Vehicle automatic gear engaging method and related equipment

Abstract

The vehicle automatic gear engaging method and the related equipment are applied to an intelligent vehicle, the intelligent vehicle comprises a steering wheel, and when it is detected that the intelligent vehicle is changed into a stop state from a running state, whether the current steering angle of the steering wheel is within a first preset range or not is judged; if the current steering wheel turning angle is within the first preset range, judging whether a target included angle between the head of the current intelligent vehicle and the road boundary is greater than a first threshold value; and if so, triggering an automatic gear engaging function of the vehicle. By adopting the embodiment of the invention, the automatic gear engaging function in the vehicle driving process can be realized under the condition of ensuring safe driving, so that the driving efficiency of a driver is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent terminal technology, and in particular to a vehicle automatic gear shifting method and related equipment. Background Art

[0002] In the process of driving a vehicle, the vehicle gear switching is involved for different driving scenarios. Usually, a car will be set with four gears, namely, parking gear (Parking), also known as P gear, parking gear. When parking, the gear is in P gear, and the wheels are in a mechanically locked state to prevent slipping; forward gear (Drive), also known as D gear, or drive gear, when the vehicle is moving forward, the gear is in D gear; neutral gear (Neutral), also known as N gear, when temporarily parking (such as in a trailer scenario), the gear is in N gear; reverse gear (Reverse), also known as R gear, when reversing, the gear is in R gear. A physical gear lever is set on a traditional car, and the driver can switch the vehicle gear by shifting the physical gear lever according to the driving scenario. However, with the continuous optimization of the car structure, the physical gear lever can be cancelled to simplify the interior layout, but the driver still needs to manually operate the preset controls or buttons to switch the vehicle gear according to the driving scenario in the driving state, which reduces the vehicle driving efficiency. Therefore, how to realize the automatic gear shifting function during driving of the car while ensuring safe driving so as to improve the driving efficiency of the driver is an urgent problem to be solved. Summary of the invention

[0003] The embodiments of the present application provide a vehicle automatic gear shifting method and related equipment, which can realize the automatic gear shifting function during vehicle driving while ensuring safe driving, so as to improve the driver's driving efficiency.

[0004] In a first aspect, an embodiment of the present application provides a vehicle automatic gear shifting method, which can be applied to an intelligent vehicle, the intelligent vehicle including a steering wheel. When it is detected that the intelligent vehicle changes from a driving state to a stopped state, it is determined whether the current steering wheel angle is within a first preset range; if the current steering wheel angle is within the first preset range, it is determined whether the target angle between the front of the current intelligent vehicle and the road boundary is greater than a first threshold; if greater, the vehicle automatic gear shifting function is triggered.

[0005] Some driving scenarios involve multiple gear shifting of the vehicle, such as a U-turn on a narrow road. The vehicle cannot continue to move forward and needs to shift gears so that the vehicle can move backward; when the vehicle cannot move backward, it needs to shift gears so that the vehicle can move forward. In a driving scenario where the vehicle shifts gears multiple times, if the user shifts gears manually, the driving efficiency will be reduced and the driving experience will be poor. In an embodiment of the present application, since the user needs to control the steering wheel at all times during the vehicle driving process, turning the steering wheel to a preset range can be used as a trigger condition for the vehicle to automatically shift gears. When it is detected that the smart vehicle changes from a driving state to a stopped state and the trigger condition is met, the vehicle can automatically shift gears, thereby improving the driver's driving efficiency. However, in some special scenarios, such as emergency braking of the vehicle, the steering wheel turning angle may also be within a preset range, which can trigger the vehicle to automatically shift gears. To avoid accidentally triggering the vehicle's automatic gear shifting, this application also needs to determine whether the target angle between the front of the current smart vehicle and the road boundary is greater than a preset threshold. If it is greater, it may indicate that the current vehicle cannot continue to move forward or backward and needs to shift gears again; if it is less than or equal to, the vehicle can successfully turn around without changing gears, and there is no need to trigger the vehicle's automatic gear shifting, thus avoiding the problem of users accidentally triggering the vehicle's automatic gear shifting. While ensuring safe driving, the automatic gear shifting function can be realized during vehicle driving to improve the driver's driving efficiency.

[0006] In some embodiments, the smart vehicle also includes a sensor that can obtain current road position information and current vehicle head position information, and determine the target angle based on the current road position information and the current vehicle head position information; wherein the current road position information includes the position information of the current road relative to the vehicle head of the smart vehicle obtained by the sensor, and the current vehicle head position information includes the current vehicle head position of the smart vehicle.

[0007] In the embodiment of the present application, in order to avoid the situation where the vehicle's automatic gear shifting is accidentally triggered, such as emergency braking of the vehicle, the steering wheel turning angle may also be within a preset range, and then the current road position information and the front position information of the vehicle can be obtained by the sensor of the smart vehicle. Based on the current road position information and the front position information, the target angle between the front of the vehicle and the two boundary lines of the road can be calculated. Among them, the sensor can be a camera. When the sensor is a camera, the current road position information can be the image information of the current road boundary; when the sensor is a laser radar or a millimeter wave radar, the current road position information can be the road direction information and distance information of the current road boundary. Furthermore, it can be determined whether the vehicle's automatic gear shifting function needs to be activated based on the target angle to prevent false triggering and improve user experience.

[0008] In some embodiments, the smart vehicle includes a display screen. When it is detected that the user turns the steering wheel, a first interface can be displayed on the display screen of the smart vehicle. The first interface includes a first preset area, and the first preset area is used to display the steering wheel turning angle in real time.

[0009] In an embodiment of the present application, the smart vehicle may also include a display screen. When it is detected that the user turns the steering wheel, a first interface may be displayed on the display screen of the smart vehicle. The first interface may display a first preset area. When the driver enters the driving state or the smart vehicle stops, the automatic gear shifting function of the smart vehicle can be activated by turning the steering wheel. The first preset area may display in real time the degree of the user turning the steering wheel. The degree of the user turning the steering wheel may be reflected in the first preset area in the form of a progress bar to prompt the user whether to continue turning the steering wheel. When the progress bar is loaded to 100%, it may indicate that the degree of the user turning the steering wheel has reached a preset threshold, thereby improving the user experience. The degree of the user turning the steering wheel may also be reflected in the first preset area in other ways such as percentages and circular progress bars.

[0010] In some embodiments, after the vehicle automatic gear shifting function is triggered, a target gear is determined and the target gear is engaged.

[0011] In the embodiment of the present application, after the vehicle automatic gear shifting function is triggered, the target gear can be determined based on a preset algorithm, which can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the passable direction based on the obstacle information around the vehicle. If the distance between the nearest obstacle in front and the vehicle is greater than a threshold, it is considered passable, otherwise it is not passable. When the front is impassable and the rear is passable, the algorithm outputs R gear; when both the front and rear are impassable, the algorithm outputs N gear, and in other cases, the algorithm outputs D gear. When the vehicle automatic gear shifting function is triggered and the target gear is determined based on the preset algorithm, the vehicle can automatically shift into the target gear without user operation, thereby improving the user experience.

[0012] In some embodiments, when the smart vehicle is engaged in a target gear, a second interface is displayed on a display screen of the smart vehicle, and the second interface is used to display the target gear.

[0013] In the embodiment of the present application, when the smart vehicle is engaged in the target gear, the second interface can be displayed on the display screen of the smart vehicle. When the user operation meets the automatic gear shifting condition, such as turning the steering wheel during driving so that the steering wheel angle reaches a preset threshold, the smart vehicle can start the automatic gear shifting, and further, the target gear can be determined and the smart vehicle can be automatically engaged in the target gear through a preset algorithm, such as a gear prediction algorithm. The second interface can be used to display the target gear to prompt the user of the gear currently engaged by the vehicle, thereby improving the safety of the user driving the vehicle and the user experience.

[0014] In some embodiments, the smart vehicle also includes a brake pedal. When the smart vehicle is continuously in a stopped state, driving status information is obtained, and the driving status information includes vehicle door information, seat belt status information, steering wheel hands-off status information, and driver's line of sight area information; based on the driving status information, it is determined whether the user's driving status is met; if met, it is determined whether the braking force of the brake pedal is greater than a second threshold within a first preset time period, or whether the brake pedal is continuously stepped on within a second preset time period; if the braking force of the brake pedal is greater than the second threshold within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, the vehicle's automatic gear shifting function is triggered.

[0015] In the embodiment of the present application, when the intelligent vehicle is continuously in a stopped state, the driving state information can be obtained to determine whether the user's driving state is met. When the vehicle is parked, the vehicle is in P gear and the vehicle computer cannot move. If the vehicle needs to move, the vehicle needs to be shifted into other gears, such as D gear or R gear. In order to achieve safe gear shifting during the vehicle computer starting stage, it is necessary to determine whether the user meets the driving state. If the user meets the driving state, the driver can control the direction and movement of the vehicle after the vehicle automatically shifts gears, ensuring the safety of the vehicle's automatic gear shifting. Further, when it is detected that the user steps on the brake pedal, if it is detected that the stepping force of the brake pedal is greater than the second threshold value within the first preset time period, or it is detected that the brake pedal is continuously stepped on within the second preset time period; if the stepping force of the brake pedal is greater than the second threshold value within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, the vehicle's automatic gear shifting function can be triggered, so that the automatic gear shifting function during the vehicle driving process can be achieved while ensuring safe driving, so as to improve the driver's driving efficiency.

[0016] In some embodiments, if the vehicle door information includes that the door is closed, the seat belt status information includes that the driver's seat belt is fastened, the steering wheel hands-off status information includes that both hands are holding the steering wheel, and the driver's line of sight area information includes one of the rearview mirror area, central control screen area, instrument panel area, and front display area, then it is determined that the user's driving status is met.

