Vehicle control method, electronic equipment and vehicle

Abstract

The invention provides a vehicle control method, electronic equipment and a vehicle, and is applied to the technical field of vehicles. The method is applied to a traction vehicle, the traction vehicle is connected with a traction component, the traction vehicle is used for pulling the traction component, and the method comprises the steps that in response to a received control request for starting a self-adaptive cruise function, attribute parameters of the traction component are obtained, and according to the attribute parameters, driving parameters of the traction vehicle are determined, so that the driving parameters are matched with the attribute parameters of the traction component. The driving parameters determined through the attribute parameters are parameters capable of meeting the safe driving requirements of the traction vehicle and the traction part in the self-adaptive cruise process. And controlling the traction vehicle to start a self-adaptive cruise function, and driving according to the driving parameters. The collision risk possibly generated in the braking process or the turning process of the traction vehicle due to the fact that the attribute parameters of the traction component are not matched with the driving parameters can be effectively reduced.

Description

Technical Field

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

[0002] With the development of vehicles, many vehicles have been equipped with adaptive cruise control systems (ACC). ACC is a new system that adds a control function to maintain a reasonable distance from the vehicle in front based on the cruise control system. It monitors the distance and speed of the vehicle in front in real time through the vehicle's sensors (such as radar), and then after precise calculations by the electronic control unit, the system will issue instructions to the actuators (such as throttle, brake and gear controller) to adjust the vehicle's speed to ensure a safe distance from the vehicle in front. However, when the adaptive cruise control system is turned on, when the vehicle is used as a towing vehicle to tow other components or vehicles, there may be safety driving risks due to the increased load. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose a vehicle control method, an electronic device and a vehicle to solve the problem of safe driving risks when a vehicle with an adaptive cruise control system is towing other components or vehicles.

[0004] Based on the above purpose, the first aspect of the present application provides a vehicle control method, which is applied to a towing vehicle, wherein the towing vehicle is connected to a towing component, and the towing vehicle is used to tow the towing component. The method includes: in response to receiving a control request to turn on an adaptive cruise function, obtaining attribute parameters of the towing component; determining driving parameters of the towing vehicle according to the attribute parameters; and controlling the towing vehicle to turn on the adaptive cruise function and drive according to the driving parameters.

[0005] This embodiment can effectively reduce the risk of collision that may occur during braking of the towing vehicle due to the mismatch between the attribute parameters of the towing components and the driving parameters.

[0006] Optionally, the attribute parameters include a connection mode between the trailer component and the towing vehicle, and a mass of the trailer component; the driving parameters include a target limit speed and a target limit following distance;

[0007] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0008] In response to the connection mode being an active connection, determining a target limited vehicle speed and / or a target limited following distance corresponding to the mass of the towing component according to a preset first association relationship;

[0009] The first association relationship determines the correspondence between the mass of the towing component, the speed limit and the following distance limit. The mass of the towing component is positively correlated with the following distance limit, and the mass of the towing component is negatively correlated with the speed limit.

[0010] Through the method of this embodiment, the corresponding relationship between the mass of the towing component and the driving parameters is determined. The larger the mass of the towing component, the more safety margin needs to be reserved, and the corresponding target limit speed is smaller and the target limit following distance is larger. In this way, the problem of the towing vehicle and the towing component not slowing down in time during emergency braking can be effectively avoided, the probability of collision is reduced, and driving safety is improved.

[0011] Optionally, the attribute parameters include a connection mode between the trailer component and the towing vehicle, and a length of the trailer component; the driving parameters include a target speed limit and a target following distance limit;

[0012] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0013] In response to the connection mode being an active connection, determining a target limited vehicle speed and / or a target limited following distance corresponding to the length of the towing component according to a preset second association relationship;

[0014] The second association relationship determines the correspondence between the length of the towing component, the speed limit and the following distance limit. The length of the towing component is positively correlated with the following distance limit, and the length of the towing component is negatively correlated with the speed limit.

[0015] Through the method of this embodiment, the corresponding relationship between the length of the towing component and the driving parameters is determined. The longer the length of the towing component, the more safety margin needs to be reserved, and the corresponding target limit speed is smaller and the target limit following distance is larger. In this way, the problem of the towing vehicle and the towing component not slowing down in time during emergency braking can be effectively avoided, the probability of collision is reduced, and driving safety is improved.

[0016] Optionally, the attribute parameters include a connection mode between the trailer component and the towing vehicle, a length of the trailer component, and a mass of the trailer component; the driving parameters include a target speed limit and a target following distance limit;

[0017] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0018] In response to the connection mode being an active connection, determining a first speed limit and / or a first following distance limit corresponding to the mass of the towing component according to a preset first association relationship; determining a second speed limit and / or a second following distance limit corresponding to the length of the towing component according to a preset second association relationship;

[0019] The first association relationship determines the corresponding relationship between the mass of the towing component, the speed limit and the following distance limit, and the mass of the towing component is positively correlated with the following distance limit, while the mass of the towing component is negatively correlated with the speed limit; the second association relationship determines the corresponding relationship between the length of the towing component, the speed limit and the following distance limit, and the length of the towing component is positively correlated with the following distance limit, while the length of the towing component is negatively correlated with the speed limit;

[0020] The smaller value of the first vehicle speed limit and the second vehicle speed limit is used as the target vehicle speed limit, and the larger value of the first vehicle following distance limit and the second vehicle following distance limit is used as the target vehicle following distance limit.

[0021] This embodiment provides a method for determining a target speed limit and a target following distance limit when the speed limit and the following distance limit determined according to the mass and length of the towing component are different. Selecting a smaller speed limit and a larger following distance limit can ensure the driving safety of the towing vehicle and the towing component under adaptive cruise control and reduce the risk of collision that may occur when the vehicle is emergency braked or cornered.

