Vehicle control method and device and vehicle

Abstract

The invention discloses a vehicle control method and device and a vehicle, and belongs to the technical field of trailer control. Comprising the steps of obtaining a target trailer type of a trailer in response to an opening instruction of a trailer driving mode; based on the target trailer type and the vehicle parameters of the tractor, multiple sets of candidate driving parameters are determined, and the candidate driving parameters are parameters related to power output of the tractor; and determining a target driving parameter from the multiple groups of candidate driving parameters based on the required driving mode of the driver, and controlling the tractor to drag the trailer to run according to the target driving parameter. The driving parameters of trailer driving can be determined according to the type of the trailer and the driving mode of the driver, enough power can be provided for different trailer types, the driving requirement of the driver can be met, the driving safety can be guaranteed, and then the user experience can be improved.

Description

Technical Field

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

[0002] With the development of technology, more and more functions are being provided in vehicles to meet the growing needs of users. It is very common for a vehicle to get stuck in an off-road situation, or when a vehicle malfunctions and cannot move. When a vehicle is stuck, it is usually possible to use another vehicle (tractor) to tow the trapped vehicle (trailer) to help the trapped vehicle out of the predicament.

[0003] However, when the tractor is towing the trapped vehicle, there is a pulling force from the trapped vehicle on the tractor. Due to the lack of a targeted driving mode, the tractor may experience insufficient power or jamming, and thus cannot ensure driving safety. Summary of the Invention

[0004] This application provides a vehicle control method, device, vehicle, and storage medium that can determine trailer driving parameters based on trailer type and driver's driving style. This allows the tractor to provide sufficient power for different trailer types and meet the driver's driving needs, thereby ensuring driving safety and improving the user experience. The technical solution includes the following.

[0005] In a first aspect, a vehicle control method is provided, the method being applied to a tractor, the method comprising:

[0006] In response to a start instruction of the trailer driving mode, obtaining a target trailer type of the trailer;

[0007] determining a plurality of sets of candidate driving parameters based on the target trailer type and vehicle parameters of the tractor, wherein the candidate driving parameters are parameters related to the power output of the tractor;

[0008] Based on the driver's required driving style, target driving parameters are determined from the multiple sets of candidate driving parameters, and the tractor is controlled to tow the trailer to travel with the target driving parameters.

[0009] In this application, after the trailer driving mode is activated, the target trailer type of the trailer can be first obtained. Then, based on the target trailer type and the tractor's vehicle parameters, multiple sets of candidate driving parameters are determined. Specifically, multiple sets of parameters related to the tractor's power output, such as output torque and gear position, are determined. These multiple sets of candidate driving parameters correspond to different driving styles. Then, based on the driver's desired driving style, target driving parameters can be determined from the multiple sets of candidate driving parameters, and the tractor can be controlled to tow the trailer using the target driving parameters. In this way, this application determines the tractor-trailer driving parameters based on the trailer type and the driver's desired driving style. This ensures that, for different trailer types, the tractor can provide sufficient power output while also meeting the driver's driving needs, thereby ensuring driving safety and improving the user experience.

[0010] Optionally, the vehicle parameters include current driving parameters; and the determining of multiple sets of candidate driving parameters based on the target trailer type and the vehicle parameters of the tractor includes:

[0011] determining a plurality of power parameter groups based on the target trailer type, each of the plurality of power parameter groups comprising an engine torque curve and a shift curve;

[0012] Based on the current driving parameters of the tractor, a plurality of groups of candidate driving parameters are determined from the plurality of power parameter groups, and the plurality of groups of candidate driving parameters correspond one-to-one to the plurality of power parameter groups.

[0013] In the above method, by first determining multiple sets of engine torque curves and shift curves for the trailer based on the target trailer type, it is equivalent to first determining the engine torque curves and shift curves corresponding to different driving modes of the trailer. Subsequently, multiple sets of candidate driving parameters that meet the current driving state can be directly determined from the engine torque curves and shift curves corresponding to different driving modes of the trailer. In this way, multiple sets of candidate driving parameters can be determined conveniently, which can improve the efficiency of determining multiple sets of candidate driving parameters.

[0014] Optionally, the determining of multiple power parameter groups based on the target trailer type includes:

[0015] Based on the target trailer type, the multiple power parameter groups are determined from a target correspondence relationship, where the target correspondence relationship is a correspondence relationship between different trailer types and different power parameter groups.

[0016] In the above method, by pre-calibrating the target correspondence and storing it in the tractor, multiple sets of power parameter groups corresponding to the target trailer type can be quickly determined when the tractor trailer is driving, thereby improving the efficiency of determining multiple sets of power parameter groups.

[0017] Optionally, the current driving parameters include a current pedal opening, a current vehicle speed, and a current engine speed; the candidate driving parameters include a candidate output torque and a candidate gear position; and determining multiple sets of candidate driving parameters from the multiple sets of power parameter groups based on the current driving parameters of the tractor includes:

[0018] For an i-th power parameter group among the multiple power parameter groups, obtaining a candidate output torque of the i-th power parameter group from an engine torque curve of the i-th power parameter group based on the current pedal opening and the current engine speed, where i is an integer greater than or equal to 1;

[0019] Based on the current vehicle speed and the current pedal opening, the candidate gear of the i-th group is obtained from the shift curve of the i-th set of power parameter groups.

[0020] In the above method, the candidate output torque and candidate gear position corresponding to a driving mode are determined from a power parameter set corresponding to that driving mode. Thus, for different driving modes, by determining the corresponding candidate output torque and candidate gear position from the corresponding power parameter set, more accurate candidate driving parameters can be determined.

[0021] Optionally, the vehicle parameters of the tractor may include a current driving scene and power system parameters; and the determining of multiple sets of candidate driving parameters based on the target trailer type includes:

[0022] determining, based on the target trailer type and the current driving scenario, a first total resistance of the trailer on the tractor, the first total resistance comprising rolling resistance, air resistance, and acceleration resistance of the trailer on the tractor;

[0023] Based on the first total resistance, the second total resistance and the power system parameter, a plurality of groups of candidate driving parameters are determined, wherein the second total resistance is the resistance of the tractor itself during driving.

[0024] In the above method, based on the target trailer type and the current driving scenario, the first total resistance of the trailer of the target trailer type on the tractor in the current driving scenario is first determined, and then multiple sets of candidate driving parameters are determined based on the first total resistance and the second total resistance. That is, the candidate driving parameters under different driving modes are determined based on the total resistance of the trailer on the tractor and the total resistance of the tractor itself. In this way, the influence of the driving scenario on the tractor and the influence of the trailer on the power of the tractor are fully considered, so that more accurate candidate driving parameters corresponding to different driving modes can be determined.

[0025] Optionally, determining a first total resistance of the trailer to the tractor based on the target trailer type and the current driving scenario includes:

[0026] determining, based on the current driving scenario, a plurality of resistance weights, the plurality of resistance weights corresponding one-to-one to the rolling resistance, the air resistance, and the acceleration resistance, the plurality of resistance weights being used to indicate a degree of influence of the rolling resistance, the air resistance, and the acceleration resistance on the driving of the trailer;

[0027] determining a plurality of base resistances based on the target trailer type;

[0028] Based on the multiple resistance weights, the multiple basic resistances are weighted and summed to obtain the first total resistance.

[0029] In the above method, multiple resistance weights are determined based on the current driving scenario, and based on the multiple resistance weights, a weighted summation of multiple basic resistances is performed to obtain a first total resistance. In this way, in the process of determining the resistance effect of the trailer on the tractor, the influence of the trailer's own mass and shape and the influence of the resistance distribution in the driving scenario are fully considered, so that the resistance of the trailer on the tractor can be accurately determined.

[0030] Optionally, the candidate driving parameters include candidate output torques and candidate gears, and the powertrain parameters include a final drive ratio, transmission ratios corresponding to different gears, and a transmission efficiency; and determining multiple sets of candidate driving parameters based on the first total resistance, the second total resistance, and the powertrain parameters includes:

[0031] Adding the first total resistance to the second total resistance to obtain a target resistance;

[0032] determining a wheel end torque based on the target resistance and a drive wheel radius of the tractor;

[0033] determining a plurality of reference output torques based on the wheel end torque, a plurality of reference transmission speed ratios, a final drive speed ratio, and a transmission efficiency;

[0034] When the multiple reference output torques are less than the maximum output torque, the multiple reference output torques are determined as the multiple candidate output torques, and the gears corresponding to the multiple reference transmission speed ratios are determined as the multiple candidate gears, and the maximum output torque is the maximum output torque at the current engine speed of the tractor.

