Vehicle automatic control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to an automatic vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining current vehicle state estimation information according to sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information, a target control vehicle speed is obtained according to the switch information and the speed regulation deflector rod information; inputting the current vehicle state estimation information into a preset power control model to obtain a power control strategy of the current vehicle, and inputting the current vehicle state estimation information into a preset brake control model to obtain a brake control strategy of the current vehicle; and automatically controlling the current vehicle based on the power control strategy of the current vehicle, the brake control strategy of the current vehicle and the target control vehicle speed. Therefore, the problem that the prior art is only limited to road paving and cannot effectively cope with the complex cross-country environment is solved, and automatic driving under the complex cross-country road condition is achieved.

Description

Technical Field

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

[0002] With the increasing development of intelligent driving and autonomous driving technology, the application of functions such as adaptive cruise control (ACC), intelligent cruise assist (ICA) and traffic jam cruise assist (TJA) has become more and more widespread, which significantly improves the safety and comfort of vehicles on paved roads. However, the above functions are mainly applicable to road conditions with better conditions such as urban roads or highways, and there are obvious limitations in their application on off-road terrain.

[0003] There is currently a lack of autonomous driving solutions specifically designed for off-road terrain, such as wading, mud, rocks, sand, snow and other complex environments. Traditional ADAS (Advanced Driving Assistance System) systems usually focus on identifying vehicles, pedestrians, lane lines and traffic signs on paved roads, but in off-road environments, such as when there are no clear lane lines or traffic signs, existing technologies are difficult to provide effective assistance, which urgently needs to be solved. Summary of the invention

[0004] The present application provides a vehicle automatic control method, device, vehicle and storage medium to solve the problem that the prior art is limited to use on paved roads and cannot effectively cope with complex off-road environments, thereby realizing automatic driving under complex off-road conditions.

[0005] The first aspect of the present application provides a vehicle automatic control method, comprising the following steps:

[0006] Determine the current terrain mode of the current vehicle, and obtain sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed lever information of the current vehicle;

[0007] obtaining current vehicle state estimation information according to the sensor information, the power system information, the current terrain mode information, the safety system information, the accelerator pedal information and the brake pedal information, and obtaining a target controlled vehicle speed according to the switch information and the speed lever information;

[0008] Inputting the current vehicle state estimation information into a preset power control model to obtain a power control strategy for the current vehicle, and inputting the current vehicle state estimation information into a preset brake control model to obtain a brake control strategy for the current vehicle;

[0009] The current vehicle is automatically controlled based on the power control strategy of the current vehicle, the braking control strategy of the current vehicle and the target control vehicle speed.

[0010] According to one embodiment of the present application, determining the current terrain mode of the current vehicle includes:

[0011] Acquiring current road condition information, and determining the current terrain mode according to the current road condition information and a user confirmation result;

[0012] And / or, obtaining the terrain mode selected by the user, and determining the current terrain mode according to the terrain mode selected by the user.

[0013] According to an embodiment of the present application, the step of inputting the current vehicle state estimation information into a preset power control model to obtain a power control strategy for the current vehicle includes:

[0014] An accelerator pedal characteristic curve, a torque filter parameter, a cooling fan operating state, and a shift line that match the current terrain mode are determined according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameter, the cooling fan operating state, and the shift line.

[0015] According to an embodiment of the present application, the step of inputting the current vehicle state estimation information into a preset braking control model to obtain a braking control strategy for the current vehicle includes:

[0016] The state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy that match the current terrain mode are determined according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy.

[0017] According to one embodiment of the present application, the current terrain mode includes at least one of a sand mode, a snow mode, a rock mode, a wading mode and a mud mode.

[0018] According to the vehicle automatic control method provided by the embodiment of the present application, the current vehicle state estimation information is obtained according to the sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information, and the target control vehicle speed is obtained according to the switch information and the speed lever information; the current vehicle state estimation information is input into the preset power control model to obtain the current vehicle power control strategy, and the current vehicle state estimation information is input into the preset brake control model to obtain the current vehicle brake control strategy; the current vehicle is automatically controlled based on the current vehicle power control strategy, the current vehicle brake control strategy and the target control vehicle speed. Thus, the problem that the existing technology is limited to paved roads and cannot effectively cope with complex off-road environments is solved, and automatic driving under complex off-road conditions is realized.

