Vehicle driving control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle driving control method, device and equipment and a storage medium, and the method comprises the steps: obtaining all ramps contained in a target transportation road section, and when it is detected that a target vehicle runs on the target transportation road section and the distance between the target vehicle and a target ramp is smaller than a preset distance, according to the ramp type of the target ramp, controlling the target vehicle to run on the target transportation road section; determining a target gear and an auxiliary power type required for the target vehicle to run on the target ramp; according to the gradient of the target ramp, the target gear and the whole vehicle weight of the target vehicle, a target curve is obtained from multiple speed power corresponding relation curves matched with the auxiliary power type; in the process that the target vehicle is controlled to run on the target ramp according to the target gear, the real-time auxiliary power value under the auxiliary power type is determined according to the target curve and the real-time running speed of the target vehicle, running control is conducted on the target vehicle according to the real-time auxiliary power value, and the driving comfort and safety of the vehicle are improved.

Description

Technical Field

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

[0002] In engineering construction, it is usually necessary to rely on vehicles to transport materials and supplies under various complex driving conditions. Therefore, how to control the vehicle under complex driving conditions becomes an important factor affecting the vehicle's driving safety.

[0003] In the prior art, for complex driving conditions such as slopes, it is usually necessary to completely rely on the driver's operating skills to control the vehicle's driving.

[0004] However, it is completely dependent on the driver's operating skills. When the driver is tired or has poor driving skills, improper operation such as shifting gears is likely to occur, resulting in transmission power interruption or vehicle overspeeding. Among them, vehicle power interruption is likely to cause safety accidents, and vehicle overspeeding is likely to cause damage to transmission parts. Summary of the invention

[0005] The present invention provides a vehicle travel control method, device, equipment and storage medium, which can accurately control the vehicle when going uphill and downhill, thereby improving the driving comfort and safety of the vehicle.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle driving control method, comprising:

[0007] Acquire each ramp included in the target transport section, and when a target vehicle is detected to be traveling on the target transport section, whenever it is detected that the distance between the target vehicle and the target ramp is less than a preset distance, determine a target gear position and an auxiliary power type required for the target vehicle to travel on the target ramp according to the ramp type of the target ramp;

[0008] According to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves matching the auxiliary power type;

[0009] In the process of controlling the target vehicle to travel on the target slope according to the target gear, the real-time auxiliary power value under the auxiliary power type is determined according to the target curve and the real-time driving speed of the target vehicle, and the driving of the target vehicle is controlled according to the real-time auxiliary power value.

[0010] Optionally, according to the ramp type of the target ramp, the target gear and the auxiliary power type required for the target vehicle to travel on the target ramp are determined, including: when it is detected that the ramp type is an uphill ramp, the target gear required for the target vehicle to travel on the target ramp is determined according to the vehicle weight of the target vehicle, and the auxiliary power type required for the target vehicle to travel on the target ramp is determined to be driving force; according to the slope of the target ramp, the target gear and the vehicle weight of the target vehicle, from multiple speed-power correspondence curves that match the auxiliary power type, a target curve is obtained, including: according to the slope of the target ramp, the target gear and the vehicle weight of the target vehicle, from multiple speed-power correspondence curves that match the driving force, a target curve is obtained.

[0011] Optionally, the target gear required for the target vehicle to travel on the target slope is determined based on the entire vehicle weight of the target vehicle, including: obtaining the vehicle driving force that can be provided by the current gear of the target vehicle, and the downward component of the entire vehicle weight of the target vehicle on the slope; when the vehicle driving force is less than the downward component, obtaining each candidate gear that can make the vehicle driving force greater than or equal to the downward component, and taking the maximum gear among the candidate gears as the target gear.

[0012] Optionally, according to the ramp type of the target ramp, the target gear and the auxiliary power type required for the target vehicle to travel on the target ramp are determined, including: when it is detected that the ramp type is a downhill ramp, the target gear required for the target vehicle to travel on the target ramp is determined according to the current vehicle speed of the target vehicle, and the auxiliary power type required for the target vehicle to travel on the target ramp is determined to be an anti-drag braking force; according to the slope of the target ramp, the target gear and the whole vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves that match the auxiliary power type, including: according to the slope of the target ramp, the target gear and the whole vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves that match the anti-drag braking force.