[0035] Optionally, the step of determining the required driving style includes:

[0036] determining a driving habit characteristic of the driver based on historical driving data of the driver, wherein the historical driving data is used to indicate the driving habit of the driver;

[0037] Based on the driving habit characteristics, the required driving style is determined.

[0038] In the above method, the driver's driving habit characteristics are determined based on the driver's historical driving data, and the required driving style is determined based on the driving habit characteristics, so that the driver's driving habits in the historical driving data can be counted and quantified, and the required driving style that meets the driver's driving habits can be determined accordingly, that is, the driver's preferred driving style can be automatically determined.

[0039] In a second aspect, a vehicle control device is provided, the device being applied to a tractor, the device comprising:

[0040] an acquisition module, configured to acquire a target trailer type of the trailer in response to a start instruction of the trailer driving mode;

[0041] a first determining module, configured to determine a plurality of sets of candidate driving parameters based on the target trailer type and vehicle parameters of the tractor, wherein the candidate driving parameters are parameters related to the power output of the tractor;

[0042] The control module is configured to determine target driving parameters from the plurality of sets of candidate driving parameters based on the driver's desired driving style, and control the tractor to tow the trailer to travel with the target driving parameters.

[0043] Optionally, the vehicle parameters include current driving parameters; and the first determining module is configured to:

[0044] determining a plurality of power parameter groups based on the target trailer type, each of the plurality of power parameter groups comprising an engine torque curve and a shift curve;

[0045] Based on the current driving parameters of the tractor, a plurality of groups of candidate driving parameters are determined from the plurality of power parameter groups, and the plurality of groups of candidate driving parameters correspond one-to-one to the plurality of power parameter groups.

[0046] Optionally, the first determining module is configured to:

[0047] Based on the target trailer type, the multiple power parameter groups are determined from a target correspondence relationship, where the target correspondence relationship is a correspondence relationship between different trailer types and different power parameter groups.

[0048] Optionally, the current driving parameters include a current pedal opening, a current vehicle speed, and a current engine speed; the candidate driving parameters include a candidate output torque and a candidate gear; and the first determining module is configured to:

[0049] For an i-th power parameter group among the multiple power parameter groups, obtaining a candidate output torque of the i-th power parameter group from an engine torque curve of the i-th power parameter group based on the current pedal opening and the current engine speed, where i is an integer greater than or equal to 1;

[0050] Based on the current vehicle speed and the current pedal opening, the candidate gear of the i-th group is obtained from the shift curve of the i-th set of power parameter groups.

[0051] Optionally, the vehicle parameters of the tractor may include a current driving scene and power system parameters; the first determining module is configured to:

[0052] determining, based on the target trailer type and the current driving scenario, a first total resistance of the trailer on the tractor, the first total resistance comprising rolling resistance, air resistance, and acceleration resistance of the trailer on the tractor;

[0053] Based on the first total resistance, the second total resistance and the power system parameter, a plurality of groups of candidate driving parameters are determined, wherein the second total resistance is the resistance of the tractor itself during driving.

[0054] Optionally, the first determining module is configured to:

[0055] determining, based on the current driving scenario, a plurality of resistance weights, the plurality of resistance weights corresponding one-to-one to the rolling resistance, the air resistance, and the acceleration resistance, the plurality of resistance weights being used to indicate a degree of influence of the rolling resistance, the air resistance, and the acceleration resistance on the driving of the trailer;

[0056] determining a plurality of base resistances based on the target trailer type;

[0057] Based on the multiple resistance weights, the multiple basic resistances are weighted and summed to obtain the first total resistance.

[0058] Optionally, the candidate driving parameters include candidate output torques and candidate gears, and the powertrain parameters include a final reducer speed ratio, transmission speed ratios corresponding to different gears, and transmission efficiency; and the first determining module is configured to:

[0059] Adding the first total resistance to the second total resistance to obtain a target resistance;

[0060] determining a wheel end torque based on the target resistance and a drive wheel radius of the tractor;

[0061] determining a plurality of reference output torques based on the wheel end torque, a plurality of reference transmission speed ratios, a final drive speed ratio, and a transmission efficiency;

[0062] When the multiple reference output torques are less than the maximum output torque, the multiple reference output torques are determined as the multiple candidate output torques, and the gears corresponding to the multiple reference transmission speed ratios are determined as the multiple candidate gears, and the maximum output torque is the maximum output torque at the current engine speed of the tractor.

[0063] Optionally, the device further comprises:

[0064] a second determining module, configured to determine a driving habit characteristic of the driver based on historical driving data of the driver, wherein the historical driving data is used to indicate the driving habit of the driver;

[0065] The third determining module is used to determine the required driving style based on the driving habit characteristics.

[0066] In a third aspect, a vehicle is provided, comprising:

[0067] a memory for storing executable program code;

[0068] A processor is used to call and run the executable program code from the memory, so that the vehicle executes the above-mentioned vehicle control method.

[0069] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0070] In a fifth aspect, a computer program product comprising instructions is provided, which, when run on a computer, enables the computer to execute the steps of the above-mentioned vehicle control method.

[0071] It can be understood that the beneficial effects of the second, third, fourth and fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0073] Figure 1 This is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present application;

[0074] Figure 2 This is an architectural diagram of multi-system collaborative processing of a trailer driving mode provided by an embodiment of the present application;

[0075] Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0076] Figure 4 This is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0077] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0079] It should be understood that the “multiple” mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, words such as “first” and “second” are used to distinguish between identical or similar items with basically the same functions and effects. Those skilled in the art can understand that words such as “first” and “second” do not limit the quantity and execution order, and words such as “first” and “second” do not necessarily limit them to be different.

[0080] Before explaining the vehicle control method provided in the embodiment of the present application, the application scenario of the embodiment of the present application is first described.

[0081] For example, Figure 1 This is a schematic diagram of a vehicle control method provided by an embodiment of the present application, see Figure 1 , Figure 1 The vehicle 100 includes a tractor 101 and a trailer 102 .

[0082] Currently, if Figure 1 As shown, when tractor 101 is towing trailer 102, it controls vehicle power output based on an existing torque output strategy. For example, the driver can adaptively step on the accelerator pedal based on their driving experience while the trailer is in motion. When the vehicle responds to the accelerator pedal step, the output torque is determined based on the tractor's torque output strategy when not towing, thereby controlling vehicle motion.

[0083] However, when the tractor is driving alone or towing a trailer, its driving force and resistance will change. If the vehicle's driving is still controlled according to the tractor's torque output strategy when not towing a trailer, the vehicle may be underpowered, thereby affecting the normal towing process.

[0084] To this end, an embodiment of the present application provides a vehicle control method, which can be applied during the driving of a vehicle trailer and is applied to a tractor.

[0085] The present invention provides a trailer driving mode that can be used to control the vehicle using the vehicle control method provided in the present invention. Furthermore, the vehicle control method can determine the driving parameters of the tractor-trailer based on the trailer type and the driver's desired driving style. This allows the tractor to provide sufficient power output for different trailer types while also meeting the driver's driving needs, thereby ensuring driving safety and improving the user experience.

[0086] The multi-system collaborative architecture of the trailer driving mode provided in the embodiment of the present application is described below.

[0087] For example, Figure 2 This is an architecture diagram of a multi-system collaborative processing of a trailer driving mode provided by an embodiment of the present application. Figure 2 , Figure 2 It includes a human-computer interaction system 201, a driving mode switching system 202, a torque management system 203, a driving information system 204, a transmission shifting system 205, an all-terrain control system 206, an engine start-stop system 207 and an energy management system 208.

[0088] The user can enable and disable the trailer driving mode through the human-computer interaction system 201. Specifically, the human-computer interaction system 201 can be provided with a virtual switch for the trailer driving mode. The virtual switch can also include corresponding instructions, such as "This mode adjusts the power system to assist in vehicle control when towing a trailer. Please select whether to enable it based on the actual conditions of the trailer." When the user needs to enable the trailer driving mode, they can operate the virtual switch to request the activation of the trailer driving mode.

