Vehicle control method, electronic device, and vehicle

Abstract

The application provides a vehicle control method, an electronic device and a vehicle, and belongs to the technical field of vehicles. The method is applied to a towing vehicle connected with a towed component, and the towing vehicle is used for towing the towed component. The method comprises the following steps: in response to receiving a control request for starting an adaptive cruise function, acquiring an attribute parameter of the towed component, and determining a driving parameter of the towing vehicle according to the attribute parameter, so that the driving parameter is adapted to the attribute parameter of the towed component. The driving parameter determined by the attribute parameter is a parameter capable of meeting the safe driving requirements of the towing vehicle and the towed component in the adaptive cruise process. The towing vehicle is controlled to start the adaptive cruise function, and drives according to the driving parameter. The collision risk that may be caused in the braking process or the turning of the towing vehicle due to the mismatch between the attribute parameter of the towed component and the driving parameter can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle control method, an electronic device and a vehicle. BACKGROUND

[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 of maintaining a reasonable distance from the front vehicle on the basis of the constant speed cruise system. It monitors the distance and speed of the front vehicle in real time through the sensors (such as radar) of the vehicle, and then performs precise calculation through the electronic control unit. The system will issue instructions to the actuators (such as the throttle, brake and gear controller), so as to adjust the driving speed of the vehicle and ensure a safe distance from the front vehicle. 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 a risk of safe driving due to the increase in load. SUMMARY

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

[0004] To achieve the above purpose, the first aspect of the present application provides a vehicle control method applied to a towing vehicle, the towing vehicle being connected with a towed component, the towing vehicle being used to tow the towed component, the method comprising: in response to receiving a control request of turning on an adaptive cruise function, acquiring an attribute parameter of the towed component; determining a driving parameter of the towing vehicle according to the attribute parameter; controlling the towing vehicle to turn on the adaptive cruise function and drive according to the driving parameter.

[0005] The embodiment can effectively reduce the collision risk that may occur in the braking process of the towing vehicle due to the mismatch between the attribute parameter of the towed component and the driving parameter.

[0006] Optionally, the attribute parameter comprises a connection mode of the towed component and the towing vehicle and a mass of the towed component; and the driving parameter comprises a target limit speed and a target limit following distance.

[0007] The determining of the driving parameter of the towing vehicle according to the attribute parameter comprises:

[0008] In response to the connection mode being a movable connection, determining a target limit speed and / or a target limit following distance corresponding to the mass of the towed component according to a preset first correlation relationship;

[0009] The first association relationship determines a corresponding relationship among the mass of the towed component, the limited vehicle speed, and the limited following distance, the mass of the towed component is positively correlated with the limited following distance, and the mass of the towed component is negatively correlated with the limited vehicle speed.

[0010] The method of the embodiment determines the corresponding relationship between the mass of the towed component and the driving parameter, the greater the mass of the towed component, the more safety margin needs to be reserved, and accordingly the smaller the target limited vehicle speed and the greater the target limited following distance. In this way, the problem that the towing vehicle and the towed component do not slow down in time in emergency braking can be effectively avoided, the collision probability is reduced, and the driving safety is improved.

[0011] Optionally, the attribute parameter includes a connection mode of the towed component and the towing vehicle and a length of the towed component, and the driving parameter includes a target limited vehicle speed and a target limited following distance.

[0012] The driving parameter of the towing vehicle is determined according to the attribute parameter, including:

[0013] In response to the connection mode being a movable connection, a target limited vehicle speed and / or a target limited following distance corresponding to the length of the towed component are determined according to a preset second association relationship.

[0014] The second association relationship determines a corresponding relationship among the length of the towed component, the limited vehicle speed, and the limited following distance, the length of the towed component is positively correlated with the limited following distance, and the length of the towed component is negatively correlated with the limited vehicle speed.

[0015] The method of the embodiment determines the corresponding relationship between the length of the towed component and the driving parameter, the longer the length of the towed component, the more safety margin needs to be reserved, and accordingly the smaller the target limited vehicle speed and the greater the target limited following distance. In this way, the problem that the towing vehicle and the towed component do not slow down in time in emergency braking can be effectively avoided, the collision probability is reduced, and the driving safety is improved.

[0016] Optionally, the attribute parameter includes a connection mode of the towed component and the towing vehicle, a length of the towed component, and a mass of the towed component, and the driving parameter includes a target limited vehicle speed and a target limited following distance.

[0017] The driving parameter of the towing vehicle is determined according to the attribute parameter, including:

[0018] in response to the connection mode being the active connection, determining, according to a preset first correlation relationship, a first limited vehicle speed and / or a first limited following distance corresponding to the mass of the towed component; and determining, according to a preset second correlation relationship, a second limited vehicle speed and / or a second limited following distance corresponding to the length of the towed component;

[0019] The first correlation relationship determines the corresponding relationship among the mass of the towed component, the limited vehicle speed, and the limited following distance, the mass of the towed component is positively correlated with the limited following distance, and the mass of the towed component is negatively correlated with the limited vehicle speed. The second correlation relationship determines the corresponding relationship among the length of the towed component, the limited vehicle speed, and the limited following distance, the length of the towed component is positively correlated with the limited following distance, and the length of the towed component is negatively correlated with the limited vehicle speed.

[0020] The smaller one of the first limited vehicle speed and the second limited vehicle speed is taken as the target limited vehicle speed, and the larger one of the first limited following distance and the second limited following distance is taken as the target limited following distance.

