Vehicle control method and device, vehicle, storage medium and product

Abstract

The invention provides a vehicle control method and device, a vehicle, a storage medium and a product, the method is applied to the field of vehicles, and the method comprises the steps that under the condition that the vehicle is in an intelligent driving mode, the actual vehicle speed of the vehicle and the current hand torque of a driver are obtained; according to the current hand torque, matching the taking-over working condition of the driver, and based on the actual vehicle speed, matching the taking-over judgment condition under the corresponding taking-over working condition, so as to obtain a corresponding hand torque judgment value and a hand torque duration judgment value based on the taking-over judgment condition; and when the current hand torque is larger than or equal to the hand torque judgment value and the continuous force application duration corresponding to the current hand torque is larger than or equal to the hand torque duration judgment value, the vehicle is controlled to exit the intelligent driving mode. According to the method, the actual intention of the driver can be accurately obtained in the intelligent driving mode, the vehicle is controlled based on the actual intention of the driver, the misjudgment probability is reduced, the better driving experience is provided for the driver while the driving safety of the vehicle is guaranteed, and the intelligent level is higher.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a control method, a device, a vehicle, a storage medium and a product in the field of vehicles. Background Art

[0002] In the related art, in the process of intelligent driving lateral control switching from the intelligent driving mode to the manual driving mode where the driver takes over the driving, the judgment is mainly based on the size and duration of the driver's hand torque.

[0003] However, when the hand torque and its duration judgment value are set to a small value, it is easy to cause unexpected exit of intelligent driving. For example, in the intelligent driving mode, the hand torque fluctuation caused by road bumps is recognized as driver intervention, and then the intelligent driving mode is exited. When the hand torque and its duration judgment value are set to a relatively large value, it is easy to cause steering jamming due to the inability to exit the intelligent driving mode in time when the driver takes over in an emergency. At the same time, the hand force fluctuation caused by road bumps is also different at different vehicle speeds, which leads to the situation that the same judgment condition cannot be met at all speed sections at the same time, resulting in misjudgment of the vehicle when switching driving modes.

[0004] To sum up, in the related technology, when making driving mode judgments, it is difficult to reasonably set the hand torque judgment value and the corresponding hand torque duration judgment value, which makes it difficult for the vehicle to accurately obtain the driver's actual intentions in the intelligent driving mode, and misjudgment is prone to occur, which not only affects the driver's driving experience, but also poses a major safety hazard.

[0005] Therefore, how to reasonably set the hand torque determination value and the corresponding hand torque duration determination value has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0006] In view of the above problems, the present application provides a vehicle control method, device, vehicle, storage medium and product that overcome the above problems or at least partially solve the above problems. The technical solutions are as follows:

[0007] A vehicle control method is applied to a vehicle, the method comprising:

[0008] When the vehicle is in intelligent driving mode, the actual speed of the vehicle and the current hand torque of the driver are obtained;

[0009] Matching the driver's takeover working condition according to the current hand torque, and matching the takeover determination condition under the corresponding takeover working condition based on the actual vehicle speed, so as to obtain a corresponding hand torque determination value and a hand torque duration determination value based on the takeover determination condition;

[0010] When the current hand torque is greater than or equal to the hand torque judgment value, and the continuous force application time corresponding to the current hand torque is greater than or equal to the hand torque duration judgment value, the vehicle is controlled to exit the intelligent driving mode.

[0011] Through the above technical solution, in the intelligent driving mode, the vehicle can determine the driver's actual intention by judging the driver's intervention status through multiple conditions, match the corresponding takeover condition by the current hand torque, and then dynamically determine the mode switching conditions in combination with the actual vehicle speed under the corresponding takeover condition. The mode switching conditions, i.e., the hand torque judgment value and the hand torque duration judgment value, are used to make a judgment in combination with the current hand torque and the corresponding continuous force application time, so as to avoid problems such as mis-switching, steering jamming during emergency switching, and inability to meet the differences caused by different vehicle speeds, thereby improving the vehicle's intelligent driving experience and safety.

[0012] Optionally, before matching the takeover determination condition under the corresponding takeover working condition based on the actual vehicle speed to obtain the corresponding hand torque determination value and hand torque duration determination value based on the takeover determination condition, the method further includes:

[0013] Based on the relationship between the vehicle speed and the hand torque determination value, and the vehicle speed and the hand torque duration determination value, multiple hand torque-continuous force application duration relationship groups under multiple takeover conditions are constructed, wherein the multiple takeover conditions include fluctuating takeover conditions, non-emergency takeover conditions, and emergency takeover conditions;

[0014] Using a plurality of hand torque-continuous force application duration relationship groups under the plurality of take-over working conditions, corresponding take-over determination conditions are constructed;

[0015] A mapping relationship between the vehicle speed and the takeover determination condition is constructed to match the takeover determination condition using the actual vehicle speed.

[0016] Through the above technical solution, multiple hand torque-continuous force application duration relationship groups under each takeover condition can be set accordingly according to the vehicle speed, so that in the subsequent use process, the judgment conditions can be screened based on the actual vehicle speed, thereby realizing the determination of the driver's actual takeover intention and avoiding the driver's driving experience being affected by the relevant judgment conditions being set too large or too small, thereby causing safety accidents.

[0017] Optionally, matching a takeover determination condition under a corresponding takeover condition based on the actual vehicle speed to obtain a corresponding hand torque determination value and a hand torque duration determination value based on the takeover determination condition includes:

[0018] In the plurality of relationship groups corresponding to the fluctuation takeover working condition, the relationship between the hand torque determination value and the vehicle speed is positively correlated, and the relationship between the hand torque duration and the vehicle speed is negatively correlated;

[0019] In the plurality of relationship groups corresponding to the non-emergency takeover working conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated;

[0020] In the multiple relationship groups corresponding to the emergency takeover conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated.

[0021] Through the above technical scheme, the relationship between the judgment values ​​of multiple relationship groups under different takeover conditions and the vehicle speed can be clarified to achieve dynamic condition matching based on the actual vehicle speed, avoiding problems such as erroneous switching caused by a single judgment value, steering jamming during emergency switching, and inability to meet the differences caused by different vehicle speeds.

[0022] Optionally, matching a takeover determination condition under a corresponding takeover condition based on the actual vehicle speed to obtain a corresponding hand torque determination value and a hand torque duration determination value based on the takeover determination condition includes:

[0023] Using the takeover working condition as an index, searching in a pre-constructed hand torque-hand torque duration-vehicle speed table to determine a plurality of hand torque-continuous force application duration relationship groups corresponding to the takeover working condition;

[0024] A plurality of takeover determination conditions under the takeover condition are determined based on the plurality of hand torque-continuous force application duration relationship groups.

[0025] Through the above technical scheme, when screening the judgment relationship group, conditional retrieval can be performed through the pre-constructed hand torque-hand torque duration-speedometer, so that the relationship group under the takeover condition can be extracted before the condition matching is performed. In the subsequent process, the judgment relationship group can be further screened from the extracted relationship group to reduce the retrieval difficulty and improve the retrieval efficiency.