[0089] The display status of the virtual switch may include highlighted display on, highlighted display off, and grayed display off. When the display status of the virtual switch is highlighted display on, the user can turn off the trailer driving mode by operating the virtual switch; when the display status of the virtual switch is highlighted display off, the user can turn on the trailer driving mode by operating the virtual switch; when the display status of the virtual switch is grayed display off, the user cannot operate the virtual switch.

[0090] Generally, when the driving mode status received from the all-terrain control system 206 is: DrivingModDis = 0xC Expert / 0x1A 4H Wading / 0x1B 4L Wading / 0x8 AUTO Automatic / 0xE Failed Error, the virtual switch of the trailer driving mode needs to be grayed out, and the virtual switch prompts "Please exit XX mode first"; or when the off-road cruise status CCO_Active = 0x1 Active / 0x2 Stand_by of the all-terrain control system is received, the virtual switch of the trailer driving mode needs to be grayed out, and the virtual switch prompts "Please exit off-road cruise mode first"; when the rescue mode DrgModSts = 0x2 Active of the all-terrain control system is received, the virtual switch of the trailer driving mode is grayed out, and the virtual switch may prompt "Please exit rescue mode first", that is, when you want to turn on the trailer driving mode in this state, you need to turn off the corresponding driving mode first.

[0091] When the user needs to turn on the trailer driving mode, he can operate the virtual switch to request to turn on the trailer driving mode. After that, the human-computer interaction system 201 can send the request information for the trailer driving mode to the driving mode switching system 202.

[0092] After receiving the request information, the driving mode switching system 202 can control the trailer driving mode to be turned on. After turning on the trailer driving mode, the vehicle's power mode can also be set. In an embodiment of the present application, after the trailer driving mode is turned on, the power mode can be switched to hybrid mode. When receiving a signal to switch the power mode to a non-hybrid mode, the power mode is maintained in hybrid mode and a prohibition switching reminder is sent to the human-computer interaction system 201. For example, the command: PDCU_EvSave_disl = 0x1 Active can be sent to the human-computer interaction system 201.

[0093] In addition, the driving mode switching system 202 can also send status information of the trailer driving mode to the human-computer interaction system 201, the torque management system 203, the driving information system 204, the transmission shifting system 205, the engine start-stop system 207 and the energy management system 208, so that the human-computer interaction system 201, the torque management system 203, the driving information system 204, the transmission shifting system 205, the engine start-stop system 207 and the energy management system 208 can execute the corresponding processing flow after receiving the status information of the trailer driving mode.

[0094] First, after receiving the status information of the trailer driving mode, the human-computer interaction system 201 can display the display status of the virtual switch of the trailer driving mode. For example, when receiving TrailerDrvgModSwtSts=0x2 (turning on the trailer driving mode), the display status of the virtual switch of the trailer driving mode can jump to highlighted display on; when receiving TrailerDrvgModSwtSts=0x1 (turning off the trailer driving mode), the display status of the virtual switch of the trailer driving mode is highlighted display off.

[0095] The human-computer interaction interface may further include a driving mode display that can display the current driving mode. When the driving information system 204 receives status information indicating that the trailer driving mode is enabled, the driving mode displayed by the driving mode display may be switched to the trailer driving mode. For example, the driving mode display may display "trailer." In some embodiments, the background color of the driving mode display may also be set. For example, when the driving mode is switched to the trailer driving mode, the background color of the driving mode display may be synchronously switched to white. In other embodiments, if a preset application is configured on the vehicle, upon receiving status information indicating that the trailer driving mode is enabled, the driving mode display of the preset application may also be synchronously switched to the trailer driving mode. The background color of the display may be synchronized with the background color of the driving mode display of the human-computer interaction interface.

[0096] When the engine start-stop system 207 receives the status information that the trailer driving mode is on from the driving mode switching system 202 , the engine start-stop system 207 may control the engine to start and prohibit the engine from stopping.

[0097] When the torque management system 203 and the transmission shifting system 205 receive the status information that the trailer driving mode is on from the driving mode switching system 202, they can adjust the power output strategy based on the type of trailer. That is, they can adjust the power output strategy of the tractor based on the vehicle control method provided in the embodiment of the present application, so that the tractor can output corresponding power according to the trailer type.

[0098] When the energy management system 208 receives status information from the driving mode switching system 202 indicating that the trailer driving mode is on, it can also adjust the target power of the vehicle so that the power of the vehicle can be guaranteed during driving.

[0099] like Figure 2As shown, the driving mode switching system 202 can also receive driving mode request information sent by the all-terrain control system 206, such as a request to activate the rescue mode or the off-road cruise function. After receiving the driving mode request information, it is necessary to first control the trailer driving mode to be disabled, and then activate the driving mode requested in the driving mode request information. The following describes the process in four aspects.

[0100] 1. Receive driving mode request information for all-terrain driving mode

[0101] When the driving mode switching system 202 receives the driving mode request information for the all-terrain driving mode sent by the all-terrain control system 206 (for example, a DrivingModReq_ESP value jump is received), the trailer driving mode is first turned off, and the status information of turning off the trailer driving mode is sent to the human-computer interaction system 201, the torque management system 203, the driving information system 204, the transmission shifting system 205, the engine start-stop system 207 and the energy management system 208, and then the all-terrain driving mode is turned on.

[0102] 2. Receive a request to enable the off-road cruise / light off-road cruise function

[0103] When the driving mode switching system 202 receives a request message for turning on the off-road cruise / light off-road cruise function from the all-terrain control system 206 (for example, CCO_Active=0x1 / 0x2 is received), it first turns off the trailer driving mode, and sends status information of turning off the trailer driving mode to the human-computer interaction system 201, the torque management system 203, the driving information system 204, the transmission shifting system 205, the engine start-stop system 207 and the energy management system 208, and then turns on the off-road cruise / light off-road cruise function.

[0104] 3. Receive driving mode request information for AUTO automatic mode

[0105] When the driving mode switching system 202 receives the driving mode request information for the AUTO automatic mode sent by the all-terrain control system 206 (for example, IMC_Actv=0x1 is received), it first turns off the trailer driving mode, and sends the status information of turning off the trailer driving mode to the human-computer interaction system 201, the torque management system 203, the driving information system 204, the transmission shifting system 205, the engine start-stop system 207 and the energy management system 208, and then turns on the AUTO automatic mode.

[0106] 4. Receive the driving mode request information for rescue mode

[0107] When the driving mode switching system 202 receives the driving mode request information for the rescue mode sent by the all-terrain control system 206 (for example, DrgModSts=0x2 is received), it first turns off the trailer driving mode, and sends the status information of turning off the trailer driving mode to the human-computer interaction system 201, the torque management system 203, the driving information system 204, the transmission shifting system 205, the engine start-stop system 207 and the energy management system 208, and then turns on the rescue mode.

[0108] In this embodiment of the present application, the driving mode switching system 202 also has a memory function. When the tractor is powered off, the trailer driving mode status can be saved. When the tractor is powered on again, the trailer driving mode status can remain the same as when the tractor was last powered off. For example, if the trailer driving mode status was on when the tractor was powered off, the trailer driving mode status will remain on after the tractor is powered on; if the trailer driving mode status was off when the tractor was powered off, the trailer driving mode status will remain off after the tractor is powered on.

[0109] Before introducing the vehicle control method, the professional terms involved in the embodiments of the present application are first explained.

[0110] 1. Engine torque curve

[0111] An engine torque curve is a graphical representation of engine output torque at different speeds. It reflects the relationship between torque and speed during engine operation. In this embodiment, the engine torque curve incorporates accelerator pedal opening, thereby representing the relationship between engine speed, accelerator pedal opening, and output torque.

[0112] 2. Shift curve

[0113] A shift curve represents the relationship between an automatic transmission's shift timing and control parameters, typically including accelerator pedal position and vehicle speed. By properly setting shift timing, the vehicle can achieve optimal driving conditions and improve overall driving comfort.

[0114] 3. Rolling resistance

[0115] Rolling resistance refers to the force that hinders the rolling of an object due to deformation of the contact surface during rolling. In the embodiments of the present application, rolling resistance refers to the resistance that hinders the movement of a tractor due to deformation, friction, and other factors between the road surface and the tires during driving.

