read by an intelligent navigation system or a vehicle acceleration sensor.

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

[0112] Φ = F / W d ;

[0113] wherein Φ is the road adhesion coefficient of the vehicle; W d is the driving axle load of the vehicle, in the case of four-wheel drive of the vehicle, W d = W, in the case of front-wheel drive of the vehicle, W d = W f = a% * W, in the case of rear-wheel drive of the vehicle, W d = W r = b% * W; W f is the front axle load of the vehicle, W r is the rear 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 front wheel braking hydraulic pressure and rear wheel braking hydraulic pressure. The braking force required for the emergency braking of the vehicle is 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 For the front wheel brake hydraulic pressure of the vehicle, H r The hydraulic pressure for the rear wheels of the vehicle is given by R, where R is the wheel rolling radius, r1 is the effective radius of the front brakes, r2 is the effective radius of the rear brakes, f1 is the coefficient of friction for the front brakes, f2 is the coefficient of friction for the rear brakes, and d is the hydraulic pressure for the rear brakes. f d is the diameter of the front brake pump cylinder of the vehicle. r This refers to the cylinder diameter of the vehicle's rear brake pump.

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

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

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

[0121] Turn on the vehicle's malfunction warning lights.

[0122] Optionally, when the vehicle is fuel-powered, the throttle valve can be closed to stop fuel injection during emergency braking controlled by the braking force; when the vehicle is battery-powered, the high-voltage contactor can be disconnected to stop power supply during emergency braking controlled by the braking force. Additionally, during emergency braking controlled by the braking force, the vehicle's hazard lights can be activated for collision warning to prevent rear-end collisions.

[0123] This application embodiment further improves 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 the vehicle is under emergency braking according to the braking force, and by turning on the vehicle's malfunction warning lights for collision warning.

[0124] It is worth mentioning that in the case of battery driving, the above throttle opening degree can be replaced by any one of voltage, current, and throttle opening degree. Alternatively, in the case of the above driving parameter being at least two of driving voltage, driving current, and throttle opening degree, the determination condition that the driving parameter at the first time point is mutated is that each driving parameter in the at least two driving parameters is mutated at the first time point.

[0125] As Figure 6 shown, the embodiment of the present application also provides an emergency braking avoidance error system (EB-AES), which is composed of an environment data acquisition module, a control module, and an execution module. The environment 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 degree 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. In the case of fuel driving, the control module is a vehicle motion control module (VMC), and in the case of battery driving, the control module is a vehicle dynamics control module (VDDM). The execution module includes a power control module (PCM), an electronic stability controller (ESC), and a body control module (BCM).

[0126] Figure 6The No. 1 in the middle is an accelerator pedal sensor for inputting a signal to the VMC / VDDM as a condition for judging the state of the accelerator pedal; the No. 2 is a navigation system for inputting a signal to the VMC / VDDM as a condition for judging the congestion level of the driving road where the vehicle is currently located as one of the conditions for judging whether the driver steps on the accelerator pedal by mistake; the No. 3 is a driving mode sensing circuit provided on the steering wheel for inputting a signal to the VMC / VDDM as a condition for judging whether the vehicle is in a manual driving cruise mode or a manual driving non-cruise mode; the No. 4 is a vehicle speed sensor for inputting a signal to the VMC / VDDM as a condition for prompting the driver to take over the vehicle and a condition for calculating the braking force; the No. 5 is an AEB system for inputting a signal to the VMC / VDDM as a condition for judging the state of the AEB system; the No. 6 is a brake pedal sensor for inputting a signal to the VMC / VDDM as a condition for judging the state of the brake pedal; the No. 7 is a throttle opening degree sensor, in the case where the vehicle is fuel-driven, the signal inputted by the throttle opening degree sensor to the VMC / VDDM can be used as a condition for judging whether the throttle opening degree has changed suddenly; the No. 8 is a motor controller, in the case where the vehicle is battery-driven, the signal inputted by the motor controller to the VMC / VDDM can be used as a condition for judging whether at least one of the voltage, the current and the throttle opening degree has changed suddenly; and the No. 9 is a driving function switch for inputting a signal to the VMC / VDDM as a condition for judging the target driving mode in which the vehicle is currently located.