[0017] In the embodiment of the present application, the user driving state can be understood as the state in which the user can control the direction and running direction of the vehicle after the vehicle is changed from P gear to D gear or R gear. When the vehicle is parked, the vehicle is in P gear and the vehicle cannot move. If the vehicle needs to move, the vehicle needs to be put into other gears, such as D gear or R gear. In order to achieve safe gear shifting during the starting stage of the vehicle, it is necessary to determine whether the user meets the driving state. If the user meets the driving state, the driver can control the direction and movement of the vehicle after the vehicle automatically shifts gears, ensuring the safety of the vehicle's automatic gear shifting. In the embodiment of the present application, the steering wheel hand-off state information is considered to ensure that the vehicle's automatic gear shifting function can only be started after the driver holds the steering wheel with both hands, and then after the vehicle triggers the automatic gear shifting and the vehicle starts, the driver can better control the vehicle's driving direction and improve driving safety. In addition, in the embodiment of the present application, the driver's line of sight gaze area information is also considered to ensure that the driver can only start the automatic gear shifting function after looking at one of the rearview mirror area, the central control screen area, the instrument panel area, and the front display area, and then after the vehicle triggers the automatic gear shifting and the vehicle starts, the driver can better avoid obstacles around the vehicle and improve driving safety.

[0018] In some embodiments, when it is detected that the user's stepping force on the brake pedal is greater than a third threshold, the vehicle's automatic gear shifting function is re-triggered, the target gear is re-determined, and the re-determined target gear is engaged.

[0019] In an embodiment of the present application, when the target gear position conflicts with the user's intention, it can be detected whether the brake pedal's stepping force has increased. Specifically, deep stepping on the brake pedal can be used as a trigger condition for gear correction. When the user's true intention is inconsistent with the target gear position, the user can trigger the gear correction by increasing the force of stepping on the brake pedal. That is, the user's stepping force on the brake pedal needs to be greater than a preset threshold to achieve deep stepping on the brake pedal. If the vehicle computer detects that the brake pedal's stepping force has increased, it is determined that the target gear position is inconsistent with the user's true intention, and the vehicle's automatic gear shifting function can be re-triggered. The target gear position can be re-determined based on a preset algorithm, and the re-determined target gear position can be engaged, thereby improving the user experience.

[0020] In some embodiments, vehicle information is obtained, the vehicle information including the current gear position and the current vehicle speed of the smart vehicle; if the current gear position includes one of the forward gear and the reverse gear, and the current vehicle speed is 0, it is determined that the smart vehicle changes from a driving state to a stopped state.

[0021] In the embodiment of the present application, in order to ensure driving safety, the vehicle must be in a stopped state to trigger the vehicle automatic gear shifting function. When the vehicle is currently in one of the D gear or the R gear, the vehicle speed within the preset period is not 0, and the current vehicle speed is 0, it can be indicated that the current vehicle has changed from a driving state to a stopped state. When the vehicle changes from a moving state to a stationary state, it can be determined that the vehicle can trigger the vehicle automatic gear shifting function, so that the automatic gear shifting function during the vehicle driving process can be realized while ensuring safe driving, so as to improve the driving efficiency of the driver.

[0022] In a second aspect, an embodiment of the present application provides a vehicle automatic gear shifting method, which is applied to an intelligent vehicle. The intelligent vehicle includes a brake pedal. When it is detected that the intelligent vehicle changes from a driving state to a stopped state, it is determined whether the brake pedal depression force is greater than a first threshold value within a first preset time period, or it is determined whether the brake pedal is continuously stepped on within a second preset time period; if the brake pedal depression force is greater than the first threshold value within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, then the vehicle speed change information within a third preset time period before the intelligent vehicle is in the stopped state is obtained; based on the vehicle speed change information, the acceleration within the third preset time period is determined, and it is determined whether the acceleration is less than or equal to the second threshold value; if it is less than or equal to, the vehicle automatic gear shifting function is triggered.

[0023] Some driving scenarios involve multiple gear shifting of the vehicle, such as a narrow road U-turn scenario, where the vehicle cannot continue to move forward and needs to shift gears so that the vehicle can move backward; when the vehicle cannot move backward, it needs to shift gears so that the vehicle can move forward. In a driving scenario where the vehicle shifts gears multiple times, if the user manually shifts gears, the driving efficiency will be reduced and the driving experience will be poor. In an embodiment of the present application, since the user needs to frequently step on the brake pedal during vehicle driving, the stepping force of the brake pedal within a preset time period can be greater than a preset threshold, or the user continuously steps on the brake pedal within a preset time period as a trigger condition for the vehicle to automatically shift gears. When it is detected that the intelligent vehicle changes from a driving state to a stopped state and meets the trigger condition, the vehicle can automatically shift gears, thereby improving the driver's driving efficiency. However, in some special scenarios, such as emergency braking of the vehicle, the condition that the brake pedal is continuously stepped on within a preset time period may also be met, or the condition that the stepping force of the brake pedal within a preset time period is greater than a preset threshold, which can trigger the vehicle to automatically shift gears. To avoid accidentally triggering the vehicle's automatic gear shifting, the present application also needs to obtain the vehicle speed change information within a preset time period before the smart vehicle is in a stopped state, and then determine the vehicle's acceleration based on the vehicle speed change information, and determine whether the acceleration is less than or equal to a preset threshold. If it is less than or equal to, the vehicle's automatic gear shifting function can be triggered; if it is greater, it means that the vehicle is stopped in a short period of time and the triggering conditions for the vehicle's automatic gear shifting are mistakenly met. There is no need to trigger the vehicle's automatic gear shifting, thus avoiding the problem of users accidentally triggering the vehicle's automatic gear shifting. While ensuring safe driving, the automatic gear shifting function during vehicle driving can be realized to improve the driver's driving efficiency.

[0024] In some embodiments, vehicle information is obtained, the vehicle information including the current gear position and the current vehicle speed of the smart vehicle; if the current gear position includes one of the forward gear and the reverse gear, and the current vehicle speed is 0, it is determined that the smart vehicle changes from a driving state to a stopped state.

[0025] In the embodiment of the present application, in order to ensure driving safety, the vehicle must be in a stopped state to trigger the vehicle automatic gear shifting function. When the vehicle is currently in one of the D gear or the R gear, the vehicle speed within the preset period is not 0, and the current vehicle speed is 0, it can be indicated that the current vehicle has changed from a driving state to a stopped state. When the vehicle changes from a moving state to a stationary state, it can be determined that the vehicle can trigger the vehicle automatic gear shifting function, so that the automatic gear shifting function during the vehicle driving process can be realized while ensuring safe driving, so as to improve the driving efficiency of the driver.

[0026] In some embodiments, the smart vehicle includes a display screen. When it is detected that a user steps on the brake pedal, a first interface is displayed on the display screen of the smart vehicle. The first interface includes a first preset area, and the first preset area is used to display the braking force of the brake pedal in real time.

[0027] In an embodiment of the present application, the smart vehicle may also include a display screen. When it is detected that the user steps on the brake pedal, a first interface may be displayed on the display screen of the smart vehicle. The first interface may display a first preset area. When the driver enters the driving state or the smart vehicle stops, the automatic gear shifting function of the smart vehicle may be activated by stepping on the brake pedal. The first preset area may display in real time the strength with which the user steps on the brake pedal. The strength with which the user steps on the brake pedal may be reflected in the first preset area in the form of a progress bar to prompt the user whether the user needs to continue to increase the strength with which the brake pedal is stepped on. When the progress bar is loaded to 100%, it may indicate that the strength with which the user steps on the brake pedal has reached a preset threshold, thereby improving the user experience. The strength with which the user steps on the brake pedal may also be reflected in the first preset area in other ways such as percentages and circular progress bars.

[0028] In some embodiments, after the vehicle's automatic gear shifting function is triggered, a target gear is determined and the target gear is engaged.

[0029] In the embodiment of the present application, after the vehicle automatic gear shifting function is triggered, the target gear can be determined based on a preset algorithm, which can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the passable direction based on the obstacle information around the vehicle. If the distance between the nearest obstacle in front and the vehicle is greater than a threshold, it is considered passable, otherwise it is not passable. When the front is impassable and the rear is passable, the algorithm outputs R gear; when both the front and rear are impassable, the algorithm outputs N gear, and in other cases, the algorithm outputs D gear. When the vehicle automatic gear shifting function is triggered and the target gear is determined based on the preset algorithm, the vehicle can automatically shift into the target gear without user operation, thereby improving the user experience.

[0030] In some embodiments, when the smart vehicle is engaged in a target gear, a second interface is displayed on a display screen of the smart vehicle, and the second interface is used to display the target gear.

[0031] In the embodiment of the present application, when the smart vehicle is engaged in the target gear, the second interface can be displayed on the display screen of the smart vehicle. When the user operation satisfies the automatic gear shifting condition, for example, when the pedaling force of the brake pedal reaches a preset threshold value within a preset time period during driving, the smart vehicle can start the automatic gear shifting, and further, the target gear can be determined and the smart vehicle can be automatically engaged in the target gear through a preset algorithm, such as a gear prediction algorithm. The second interface can be used to display the target gear to prompt the user of the gear currently engaged by the vehicle, thereby improving the safety of the user driving the vehicle and the user experience.

[0032] In a third aspect, a vehicle is provided, comprising: a memory and one or more processors; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the vehicle to execute a method such as the first aspect or any one of the embodiments of the first aspect, or the second aspect or any one of the embodiments of the second aspect.