[0116] 4. Air resistance

[0117] Air resistance refers to the force exerted by air on a moving object, hindering its motion. In the embodiments of the present application, during the tractor's travel, the tractor will experience resistance in the opposite direction of its motion due to the viscosity and compressibility of the air, as well as the relative motion between the vehicle's surface and the air.

[0118] 5. Acceleration resistance

[0119] In vehicle dynamics, acceleration resistance is the resistance caused by inertia when a vehicle accelerates. Its essence is the inertia of an object "maintaining its original state of motion" that hinders the acceleration process.

[0120] The vehicle control method provided in the embodiment of the present application is explained in detail below.

[0121] Figure 3 This is a flow chart of a vehicle control method provided by an embodiment of the present application. This method can be applied to a controller of a tractor, for example, a vehicle control unit (VCU) of a tractor. Figure 3 , the method includes the following steps.

[0122] Step 301: In response to a start instruction of the trailer driving mode, a target trailer type of the trailer is obtained.

[0123] The target trailer type refers to the vehicle type of the trailer. For example, the target trailer type is a recreational vehicle. In the embodiment of the present application, the trailer type includes but is not limited to a recreational vehicle, a sedan, a semi-trailer, a full trailer, etc.

[0124] It should be understood that the power required by vehicles in motion varies depending on their size and mass. Similarly, when a tractor is towing a trailer, the pulling force exerted by the trailer on the tractor may require the tractor to output greater power. However, the power required by the tractor also varies depending on the size and mass of the trailer. Similarly, different types of vehicles also differ in size and mass. Therefore, in the embodiments of the present application, by obtaining the target trailer type, trailer-related information such as the trailer's mass and appearance can be obtained, allowing for more targeted power output.

[0125] A possible mode is that a setting entrance of the trailer type can be provided on the tractor, and the user can set the type of the vehicle that the trailer travels through this setting entrance. In this case, the type of the trailer that the user sets can be determined as the target trailer type.

[0126] Exemplarily, the trailer driving mode may include a trailer information setting interface, on which the user may set relevant information of the towed vehicle, including but not limited to the type and quality of the trailer.

[0127] The trailer information setting interface may include a trailer type setting control, wherein the trailer type setting control may include any one of a drop-down menu control and an input box control. The user may use the trailer type setting control to set the trailer type. For example, if the user enters "RV" in the input box control, the user sets the trailer type to RV.

[0128] Another possible approach is to obtain a trailer image; perform vehicle type recognition on the trailer image to obtain the target trailer type.

[0129] It should be understood that a camera may be installed at the rear of the tractor, and the camera may be used to capture an image of the trailer at the rear, thereby acquiring an image of the trailer.

[0130] The operation of performing vehicle type recognition on the trailer image to obtain the target trailer type may be: inputting the trailer image into a vehicle type recognition model, processing the trailer image through the vehicle type recognition model, and outputting the target trailer type.

[0131] The vehicle type recognition model is used to recognize the type of the vehicle and can output the type of the vehicle.

[0132] It is worth noting that before the trailer image is input into the vehicle type recognition model, the vehicle type recognition model can also be trained by a server, where the server is a computer device used to train the vehicle type recognition model.

[0133] Specifically, the server may obtain a plurality of training samples, and use the plurality of training samples to train the neural network model to obtain the vehicle type recognition model.

[0134] The plurality of training samples may be pre-set. Each of the plurality of training samples includes a sample image and a sample label, wherein the sample image includes a vehicle, and the sample label is the type of vehicle included in the sample image. That is, the input data for each of the plurality of training samples is a sample image including a vehicle, and the sample label is the type of vehicle.

[0135] The neural network model can include multiple network layers, including an input layer, multiple hidden layers, and an output layer. The input layer is responsible for receiving input data; the output layer is responsible for outputting processed data; multiple hidden layers are located between the input and output layers and are responsible for processing data. The multiple hidden layers are invisible to the outside world. For example, the neural network model can be a deep neural network, and can be a convolutional neural network within a deep neural network.

[0136] When the server trains the neural network model using multiple training samples, for each of the multiple training samples, the server may input the input data of the training sample into the neural network model to obtain output data; determine the loss value between the output data and the sample label of the training sample using a loss function; and adjust the parameters of the neural network model based on the loss value. After the parameters of the neural network model are adjusted based on each of the multiple training samples, the neural network model with the adjusted parameters becomes the vehicle type recognition model.

[0137] Among them, the operation of the server adjusting the parameters in the neural network model according to the loss value can refer to the relevant technology, and the embodiments of the present application will not elaborate on this in detail.

[0138] For example, the server can use the formula To adjust any parameter in the neural network model. is the adjusted parameter. W is the parameter before adjustment. α is the learning rate, which can be preset, such as 0.001, 0.000001, etc., and is not limited to this in the present embodiment. dw is the derivative of the loss function with respect to W, which can be obtained based on the loss value.

[0139] It is worth noting that before step 301, it also includes: when a command to turn on the trailer driving mode is received, the current driving mode of the tractor is obtained; when the current driving mode is in the target driving mode, a first voice reminder is output; and in response to a command to turn off the current driving mode, the trailer driving mode is turned on.

[0140] The target driving mode refers to a driving mode that cannot coexist with the trailer driving mode. For example, the target driving mode can be expert mode, wading mode, AUTO mode, rescue mode, etc.

[0141] The first voice reminder is used to remind the user to turn off the current driving mode, that is, to turn off the driving mode that cannot coexist with the trailer driving mode.

[0142] In the above method, when the current driving mode is in the target driving mode, the user is reminded to turn off the current driving mode by outputting a first voice reminder, so that the driving mode that cannot coexist with the trailer driving mode can be turned off, and the trailer driving mode can be successfully turned on, so that the user can successfully use the trailer driving mode.

[0143] Step 302: Based on the target trailer type and the vehicle parameters of the tractor, a plurality of sets of candidate driving parameters are determined, where the candidate driving parameters are parameters related to the power output of the tractor.

[0144] The vehicle parameters of the tractor are parameters used to represent the vehicle's operating status, driving conditions, and power transmission status. In the embodiment of the present application, the vehicle parameters may include current driving parameters, current driving scene, parameters of the transmission system, etc.

[0145] Generally speaking, the output torque and gear of a vehicle are parameters related to power output. In this embodiment of the present application, the candidate driving parameters may include candidate output torque and candidate gear.

[0146] In the embodiment of the present application, the multiple sets of candidate driving parameters are candidate driving parameters corresponding to different driving styles. That is, based on the target trailer type and the current driving parameters of the tractor, the candidate driving parameters corresponding to the different driving styles can be determined first, that is, the driving parameters corresponding to the different driving styles that meet the requirements for towing the vehicle of the target trailer type.

[0147] It should be understood that users may have different driving styles when driving a vehicle. In some cases, they prefer a smooth driving style, while in other cases, they may drive more aggressively. Therefore, for the vehicle, different driving styles of users will lead to different driving parameters of the vehicle.

[0148] In the above method, by determining multiple sets of candidate driving parameters, it is possible to determine the driving parameters corresponding to the target trailer type, and the candidate driving parameters for the vehicle towing the target trailer type corresponding to different driving methods. This provides more options for the vehicle's driving method, so that driving parameters that are more suitable for driving scenarios and driving habits can be selected.

[0149] Specifically, the above step 302 can be implemented through the following two possible implementations.

[0150] In a first possible implementation, the tractor's vehicle parameters may include current driving parameters. In this case, step 302 may include: determining multiple power parameter groups based on the target trailer type; and determining multiple candidate driving parameter groups from the multiple power parameter groups based on the tractor's current driving parameters.

[0151] The current driving parameters of the tractor may include parameters such as the current pedal opening, the current vehicle speed, and the current engine speed, which may represent the current state of the tractor.

[0152] Each of the multiple power parameter groups includes an engine torque curve and a gear shift curve. Furthermore, the engine torque curves for different power parameter groups within the multiple power parameter groups are engine torque curves corresponding to different driving styles under the target trailer type, and the gear shift curves for different power parameter groups are gear shift curves corresponding to different driving styles under the target trailer type. The engine torque curve indicates the output torque of the tractor under the current driving parameters, and the gear shift curve indicates the gear shifting under the current driving parameters.