[0021] The embodiment provides a method for determining the target limited vehicle speed and the target limited following distance when the limited vehicle speed and the limited following distance determined according to the mass and the length of the towed component are different. Selecting the smaller limited vehicle speed and the larger limited following distance can ensure the driving safety of the towing vehicle and the towed component under the adaptive cruise control and reduce the collision risk of the vehicle in the case of emergency braking or turning.

[0022] Optionally, the attribute parameter includes a connection mode of the towed component and the towing vehicle, a length of the towed component, and a mass of the towed component; and the driving parameter includes a target limited vehicle speed and a target limited following distance.

[0023] The determining the driving parameter of the towing vehicle according to the attribute parameter includes:

[0024] in response to the connection mode being the fixed connection, the length of the towed component being greater than a preset length or the mass of the towed component being greater than a preset mass, determining the target limited vehicle speed and / or the target limited following distance according to the length of the towed component, the mass of the towed component, and a preset third correlation relationship.

[0025] In the embodiment, when it is determined that the towed component has an influence on the speed reduction in the emergency braking or the turning-in process, the target limit speed and the target limit following distance of the towing vehicle are determined according to the attribute parameter. When it is determined that the towed component has no influence on the speed reduction in the emergency braking or the turning-in process, the speed and the following distance of the towing vehicle do not need to be limited. That is, the driving parameters are flexibly determined according to the attribute parameter of the towed component, so that the determination of the driving parameters is more reasonable.

[0026] Optionally, the attribute parameter of the towed component is acquired in response to receiving the control request of starting the adaptive cruise function, and the attribute parameter comprises:

[0027] In response to receiving the control request of starting the adaptive cruise function, a prompt interface for inputting the attribute parameter is displayed.

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

[0029] The method provided in the embodiment provides a convenient attribute parameter input method for the user, so that the subsequent determined driving parameters (such as the speed and the following distance) can be adapted to the attribute parameter, that is, matched with the mass and the length of the towed component, and the driving safety is improved.

[0030] Optionally, in response to detecting that the front road has a turning section, prompt information for prompting the user to take over the vehicle is displayed. In this way, the driver can be timely prompted in the case that the driver does not pay attention to the front road, and the driving safety is improved. The collision risk caused by the untimely taking over of the vehicle by the driver is effectively avoided.

[0031] Optionally, the method further comprises: acquiring adaptive cruise data of the towing vehicle in a preset time period of driving according to the driving parameter; determining whether the towing vehicle has a collision risk according to the adaptive cruise data; in response to determining that there is a collision risk, modifying the driving parameter; and controlling the towing vehicle to drive according to the modified driving parameter.

[0032] The embodiment provides a modification method for the driving parameter in the adaptive cruise process. In the case that the attribute parameter input by the user is incorrect, the active adaptive modification of the driving parameter is realized, and the driving safety is assisted to be improved.

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

[0034] Based on the same inventive concept, the third aspect of the present application further provides a vehicle comprising the electronic device according to the second aspect.

[0035] As can be seen from the above, the vehicle control method, the electronic device and the vehicle provided by the present application are applied to a towing vehicle connected with a towed component, the towing vehicle is used to tow the towed component, and the method comprises: in response to receiving a control request for starting an adaptive cruise function, acquiring an attribute parameter of the towed component, determining a driving parameter of the towing vehicle according to the attribute parameter, so as to adapt the driving parameter to the attribute parameter of the towed component. The driving parameter determined by the attribute parameter is a parameter that can meet the safe driving requirement of the towing vehicle and the towed component in the adaptive cruise process. The towing vehicle is controlled to start the adaptive cruise function, and drives according to the driving parameter. The collision risk that may be caused by the towing vehicle in the braking process or when turning due to the mismatch between the attribute parameter of the towed component and the driving parameter can be effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1 The flowchart of the vehicle control method of the embodiment of the present application is shown in the figure.

[0038] Figure 2 The structural schematic diagram of the vehicle control device of the embodiment of the present application is shown in the figure.

[0039] Figure 3 The hardware structure schematic diagram of the electronic device of the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below in combination with specific embodiments and with reference to the drawings.

[0041] It should be noted that the technical terms or scientific terms used in the embodiments of the present application should be understood as the general meaning understood by those skilled in the art to which the embodiments of the present application belong, unless otherwise defined. The terms "first", "second" and similar terms used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms 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 represent relative positional relationships, and 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. The adaptive cruise control system can directly replace the driver to control the vehicle speed, avoiding the driver's frequent cancellation and setting of the cruise control, so that the cruise control system can be applied to more road conditions. On the basis of cruise control at a set speed, the adaptive cruise control system adds a control function of maintaining a reasonable distance from the front vehicle. It monitors the distance and speed of the front vehicle in real time through sensors such as radar or camera, and automatically adjusts the speed of the vehicle to maintain a safe distance from the front vehicle. The adaptive cruise control system can automatically accelerate or decelerate according to the traffic conditions in front, without the need for the driver to operate frequently. Through the sensor monitoring the distance and speed of the front vehicle, the speed of the vehicle is automatically adjusted to ensure a safe distance from the front vehicle. Compared with constant speed cruise control, adaptive cruise control is applicable to more road conditions, including highways, urban roads, etc.