[0033] In a fourth aspect, a computer-readable storage medium is provided, comprising instructions, which, when executed on a vehicle, cause the vehicle to execute a method according to the first aspect or any one of the embodiments of the first aspect, or a method according to the second aspect or any one of the embodiments of the second aspect.

[0034] In a fifth aspect, a computer program product is provided. When the computer program product runs on a computer, it enables the computer to execute the method of the first aspect or any one of the embodiments of the first aspect, or the method of the second aspect or any one of the embodiments of the second aspect.

[0035] In a sixth aspect, a chip system is provided, the chip system comprising at least one processor for implementing the method of the first aspect or any one of the embodiments of the first aspect, or the method of the second aspect or any one of the embodiments of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a smart vehicle 300 provided in an embodiment of the present application.

[0037] Figure 2 A system architecture diagram of an intelligent vehicle provided in an embodiment of the present application.

[0038] Figure 3a-3h A set of user interfaces displayed on a display screen of a smart vehicle 300 provided in an embodiment of the present application.

[0039] Figure 4 A flowchart of a method for automatically shifting gears of a vehicle during the driving phase provided in an embodiment of the present application.

[0040] Figure 5 A schematic diagram of a driver turning a steering wheel provided in an embodiment of the present application.

[0041] Figure 6 A schematic diagram of a narrow road U-turn provided in an embodiment of the present application.

[0042] Figure 7 A schematic diagram of another narrow road U-turn provided in an embodiment of the present application.

[0043] Figure 8A schematic diagram of turning the steering wheel to trigger automatic gear shifting in a vehicle provided in an embodiment of the present application.

[0044] Fig. 9 A schematic flow chart of a method for automatically shifting gears during vehicle start-up provided in an embodiment of the present application.

[0045] Fig.10 A schematic diagram of determining a user's driving status provided in an embodiment of the present application.

[0046] Fig.11 A schematic diagram of stepping on a brake pedal is provided in an embodiment of the present application.

[0047] Fig.12 A schematic diagram of triggering automatic gear shifting of a vehicle by stepping on the brake pedal provided in an embodiment of the present application.

[0048] Fig.13 A schematic diagram of a method for automatically shifting gears of a vehicle during the driving phase provided in an embodiment of the present application.

[0049] Fig.14 Another schematic diagram of triggering automatic gear shifting of a vehicle by stepping on the brake pedal provided in an embodiment of the present application.

[0050] Fig.15 A schematic diagram of gear correction provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0052] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. 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 limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0053] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0054] This embodiment of the application provides a smart vehicle 300, see Figure 1 , Figure 1 It is a structural schematic diagram of a smart vehicle 300 provided in an embodiment of the present application.

[0055] The smart vehicle 300 may include various subsystems, such as a travel system 310, a sensor system 320, a control system 330, one or more peripheral devices 340, and a computer system 350, a power supply 360, and a user interface 370. Optionally, the smart vehicle 300 may include more or fewer subsystems, and each subsystem may include multiple elements. In addition, each subsystem and element of the smart vehicle 300 may be interconnected in a variety of ways, for example, by wired or wireless interconnection.

[0056] The travel system 310 may include components that provide power for the smart vehicle 300. In one embodiment, the travel system 310 may include an engine 3110, an energy source 3120, a transmission 3130, and wheels 3140. The engine 3110 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine composed of a gasoline engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine. The engine 3110 converts the energy source 3120 into mechanical energy.

[0057] Examples of energy source 3120 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 3120 can also provide energy for other systems of smart vehicle 300.

[0058] The transmission 3130 can transmit mechanical power from the engine 3110 to the wheels 3140. The transmission 3130 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 3130 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 3140.

[0059] The sensor system 320 may include several sensors for sensing the surrounding environment information of the smart vehicle 300 and obtaining its own vehicle information. For example, the sensor system 320 may include a positioning system 3210, an inertial measurement unit (IMU) 3220, a radar 3230, and a visual sensor 3240. Among them, the positioning system 3210 may include a GPS system, a Beidou system, or other positioning systems. The sensor system 320 may also include sensors of the internal systems of the monitored smart vehicle 300, such as an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc. The data obtained by these sensors can be used to detect objects and their corresponding characteristics, including but not limited to position, shape, direction, and speed. This detection and identification is of great significance for the smart vehicle 300 to safely perform subsequent operations.

[0060] Positioning system 3210 may be used to determine the geographic location of smart vehicle 300 .

[0061] IMU 3220 can sense the position and orientation changes of smart vehicle 300 based on inertial acceleration. In one embodiment, IMU 3220 can be a combination of an accelerometer and a gyroscope. In this case, IMU 3220 can be used to measure the curvature of smart vehicle 300.

[0062] Radar 3230 can use wireless signals to sense the surrounding environment of smart vehicle 300, which includes but is not limited to surrounding vehicles, infrastructure, and pedestrians. It is understood that radar 3230 can include but is not limited to millimeter wave radar and laser radar. In some embodiments, in addition to sensing the surrounding environment, radar 3230 can also be used to sense the motion state of objects in the environment.

[0063] The visual sensor 3240 may be used to capture multiple images of the surrounding environment of the smart vehicle 300. The visual sensor 3240 may include, but is not limited to, a static camera and a video camera.

[0064] In some embodiments, the user's driving status can be detected in real time, such as reading the door and seat belt status parameters of the vehicle. If the door is closed and the driver's seat belt is fastened, the steering wheel hand-off status and the driver's sight area can be further detected. Optionally, the steering wheel hand-off detection technology can be used to detect whether the steering wheel is held. Optionally, the driver's sight area can be obtained through the driver's sight estimation technology. Among them, the gaze area can be divided into the rearview mirror area, the central control screen area, the instrument panel area, the front display area, etc.

[0065] The control system 330 may be used to control the operation of the intelligent vehicle 300 and its components. The control system 330 may include multiple elements. In one embodiment, the control system 330 includes a steering system 3310, an actuator 3320, a brake unit 3330, a computer vision system 3340, a route control system 3350, and an obstacle avoidance system 3360.

[0066] The steering system 3310 can be operated to adjust the forward direction of the intelligent vehicle 300. For example, in one embodiment, the steering system 3310 can include a steering wheel system.

[0067] In an embodiment of the present application, the steering system 3310 can also be used to sense and send information such as the steering wheel steering angle and the steering wheel hands-off status to the CAN / CANFD bus.

[0068] The actuator 3320 may be used to control the engine 3110 and thus control the speed of the intelligent vehicle 300. For example, in one embodiment, the actuator 3320 may include a throttle.

[0069] The brake unit 3330 can be used to control the intelligent vehicle 300 to decelerate. The brake unit 3330 can use friction to reduce the rotation speed of the wheel 3140. In other embodiments, the brake unit 3330 can convert the kinetic energy of the wheel 3140 into electric current. The brake unit 3330 can also use other methods to reduce the rotation speed of the wheel 3140 to control the speed of the intelligent vehicle 300.

[0070] It is understandable that the actuator 3320 and the brake unit 3330 can be combined into a unit module, and the combined unit module can be used to control the speed of the intelligent vehicle 300. In one embodiment, the combined unit module can include a throttle system and a brake system.

[0071] In the present application, the braking unit 3330 can also be used to sense and send the brake pedal stepping status and stepping force information to the CAN / CANFD bus.

[0072] The computer vision system 3340 can be used to process and analyze the images captured by the visual sensor 3240 in order to identify the surrounding environment of the intelligent vehicle 300, the characteristics of the objects in the surrounding environment and their motion state. The surrounding environment may include traffic signals, road boundaries and obstacles, the characteristics of the objects in the surrounding environment include but are not limited to their surface optical properties, and the motion state includes but is not limited to stillness, acceleration, and deceleration. The computer vision system 3340 can use object recognition algorithms, Structure from Motion (SFM) algorithms and other computer vision technologies. In some embodiments, the computer vision system 3340 includes an image detection system, a neural network-based processing system, etc., which can be used to draw a route for the environment, determine objects, estimate the speed of objects, etc.

[0073] The route control system 3350 is used to determine the driving route of the smart vehicle 300. In some embodiments, the route control system 3350 can determine the driving route for the smart vehicle 300 in combination with data of one or more predetermined routes from the positioning system 3210.

[0074] Obstacle avoidance system 3360 is used to identify, evaluate, avoid or navigate around obstacles in the surrounding environment.

[0075] It should be noted that the control system 330 may add other components, or replace and / or reduce the components described above.

[0076] Smart vehicle 300 interacts with external sensors, other vehicles, other computer systems, or users through peripheral devices 340. Peripheral devices 340 may include, but are not limited to, wireless communication system 3410, onboard computer 3420, microphone 3430, and / or speaker 3440.

[0077] It should be noted that, in some embodiments, the peripheral device 340 can interact with the user of the smart vehicle 300. For example, the onboard computer 3420 can provide information to the user of the smart vehicle 300. At the same time, the user of the smart vehicle 300 can also upload data to the onboard computer 3420. It is understandable that the user of the smart vehicle 300 can operate through the touch screen of the onboard computer 3420. In addition, the peripheral device 340 can provide a means for the smart vehicle 300 to communicate with other devices in the vehicle. For example, the microphone 3430 can receive audio from the user of the smart vehicle 300, and the audio may include voice commands and other audio inputs. Similarly, the speaker 3440 can output audio to the user of the smart vehicle 300.

[0078] The wireless communication system 3410 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 3410 can use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system 3410 can communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system 3410 can communicate directly with devices using infrared links, Bluetooth, or ZigBee, and the devices may include, but are not limited to, public facilities between vehicles and / or roadside stations.