[0022] Optionally, the attribute parameters include a connection mode between the trailer component and the towing vehicle, a length of the trailer component, and a mass of the trailer component; the driving parameters include a target speed limit and a target following distance limit;

[0023] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0024] In response to the connection mode being a fixed connection, the length of the towing component is greater than a preset length or the mass of the towing component is greater than a preset mass, the target limit speed and / or the target limit following distance is determined according to the length of the towing component, the mass of the towing component and a preset third association relationship.

[0025] When a fixed connection is provided by this embodiment, if it is determined that the towing component has an impact on the deceleration during emergency braking or cornering, the target speed limit and target following distance of the towing vehicle are determined according to the attribute parameters. If it is determined that the towing component will not affect the deceleration during emergency braking or cornering, there is no need to limit the speed and following distance of the towing vehicle. This is equivalent to flexibly formulating driving parameters according to the attribute parameters of the towing component, making the formulation of driving parameters more reasonable.

[0026] Optionally, in response to receiving a control request for enabling an adaptive cruise function, obtaining attribute parameters of the trailer component includes:

[0027] In response to receiving a control request for starting the adaptive cruise function, displaying a prompt interface for inputting the attribute parameters;

[0028] In response to detecting a trigger operation of the user on the prompt interface, the attribute parameter input by the user is obtained.

[0029] The method of this embodiment provides users with a convenient method for inputting attribute parameters, so that the subsequently determined driving parameters (such as vehicle speed and following distance) can adapt to the attribute parameters, that is, match the mass and length of the trailer components, thereby improving driving safety.

[0030] Optionally, in response to detecting a turning section on the road ahead, a prompt message is displayed to prompt the user to take over the vehicle. In this way, the driver can be prompted in time when the driver is not paying attention to the road ahead, thereby improving driving safety and effectively avoiding the risk of collision caused by the driver's failure to take over the vehicle in time.

[0031] Optionally, the method further includes: acquiring adaptive cruise data of the towing vehicle traveling according to the driving parameters within a preset time period; determining whether the towing vehicle has a collision risk based on the adaptive cruise data; in response to determining that there is a collision risk, modifying the driving parameters; and controlling the towing vehicle to travel according to the modified driving parameters.

[0032] This embodiment provides a method for correcting driving parameters during adaptive cruising. When the attribute parameters input by the user are incorrect, active adaptive correction of the driving parameters is achieved, thereby helping to improve driving safety.

[0033] Based on the same inventive concept, the second aspect of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0034] Based on the same inventive concept, the third aspect of the present application also provides a vehicle, comprising the electronic device as described in the second aspect.

[0035] As can be seen from the above, the vehicle control method, electronic device and vehicle provided by the present application are applied to a towing vehicle, the towing vehicle is connected to a towing component, and the towing vehicle is used to tow the towing component. The method includes: in response to receiving a control request to turn on the adaptive cruise function, obtaining the attribute parameters of the towing component, and determining the driving parameters of the towing vehicle according to the attribute parameters, so that the driving parameters are adapted to the attribute parameters of the towing component. The driving parameters determined by the attribute parameters are parameters that can meet the safe driving requirements of the towing vehicle and the towing component during the adaptive cruise process. The towing vehicle is controlled to turn on the adaptive cruise function and drive according to the driving parameters. It can effectively reduce the risk of collision that may occur when the towing vehicle is braking or turning due to the mismatch between the attribute parameters of the towing component and the driving parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

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

[0038] Figure 2 A schematic diagram of the structure of a vehicle control device according to an embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0041] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0042] Adaptive cruise control is an intelligent automatic control system. It can directly control the speed of the vehicle on behalf of the driver, avoiding the driver's frequent cancellation and setting of cruise control, making the cruise system applicable to more road conditions. Based on cruise control at the set speed, the adaptive cruise control system adds a control function to maintain a reasonable distance from the vehicle in front. It monitors the distance and speed of the vehicle in front in real time through sensors such as radar or cameras, and automatically adjusts the speed of the vehicle to maintain a safe distance from the vehicle in front. The adaptive cruise system can automatically accelerate or decelerate according to the traffic conditions ahead without the driver's frequent operation. The distance and speed of the vehicle in front are monitored by sensors, and the speed of the vehicle is automatically adjusted to ensure a safe distance from the vehicle in front. Compared with cruise control, adaptive cruise is applicable to more road conditions, including highways, urban roads, etc.

[0043] When a towing vehicle with adaptive cruise control is towing other parts or vehicles, the load of the towing vehicle increases, resulting in an increased risk of safe driving. This is mainly due to, firstly, in the case of emergency braking of the towing vehicle, the large load causes an increase in braking distance and the time required for braking to stop, which may cause collision or secondary collision problems. Secondly, the towing vehicle needs to slow down when entering a curve to smoothly complete the vehicle turn, but when the towing parts or towing vehicles are wide or long, the towing vehicle will not decelerate in time when entering a curve. Usually, when a vehicle enters a curve, it will slow down comfortably according to the lateral acceleration of the center of mass of the vehicle, but the towing parts or towing vehicles will affect the distribution of the center of mass, which in turn affects the speed reduction range, and ultimately safety problems will occur due to untimely deceleration. Thirdly, when the towing vehicle brakes in an emergency, irregular objects loaded on the towing parts or towing vehicles will disintegrate (such as steel pipes loaded on the towing parts or towing vehicles flying forward due to emergency braking), which may cause the risk of secondary collision.