[0026] Optionally, the vehicle control method further includes:

[0027] When the vehicle is in a manual driving mode, matching a corresponding intelligent driving determination condition based on the actual vehicle speed and the current hand torque;

[0028] Determining whether the continuous force application time corresponding to the current hand torque meets the intelligent driving determination condition;

[0029] If the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment condition, the vehicle is controlled to enter the intelligent driving mode.

[0030] Through the above technical solution, when the vehicle is in manual driving mode, the mode switching conditions of the intelligent driving mode can be matched in combination with the vehicle speed and hand torque, and after determining the mode switching conditions, it is determined whether the vehicle can be controlled to enter the intelligent driving mode based on the continuous force application duration, thereby realizing the dynamic setting of the intelligent driving judgment conditions, and using the judgment conditions that are more in line with the actual driving conditions of the vehicle to make mode switching judgments, thereby avoiding misjudgments caused by short-term reduction of hand torque and improving the intelligence level of the vehicle.

[0031] Optionally, before controlling the vehicle to enter the intelligent driving mode, the method further includes:

[0032] Push smart driving mode switching reminders to the driver;

[0033] Receive the driver's response information within a preset time period, and control the vehicle to enter the smart driving mode based on the response information, or control the vehicle to maintain the manual driving mode based on the response information.

[0034] Through the above technical solution, corresponding mode switching or mode maintenance can be performed according to the driver's response to the intelligent driving mode switching reminder, so as to avoid automatic switching that causes the driver to be unable to respond in time.

[0035] Optionally, after controlling the vehicle to exit the intelligent driving mode, the method further includes:

[0036] Based on the corresponding determination time length of the takeover working condition matching;

[0037] Within the determination time, detecting whether the vehicle exits the intelligent driving mode;

[0038] If the vehicle does not exit the intelligent driving mode within the determination time, a corresponding parking strategy is generated based on the surrounding environment data of the vehicle and the takeover condition, so as to use the parking strategy to control the vehicle to complete the corresponding parking action.

[0039] Through the above technical solution, corresponding judgment time standards can be established under different takeover conditions, so that when the vehicle fails to exit the intelligent driving mode in time, the takeover conditions and surrounding environment data can be combined to assist the vehicle in completing parking, so as to avoid the vehicle continuing to drive in a faulty state.

[0040] A vehicle control device, applied to a vehicle, comprising:

[0041] An acquisition module, used to acquire the actual speed of the vehicle and the current hand torque of the driver when the vehicle is in the intelligent driving mode;

[0042] A first matching module is used to match the driver's takeover condition according to the current hand torque, and match the takeover determination condition under the corresponding takeover condition based on the actual vehicle speed, so as to obtain a corresponding hand torque determination value and a hand torque duration determination value based on the takeover determination condition;

[0043] The first control module is used to control the vehicle to exit the intelligent driving mode when the current hand torque is greater than or equal to the hand torque judgment value and the continuous force application time corresponding to the current hand torque is greater than or equal to the hand torque duration judgment value.

[0044] Optionally, the vehicle control device further includes:

[0045] A first construction module is used to construct a plurality of hand torque-continuous force application duration relationship groups under a plurality of takeover conditions based on the relationship between the vehicle speed and the hand torque determination value and the vehicle speed and the hand torque duration determination value, wherein the plurality of takeover conditions include a fluctuating takeover condition, a non-emergency takeover condition and an emergency takeover condition;

[0046] The second construction module is used to construct corresponding takeover determination conditions using a plurality of hand torque-continuous force application duration relationship groups under the plurality of takeover working conditions;

[0047] The third construction module is used to construct a mapping relationship between the vehicle speed and the takeover determination condition, so as to match the takeover determination condition with the actual vehicle speed.

[0048] Optionally, the building blocks include:

[0049] Among the plurality of relationship groups corresponding to the fluctuation takeover working condition, the relationship between the hand torque determination value and the vehicle speed is positively correlated, and the relationship between the hand torque duration and the vehicle speed is negatively correlated;

[0050] In the plurality of relationship groups corresponding to the non-emergency takeover working conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated;

[0051] In the multiple relationship groups corresponding to the emergency takeover conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated.

[0052] Optionally, the first matching module includes:

[0053] A retrieval unit, for searching in a pre-constructed hand torque-hand torque duration-vehicle speed table using the takeover working condition as an index, so as to determine a plurality of hand torque-continuous force application duration relationship groups corresponding to the takeover working condition;

[0054] A determination unit is used to determine multiple takeover judgment conditions under the takeover working condition based on the multiple hand force torque-continuous force application time relationship groups.

[0055] Optionally, the vehicle control device further includes:

[0056] a second matching module, configured to match a corresponding intelligent driving determination condition based on the actual vehicle speed and the current hand torque when the vehicle is in a manual driving mode;

[0057] A judgment module, used to judge whether the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment condition;

[0058] The second control module is used to control the vehicle to enter the intelligent driving mode when the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment condition.

[0059] Optionally, the second control module includes:

[0060] A push unit, used to push intelligent driving mode switching reminders to the driver;

[0061] A control unit is used to receive the driver's response information within a preset time period, and control the vehicle to enter the intelligent driving mode based on the response information, or control the vehicle to maintain the manual driving mode based on the response information.

[0062] Optionally, the vehicle control device further includes:

[0063] A third matching module, used for matching the corresponding determination time based on the takeover working condition;

[0064] A detection module, used to detect whether the vehicle exits the intelligent driving mode within the determination time;

[0065] The third control module is used to generate a corresponding parking strategy based on the surrounding environment data of the vehicle and the takeover condition when the vehicle does not exit the intelligent driving mode within the determination time, so as to use the parking strategy to control the vehicle to complete the corresponding parking action.

[0066] In a third aspect, a vehicle is provided, comprising the vehicle control device as described in the above embodiment.

[0067] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0068] In a fifth aspect, a computer program product is provided, which includes: a computer program code, when the computer program code runs on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0069] By means of the above technical scheme, the present application provides a vehicle control method, device, vehicle, storage medium and product, which are applied to vehicles. When the vehicle is in the intelligent driving mode, the corresponding takeover condition can be matched according to the current hand torque, and then the corresponding takeover judgment condition can be matched under the corresponding takeover condition, so as to realize the dynamic matching mode switching judgment condition according to the actual driving condition of the vehicle, so as to exit the intelligent driving mode when the dynamic takeover judgment condition is met, and the actual intention of the driver can be accurately identified in the intelligent driving mode, and the control of the vehicle can be completed based on the actual intention of the driver, so as to avoid the influence of a single judgment value on the actual control of the vehicle, reduce the probability of misjudgment, and provide the driver with a better driving experience while ensuring the driving safety of the vehicle, with a higher level of intelligence. Thus, the technical problem that in the related technology, when making a driving mode judgment, it is difficult to reasonably set the duration judgment value, so that the vehicle is difficult to accurately obtain the actual intention of the driver in the intelligent driving mode, and is prone to misjudgment, which not only affects the driving experience of the driver, but also has a large safety hazard, is solved.