[0127] Figure 6 The No. 10 in the middle is the VMC / VDDM, which serves as a central controller responsible for analyzing the environmental data sent by the environmental data acquisition module, identifying whether the vehicle needs emergency braking, and in the case where it is identified that the vehicle needs emergency braking, calculating the braking force, sending a braking instruction to the ESC, sending a power cut-off instruction to the PCM, and sending a collision warning instruction to the BCM, so that the PCM, the ESC and the BCM work in linkage to realize emergency braking and error-avoiding collision avoidance.

[0128] Figure 6 The No. 11 in the middle is the PCM responsible for performing a power cut-off operation when receiving the power cut-off instruction sent by the VMC / VDDM; the No. 12 is the ESC responsible for performing an emergency braking operation when receiving the braking instruction sent by the VMC / VDDM; and the No. 13 is the BCM responsible for turning on the fault warning light of the vehicle to perform collision warning when receiving the collision warning instruction sent by the VMC / VDDM.

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

[0130] ​Logic I: wake up VMC / VDDM - determine the target driving mode the vehicle is currently in - determine if driving parameters have changed abruptly - determine the status of the accelerator pedal or the status of the brake pedal and the status of the AEB system - determine if the target state of the vehicle is abnormal - calculate braking force - drive ESC to perform emergency braking operation.

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

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

[0133] For the above-mentioned Logic I, please combine Figure 2 and Figure 7 When the power system of the vehicle is started, the power system inputs a 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 signals of the vehicle speed sensor, the signals of the AEB system and the signals 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 115 km / h), or when the AEB system of the vehicle is in a fault state, the VMC / VDDM sends a prompt information to the vehicle state display screen that the vehicle needs to be taken over by the driver. The display screen can remind the driver to take over the vehicle with warning symbols and prompt sound. Until the driver holds the steering wheel, the driving mode sensing circuit arranged on the steering wheel sends the signal that the driver holds 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 state display screen to close the above-mentioned prompt information.

[0134] In the manual driving non-cruise mode, the VMC / VDDM continuously reads the signals of the throttle opening sensor (or the motor controller), the accelerator pedal sensor, the navigation system, the cruise function switch and 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 capability, and can filter out invalid values and calculate the mean value of valid values of the driving parameter signal data of the N nodes through the data storage unit. Then, the VMC / VDDM analyzes the data processed by the data storage unit. If the signal value D1 of the driving parameter at the first time point and the mean value A1 of the driving parameter signal values in the first time period during driving satisfy the following relationship: D1 / A1≥first threshold K, and (D1-A1) / T1≥second threshold β1, where the first sampling time point is set at an equal time interval T1, the VMC / VDDM determines that the driving parameter has a mutation at the first time point. At the same time, if the VMC / VDDM analyzes the signal of the navigation system to obtain that the congestion level of the current road is greater than a preset level T, analyzes the signal of the accelerator pedal sensor to obtain that the accelerator pedal is in a depressed state at the first time point, and analyzes the signals of the cruise function switch and the automatic driving function switch to obtain that the vehicle is in the manual driving non-cruise mode at the first time point, the VMC / VDDM determines that the driving state of the vehicle driver is abnormal, and the EB-AES system makes an emergency braking decision. In the case of a fuel-driven vehicle, the driving parameter can be the throttle opening. In the case of a battery-driven vehicle, the driving parameter can be at least one of the voltage, current and throttle opening.