[0019] A second aspect of the present application provides a vehicle automatic control device, including:

[0020] A determination and acquisition module, used to determine the current terrain mode of the current vehicle, and to acquire sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed lever information of the current vehicle;

[0021] a first processing module, configured to obtain current vehicle state estimation information according to the sensor information, the power system information, the current terrain mode information, the safety system information, the accelerator pedal information, and the brake pedal information, and to obtain a target controlled vehicle speed according to the switch information and the speed lever information;

[0022] A second processing module, used for inputting the current vehicle state estimation information into a preset power control model to obtain a current vehicle power control strategy, and inputting the current vehicle state estimation information into a preset brake control model to obtain a current vehicle brake control strategy;

[0023] The automatic control module is used to automatically control the current vehicle based on the power control strategy of the current vehicle, the braking control strategy of the current vehicle and the target control vehicle speed.

[0024] According to one embodiment of the present application, the determining and obtaining module is used to:

[0025] Acquiring current road condition information, and determining the current terrain mode according to the current road condition information and a user confirmation result;

[0026] And / or, obtaining the terrain mode selected by the user, and determining the current terrain mode according to the terrain mode selected by the user.

[0027] According to one embodiment of the present application, the second processing module is used to:

[0028] An accelerator pedal characteristic curve, a torque filter parameter, a cooling fan operating state, and a shift line that match the current terrain mode are determined according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameter, the cooling fan operating state, and the shift line.

[0029] According to one embodiment of the present application, the second processing module is used to:

[0030] The state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy that match the current terrain mode are determined according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy.

[0031] According to one embodiment of the present application, the current terrain mode includes at least one of a sand mode, a snow mode, a rock mode, a wading mode and a mud mode.

[0032] According to the vehicle automatic control device provided by the embodiment of the present application, the current vehicle state estimation information is obtained according to the sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information, and the target control vehicle speed is obtained according to the switch information and the speed lever information; the current vehicle state estimation information is input into the preset power control model to obtain the current vehicle power control strategy, and the current vehicle state estimation information is input into the preset brake control model to obtain the current vehicle brake control strategy; the current vehicle is automatically controlled based on the current vehicle power control strategy, the current vehicle brake control strategy and the target control vehicle speed. Thus, the problem that the existing technology is limited to paved roads and cannot effectively cope with complex off-road environments is solved, and automatic driving under complex off-road conditions is realized.

[0033] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle automatic control method as described in the above embodiment.

[0034] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle automatic control method as described in the above embodiments.

[0035] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0037] Figure 1 A flow chart of a vehicle automatic control method provided according to an embodiment of the present application;

[0038] Figure 2 A schematic diagram of terrain information processing for autonomous driving according to an embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of the target vehicle speed control principle of an automatic driving according to an embodiment of the present application;

[0040] Figure 4 is a block diagram of a vehicle automatic control device according to an embodiment of the present application;

[0041] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0043] The following describes the vehicle automatic control method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that it is limited to paved roads and cannot effectively cope with complex off-road environments, the present application provides a vehicle automatic control method to meet the needs of automatic driving in off-road conditions, help the driver to drive the vehicle more easily on off-road conditions, reduce the difficulty of driver operation, allow the driver to focus more on steering and finding a path to cross obstacles, improve the performance of the vehicle on complex roads, achieve the purpose of optimal off-road performance, and make off-road driving more comfortable and safe.

[0044] Specifically, Figure 1 A schematic flow chart of a vehicle automatic control method provided in an embodiment of the present application.

[0045] like Figure 1 As shown, the vehicle automatic control method includes the following steps:

[0046] In step S101, the current terrain mode of the current vehicle is determined, and sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information and speed lever information of the current vehicle are obtained.

[0047] The sensor information of the current vehicle includes wheel speed sensor information and inertial navigation sensor information.

[0048] In some embodiments, the current terrain mode includes at least one of a sand mode, a snow mode, a rock mode, a wading mode and a mud mode.

[0049] Further, in some embodiments, determining the current terrain mode of the current vehicle includes: obtaining current road condition information, and determining the current terrain mode based on the current road condition information and a user confirmation result; and / or obtaining a terrain mode selected by a user, and determining the current terrain mode based on the terrain mode selected by the user.

[0050] Specifically, if Figure 2 As shown, the embodiment of the present application can capture road condition information through the perception system camera, radar, water depth detector, navigation map and other equipment installed on the current vehicle, and automatically identify the terrain features of the current vehicle. Different from the existing ADAS system that can identify vehicles, lanes, traffic signs, etc. on paved roads, the present invention can realize the recognition of typical off-road terrains, such as wading, mud, rocks, sand, snow and other complex terrains.