[0070] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0072] Figure 1 A flow chart of a vehicle control method provided according to an embodiment of the present application;

[0073] Figure 2 It is a schematic diagram of the principle of a vehicle control method according to an embodiment of the present application;

[0074] Figure 3 A schematic diagram of the structure of a vehicle control device provided according to an embodiment of the present application;

[0075] Figure 4 A schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0076] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can represent A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, such as A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" refers to two or more than two.

[0077] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0078] Traditional vehicle driving mode switching can be achieved through commands issued by the driver, such as voice instructions, button control, etc. However, the method of switching by receiving commands has certain defects. For example, when the driver needs to achieve emergency avoidance through manual driving, adding the step of issuing commands will affect the driver's operation, thereby affecting the avoidance effect. The method of automatically switching driving modes requires judging the driver's intention based on the driver's operation of the steering wheel, and then switching the mode according to the driver's intention.

[0079] Generally speaking, the automatic switching of driving modes is determined by the size and duration of the driver's hand torque. However, the thresholds for the size and duration of hand torque are difficult to accurately define. When the hand torque and its duration judgment values ​​are set to be small, it is easy to cause unexpected exit of intelligent driving. For example, in the intelligent driving state, the fluctuation of hand torque caused by road bumps is identified as driver intervention, and then exits the intelligent driving state. When the hand torque and its duration thresholds are set relatively large, it is easy to cause steering jamming due to the failure to exit the intelligent driving state in time when the driver takes over in an emergency. At the same time, at different vehicle speeds, the hand force fluctuations caused by road bumps are also different, which leads to the situation that the same judgment conditions cannot meet all vehicle speed sections at the same time.

[0080] Based on the above application scenarios, in order to solve the technical problem in the related technology that when determining the driving mode, it is difficult to reasonably set the duration determination value, which makes it difficult for the vehicle to accurately obtain the driver's actual intention in the intelligent driving mode, and misjudgment is prone to occur, which not only affects the driver's driving experience but also poses a great safety hazard. This application provides a vehicle control method, such as Figure 1 As shown, Figure 1 : is a schematic flow chart of a vehicle control method provided in an embodiment of the present application, the method is applicable to a vehicle, and the method includes:

[0081] Step S101, when the vehicle is in the intelligent driving mode, the actual speed of the vehicle and the current hand torque of the driver are obtained.

[0082] It is understandable that when the vehicle is in intelligent driving mode, the control of the vehicle is completely responsible for the intelligent system, and automatic driving is achieved through data obtained from the vehicle's own sensors and the vehicle's own status data. At this time, the driver's intervention in the vehicle will not affect the vehicle's driving.

[0083] When the driver wants to switch driving modes, the intention to switch modes can be recognized through specific interventions, for example, the intention can be recognized through the driver's hand torque and the duration of continuous force application corresponding to the hand torque.

[0084] Of course, the hand torque and the corresponding continuous force application time are not the larger the value, the better. On the one hand, this will cause the steering to get stuck when the driver takes over in an emergency because the intelligent driving state cannot be exited in time due to the failure to meet the time conditions for judgment. On the other hand, it will also cause the vehicle to turn too much after the driver takes over, thus causing a safety accident.

[0085] Similarly, the hand torque and the corresponding continuous force application time are not the smaller the data, the better. This will cause the vehicle to exit the automatic mode if the driver accidentally touches it. If the driver is not prepared to take over at this time, it is very likely to cause a safety accident.

[0086] In order to solve the above-mentioned problems, the embodiments of the present application can realize dynamic recognition of the driver's intention according to the actual speed of the vehicle, thereby realizing more accurate mode switching judgment according to the actual speed of the vehicle. To this end, the embodiments of the present application can use the vehicle's sensors to obtain the actual speed and the driver's current hand torque, so as to make corresponding judgments later.

[0087] Step S102, matching the driver's takeover condition according to the current hand torque, and matching the takeover determination condition under the corresponding takeover condition based on the actual vehicle speed, so as to obtain the corresponding hand torque determination value and hand torque duration determination value based on the takeover determination condition.

[0088] Furthermore, the embodiments of the present application can match the takeover determination conditions in combination with the actual vehicle speed and the driver's current hand torque.

[0089] First, the embodiment of the present application can determine the driver's takeover condition based on the current hand torque. For example, a corresponding hand torque range is set for each takeover condition, and the corresponding takeover condition is determined by judging which hand torque range the current hand torque falls into.

[0090] In each takeover condition, the embodiment of the present application can pre-set multiple takeover determination conditions related to the vehicle speed, wherein each takeover determination condition has a set of corresponding hand torque-continuous force application duration determination values.

[0091] On this basis, the embodiment of the present application can be understood as determining the takeover condition according to the current hand torque, and determining the corresponding takeover judgment condition under the takeover condition according to the actual vehicle speed. Therefore, in addition to the above-mentioned takeover judgment condition matching, the embodiment of the present application can also use the historical takeover data under different takeover conditions (including vehicle speed, hand torque, continuous force application time corresponding to hand torque, etc.) to train the corresponding conditional model, so as to input the actual vehicle speed and the current hand torque into the conditional model to output the takeover judgment condition that matches the vehicle speed, that is, the hand torque judgment value and the hand torque duration judgment value used for judgment. Among them, the hand torque judgment value and the hand torque duration judgment value can both be quantities that change with the vehicle speed and can be calibrated.

[0092] Among them, for step S102, before matching the takeover judgment condition under the corresponding takeover condition based on the actual vehicle speed to obtain the corresponding hand torque judgment value and the hand torque duration judgment value based on the takeover judgment condition, it also includes: based on the relationship between the vehicle speed and the hand torque judgment value, and between the vehicle speed and the hand torque duration judgment value, constructing multiple hand torque-continuous force application time relationship groups under multiple takeover conditions, wherein the multiple takeover conditions include fluctuating takeover conditions, non-emergency takeover conditions and emergency takeover conditions; using multiple hand torque-continuous force application time relationship groups under multiple takeover conditions to construct corresponding takeover judgment conditions; constructing a mapping relationship between the vehicle speed and the takeover judgment condition to match the takeover judgment condition using the actual vehicle speed.

[0093] In the embodiment of the present application, the take-over condition can be divided into a fluctuating take-over condition, a non-emergency take-over condition and an emergency take-over condition according to the size of the hand torque.

[0094] It is understandable that when the vehicle is driving and passing through a bumpy road, it is very easy for the vehicle to detect a sudden hand torque due to the uneven road, and the hand torque value at this time is small. Therefore, when the current hand torque value is small, the matched takeover condition is the fluctuating takeover condition.

[0095] When the vehicle is driving, there may be sudden scenarios that require emergency takeover, such as a car suddenly cutting in ahead and requiring deceleration, or a sudden safety accident ahead that requires avoidance. Faced with sudden scenarios of emergency takeover, the driver usually intervenes quickly and increases the hand torque during the intervention. Therefore, when the current hand torque value is large, the matched takeover condition is the emergency takeover condition.