[0013] Optionally, the target gear required for the target vehicle to travel on the target ramp is determined based on the current speed of the target vehicle, including: obtaining an alternative gear that is one gear higher than the current gear of the target vehicle, and the minimum speed under the alternative gear; when the difference between the current speed of the target vehicle and the minimum speed under the alternative gear is less than a set value, using the alternative gear as the target gear; when the difference between the current speed of the target vehicle and the minimum speed under the alternative gear is greater than or equal to the set value, using the current gear as the target gear.

[0014] Optionally, the ramps included in the target transport section are obtained, including: when the target vehicle is detected traveling on the target transport section, the path coordinate points of the target vehicle and the inclination angle of the target vehicle at each path coordinate point are obtained at set distance intervals; according to the inclination angle of the target vehicle at each path coordinate point, the uphill starting point, uphill ending point, downhill starting point and downhill ending point in the target transport section are determined; the uphill sections corresponding to each pair of uphill starting points and uphill ending points, and the downhill sections corresponding to each pair of downhill starting points and downhill ending points, are obtained, and the uphill sections and downhill sections having a section length greater than a preset length are determined as ramps.

[0015] Optionally, before obtaining the target curve from multiple speed-power correspondence curves that match the auxiliary power type based on the slope of the target ramp, the target gear and the vehicle weight of the target vehicle, it also includes: starting from the starting point of the ramp, obtaining a set number of intermediate coordinate points on the ramp at set distance intervals; determining the slope of the ramp according to the inclination angle of the target vehicle at each intermediate coordinate point.

[0016] In a second aspect, an embodiment of the present invention further provides a vehicle driving control device, comprising:

[0017] an auxiliary power type determination module, for obtaining each ramp included in the target transport section, and when detecting that the target vehicle is traveling on the target transport section, whenever detecting that the distance between the target vehicle and the target ramp is less than a preset distance, determining the target gear and auxiliary power type required for the target vehicle to travel on the target ramp according to the ramp type of the target ramp;

[0018] A target curve determination module is used to obtain a target curve from a plurality of speed-power correspondence curves matching the auxiliary power type according to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle;

[0019] The driving control module is used to determine the real-time auxiliary power value under the auxiliary power type according to the target curve and the real-time driving speed of the target vehicle during the process of controlling the target vehicle to drive on the target slope according to the target gear, and control the driving of the target vehicle according to the real-time auxiliary power value.

[0020] In a third aspect, an embodiment of the present invention further provides a vehicle, the vehicle comprising:

[0021] at least one processor; and

[0022] a memory communicatively connected to at least one processor; wherein,

[0023] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the vehicle driving control method provided by any embodiment of the present invention.

[0024] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle driving control method provided by any embodiment of the present invention when executed.

[0025] The technical solution of the embodiment of the present invention determines the target gear and auxiliary power type required for the target vehicle to travel on the target ramp through the ramp type of the target ramp, and determines the real-time auxiliary power value according to the real-time driving speed in the process of controlling the target vehicle to travel on the target ramp according to the target gear. The technical means of controlling the travel of the target vehicle according to the real-time auxiliary power value avoids the situation in the prior art that completely relies on the driver's operating skills, which is prone to transmission power interruption or vehicle overspeeding due to improper driver operation, and can accurately control the vehicle when going uphill and downhill, thereby improving the driving comfort and safety of the vehicle.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a flow chart of a vehicle driving control method provided according to Embodiment 1 of the present invention;

[0029] Figure 2 is a flow chart of another vehicle driving control method provided according to Embodiment 2 of the present invention;

[0030] Figure 3 is a structural schematic diagram of a vehicle driving control device provided according to Embodiment 3 of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of a vehicle provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 This is a flow chart of a vehicle driving control method provided according to an embodiment of the present invention. This embodiment is applicable to the case where the vehicle is controlled when going uphill and / or downhill. The method can be executed by a vehicle driving control device. The vehicle driving control device can be implemented in the form of hardware and / or software. The vehicle driving control device can be configured in a vehicle.

[0036] like Figure 1 As shown, a vehicle driving control method disclosed in this embodiment includes:

[0037] S110, obtaining each ramp included in the target transport section, and when detecting that the target vehicle is traveling on the target transport section, whenever detecting that the distance between the target vehicle and the target ramp is less than a preset distance, determining the target gear position and auxiliary power type required for the target vehicle to travel on the target ramp according to the ramp type of the target ramp.