[0079] The power supply 360 can provide power to various components of the smart vehicle 300. In one embodiment, the power supply 360 can include one or more battery packs, and the batteries in the battery packs can be rechargeable lithium-ion batteries or lead-acid batteries. It can be understood that in some embodiments, the power supply 360 and the energy source 3120 can be implemented together.

[0080] Some or all functions of the smart vehicle 300 are controlled by a computer system 350. The computer system 350 may include one or more processors 3520, which execute instructions 35110 stored in a non-transitory computer-readable medium such as a memory 3510. The computer system 350 may also be a plurality of computing devices that control individual components or subsystems of the smart vehicle 300 in a distributed manner.

[0081] Processor 3520 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may be a dedicated device such as an Application Specific Integrated Circuit (ASIC) or other hardware-based processor. Figure 1 Functionally illustrated are devices such as processors, memories, and computers, but those of ordinary skill in the art will appreciate that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, the memory may be a hard drive or other storage medium that is located in a housing different from the computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as steering components and deceleration components may each have their own processor that only performs calculations related to component-specific functions.

[0082] In various aspects described herein, the processor may be located remote from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0083] In some embodiments, the memory 3510 may include instructions 35110 (e.g., program logic), which may be executed by the processor 3520 to implement various functions of the smart vehicle 300, including the functions described above. The memory 3510 may also include additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the travel system 310, the sensor system 320, the control system 330, and the peripheral device 340.

[0084] In addition to storing instructions 35110, memory 3510 may also store data, such as road and route information, vehicle data such as the vehicle's location, direction, speed, and other relevant information.

[0085] The user interface 370 is used to provide information to or receive information from a user of the smart vehicle 300. Optionally, the user interface 370 may include interfaces required by one or more input / output devices in the peripheral device 340, such as a USB interface, an AUX interface, and an OBD interface.

[0086] The computer system 350 can control the functions of the intelligent vehicle 300 based on data from various subsystems (e.g., the travel system 310, the sensor system 320, and the control system 330) and data received from the user interface 370. For example, the computer system 350 can control the steering system 3310 to avoid obstacles detected by the sensor system 320 and the obstacle avoidance system 3360.

[0087] Optionally, the above components may not only be assembled as subsystems inside the smart vehicle 300, but one or more of the components may also be installed separately from the smart vehicle 300. For example, the memory 3510 may be partially or completely separated from the smart vehicle 300. The above components may be coupled in a wired and / or wireless manner.

[0088] It should be noted that the above-mentioned modules and components therein may be added, replaced or deleted according to actual needs, and this application does not impose any restrictions on this.

[0089] Optionally, the smart vehicle 300 or a computing device associated with the smart vehicle 300 (such as Figure 1The computer system 350, computer vision system 3340, memory 3510) can predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). It is understandable that each identified object is associated, so the behavior of a single object can also be predicted by analyzing the state of all objects in the surrounding environment. The smart vehicle 300 can adjust its own speed based on the predicted behavior of the identified object. In other words, the smart vehicle 300 can determine how the vehicle needs to be adjusted (e.g., accelerate, decelerate, or stop) and to what stable state based on the predicted behavior of the object. In this process, the influence of other factors can also be considered, such as the lateral position of the smart vehicle 300 on the road it is traveling on, the curvature of the road, the proximity of static and dynamic objects, etc.

[0090] In addition to providing instructions to adjust the speed of the smart vehicle 300, the computing device may also provide instructions to modify the steering angle of the smart vehicle 300 so that the autonomous vehicle follows a given route and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes).

[0091] The above-mentioned intelligent vehicle 300 can be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an entertainment vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, and a cart, etc., which is not limited to the embodiments of the present application.

[0092] Understandably, Figure 1 The structural diagram of the intelligent vehicle shown is only an exemplary implementation in the embodiment of the present application. The intelligent vehicle in the embodiment of the present application includes but is not limited to the above structure.

[0093] See also Figure 2 , Figure 2 This is a system architecture diagram of an intelligent vehicle provided in an embodiment of the present application. The system architecture of the intelligent vehicle provided in the present application may include a steering system, a braking system, a throttle, a gear prediction module, and a display system. Among them, the steering system can be used to sense and send information such as the steering wheel steering angle and the steering wheel hand-off state to the CAN / CANFD bus. The steering system can be the above Figure 1 The steering system 3310 in the control system 330. The braking system can be used to sense and send the brake pedal stepping state and stepping force information to the CAN / CANFD bus. The braking system can be the above Figure 1 The brake unit 3330 in the control system 330. The throttle can be used to sense and send the throttle pedal stepping state to the CAN / CANFD bus. The gear-hanging system can be used to execute the gear-hanging command. The gear-hanging system can be used in the above Figure 1A new system based on or included in the above Figure 1 The gear prediction module can output the optimal gear according to the user's surrounding environment. The gear prediction module can be a module in the calculation unit, and the calculation unit can be the above Figure 1 The computer system 350 in the embodiment of the present invention can be used for the human-machine interactive display of the automatic gear shifting function.

[0094] The following introduces the user interface provided by the embodiments of the present application.

[0095] Figure 3a-3h A set of user interfaces displayed on a display screen of a smart vehicle 300 provided in an embodiment of the present application.

[0096] Figure 3a An exemplary user interface 51 for displaying the automatic gear shifting usage guidance of pressing the brake pedal on the smart vehicle 300 is shown as an example.

[0097] like Figure 3a As shown, the user interface 51 can display two areas, namely, a preset area 511 and a preset area 512. The preset area 511 can be used to display a guiding animation prompting the user to step on the brake pedal to start the automatic gear shifting; the preset area 512 can be used to display the force of the user stepping on the brake pedal. When the force of the user stepping on the brake pedal is greater than the preset threshold, the smart vehicle 300 can start the automatic gear shifting function. In some embodiments, the force of the user stepping on the brake pedal can be reflected in the preset area 512 in the form of a progress bar to prompt the user whether it is necessary to increase the force of stepping on the brake pedal so that the force of the user stepping on the brake pedal is greater than the preset threshold. In other embodiments, the preset area 512 can also reflect the force of the user stepping on the brake pedal in other ways such as percentages and circular progress bars, which are not specifically limited in this application.

[0098] Figure 3b FIG. 5 exemplarily shows an exemplary user interface 52 on a smart vehicle 300 for showing that a user presses a brake pedal to start automatic gear shifting.

[0099] like Figure 3b As shown, the user interface 52 may display a preset area 521. When the driver enters the driving state or the smart vehicle 300 stops, the automatic gear shifting function of the smart vehicle 300 may be activated by stepping on the brake pedal. The preset area 521 may display the force of the user stepping on the brake pedal in real time. In some embodiments, the preset area 521 may reflect the force of the current user stepping on the brake pedal in real time in the form of a progress bar, which is used to prompt the user whether to step on the brake pedal more forcefully. When the progress bar is loaded to 100%, it may indicate that the user's stepping force has reached the preset threshold.

[0100] In some embodiments, the user interface 52 may be a first interface, and the preset area 521 may be a first preset area.

[0101] Figure 3c An exemplary user interface 53 for displaying automatic gear shifting results on the smart vehicle 300 is shown in FIG.

[0102] like Figure 3c As shown, the user interface 53 can display a preset area 531. When the user operation meets the automatic gear shifting conditions, the smart vehicle 300 can start automatic gear shifting. Through a preset algorithm, such as a gear prediction algorithm, the target gear is determined and the smart vehicle 300 is automatically shifted into the target gear. The preset area 531 can be used to display the target gear to prompt the user of the gear currently engaged by the vehicle, thereby improving the safety of the user's driving the vehicle and the user experience.

[0103] In some embodiments, the user interface 53 may be a second interface.

[0104] Figure 3d exemplarily shows an exemplary user interface 54 on the smart vehicle 300 for displaying another automatic gear shifting result.

[0105] like Figure 3d As shown, the user interface 54 may display a preset area 541 and a preset area 542. When the user operation satisfies the automatic gear shifting condition, such as when the force with which the user steps on the brake pedal is greater than a preset threshold, the smart vehicle 300 may start the automatic gear shifting, and determine the target gear through a preset algorithm, such as a gear prediction algorithm, and automatically shift the smart vehicle 300 into the target gear. The preset area 541 may be used to display the target gear to prompt the user of the gear currently shifted by the vehicle, thereby improving the safety of the user driving the vehicle and the user experience. In order to avoid inconsistency between the algorithm prediction result and the user's intention, a plurality of gear controls may be preset in the preset area 542, such as four gear controls, namely, gear controls for D gear, N gear, R gear and P gear. When the target gear predicted by the smart vehicle 300 is inconsistent with the user's actual intention, the user may touch the gear control in the preset area 542 to shift the gear for the smart vehicle 300 again, thereby improving the safety of the user driving the vehicle and the user experience.

[0106] In some embodiments, the user interface 54 may be a second interface.

[0107] Figure 3e An exemplary user interface 55 for displaying instructions for using automatic gear shifting by turning a steering wheel on a smart vehicle 300 is shown in FIG.

[0108] like Figure 3eAs shown, the user interface 55 can be displayed with two areas, namely, a preset area 551 and a preset area 552. The preset area 551 can be used to display a guiding animation that prompts the user to start the automatic gear shifting by turning the direction during driving; the preset area 552 can be used to display the degree of turning of the steering wheel by the user. When the degree of turning of the steering wheel by the user is greater than the preset threshold, the smart vehicle 300 can start the automatic gear shifting function. In some embodiments, the degree of turning of the steering wheel by the user can be reflected in the preset area 552 in the form of a progress bar to prompt the user whether to continue turning the steering wheel so that the degree of turning of the steering wheel by the user is greater than the preset threshold. In other embodiments, the degree of turning of the steering wheel by the user can also be reflected in the preset area 512 in other ways such as percentages, circular progress bars, etc., which are not specifically limited in this application.