[0051] Furthermore, if Figure 2 As shown, the system interacts with the user through the HMI (Human Machine Interface), that is, the recognized terrain mode is displayed to the user, and the user is requested to confirm the terrain mode, and the recognized terrain mode and the result of the user's confirmation are arbitrated to output the final current terrain mode. For example, if the recognized terrain mode is consistent with the result of the user's confirmation, the recognized terrain mode is directly output as the current terrain mode; if the recognized terrain mode is inconsistent with the result of the user's confirmation, arbitration is performed according to preset rules, such as giving priority to the driver's choice, or outputting the current terrain mode based on comprehensive considerations of safety and efficiency, which is not specifically limited here.

[0052] In addition to the above-mentioned HMI interaction, the embodiment of the present application also provides a relatively simple terrain mode selection method. The user can use the physical switch, knob set in the car, or the virtual button (soft switch) on the touch screen to actively select the desired terrain mode. After the system receives the user's active request for the terrain mode switch, it issues the final current terrain mode after confirmation.

[0053] Furthermore, the embodiment of the present application can obtain the sensor information of the current vehicle by reading the data of the wheel speed sensor, inertial navigation sensor, camera, radar, water depth detector and other equipment of the current vehicle. The embodiment of the present application can also obtain the power system information by reading the data of the engine speed, torque output, fuel flow and other data; the embodiment of the present application can obtain the safety system information by reading the seat belt status and ABS (Anti-lock Brake System) status of the current vehicle; the embodiment of the present application can obtain the accelerator pedal information by reading the opening of the accelerator pedal; the embodiment of the present application can obtain the brake pedal information by reading the opening of the brake pedal; the embodiment of the present application can also obtain the switch information by reading the state of the cruise control switch, the state of the terrain mode selection switch, the state of the auxiliary function switch or the state of the light control switch; the embodiment of the present application can also obtain the speed lever information by the state of the current vehicle speed lever, which is not specifically limited here.

[0054] In step S102, current vehicle state estimation information is obtained based on sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information, and target control vehicle speed is obtained based on switch information and speed lever information.

[0055] Specifically, in order to ensure the stability and safety of the current vehicle in complex terrain, the embodiment of the present application estimates the current vehicle state by comprehensively considering sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information to obtain current vehicle state estimation information, such as vehicle speed, acceleration, steering angle, etc., and through switch information and speed lever information, processes user needs (such as the target vehicle speed set by the user through the cruise control system) as a vehicle speed control target, and establishes a longitudinal control model that matches the current vehicle state and the current terrain mode to ensure good performance in different terrains.

[0056] Furthermore, the system calculates a safe and feasible vehicle speed control target that meets the user's needs based on the above switch information and speed lever information, combined with the current vehicle state and terrain mode. For example, when the user increases the target speed through the speed lever, the system will gradually increase the speed while ensuring safety; conversely, if the user reduces the target speed or steps on the brake, the vehicle will decelerate or stop accordingly.

[0057] In step S103, the current vehicle state estimation information is input into a preset power control model to obtain the current vehicle power control strategy, and the current vehicle state estimation information is input into a preset brake control model to obtain the current vehicle brake control strategy.

[0058] In step S104, the current vehicle is automatically controlled based on the power control strategy of the current vehicle, the braking control strategy of the current vehicle and the target control vehicle speed.

[0059] Among them, the preset power control model of the embodiment of the present application is established according to the current vehicle characteristics. In particular, the preset power control model needs to refer to the current vehicle state estimation information, including the current terrain mode information. In order to ensure that all terrain modes can have good performance, the correction coefficient and calibration amount and other parameters of the preset power control model need to be processed differently under different terrain modes or different vehicle states.

[0060] In addition, the preset braking control model of the embodiment of the present application is also established based on the current vehicle characteristics. In particular, the preset braking control model needs to refer to the current vehicle state estimation information, including the current terrain mode information. In order to ensure that all terrain modes can have good performance, the correction coefficient and calibration amount of the preset braking control model and other parameters need to be processed differently in different terrain modes or different vehicle states.

[0061] It is understandable that in the current off-road environment, the vehicle's torque output is not the greater the better, and the braking control is not the faster the better. Based on this, an innovative view is proposed to match torque control and braking control with terrain characteristics. Different longitudinal control strategies correspond to different terrains such as wading, mud, rocks, sand, snow, etc., to achieve optimal performance in various complex off-road terrains.