[0043] When the towing vehicle with the adaptive cruise control function is towing other components or vehicles, the load of the towing vehicle increases, which increases the risk of safe driving. This is mainly because, first, in the case of emergency braking of the towing vehicle, the braking distance and the time required for stopping increase due to the large load, which may cause a collision or secondary collision problem. Second, when the towing vehicle enters a curve, it needs to decelerate to smoothly complete the turning of the vehicle, but when the towed components or towed vehicles have a large width or length, the towing vehicle may not decelerate in time when it enters the curve. Generally, when a vehicle enters a curve, it will decelerate comfortably according to the lateral acceleration of the vehicle's center of mass, but the towed components or towed vehicles will affect the distribution of the center of mass, thereby affecting the deceleration amplitude, and finally causing safety problems due to the delay in deceleration. Third, when the towing vehicle brakes in an emergency, the irregular objects on the load of the towed components or towed vehicles may disintegrate (such as steel pipes on the load of the towed components or towed vehicles flying forward due to emergency braking), which may cause a secondary collision risk.

[0044] Therefore, the application provides a vehicle control method. When a towing vehicle is connected with a towed part, the towing vehicle is used to tow the towed part. When adaptive cruise control is started, the attribute parameters of the towed part are obtained, and the driving parameters of the towing vehicle are determined according to the attribute parameters of the towed part, so that the driving parameters of the towing vehicle are matched with the attribute parameters of the towed part, and the problem of collision risk caused by emergency braking or turning of the vehicle is avoided.

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

[0046] The application provides a vehicle control method. The method is applied to a controller of a towing vehicle, the towing vehicle is connected with a towed part, the towing vehicle is used to tow the towed part, and the method comprises the following steps. Figure 1

[0047] In step 102, in response to receiving a control request for starting adaptive cruise control, the attribute parameters of the towed part are obtained.

[0048] Specifically, the control request for starting adaptive cruise control can be triggered by a user or triggered by the vehicle controller automatically when the vehicle controller determines that the current driving scene meets the condition for starting adaptive cruise control.

[0049] The towing vehicle in the embodiment is connected with the towed part. The towed part can be a bicycle frame fixedly connected with the towing vehicle, or can be a camping vehicle, a house car, a cart and the like movably connected with the towing vehicle. When the towing vehicle is movably connected with the towed part, the towed part can rotate relative to the towing vehicle. When the towing vehicle turns, the towed part can rotate with the towing vehicle. When the towing vehicle is braked in an emergency, because the loading state (such as empty, half-loaded or full-loaded) of the towed part is different, the braking inertia is different, and the braking distance is also different. If the towed part is in a full-loaded state, and the speed of the towing vehicle is fast when adaptive cruise control is started, because the braking inertia is large after emergency braking, a collision risk can occur. Therefore, when the control request for starting adaptive cruise control is received, the towing vehicle needs to obtain the attribute parameters of the towed part, so as to determine the driving parameters of the towing vehicle after adaptive cruise control is started according to the attribute parameters. The attribute parameters are parameters representing the performance attributes of the towed part, such as the length, mass and connection mode of the towed part with the towing vehicle and the like. The driving parameters represent the data in the driving process of the towing vehicle, including the speed, following distance, driving torque and the like. The driving parameters of the towing vehicle are determined according to the attribute parameters, so that the safe driving risk caused by the mismatch between the attribute parameters and the driving parameters is avoided.

[0050] In step 104, the driving parameters of the towing vehicle are determined according to the attribute parameters.

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

[0052] Step 106, control the towing vehicle to start the adaptive cruise function, and drive according to the driving parameter.

[0053] Specifically, after the driving parameter is determined, the adaptive cruise function is started, and the vehicle is controlled to drive according to the driving parameter, such as driving at a certain vehicle speed and following distance. After driving according to the driving parameter, even in the case of emergency braking or turning, the problem of abnormal speed reduction range caused by excessive brake inertia will not occur. In this way, when the towing vehicle brakes or turns, there is no collision risk caused by excessive load of the towed component, and the driving safety is improved.

[0054] Based on the above steps 102 to 106, the vehicle control method provided by the embodiment includes: in response to receiving a control request for starting the adaptive cruise function, obtaining the attribute parameter of the towed component, and determining the driving parameter of the towing vehicle according to the attribute parameter, so that the driving parameter is adapted to the attribute parameter of the towed component. The driving parameter determined by the attribute parameter is a parameter that can meet the safe driving needs of the towing vehicle and the towed component in the adaptive cruise process. The towing vehicle is controlled to start the adaptive cruise function, and drives according to the driving parameter. It can effectively reduce the collision risk that may occur in the braking process or turning of the towing vehicle due to the mismatch between the attribute parameter of the towed component and the driving parameter.

[0055] Because the attribute parameters are different, the determined driving parameters are also different. The method for determining the driving parameter according to the attribute parameter is described below through specific embodiments.

[0056] In some embodiments, the attribute parameter includes the connection mode of the towed component and the towing vehicle, and the mass of the towed component; and the driving parameter includes a target limit speed and a target limit following distance.

[0057] The driving parameter of the towing vehicle is determined according to the attribute parameter, including:

[0058] In response to the connection mode being the active connection, the target limit speed and / or the target limit following distance corresponding to the mass of the towed component are determined according to a preset first correlation relationship;

[0059] The first correlation relationship determines the corresponding relationship among the mass of the towed component, the limit speed and the limit following distance. The mass of the towed component is positively correlated with the limit following distance, and the mass of the towed component is negatively correlated with the limit speed.