[0135] In the manual driving cruise mode, please refer to Figure 4 and Figure 7 The VMC / VDDM continuously reads the signals of the throttle opening sensor (or the motor controller), the accelerator pedal sensor, the brake pedal sensor, the AEB system and the cruise function switch through the CAN network. In the case of a signal value jump of the driving parameter, if the VMC / VDDM analyzes the signal of the throttle opening sensor (or the motor controller) to obtain that the signal value X i of the driving parameter at the first time point satisfies the following relationship with the preset value X of the driving parameter corresponding to the first time point in the manual driving cruise mode: (X iX)≥ third threshold value H, while the VMC / VDDM analyzes the signal of the accelerator pedal sensor and obtains that the accelerator pedal is in a released state at the first time point, and analyzes the signal of the cruise function switch and obtains that the vehicle is in a manual driving cruise mode at the first time point, the VMC / VDDM determines that the state of the vehicle power system is abnormal, and the EB-AES system makes an emergency braking decision. i X satisfies the following relationship: (X i X)≤-H, while the VMC / VDDM analyzes the signal of the brake pedal sensor and obtains that the brake pedal is in a released state at the first time point, analyzes the signal of the AEB system and obtains that the AEB system is in an unbraking state at the first time point, and analyzes the signal of the cruise function switch and obtains that the vehicle is in a manual driving cruise mode at the first time point, the 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 scenario in an automatic driving mode: please combine Figure 5 and Figure 7 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 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 of a signal value jump of the driving parameter, if the VMC / VDDM analyzes the signal of the throttle opening sensor (or the signal of the motor controller) and obtains that the signal value D2 of the driving parameter at the first time point and the average value A2 of the signal values of the driving parameter at each second sampling time point in the second time period satisfy the following relationship: (D2-A2) / T2≥ fourth threshold value β2, wherein the second sampling time points are set at a time interval T2, and the fourth threshold value β2 can be Figure 5 the slope of the preset acceleration curve in the first time point, and analyzes the signal of the automatic driving function switch and obtains that the vehicle is in an automatic driving mode at the first time point, 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 of a signal value jump of the driving parameter, if the VMC / VDDM analyzes the signal of the throttle opening sensor (or the signal of the motor controller) and obtains that the signal value X t of the driving parameter at the first time point satisfies the following relationship: (X t-1 X t X t-1)≤ the fifth threshold value h, while the VMC / VDDM analyzes the signal of the brake pedal sensor and obtains that the brake pedal is in a released state at the first time point, analyzes the signal of the AEB system and obtains that the AEB system is in an unbraking state at the first time point, and analyzes the signal of the automatic driving function switch and obtains that the vehicle is in an automatic driving mode at the first time point, the VMC / VDDM determines that the state of the vehicle power system is abnormal, and the EB-AES system makes an emergency braking decision.

[0137] In the case where 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 a first distance traveled by the vehicle from a last driving parameter sampling time point of the first time point to the first time point and an acceleration corresponding to the first distance, and calculates a braking force required for emergency braking of the vehicle based on the first distance and the corresponding acceleration through system simulation, and sends a braking instruction and the calculated braking force to the ESC. The ESC drives the brake according to the braking force after receiving the braking instruction to perform emergency braking. In the process of emergency braking of the brake, the ESC can perform dynamic braking control such as anti-lock, anti-slip, and stability control on the vehicle in combination with its own control strategy. Further, when the VMC / VDDM reads the vehicle speed as zero through the CAN network, the ESC is controlled to perform a parking operation to ensure that the vehicle is in a stable parking state after emergency braking. In addition, after 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 is 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, and the like.

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

[0139] For the above-mentioned logic III, the process of determining whether the target state of the vehicle is abnormal is the same as that of the above-mentioned logic I, which will not be described here. In the case where the EB-AES makes an emergency braking decision, the VMC / VDDM also sends a collision warning instruction to the BCM, and the BCM turns on double flashing to perform collision warning in response to the collision warning instruction sent by the VMC / VDDM to prevent rear-end collision of the following vehicle.

[0140] It is worth mentioning that the EB-AES system provided by the embodiment of the present application is compatible with the AEB system. In the case of AEB system failure, invalidity or non-triggering work, the EB-AES system does not need to rely on optical sensing devices, so that the vehicle always has the emergency braking error-proof collision avoidance function, which can improve the driving safety. In the case of normal work of the AEB system, if the AEB system and the EB-AES system simultaneously initiate the brake command, the ESC takes the brake command of the preset system as the standard, and the preset system can be any one of the AEB system and the EB-AES system. The specific determination can be made according to the accuracy of the brake command.

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

[0142] Please refer to Figure 8 The embodiment of the present application also provides a vehicle control device 800, which can realize the above-mentioned vehicle control method. The system comprises a first acquisition module 801, a second acquisition module 802, a state determination module 803 and a brake execution module 804.