[0153] The multiple sets of candidate driving parameters correspond one-to-one to the multiple sets of power parameter groups. That is, any set of candidate driving parameters in the multiple sets of candidate driving parameters is determined from the corresponding power parameter group in the multiple sets of power parameter groups. More specifically, the candidate driving parameters for a driving style are determined from the power parameter group corresponding to the driving style.

[0154] In the above method, by first determining multiple sets of engine torque curves and shift curves for the trailer based on the target trailer type, it is equivalent to first determining the engine torque curves and shift curves corresponding to different driving modes of the trailer. Subsequently, multiple sets of candidate driving parameters that meet the current driving state can be directly determined from the engine torque curves and shift curves corresponding to different driving modes of the trailer. In this way, multiple sets of candidate driving parameters can be determined conveniently, which can improve the efficiency of determining multiple sets of candidate driving parameters.

[0155] The operation of determining multiple power parameter groups based on the target trailer type may include: determining multiple power parameter groups from a target corresponding relationship based on the target trailer type.

[0156] The target correspondence is the correspondence between different trailer types and different power parameter sets. Specifically, the target correspondence includes multiple trailer types and multiple power parameter sets. It should be understood that in the embodiment of the present application, each trailer type can correspond to multiple power parameter sets corresponding to different driving methods. In this case, for multiple trailer types, different trailer types correspond to multiple different power parameter sets.

[0157] In the embodiment of the present application, the target correspondence relationship can be pre-calibrated by a technician. For example, the technician can calibrate the target correspondence relationship through experimental methods. Specifically, for different types of trailers, the technician can simulate the tractor towing different types of trailers. Then, for each driving method, the technician can calibrate the power parameter group (engine torque curve and shift curve) that can ensure the power output of the tractor. In this case, multiple sets of power parameter groups for different types can be calibrated.

[0158] For example, Table 1 below shows an example of a target mapping relationship. The target mapping relationship shown in Table 1 includes multiple trailer types (RV, full trailer, semi-trailer, etc.) and multiple power parameter groups, where each trailer type corresponds to multiple power parameter groups. For example, if the target trailer type is a RV, Table 1 below shows that the multiple power parameter groups are the first power parameter group and the third power parameter group.

[0159] Table 1

[0160] Trailer Type Power parameter group RV The first power parameter group and the third power parameter group trailer The second power parameter group and the fifth power parameter group Semi-trailer Fourth power parameter group, sixth power parameter group …… ……

[0161] The embodiment of the present application only uses the above Table 1 as an example to illustrate the target correspondence relationship, and does not constitute a limitation to the embodiment of the present application.

[0162] In the above method, by pre-calibrating the target correspondence and storing it in the tractor, multiple sets of power parameter groups corresponding to the target trailer type can be quickly determined when the tractor trailer is driving, thereby improving the efficiency of determining multiple sets of power parameter groups.

[0163] Among them, based on the current driving parameters of the tractor, the operation of determining multiple groups of candidate driving parameters from multiple sets of power parameter groups can be: for the i-th power parameter group in the multiple power parameter groups, based on the current pedal opening and the current engine speed, the candidate output torque of the i-th power parameter group is obtained from the engine torque curve of the i-th power parameter group; based on the current vehicle speed and the current pedal opening, the candidate gear of the i-th power parameter group is obtained from the shift curve of the i-th power parameter group.

[0164] i is an integer greater than or equal to 1.

[0165] In the embodiment of the present application, the engine torque curve is a curve showing the relationship between accelerator pedal opening, engine speed, and output torque. It indicates the corresponding relationship between accelerator pedal opening, engine speed, and output torque. Therefore, when output torque needs to be determined, it can be determined by pedal opening and engine speed. The gear shift curve is a curve showing the relationship between accelerator pedal opening, vehicle speed, and gear position. It indicates the corresponding relationship between accelerator pedal opening, vehicle speed, and gear position, that is, the current gear position at a certain pedal opening and vehicle speed, thereby ensuring smooth vehicle driving.

[0166] In the above method, the candidate output torque and candidate gear position corresponding to a driving mode are determined from a power parameter set corresponding to that driving mode. Thus, for different driving modes, by determining the corresponding candidate output torque and candidate gear position from the corresponding power parameter set, more accurate candidate driving parameters can be determined.

[0167] For example, for the first power parameter group among the multiple power parameter groups, which includes a first engine torque curve and a first shift curve, the first group of candidate output torques can be obtained from the first engine torque curve based on the current pedal opening and the current engine speed. That is, the torque corresponding to the current pedal opening and the current engine speed in the first engine torque curve is the candidate output torque for the first group. Then, based on the current vehicle speed and the current pedal opening, the first group of candidate gears can be obtained from the first shift curve. That is, the gear corresponding to the current vehicle speed and the current pedal opening in the first shift curve is the candidate gear for the first group.

[0168] For a second power parameter set among the multiple power parameter sets, which includes a second engine torque curve and a second shift curve, the candidate output torque of the second set can be obtained from the second engine torque curve based on the current pedal opening and the current engine speed. Then, the candidate gear of the second set can be obtained from the second shift curve based on the current vehicle speed and the current pedal opening.

[0169] For the third set of power parameter groups among the multiple sets of power parameter groups, which includes a third engine torque curve and a third shift curve, the candidate output torque corresponding to the third set can be obtained from the third engine torque curve based on the current pedal opening and the current engine speed. Then, the candidate gear corresponding to the third set can be obtained from the third shift curve based on the current vehicle speed and the current pedal opening. In this way, three sets of candidate driving parameters can be obtained.

[0170] In a second possible implementation, the tractor's vehicle parameters may include current driving parameters and drivetrain parameters. In this case, step 302 may include: determining a first total resistance of the trailer to the tractor based on the target trailer type and the current driving scenario; and determining multiple sets of candidate driving parameters based on the first total resistance, the second total resistance, and the drivetrain parameters.

[0171] The first total resistance includes rolling resistance, air resistance, and acceleration resistance of the trailer to the tractor, and may specifically be the sum of the rolling resistance, air resistance, and acceleration resistance.

[0172] The second total resistance is the resistance that the tractor must overcome during travel, which is generally related to the tractor's mass and shape. It refers to the tractor's own rolling resistance, air resistance, and acceleration resistance. Specifically, it can be the sum of the tractor's rolling resistance, air resistance, and acceleration resistance.

[0173] Transmission system parameters may include transmission ratio, final drive ratio, transmission efficiency, etc.

[0174] The current driving scene refers to the road scene currently being driven by the tractor. In some embodiments, the current driving scene indicates the type of road currently being driven by the tractor, such as a curve or a highway. In the embodiments of the present application, the current driving scene includes, but is not limited to, highways, curves, sand, mud, snow, slopes, and mountains. The current driving scene of the tractor can be obtained through navigation information.

[0175] It should be understood that the resistance a vehicle encounters during driving varies in different driving scenarios, and therefore the power required for driving also varies. In the embodiments of the present application, when a tractor is towing a trailer, the pulling force exerted by the trailer on the tractor can significantly affect the tractor's driving in different driving scenarios. Therefore, the power output of the tractor when towing different types of trailers in different driving scenarios also varies significantly.

[0176] In the above method, based on the target trailer type and the current driving scenario, the first total resistance of the trailer of the target trailer type on the tractor in the current driving scenario is first determined, and then multiple sets of candidate driving parameters are determined based on the first total resistance and the second total resistance. That is, the candidate driving parameters under different driving modes are determined based on the total resistance of the trailer on the tractor and the total resistance of the tractor itself. In this way, the influence of the driving scenario on the tractor and the influence of the trailer on the power of the tractor are fully considered, so that more accurate candidate driving parameters corresponding to different driving modes can be determined.

[0177] Among them, based on the target trailer type and the current driving scenario, the operation of determining the first total resistance of the trailer to the tractor can be: based on the current driving scenario, determining multiple resistance weights; based on the target trailer type, determining multiple basic resistances; based on the multiple resistance weights, weighted summing the multiple basic resistances to obtain the first total resistance.