[0038] In this embodiment, the target vehicle may be an engineering transport vehicle, such as a mine car and a truck. The target ramp may be any ramp in the target transport section. The ramp type may include an uphill ramp and a downhill ramp. The auxiliary power type may include a driving force and an anti-drag braking force.

[0039] In this step, specifically, a ramp whose distance from the target vehicle is less than a preset distance can be used as a target ramp, and the ramp type of the target ramp can be determined according to the slope of the target ramp. Then, the target gear required for the target vehicle to travel on the target ramp can be determined according to the vehicle weight or current speed of the target vehicle, and the auxiliary power type can be determined as driving force or anti-drag braking force according to the ramp type of the target vehicle.

[0040] S120: Obtain a target curve from a plurality of speed-power correspondence curves matching the auxiliary power type according to the slope of the target ramp, the target gear position, and the vehicle weight of the target vehicle.

[0041] In this embodiment, the speed-power correspondence curve may be a curve with the real-time driving speed of the target vehicle as the horizontal coordinate and the auxiliary power value as the vertical coordinate.

[0042] In this step, specifically, after determining the auxiliary power type required for the target vehicle to travel on the target ramp, multiple speed-power correspondence curves matching the auxiliary power type can be determined, and according to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, the target curve is obtained from the multiple speed-power correspondence curves matching the auxiliary power type. Among them, the slope, target gear position and vehicle weight corresponding to different speed-power correspondence curves matching the same auxiliary type are not completely the same.

[0043] S130. In the process of controlling the target vehicle to travel on the target slope according to the target gear, determine the real-time auxiliary power value under the auxiliary power type according to the target curve and the real-time driving speed of the target vehicle, and control the driving of the target vehicle according to the real-time auxiliary power value.

[0044] In this embodiment, the real-time auxiliary power value may be a driving force value or an anti-drag braking force value.

[0045] In this step, specifically, the real-time auxiliary power value corresponding to the real-time driving speed of the target vehicle can be determined according to the target curve, and the driving of the target vehicle can be controlled according to the real-time auxiliary power value to avoid insufficient power when going uphill and excessive speed when going downhill.

[0046] Optionally, the user may be prohibited from switching the target gear of the target vehicle while controlling the target vehicle to travel on the target slope according to the target gear, so as to avoid operating errors affecting the driving comfort and safety of the vehicle.

[0047] The technical solution of this embodiment obtains each ramp included in the target transport section, and when it is detected that the target vehicle is traveling on the target transport section, whenever it is detected that the distance between the target vehicle and the target ramp is less than a preset distance, the target gear and auxiliary power type required for the target vehicle to travel on the target ramp are determined according to the ramp type of the target ramp; according to the slope of the target ramp, the target gear and the vehicle weight of the target vehicle, a target curve is obtained from multiple speed-power correspondence curves matching the auxiliary power type; in the process of controlling the target vehicle to travel on the target ramp according to the target gear, a real-time auxiliary power value under the auxiliary power type is determined according to the target curve and the real-time driving speed of the target vehicle, and a technical means for controlling the driving of the target vehicle according to the real-time auxiliary power value solves the problem that the prior art completely relies on the driver's operating skills, which is prone to improper driver operation, resulting in transmission power interruption or vehicle overspeeding, and can achieve precise control of the vehicle when going uphill and downhill, thereby improving the safety and driving comfort of the vehicle.

[0048] Embodiment 2

[0049] Figure 2 It is a flow chart of another vehicle driving control method provided according to the second embodiment of the present invention. This embodiment is based on the further optimization and expansion of the above embodiments and can be combined with various optional technical solutions in the above implementation modes.

[0050] like Figure 2 As shown, a vehicle driving control method disclosed in this embodiment includes:

[0051] S210, acquiring each ramp included in the target transport section, and when detecting that the target vehicle is traveling on the target transport section, detecting the distance between the target vehicle and each ramp.

[0052] In this step, specifically, when it is detected that the target vehicle is traveling on the target transport section, the starting point of each ramp included in the target transport section is obtained, and the distance between the target vehicle and each starting point is detected.