[0143] The first acquisition module 801 is configured to acquire the target driving mode in which the vehicle is currently 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 configured to acquire target information corresponding to the target driving mode. The target information at least includes the change of the driving parameter of the vehicle.

[0145] The state determination module 803 is configured to determine the target state of the vehicle according to the target information. In the case of the target driving mode being the manual driving non-cruise mode, the target state is the control state of the vehicle by the driver of the vehicle. In the case of the target driving mode being the manual driving cruise mode or the automatic driving mode, the target state is the state of the power system of the vehicle.

[0146] The brake execution module 804 is configured to execute the emergency braking operation in the case of the target state being abnormal.

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

[0148] The embodiment of the present application further provides an electronic device, including a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions being executed by the processor to implement each step of the vehicle control method embodiment and achieve the same technical effects. To avoid repetition, the same will not be repeated here. It should be noted that the electronic device in the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device.

[0149] Figure 9 To realize the hardware structure of the electronic device in the embodiment of the present application, the electronic device includes:

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

[0151] The memory 902 can be implemented in the form of a ROM (ReadOnly Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory). The memory 902 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 902 and executed by the processor 901 to implement the vehicle control method of the present application.

[0152] The input / output interface 903 is used to realize information input and output.

[0153] The communication interface 904 is used to realize the communication interaction between the device and other devices. The communication can be realized by a wired manner (for example, USB, network cable, etc.) or a wireless manner (for example, mobile network, WIFI, Bluetooth, etc.).

[0154] The bus 905 is used to transmit information between various components (for example, the processor 901, the memory 902, the input / output interface 903, and the communication interface 904) of the device.

[0155] The processor 901, the memory 902, the input / output interface 903, and the communication interface 904 are connected to each other through the bus 905 to realize the communication connection between them in the device.

[0156] The electronic device provided by the embodiments of the present application can implement each step of the vehicle control method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0157] The embodiments of the present application also provide a computer readable storage medium, which stores a program or instructions. When the program or instructions are executed by a processor, each step of the vehicle control method embodiments is implemented, and the same technical effects can be achieved. To avoid repetition, details are not described herein.

[0158] The processor is the processor in the electronic device described in the above embodiments. The computer readable storage medium includes computer readable storage media, such as computer readable only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc.

[0159] The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to execute a program or instructions to implement each step of the vehicle control method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

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

[0161] The embodiments of the present application provide a computer program product stored in a storage medium. The program product is executed by at least one processor to implement each step of the vehicle control method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0162] It should be noted that in this document, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprises a" does not delete the existence of another same element 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 the order of functions shown or discussed, and can also include functions performed in a substantially simultaneous manner or in the opposite order, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

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

[0164] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A vehicle control method, characterized in that, include: Obtain the target driving mode currently in which the vehicle is located; the target driving mode is manual driving non-cruise mode, manual driving cruise mode, or automatic driving mode. Obtain target information corresponding to the target driving mode; the target information includes at least the changes in the vehicle's driving parameters; If the target information satisfies a first condition, the target state of the vehicle is determined to be abnormal; wherein, the first condition includes the change of the driving parameters being abruptly occurring at a first time point; if the target driving mode is the manual driving non-cruise mode, the target state is the driver's control state of the vehicle, the target information also includes the state of the accelerator pedal, and the first condition also includes the accelerator pedal being depressed at the first time point; if the target driving mode is the manual driving cruise mode or the automatic driving mode, the target state is the state of the vehicle's powertrain, 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, and the first condition also includes the accelerator pedal being released at the first time point, or the brake pedal being released at the first time point and the automatic emergency braking system being in an unbraked state. If the target condition is abnormal, an emergency braking operation will be performed.

2. The vehicle control method as described in claim 1, characterized in that, When the target driving mode is the manual driving non-cruise mode, obtaining the target information corresponding to the target driving mode includes: If D1 / A1 ≥ the first threshold and (D1-A1) / T1 ≥ the second threshold, then it is determined that the driving parameter undergoes a sudden change at the first time point; Wherein, D1 is the value of the driving parameter in the manual driving non-cruise mode at the first time point, A1 is the average value of the driving parameter sampled at each first sampling time point in the first time period, the first time point is located after the first time period; the first sampling time points are set at equal time intervals T1.