[0096] Between the above two takeover conditions is a non-emergency takeover condition. At this time, the driver is not performing an emergency operation and the intervention action is not urgent. Therefore, when the current hand torque is between the fluctuating takeover condition and the emergency takeover condition, the matched takeover condition is a non-emergency takeover condition.

[0097] It should be noted that the manual torque determination range for each specific pipe connection working condition can be set accordingly by technical personnel in this field according to actual conditions, and no specific limitation is made here.

[0098] Furthermore, in order to avoid misjudgment of takeover, such as erroneous judgment caused by vehicle bumps that causes the vehicle to unexpectedly exit the intelligent driving mode, the embodiment of the present application can set a relationship group of hand torque-continuous force application duration to clarify the takeover judgment conditions of hand torque and continuous force application duration.

[0099] Each relationship group may include mutually corresponding hand torque determination values ​​and hand torque duration determination values. For example, in the first takeover condition, all the hand torque-duration relationship groups related to vehicle speed in the first takeover condition are obtained, and the actual vehicle speed is matched in all relationship groups to obtain a relationship group corresponding to the actual vehicle speed, i.e., a determination relationship group, and the hand torque determination value and hand torque duration determination value in the determination relationship group are obtained.

[0100] However, the criteria for hand torque and continuous force application duration are difficult to control. For example, when the hand torque and its duration judgment value are set to a small value, it is easy to cause unexpected exit of intelligent driving. When the hand torque and its duration judgment value are set to a large value, it is easy to cause steering jamming due to the failure to exit the intelligent driving mode in time when the driver takes over in an emergency. At the same time, at different vehicle speeds, the hand force fluctuations caused by road bumps are also different, which means that the same judgment conditions cannot be met at all speed ranges at the same time, causing the vehicle to misjudge when switching driving modes.

[0101] Therefore, after constructing multiple takeover conditions, the embodiment of the present application can also determine multiple takeover judgment conditions under each takeover condition, and establish a mapping of the takeover judgment conditions according to the vehicle speed, and then determine the corresponding hand torque-continuous force application time relationship group under each takeover judgment condition, so as to realize the takeover condition judgment combined with the vehicle dynamics.

[0102] Through the above technical solution, multiple hand torque-continuous force application duration relationship groups under each takeover condition can be set accordingly according to the vehicle speed, so that in the subsequent use process, the judgment conditions can be screened based on the actual vehicle speed, thereby realizing the determination of the driver's actual takeover intention and avoiding the driver's driving experience being affected by the relevant judgment conditions being set too large or too small, thereby causing safety accidents.

[0103] Among them, for step S102, the takeover judgment condition under the corresponding takeover condition is matched based on the actual vehicle speed, so as to obtain the corresponding hand torque judgment value and hand torque duration judgment value based on the takeover judgment condition, including: in the multiple relationship groups corresponding to the fluctuating takeover condition, the relationship between the hand torque judgment value and the vehicle speed is positively correlated, and the relationship between the hand torque duration and the vehicle speed is negatively correlated; in the multiple relationship groups corresponding to the non-emergency takeover condition, the relationship between the hand torque judgment value and the vehicle speed is negatively correlated, and the relationship between the hand torque duration and the vehicle speed is negatively correlated; in the multiple relationship groups corresponding to the emergency takeover condition, the relationship between the hand torque judgment value and the vehicle speed is negatively correlated, and the relationship between the hand torque duration and the vehicle speed is negatively correlated.

[0104] In the actual implementation process, excessive vehicle speed will cause the vehicle to respond at an extremely fast speed when receiving control instructions to avoid safety accidents caused by untimely response. Therefore, as the vehicle speed increases, under each takeover condition, the hand force duration judgment value is inversely correlated with the vehicle speed, that is, the faster the speed, the shorter the hand force duration judgment value, so as to avoid getting stuck and higher response delays.

[0105] In terms of the hand torque judgment value, since the hand torque value under the fluctuating takeover condition is small and it is easy to make a misjudgment due to road conditions, at this time, the hand torque judgment value can be set to a positive correlation with the vehicle speed, that is, as the vehicle speed increases, the hand torque judgment value increases accordingly. However, the probability of the above misjudgment occurring under non-emergency takeover conditions and emergency takeover conditions is low. If the speed is faster, the hand torque judgment value is also larger, which will affect the vehicle action in the manual control mode after the driver takes over, thereby causing a safety accident. Therefore, under non-emergency takeover conditions and emergency takeover conditions, the relationship between the hand torque judgment value and the vehicle speed is inversely correlated.

[0106] Through the above technical scheme, the relationship between the judgment values ​​of multiple relationship groups under different takeover conditions and the vehicle speed can be clarified to achieve dynamic condition matching based on the actual vehicle speed, avoiding problems such as erroneous switching caused by a single judgment value, steering jamming during emergency switching, and inability to meet the differences caused by different vehicle speeds.

[0107] Among them, for step S102, the takeover judgment condition under the corresponding takeover condition is matched based on the actual vehicle speed, so as to obtain the corresponding hand torque judgment value and hand torque duration judgment value based on the takeover judgment condition, including: taking the takeover condition as the index, searching in the pre-constructed hand torque-hand torque duration-vehicle speed table to determine the multiple hand torque-continuous force duration relationship groups corresponding to the takeover condition; determining multiple takeover judgment conditions under the takeover condition based on the multiple hand torque-continuous force duration relationship groups.

[0108] In some embodiments, the embodiments of the present application can construct a hand torque-continuous force duration-vehicle speed relationship table through a large amount of data of the same vehicle model through big data simulation, model construction, historical data statistics, etc., so as to determine the judgment criteria of hand torque-continuous force duration corresponding to different vehicle speeds under different takeover conditions, that is, the takeover judgment conditions.

[0109] During the actual implementation process, the embodiment of the present application can first use the current hand torque to match the corresponding takeover condition, and extract the tabular data of the corresponding takeover condition from the hand torque-continuous force duration-vehicle speed relationship table to reduce the retrieval amount.

[0110] Furthermore, the embodiment of the present application can use the actual vehicle speed to search the hand torque-continuous force duration-vehicle speed relationship table corresponding to the takeover condition to obtain the hand torque judgment value and the hand torque duration judgment value to determine the takeover judgment condition.

[0111] It should be noted that the above is only an example. In actual implementation, the actual vehicle speed and current hand torque can also be directly used to search in the hand torque-continuous force duration-vehicle speed relationship table to directly find the corresponding hand torque judgment value and hand torque duration judgment value.

[0112] Through the above technical scheme, when screening the judgment relationship group, conditional retrieval can be performed through the pre-constructed hand torque-hand torque duration-speedometer, so that the relationship group under the takeover condition can be extracted before the condition matching is performed. In the subsequent process, the judgment relationship group can be further screened from the extracted relationship group to reduce the retrieval difficulty and improve the retrieval efficiency.

[0113] In step S103, when the current hand torque is greater than or equal to the hand torque judgment value, and the continuous force application time corresponding to the current hand torque is greater than or equal to the hand torque duration judgment value, the vehicle is controlled to exit the intelligent driving mode.

