Vehicle automatic control method and device, vehicle and storage medium

Abstract

The application relates to the technical field of vehicles, in particular to a vehicle automatic control method and device, a vehicle and a storage medium. The method comprises the following 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, and obtaining a target control vehicle speed according to switch information and a speed regulating lever 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 problems that the prior art is limited to paved road use and cannot effectively cope with complex off-road environments are solved, and automatic driving under complex off-road conditions is realized.

Description

Technical Field

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

[0002] With the increasing development of intelligent driving and autonomous driving technologies in automobiles, functions such as Adaptive Cruise Control (ACC), Intelligent Cruise Assist (ICA), and Traffic Jam Assist (TJA) are becoming more and more widely used. These functions significantly improve the safety and comfort of vehicles driving on paved roads. However, these functions are mainly suitable for road conditions with good conditions, such as urban roads or highways, and their application on off-road terrain has obvious limitations.

[0003] For off-road terrain, such as complex environments like water crossings, mud, rocks, sand, and snow, there is currently a lack of autonomous driving solutions specifically designed for these conditions. Traditional ADAS (Advanced Driving Assistance Systems) typically focus on recognizing vehicles, pedestrians, lane markings, and traffic signs on paved roads. However, in off-road environments, where there are no clear lane markings or traffic signs, existing technologies struggle to provide effective assistance, necessitating a solution. Summary of the Invention

[0004] This 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 this application provides a vehicle automatic control method, including the following steps:

[0006] Determine the current terrain mode of the vehicle and acquire the vehicle's sensor information, powertrain information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed control lever information.

[0007] The current vehicle state estimation information is obtained based on 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 the target control speed is obtained based on the switch information and the speed control lever information.

[0008] The current vehicle state estimation information is input into a preset power control model to obtain the current vehicle's power control strategy, and the current vehicle state estimation information is input into a preset braking control model to obtain the current vehicle's braking control strategy.

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

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

[0011] Obtain current road condition information, and determine the current terrain mode based on the current road condition information and the user confirmation result;

[0012] 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.

[0013] According to one embodiment of this application, the step of inputting the current vehicle state estimation information into a preset power control model to obtain the current vehicle's power control strategy includes:

[0014] Based on the current vehicle state estimation information, determine the accelerator pedal characteristic curve, torque filter parameters, cooling fan operating status, and shift line that match the current terrain mode, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameters, the cooling fan operating status, and the shift line.

[0015] According to one embodiment of this application, the step of inputting the current vehicle state estimation information into a preset braking control model to obtain the current vehicle's braking control strategy includes:

[0016] Based on the current vehicle state estimation information, determine the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy that match the current terrain mode, so as to automatically control the current vehicle based on the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy.

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

[0018] According to the vehicle automatic control method provided in this application, 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. The target control speed is obtained based on switch information and speed control lever information. The current vehicle state estimation information is input into a preset power control model to obtain the current vehicle's power control strategy, and the current vehicle state estimation information is input into a preset braking control model to obtain the current vehicle's braking control strategy. Automatic control of the current vehicle is performed based on the current vehicle's power control strategy, braking control strategy, and target control speed. This solves the problem that existing technologies are limited to paved roads and cannot effectively cope with complex off-road environments, achieving autonomous driving under complex off-road conditions.

[0019] A second aspect of this application provides a vehicle automatic control device, comprising:

[0020] The determination and acquisition module is used to determine the current terrain mode of the current vehicle and acquire the current vehicle's sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed control lever information.

[0021] The first processing module is used to obtain current vehicle state estimation information based on 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 the target control speed based on the switch information and the speed control lever information;

[0022] The second processing module is used to input the current vehicle state estimation information into a preset power control model to obtain the current vehicle's power control strategy, and to input the current vehicle state estimation information into a preset braking control model to obtain the current vehicle's braking control strategy.

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

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

[0025] Obtain current road condition information, and determine the current terrain mode based on the current road condition information and the user confirmation result;

[0026] 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.

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

[0028] Based on the current vehicle state estimation information, determine the accelerator pedal characteristic curve, torque filter parameters, cooling fan operating status, and shift line that match the current terrain mode, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameters, the cooling fan operating status, and the shift line.