[0053] Optionally, the ramps included in the target transport section are obtained, including: when the target vehicle is detected traveling on the target transport section, the path coordinate points of the target vehicle and the inclination angle of the target vehicle at each path coordinate point are obtained at set distance intervals; according to the inclination angle of the target vehicle at each path coordinate point, the uphill starting point, uphill ending point, downhill starting point and downhill ending point in the target transport section are determined; the uphill sections corresponding to each pair of uphill starting points and uphill ending points, and the downhill sections corresponding to each pair of downhill starting points and downhill ending points, are obtained, and the uphill sections and downhill sections having a section length greater than a preset length are determined as ramps.

[0054] Specifically, the target vehicle's path coordinate points can be obtained according to the set distance interval through the satellite positioning system, and the target vehicle's inclination angle at each path coordinate point can be obtained through the vehicle body inclination sensor. Among them, the satellite positioning system includes the global positioning system and the Beidou satellite navigation system. Then, the inclination angle of the target vehicle at each path coordinate point can be compared, and the uphill starting point, uphill ending point, downhill starting point and downhill ending point in the target transportation section can be determined according to the comparison result. After that, it can be judged whether the inclination angle of the target vehicle at each starting point is greater than the set angle threshold, and the starting point with an inclination angle less than or equal to the set angle threshold, and the ending point corresponding to the starting point are eliminated to obtain the uphill starting point, uphill ending point, downhill starting point and downhill ending point after elimination. Finally, the section length of the uphill section can be determined according to the matched uphill starting point and uphill ending point, the section length of the downhill section can be determined according to the matched downhill starting point and downhill ending point, and the uphill section and downhill section with a section length greater than the preset length are determined as ramps.

[0055] The advantage of this setting is that by only determining uphill sections and downhill sections with a section length greater than a preset length as ramps, it is possible to avoid identifying non-ramp sections such as mounds as ramps and performing corresponding control operations, thereby improving the efficiency of controlling vehicles to travel through the target transport section.

[0056] Furthermore, starting from the starting point of the ramp, a set number of intermediate coordinate points can be obtained on the ramp at set distance intervals; and the slope of the ramp can be determined according to the inclination angle of the target vehicle at each intermediate coordinate point.

[0057] Specifically, the average value of the inclination angles of the target vehicle at each intermediate coordinate point may be calculated, and the average value may be used as the slope of the ramp.

[0058] S220. When it is detected that the distance between the target vehicle and the target ramp is less than a preset distance and the ramp type is an uphill ramp, the target gear required for the target vehicle to travel on the target ramp is determined according to the vehicle weight of the target vehicle, and the auxiliary power type required for the target vehicle to travel on the target ramp is determined to be driving force.

[0059] In this step, specifically, the target gear required for the target vehicle to travel on the target ramp can be determined based on the vehicle driving force that can be provided by the current gear of the target vehicle and the downward component of the whole vehicle weight of the target vehicle on the ramp.

[0060] Optionally, the target gear position required for the target vehicle to travel on the target ramp is determined based on the vehicle weight of the target vehicle, including: obtaining the vehicle driving force that can be provided by the current gear position of the target vehicle, and the downward force of the vehicle weight of the target vehicle on the ramp; when the vehicle driving force is less than the downward force, obtaining each candidate gear position that can make the vehicle driving force greater than or equal to the downward force, and taking the maximum gear position among the candidate gear positions as the target gear position. The higher the gear position, the smaller the vehicle driving force it can provide.

[0061] Specifically, it can be determined whether the vehicle driving force is less than the downward force. If so, the candidate gears that can make the vehicle driving force greater than or equal to the downward force can be obtained, and the maximum gear among the candidate gears is used as the target gear. If not, the current gear of the target vehicle can be used as the target gear.

[0062] The advantage of this arrangement is that by obtaining candidate gears that can make the vehicle driving force greater than or equal to the downward component force when the vehicle driving force is less than the downward component force, and taking the maximum gear among the candidate gears as the target gear, it is possible to avoid the situation where the vehicle driving force provided by the current gear is insufficient, resulting in failure of the target vehicle to go uphill, thereby improving the safety of vehicle driving.

[0063] S230: Obtain a target curve from a plurality of speed-power correspondence curves that match the driving force according to the slope of the target ramp, the target gear position, and the vehicle weight of the target vehicle.