[0044] In view of this, the present application proposes a vehicle control method. When a towing vehicle is towing other parts or vehicles, if the adaptive cruise function needs to be turned on, the driving parameters of the towing vehicle are determined according to the attribute parameters of the towing parts, so that the driving parameters match the attribute parameters of the towing parts, so as to avoid the risk of collision due to emergency braking or vehicle turning.

[0045] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0046] The present application provides a vehicle control method, which is applied to a controller of a towing vehicle, wherein the towing vehicle is connected to a towing component, and the towing vehicle is used to tow the towing component, and a reference is made to the controller of the towing vehicle. Figure 1 , the method comprises the following steps:

[0047] Step 102: In response to receiving a control request for starting an adaptive cruise function, obtaining attribute parameters of the towing component.

[0048] Specifically, the control request for the adaptive cruise function can be triggered by the user, or it can be actively triggered when the vehicle-side controller determines that the current driving scene meets the conditions for turning on the adaptive cruise function.

[0049] The tractor vehicle in this embodiment is connected to the trailer component, which can be a bicycle rack fixedly connected to the tractor vehicle, or a camper, RV, flatbed truck, etc. movably connected to the tractor vehicle. When the tractor vehicle is movably connected to the trailer component, the trailer component can rotate relative to the tractor vehicle, and when the tractor vehicle turns, the trailer component can rotate with it. When the tractor vehicle brakes in an emergency, due to the different loading states of the trailer component (such as empty, half-loaded or fully loaded), the generated braking inertia is different, and the braking distance is also different. If the trailer component is fully loaded and the speed of the tractor vehicle during adaptive cruise is fast, there may be a risk of collision due to the large braking inertia after emergency braking. Therefore, when receiving a control request to turn on the adaptive cruise function, the tractor vehicle needs to obtain the attribute parameters of the trailer component so as to determine the driving parameters of the tractor vehicle after the adaptive cruise function is turned on according to the attribute parameters. Among them, the attribute parameters are parameters that characterize the performance attributes of the trailer component, such as the length and mass of the trailer component, and the connection method with the tractor vehicle, etc. The driving parameters characterize the data during the driving process of the tractor vehicle, including the speed, the following distance, the driving torque, etc. Determining the driving parameters of the traction vehicle according to the attribute parameters can avoid safety driving risks caused by the mismatch between the attribute parameters and the driving parameters.

[0050] Step 104: Determine the driving parameters of the traction vehicle according to the attribute parameters.

[0051] The controller of the towing vehicle can determine the driving parameters of the towing vehicle based on the attribute parameters. Specifically, the controller of the towing vehicle can call the processor to use a preset algorithm to calculate and determine the driving parameters based on the attribute parameters. Alternatively, the driving parameters matching the attribute parameters can be queried in the association table according to a pre-constructed association table, wherein the association table can be constructed through a large number of road test results, and the unique relationship between the attribute parameters and the driving parameters can be determined in the association table, such as determining the relationship between the vehicle speed and the mass of the towing component, the relationship between the following distance and the mass of the towing component, etc. Alternatively, a driving parameter prediction model is trained based on historical data. After the training is completed, the attribute parameters are input into the driving parameter prediction model to output the predicted driving parameters.

[0052] Step 106: Control the traction vehicle to start an adaptive cruise function and drive according to the driving parameters.

[0053] Specifically, after determining the driving parameters, the adaptive cruise function is turned on, and the vehicle is controlled to drive according to the driving parameters, such as driving at a certain speed and following distance. After driving according to the driving parameters, even in the case of emergency braking or turning, there will be no problem of abnormal deceleration due to excessive braking inertia. In this way, when the towing vehicle is emergency braking or turning, there will be no collision risk due to excessive load on the trailer parts, which improves driving safety.

[0054] Based on the above steps 102 to 106, the vehicle control method provided in this embodiment includes: in response to receiving a control request for turning on the adaptive cruise function, obtaining the attribute parameters of the trailer component, and determining the driving parameters of the tractor vehicle according to the attribute parameters, so that the driving parameters are adapted to the attribute parameters of the trailer component. The driving parameters determined by the attribute parameters are parameters that can meet the safe driving requirements of the tractor vehicle and the trailer component during the adaptive cruise process. The tractor vehicle is controlled to turn on the adaptive cruise function and drive according to the driving parameters. The collision risk that may occur in the tractor vehicle during braking or turning due to the mismatch between the attribute parameters of the trailer component and the driving parameters can be effectively reduced.

[0055] Due to the different attribute parameters, the determined driving parameters are also different. The method of determining the driving parameters according to the attribute parameters is described below through a specific embodiment.

[0056] In some embodiments, the attribute parameters include the connection mode between the trailer component and the towing vehicle, and the mass of the trailer component; the driving parameters include the target limit speed and the target limit following distance;

[0057] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0058] In response to the connection mode being an active connection, determining a target limited vehicle speed and / or a target limited following distance corresponding to the mass of the towing component according to a preset first association relationship;

[0059] The first association relationship determines the correspondence between the mass of the towing component, the speed limit and the following distance limit. The mass of the towing component is positively correlated with the following distance limit, and the mass of the towing component is negatively correlated with the speed limit.

[0060] Specifically, the attribute parameters include the connection mode between the towing component and the towing vehicle, and the mass of the towing component. The connection mode includes fixed connection and movable connection, and the mass of the towing component can be detected by a special measuring tool. If the connection mode is movable connection, the target speed limit and the target following distance limit can be obtained by querying and matching in the first association relationship according to the mass of the towing component. During the adaptive cruise process, the upper limit of the speed of the towing vehicle is the target speed limit, and the lower limit of the distance between the towing vehicle and the front vehicle is the target following distance limit. That is, the target speed limit is the maximum speed of the towing vehicle, and the target following distance limit is the minimum distance between the towing vehicle and the front vehicle.