[0114] As a possible implementation method, the embodiment of the present application can make a takeover judgment by judging whether the current hand torque is greater than or equal to the hand torque judgment value, and whether the continuous force application time is greater than or equal to the hand torque duration judgment value, and if the takeover judgment is met, the vehicle can be controlled to exit the intelligent driving mode to realize the driver's takeover, and then the vehicle can be actually controlled according to the driver's current hand torque.

[0115] Among them, the embodiment of the present application can perform condition matching and timing when the current hand torque is detected for the first time, until the continuous force application time is greater than or equal to the hand torque duration judgment value in the judgment relationship group, and determine that the vehicle can exit the intelligent driving mode.

[0116] After determining that the vehicle can exit the intelligent driving mode, the embodiment of the present application can automatically switch the driving mode according to the driver's pre-settings. For example, if the driver pre-sets that the mode can be automatically switched without inquiry, the driving mode can be automatically switched. If the driver has not pre-set relevant content, a mode switching inquiry can be generated, and the mode can be switched according to the driver's response. In order to avoid the driver not responding for a long time, so that the vehicle cannot take the next action, a response time limit can be pre-set. If the driver's response is not received within the response time limit, the current driving mode will continue.

[0117] Optionally, in some embodiments, after controlling the vehicle to exit the intelligent driving mode, it also includes: matching the corresponding determination time based on the takeover condition; detecting whether the vehicle exits the intelligent driving mode within the determination time; if the vehicle does not exit the intelligent driving mode within the determination time, generating a corresponding parking strategy based on the vehicle's surrounding environment data and the takeover condition, so as to utilize the parking strategy to control the vehicle to complete the corresponding parking action.

[0118] Under different takeover conditions, the response time of the vehicle's mode switch may also be different. For example, under emergency takeover conditions, the response time should be as short as possible. Therefore, the embodiments of the present application can match different judgment time lengths according to different takeover conditions to determine whether the vehicle has completed the mode switch within different judgment time lengths.

[0119] If the vehicle completes the mode switch within the determination time, it is determined that the relevant functions of the vehicle are normal, and the vehicle can now drive normally.

[0120] If the vehicle fails to complete the mode switch within the determined time, it can be determined that a vehicle failure has occurred or that there is a delay in the vehicle's mode switch, and continuing to drive at this time may be dangerous. Therefore, the embodiment of the present application can perform corresponding parking control in combination with the surrounding environment data and the takeover conditions.

[0121] For example, if an empty roadside parking space is detected in the surrounding environment data, and the takeover condition at this time is a fluctuating takeover condition, it can be determined that the vehicle's driving environment is safe and there is a safe parking area nearby. The parking strategy at this time can be to control the vehicle to slow down and drive to an empty parking space and park. For another example, if an obstacle around the vehicle is detected in the surrounding environment data that needs to be avoided, and the takeover condition at this time is an emergency takeover condition, it can be determined that the vehicle needs emergency obstacle avoidance or emergency parking. The parking strategy at this time can be obtained by calculation, such as calculating whether the vehicle can complete obstacle avoidance, emergency parking, etc. based on the distance to the obstacle, the actual vehicle speed, and the torque for lateral control in the current state of the vehicle, and after determining that the vehicle can complete obstacle avoidance, control the vehicle to avoid obstacles and find a safe area for parking.

[0122] Optionally, in some embodiments, the vehicle control method also includes: when the vehicle is in manual driving mode, matching corresponding intelligent driving judgment conditions based on actual vehicle speed and current hand torque; judging whether the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment conditions; if the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment conditions, controlling the vehicle to enter the intelligent driving mode.

[0123] In other embodiments, when the vehicle is in manual driving mode, if you want to recognize the driver's intention and control the vehicle to enter intelligent driving mode, conditional judgment is also required.

[0124] When the driver's current hand torque continues to fluctuate within a certain extremely small range, or the current hand torque is small and the continuous force application time is less than a certain value, it can be determined that the driver currently does not need to perform too much operation on the vehicle control. At this time, the vehicle can enter the intelligent driving mode to reduce the driver's driving fatigue.

[0125] Similarly, in order to avoid the judgment value being too large or too small, thereby affecting the actual driving safety of the vehicle and the driver's driving experience, the intelligent driving judgment condition of the embodiment of the present application can also be dynamically determined according to the actual vehicle speed.

[0126] Among them, the embodiment of the present application can match the corresponding judgment conditions by pre-constructing a hand torque-continuous force application duration-vehicle speed relationship table under intelligent driving judgment, and can also train the model through historical data to realize the threshold output of the intelligent driving judgment condition through the model, so as to realize the judgment by comparing the actual value with the threshold.

[0127] Optionally, in some embodiments, before controlling the vehicle to enter the intelligent driving mode, it also includes: obtaining the current navigation information of the vehicle; judging whether the driving road of the vehicle within a preset driving distance meets the first preset intelligent driving condition based on the current navigation information; if the driving road meets the first preset driving condition, controlling the vehicle to enter the intelligent driving mode, otherwise, generating a dangerous driving reminder for the driver.

[0128] It should be noted that before controlling the vehicle to enter the intelligent driving mode, it is also necessary to determine whether the current or future driving road is suitable for intelligent driving. For example, a mountain road with many bends, a driving route that requires multiple left turns, etc., the road at this time has a greater driving risk in the intelligent driving mode.

[0129] The embodiment of the present application can obtain the current navigation information of the vehicle, and then determine the information of the vehicle's driving route within a certain driving distance, including path planning, road type, etc., and then determine whether the next driving is suitable for the vehicle to perform intelligent driving.

[0130] For example, the embodiments of the present application can determine that the vehicle is suitable for intelligent driving when the road type is a main road, a highway, or an expressway, and when the route planning shows that the number of left turns is less than a certain number, and then control the vehicle to enter the intelligent driving mode; and when the road type is a country road, a community road, or the number of left turns in the route planning is large, or the vehicle's next route planning is to exit the expressway, etc., the vehicle is determined to be unsuitable for intelligent driving, and the driver is reminded to concentrate on the next road to avoid dangerous driving.

[0131] Among them, the preset driving distance and the first preset intelligent driving condition can be set accordingly by technical personnel in this field according to actual conditions, and no specific restrictions are made here.

[0132] Through the above technical solution, when the vehicle is in manual driving mode, the mode switching conditions of the intelligent driving mode can be matched in combination with the vehicle speed and hand torque, and after determining the mode switching conditions, it is determined whether the vehicle can be controlled to enter the intelligent driving mode based on the continuous force application duration, thereby realizing the dynamic setting of the intelligent driving judgment conditions, and using the judgment conditions that are more in line with the actual driving conditions of the vehicle to make mode switching judgments, thereby avoiding misjudgments caused by short-term reduction of hand torque and improving the intelligence level of the vehicle.