[0062] According to the terrain characteristics of the current vehicle, in the preset power control model, different accelerator pedal characteristic curves (pedalmap) and different shift lines are mapped according to different terrain characteristics, or in the preset braking control model, different braking control PTC (Power Train Control) and BTC (Brake Torque Control) thresholds are mapped according to different terrain characteristics.

[0063] Furthermore, in some embodiments, the current vehicle state estimation information is input into a preset power control model to obtain a power control strategy for the current vehicle, including: determining an accelerator pedal characteristic curve, torque filter parameters, cooling fan operating status, and shift line that match the current terrain mode based on the current vehicle state estimation information, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, torque filter parameters, cooling fan operating status, and shift line.

[0064] For example, assuming that the current terrain mode of the current vehicle is sand mode, it is obvious that the adhesion coefficient of the current road surface is low and the driving resistance is large, which can easily cause single-road vehicle suspension and cross-axle. If the current vehicle is in a low-speed condition, it is easy to get stuck. If the current vehicle is in a downhill condition, it is easy to trigger the ABS, causing the vehicle speed to be uncontrollable.

[0065] Therefore, the power control strategy of the current vehicle can be: first, use a stronger Pedalmap for sand to improve power output. Second, use a stronger filter parameter for torque filtering to make the power output linear and coherent. Then, force the cooling fan of the current vehicle to run to reduce the engine water temperature. Finally, the shift line of the current vehicle uses the first gear to start, so as to increase the shift speed and enhance the power output.

[0066] Furthermore, in some embodiments, the current vehicle state estimation information is input into a preset braking control model to obtain a braking control strategy for the current vehicle, including: determining a state of a braking system, a target front axle slip rate, a target rear axle slip rate, a state of a torque limiting function, and a target braking torque control strategy that match the current terrain mode according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of a torque limiting function, and a target braking torque control strategy.

[0067] For example, assuming that the current terrain mode of the current vehicle is sand mode, obviously, on low-adhesion surfaces such as sand, the traditional ABS (anti-lock braking system) may cause the vehicle to lose grip, especially at low speeds, causing the wheels to continue to slide in the sand and fail to effectively slow down.

[0068] Based on this, the braking control strategy of the current vehicle in the embodiment of the present application can be: when the current vehicle speed is lower than 35km / h, the ABS function shutdown is turned off to form a "sand pile effect", increase the contact area between the tire and the ground, thereby improving grip, avoiding wheel slippage, and enhancing vehicle stability and controllability.

[0069] Furthermore, when the current vehicle speed is higher than 35km / h, the traditional ABS control method cannot provide sufficient steering ability, especially in emergency braking, the vehicle is prone to lose control. Therefore, a large control cycle is adopted to reduce the intervention frequency of ABS, but the intervention time is longer each time, thereby reducing the frequent fluctuations in braking force and avoiding excessive wheel slip. At the same time, the front axle slip rate control target is 60% and the rear axle control target is 80%, so that the current vehicle can better maintain steering ability when driving at high speed, avoid vehicle loss of control due to excessive braking force, and also decelerate more effectively.

[0070] Furthermore, if the current vehicle is in 4H mode (high-speed four-wheel drive), the PTC torque limiting function is turned off to maximize the power output and ensure that the current vehicle has a stronger power response in 4H mode.

[0071] Furthermore, when the current vehicle is in 4H mode, if the current vehicle is in a low speed range, a lower intervention threshold and slip control target are adopted to improve the vehicle stability and controllability in conditions where the vehicle has wheel slip, such as pushing a blade and turning over a sand beam; if the current vehicle is in a high speed range, a higher intervention threshold and slip control target are adopted to reduce the abruptness of braking intervention when driving at high speed on a flat road and to ensure the vehicle's driving dynamics, ensuring a smoother and more comfortable driving experience.

[0072] Furthermore, the 4L mode is usually used for escape conditions, and the BTC calibration direction is mainly to improve the escape performance, such as deep floating sand, soft sand, sand pits, etc. These terrains place extremely high demands on the vehicle's escape ability. In this case, traditional torque control and wheel-to-wheel limited slip control often cannot play an effective role, because the adhesion coefficient between the flowing sand and the tire is very low, and the wheels are easy to get stuck in it. If the current vehicle is in 4L (low-speed four-wheel drive) mode, the wheel-to-wheel limited slip is properly controlled to avoid giving the driver the impression of no control and poor performance, and to avoid the vehicle falling into deeper trouble due to excessive limited slip control. At the same time, appropriate slip control can also make users feel that the vehicle is still under control, enhancing driving confidence.