[0061] The first association relationship determines the correspondence between the mass of the towing component, the speed limit and the following distance limit, and the first association relationship is pre-constructed. According to the mass of the towing component, the target speed limit and the target following distance limit can be uniquely determined in the first association relationship. The mass of the towing component is negatively correlated with the target speed limit. The larger the mass of the towing component, the smaller the target speed limit. For example, when the mass of the towing component is less than 1000kg, the target speed limit is 130km / h, when the mass of the towing component is between 1001kg and 1500kg, the target speed limit is 120km / h, when the mass of the towing component is between 1501kg and 2000kg, the target speed limit is 100km / h, when the mass of the towing component is above 2000kg, the target speed limit is 80km / h, and so on. At the same time, when the mass of the towing component is above 2000kg, a prompt message "The actual mass of the towing component has exceeded the maximum towing mass, please drive carefully" is displayed on the display screen of the vehicle.

[0062] The mass of the trailer is positively correlated with the target limited following distance. The larger the mass of the trailer, the larger the target limited following distance. For example, when the mass of the trailer is less than 1000kg, the target limited following distance is 30m, when the mass of the trailer is between 1001kg and 1500kg, the target limited following distance is 50m, when the mass of the trailer is between 1501kg and 2000kg, the target limited following distance is 80m, when the mass of the trailer is above 2000kg, the target limited following distance is 100m, and so on. At the same time, when the mass of the trailer is above 2000kg, the prompt message "The actual mass of the trailer has exceeded the maximum towing mass, please drive carefully" will be displayed on the vehicle's display screen.

[0063] Through the method of this embodiment, the corresponding relationship between the mass of the towing component and the driving parameters is determined. The larger the mass of the towing component, the more safety margin needs to be reserved, and the corresponding target limit speed is smaller and the target limit following distance is larger. In this way, the problem of the towing vehicle and the towing component not slowing down in time during emergency braking can be effectively avoided, the probability of collision is reduced, and driving safety is improved.

[0064] The above-mentioned embodiment provides the determining relationship between the mass of the trailer component and the driving parameter. The following describes the determining relationship between the length of the trailer component and the driving parameter through a specific embodiment.

[0065] In some embodiments, the attribute parameters include the connection mode between the trailer component and the towing vehicle, and the length of the trailer component; the driving parameters include the target limit speed and the target limit following distance;

[0066] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0067] In response to the connection mode being an active connection, determining a target limited vehicle speed and / or a target limited following distance corresponding to the length of the towing component according to a preset second association relationship;

[0068] The second association relationship determines the correspondence between the length of the towing component, the speed limit and the following distance limit. The length of the towing component is positively correlated with the following distance limit, and the length of the towing component is negatively correlated with the speed limit.

[0069] Specifically, the attribute parameters include the connection mode between the towing component and the towing vehicle, and the length of the towing component. The connection mode includes fixed connection and movable connection. The length of the towing component can be detected by a special measuring tool, or can be determined according to the factory nameplate parameters of the towing component. If the connection mode is movable connection, the target speed limit and target following distance limit can be obtained by querying and matching in the second association relationship according to the length of the towing component. During the adaptive cruise process, the upper limit of the speed of the towing vehicle is the target speed limit, and the lower limit of the distance between the towing vehicle and the front vehicle is the target following distance limit. That is, the target speed limit is the maximum speed of the towing vehicle, and the target following distance limit is the minimum distance between the towing vehicle and the front vehicle.

[0070] The second association relationship determines the correspondence between the length of the towing component, the speed limit and the following distance limit, and the second association relationship is pre-constructed. According to the length of the towing component, the target speed limit and the target following distance limit can be uniquely determined in the second association relationship. The length of the towing component is negatively correlated with the target speed limit. The longer the length of the towing component, the smaller the target speed limit. For example, when the length of the towing component is less than 4m, the target speed limit is 120km / h, when the length of the towing component is between 4.1m and 6m, the target speed limit is 100km / h, when the length of the towing component is between 6.1m and 8m, the target speed limit is 80km / h, when the length of the towing component is more than 8m, the target speed limit is 60km / h, and so on. At the same time, when the length of the towing component is more than 8m, a prompt message "The towing component is too long, please drive carefully" is displayed on the display screen of the vehicle.

[0071] The length of the trailer is positively correlated with the target limited following distance. The longer the trailer is, the greater the target limited following distance is. For example, when the trailer is less than 4 meters long, the target limited following distance is 30 meters, when the trailer is between 4.1 meters and 6 meters long, the target limited following distance is 50 meters, when the trailer is between 6.1 meters and 8 meters long, the target limited following distance is 80 meters, when the trailer is more than 8 meters long, the target limited following distance is 100 meters, and so on. At the same time, when the trailer is more than 8 meters long, the prompt message "The trailer is too long, please drive carefully" is displayed on the vehicle's display screen.

[0072] Through the method of this embodiment, the corresponding relationship between the length of the towing component and the driving parameters is determined. The longer the length of the towing component, the more safety margin needs to be reserved, and the corresponding target limit speed is smaller and the target limit following distance is larger. In this way, the problem of the towing vehicle and the towing component not slowing down in time during emergency braking can be effectively avoided, the probability of collision is reduced, and driving safety is improved.

[0073] The above two embodiments describe the relationship between the mass and length of the trailer and the driving parameters respectively, that is, the attribute parameter dimension of the trailer is considered to be single. However, the mass and length of the actual trailer may meet certain conditions at the same time, and it is necessary to comprehensively consider the mass and length of the trailer to determine the target speed limit and the target following distance limit.