[0109] Figure 3f FIG. 5 shows an exemplary user interface 56 on a smart vehicle 300 for showing that a user turns a steering wheel to start automatic gear shifting.

[0110] like Figure 3f As shown, the user interface 56 may display a preset area 561. When the driver enters the driving state or the smart vehicle 300 stops, the automatic gear shifting function of the smart vehicle 300 can be started by turning the steering wheel. The preset area 561 can display the degree of the user's steering wheel turning in real time. In some embodiments, the preset area 561 can reflect the degree of the user's steering wheel turning in the form of a progress bar to prompt the user whether to continue turning the steering wheel. When the progress bar is loaded to 100%, it can indicate that the degree of the user's steering wheel turning has reached a preset threshold.

[0111] In some embodiments, the user interface 56 may be a first interface, and the preset area 561 may be a first preset area.

[0112] Figure 3g An exemplary user interface 57 for displaying another automatic gear shifting result on the smart vehicle 300 is exemplarily shown in FIG.

[0113] like Figure 3gAs shown, the user interface 57 may display a preset area 571 and a preset area 572, wherein in other embodiments, the user interface 57 may display a preset area 571. When the user operation satisfies the automatic gear shifting condition, such as turning the steering wheel during driving so that the steering wheel angle reaches a preset threshold, the smart vehicle 300 may start the automatic gear shifting, determine the target gear through a preset algorithm, such as a gear prediction algorithm, and automatically shift the smart vehicle 300 into the target gear, and the preset area 571 may be used to display the target gear to prompt the user of the gear currently shifted by the vehicle, thereby improving the safety of the user driving the vehicle and the user experience; in order to avoid the inconsistency between the algorithm prediction result and the user's intention, multiple gear controls may be preset in the preset area 572, such as four gear controls, namely, gear controls for D gear, N gear, R gear and P gear, respectively. When the target gear predicted by the smart vehicle 300 is inconsistent with the user's actual intention, the user may re-shift the gear for the smart vehicle 300 by touching the gear control in the preset area 572, thereby improving the safety of the user driving the vehicle and the user experience.

[0114] In some embodiments, the user interface 57 may be a second interface.

[0115] Figure 3h An exemplary user interface 58 for displaying gear correction usage guidance on the smart vehicle 300 is shown in FIG.

[0116] like Figure 3h As shown, the user interface 58 may display a preset area 581, which may be used to display a gear correction guidance animation when the user's intention is inconsistent with the target gear automatically engaged by the vehicle computer. The gear correction may be triggered by the user stepping on the brake pedal deeply or the user stepping on the brake pedal again, which may correct the automatic gear. In contrast, when the system predicts that the gear is in conflict with the user's actual intention, the gear is corrected by sliding the screen. The gear is corrected by deepening the force of stepping on the brake pedal, and the correction action continues to be performed by the foot, saving hand movements.

[0117] The following is an introduction to the vehicle automatic gear shifting method involved in the embodiment of the present application. The vehicle automatic gear shifting method involved in the present application can be used in the vehicle driving stage and can also be used in the vehicle starting stage.

[0118] Please see attached Figure 4 , Figure 4 A flowchart of a method for automatically shifting gears in a vehicle during driving is provided in an embodiment of the present application, and is described in detail as follows.

[0119] Step S601: Obtain vehicle information.

[0120] Specifically, the vehicle information may include but is not limited to the current gear position of the vehicle (also referred to as the current gear position), the current vehicle speed (also referred to as the current vehicle speed), the vehicle speed within a preset time period, the current steering wheel angle, and other information.

[0121] Step S602: Determine whether the vehicle status satisfies automatic gear shifting.

[0122] Specifically, to ensure driving safety, the vehicle must be in an automatic gear state. The vehicle state may be one of the D gear and the R gear. The vehicle speed within the preset period may not be 0, and the current vehicle speed is 0, which may indicate that the current vehicle has changed from a driving state to a stopped state. When the vehicle changes from a moving state to a stationary state, it can be determined that the vehicle is in an automatic gear driving state.

[0123] In some embodiments, a user interface for automatically shifting gears by turning the steering wheel is displayed on a display screen of the vehicle, such as the above Figure 3e The user interface 55 shown is used to prompt the user how to start the automatic gear shifting function of the vehicle, thereby improving the user experience.

[0124] Step S603: If satisfied, determine whether the current steering wheel angle is within a preset angle range.

[0125] Specifically, the preset angle interval may be a steering wheel angle range preset in advance, and the preset angle range may be set close to the maximum steering angle of the steering wheel. In some embodiments, the preset angle interval may be referred to as a first preset range.

[0126] For example, Figure 5 As shown in the figure, the user can turn the steering wheel to change the direction of the vehicle's wheels. When the vehicle is in automatic gear driving state and the user turns the steering wheel, the degree of the steering wheel angle β can be obtained in real time. When the user turns the steering wheel to within the specified angle range, it can be used as a trigger condition for automatic gear shifting. For example, in the scenario of turning around on a narrow road, when the vehicle stops and the steering wheel is almost fully turned, it can indicate that it is currently unable to move forward or backward and needs to shift gears again. For example, if the vehicle is currently in D gear, it needs to be changed to R gear. If the vehicle is currently in R gear, it needs to be changed to D gear.

[0127] In some embodiments, the user interface for the user to turn the steering wheel to start the automatic gear shifting is displayed on the vehicle display screen, such as the above Figure 3f The user interface 56 shown is used to prompt the user whether to continue turning the steering wheel to trigger the vehicle's automatic gear shifting method.

[0128] Step S604: If satisfied, determine the target angle between the vehicle head and the road boundary.

[0129] Specifically, in order to avoid accidental triggering of the vehicle's automatic gear shifting function, such as emergency braking of the vehicle with the steering wheel fully turned, the current road position information and vehicle head position information can be obtained through the smart vehicle's sensors, and the target angle between the vehicle head and the two road boundary lines can be calculated based on the current road position information and vehicle head position information. Furthermore, it can be determined based on the target angle whether the vehicle's automatic gear shifting function needs to be activated to prevent false triggering and improve user experience.

[0130] In some embodiments, the sensor may be a camera, through which the current road position information, that is, image information of the current road boundary, may be acquired. Based on the image information, the position information of the current road relative to the front of the smart vehicle may be determined; the current front position information may include the front position of the current smart vehicle, that is, the position of the camera on the smart vehicle.

[0131] In some embodiments, the sensor may be a lidar or a millimeter-wave radar. The current road position information, that is, the road direction information and distance information of the current road boundary, may be obtained through the lidar or millimeter-wave radar of the smart vehicle. Based on the road direction information and distance information of the current road boundary, the position information of the current road relative to the front of the smart vehicle may be determined; the current front position information may include the front position of the current smart vehicle, that is, the position of the lidar or millimeter-wave radar on the smart vehicle.

[0132] In some embodiments, a coordinate system is established using the above-mentioned sensor of the smart vehicle as the coordinate origin. Based on the current road position information, the position coordinates of the vehicle head relative to the coordinate origin can be determined, and then the target angle between the current road position coordinate point and the coordinate origin can be determined.

[0133] For example, Figure 6 As shown, Figure 6 In (a), the vehicle is traveling on the road and needs to make a U-turn. When the vehicle is turning left, when the vehicle reaches point A and detects that the vehicle changes from a moving state to a stationary state, and the steering angle of the steering wheel is within a preset angle range, the current road position information and the vehicle head position information can be obtained, and the target angle α1 between the vehicle head and the two boundary lines of the road can be calculated. Furthermore, based on the target angle α1, it can be determined whether the vehicle automatic gear shifting function needs to be activated to prevent false triggering and improve user experience.

[0134] Step S605: Determine whether the target angle is greater than a preset threshold 1.

[0135] Specifically, the preset threshold 1 can be set based on the angle between the front of the vehicle and the two boundary lines of the road when the vehicle can successfully turn around. When the target angle is less than or equal to the preset threshold 1, the vehicle can successfully turn around without shifting gears; when the target angle is greater than the preset threshold 1, it can indicate that the current vehicle cannot continue to move forward or backward and needs to shift gears again, such as if the vehicle is currently in D gear, it needs to be shifted to R gear, and if the vehicle is currently in R gear, it needs to be shifted to D gear.

[0136] In some embodiments, the preset threshold 1 may be a first threshold.

[0137] For example, Figure 6 As shown, Figure 6 (a) The vehicle is traveling on the road, and the vehicle needs to make a U-turn. During the process of the vehicle turning left, when the vehicle reaches point A, when it is detected that the vehicle changes from a moving state to a stationary state, and the steering wheel turning angle is within the preset angle range, the current road position information and the front position information can be obtained, and the target angle α1 between the front of the vehicle and the two boundary lines of the road can be calculated. Assume that the preset threshold 1 is θ, and the current gear position of the vehicle is D gear. At this time, the target angle α1 is greater than θ, indicating that the vehicle has reached the boundary of the road and cannot continue to move forward. Therefore, it is necessary to re-shift the vehicle at point A so that the vehicle can continue to drive and complete the U-turn. Figure 6 As shown in (b), after the vehicle determines that the target angle α1 is greater than θ, the vehicle's automatic gear shifting function can be triggered, and the vehicle can be re-shifted at point A, such as shifting the vehicle into R gear, so that the vehicle can continue to drive and complete the U-turn.