[0133] Optionally, in some embodiments, before controlling the vehicle to enter the intelligent driving mode, it also includes: obtaining the vehicle's surrounding traffic environment information; determining the vehicle's current driving environment conditions based on the surrounding traffic environment information; judging whether the current driving environment conditions meet the second preset intelligent driving conditions; if the current driving environment conditions meet the second preset intelligent driving conditions, controlling the vehicle to enter the intelligent driving mode, otherwise, generating an environmental dangerous driving reminder.

[0134] The embodiment of the present application can also determine whether intelligent driving can be performed based on the current surrounding traffic environment of the vehicle.

[0135] The vehicle's sensors, such as radars and cameras, are used to obtain traffic environment data around the vehicle, such as the distance between the vehicle and other surrounding traffic participants, whether the vehicle is at an intersection with heavy traffic flow, etc., and then determine the current driving environment conditions, such as congested conditions, complex environmental conditions, and smooth driving conditions.

[0136] The embodiments of the present application can determine whether the current driving environment conditions allow the vehicle to enter the intelligent driving mode. For example, when the vehicle is currently in a congested condition, that is, there are many surrounding vehicles that are close to the current vehicle and the actual speed of the vehicle is slow, the current driving environment conditions at this time do not meet the second preset intelligent driving conditions. For another example, the vehicle is currently in a densely populated road condition, that is, there are commercial areas, schools and other places with dense traffic on both sides of the road, and there are multiple stopped vehicles and pedestrians on the roadside. At this time, the current driving environment conditions also do not meet the second preset intelligent driving conditions.

[0137] When the vehicle's current driving environment conditions meet the second preset intelligent driving condition, that is, the vehicle's current surrounding traffic environment is simple and unobstructed, the embodiment of the present application can control the vehicle to enter the intelligent driving mode. Otherwise, the embodiment of the present application can remind the driver that the surrounding traffic environment is complex to improve the driver's attention.

[0138] Among them, the second preset intelligent driving condition can be set accordingly by technical personnel in this field according to actual conditions, and no specific restrictions are made here.

[0139] Optionally, in some embodiments, before controlling the vehicle to enter the intelligent driving mode, it also includes: pushing an intelligent driving mode switching reminder to the driver; receiving the driver's response information within a preset time period, and controlling the vehicle to enter the intelligent driving mode based on the response information, or controlling the vehicle to maintain the manual driving mode based on the response information.

[0140] During the actual implementation process, after determining that the vehicle can enter the intelligent driving mode, the embodiment of the present application generates a mode switching reminder message and pushes it to the driver, for example, through a voice broadcast mode or through a display screen display.

[0141] Within a certain period of time, it is determined whether the driver responds to the reminder information, such as confirming the mode switch through voice or confirming or rejecting the mode switch by operating the screen or buttons.

[0142] If the driver confirms the mode switch, it switches to the intelligent driving mode. If the driver rejects the mode switch, the manual driving mode is maintained.

[0143] If the driver does not respond within a certain period of time, the embodiment of the present application can determine whether the vehicle has a pre-set mode switching automatic response instruction. If so, it will switch to the smart driving mode. If not, it can send a reminder again or maintain the manual driving mode.

[0144] Through the above technical solution, corresponding mode switching or mode maintenance can be performed according to the driver's response to the intelligent driving mode switching reminder, so as to avoid automatic switching that causes the driver to be unable to respond in time.

[0145] In order to more clearly illustrate the technical solution provided by the embodiment of the present application, Figure 2 As shown, a vehicle control method provided by the present application is further explained.

[0146] like Figure 2 As shown, in the actual implementation process of the embodiment of the present application, the following steps may be included:

[0147] Step S1: Data acquisition. When the vehicle is in the intelligent driving state, the embodiment of the present application can obtain the driver's hand force signal F0 to obtain the driver's current hand torque, and use the actual vehicle speed obtained by the vehicle speed signal V0 as input to determine whether the driving mode needs to be switched.

[0148] Step S2: Takeover determination.

[0149] The takeover determination conditions may include: when the driver's current hand torque meets one of the following three conditions, it can be determined that the driver actively intervenes, so that the vehicle switches from the intelligent driving mode to the manual driving mode:

[0150] Condition ①: The driver's current hand torque is greater than or equal to the first hand torque judgment value F1 under the fluctuation takeover condition, and the continuous force application time is greater than the corresponding first hand torque duration judgment value T1;

[0151] Condition ②: The driver's current hand torque is greater than or equal to the second hand torque judgment value F2 under non-emergency takeover conditions, and the continuous force application time is greater than the corresponding second hand torque duration judgment value T2;

[0152] Condition ③: The driver's current hand torque is greater than or equal to the third hand torque judgment value F3 under the emergency takeover condition, and the continuous force application time is greater than the corresponding third hand torque duration judgment value T3.

[0153] For example, the embodiment of the present application can determine the takeover judgment conditions by looking up Table 1, where Table 1 is a hand torque-continuous force application duration-vehicle speed relationship table.

[0154] Table 1

[0155] Type\Speed ​​(kph) 0 10 20 30 50 80 100 120 F1(Nm) 3 3 3 3 3.1 3.1 3.1 3.1 T1(ms) 300 300 290 280 270 260 250 240 F2(Nm) 5 5 5 4.8 4.7 4.5 4.5 4.5 T2(ms) 100 100 95 90 85 85 85 85 F3(Nm) 7 7 7 7 6.8 6.5 6.5 6.5 T3(ms) 15 10 10 10 10 10 10 10

[0156] In the above table, the first hand torque judgment value F1 is positively correlated with the vehicle speed, and the first hand torque duration judgment value T1 is negatively correlated with the vehicle speed; the second hand torque judgment value F2 is negatively correlated with the vehicle speed, and the second hand torque duration judgment value T2 is negatively correlated with the vehicle speed; the third hand torque judgment value F3 is negatively correlated with the vehicle speed, and the third hand torque duration judgment value T3 is negatively correlated with the vehicle speed, and the second hand torque judgment value F2 is greater than the first hand torque judgment value F1, and the third hand torque judgment value F3 is greater than the second hand torque judgment value F2.

[0157] That is to say, the embodiments of the present application can determine the driver's takeover situation according to the driver's current hand torque, such as non-emergency takeover situation and emergency takeover situation. According to different situations, the relationship between the hand torque determination value and the hand torque duration determination value and the vehicle speed is different. For example, in the data combination corresponding to the situation of the driver's hand torque fluctuation, the hand torque determination value and the vehicle speed are positively correlated, and the hand torque duration determination value and the vehicle speed are negatively correlated; in the data combination corresponding to the driver's non-emergency takeover situation, the hand torque determination value and the vehicle speed are negatively correlated, and the hand torque duration determination value and the vehicle speed are negatively correlated; in the data combination corresponding to the driver's emergency takeover situation, the hand torque determination value and the vehicle speed are negatively correlated, and the hand torque duration determination value and the vehicle speed are negatively correlated.

[0158] When actually looking up the table, the order of looking up the values ​​in the table does not affect the determination of the actual hand torque determination value and the hand torque duration determination value.