[0074] In some embodiments, the attribute parameters include the connection mode between the trailer component and the towing vehicle, the length of the trailer component and the mass of the trailer component; the driving parameters include the target limit speed and the target limit following distance;

[0075] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0076] In response to the connection mode being an active connection, determining a first speed limit and / or a first following distance limit corresponding to the mass of the towing component according to a preset first association relationship; determining a second speed limit and / or a second following distance limit corresponding to the length of the towing component according to a preset second association relationship;

[0077] The first association relationship determines the corresponding relationship between the mass of the towing component, the speed limit and the following distance limit, and the mass of the towing component is positively correlated with the following distance limit, while the mass of the towing component is negatively correlated with the speed limit; the second association relationship determines the corresponding relationship between the length of the towing component, the speed limit and the following distance limit, and the length of the towing component is positively correlated with the following distance limit, while the length of the towing component is negatively correlated with the speed limit;

[0078] The smaller value of the first vehicle speed limit and the second vehicle speed limit is used as the target vehicle speed limit, and the larger value of the first vehicle following distance limit and the second vehicle following distance limit is used as the target vehicle following distance limit.

[0079] Specifically, the attribute parameters include the connection mode between the trailer component and the towing vehicle, and the mass and length of the trailer component. The connection mode includes fixed connection and movable connection, and the mass of the trailer component can be detected by a special measuring tool. The length of the trailer component can be detected by a special measuring tool, or can be determined based on the factory nameplate parameters of the trailer component. The method for determining the corresponding first speed limit and first following distance limit based on the mass of the trailer component and the first association relationship is the same as the above embodiment, and the method for determining the corresponding second speed limit and second following distance limit based on the length of the trailer component and the second association relationship is the same as the above embodiment, and will not be repeated here.

[0080] If the first speed limit and the second speed limit are different, the smaller value of the first speed limit and the second speed limit is preferentially selected as the target speed limit. For example, the first speed limit is 80km / h and the second speed limit is 100km / h, then the target speed limit is 80km / h. Selecting a smaller value can simultaneously meet the speed limit requirements of the mass and length of the towing parts, and will not exceed the upper speed limit during adaptive cruising. During emergency braking or turning, the speed can be reduced at a comfortable speed reduction range to avoid the risk of collision caused by excessive speed reduction, thereby ensuring driving safety. At the same time, it should also be noted that after determining the target speed limit, the maximum speed limit of the current driving section needs to be considered. If the maximum speed limit of the current driving section is less than the target speed limit, the target speed limit is modified to the maximum speed limit. If the maximum speed limit of the current driving section is greater than the target speed limit, there is no need to adjust the target speed limit.

[0081] If the determined first limiting following distance and the second limiting following distance are different, the larger value of the first limiting following distance and the second limiting following distance is preferentially selected as the target limiting following distance. For example, if the first limiting following distance is 80m and the second limiting following distance is 100m, the determined target limiting following distance is 100m. Selecting a larger value can meet the requirement of ensuring the mass and length of the towing parts for limiting the following distance. During the adaptive cruise process, the distance between the towing vehicle and the vehicle in front will not be less than the lower limit of the distance, and the braking distance generated during emergency braking is less than the target limiting following distance, which can ensure driving safety.

[0082] This embodiment provides a method for determining a target speed limit and a target following distance limit when the speed limit and the following distance limit determined according to the mass and length of the towing component are different. Selecting a smaller speed limit and a larger following distance limit can ensure the driving safety of the towing vehicle and the towing component under adaptive cruise control and reduce the risk of collision that may occur when the vehicle is emergency braked or cornered.

[0083] The aforementioned embodiments all describe methods for determining driving parameters when the connection mode is an active connection. If the connection mode is a fixed connection, no relative movement will occur between the towing vehicle and the trailer component during driving. Accordingly, there are differences in the methods for determining driving parameters, which are explained below through specific embodiments.

[0084] In some embodiments, the attribute parameters include the connection mode between the trailer component and the towing vehicle, the length of the trailer component and the mass of the trailer component; the driving parameters include the target limit speed and the target limit following distance;

[0085] Determining the driving parameters of the traction vehicle according to the attribute parameters includes:

[0086] In response to the connection mode being a fixed connection, the length of the towing component is greater than a preset length or the mass of the towing component is greater than a preset mass, the target limit speed and / or the target limit following distance is determined according to the length of the towing component, the mass of the towing component and a preset third association relationship.

[0087] Specifically, the attribute parameters include the connection method between the trailer component and the towing vehicle, and the mass and length of the trailer component. The connection methods include fixed connection and movable connection, and the mass of the trailer component can be detected by a special measuring tool. The length of the trailer component can be detected by a special measuring tool, or it can be determined based on the factory nameplate parameters of the trailer component. During the adaptive cruise control process, the upper limit of the speed of the towing vehicle is the target limit speed, and the lower limit of the distance between the towing vehicle and the vehicle in front is the target limit following distance. That is, the target limit speed is the maximum speed of the towing vehicle, and the target limit following distance is the minimum distance between the towing vehicle and the vehicle in front.

[0088] If the connection mode is a fixed connection, it means that there is no relative movement between the towing vehicle and the towing component. For example, when the towing component is a bicycle rack, the bicycle rack is fixed to the rear end of the towing vehicle. At this time, if the length of the towing component is less than or equal to the preset length, and the mass of the towing component is less than or equal to the preset mass, it can be considered that the towing component has little effect on the speed reduction when the towing vehicle is in emergency braking or turning, and the speed and following distance of the towing vehicle can be unrestricted. However, if the length of the towing component is greater than the preset length, or the mass of the towing component is greater than the preset mass, the towing component will have a certain effect on the speed reduction when the towing vehicle is in emergency braking or turning, thereby increasing the driving safety risk. At this time, it is necessary to limit the speed and following distance of the towing vehicle. Specifically, according to the length of the towing component, the mass of the towing component and the preset third association relationship, the target limit speed and / or the target limit following distance are determined. Exemplarily, the preset length can be 4m and the preset mass can be 1500kg.