[0064] In this embodiment, the multiple speed-power correspondence curves matched with the driving force can be curves with the real-time driving speed of the target vehicle (i.e., the accelerator pedal opening) as the horizontal coordinate and the driving force value as the vertical coordinate. In the speed-power correspondence curve matched with the driving force, the greater the vehicle weight, the greater the driving force value corresponding to the same real-time driving speed; the greater the slope, the greater the driving force value corresponding to the same real-time driving speed.

[0065] S240: When it is detected that the distance between the target vehicle and the target ramp is less than a preset distance and the ramp type is a downhill ramp, the target gear required for the target vehicle to travel on the target ramp is determined according to the current vehicle speed of the target vehicle, and the auxiliary power type required for the target vehicle to travel on the target ramp is determined to be an anti-drag braking force.

[0066] In this step, specifically, the target gear required for the target vehicle to travel on the target ramp can be determined according to the current speed of the target vehicle and the lowest speed at an alternative gear that is one gear higher than the current gear of the target vehicle.

[0067] Optionally, the target gear required for the target vehicle to travel on the target ramp is determined based on the current speed of the target vehicle, including: obtaining an alternative gear that is one gear higher than the current gear of the target vehicle, and the minimum speed under the alternative gear; when the difference between the current speed of the target vehicle and the minimum speed under the alternative gear is less than a set value, using the alternative gear as the target gear; when the difference between the current speed of the target vehicle and the minimum speed under the alternative gear is greater than or equal to the set value, using the current gear as the target gear.

[0068] The advantage of this setting is that by using the alternative gear as the target gear when the difference between the current speed of the target vehicle and the lowest speed under the alternative gear is less than the set value, the situation where the speed and gear are not suitable, resulting in transmission power interruption, can be avoided, thereby improving the safety of vehicle driving.

[0069] S250: Obtain a target curve from a plurality of speed-power correspondence curves matching the anti-drag braking force according to the slope of the target ramp, the target gear position, and the vehicle weight of the target vehicle.

[0070] In this embodiment, the multiple speed-power correspondence curves matching the anti-drag braking force may be curves with the real-time driving speed of the target vehicle as the horizontal coordinate and the anti-drag braking force value as the vertical coordinate. In the speed-power correspondence curve matching the anti-drag braking force, the greater the vehicle weight, the greater the anti-drag braking force value corresponding to the same real-time driving speed; the greater the slope, the greater the anti-drag braking force value corresponding to the same real-time driving speed.

[0071] S260. In the process of controlling the target vehicle to travel on the target slope according to the target gear, determine the real-time auxiliary power value under the auxiliary power type according to the target curve and the real-time driving speed of the target vehicle, and control the driving of the target vehicle according to the real-time auxiliary power value.

[0072] The technical solution of this embodiment can avoid the situation that the target vehicle fails to go uphill due to insufficient driving force by applying a real-time driving force value to the target vehicle during the process of controlling the target vehicle to travel on an uphill slope according to the target gear, thereby improving the safety of vehicle travel. By applying a real-time anti-drag force value to the target vehicle during the process of controlling the target vehicle to travel on a downhill slope according to the target gear, it can avoid the situation that the transmission parts of the target vehicle are damaged due to excessive downhill speed, thereby improving the driving comfort of the vehicle.

[0073] Embodiment 3

[0074] Figure 3It is a structural schematic diagram of a vehicle driving control device provided according to embodiment three of the present invention. This embodiment can be applied to the situation where the vehicle is controlled when going uphill and / or downhill. The vehicle driving control device can be implemented in the form of hardware and / or software and can be configured in the vehicle.

[0075] like Figure 3 As shown, the vehicle driving control device disclosed in this embodiment includes:

[0076] The auxiliary power type determination module 31 is used to obtain each ramp included in the target transport section, and when it is detected that the target vehicle is traveling on the target transport section, whenever it is detected that the distance between the target vehicle and the target ramp is less than a preset distance, determine the target gear and auxiliary power type required for the target vehicle to travel on the target ramp according to the ramp type of the target ramp;

[0077] A target curve determination module 32 is used to obtain a target curve from a plurality of speed-power correspondence curves matching the auxiliary power type according to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle;

[0078] The driving control module 33 is used to determine the real-time auxiliary power value under the auxiliary power type according to the target curve and the real-time driving speed of the target vehicle when controlling the target vehicle to travel on the target slope according to the target gear, and control the driving of the target vehicle according to the real-time auxiliary power value.