[0060] Specifically, the attribute parameters include the connection mode of the towed component and the towing vehicle, and the mass of the towed component. The connection mode includes fixed connection and active connection, and the mass of the towed component can be detected by a special measuring tool. If the connection mode is active connection, the target limit speed and the target limit following distance can be matched and obtained according to the mass of the towed component in the first correlation relationship. In the adaptive cruise 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 front vehicle 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 front vehicle.

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

[0062] The mass of the towed part is positively correlated with the target limited following distance. The greater the mass of the towed part, the greater the target limited following distance. For example, when the mass of the towed part is less than 1000 kg, the target limited following distance is 30 m; when the mass of the towed part is between 1001 kg and 1500 kg, the target limited following distance is 50 m; when the mass of the towed part is between 1501 kg and 2000 kg, the target limited following distance is 80 m; when the mass of the towed part is greater than 2000 kg, the target limited following distance is 100 m, and so on. Meanwhile, when the mass of the towed part is greater than 2000 kg, the display screen of the vehicle displays a prompt message: "The actual mass of the towed part has exceeded the maximum towing mass. Please drive carefully".

[0063] Through the method of the embodiment, the corresponding relationship between the mass of the towed part and the driving parameter is determined. The greater the mass of the towed part, the more safety margin needs to be reserved, and accordingly the target limited speed is smaller and the target limited following distance is greater. In this way, the problem that the towing vehicle and the towed part do not slow down in time in an emergency braking can be effectively avoided, the probability of collision is reduced, and the driving safety is improved.

[0064] The above embodiments give the determined relationship between the mass of the towed part and the driving parameter. The determined relationship between the length of the towed part and the driving parameter is described through specific embodiments.

[0065] In some embodiments, the attribute parameter includes the connection mode of the towed part and the towing vehicle and the length of the towed part; and the driving parameter includes the target limited speed and the target limited following distance.

[0066] The determination of the driving parameter of the towing vehicle according to the attribute parameter includes:

[0067] In response to the connection mode being a movable connection, the target limited speed and / or the target limited following distance corresponding to the length of the towed part are determined according to a preset second correlation relationship.

[0068] In the second correlation relationship, the corresponding relationship between the length of the towed part, the limited speed and the limited following distance is determined. The length of the towed part is positively correlated with the limited following distance, and the length of the towed part is negatively correlated with the limited speed.

[0069] Specifically, the attribute parameter includes a connection mode of the towed component and the towing vehicle, and a length of the towed component. The connection mode includes fixed connection and movable connection, and the length of the towed component can be detected by a special measuring tool or can be determined according to a factory nameplate parameter of the towed component. If the connection mode is movable connection, the target limit speed and the target limit following distance can be matched and obtained in the second correlation relationship according to the length of the towed component. In the adaptive cruise 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 preceding vehicle is the target limit following distance. That is, the target limit speed is the highest speed of the towing vehicle, and the target limit following distance is the minimum distance between the towing vehicle and the preceding vehicle.

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

[0071] The length of the towed component is positively correlated with the target limit following distance, and the longer the length of the towed component, the greater the target limit following distance. For example, when the length of the towed component is below 4 m, the target limit following distance is 30 m, when the length of the towed component is between 4.1 m and 6 m, the target limit following distance is 50 m, when the length of the towed component is between 6.1 m and 8 m, the target limit following distance is 80 m, and when the length of the towed component is above 8 m, the target limit following distance is 100 m, and so on. At the same time, when the length of the towed component is above 8 m, a prompt information of "the length of the towed component is too long, please drive carefully" is displayed on the display screen of the vehicle.

[0072] By the method of the embodiment, the corresponding relationship between the length of the towed component and the driving parameter is determined, the longer the length of the towed component, the more safety margin needs to be reserved, and then the target limit speed is smaller and the target limit following distance is greater. In this way, the problem that the towing vehicle and the towed component do not slow down in time in emergency braking can be effectively avoided, the probability of collision is reduced, and the driving safety is improved.

[0073] The two preceding embodiments respectively describe the relationship with the driving parameter from the mass and the length of the towed part, that is, the considered attribute parameter dimension of the towed part is single. However, the mass and the length of the actual towed part may satisfy certain conditions at the same time, and the mass and the length of the towed part need to be considered comprehensively to determine the target limit vehicle speed and the target limit following distance.

[0074] In some embodiments, the attribute parameter includes a connection mode of the towed part and the towing vehicle, a length of the towed part, and a mass of the towed part; the driving parameter includes a target limit vehicle speed and a target limit following distance;

[0075] The determining the driving parameter of the towing vehicle according to the attribute parameter includes:

[0076] In response to the connection mode being the active connection, determining a first limit vehicle speed and / or a first limit following distance corresponding to the mass of the towed part according to a preset first correlation relationship, and determining a second limit vehicle speed and / or a second limit following distance corresponding to the length of the towed part according to a preset second correlation relationship;

[0077] The first correlation relationship determines the corresponding relationship among the mass of the towed part, the limit vehicle speed, and the limit following distance, the mass of the towed part is positively correlated with the limit following distance, and the mass of the towed part is negatively correlated with the limit vehicle speed; the second correlation relationship determines the corresponding relationship among the length of the towed part, the limit vehicle speed, and the limit following distance, the length of the towed part is positively correlated with the limit following distance, and the length of the towed part is negatively correlated with the limit vehicle speed;

[0078] Taking the smaller one of the first limit vehicle speed and the second limit vehicle speed as the target limit vehicle speed, and taking the larger one of the first limit following distance and the second limit following distance as the target limit following distance.