[0089] The third association relationship is pre-constructed, and the relationship between the attribute parameters of the fixedly connected trailer components and the driving parameters can be determined based on a large number of road tests, thereby constructing the third association relationship.

[0090] In the third association relationship, the corresponding relationship between the length of the towing component and the speed limit, the corresponding relationship between the length of the towing component and the following distance limit, and the corresponding relationship between the mass of the towing component and the speed limit, and the corresponding relationship between the mass of the towing component and the following distance limit are determined. The longer the length of the towing component, the smaller the speed limit and the larger the following distance limit; the larger the mass of the towing component, the smaller the speed limit and the larger the following distance limit.

[0091] When the length of the towing component is greater than the preset length, and the mass of the towing component is less than or equal to the preset mass, the corresponding target speed limit and / or target following distance limit may be determined according to the length of the towing component and the third association relationship. When the mass of the towing component is greater than the preset mass, and the length of the towing component is less than or equal to the preset length, the corresponding target speed limit and / or target following distance limit may be determined according to the mass of the towing component and the third association relationship.

[0092] When the length of the towing component is greater than the preset length, and the mass of the towing component is greater than the preset mass, in the third association relationship, the corresponding third speed limit and third following distance limit can be determined according to the mass of the towing component, and the corresponding fourth speed limit and fourth following distance limit can be determined according to the length of the towing component. If the third speed limit and the fourth speed limit are different, the smaller value of the third speed limit and the fourth speed limit is selected as the target speed limit, and if the third following distance limit is different from the fourth following distance limit, the larger value of the third following distance limit and the fourth following distance limit is selected as the target following distance limit. In this way, the safety requirements of the length and mass of the towing component for limiting the speed and following distance can be met at the same time, avoiding the risk of collision due to the influence of the towing component during the adaptive cruise.

[0093] When a fixed connection is provided by this embodiment, if it is determined that the towing component has an impact on the deceleration during emergency braking or turning, the target speed limit and target following distance limit of the towing vehicle are determined according to the attribute parameters. If it is determined that the towing component will not affect the deceleration during emergency braking or turning, there is no need to limit the speed and following distance of the towing vehicle. This is equivalent to flexibly determining the driving parameters according to the attribute parameters of the towing component, making the method for determining the driving parameters more reasonable.

[0094] After receiving a control request for starting the adaptive cruise function, it is necessary to obtain the attribute parameters of the trailer component. The following describes a method for obtaining the attribute parameters through a specific embodiment.

[0095] In some embodiments, in response to receiving a control request to enable an adaptive cruise function, obtaining the attribute parameters of the trailer component includes:

[0096] In response to receiving a control request for starting the adaptive cruise function, displaying a prompt interface for inputting the attribute parameters;

[0097] In response to detecting a trigger operation of the user on the prompt interface, the attribute parameter input by the user is obtained.

[0098] Specifically, if the user actively triggers the adaptive cruise control request, a prompt interface for inputting attribute parameters is displayed on a display screen in the vehicle, such as a car computer screen. Exemplarily, a plurality of input prompt boxes are displayed on the prompt interface, which are used to input attribute parameters such as length, mass, and connection relationship with the towing vehicle. The user can choose to enter the corresponding attribute parameters in all or part of the input prompt boxes. Exemplarily, the user can enter parameters in the input prompt boxes corresponding to the length and connection relationship, or in the input prompt boxes corresponding to the mass and connection relationship, or in all the input prompt boxes. When the user completes the input of the attribute parameters, the vehicle-side controller confirms that the attribute parameters of the towing component have been obtained.

[0099] If the vehicle-side controller determines that the current driving scenario satisfies the requirements for turning on the adaptive cruise function, it can display a query prompt message on the display screen in the vehicle, such as the vehicle computer screen, asking the user whether the adaptive cruise function needs to be turned on. If the user confirms to turn it on, a prompt interface for entering attribute parameters will be displayed on the vehicle computer screen.

[0100] The method of this embodiment provides users with a convenient method for inputting attribute parameters, so that the subsequently determined driving parameters (such as vehicle speed and following distance) can adapt to the attribute parameters, that is, match the mass and length of the trailer components, thereby improving driving safety.

[0101] The adaptive cruise control function can monitor the distance and speed of the vehicle in front in real time through sensors such as radar or cameras, and automatically adjust the speed of the vehicle to maintain a safe distance from the vehicle in front. However, when the vehicle in front needs to turn, the adaptive cruise control function cannot complete the active turn, and the driver needs to take over the vehicle. In order to avoid the driver not noticing the curve in the road ahead in time, the driver needs to be reminded in time.

[0102] In some embodiments, in response to detecting a turning section on the road ahead, prompt information is displayed to prompt the user to take over the vehicle.

[0103] Specifically, the vehicle can determine the road conditions ahead through cameras or navigation information, and if a turning section is found on the road ahead, a prompt message to prompt the user to take over the vehicle will be displayed on the display screen in the car, such as the car screen or the head-up display. Exemplary content of the prompt message may be "There is a curve ahead, please pay attention to the curve and take over the vehicle at any time." In addition, in addition to displaying the prompt message on the display screen, the driver can also be reminded to pay attention to the turning section ahead through voice broadcast. In this way, the driver can be reminded in time when the driver is not paying attention to the road ahead, thereby improving driving safety. Effectively avoid the risk of collision caused by the driver's failure to take over the vehicle in time.