[0079] The technical solution in this embodiment, through the mutual cooperation of the auxiliary power type determination module, the target curve determination module and the driving control module, solves the problem that the prior art completely relies on the driver's operating skills, which is prone to improper driver operation, resulting in transmission power interruption or vehicle speeding. It can accurately control the vehicle when going uphill and downhill, thereby improving the safety of the vehicle and driving comfort.

[0080] Optionally, the auxiliary power type determination module 31 includes:

[0081] The tilt angle determination unit is used to obtain the target vehicle's path coordinate points and the tilt angle of the target vehicle at each path coordinate point according to a set distance interval when the target vehicle is detected to be traveling on the target transport section;

[0082] A coordinate point determination unit, used to determine an uphill starting point, an uphill ending point, a downhill starting point and a downhill ending point in a target transport section according to the inclination angle of the target vehicle at each passing coordinate point;

[0083] a ramp determination unit, configured to obtain an uphill road section corresponding to each pair of uphill starting points and uphill ending points, and a downhill road section corresponding to each pair of downhill starting points and downhill ending points, and determine an uphill road section and a downhill road section whose road section length is greater than a preset length as a ramp;

[0084] a first gear determination unit, for determining a target gear required for the target vehicle to travel on the target ramp according to the vehicle weight of the target vehicle when detecting that the ramp type is an uphill ramp, and determining that the auxiliary power type required for the target vehicle to travel on the target ramp is a driving force;

[0085] The second gear determination unit is used to determine the target gear required for the target vehicle to travel on the target ramp according to the current vehicle speed when detecting that the ramp type is a downhill ramp, and determine that the auxiliary power type required for the target vehicle to travel on the target ramp is anti-drag braking force.

[0086] Optionally, the target curve determination module 32 includes:

[0087] A first target curve determination unit is used to obtain a target curve from a plurality of speed-power correspondence curves matching the driving force according to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle;

[0088] The second target curve determination unit is used to obtain a target curve from a plurality of speed-power correspondence curves matching the anti-drag braking force according to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle.

[0089] Optionally, the first gear determination unit is specifically used to: obtain the vehicle driving force that can be provided by the current gear of the target vehicle, and the downward component of the target vehicle's entire vehicle weight on the slope; when the vehicle driving force is less than the downward component, obtain each candidate gear that can make the vehicle driving force greater than or equal to the downward component, and take the maximum gear among the candidate gears as the target gear.

[0090] Optionally, the second gear determination unit is specifically used to: obtain an alternative gear that is one gear higher than the current gear of the target vehicle, and the minimum vehicle speed under the alternative gear; when the difference between the current speed of the target vehicle and the minimum vehicle speed under the alternative gear is less than a set value, use the alternative gear as the target gear; when the difference between the current speed of the target vehicle and the minimum vehicle speed under the alternative gear is greater than or equal to a set value, use the current gear as the target gear.

[0091] Optionally, the device also includes a ramp slope determination module, which is used to: starting from the starting point of the ramp, obtain a set number of intermediate coordinate points on the ramp at set distance intervals; determine the ramp slope according to the inclination angle of the target vehicle at each intermediate coordinate point.

[0092] The vehicle driving control device provided in the embodiment of the present invention can execute the vehicle driving control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The contents not described in detail in this embodiment can refer to the description in any method embodiment of this application.

[0093] Embodiment 4

[0094] Figure 4 A schematic diagram of the structure of a vehicle 10 that can be used to implement an embodiment of the present invention is shown.

[0095] like Figure 4 As shown, the vehicle 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In RAM 13, various programs and data required for the operation of the vehicle 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14. Specifically, the processor 11 can be a vehicle controller.

[0096] A number of components in the vehicle 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0097] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle driving control method.

[0098] In some embodiments, the vehicle travel control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle travel control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle travel control method in any other appropriate manner (e.g., by means of firmware).

[0099] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0101] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide interaction with a user, the systems and techniques described herein can be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0103] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0104] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0105] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0106] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle driving control method, characterized in that: The method comprises: Acquire each ramp included in the target transport section, and when a target vehicle is detected to be traveling on the target transport section, whenever it is detected that the distance between the target vehicle and the target ramp is less than a preset distance, determine a target gear position and an auxiliary power type required for the target vehicle to travel on the target ramp according to the ramp type of the target ramp; According to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves matching the auxiliary power type; In the process of controlling the target vehicle to travel on the target slope according to the target gear, the real-time auxiliary power value under the auxiliary power type is determined according to the target curve and the real-time driving speed of the target vehicle, and the driving of the target vehicle is controlled according to the real-time auxiliary power value.