[0138] Step S606: If the target angle is greater than the preset threshold 1, the vehicle automatic gear shifting function is triggered to determine the target gear position.

[0139] Specifically, the target gear can be determined based on a preset algorithm, which can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the passable direction based on the obstacle information around the vehicle. If the distance between the nearest obstacle in front and the vehicle computer is greater than a threshold, it is considered passable, otherwise it is impassable. When the front is impassable and the rear is passable, the algorithm outputs R gear; when both the front and the rear are impassable, N gear is output, and D gear is output in other cases. In some embodiments, after the automatic gear shifting is triggered, the user automatically shifts into the opposite gear, D gear->R gear, or R gear->D gear. When the target angle is greater than the preset threshold value 1, it can indicate that the current vehicle cannot continue to move forward or backward, so the vehicle can trigger the vehicle's automatic gear shifting function, and then the target gear that the vehicle currently needs to shift into can be determined based on the prediction algorithm.

[0140] For example, when the vehicle is Figure 6 After the vehicle is automatically shifted into gear R at point A in Figure 7As shown in (a), the vehicle can drive backwards. After driving to point B, when it is detected that the vehicle changes from a moving state to a stationary state, and the steering wheel angle is within the preset angle range, the current road position information and the vehicle head position information can be obtained, and the target angle α2 between the vehicle head and the two road boundary lines can be calculated. If the target angle α2 is greater than θ, it indicates that the vehicle has reached the road boundary and cannot continue to drive backwards. Therefore, it is necessary to re-engage the vehicle at point B so that the vehicle can continue to drive and complete the U-turn. Figure 7 As shown in (b), after the vehicle determines that the target angle α2 is greater than θ, the vehicle's automatic gear shifting function can be triggered, and the vehicle can be re-shifted at point B, such as shifting the vehicle into D gear. The vehicle can then move forward, and the vehicle can continue to move forward to complete the U-turn.

[0141] Step S607: Shift the vehicle into the target gear.

[0142] Specifically, when the vehicle's automatic gear shifting function is triggered and the target gear is determined based on a preset algorithm, the vehicle can automatically shift into the target gear without user operation, thus improving the user experience. Figure 6 (a) When the vehicle is at point A and the automatic gear shift is triggered, the vehicle can automatically shift from D gear to R gear; Figure 7 (a) After the vehicle is at point B and the automatic gear shift is triggered, the vehicle can automatically shift from R gear to D gear without manual operation by the user, thus improving the user experience. In the embodiment of the present application, when the user performs a narrow road U-turn driving task, the system automatically shifts gears for the user by turning the steering wheel to a certain angle, thus eliminating the need for the user to manually shift gears and improving driving efficiency. At the same time, the method of turning the steering wheel to trigger the automatic gear shift is consistent with the natural driving behavior of narrow road U-turns, providing a better experience.

[0143] In some embodiments, a user interface for displaying the result of the automatic gear shifting when the user turns the steering wheel to start the automatic gear shifting is displayed on the display screen of the vehicle, such as the above Figure 3g The user interface 57 is shown to prompt the user that the vehicle is currently in gear.

[0144] For example, Figure 8As shown, the automatic gear shifting driving state can be determined first. When the vehicle is in the R / D gear and the vehicle changes from motion to stillness, it is determined to be in the automatic gear shifting driving state, and the vehicle computer can display the automatic gear shifting usage guidance for the user. Further, when the user turns the steering wheel to a specified angle range, such as turning the steering wheel nearly fully, the angle between the front of the vehicle and the boundary lines on both sides of the road can be calculated. Lane line detection can be calculated in real time. Then, the position of the lane line where the vehicle is currently located in the world coordinate system can be calculated based on the lane line detection technology. According to the coordinate position, the angle between the current lane line and the front of the vehicle is calculated. If the angle is greater than the preset threshold, it is determined that the user is performing a narrow road U-turn action, and the automatic gear shifting function can be triggered, and the vehicle computer can display that the automatic gear shifting has been triggered. After the automatic gear shifting is triggered, the user automatically shifts into the opposite gear, D->R or R->D. After the gear shifting is completed, the vehicle computer can display that the automatic gear shifting has been completed, and display the direction of the shifting.

[0145] Please see attached Fig. 9 , Fig. 9 A flow chart of a method for automatically shifting gears in a vehicle during the vehicle starting phase provided in an embodiment of the present application is described in detail as follows.

[0146] Step S701: When the smart vehicle is continuously in a stopped state, the driving state information is obtained.

[0147] Specifically, the driving status information may include, but is not limited to, vehicle door information, seat belt status information, steering wheel hands-off status information, driver's sight area information, etc. Among them, the vehicle door information may be that the vehicle doors are all closed, or that the doors are not all closed; the seat belt status information may be that the driver's seat belt is fastened, or that the driver's seat belt is not fastened; the steering wheel hands-off status information may be that the driver has both hands on the steering wheel, or that the driver does not have both hands on the steering wheel; the driver's sight area information may include the rearview mirror area, the central control screen area, the instrument panel area, the front display area, etc.

[0148] Step S702: Based on the driving status information, determine whether the user meets the user's driving status.

[0149] Specifically, if the vehicle door information includes that the vehicle door is closed, the seat belt status information includes that the main driver's seat belt is fastened, the steering wheel hand-off status information includes that both hands are holding the steering wheel, and the driver's line of sight area information includes one of the rearview mirror area, the central control screen area, the instrument panel area, and the front display area, it is determined that the user's driving state is met. The user's driving state can be understood as the state in which the user can control the direction and running direction of the vehicle after the vehicle is changed from P gear to D gear or R gear. When the vehicle is parked, the vehicle is in P gear and the vehicle cannot move. If the vehicle needs to move, the vehicle needs to be put into other gears, such as D gear or R gear. In order to achieve safe gear shifting at the start-up stage of the vehicle, it is necessary to determine whether the user meets the driving state. If the user meets the driving state, the driver can control the direction and movement of the vehicle after the vehicle automatically shifts gears, ensuring the safety of the vehicle's automatic gear shifting. In the embodiment of the present application, the steering wheel hand-off status information is taken into account to ensure that the vehicle's automatic gear shifting function can only be started after the driver holds the steering wheel with both hands, and then after the vehicle triggers the automatic gear shifting and the vehicle starts, the driver can better control the vehicle's driving direction and improve driving safety. In addition, the embodiment of the present application also takes into account the driver's gaze area information to ensure that the automatic gear shifting function can only be activated after the driver looks at one of the rearview mirror area, central control screen area, instrument panel area, and front display area. After the vehicle triggers the automatic gear shifting function and the vehicle starts, the driver can better avoid obstacles around the vehicle and improve driving safety.

[0150] For example, Fig.10 As shown in the figure, after the vehicle is powered on in P gear, the user's driving status can be detected in real time. Obtain the vehicle door and seat belt status parameters. If the door is closed and the main driver's seat belt is fastened, you can start detecting the steering wheel hand-off state and the driver's line of sight area. The steering wheel hand-off detection technology can detect whether the steering wheel is held. The driver's line of sight estimation technology can obtain the driver's line of sight area. The gaze area can be divided into the rearview mirror area, the central control screen area, the instrument panel area, the front display area, etc. If it is detected that the steering wheel is in a hand-held state, and / or the line of sight area is any of the above, it can be determined that the user is in the user driving state.

[0151] In some embodiments, a user interface for automatically shifting gears by pressing the brake pedal is displayed on a display screen of the vehicle, such as the above Figure 3a As shown in the user interface 51, the user is prompted to press the brake pedal to activate the vehicle's automatic gear shifting function, thereby improving the user experience.

[0152] Step S703: If the user is in the driving state, determine whether the user's stepping force on the brake pedal is greater than a preset threshold 2 within a preset time period T1.

[0153] Specifically, the preset threshold value 2 may be a pedal force value preset in advance. The trigger condition for the vehicle to automatically shift gears may be set as the pedal force of the brake pedal being continuously greater than the preset threshold value 2 within a preset time period T1. When it is detected that the user steps on the brake pedal, that is, after the brake pedal is stepped on, if the user is not driving, the vehicle's automatic gear shifting judgment may not be initiated. On the contrary, if it is determined that the user wants to trigger automatic gear shifting, the vehicle computer may display whether the user's action meets the trigger condition, such as displaying a user interface on the vehicle's display screen indicating that the user steps on the brake pedal to start automatic gear shifting, for example Figure 3b The user interface 52 shown is used to prompt the user whether to increase the force on the brake pedal to trigger the vehicle's automatic gear shifting function.

[0154] In some embodiments, the preset time period T1 may be a first preset time period; and the preset threshold 2 may be a second threshold.

[0155] For example, Fig.11 As shown, when it is determined that the user is in a driving state and it is detected that the user steps on the brake pedal, the user's braking force can be displayed in real time on the display screen of the vehicle computer. After the braking force is greater than the preset threshold value 2, and the user's braking force continues to be greater than the preset threshold value 2 within the preset time period T1, the user can be prompted that the threshold has been reached through obvious interface changes (such as color, icon, percentage, etc.), thereby triggering the vehicle's automatic gear shifting function.

[0156] Optionally, step S704: if the vehicle is in the user driving state, determine whether the user continues to step on the brake pedal within a preset time period T2.

[0157] Specifically, the trigger condition for the vehicle to automatically shift gears can be set to continuously stepping on the brake pedal within a preset time period T2. The user can continuously step on the brake pedal within the preset time period T2 to trigger the vehicle's automatic shifting function. It should be noted that the preset time period T1 and the preset time period T2 can be different time periods or the same time period, for example, the preset time period T1 and the preset time period T2 can both be within 1 second.