[0079] Specifically, the attribute parameter includes the connection mode of the towed part and the towing vehicle, and the mass and the length of the towed part. The connection mode includes the fixed connection and the active connection, the mass of the towed part can be detected by a special measuring tool. The length of the towed part can be detected by a special measuring tool, or can be determined according to the factory nameplate parameters of the towed part. The method of determining the corresponding first limit vehicle speed and the first limit following distance according to the mass of the towed part and the first correlation relationship is the same as the preceding embodiments, and the method of determining the corresponding second limit vehicle speed and the second limit following distance according to the length of the towed part and the second correlation relationship is the same as the preceding embodiments, which will not be described here.

[0080] If the determined first limited speed and the second limited speed are different, the smaller one of the first limited speed and the second limited speed is selected as the target limited speed. For example, the first limited speed is 80 km / h, and the second limited speed is 100 km / h, and the determined target limited speed is 80 km / h. Selecting the smaller one can meet the requirements of the mass and length of the towed component on the limited speed, and the upper limit of the speed is not exceeded in the adaptive cruise process, and the speed can be reduced at a comfortable speed reduction amplitude in the emergency braking or turning, so as to avoid the risk of collision caused by too large speed reduction amplitude, and ensure the driving safety. At the same time, it should be noted that after the target limited speed is determined, the maximum speed limit of the current driving section also needs to be considered. If the maximum speed limit of the current driving section is less than the target limited speed, the target limited speed is modified to the maximum speed limit. If the maximum speed limit of the current driving section is greater than the target limited speed, the target limited speed does not need to be adjusted.

[0081] If the determined first limited following distance and the second limited following distance are different, the larger one of the first limited following distance and the second limited following distance is selected as the target limited following distance. For example, the first limited following distance is 80 m, and the second limited following distance is 100 m, and the determined target limited following distance is 100 m. Selecting the larger one can meet the requirements of the mass and length of the towed component on the limited following distance, and the distance between the towing vehicle and the front vehicle is not less than the lower limit in the adaptive cruise process, and the braking distance generated in the emergency braking is less than the target limited following distance, so as to ensure the driving safety.

[0082] The embodiment provides a method for determining the target limited speed and the target limited following distance when the limited speed and the limited following distance determined according to the mass and length of the towed component are different. Selecting the smaller limited speed and the larger limited following distance can ensure the driving safety of the towing vehicle and the towed component in the adaptive cruise, and reduce the collision risk of the vehicle in the emergency braking or turning.

[0083] The foregoing embodiments describe the method for determining the driving parameter when the connection mode is the movable connection. If the connection mode is the fixed connection, the relative movement between the towing vehicle and the towed component does not occur in the driving process, and correspondingly, the method for determining the driving parameter is different, which is illustrated by specific embodiments.

[0084] In some embodiments, the attribute parameter includes the connection mode of the towed component and the towing vehicle, the length of the towed component, and the mass of the towed component; and the driving parameter includes a target limited speed and a target limited following distance.

[0085] The method for determining the driving parameter of the towing vehicle according to the attribute parameter includes:

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

[0087] Specifically, the attribute parameter includes a connection mode of the towed component and the towing vehicle, and a mass and a length of the towed component. The connection mode includes fixed connection and movable connection, and the mass of the towed component can be detected by a special measuring tool. The length of the towed component can be detected by a special measuring tool, or can be determined according to the factory nameplate parameters of the towed component. In the adaptive cruise process, the upper limit of the vehicle speed of the towing vehicle is the target limit vehicle speed, and the lower limit of the distance between the towing vehicle and the front vehicle is the target limit following distance. That is, the target limit vehicle speed is the maximum vehicle speed of the towing vehicle, and the target limit following distance is the minimum distance between the towing vehicle and the front vehicle.

[0088] If the connection mode is fixed connection, it means that there is no relative motion between the towing vehicle and the towed component. For example, when the towed component is a bicycle frame, the bicycle frame is fixed to the rear end of the towing vehicle. At this time, if the length of the towed component is less than or equal to the preset length, and the mass of the towed component is less than or equal to the preset mass, it can be considered that the towed component has little effect on the vehicle speed drop when the towing vehicle is braked or turned, and the vehicle speed and the following distance of the towing vehicle can not be limited. However, if the length of the towed component is greater than the preset length, or the mass of the towed component is greater than the preset mass, the towed component will have a certain effect on the vehicle speed drop when the towing vehicle is braked or turned, thereby increasing the driving safety risk. At this time, the vehicle speed and the following distance of the towing vehicle need to be limited. Specifically, the target limit vehicle speed and / or the target limit following distance is determined according to the length of the towed component, the mass of the towed component, and a preset third correlation relationship. For example, the preset length can be 4m, and the preset mass can be 1500kg.

[0089] The third correlation relationship is pre-constructed, and the relationship between the attribute parameters and the driving parameters of the fixed connection towed component can be determined according to a large number of road tests, and then the third correlation relationship is constructed.

[0090] In the third correlation relationship, the corresponding relationship between the length of the towed component and the limit vehicle speed, the corresponding relationship between the length of the towed component and the limit following distance, the corresponding relationship between the mass of the towed component and the limit vehicle speed, and the corresponding relationship between the mass of the towed component and the limit following distance are determined. The longer the length of the towed component, the smaller the limit vehicle speed, and the larger the limit following distance. The greater the mass of the towed component, the smaller the limit vehicle speed, and the larger the limit following distance.