[0073] In addition, the embodiment of the present application can also realize real-time interaction of key information through the HMI control model. The instrument and large screen display the current target vehicle speed, activation status and other information in real time. The brake lights are automatically turned on when the system performs braking control to enhance the user experience.

[0074] In order to facilitate those skilled in the art to more clearly and intuitively understand the vehicle automatic control method of the embodiment of the present application, Figure 3 Provide detailed explanation.

[0075] like Figure 3 As shown in the figure, a vehicle state estimation model and a longitudinal control model matching the vehicle state and terrain mode are established based on wheel speed sensor information, inertial navigation sensor information, power system information, current terrain mode information, seat belt, accelerator, brake and other information, switch information and speed lever information, in order to ensure good performance in all terrain modes. The HMI interacts with the current target vehicle speed, activation status and other information in real time.

[0076] Furthermore, the power control model and the brake control model receive all input information respectively, and the power system controller receives the output of the power control model for controlling the power system of the vehicle. The brake system controller receives the output of the brake control model for controlling the brake system of the vehicle. The instrument, host, brake light switch, etc. receive the output of the HMI control model to realize real-time interaction between the HMI and the user. The driver activates the off-road automatic driving target speed control through the switch, and can adjust the target speed through the cruise speed control switch. If the vehicle is on an uphill road condition, or the user increases the target speed, the system issues a request to increase the drive torque. If the vehicle is on a downhill road condition, or the user reduces the target speed, the system will give priority to the engine's drag torque or the motor's recovery torque. If the drag torque is not enough to reduce the vehicle speed to the target speed, the system will increase the brake pressure.

[0077] According to the vehicle automatic control method proposed in the embodiment of the present application, the current vehicle state estimation information is obtained according to the sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information, and the target control vehicle speed is obtained according to the switch information and the speed lever information; the current vehicle state estimation information is input into the preset power control model to obtain the current vehicle power control strategy, and the current vehicle state estimation information is input into the preset brake control model to obtain the current vehicle brake control strategy; the current vehicle is automatically controlled based on the current vehicle power control strategy, the current vehicle brake control strategy and the target control vehicle speed. Thus, the problem that the existing technology is limited to paved roads and cannot effectively cope with complex off-road environments is solved, and the corresponding driving torque and braking force control strategies can be intelligently matched according to the identified terrain features, the vehicle speed can be controlled in real time, and off-road automatic driving can be realized.

[0078] Next, the vehicle automatic control device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0079] Figure 4 It is a block diagram of a vehicle automatic control device according to an embodiment of the present application.

[0080] like Figure 4 As shown, the vehicle automatic control device 10 includes: a determination and acquisition module 100 , a first processing module 200 , a second processing module 300 and an automatic control module 400 .

[0081] Among them, the determination and acquisition module 100 is used to determine the current terrain mode of the current vehicle, and obtain the sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information and speed lever information of the current vehicle; the first processing module 200 is used to obtain the current vehicle state estimation information according to the sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information, and obtain the target control vehicle speed according to the switch information and the speed lever information; the second processing module 300 is used to input the current vehicle state estimation information into a preset power control model to obtain the power control strategy of the current vehicle, and input the current vehicle state estimation information into a preset braking control model to obtain the braking control strategy of the current vehicle; the automatic control module 400 is used to automatically control the current vehicle based on the power control strategy of the current vehicle, the braking control strategy of the current vehicle and the target control vehicle speed.

[0082] Furthermore, in some embodiments, the determination and acquisition module 100 is used to: obtain current road condition information, and determine the current terrain mode based on the current road condition information and the user confirmation result; and / or obtain the terrain mode selected by the user, and determine the current terrain mode based on the terrain mode selected by the user.

[0083] Furthermore, in some embodiments, the second processing module 300 is used to determine an accelerator pedal characteristic curve, a torque filter parameter, a cooling fan operating state and a shift line that match the current terrain mode according to current vehicle state estimation information, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameter, the cooling fan operating state and the shift line.

[0084] Furthermore, in some embodiments, the second processing module 300 is used to determine the state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy that match the current terrain mode according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy.

[0085] Further, in some embodiments, the current terrain mode includes at least one of a sand mode, a snow mode, a rock mode, a wading mode, and a mud mode.