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

[0030] Based on the current vehicle state estimation information, determine the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy that match the current terrain mode, so as to automatically control the current vehicle based on the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy.

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

[0032] The vehicle automatic control device provided in this application obtains current vehicle state estimation information based on sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, and brake pedal information, and obtains the target control speed based on switch information and speed control lever information; the current vehicle state estimation information is input into a preset power control model to obtain the current vehicle's power control strategy, and the current vehicle state estimation information is input into a preset braking control model to obtain the current vehicle's braking control strategy; the current vehicle's power control strategy, braking control strategy, and target control speed are used to automatically control the current vehicle. This solves the problem that existing technologies are limited to paved roads and cannot effectively cope with complex off-road environments, achieving autonomous driving under complex off-road conditions.

[0033] A third aspect of this application provides a vehicle, including: 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 embodiments.

[0034] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the vehicle automatic control method as described in the above embodiments.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0037] Figure 1 This is a flowchart of a vehicle automatic control method provided according to an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of autonomous driving terrain information processing according to an embodiment of this application;

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

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

[0041] Figure 5 This is a structural schematic diagram of the vehicle provided in an embodiment of this application. Detailed Implementation

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

[0043] The following description, with reference to the accompanying drawings, outlines an automatic vehicle control method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the issues mentioned in the background art, such as its limitation to paved roads and inability to effectively handle complex off-road environments, this application provides an automatic vehicle control method that meets the needs of autonomous driving in off-road conditions. This method helps drivers navigate off-road terrain more easily, reduces driver complexity, allows drivers to focus more on steering and finding paths through obstacles, improves vehicle performance on complex surfaces, achieves optimal off-road performance, and makes off-road driving more comfortable and safer.

[0044] Specifically, Figure 1 This is a schematic flowchart of a vehicle automatic control method provided in an embodiment of this 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 the sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information and speed control lever information of the current vehicle are acquired.

[0047] The current vehicle's sensor information includes wheel speed sensor information and inertial navigation sensor information.

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

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

[0050] Specifically, such as Figure 2 As shown, this embodiment of the application can capture road condition information through devices such as cameras, radar, water depth detectors, and navigation maps installed on the current vehicle, and automatically identify the terrain features where the current vehicle is located. Unlike the existing ADAS system's identification of vehicles, lane lines, traffic signs, etc. on paved roads, this invention can identify typical off-road terrain, such as complex terrains like wading, mud, rocks, sand, and snow.

[0051] Furthermore, such as Figure 2 As shown, the interaction with the user is achieved through an HMI (Human Machine Interface). This involves displaying the identified terrain pattern to the user, requesting confirmation of the terrain pattern, and arbitrating the identified terrain pattern against the user's confirmation, ultimately outputting the final current terrain pattern. For example, if the identified terrain pattern matches the user's confirmation, the identified terrain pattern is directly output as the current terrain pattern; if the identified terrain pattern does not match the user's confirmation, arbitration is performed according to preset rules, such as prioritizing the driver's choice, or outputting the current terrain pattern based on a comprehensive consideration of safety and efficiency. No specific limitations are specified here.

[0052] In addition to the HMI interaction mentioned above, this application embodiment also provides a relatively simple terrain mode selection method. Users can actively select the desired terrain mode using physical switches, knobs, or virtual buttons (soft switches) set in the vehicle. After receiving the user's request to actively select the terrain mode switch, the system sends the final current terrain mode after confirmation.

[0053] Furthermore, embodiments of this application can obtain sensor information of the current vehicle by reading data from devices such as wheel speed sensors, inertial navigation sensors, cameras, radar, and water depth detectors. Embodiments of this application can also obtain powertrain information by reading data such as engine speed, torque output, and fuel flow; they can obtain safety system information by reading the current vehicle's seatbelt status and ABS (Anti-lock Brake System) status; they can obtain accelerator pedal information by reading the accelerator pedal opening; they can obtain brake pedal information by reading the brake pedal opening; they can also obtain switch information by reading the status of cruise control switches, terrain mode selection switches, auxiliary function switches, or light control switches; and they can obtain speed control lever information by reading the status of the current vehicle's speed control lever, without specific limitations.