[0158] In some embodiments, the preset time period T2 may be a second preset time period.

[0159] Step S705: If the user's braking force is greater than the preset threshold 2 within the preset time period T1, or the user continues to step on the brake pedal within the preset time period T2, the vehicle's automatic gear shifting function is triggered, and the target gear is determined based on a preset algorithm.

[0160] Specifically, if the user's stepping force on the brake pedal is greater than the preset threshold value 2 within the preset time period T1, or the user continues to step on the brake pedal within the preset time period T2, the vehicle's automatic gear shifting function can be triggered. The preset algorithm can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the passable direction based on the obstacle information around the vehicle. If the distance between the nearest obstacle in front and the vehicle is greater than the threshold, it is considered passable, otherwise it is not passable. When the front is impassable and the rear is passable, the algorithm outputs R gear; when both the front and the rear are impassable, the algorithm outputs N gear, and in other cases, the algorithm outputs D gear.

[0161] Step S706: Shift the vehicle into the target gear.

[0162] Specifically, when the vehicle's automatic gear shifting function is triggered and the target gear is determined based on a preset algorithm, the vehicle can automatically shift into the target gear without user operation, thus improving the user experience. In this application, the user can trigger the vehicle system to predict the gear by stepping on the brake pedal to achieve automatic gear shifting of the vehicle. On the basis of existing technologies, adding driving status judgment can prevent false triggering and provide better safety; the gear prediction algorithm can be triggered when the user steps on the brake to prepare for gear shifting, which has better real-time performance; the vehicle computer can display prompt information to the user at each stage of automatic gear shifting, and the collaborative decision-making between the user and the vehicle computer optimizes the user experience.

[0163] In some embodiments, a user interface for automatically shifting gears by pressing the brake pedal is displayed on a display screen of the vehicle, such as the above Figure 3c As shown in the user interface 53, the user is prompted with the gear position that the vehicle is currently in, thereby improving the safety of the user driving the vehicle and the user experience.

[0164] Optionally, another user interface for automatically shifting gears when the brake pedal is depressed is displayed on the vehicle's display screen, such as the above Figure 3d As shown in the user interface 54 , when the target gear to be automatically engaged conflicts with the user's actual intention, the user can select the desired gear on the user interface 54 , and the vehicle can then engage in the gear selected by the user.

[0165] For example, Fig.12As shown, the user's driving state can be determined first. After the vehicle is powered on in P gear, the user's driving state can be detected in real time. The vehicle door and seat belt state parameters can be read. If the door is closed and the driver's seat belt is fastened, the steering wheel hand-off state and the driver's sight area can be detected. The steering wheel hand-off detection technology can detect whether the steering wheel is held. The driver's sight area can be obtained by the driver's sight estimation technology. The gaze area can be divided into the rearview mirror area, the central control screen area, the instrument panel area, the front display area, etc. If it is detected that the steering wheel is in a hand-held state, and / or the sight area is any of the above, it can be determined that the user is in a driving state. At this time, the car computer can display the automatic gear usage guidance. The display method can be animation, graphics, language, etc. Further, after detecting that the brake pedal is stepped on, if the user is in a non-driving state, the automatic gear judgment is not started. On the contrary, it is determined that the user wants to trigger the automatic gear, and the car computer can display whether the user's action meets the trigger condition. For example, the trigger condition is that the braking force exceeds the preset threshold. After the user steps on the brake, the car computer displays the braking force in real time. After the force meets the preset threshold, the user is prompted to reach the threshold through obvious interface changes (such as color, icon, percentage, etc.). Optionally, the trigger condition can be that the brake pedal is in the depressed state for a period of time, or the brake pedal force is greater than the threshold for a period of time. Next, the car computer can determine that the automatic gear shifting trigger condition is met based on the user's braking behavior, and the car computer can display the automatic gear shifting function as a triggered state. It can be displayed through graphics, text, animation, and voice. If it is detected that the user releases the pedal within a period of time, but the automatic gear shifting trigger condition is not met, it is determined that the user needs guidance. At this time, the car computer can re-display the automatic gear shifting usage guidance. When the automatic gear shifting is triggered, the car computer can start running the gear prediction algorithm, and at this time, the user can be shown waiting for the automatic gear shifting state. In the P gear state, the gear prediction algorithm predicts the passable direction based on the obstacle information around the vehicle. If the distance between the nearest obstacle in front and the car computer is greater than the threshold, it is considered passable, otherwise it is not passable. When the front is impassable but the rear is impassable, the algorithm outputs R gear; when both the front and rear are impassable, the algorithm outputs N gear; otherwise, the algorithm outputs D gear. After the gear prediction algorithm outputs the result, the vehicle computer can shift the gear into the corresponding gear for the user and display that the gear shifting is completed. Optionally, the gear correction guidance (such as the above) can also be displayed. Figure 3h If the automatically engaged gear position conflicts with the user's actual intention, a correction operation can be performed according to the gear position correction guidance.

[0166] Please see attached Fig.13 , Fig.13 A schematic diagram of another method for automatically shifting gears of a vehicle during the driving phase provided in an embodiment of the present application is described in detail as follows.

[0167] Step S801: When it is detected that the brake pedal is in a depressed state, the vehicle state is determined.

[0168] Specifically, when the brake pedal is in a depressed state, the vehicle state is determined in real time according to the vehicle speed. When the vehicle speed is 0, it is a stationary state, and vice versa, it is a moving state.

[0169] Step S802: When it is detected that the intelligent vehicle changes from a driving state to a stopped state, it is determined whether a trigger condition for automatic gear shifting of the vehicle is met.

[0170] Specifically, the trigger condition for the vehicle to automatically shift gears can be whether the brake pedal pressure is greater than the preset threshold value 3 within the preset time period T3, or whether the brake pedal is continuously stepped on within the preset time period T4. If the brake pedal pressure is greater than the preset threshold value 3 within the preset time period T3, or the brake pedal is continuously stepped on within the preset time period T4, it can be determined that the vehicle's automatic shifting gear trigger condition is met. When the vehicle changes from a moving state to a stationary state, the judgment of whether the automatic shifting gear condition is met is triggered. When the brake pedal pressure and time meet the preset conditions, for example, the brake pressure is greater than 50% within 1s, the vehicle computer determines that the automatic shifting gear trigger condition is met.

[0171] In some embodiments, the preset time period T3 may be a first preset time period, the preset time period T4 may be a second preset time period, and the preset threshold 3 may be a first threshold.

[0172] Step S803: If satisfied, calculate whether the vehicle acceleration within the preset time period T4 is greater than the preset threshold 4.

[0173] Specifically, the preset time period T4 may be a preset time period before the vehicle is in a stopped state. If under abnormal circumstances, such as when the user stops the vehicle urgently, the braking force during the preset time period T3 may be greater than the preset threshold 3, thereby erroneously triggering the vehicle's automatic gear shifting function. To avoid erroneously triggering the vehicle's automatic gear shifting function, the acceleration may be calculated based on the change in the vehicle's speed value during the most recent period T4. If the acceleration is greater than the preset threshold 4 (the degree of change in the vehicle's speed), it is determined that the user's emergency braking behavior erroneously meets the automatic gear shifting condition, and the automatic gear shifting function may not be executed.

[0174] In some embodiments, the preset time period T4 may be a third preset time period, and the preset threshold 4 may be a second threshold.

[0175] Step S804: If it is less than or equal to, the vehicle automatic gear shifting function is triggered, and the target gear is determined based on a preset algorithm.

[0176] Specifically, if the vehicle acceleration is less than or equal to the preset threshold value 4 within the preset time period T4, it is determined to be a non-false trigger, and the vehicle automatic gear shifting function can be triggered. The display screen on the vehicle computer can display that the automatic gear shifting state has been triggered, and the gear prediction algorithm starts to run. When the front is impassable and the rear is impassable, the algorithm outputs R gear; when both the front and rear are impassable, the algorithm outputs N gear, and in other cases, the algorithm outputs D gear. In some embodiments, after the automatic gear shifting is triggered, the user automatically shifts into the opposite gear, D gear->R gear, or R gear->D gear.

[0177] Step S805: Shift the vehicle into the target gear.

[0178] Specifically, when the vehicle's automatic gear shifting function is triggered and the target gear is determined based on a preset algorithm, the vehicle can automatically shift into the target gear without user operation, thereby improving the user experience. In the embodiment of the present application, it can be used in the R\N\D gears, covering a wider range; the brake pedal's pedaling force threshold can be reset. Figure 8 On the basis of the above, false trigger judgment is added to improve the safety of vehicle driving.

[0179] For example, Fig.14 As shown, when the brake pedal is in the depressed state, the vehicle state can be judged in real time according to the vehicle speed. When the vehicle speed is 0, it is in a stationary state, and vice versa. When the vehicle changes from a moving state to a stationary state, it can trigger the judgment of whether the automatic gear shifting condition is met. When the braking force and time meet the preset conditions, such as the braking force is greater than 50% within 1s, the vehicle computer can judge that the automatic gear shifting triggering condition is met. Further, a false trigger judgment can be performed, that is, the acceleration can be calculated according to the change of the speed value in the recent period of time. If the acceleration is greater than the preset threshold value (the degree of change of the vehicle speed), it can be judged that the user's sudden braking behavior mistakenly meets the automatic gear shifting condition, and the automatic gear shifting function is not executed. If it is judged as not a false trigger, the vehicle computer can display that the automatic gear shifting state has been triggered and start the gear prediction algorithm. The gear prediction algorithm can be the same as the above-mentioned gear prediction algorithm, or it can be the opposite gear for the user. For example, if the current gear is D gear, the gear prediction algorithm outputs R gear; if the current gear is R gear, the gear prediction algorithm outputs D gear.