[0159] For example, when the current hand torque is 5Nm, it can be determined that it is in a non-emergency takeover condition. At this time, the embodiment of the present application can filter out all relationship groups under the non-emergency takeover condition from the table, such as the 5Nm-100ms relationship group, the 5Nm-95ms relationship group, the 4.8Nm-90ms relationship group, etc.

[0160] Furthermore, the embodiment of the present application can use the actual vehicle speed for retrieval. For example, if the actual vehicle speed is 20kph, a judgment relationship group can be obtained from the relationship group, namely, a 5Nm-95ms relationship group, wherein 5Nm is the hand torque judgment value, and 95ms is the hand torque duration judgment value.

[0161] When the current hand torque is greater than or equal to 5Nm and the continuous force application time is greater than or equal to 95ms, the vehicle can be controlled to exit the intelligent driving mode.

[0162] For another example, the current actual vehicle speed is 10kph, and the following table is used to obtain the following value:

[0163] In condition ①, the first hand torque determination value F1 is 3 Nm, and the first hand torque duration determination value T1 is 300 ms;

[0164] In condition ②, the second hand torque determination value F2 is 5 Nm, and the second hand torque duration determination value T2 is 100 ms;

[0165] In condition ③, the third hand torque determination value F3 is 7 Nm, and the third hand torque duration determination value T3 is 10 ms.

[0166] At this time, when the driver's current hand torque fluctuation caused by road bumps occasionally exceeds the first hand torque judgment value F1 in condition ①, misjudgment can be avoided because the continuous force application time is less than T1.

[0167] In the case of non-emergency takeover by the driver, if the driver's current hand torque is greater than or equal to F2 and the continuous force application time is greater than or equal to T2, it can be determined as takeover.

[0168] In the event of an emergency takeover by the driver, if the driver's current hand torque is greater than or equal to F3 and the continuous force application time is greater than or equal to T3, it can be determined as takeover and switched to the driver's driving state to avoid steering jamming.

[0169] Similarly, the embodiments of the present application can determine the corresponding intelligent driving determination conditions based on the above principles, and then use the intelligent driving determination conditions to determine whether the vehicle can switch from the manual driving mode to the intelligent driving mode.

[0170] Before switching the intelligent driving mode, the embodiment of the present application can also judge the future road and environmental conditions of the vehicle, so as to prohibit the switching of the intelligent driving mode under complex environmental conditions or complex road conditions, and remind the driver to concentrate on driving to improve driving safety.

[0171] To summarize, the embodiments of the present application can change the switching judgment conditions between the intelligent driving mode and the manual driving mode from a judgment method that relies solely on one set of hand torque size and time to a judgment method that relies on multiple sets (for example, three sets) of hand torque size and corresponding time, that is, multiple sets of hand torque judgment value combinations and hand torque duration judgment value combinations are set, and at least one set of combinations is aimed at the situation where the driver's hand torque fluctuates, at least one set of combinations is aimed at the situation where the driver takes over non-emergency, and at least one set of combinations is aimed at the situation where the driver takes over emergency. At the same time, the hand torque and judgment time in the three sets of judgment conditions can be marked with speed, thereby effectively solving the problem of driver misjudgment from intelligent driving and steering jamming during emergency takeover.

[0172] In summary, the embodiment of the present application can match the corresponding takeover condition according to the current hand torque when the vehicle is in the intelligent driving mode, and then match the corresponding takeover judgment condition under the corresponding takeover condition, so as to realize the judgment condition of dynamic matching mode switching according to the actual driving condition of the vehicle, so as to exit the intelligent driving mode when the dynamic takeover judgment condition is met, and can accurately identify the actual intention of the driver in the intelligent driving mode, and complete the control of the vehicle based on the actual intention of the driver, avoid the influence of a single judgment value on the actual control of the vehicle, reduce the probability of misjudgment, and provide the driver with a better driving experience while ensuring the driving safety of the vehicle, with a higher level of intelligence. Therefore, the technical problem in the related technology that it is difficult to reasonably set the duration judgment value when making a driving mode judgment, making it difficult for the vehicle to accurately obtain the actual intention of the driver in the intelligent driving mode, and prone to misjudgment, not only affects the driving experience of the driver, but also has a large safety hazard, is solved.

[0173] In addition, if Figure 3 As shown, Figure 3 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0174] For example, Figure 3 As shown, the device 10 may include: an acquisition module 100 , a first matching module 200 and a first control module 300 .

[0175] Specifically, the acquisition module 100 is used to acquire the actual vehicle speed and the current hand torque of the driver when the vehicle is in the intelligent driving mode.

[0176] The first matching module 200 is used to match the driver's takeover condition according to the current hand torque, and to match the takeover determination condition under the corresponding takeover condition based on the actual vehicle speed, so as to obtain the corresponding hand torque determination value and hand torque duration determination value based on the takeover determination condition.

[0177] The first control module 300 is used to control the vehicle to exit the intelligent driving mode when the current hand torque is greater than or equal to the hand torque judgment value and the continuous force application time corresponding to the current hand torque is greater than or equal to the hand torque duration judgment value.

[0178] In a specific embodiment, the vehicle control device 10 further includes: a first building block, a second building block and a third building block.

[0179] The first construction module is used to construct a plurality of hand torque-continuous force application duration relationship groups under a plurality of takeover conditions based on the relationship between the vehicle speed and the hand torque determination value and the vehicle speed and the hand torque duration determination value, wherein the plurality of takeover conditions include a fluctuating takeover condition, a non-emergency takeover condition and an emergency takeover condition;

[0180] The second construction module is used to construct corresponding takeover determination conditions using multiple hand torque-continuous force application duration relationship groups under multiple takeover working conditions;

[0181] The third construction module is used to construct a mapping relationship between the vehicle speed and the takeover determination condition, so as to match the takeover determination condition with the actual vehicle speed.

[0182] In a specific embodiment, the building blocks include:

[0183] Among them, in the multiple relationship groups corresponding to the fluctuation takeover conditions, the relationship between the hand torque judgment value and the vehicle speed is positively correlated, and the relationship between the hand torque duration and the vehicle speed is negatively correlated.

[0184] In the multiple relationship groups corresponding to non-emergency takeover conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated.

[0185] In the multiple relationship groups corresponding to the emergency takeover conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated.

[0186] In a specific embodiment, the first matching module 200 includes: a retrieval unit and a determination unit.

[0187] The retrieval unit is used to search the pre-built hand torque-hand torque duration-vehicle speed table using the takeover working condition as an index to determine a plurality of hand torque-continuous force application duration relationship groups corresponding to the takeover working condition;

[0188] A determination unit is used to determine multiple takeover judgment conditions under a takeover condition based on multiple hand torque-continuous force application time relationship groups.

[0189] In a specific embodiment, the vehicle control device 10 further includes: a second matching module, a judgment module and a second control module.

[0190] Among them, the second matching module is used to match the corresponding intelligent driving judgment conditions based on the actual vehicle speed and the current hand torque when the vehicle is in manual driving mode.

[0191] The judgment module is used to judge whether the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment conditions.