[0178] The multiple resistance weights correspond one-to-one to rolling resistance, air resistance and acceleration resistance. For example, one resistance weight among the multiple resistance weights refers to the weight corresponding to rolling resistance, one resistance weight refers to the weight corresponding to air resistance, and one resistance weight refers to the weight corresponding to acceleration resistance.

[0179] In the embodiment of the present application, the multiple resistance weights are used to indicate the degree to which rolling resistance, air resistance, and acceleration resistance affect the trailer's travel, and thus the degree to which the trailer affects the travel of the tractor. It should be understood that the distribution of resistance experienced by a vehicle varies in different driving scenarios. In other words, in different driving scenarios, some types of resistance have a greater impact on vehicle travel, while others have a lesser impact. For example, at high speeds, air resistance has a greater impact on vehicle travel.

[0180] The multiple basic resistances refer to the rolling resistance, air resistance, and acceleration resistance encountered by the trailer when traveling on a general road (eg, a straight road in a city).

[0181] In the above method, multiple resistance weights are determined based on the current driving scenario, and based on the multiple resistance weights, a weighted summation of multiple basic resistances is performed to obtain a first total resistance. In this way, in the process of determining the resistance effect of the trailer on the tractor, the influence of the trailer's own mass and shape and the influence of the resistance distribution in the driving scenario are fully considered, so that the resistance of the trailer on the tractor can be accurately determined.

[0182] The operation of determining a plurality of resistance weights based on the current driving scene may include: determining a plurality of resistance weights from a first corresponding relationship based on the current driving scene.

[0183] The first correspondence refers to the correspondence between different driving scenarios and resistance weights. The first correspondence can indicate the degree of influence of different types of resistance on the driving of the tractor under different driving scenarios.

[0184] For example, Table 2 shows an example of a first correspondence. This first correspondence includes multiple driving scenarios and corresponding resistance weights for each scenario. For example, if the current driving scenario is high speed, the corresponding resistance weights can be determined from Table 2 as 0.2, 0.5, 0, and 0.3. It should be noted that the resistance weights in Table 2 are arranged in the order of rolling resistance, air resistance, and acceleration resistance.

[0185] Table 2

[0186] Driving scene Resistance Weight high speed 0.2、0.5、0.3 bend 0.4、0.4、0.2 mud 0.6、0.2、0.2 …… ……

[0187] The embodiment of the present application only uses Table 2 as an example to illustrate the above-mentioned first corresponding relationship, and does not constitute a limitation to the embodiment of the present application.

[0188] The operation of determining a plurality of basic resistances based on the target trailer type may include: determining a plurality of basic resistances from a second corresponding relationship based on the target trailer type.

[0189] In an embodiment of the present application, the second correspondence refers to the correspondence between trailer types and different types of resistance, that is, each trailer type corresponds to multiple basic resistances. In some embodiments, the second correspondence can be calibrated by a technician. For example, for different types of trailers, the rolling resistance, air resistance, and acceleration resistance of the trailer during travel can be calculated. After multiple tests, the average values of the rolling resistance, air resistance, and acceleration resistance of the trailer during travel are taken as the rolling resistance, air resistance, and acceleration resistance corresponding to this trailer type in the second correspondence. In other embodiments, for each trailer type, a technician can calibrate the rolling resistance, air resistance, and acceleration resistance of this type of vehicle based on the mass, shape, area, etc. of this type of vehicle.

[0190] For example, Table 3 shows an example of a second correspondence. Table 3 includes multiple trailer types and multiple base resistances corresponding to each trailer type. For example, if the target trailer type is a motorhome, then Table 3 shows that the rolling resistance is 240, the air resistance is 320, and the acceleration resistance is 1200.

[0191] Table 3

[0192] Trailer Type Basic resistance RV 240、320、1200 trailer 400、450、1800 Semi-trailer 350、380、1500 …… ……

[0193] The embodiment of the present application only uses Table 3 as an example to illustrate the second corresponding relationship, and does not limit the embodiment of the present application.

[0194] It's worth noting that the calculation method for the second total resistance is similar to the first total resistance calculation method, except that the tractor's own basic resistance (rolling resistance, air resistance, and acceleration resistance) can be pre-calibrated by technicians. Specifically, based on the current driving scenario, multiple resistance weights are determined; the multiple basic resistances of the tractor are obtained; and based on these multiple resistance weights, a weighted average of the multiple basic resistances of the tractor is taken to obtain the second total resistance, thereby determining the total resistance that the tractor itself needs to overcome.

[0195] The above describes the total resistance that the tractor needs to overcome and the total resistance of the trailer to the tractor. After determining the first total resistance and the second total resistance, the tractor can determine how to output power accordingly.

[0196] The above-mentioned operation of determining multiple sets of candidate driving parameters based on the first total resistance and the second total resistance can be as follows: adding the first total resistance to the second total resistance to obtain a target resistance; determining the wheel-end torque based on the target resistance and the driving wheel radius of the tractor; determining multiple reference output torques based on the wheel-end torque, multiple reference transmission speed ratios, the final reducer speed ratio and the transmission efficiency; when the multiple reference output torques are less than the maximum output torque, determining the multiple reference output torques as multiple candidate output torques, and determining the gears corresponding to the multiple reference transmission speed ratios as multiple candidate gears.

[0197] The multiple reference transmission ratios can be selected based on different driving styles to suit the current driving conditions. Specifically, different transmission ratios can be selected to control the vehicle's torque output when the vehicle is driven in different driving styles. In the embodiment of the present application, the multiple reference transmission ratios can be selected based on wheel-end torque, specifically from a third correspondence relationship, which is the relationship between wheel-end torque and transmission ratios under different driving styles. The third correspondence relationship can be pre-calibrated by a technician.

[0198] Maximum output torque refers to the maximum output torque of the tractor at the current engine speed. Speed ratio selection must ensure that the engine speed falls within the engine's high-efficiency range to avoid insufficient torque due to high speed and low rpm, or increased fuel consumption due to low speed and high rpm. Therefore, after determining multiple reference output torques, it is necessary to compare them with the maximum output torque to ensure that the reference output torques are less than the maximum output torque.

[0199] When the multiple reference output torques are less than the maximum output torque, it means that the multiple reference output torques can be used as output torques under different driving modes, then the selection of the multiple reference transmission speed ratios is appropriate, and therefore the gears corresponding to the multiple reference transmission speed ratios can be determined as the gears corresponding to different driving modes, that is, they can be determined as multiple candidate gears.

[0200] It is worth noting that when a reference output torque is less than the maximum output torque, the reference output torque can also be determined as the candidate output torque when the difference between the reference output torque and the maximum output torque is less than a preset difference threshold. In this way, the phenomenon of insufficient torque can be avoided.

[0201] Among them, the operation of determining multiple reference output torques based on the wheel-end torque, multiple reference transmission speed ratios, the main reducer speed ratio and the transmission efficiency can be: for any reference transmission speed ratio among the multiple reference transmission speed ratios, the corresponding reference output torque can be determined based on the wheel-end torque, this reference transmission speed ratio, the main reducer speed ratio and the transmission efficiency by the following formula (1).

[0202]

[0203] Among them, T e is the reference output torque, T w is the wheel end torque, i g is the reference transmission speed ratio, i0 is the main reducer speed ratio, and η is the transmission efficiency.

[0204] Optionally, when there is a reference output torque among multiple reference output torques that is greater than the maximum output torque, the reference transmission speed ratio corresponding to this reference output torque is reduced to update the reference transmission speed ratio, and then the step of determining multiple reference output torques based on the wheel-end torque, multiple reference transmission speed ratios, the main reducer speed ratio and the transmission efficiency is re-executed; when multiple reference output torques are less than the maximum output torque, the step of determining multiple reference output torques as multiple candidate output torques.

[0205] When the reference output torque is greater than the maximum output torque, it means that the reference transmission speed ratio corresponding to the reference output torque is not appropriately selected. The corresponding reference output torque can be appropriately reduced and recalculated to ensure that the calculated reference output torque is less than the maximum output torque, thereby determining a more accurate candidate output torque.

[0206] The above describes a specific implementation method for determining multiple sets of candidate driving parameters. These multiple sets of candidate driving parameters are candidate driving parameters corresponding to different driving styles. However, in practice, only one driving style can be used to drive a vehicle. Therefore, after determining the multiple sets of candidate driving parameters, a set of candidate driving parameters must be determined as parameters for the power output of the tractor.