3. The vehicle control method as described in claim 1, characterized in that, When the target driving mode is the manual cruise mode, obtaining the target information corresponding to the target driving mode includes: If |X i If -X|≥ the third threshold, then it is determined that the driving parameter has a sudden change at the first time point; Among them, X i X 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.

4. The vehicle control method as described in claim 1, characterized in that, When the target driving mode is the autonomous driving mode, obtaining the target information corresponding to the target driving mode includes: If (D2-A2) / T2 ≥ the fourth threshold, or, (X t -X t-1 If the value is less than or equal to the fifth threshold, then it is determined that the driving parameter underwent a sudden change at the first time point; Wherein, D2 is the value of the driving parameter in the autonomous driving mode at the first time point, 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 equal time intervals T2; X t X represents the value of the driving parameter in the autonomous driving mode at the first time point. t-1 The value of the driving parameter in the autonomous driving mode is at a second time point; the second time point is the previous sampling time point of the first time point.

5. The vehicle control method as described in claim 1, characterized in that, When the target driving mode is the manual driving non-cruise mode or the manual driving cruise mode, before obtaining the target driving mode currently in which the vehicle is located, the vehicle control method further includes: When the vehicle is in autonomous driving mode, if the vehicle speed exceeds the preset speed or the vehicle's automatic emergency braking system malfunctions, a prompt message will be output; the prompt message is used to prompt the driver to take over the vehicle. If the steering wheel of the vehicle is detected to be in a gripped state, it is determined that the vehicle has entered the manual driving non-cruise mode or the manual driving cruise mode.

6. The vehicle control method as described in claim 1, characterized in that, The target state anomaly includes: the change in the driving parameter is that the driving parameter undergoes a sudden change at a first time point; The emergency braking operation includes: The driving force of the vehicle is determined based on the power energy consumed by the vehicle in traveling the 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 to the first time point. The load of the vehicle is determined based on the driving force of the vehicle, the acceleration corresponding to the first distance traveled by the vehicle, and the gravitational acceleration. The road adhesion coefficient of the vehicle is determined based on the vehicle's load and driving force. Based on the vehicle's load and the road surface adhesion coefficient, determine the braking force required to bring the vehicle to emergency braking. The vehicle is controlled to brake suddenly based on the braking force.

7. The vehicle control method as described in claim 1, characterized in that, When the target driving mode is the manual driving non-cruise mode, the target information also includes the congestion level of the road where the vehicle is currently traveling; the first condition also includes that the congestion level is greater than a preset level.

8. The vehicle control method as described in claim 1, characterized in that, When the vehicle is fuel-powered, the driving parameter is the throttle opening; when the vehicle is battery-powered, the driving parameter is at least one of the driving voltage, driving current, and throttle opening. The emergency braking operation includes at least one of the following: Controls the throttle valve of the vehicle to close or disconnect the high-voltage contactor of the vehicle; Turn on the vehicle's malfunction warning lights.

9. A vehicle control device, characterized in that, include: The system comprises a first acquisition module, a second acquisition module, a status 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; the target driving mode is manual driving non-cruise mode, manual driving cruise mode, or automatic driving mode; The second acquisition module is used to acquire target information corresponding to the target driving mode; the target information includes at least the changes in the vehicle's driving parameters; The state determination module is used to determine that the target state of the vehicle is abnormal when the target information meets a first condition; wherein, the first condition includes the change of the driving parameters being that the driving parameters undergo a sudden change at a first time point; When the target driving mode is the manual driving non-cruise mode, the target state is the driver's control state of the vehicle, the target information also includes the state of the accelerator pedal, and the first condition also includes the accelerator pedal being depressed at the first time point; when the target driving mode is the manual driving cruise mode or the automatic driving mode, the target state is the state of the vehicle's power system, 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 being released at the first time point, or the brake pedal being released at the first time point and the automatic emergency braking system being in an unbraked state. The braking execution module is used to perform emergency braking operations when the target state is abnormal.

10. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the vehicle control method as described in any one of claims 1 to 8.

11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method as described in any one of claims 1 to 8.

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