[0054] In step S102, the 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 the target control speed is obtained based on switch information and speed control lever information.

[0055] Specifically, in order to ensure the stability and safety of the vehicle in complex terrain, this application embodiment 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, and obtains current vehicle state estimation information, such as vehicle speed, acceleration, and steering angle. Then, through switch information and speed control lever information, the user's requirements (such as the target vehicle speed set by the user through the cruise control system) are processed into a vehicle speed control target, and a longitudinal control model matching the current vehicle state and current terrain mode is established to ensure good performance under different terrains.

[0056] Furthermore, based on the aforementioned switch and speed control lever information, combined with the current vehicle status and terrain pattern, the system calculates a safe and feasible speed control target that meets the user's needs. For example, when the user increases the target speed using the speed control lever, the system will gradually increase the speed while ensuring safety; conversely, if the user decreases the target speed or applies the brakes, the system 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's power control strategy, and the current vehicle state estimation information is input into a preset braking control model to obtain the current vehicle's braking control strategy.

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

[0059] In this embodiment, the preset power control model is established based on the current vehicle characteristics. Specifically, the preset power control model needs to reference the current vehicle state estimation information, including the current terrain mode information. In order to ensure good performance for each terrain mode, the correction coefficients and calibration parameters of the preset power control model need to be differentiated for different terrain modes or different vehicle states.

[0060] Furthermore, the preset braking control model in this application embodiment is also established based on the current vehicle characteristics. Specifically, 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 good performance in all terrain modes, the correction coefficients and calibration parameters of the preset braking control model need to be processed differently in different terrain modes or different vehicle states.

[0061] Understandably, in current off-road environments, higher torque output is not always better, nor is faster braking control always better. Based on this, we innovatively propose the idea of ​​matching torque control and braking control with terrain features. Different longitudinal control strategies are corresponding to different terrains such as wading, mud, rocks, sand, and snow to achieve optimal performance in various complex off-road terrains.

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

[0063] Furthermore, in some embodiments, the current vehicle state estimation information is input into a preset power control model to obtain the current vehicle's power control strategy, 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 the current terrain mode of the vehicle is sand mode, the current road surface has a low coefficient of adhesion and high driving resistance, which can easily lead to single-lane vehicle suspension and cross-axle situations. If the current vehicle is at low speed, it is easy to get stuck. If the current vehicle is going downhill, it is easy to trigger ABS and cause the vehicle speed to become uncontrollable.

[0065] Therefore, the current vehicle's power control strategy can be as follows: First, employ a stronger Pedalmap specifically designed for sand terrain to enhance power output. Second, use stronger torque filtering parameters to ensure linear and consistent power output. Third, forcibly control the vehicle's cooling fan to reduce engine coolant temperature. Finally, the vehicle uses first gear as the starting point to increase shift points and enhance power output.

[0066] Furthermore, in some embodiments, the current vehicle state estimation information is input into a preset braking control model to obtain the braking control strategy of the current vehicle, including: determining the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy 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 state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy.

[0067] For example, suppose the current terrain mode of the vehicle is sand mode. Obviously, on low-traction surfaces like sand, traditional ABS (anti-lock braking system) may cause the vehicle to lose traction, especially at low speeds, causing the wheels to keep slipping in the sand and failing to decelerate effectively.

[0068] Based on this, the braking control strategy of the current vehicle in this application embodiment can be: when the current vehicle speed is below 35km / h, the ABS function is shut down to form a "sand piling effect", which increases the contact area between the tire and the ground, thereby improving grip, avoiding wheel slippage, and enhancing the stability and controllability of the vehicle.

[0069] Furthermore, at current vehicle speeds above 35 km / h, traditional ABS control methods cannot provide sufficient steering capability, especially during emergency braking, where the vehicle is prone to loss of control. Therefore, a longer control cycle is adopted to reduce the frequency of ABS intervention, but each intervention lasts longer, thereby reducing frequent fluctuations in braking force and preventing excessive wheel slippage. At the same time, the front axle slip ratio is controlled at a target of 60%, and the rear axle slip ratio is controlled at a target of 80%, enabling the vehicle to maintain steering capability better at high speeds, avoiding loss of control due to excessive braking force, and also decelerating more effectively.