[0180] The embodiment of the present application provides a correction method for when automatic gear shifting conflicts with user intention. When the target gear conflicts with the user's intention, it can detect whether the stepping force of the brake pedal is deepened. Specifically, deep stepping on the brake pedal can be used as a trigger condition for gear correction. When the user's real intention is inconsistent with the target gear, the user can trigger the gear correction by stepping on the brake pedal more deeply. That is, the stepping force of the user stepping on the brake pedal needs to be greater than a preset threshold (such as a preset threshold greater than the preset threshold 2, which can also be called the third threshold in some embodiments) to achieve deep stepping on the brake pedal.

[0181] If the vehicle computer detects that the brake pedal is stepped on more forcefully, it determines that the target gear is inconsistent with the user's actual intention. If the brake pedal is stepped on more forcefully, the opposite gear is output based on the prediction algorithm. Specifically, if the vehicle is currently in the braking state, and if the user steps on the brake pedal more forcefully within a certain period of time, the gear prediction algorithm outputs the opposite gear (for example, D gear -> R gear, or R gear -> D gear), and the vehicle computer displays the latest gear prediction result and completes the gear shifting.

[0182] Optionally, when the user is in a state of not stepping on the brake and steps on the brake pedal again, the gear prediction algorithm outputs the opposite gear (D->R, R->D), and the vehicle computer can display the latest gear prediction result and complete the gear shifting.

[0183] Optionally, when the user corrects the gear position using other alternative gear shifting methods (such as hand-held gear shifting or screen gear shifting), the automatic gear shifting function changes to a disabled state. After shifting into P gear again, the automatic gear shifting function can be automatically activated again.

[0184] In the embodiment of the present application, the user can correct the automatic gear position by increasing the force of the brake pedal or pressing the brake pedal again. In contrast, when the system predicts a conflict between the gear position and the user's actual intention, the gear position is corrected by sliding the screen. By increasing the force of the brake pedal to correct the gear position, the correction action is continued by the foot, saving hand movements.

[0185] For example, Fig.15 As shown in the figure, the user can trigger automatic gear shifting by stepping on the brake pedal deeply, and the vehicle computer can display that the gear prediction has been completed. When the gear prediction result conflicts with the user's intention, the user can perform a specified action to correct the gear shifting. When the user is currently in the braking state, if the user steps on the brake pedal more deeply within a certain period of time, the gear prediction algorithm outputs the opposite gear (D->R, R->D), and the vehicle computer displays the latest gear prediction result and completes the gear shifting.

[0186] The present application provides a computer storage medium, characterized in that the computer storage medium stores a computer program, and when the computer program is executed by a processor, any one of the above-mentioned vehicle automatic gear shifting methods is implemented.

[0187] The embodiment of the present application provides a vehicle, which includes a processor, and the processor is configured to support the vehicle to implement the corresponding functions in any of the above-mentioned vehicle automatic gear shifting methods. The vehicle may also include a memory, which is coupled to the processor and stores necessary program instructions and data for the vehicle. The vehicle may also include a communication interface for the vehicle to communicate with other devices or communication networks.

[0188] The present application provides a chip system, which includes a processor for supporting a vehicle to implement the functions mentioned above, for example, generating or processing information involved in the above-mentioned method of automatically shifting gears of a vehicle. In a possible design, the chip system also includes a memory, which is used to store program instructions and data necessary for the vehicle. The chip system can be composed of a chip, or it can include a chip and other discrete devices.

[0189] The present application provides a computer program, characterized in that the computer program includes instructions, and when the computer program is executed by a computer, the computer executes the above-mentioned vehicle automatic gear shifting method.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0191] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0192] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0193] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0194] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0195] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. Among them, the aforementioned storage medium may include: U disk, mobile hard disk, magnetic disk, optical disk, read-only memory (Read-Only Memory, abbreviated: ROM) or random access memory (Random Access Memory, abbreviated: RAM) and other media that can store program codes.

[0196] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for automatically shifting gears of a vehicle, characterized in that: Applied to an intelligent vehicle, the intelligent vehicle includes a steering wheel, and the method includes: When detecting that the intelligent vehicle changes from a driving state to a stopped state, determining whether the current steering wheel angle is within a first preset range; If the current steering wheel angle is within the first preset range, determining whether the current target angle between the front of the smart vehicle and the road boundary is greater than a first threshold; If it is greater, the vehicle's automatic gear shifting function will be triggered.

2. The method according to claim 1, characterized in that: The smart vehicle further includes a sensor, and the method further includes: Obtain current road position information and current vehicle head position information, and determine the target angle based on the current road position information and the current vehicle head position information, wherein the current road position information includes the position information of the current road relative to the vehicle head obtained by the sensor, and the current vehicle head position information includes the current vehicle head position of the smart vehicle.

3. The method according to claim 1 or 2, characterized in that: The smart vehicle includes a display screen, and the method further includes: When it is detected that the user turns the steering wheel, a first interface is displayed on the display screen of the smart vehicle, wherein the first interface includes a first preset area, and the first preset area is used to display the steering wheel rotation angle in real time.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: After the automatic gear shifting function of the vehicle is triggered, a target gear is determined and the target gear is engaged.

5. The method according to claim 4, characterized in that: The method further comprises: When the smart vehicle is engaged in the target gear, a second interface is displayed on the display screen of the smart vehicle, where the second interface is used to display the target gear.

6. The method according to any one of claims 1 to 5, characterized in that: The smart vehicle further includes a brake pedal, and the method further includes: When the smart vehicle is continuously in a stopped state, driving state information is obtained, wherein the driving state information includes vehicle door information, seat belt state information, steering wheel hands-off state information, and driver's sight area information; Based on the driving state information, determining whether the user's driving state is satisfied; If satisfied, determining whether the braking force of the brake pedal is greater than a second threshold value within the first preset time period, or determining whether the brake pedal is continuously stepped on within the second preset time period; If the braking force of the brake pedal is greater than the second threshold value within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, the automatic gear shifting function of the vehicle is triggered.

7. The method according to claim 6, characterized in that: If the vehicle door information includes that the door is closed, the seat belt status information includes that the driver's seat belt is fastened, the hands-on steering wheel status information includes that both hands are holding the steering wheel, and the driver's line of sight area information includes one of the rearview mirror area, central control screen area, instrument panel area, and front display area, then it is determined that the user's driving status is met.

8. The method according to claim 6 or 7, characterized in that: The method further comprises: When it is detected that the user's stepping force on the brake pedal is greater than a third threshold, the vehicle's automatic gear shifting function is re-triggered, the target gear is re-determined, and the re-determined target gear is engaged.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: Acquire vehicle information, wherein the vehicle information includes the current gear position and current speed of the smart vehicle; If the current gear position includes one of a forward gear and a reverse gear, and the current vehicle speed is 0, it is determined that the intelligent vehicle changes from a driving state to a stopped state.

10. A method for automatically shifting gears of a vehicle, characterized in that: Applied to an intelligent vehicle, the intelligent vehicle includes a brake pedal, and the method includes: When it is detected that the intelligent vehicle changes from a driving state to a stopped state, determining whether the brake pedal stepping force is greater than a first threshold value within a first preset time period, or determining whether the brake pedal is continuously stepped on within a second preset time period; If the brake pedal stepping force is greater than the first threshold value within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, then obtaining the vehicle speed change information within a third preset time period before the smart vehicle is in the stopped state; determining the acceleration within the third preset time period based on the vehicle speed change information, and determining whether the acceleration is less than or equal to a second threshold; If it is less than or equal to, the vehicle's automatic gear shifting function will be triggered.

11. The method according to claim 10, characterized in that: The method further comprises: Acquire vehicle information, wherein the vehicle information includes the current gear position and current speed of the smart vehicle; If the current gear position includes one of a forward gear and a reverse gear, and the current vehicle speed is 0, it is determined that the intelligent vehicle changes from a driving state to a stopped state.

12. The method according to claim 10 or 11, characterized in that: The smart vehicle includes a display screen, and the method further includes: When it is detected that a user steps on the brake pedal, a first interface is displayed on the display screen of the smart vehicle, wherein the first interface includes a first preset area, and the first preset area is used to display the stepping force of the brake pedal in real time.

13. The method according to claims 10-12, characterized in that: The method further comprises: After the automatic gear shifting function of the vehicle is triggered, a target gear is determined and the target gear is engaged.

14. The method according to claim 13, characterized in that: The method further comprises: When the smart vehicle is engaged in the target gear, a second interface is displayed on the display screen of the smart vehicle, where the second interface is used to display the target gear.

15. A vehicle, characterized in that: include: A memory, one or more processors; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the vehicle to execute the method as described in any one of claims 1-9, or execute the method as described in any one of claims 10-14.

16. A chip system, characterized in that: The chip system includes at least one processor, a memory and an interface circuit, the memory, the interface circuit and the at least one processor are interconnected by lines, and instructions are stored in the at least one memory; when the instructions are executed by the processor, the method described in any one of claims 1 to 9 is implemented, or the method described in any one of claims 10 to 14 is executed.

17. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on a vehicle, the vehicle executes the method as claimed in any one of claims 1 to 9, or executes the method as claimed in any one of claims 10 to 14.

18. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are run on a vehicle, the vehicle executes the method according to any one of claims 1 to 9, or executes the method according to any one of claims 10 to 14.

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