[0192] The second control module is used to control the vehicle to enter the intelligent driving mode when the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment conditions.

[0193] In a specific embodiment, the second control module includes: a pushing unit and a control unit.

[0194] Among them, the push unit is used to push the intelligent driving mode switching reminder to the driver.

[0195] A control unit is used to receive the driver's response information within a preset time period, and control the vehicle to enter an intelligent driving mode based on the response information, or control the vehicle to maintain a manual driving mode based on the response information.

[0196] Optionally, the vehicle control device 10 further includes: a third matching module, a detection module and a third control module.

[0197] The third matching module is used to match the corresponding determination time based on the takeover condition;

[0198] A detection module, used to detect whether the vehicle exits the intelligent driving mode within a determined time period;

[0199] The third control module is used to generate a corresponding parking strategy based on the vehicle's surrounding environment data and takeover conditions when the vehicle does not exit the intelligent driving mode within the determination time, so as to use the parking strategy to control the vehicle to complete the corresponding parking action.

[0200] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0201] In summary, the embodiment of the present application can match the corresponding takeover condition according to the current hand torque when the vehicle is in the intelligent driving mode, and then match the corresponding takeover judgment condition under the corresponding takeover condition, so as to realize the judgment condition of dynamic matching mode switching according to the actual driving condition of the vehicle, so as to exit the intelligent driving mode when the dynamic takeover judgment condition is met, and can accurately identify the actual intention of the driver in the intelligent driving mode, and complete the control of the vehicle based on the actual intention of the driver, avoid the influence of a single judgment value on the actual control of the vehicle, reduce the probability of misjudgment, and provide the driver with a better driving experience while ensuring the driving safety of the vehicle, with a higher level of intelligence. Therefore, the technical problem in the related technology that it is difficult to reasonably set the duration judgment value when making a driving mode judgment, making it difficult for the vehicle to accurately obtain the actual intention of the driver in the intelligent driving mode, and prone to misjudgment, not only affects the driving experience of the driver, but also has a large safety hazard, is solved.

[0202] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0203] For example, Figure 4As shown, the vehicle includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to execute a vehicle control method.

[0204] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0205] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a first matching module, a first control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0206] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0207] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle to execute mutual program codes and data.

[0208] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0209] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided in the above embodiment.

[0210] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0211] Among them, the beneficial effects of the above embodiments can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0212] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0213] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0214] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left" and "right" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operate in specific directions. Therefore, they should not be understood as limitations of the present application.

[0215] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0216] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is in intelligent driving mode, the actual speed of the vehicle and the current hand torque of the driver are obtained; Matching the driver's takeover working condition according to the current hand torque, and matching the takeover determination condition under the corresponding takeover working condition based on the actual vehicle speed, so as to obtain a corresponding hand torque determination value and a hand torque duration determination value based on the takeover determination condition; When the current hand torque is greater than or equal to the hand torque judgment value, and the continuous force application time corresponding to the current hand torque is greater than or equal to the hand torque duration judgment value, the vehicle is controlled to exit the intelligent driving mode.

2. The method according to claim 1, characterized in that Before matching the takeover determination condition under the corresponding takeover working condition based on the actual vehicle speed to obtain the corresponding hand torque determination value and hand torque duration determination value based on the takeover determination condition, the method further includes: Based on the relationship between the vehicle speed and the hand torque determination value, and the vehicle speed and the hand torque duration determination value, multiple hand torque-continuous force application duration relationship groups under multiple takeover conditions are constructed, wherein the multiple takeover conditions include fluctuating takeover conditions, non-emergency takeover conditions, and emergency takeover conditions; Using a plurality of hand torque-continuous force application duration relationship groups under the plurality of take-over working conditions, corresponding take-over determination conditions are constructed; A mapping relationship between the vehicle speed and the takeover determination condition is constructed to match the takeover determination condition using the actual vehicle speed.

3. The method according to claim 2, characterized in that The matching of the takeover determination condition under the corresponding takeover working condition based on the actual vehicle speed to obtain the corresponding hand torque determination value and hand torque duration determination value based on the takeover determination condition includes: In the plurality of relationship groups corresponding to the fluctuation takeover working condition, the relationship between the hand torque determination value and the vehicle speed is positively correlated, and the relationship between the hand torque duration and the vehicle speed is negatively correlated; In the plurality of relationship groups corresponding to the non-emergency takeover working conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated; In the multiple relationship groups corresponding to the emergency takeover conditions, the relationship between the hand torque determination value and the vehicle speed is inversely correlated, and the relationship between the hand torque duration and the vehicle speed is inversely correlated.

4. The method according to claim 1, characterized in that: The matching of the takeover determination condition under the corresponding takeover working condition based on the actual vehicle speed to obtain the corresponding hand torque determination value and hand torque duration determination value based on the takeover determination condition includes: Using the takeover working condition as an index, searching in a pre-constructed hand torque-hand torque duration-vehicle speed table to determine a plurality of hand torque-continuous force application duration relationship groups corresponding to the takeover working condition; A plurality of takeover determination conditions under the takeover condition are determined based on the plurality of hand torque-continuous force application duration relationship groups.

5. The vehicle control method according to claim 1, characterized in that: Also includes: When the vehicle is in a manual driving mode, matching a corresponding intelligent driving determination condition based on the actual vehicle speed and the current hand torque; Determining whether the continuous force application time corresponding to the current hand torque meets the intelligent driving determination condition; If the continuous force application time corresponding to the current hand torque meets the intelligent driving judgment condition, the vehicle is controlled to enter the intelligent driving mode.

6. The method according to claim 5, characterized in that Before controlling the vehicle to enter the intelligent driving mode, the method further includes: Push smart driving mode switching reminders to the driver; Receive the driver's response information within a preset time period, and control the vehicle to enter the smart driving mode based on the response information, or control the vehicle to maintain the manual driving mode based on the response information.

7. The method according to claim 1, characterized in that After controlling the vehicle to exit the intelligent driving mode, the method further includes: Based on the corresponding determination time length of the takeover working condition matching; Within the determination time, detecting whether the vehicle exits the intelligent driving mode; If the vehicle does not exit the intelligent driving mode within the determination time, a corresponding parking strategy is generated based on the surrounding environment data of the vehicle and the takeover condition, so as to use the parking strategy to control the vehicle to complete the corresponding parking action.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, used to acquire the actual speed of the vehicle and the current hand torque of the driver when the vehicle is in the intelligent driving mode; a matching module, configured to match the driver's takeover condition according to the current hand torque, and match a corresponding determination relationship group from a plurality of hand torque-continuous force application duration relationship groups corresponding to the takeover condition based on the actual vehicle speed, so as to obtain a hand torque determination value and a hand torque duration determination value in the determination relationship group; A control module is used to control the vehicle to exit the intelligent driving mode when the current hand torque is greater than or equal to the hand torque judgment value and the continuous force application time corresponding to the current hand torque is greater than or equal to the hand torque duration judgment value.

9. A vehicle, characterized in that: The vehicle comprises: a vehicle control device as claimed in claim 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 6 is implemented.

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