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

[0071] Furthermore, when the vehicle is in 4H mode, if the vehicle is at a low speed, a lower intervention threshold and slip control target are adopted to improve vehicle stability and controllability in situations where wheel slippage occurs, such as pushing against blades or overturning sand dunes. If the vehicle is at a high speed, a higher intervention threshold and slip control target are adopted to reduce the abruptness of braking intervention when driving at high speeds on flat roads and to ensure vehicle driving power, thereby ensuring a smoother and more comfortable driving experience.

[0072] Furthermore, the 4L mode is typically used for off-road situations, with BTC calibration primarily focused on improving off-road performance, such as deep loose sand, soft sand, and sand pits. These terrains place extremely high demands on a vehicle's ability to escape difficult situations. In such cases, traditional torque control and wheel slip control often fail to be effective because the coefficient of friction between the flowing sand and the tires is very low, making it easy for the wheels to get stuck. If the vehicle is currently in 4L (low-speed four-wheel drive) mode, wheel slip control is appropriately adjusted to avoid giving the driver the impression of lack of control or poor performance, and to prevent the vehicle from getting stuck even deeper due to excessive slip control. At the same time, appropriate slip control can also make the user feel that the vehicle is still under control, increasing driving confidence.

[0073] Furthermore, the embodiments of this application can also realize real-time interaction of key information through the HMI control model. The instrument panel and large screen can display information such as the current target vehicle speed and activation status in real time. When the system performs braking control, the brake lights will be automatically turned on to improve the user experience.

[0074] To facilitate a clearer and more intuitive understanding of the vehicle automatic control method of the embodiments of this application by those skilled in the art, the following is combined with... Figure 3 Please provide a detailed explanation.

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

[0076] Furthermore, the powertrain control model and braking control model each receive all input information. The powertrain controller receives the output of the powertrain control model to control the vehicle's powertrain. The braking system controller receives the output of the braking control model to control the vehicle's braking system. Instrument clusters, the main unit, brake light switches, etc., receive the output of the HMI control model, enabling real-time interaction between the HMI and the user. The driver activates the off-road automated driving target speed control via a switch and adjusts the target speed via the cruise control switch. If the vehicle is on an uphill slope, or the user increases the target speed, the system requests increased drive torque. If the vehicle is on a downhill slope, or the user decreases the target speed, the system prioritizes utilizing engine drag torque or electric motor regenerative braking torque. If the drag torque is insufficient to reduce the vehicle speed to the target speed, the system increases braking pressure.

[0077] The vehicle automatic control method proposed in this application obtains current vehicle state estimation information based on sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, and brake pedal information, and obtains the target control speed based on switch information and speed control lever information. The current vehicle state estimation information is input into a preset power control model to obtain the current vehicle's power control strategy, and the current vehicle state estimation information is input into a preset braking control model to obtain the current vehicle's braking control strategy. The vehicle is then automatically controlled based on the current vehicle's power control strategy, braking control strategy, and target control speed. This solves the problem that existing technologies are limited to paved roads and cannot effectively cope with complex off-road environments. It can intelligently match corresponding drive torque and braking force control strategies based on identified terrain features, control vehicle speed in real time, and achieve off-road automatic driving.

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

[0079] Figure 4 This is a block diagram of a vehicle automatic control device according to an embodiment of this 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] The system comprises the following modules: a determination and acquisition module 100, used to determine the current terrain mode of the vehicle and acquire sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed control lever information; a first processing module 200, used to obtain current vehicle state estimation information based on sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, and brake pedal information, and to obtain the target control speed based on switch information and speed control lever information; a second processing module 300, used to input the current vehicle state estimation information into a preset power control model to obtain the current vehicle's power control strategy, and input the current vehicle state estimation information into a preset braking control model to obtain the current vehicle's braking control strategy; and an automatic control module 400, used to automatically control the current vehicle based on the current vehicle's power control strategy, braking control strategy, and target control speed.