[0086] It should be noted that the above explanation of the embodiment of the vehicle automatic control method is also applicable to the vehicle automatic control device of this embodiment, and will not be repeated here.

[0087] According to the vehicle automatic control device proposed in the embodiment of the present application, the current vehicle state estimation information is obtained according to the sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information and brake pedal information, and the target control vehicle speed is obtained according to the switch information and the speed lever information; the current vehicle state estimation information is input into the preset power control model to obtain the current vehicle power control strategy, and the current vehicle state estimation information is input into the preset brake control model to obtain the current vehicle brake control strategy; the current vehicle is automatically controlled based on the current vehicle power control strategy, the current vehicle brake control strategy and the target control vehicle speed. Thus, the problem that the existing technology is limited to paved roads and cannot effectively cope with complex off-road environments is solved, and automatic driving under complex off-road conditions is realized.

[0088] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0089] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0090] When the processor 502 executes the program, the vehicle automatic control method provided in the above embodiment is implemented.

[0091] Furthermore, the vehicle also includes:

[0092] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0093] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0094] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0095] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0096] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0097] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0098] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned vehicle automatic control method is implemented.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0100] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0101] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0102] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0103] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0104] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0105] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0106] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle automatic control method, characterized in that: The following steps are involved: Determine the current terrain mode of the current vehicle, and obtain sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed lever information of the current vehicle; obtaining current vehicle state estimation information according to the sensor information, the power system information, the current terrain mode information, the safety system information, the accelerator pedal information and the brake pedal information, and obtaining a target controlled vehicle speed according to the switch information and the speed lever information; Inputting the current vehicle state estimation information into a preset power control model to obtain a power control strategy for the current vehicle, and inputting the current vehicle state estimation information into a preset brake control model to obtain a brake control strategy for the current vehicle; The current vehicle is automatically controlled based on the power control strategy of the current vehicle, the braking control strategy of the current vehicle and the target control vehicle speed.

2. The method according to claim 1, characterized in that: Determining the current terrain mode of the current vehicle includes: Acquiring current road condition information, and determining the current terrain mode according to the current road condition information and a user confirmation result; And / or, obtaining the terrain mode selected by the user, and determining the current terrain mode according to the terrain mode selected by the user.

3. The method according to claim 1, characterized in that The step of inputting the current vehicle state estimation information into a preset power control model to obtain a power control strategy for the current vehicle includes: An accelerator pedal characteristic curve, a torque filter parameter, a cooling fan operating state, and a shift line that match the current terrain mode are determined according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameter, the cooling fan operating state, and the shift line.

4. The method according to claim 1, characterized in that: The step of inputting the current vehicle state estimation information into a preset braking control model to obtain a braking control strategy for the current vehicle includes: The state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy that match the current terrain mode are determined according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the state of the braking system, the target front axle slip rate, the target rear axle slip rate, the state of the torque limiting function and the target braking torque control strategy.

5. The method according to claim 1, characterized in that The current terrain mode includes at least one of a sand mode, a snow mode, a rock mode, a wading mode, and a mud mode.

6. A vehicle automatic control device, characterized in that: include: A determination and acquisition module, used to determine the current terrain mode of the current vehicle, and to acquire sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed lever information of the current vehicle; a first processing module, configured to obtain current vehicle state estimation information according to the sensor information, the power system information, the current terrain mode information, the safety system information, the accelerator pedal information, and the brake pedal information, and to obtain a target controlled vehicle speed according to the switch information and the speed lever information; A second processing module, used for inputting the current vehicle state estimation information into a preset power control model to obtain a current vehicle power control strategy, and inputting the current vehicle state estimation information into a preset brake control model to obtain a current vehicle brake control strategy; The automatic control module is used to automatically control the current vehicle based on the power control strategy of the current vehicle, the braking control strategy of the current vehicle and the target control vehicle speed.

7. The device according to claim 6, characterized in that The determination and acquisition module is used to: Acquiring current road condition information, and determining the current terrain mode according to the current road condition information and a user confirmation result; And / or, obtaining the terrain mode selected by the user, and determining the current terrain mode according to the terrain mode selected by the user.

8. The device according to claim 6, characterized in that The second processing module is used to: An accelerator pedal characteristic curve, a torque filter parameter, a cooling fan operating state, and a shift line that match the current terrain mode are determined according to the current vehicle state estimation information, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameter, the cooling fan operating state, and the shift line.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle automatic control method as claimed in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle automatic control method as described in any one of claims 1 to 5.

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