[0104] Since the attribute parameters are input by the user, if the attribute parameters input by the user are incorrect, the accuracy of the driving parameters will be affected. In order to ensure the accuracy of the driving parameters, it is necessary to determine whether the attribute parameters input by the user are incorrect, and if so, actively adjust them.

[0105] In some embodiments, the vehicle control method further includes: obtaining adaptive cruise data of the towing vehicle traveling according to the driving parameters within a preset time period; determining whether the towing vehicle has a collision risk based on the adaptive cruise data; in response to determining that there is a collision risk, correcting the driving parameters; and controlling the towing vehicle to travel according to the corrected driving parameters.

[0106] Specifically, after the adaptive cruise control is turned on, the adaptive cruise control data within the preset time period when the towing vehicle is driven according to the driving parameters is obtained. The adaptive cruise control data includes the cruise speed, acceleration times, acceleration, deceleration times, deceleration, braking times, braking distance, etc. at each moment. Through the adaptive cruise control data, it can be determined whether there is a collision risk between the towing vehicle and the towing component. For example, if the deceleration exceeds the preset deceleration threshold during the adaptive cruise control, it means that when the towing vehicle brakes, the speed drops too fast, exceeding the comfortable speed drop, and the collision risk of the towing vehicle increases. At this time, it may be caused by the target limit speed in the driving parameters being too fast, reflecting that the speed does not match the attribute parameters of the towing component. Alternatively, if the number of braking times and the number of acceleration times exceed the preset threshold, it means that the vehicle frequently accelerates or decelerates during the adaptive cruise control process. At this time, it may be caused by the target limit following distance in the driving parameters being inappropriate, reflecting that the target limit following distance does not match the attribute parameters of the towing component, and it is determined that the towing vehicle has a collision risk.

[0107] After determining that the towing vehicle has a collision risk, it means that the current driving parameters are not appropriate and need to be corrected. If it is determined that the target speed limit in the driving parameters is not appropriate, such as if the target speed limit is too fast, the target speed limit can be appropriately reduced; if it is determined that the target speed limit is too slow, the target speed limit can be appropriately increased. If it is determined that the target following distance in the driving parameters is not appropriate, such as if the target following distance is small, the target following distance can be appropriately increased; if the target following distance is large, the target following distance can be appropriately reduced. Afterwards, the towing vehicle is controlled to travel according to the corrected driving parameters.

[0108] The preset duration can be determined according to the actual driving scenario, for example, the preset duration can be 5 minutes or 10 minutes. In addition, the time interval for obtaining adaptive cruise data can also be set, such as a time interval of 10 minutes, and adaptive cruise data is obtained every 10 minutes, which can not only realize the monitoring of the adaptive cruise process, but also reduce the computing power requirements of the vehicle end.

[0109] This embodiment provides a method for correcting driving parameters during adaptive cruising. When the attribute parameters input by the user are incorrect, active adaptive correction of the driving parameters is achieved, thereby helping to improve driving safety.

[0110] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0111] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0112] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle control device.

[0113] refer to Figure 2 The vehicle control device is applied to a towing vehicle, the towing vehicle is connected to a towing component, and the towing vehicle is used to tow the towing component. The device includes:

[0114] The acquisition module 202 is configured to acquire the attribute parameters of the trailer component in response to receiving a control request for starting the adaptive cruise function;

[0115] A determination module 204 is configured to determine a driving parameter of the traction vehicle according to the attribute parameter;

[0116] The control module 206 is configured to control the traction vehicle to enable an adaptive cruise function and drive according to the driving parameters.

[0117] In some embodiments, the attribute parameters include the connection mode between the towing component and the towing vehicle, and the mass of the towing component; the driving parameters include a target speed limit and a target following distance limit; the determination module 204 is further configured to determine, in response to the connection mode being an active connection, a target speed limit and / or a target following distance limit corresponding to the mass of the towing component according to a preset first association relationship;

[0118] The first association relationship determines the correspondence between the mass of the towing component, the speed limit and the following distance limit. The mass of the towing component is positively correlated with the following distance limit, and the mass of the towing component is negatively correlated with the speed limit.

[0119] In some embodiments, the attribute parameters include the connection mode between the towing component and the towing vehicle, and the length of the towing component; the driving parameters include a target speed limit and a target following distance limit; the determination module 204 is further configured to determine, in response to the connection mode being an active connection, the target speed limit and / or the target following distance limit corresponding to the length of the towing component according to a preset second association relationship;

[0120] The second association relationship determines the correspondence between the length of the towing component, the speed limit and the following distance limit. The length of the towing component is positively correlated with the following distance limit, and the length of the towing component is negatively correlated with the speed limit.

[0121] In some embodiments, the attribute parameters include the connection mode between the towing component and the towing vehicle, the length of the towing component, and the mass of the towing component; the driving parameters include a target speed limit and a target following distance limit; the determination module 204 is further configured to, in response to the connection mode being an active connection, determine a first speed limit and / or a first following distance limit corresponding to the mass of the towing component according to a preset first association relationship; determine a second speed limit and / or a second following distance limit corresponding to the length of the towing component according to a preset second association relationship;

[0122] The first association relationship determines the corresponding relationship between the mass of the towing component, the speed limit and the following distance limit, and the mass of the towing component is positively correlated with the following distance limit, while the mass of the towing component is negatively correlated with the speed limit; the second association relationship determines the corresponding relationship between the length of the towing component, the speed limit and the following distance limit, and the length of the towing component is positively correlated with the following distance limit, while the length of the towing component is negatively correlated with the speed limit;

[0123] The smaller value of the first vehicle speed limit and the second vehicle speed limit is used as the target vehicle speed limit, and the larger value of the first vehicle following distance limit and the second vehicle following distance limit is used as the target vehicle following distance limit.