[0082] Furthermore, in some embodiments, the determination and acquisition module 100 is used to: acquire current road condition information and determine the current terrain mode based on the current road condition information and user confirmation results; and / or, acquire 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, based on the current vehicle state estimation information, an accelerator pedal characteristic curve, torque filter parameters, cooling fan operating status, and shift line that match the current terrain mode, 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.

[0084] Furthermore, in some embodiments, the second processing module 300 is used to: determine the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy 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 state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy.

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

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

[0087] The vehicle automatic control device proposed in this application obtains current vehicle state estimation information based on sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, and brake pedal information, and obtains the target control speed based on switch information and speed control lever information; inputs the current vehicle state estimation information into a preset power control model to obtain the current vehicle's power control strategy, and inputs the current vehicle state estimation information into a preset braking control model to obtain the current vehicle's braking control strategy; and automatically controls the current vehicle based on the current vehicle's power control strategy, braking control strategy, and target control speed. This solves the problem that existing technologies are limited to paved roads and cannot effectively cope with complex off-road environments, achieving autonomous driving under complex off-road conditions.

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

[0089] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0090] When the processor 502 executes the program, it implements the vehicle automatic control method provided in the above embodiments.

[0091] Furthermore, the vehicle also includes:

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

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

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

[0095] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

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

[0098] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described vehicle automatic control method.

[0099] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

[0101] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0102] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0103] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0104] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0105] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0106] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle automatic control method, characterized in that, Includes the following steps: Determine the current terrain mode of the vehicle and acquire the vehicle's sensor information, powertrain information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed control lever information. The current vehicle state estimation information is obtained based on 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 the target control speed is obtained based on the switch information and the speed control lever information. The current vehicle state estimation information is input into a preset power control model to obtain the current vehicle's power control strategy, and the current vehicle state estimation information is input into a preset braking control model to obtain the current vehicle's braking control strategy. The current vehicle is automatically controlled based on the current vehicle's power control strategy, braking control strategy, and target control speed. The step of inputting the current vehicle state estimation information into a preset braking control model to obtain the current vehicle's braking control strategy includes: Based on the current vehicle state estimation information, determine the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy that match the current terrain mode, so as to automatically control the current vehicle based on the state of the brake lock-up system, the target front axle slip ratio, the target rear axle slip ratio, the state of the torque limiting function, and the target braking torque control strategy.

2. The method according to claim 1, characterized in that, Determining the current terrain pattern of the current vehicle includes: 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.

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 the current vehicle's power control strategy includes: Based on the current vehicle state estimation information, determine the accelerator pedal characteristic curve, torque filter parameters, cooling fan operating status, and shift line that match the current terrain mode, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameters, the cooling fan operating status, and the shift line.

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

5. A vehicle automatic control device, characterized in that, The vehicle automatic control device is used to implement the vehicle automatic control method as described in any one of claims 1-4, and the vehicle automatic control device includes: The determination and acquisition module is used to determine the current terrain mode of the current vehicle and acquire the current vehicle's sensor information, power system information, current terrain mode information, safety system information, accelerator pedal information, brake pedal information, switch information, and speed control lever information. The first processing module is used to obtain current vehicle state estimation information based on 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 the target control speed based on the switch information and the speed control lever information; The second processing module is used to input the current vehicle state estimation information into a preset power control model to obtain the current vehicle's power control strategy, and to input the current vehicle state estimation information into a preset braking control model to obtain the current vehicle's braking control strategy. An automatic control module is used to automatically control the current vehicle based on the current vehicle's power control strategy, the current vehicle's braking control strategy, and the target control speed.

6. The apparatus according to claim 5, characterized in that, The determination and acquisition module is used for: 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.

7. The apparatus according to claim 5, characterized in that, The second processing module is used for: Based on the current vehicle state estimation information, determine the accelerator pedal characteristic curve, torque filter parameters, cooling fan operating status, and shift line that match the current terrain mode, so as to automatically control the current vehicle based on the accelerator pedal characteristic curve, the torque filter parameters, the cooling fan operating status, and the shift line.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle automatic control method as described in any one of claims 1-4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vehicle automatic control method as described in any one of claims 1-4.

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