[0207] Step 303: Based on the required driving style of the driver, target driving parameters are determined from the multiple sets of candidate driving parameters, and the tractor is controlled to tow the trailer to travel with the target driving parameters.

[0208] The driver's required driving style refers to the driving style currently required by the driver, which is used to indicate the driver's driving needs, such as whether the driver wants to ensure smooth driving or aggressive driving. In the embodiment of the present application, the required driving style may include economical trailering or aggressive trailering.

[0209] In the above method, it is equivalent to determining the candidate driving parameters that meet the driver's driving needs from the multiple groups of candidate driving parameters as the target driving parameters. The target driving parameters are also the driving parameters that meet the driver's driving needs. Then, by controlling the tractor to tow the trailer with the target driving parameters, the tractor can drive according to the driver's driving needs while ensuring power output, thereby improving the user experience.

[0210] In the embodiment of the present application, the method of determining the driver's required driving style can be achieved through the following two possible methods.

[0211] One possible approach is to determine the driver's driving habit characteristics based on the driver's historical driving data; and determine the required driving style based on the driving habit characteristics.

[0212] Historical driving data is used to indicate the driver's driving habits. In an embodiment of the present application, historical driving data may include the frequency and duration of the driver's use of different driving modes, the frequency of the driver's sudden acceleration, the frequency of sudden braking, the braking distance, speed, energy consumption, etc.

[0213] In the embodiment of the present application, driving habit characteristics may include three aspects: power handling characteristics, speed and energy consumption characteristics, and mode selection characteristics. The power handling characteristics may include the frequency of sudden acceleration and sudden braking, the speed and energy consumption characteristics may include the degree of speed fluctuation and energy consumption fluctuation, and the mode selection characteristics may include the preferred driving mode (which may be obtained based on the frequency and duration of different driving modes).

[0214] In the above method, the driver's driving habit characteristics are determined based on the driver's historical driving data, and the required driving style is determined based on the driving habit characteristics, so that the driver's driving habits in the historical driving data can be counted and quantified, and the required driving style that meets the driver's driving habits can be determined accordingly, that is, the driver's preferred driving style can be automatically determined.

[0215] The operation of determining the required driving style based on the driving habit characteristics may include: inputting the driving habit characteristics into a driving style prediction model, processing the driving habit characteristics through the driving style prediction model, and outputting the driver's required driving style.

[0216] The driving style prediction model is a model for predicting the driving style of the driver driving the tractor. In the embodiment of the present application, the driving style prediction model can be a logistic regression model, a neural network model, etc., which is not limited in the embodiment of the present application.

[0217] It is worth noting that before inputting the driving habit features into the driving style prediction model, the driving style prediction model may be trained first.

[0218] Specifically, the server may obtain multiple training samples, and use the multiple training samples to train the neural network model to obtain the driving style prediction model.

[0219] The multiple training samples may be pre-set. Each of the multiple training samples includes sample data and a sample label. The sample data includes driving data corresponding to driving habit characteristics, and the sample label is the driving style corresponding to the sample data. That is, the input data of each training sample in the multiple training samples includes various driving data, and the sample label is the driving style corresponding to the sample data.

[0220] When the server trains the neural network model using multiple training samples, for each of the multiple training samples, the server may input the input data of the training sample into the neural network model to obtain output data; determine the loss value between the output data and the sample label of the training sample using a loss function; and adjust the parameters of the neural network model based on the loss value. After the parameters of the neural network model are adjusted based on each of the multiple training samples, the neural network model with the adjusted parameters becomes the driving style prediction model.

[0221] In the above-mentioned manner, the required driving style of the driver is determined by the driving style prediction model, so that the required driving style can be automatically determined, thereby improving the intelligence of the required driving style determination.

[0222] Alternatively, the trailer driving mode may include a desired driving mode setting entry. This entry may be provided on the trailer driving mode setting interface, for example, in the form of a drop-down control. Specifically, in response to a selection instruction on the driving mode control, the selected driving mode is determined as the driver's desired driving mode.

[0223] In the above method, the user independently sets the driving method required during the towing process, so that the candidate driving methods subsequently determined are driving parameters that meet the driving parameters of the driving method independently selected by the user. Therefore, when the tractor is towing the trailer, it outputs power based on the driving method independently selected by the user, which can better meet the user's driving needs.

[0224] In an embodiment of the present application, after enabling trailer driving mode, the VCU can first obtain the target trailer type for the trailer. Then, based on the target trailer type and the tractor's vehicle parameters, it can determine multiple sets of candidate driving parameters. Specifically, these sets of candidate driving parameters are related to the tractor's power output, such as output torque and gear position. These sets of candidate driving parameters correspond to different driving styles. Then, based on the driver's desired driving style, target driving parameters can be determined from these multiple sets of candidate driving parameters, and the tractor can be controlled to tow the trailer using these target driving parameters. In this way, the present application determines the tractor-trailer driving parameters based on the trailer type and the driver's desired driving style. This ensures that, for different trailer types, the tractor can provide sufficient power output while also meeting the driver's driving needs, thereby ensuring driving safety and improving the user experience.

[0225] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present application. The vehicle control device can be implemented as part or all of a vehicle by software, hardware, or a combination of both. The vehicle can be as follows Figure 5 Vehicle shown. Figure 4 The device includes: an acquisition module 401, a first determination module 402 and a control module 403.

[0226] an acquisition module 401 for acquiring a target trailer type of the trailer in response to a start instruction of the trailer driving mode;

[0227] A first determining module 402 is configured to determine a plurality of sets of candidate driving parameters based on the target trailer type and vehicle parameters of the tractor, wherein the candidate driving parameters are parameters related to the power output of the tractor;

[0228] The control module 403 is configured to determine target driving parameters from a plurality of sets of candidate driving parameters based on the driver's desired driving style, and control the tractor to tow the trailer to travel with the target driving parameters.

[0229] Optionally, the vehicle parameters include current driving parameters; the first determining module 402 is configured to:

[0230] Determining a plurality of power parameter groups based on a target trailer type, each of the plurality of power parameter groups including an engine torque curve and a gear shift curve;

[0231] Based on the current driving parameters of the tractor, multiple groups of candidate driving parameters are determined from the multiple sets of power parameter groups, and the multiple groups of candidate driving parameters correspond one-to-one to the multiple sets of power parameter groups.

[0232] Optionally, the first determining module 402 is configured to:

[0233] Based on the target trailer type, multiple sets of power parameter groups are determined from target correspondences, where the target correspondences are correspondences between different trailer types and different power parameter groups.

[0234] Optionally, the current driving parameters include the current pedal opening, the current vehicle speed, and the current engine speed, and the candidate driving parameters include the candidate output torque and the candidate gear position; the first determining module 402 is configured to:

[0235] For an i-th power parameter group among the multiple power parameter groups, obtaining a candidate output torque of the i-th power parameter group from an engine torque curve of the i-th power parameter group based on a current pedal opening and a current engine speed, where i is an integer greater than or equal to 1;

[0236] Based on the current vehicle speed and the current pedal opening, the candidate gear of the i-th group is obtained from the shift curve of the i-th set of power parameter groups.

[0237] Optionally, the vehicle parameters of the tractor may include the current driving scene and power system parameters; the first determination module 402 is used to:

[0238] Determine, based on the target trailer type and the current driving scenario, a first total resistance of the trailer to the tractor, the first total resistance including rolling resistance, air resistance, and acceleration resistance of the trailer to the tractor;

[0239] Based on the first total resistance, the second total resistance and the power system parameters, multiple sets of candidate driving parameters are determined, where the second total resistance is the resistance of the tractor itself during driving.

[0240] Optionally, the first determining module 402 is configured to:

[0241] Based on the current driving scenario, a plurality of resistance weights are determined, each corresponding to rolling resistance, air resistance, and acceleration resistance, and the plurality of resistance weights are used to indicate the degree of influence of rolling resistance, air resistance, and acceleration resistance on the driving of the trailer;

[0242] Determine multiple base resistances based on the target trailer type;

[0243] Based on the multiple resistance weights, a weighted sum is performed on the multiple basic resistances to obtain a first total resistance.