[0091] When the length of the towed part is greater than the preset length and the mass of the towed part is less than or equal to the preset mass, the target limit speed and / or the target limit following distance of the towing vehicle can be determined according to the length of the towed part and the third correlation. When the mass of the towed part is greater than the preset mass and the length of the towed part is less than or equal to the preset length, the target limit speed and / or the target limit following distance of the towing vehicle can be determined according to the mass of the towed part and the third correlation.

[0092] When the length of the towed part is greater than the preset length and the mass of the towed part is greater than the preset mass, in the third correlation, the third limit speed and the third limit following distance can be determined according to the mass of the towed part, and the fourth limit speed and the fourth limit following distance can be determined according to the length of the towed part. If the third limit speed and the fourth limit speed are different, the smaller one of the third limit speed and the fourth limit speed is selected as the target limit speed, and if the third limit following distance and the fourth limit following distance are different, the larger one of the third limit following distance and the fourth limit following distance is selected as the target limit following distance. In this way, the length and mass of the towed part can be simultaneously satisfied with the safety requirements of the limit speed and the limit following distance, and the collision risk caused by the towed part during the adaptive cruise process can be avoided.

[0093] According to the embodiment, when it is determined that the towed part has an impact on the speed reduction during the emergency braking or turning process, the target limit speed and the target limit following distance of the towing vehicle are determined according to the attribute parameters. When it is determined that the towed part has no impact on the speed reduction during the emergency braking or turning process, the speed and the following distance of the towing vehicle do not need to be limited. In other words, the driving parameters are flexibly determined according to the attribute parameters of the towed part, so that the determination method of the driving parameters is more reasonable.

[0094] When the control request of starting the adaptive cruise function is received, the attribute parameters of the towed part need to be obtained. The method of obtaining the attribute parameters is described below through specific embodiments.

[0095] In some embodiments, the attribute parameters of the towed part are obtained in response to receiving the control request of starting the adaptive cruise function, and the method comprises:

[0096] In response to receiving the control request of starting the adaptive cruise function, a prompt interface for inputting the attribute parameters is displayed.

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

[0098] Specifically, if the user initiates a request for adaptive cruise control, a prompt interface for inputting attribute parameters is displayed on a display screen in the vehicle, such as a car screen. For example, the prompt interface displays a plurality of input prompt boxes for inputting length, mass, and connection relationship with the towing vehicle, respectively. The user can select to input corresponding attribute parameters in all or part of the input prompt boxes. For example, the user can input parameters in the input prompt boxes corresponding to length and connection relationship, or input parameters in the input prompt boxes corresponding to mass and connection relationship, or input parameters in all input prompt boxes. When the user completes the input of attribute parameters, the vehicle controller confirms that the attribute parameters of the towed component are obtained.

[0099] If the vehicle controller determines that the current driving scenario meets the adaptive cruise control function, the vehicle controller can display a query prompt information on a display screen in the vehicle, such as a car screen, to inquire whether the user needs to start the adaptive cruise control function. If the user confirms to start, a prompt interface for inputting attribute parameters is displayed on the car screen.

[0100] The method of the embodiment provides a convenient method for the user to input attribute parameters, so that the subsequent determined driving parameters (such as vehicle speed and following distance) can be adapted to the attribute parameters, i.e., matched with the mass and length of the towed component, to improve driving safety.

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

[0102] In some embodiments, in response to detecting that the front road has a turning section, a prompt information for prompting the user to take over the vehicle is displayed.

[0103] Specifically, the vehicle can determine the front road condition through a camera or navigation information, and if it is found that the front road has a turning section, a prompt information for prompting the user to take over the vehicle is displayed on a display screen in the vehicle, such as a car screen or a head-up display screen. For example, the prompt information can be "front curve, please pay attention to the curve condition and take over the vehicle at any time". In addition, in addition to displaying the prompt information on the display screen, the driver can also be reminded to pay attention to the front turning section through voice broadcast. In this way, the driver can be reminded in time when the driver does not pay attention to the front road, improving driving safety. The collision risk caused by the driver not taking over the vehicle in time is effectively avoided.

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

[0105] In some embodiments, the vehicle control method further comprises: obtaining adaptive cruise data of the towing vehicle within a preset time period of driving according to the driving parameter; determining whether the towing vehicle has a collision risk according to the adaptive cruise data; in response to determining that there is a collision risk, modifying the driving parameter; and controlling the towing vehicle to drive according to the modified driving parameter.

[0106] Specifically, after starting adaptive cruise, adaptive cruise data of the towing vehicle driving according to the driving parameter within a preset time period is obtained. The adaptive cruise data includes cruise speed, acceleration frequency, acceleration, deceleration frequency, deceleration, braking frequency, braking distance, etc. at each time. Through the adaptive cruise data, it can be determined whether there is a collision risk between the towing vehicle and the towed component. For example, if the deceleration exceeds the preset deceleration threshold during adaptive cruise, it indicates that the vehicle speed decreases too fast during braking, which exceeds the comfortable speed drop range, and the collision risk of the towing vehicle increases. This may be caused by the fast target limit speed in the driving parameter, which reflects that the vehicle speed and the attribute parameters of the towed component do not match. Or, if the braking frequency and the acceleration frequency exceed the preset threshold, it indicates that the vehicle frequently accelerates or decelerates during adaptive cruise. At this time, it may be caused by the inappropriate target limit following distance in the driving parameter, which reflects that the target limit following distance and the attribute parameters of the towed component do not match, and it is determined that the towing vehicle has a collision risk.