2. The method according to claim 1, characterized in that According to the slope type of the target slope, the target gear position and auxiliary power type required for the target vehicle to travel on the target slope are determined, including: When it is detected that the ramp type is an uphill ramp, a target gear position required for the target vehicle to travel on the target ramp is determined according to the vehicle weight of the target vehicle, and the auxiliary power type required for the target vehicle to travel on the target ramp is determined to be a driving force; According to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves matching the auxiliary power type, including: According to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves that match the driving force.

3. The method according to claim 2, characterized in that The target gear position required for the target vehicle to travel on the target slope is determined according to the vehicle weight, including: Obtaining the vehicle driving force that can be provided by the current gear of the target vehicle and the downward force of the entire vehicle weight of the target vehicle on the slope; When the vehicle driving force is less than the downward force component, candidate gears that can make the vehicle driving force greater than or equal to the downward force component are obtained, and the maximum gear among the candidate gears is used as the target gear.

4. The method according to claim 1, characterized in that: According to the slope type of the target slope, the target gear position and auxiliary power type required for the target vehicle to travel on the target slope are determined, including: When it is detected that the ramp type is a downhill ramp, a target gear position required for the target vehicle to travel on the target ramp is determined according to the current vehicle speed of the target vehicle, and the auxiliary power type required for the target vehicle to travel on the target ramp is determined to be an anti-drag braking force; According to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves matching the auxiliary power type, including: According to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, a target curve is obtained from a plurality of speed-power correspondence curves that match the anti-drag braking force.

5. The method according to claim 4, characterized in that Determine the target gear position required for the target vehicle to travel on the target slope according to the current speed of the target vehicle, including: Obtain an alternative gear position that is one gear higher than the current gear position of the target vehicle, and the minimum vehicle speed under the alternative gear position; When the difference between the current speed of the target vehicle and the lowest speed of the alternative gear is less than a set value, the alternative gear is used as the target gear; When the difference between the current speed of the target vehicle and the lowest speed under the alternative gear is greater than or equal to a set value, the current gear is used as the target gear.

6. The method according to claim 1, characterized in that Get the ramps included in the target transport segment, including: When the target vehicle is detected traveling on the target transport section, the target vehicle's path coordinate points and the target vehicle's inclination angle at each path coordinate point are obtained at set distance intervals; According to the inclination angle of the target vehicle at each coordinate point along the way, determine the uphill starting point, uphill ending point, downhill starting point and downhill ending point in the target transport section; An uphill road section corresponding to each pair of uphill starting points and uphill ending points, and a downhill road section corresponding to each pair of downhill starting points and downhill ending points are obtained, and uphill road sections and downhill road sections with road section lengths greater than a preset length are determined as ramps.

7. The method according to claim 1, characterized in that Before obtaining the target curve from a plurality of speed-power correspondence curves matching the auxiliary power type according to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle, the following steps are further included: Starting from the starting point of the ramp, obtain a set number of intermediate coordinate points on the ramp at set distance intervals; The slope of the ramp is determined based on the inclination angle of the target vehicle at each intermediate coordinate point.

8. A vehicle driving control device, characterized in that: The device comprises: an auxiliary power type determination module, for obtaining each ramp included in the target transport section, and when detecting that the target vehicle is traveling on the target transport section, whenever detecting that the distance between the target vehicle and the target ramp is less than a preset distance, determining the target gear and auxiliary power type required for the target vehicle to travel on the target ramp according to the ramp type of the target ramp; A target curve determination module is used to obtain a target curve from a plurality of speed-power correspondence curves matching the auxiliary power type according to the slope of the target ramp, the target gear position and the vehicle weight of the target vehicle; The driving control module is used to determine the real-time auxiliary power value under the auxiliary power type according to the target curve and the real-time driving speed of the target vehicle during the process of controlling the target vehicle to drive on the target slope according to the target gear, and control the driving of the target vehicle according to the real-time auxiliary power value.

9. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle driving control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle driving control method according to any one of claims 1 to 7 when executed.

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