[0244] Optionally, the candidate driving parameters include candidate output torques and candidate gears, and the powertrain parameters include a final drive ratio, transmission ratios corresponding to different gears, and transmission efficiency. The first determining module 402 is configured to:

[0245] Add the first total resistance to the second total resistance to obtain the target resistance;

[0246] Determine the wheel end torque based on the target drag and the driving wheel radius of the tractor;

[0247] determining a plurality of reference output torques based on wheel-end torques, a plurality of reference transmission speed ratios, a final drive speed ratio, and a transmission efficiency;

[0248] When the multiple reference output torques are less than the maximum output torque, the multiple reference output torques are determined as multiple candidate output torques, and the gears corresponding to the multiple reference transmission speed ratios are determined as multiple candidate gears, and the maximum output torque is the maximum output torque at the current engine speed of the tractor.

[0249] Optionally, the device further comprises:

[0250] a second determining module, configured to determine a driving habit characteristic of the driver based on historical driving data of the driver, the historical driving data being used to indicate the driving habit of the driver;

[0251] The third determination module is used to determine the required driving style based on the driving habit characteristics.

[0252] In an embodiment of the present application, after the trailer driving mode is activated, the target trailer type of the trailer can be first obtained. Then, based on the target trailer type and the vehicle parameters of the tractor, multiple sets of candidate driving parameters are determined. Specifically, multiple parameters related to the tractor's power output, such as output torque and gear position, are determined. These multiple sets of candidate driving parameters correspond to different driving styles. Then, based on the driver's desired driving style, target driving parameters can be determined from the multiple sets of candidate driving parameters, and the tractor can be controlled to tow the trailer at the target driving parameters. In this way, the present application determines the driving parameters for the tractor-trailer driving according to the trailer type and the driver's desired driving style. This ensures that, for different trailer types, the tractor can provide sufficient power output while also meeting the driver's driving needs, thereby ensuring driving safety and improving the user experience.

[0253] It should be noted that: when the vehicle control device provided in the above embodiment controls the vehicle in the trailer driving mode, the division of the above functional modules is only used as an example. In actual application, the above 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.

[0254] The functional units and modules in the above embodiments may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above integrated units may be implemented in the form of hardware or software functional units. In addition, the specific names of the functional units and modules are only for the purpose of distinguishing them from each other and are not intended to limit the scope of protection of the embodiments of this application.

[0255] The vehicle control device and vehicle control method embodiments provided in the above embodiments belong to the same concept. The specific working processes and technical effects brought about by the units and modules in the above embodiments can be found in the method embodiment part and will not be repeated here.

[0256] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0257] For example, Figure 5 As shown, the vehicle 500 includes: a memory 51 and a processor 50, wherein the memory 51 stores an executable program code 52, and the processor 50 is used to call and execute the executable program code 52 to perform the above-mentioned vehicle control method.

[0258] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0259] In the case of dividing each functional module into corresponding functional modules, the vehicle may include: an acquisition module, a first determination module, and a control module. 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 and will not be repeated here.

[0260] 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.

[0261] When an integrated unit is used, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle in executing corresponding program codes and data.

[0262] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing system (DSP) and a microprocessor, and the storage module may be a memory.

[0263] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement the above-mentioned vehicle control method in the above-mentioned embodiment.

[0264] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement the above-mentioned vehicle control method in the above-mentioned embodiment.

[0265] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the method provided above and will not be repeated here.

[0266] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and brevity 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 distributed and completed by 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.

[0267] In the embodiments provided in this 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 schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, 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.

[0268] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: The method is applied to a tractor, and comprises: In response to a start instruction of the trailer driving mode, obtaining a target trailer type of the trailer; determining a plurality of sets of candidate driving parameters based on the target trailer type and vehicle parameters of the tractor, wherein the candidate driving parameters are parameters related to the power output of the tractor; Based on the driver's required driving style, target driving parameters are determined from the multiple sets of candidate driving parameters, and the tractor is controlled to tow the trailer to travel with the target driving parameters.

2. The method according to claim 1, wherein The vehicle parameters include current driving parameters; and the multiple sets of candidate driving parameters are determined based on the target trailer type and the vehicle parameters of the tractor, including: determining a plurality of power parameter groups based on the target trailer type, each of the plurality of power parameter groups comprising an engine torque curve and a shift curve; Based on the current driving parameters of the tractor, a plurality of groups of candidate driving parameters are determined from the plurality of power parameter groups, and the plurality of groups of candidate driving parameters correspond one-to-one to the plurality of power parameter groups.

3. The method according to claim 2, wherein The determining of multiple power parameter groups based on the target trailer type includes: Based on the target trailer type, the multiple power parameter groups are determined from a target correspondence relationship, where the target correspondence relationship is a correspondence relationship between different trailer types and different power parameter groups.

4. The method according to claim 2, wherein The current driving parameters include a current pedal opening, a current vehicle speed, and a current engine speed; the candidate driving parameters include a candidate output torque and a candidate gear position; and the determining of multiple sets of candidate driving parameters from the multiple sets of power parameter groups based on the current driving parameters of the tractor includes: For an i-th power parameter group among the multiple power parameter groups, obtaining an i-th candidate output torque from an engine torque curve of the i-th power parameter group based on the current pedal opening and the current engine speed, where i is an integer greater than or equal to 1; Based on the current vehicle speed and the current pedal opening, the candidate gear of the i-th group is obtained from the shift curve of the i-th set of power parameter groups.

5. The method according to claim 1, wherein The vehicle parameters of the tractor may include a current driving scene and power system parameters; and the determining of multiple sets of candidate driving parameters based on the target trailer type may include: determining, based on the target trailer type and the current driving scenario, a first total resistance of the trailer on the tractor, the first total resistance comprising rolling resistance, air resistance, and acceleration resistance of the trailer on the tractor; Based on the first total resistance, the second total resistance and the power system parameter, a plurality of groups of candidate driving parameters are determined, wherein the second total resistance is the resistance of the tractor itself during driving.

6. The method according to claim 5, wherein The determining, based on the target trailer type and the current driving scenario, a first total resistance of the trailer to the tractor, includes: determining, based on the current driving scenario, a plurality of resistance weights, the plurality of resistance weights corresponding one-to-one to the rolling resistance, the air resistance, and the acceleration resistance, the plurality of resistance weights being used to indicate a degree of influence of the rolling resistance, the air resistance, and the acceleration resistance on the driving of the trailer; determining a plurality of base resistances based on the target trailer type; Based on the multiple resistance weights, the multiple basic resistances are weighted and summed to obtain the first total resistance.

7. The method according to claim 5, wherein The candidate driving parameters include candidate output torques and candidate gears, and the powertrain parameters include the final reducer speed ratio, the transmission speed ratios corresponding to different gears, and the transmission efficiency; The determining of multiple sets of candidate driving parameters based on the first total resistance, the second total resistance, and the power system parameters includes: Adding the first total resistance to the second total resistance to obtain a target resistance; determining a wheel end torque based on the target resistance and a drive wheel radius of the tractor; determining a plurality of reference output torques based on the wheel end torque, a plurality of reference transmission speed ratios, a final drive speed ratio, and a transmission efficiency; When the multiple reference output torques are less than the maximum output torque, the multiple reference output torques are determined as the multiple candidate output torques, and the gears corresponding to the multiple reference transmission speed ratios are determined as the multiple candidate gears, and the maximum output torque is the maximum output torque at the current engine speed of the tractor.

8. The method according to claim 1, wherein The step of determining the required driving style includes: determining a driving habit characteristic of the driver based on historical driving data of the driver, wherein the historical driving data is used to indicate the driving habit of the driver; Based on the driving habit characteristics, the required driving style is determined.

9. A vehicle control device, characterized in that: The device is applied to a tractor, and comprises: an acquisition module, configured to acquire a target trailer type of the trailer in response to a start instruction of the trailer driving mode; a first determining module, configured to determine a plurality of sets of candidate driving parameters based on the target trailer type and vehicle parameters of the tractor, wherein the candidate driving parameters are parameters related to the power output of the tractor; The control module is configured to determine target driving parameters from the plurality of sets of candidate driving parameters based on the driver's desired driving style, and control the tractor to tow the trailer to travel with the target driving parameters.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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