[0107] After determining that the towing vehicle has a collision risk, it indicates that the current driving parameter is not suitable, and the driving parameter needs to be modified. If it is determined that the target limit speed in the driving parameter is not suitable, such as determining that the target limit speed is too fast, the target limit speed can be appropriately reduced; if it is determined that the target limit speed is too slow, the target limit speed can be appropriately increased. If it is determined that the target limit following distance in the driving parameter is not suitable, such as determining that the target limit following distance is small, the target limit following distance can be appropriately increased; if it is determined that the target limit following distance is large, the target limit following distance can be appropriately reduced. Then, the towing vehicle is controlled to drive according to the modified driving parameter.

[0108] The preset time period can be determined according to the actual driving scene. For example, the preset time period can be 5 minutes or 10 minutes. In addition, the time interval for obtaining the adaptive cruise data can also be set, such as a time interval of 10 minutes, and the adaptive cruise data is obtained every 10 minutes. In this way, the adaptive cruise process can be monitored, and the computing power requirement of the vehicle end can be reduced.

[0109] The embodiment provides a correction method for driving parameters in the adaptive cruise process. In the case that the attribute parameters input by the user are incorrect, active adaptive correction of the driving parameters is realized, and driving safety is improved.

[0110] It should be noted that the method of the embodiments of the present application can be executed by a single device, such as a computer or a server. The method of the embodiments of the present application 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 execute one or more steps in the method of the embodiments of the present application, and the multiple devices can interact with each other to complete the method.

[0111] It should be noted that some embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the order described above and still achieve the desired results. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

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

[0113] Reference Figure 2 , the vehicle control device is applied to a towing vehicle connected with a towed component, the towing vehicle is used to tow the towed component, and the device comprises:

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

[0115] The determination module 204 is configured to determine driving parameters of the towing vehicle according to the attribute parameters.

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

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

[0118] The first correlation determines a corresponding relationship among the mass of the towed component, the limit speed and the limit following distance, the mass of the towed component is positively correlated with the limit following distance, and the mass of the towed component is negatively correlated with the limit speed.

[0119] In some embodiments, the attribute parameter includes a connection mode of the towed component to the towing vehicle and a length of the towed component, and the driving parameter includes a target limit speed and a target limit following distance; the determining module 204 is further configured to, in response to the connection mode being a movable connection, determine, according to a preset second correlation, the target limit speed and / or the target limit following distance corresponding to the length of the towed component.

[0120] The second correlation determines a corresponding relationship among the length of the towed component, the limit speed and the limit following distance, the length of the towed component is positively correlated with the limit following distance, and the length of the towed component is negatively correlated with the limit speed.

[0121] In some embodiments, the attribute parameter includes a connection mode of the towed component to the towing vehicle, a length of the towed component and a mass of the towed component, and the driving parameter includes a target limit speed and a target limit following distance; the determining module 204 is further configured to, in response to the connection mode being a movable connection, determine, according to a preset first correlation, a first limit speed and / or a first limit following distance corresponding to the mass of the towed component, and determine, according to a preset second correlation, a second limit speed and / or a second limit following distance corresponding to the length of the towed component.

[0122] The first correlation determines a corresponding relationship among the mass of the towed component, the limit speed and the limit following distance, the mass of the towed component is positively correlated with the limit following distance, and the mass of the towed component is negatively correlated with the limit speed; and the second correlation determines a corresponding relationship among the length of the towed component, the limit speed and the limit following distance, the length of the towed component is positively correlated with the limit following distance, and the length of the towed component is negatively correlated with the limit speed.

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

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

[0125] In some embodiments, the obtaining module 202 is further configured to, in response to receiving a control request of starting the adaptive cruise function, display a prompt interface for inputting the attribute parameter; and in response to detecting a triggering operation of a user on the prompt interface, obtain the attribute parameter input by the user.

[0126] In some embodiments, the device further includes a display module configured to, in response to detecting that a turning road section exists in front of the vehicle, display prompt information for prompting the user to take over the vehicle.

[0127] In some embodiments, the device further includes a correction module configured to obtain adaptive cruise data of the towing vehicle within a preset time length of driving according to the driving parameter; determine whether the towing vehicle has a collision risk according to the adaptive cruise data; in response to determining that the towing vehicle has a collision risk, correct the driving parameter; and control the towing vehicle to drive according to the corrected driving parameter.

[0128] For the convenience of description, the above device is described in various modules according to functions. Of course, in the implementation of the present application, the functions of each module can be implemented in one or more software and / or hardware.

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

[0130] Based on the same inventive concept, corresponding to any of the above method embodiments, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method of any of the above embodiments.

[0131] Figure 3A more specific electronic device hardware structure schematic diagram provided by the embodiment is shown, and the device can 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 for internal communication.

[0132] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present specification.

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

[0134] The input / output interface 1030 is used to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can 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 in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0136] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[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 can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain components necessary to implement the embodiments of the present application, and does not necessarily contain 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 preceding embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0139] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the vehicle control method according to any of the above embodiments.