[0124] In some embodiments, the attribute parameters include the connection mode between the towing component and the towing vehicle, the length of the towing component and the mass of the towing component; the driving parameters include a target speed limit and a target following distance limit; the determination module 204 is further configured to determine the target speed limit and / or the target following distance limit in response to the connection mode being a fixed connection, the length of the towing component being greater than a preset length or the mass of the towing component being greater than a preset mass according to the length of the towing component, the mass of the towing component and a preset third association relationship.

[0125] In some embodiments, the acquisition module 202 is further configured to display a prompt interface for inputting the attribute parameters in response to receiving a control request for turning on the adaptive cruise function; and to acquire the attribute parameters input by the user in response to detecting a trigger operation of the user on the prompt interface.

[0126] In some embodiments, a display module is also included, which is configured to display prompt information for prompting the user to take over the vehicle in response to detecting a turning section on the road ahead.

[0127] In some embodiments, a correction module is further included, which is configured to obtain adaptive cruise data of the towing vehicle driving according to the driving parameters within a preset time period; determine whether there is a collision risk for the towing vehicle based on the adaptive cruise data; in response to determining that there is a collision risk, correct the driving parameters; and control the towing vehicle to drive according to the corrected driving parameters.

[0128] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0129] The device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0130] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle control method described in any of the above embodiments is implemented.

[0131] Figure 3A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0132] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0133] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0134] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0135] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0136] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0137] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0138] The electronic device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0139] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle control method described in any of the above embodiments.

[0140] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0141] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0142] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0143] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0144] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0145] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0146] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: Applied to a towing vehicle, the towing vehicle is connected to a towing component, and the towing vehicle is used to tow the towing component. The method includes: In response to receiving a control request for starting an adaptive cruise function, acquiring attribute parameters of the towing component; determining a driving parameter of the traction vehicle according to the attribute parameter; The traction vehicle is controlled to start an adaptive cruise function and travel according to the driving parameters.

2. The method according to claim 1, characterized in that The attribute parameters include the connection mode between the trailer component and the towing vehicle, and the mass of the trailer component; the driving parameters include the target limit vehicle speed and the target limit following distance; Determining the driving parameters of the traction vehicle according to the attribute parameters includes: In response to the connection mode being an active connection, determining a target limited vehicle speed and / or a target limited following distance corresponding to the mass of the towing component according to a preset first association relationship; The first association relationship determines the correspondence between the mass of the towing component, the speed limit and the following distance limit. The mass of the towing component is positively correlated with the following distance limit, and the mass of the towing component is negatively correlated with the speed limit.

3. The method according to claim 1, characterized in that The attribute parameters include the connection mode between the trailer component and the towing vehicle, and the length of the trailer component; the driving parameters include the target limit speed and the target limit following distance; Determining the driving parameters of the traction vehicle according to the attribute parameters includes: In response to the connection mode being an active connection, determining a target limited vehicle speed and / or a target limited following distance corresponding to the length of the towing component according to a preset second association relationship; The second association relationship determines the correspondence between the length of the towing component, the speed limit and the following distance limit. The length of the towing component is positively correlated with the following distance limit, and the length of the towing component is negatively correlated with the speed limit.

4. The method according to claim 1, characterized in that: The attribute parameters include the connection mode between the trailer component and the towing vehicle, the length of the trailer component and the mass of the trailer component; the driving parameters include the target limit speed and the target limit following distance; Determining the driving parameters of the traction vehicle according to the attribute parameters includes: In response to the connection mode being an active connection, determining a first speed limit and / or a first following distance limit corresponding to the mass of the towing component according to a preset first association relationship; determining a second speed limit and / or a second following distance limit corresponding to the length of the towing component according to a preset second association relationship; The first association relationship determines the corresponding relationship between the mass of the towing component, the speed limit and the following distance limit, and the mass of the towing component is positively correlated with the following distance limit, while the mass of the towing component is negatively correlated with the speed limit; the second association relationship determines the corresponding relationship between the length of the towing component, the speed limit and the following distance limit, and the length of the towing component is positively correlated with the following distance limit, while the length of the towing component is negatively correlated with the speed limit; The smaller value of the first vehicle speed limit and the second vehicle speed limit is used as the target vehicle speed limit, and the larger value of the first vehicle following distance limit and the second vehicle following distance limit is used as the target vehicle following distance limit.

5. The method according to claim 1, characterized in that: The attribute parameters include the connection mode between the trailer component and the towing vehicle, the length of the trailer component and the mass of the trailer component; the driving parameters include the target limit speed and the target limit following distance; Determining the driving parameters of the traction vehicle according to the attribute parameters includes: In response to the connection mode being a fixed connection, the length of the towing component is greater than a preset length or the mass of the towing component is greater than a preset mass, the target limit speed and / or the target limit following distance is determined according to the length of the towing component, the mass of the towing component and a preset third association relationship.

6. The method according to claim 1, characterized in that The step of obtaining the attribute parameters of the trailer component in response to receiving the control request for starting the adaptive cruise function includes: In response to receiving a control request for starting the adaptive cruise function, displaying a prompt interface for inputting the attribute parameters; In response to detecting a trigger operation of the user on the prompt interface, the attribute parameter input by the user is obtained.

7. The method according to claim 1, characterized in that The method further comprises: In response to detecting a turning section on the road ahead, a prompt message is displayed to prompt the user to take over the vehicle.

8. The method according to claim 1, characterized in that: The method further comprises: Acquire adaptive cruise data of the traction vehicle traveling according to the driving parameters within a preset time period; determining, based on the adaptive cruise data, whether the towing vehicle has a collision risk; In response to determining that there is a risk of collision, modifying the driving parameter; The traction vehicle is controlled to travel according to the corrected travel parameters.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle includes the method of claim 9.

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