[0140] The computer readable medium of the present embodiment includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0141] The computer instructions stored in the storage medium of the above embodiment are used to cause the computer to perform the vehicle control method according to any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0142] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application also provides a computer program product, including computer program instructions, when the computer program instructions run on a computer, so that the computer executes the method according to any of the above embodiments, has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0143] Those skilled in the art will understand that the foregoing discussion of any of the embodiments is merely illustrative of the application and is not intended to limit the scope of the application as described in the appended claims. Numerous modifications, variations and adaptations will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0144] In addition, to simplify the description and discussion, and so as not to make the embodiments of the application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components can or can not be shown in the provided drawings. Further, devices can be shown in block diagram form in order to avoid making the embodiments of the application difficult to understand, and this also takes into account the fact that the details of implementation of these block diagram devices are highly dependent on the platform to which the embodiments of the application are to be implemented (i.e., these details should be well within the understanding of one of skill in the art). Where specific details (e.g., circuitry) are set forth in order to describe an illustrative embodiment of the application, it should be apparent to those skilled in the art that the embodiments of the application can be practiced without, or with variation of, these specific details. The description is thus to be considered as illustrative and not restrictive, and the scope of the application should be determined not with reference to the description, but rather with reference to the appended claims.

[0145] While the application has been described in connection with specific embodiments thereof, it will be understood that many modifications, variations and adaptations will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0146] It is intended to cover all such modifications, variations and adaptations as fall within the scope of the application. Therefore, it should be understood that any of the embodiments of the application can include one, another or several of the features discussed above, and combinations thereof. Accordingly, any and all modifications, variations or equivalent arrangements that fall within the scope of this application should be considered as being within the scope of the application.

Claims

1. A vehicle control method characterized by, The method is applied to a towing vehicle connected with a towed part, and the towing vehicle is used for towing the towed part, and the method comprises the following steps of: In response to receiving a control request for starting the adaptive cruise function, attribute parameters of the towed part are acquired; the attribute parameters comprise a connection mode of the towed part with the towing vehicle and a length of the towed part; According to the attribute parameters, driving parameters of the towing vehicle are determined, comprising: In response to the connection mode being active connection, according to a preset second correlation, a target limit speed and / or a target limit following distance corresponding to the length of the towed part are determined; the driving parameters comprise the target limit speed and the target limit following distance; In the second correlation, a corresponding relationship among the length of the towed part, a limit speed and a limit following distance is determined, the length of the towed part is positively correlated with the limit following distance, and the length of the towed part is negatively correlated with the limit speed; The towing vehicle is controlled to start the adaptive cruise function, and drives according to the driving parameters.

2. The method of claim 1, wherein, The attribute parameters comprise a connection mode of the towed part with the towing vehicle and a mass of the towed part; the driving parameters comprise a target limit speed and a target limit following distance; According to the attribute parameters, driving parameters of the towing vehicle are determined, comprising: In response to the connection mode being active connection, according to a preset first correlation, a target limit speed and / or a target limit following distance corresponding to the mass of the towed part are determined; In the first correlation, a corresponding relationship among the mass of the towed part, a limit speed and a limit following distance is determined, the mass of the towed part is positively correlated with the limit following distance, and the mass of the towed part is negatively correlated with the limit speed.

3. The method of claim 1, wherein, The attribute parameters comprise a connection mode of the towed part with the towing vehicle, a length of the towed part and a mass of the towed part; the driving parameters comprise a target limit speed and a target limit following distance; According to the attribute parameters, driving parameters of the towing vehicle are determined, comprising: In response to the connection mode being active connection, according to a preset first correlation, a first limit speed and / or a first limit following distance corresponding to the mass of the towed part are determined; according to a preset second correlation, a second limit speed and / or a second limit following distance corresponding to the length of the towed part are determined; In the first correlation, a corresponding relationship among the mass of the towed part, a limit speed and a limit following distance is determined, the mass of the towed part is positively correlated with the limit following distance, and the mass of the towed part is negatively correlated with the limit speed; in the second correlation, a corresponding relationship among the length of the towed part, the limit speed and the limit following distance is determined, the length of the towed part is positively correlated with the limit following distance, and the length of the towed part is negatively correlated with the limit speed; The smaller one of the first limited speed and the second limited speed is taken as the target limited speed, and the larger one of the first limited following distance and the second limited following distance is taken as the target limited following distance.

4. The method of claim 1, characterized in that, The attribute parameter includes a connection mode of the towed component and the towing vehicle, a length of the towed component, and a mass of the towed component; and the driving parameter includes a target limited speed and a target limited following distance. The determining the driving parameter of the towing vehicle according to the attribute parameter comprises: In response to the connection mode being fixed connection, the length of the towed component being greater than a preset length, or the mass of the towed component being greater than a preset mass, the target limited speed and / or the target limited following distance is determined according to the length of the towed component, the mass of the towed component, and a preset third correlation relationship.

5. The method of claim 1, wherein, The acquiring the attribute parameter of the towed component in response to receiving the control request of starting the adaptive cruise function comprises: In response to receiving the control request of starting the adaptive cruise function, a prompt interface for inputting the attribute parameter is displayed. In response to detecting a triggering operation of a user on the prompt interface, the attribute parameter input by the user is acquired.

6. The method of claim 1, wherein, The method further comprises: In response to detecting that a turning road section exists in front of the road, prompt information for prompting the user to take over the vehicle is displayed.

7. The method of claim 1, wherein, The method further comprises: Acquiring adaptive cruise data of the towing vehicle in a preset time period of driving according to the driving parameter; Determining whether the towing vehicle has a collision risk according to the adaptive cruise data; In response to determining that there is a collision risk, the driving parameter is corrected; Controlling the towing vehicle to drive according to the corrected driving parameter.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 7.

9. A vehicle characterized by comprising: The vehicle comprises the method of claim 8.

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