Method and device for controlling vehicle, vehicle and storage medium

Abstract

The invention discloses a method and device for controlling a vehicle, the vehicle and a storage medium. The method comprises the steps that in the process of controlling vehicle running through an intelligent driving auxiliary function, if it is monitored that a brake pedal of a vehicle is stepped down, the stroke of the brake pedal is obtained; determining whether an intelligent driving auxiliary function exit condition is met or not according to the stroke of the brake pedal; if it is determined that the intelligent driving auxiliary function exit condition is met, exiting the intelligent driving auxiliary function; under the condition that it is monitored that the brake pedal of the vehicle is loosened, the intelligent driving auxiliary function is recovered; and according to the stroke of the brake pedal, determining whether an intelligent driving auxiliary function exit condition is met or not: if the stroke of the brake pedal is within the effective stroke interval and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, determining that the intelligent driving auxiliary function exit condition is met. According to the technical scheme provided by the embodiment of the invention, the continuity of the intelligent driving auxiliary function can be ensured, and the use experience of the driver about the intelligent driving auxiliary function is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method and device for controlling a vehicle, a vehicle, and a storage medium. Background Art

[0002] L3 and below automated driving assistance technologies have certain limitations in their use cases, requiring the driver to take over the vehicle promptly in certain special scenarios. In related technologies, when the vehicle is controlled by intelligent driving assistance functions, if the brake pedal is detected to be depressed, the vehicle automatically exits the intelligent driving assistance functions, and the driver then takes control of the vehicle.

[0003] However, if the driver accidentally steps on the brake pedal and then immediately releases it, neither the driver nor the intelligent driving domain controller is in control of the vehicle, creating a collision risk and reducing driving safety. For example, if the deceleration caused by the driver accidentally stepping on the brake pedal does not meet the required deceleration, and since neither the driver nor the intelligent driving domain controller is in control of the vehicle, the vehicle's deceleration will not meet the required deceleration, creating a high probability of a collision with the vehicle ahead. Summary of the Invention

[0004] The present application proposes a method, device, vehicle, and storage medium for controlling a vehicle.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle, the method comprising: in the process of controlling the vehicle's driving through an intelligent driving assistance function, if it is monitored that the vehicle's brake pedal is depressed, obtaining the stroke of the brake pedal; determining whether the exit condition of the intelligent driving assistance function is met based on the stroke of the brake pedal; if it is determined that the exit condition of the intelligent driving assistance function is met, exiting the intelligent driving assistance function; when it is monitored that the vehicle's brake pedal is released, restoring the intelligent driving assistance function; wherein, determining whether the exit condition of the intelligent driving assistance function is met based on the stroke of the brake pedal comprises: obtaining a first acceleration corresponding to the stroke of the brake pedal and a second acceleration output by the intelligent driving assistance function; if the stroke of the brake pedal is within a valid stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, determining that the exit condition of the intelligent driving assistance function is met.

[0006] In a second aspect, an embodiment of the present application provides a device for controlling a vehicle, the device comprising: a brake pedal monitoring module for obtaining the travel of the brake pedal if it is detected that the brake pedal of the vehicle is depressed during the process of controlling the driving of the vehicle through the intelligent driving assistance function; a condition detection module for determining whether the exit condition of the intelligent driving assistance function is met based on the travel of the brake pedal; an intelligent driving module for exiting the intelligent driving assistance function if it is determined that the exit condition of the intelligent driving assistance function is met; the intelligent driving module is also used to restore the intelligent driving assistance function when it is detected that the brake pedal of the vehicle is released; wherein the condition detection module is used to: obtain a first acceleration corresponding to the travel of the brake pedal and a second acceleration output by the intelligent driving assistance function; if the travel of the brake pedal is within the effective travel range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it is determined that the exit condition of the intelligent driving assistance function is met.

[0007] In a third aspect, an embodiment of the present application provides a vehicle comprising: a memory; one or more processors coupled to the memory; and one or more programs, wherein one or more applications are stored in the memory and configured to be executed by one or more processors, and the one or more programs are configured to execute the method of the first aspect.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the method of the first aspect.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when instructions in the computer program product are executed, is used to implement the method of the first aspect.

[0010] Compared with the prior art, the technical solution provided by the embodiment of the present application, during the process of controlling the vehicle driving through the intelligent driving assistance function, if it is detected that the brake pedal is stepped on, the travel of the brake pedal is obtained, and when the travel of the brake pedal meets the exit condition of the intelligent driving assistance function, the intelligent driving assistance function is exited. If it is detected that the brake pedal is released afterwards, the intelligent driving assistance function is restored, so that the intelligent driving domain controller takes over the control of the vehicle in time when it is detected that the brake pedal is released, avoiding the situation where neither the driver nor the intelligent driving domain controller controls the vehicle when the driver accidentally steps on the brake pedal and immediately releases it, thereby improving driving safety. In addition, it can also ensure the continuity of the intelligent driving assistance function and improve the driver's experience of using the intelligent driving assistance function. Among them, the vehicle respectively obtains the first acceleration corresponding to the stroke of the brake pedal and the second acceleration output by the intelligent driving assistance function. When the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it means that the driver has a braking intention, and the second acceleration output by the intelligent driving assistance function does not meet the deceleration requirements corresponding to the above-mentioned braking intention, and it is necessary to exit the intelligent driving assistance function. Therefore, it is determined that the exit conditions of the intelligent driving assistance function are met. The above scheme can accurately judge the driver's intention and make corresponding decisions, thereby improving the reliability of the intelligent driving assistance function. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] 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 those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 It is a schematic diagram of an implementation environment provided by an embodiment of the present application.

[0013] Figure 2 This is a system architecture diagram of a vehicle provided in one embodiment of the present application.

[0014] Figure 3 This is a flowchart of a method for controlling a vehicle provided by an embodiment of the present application.

[0015] Figure 4 This is a flowchart of a method for controlling a vehicle provided by another embodiment of the present application.

[0016] Figure 5 This is a flowchart of a method for controlling a vehicle provided by another embodiment of the present application.

[0017] Figure 6 This is a block diagram of a device for controlling a vehicle provided in one embodiment of the present application.

[0018] Figure 7 This is a structural block diagram of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0020] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0021] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment provided by an embodiment of the present application. The implementation environment includes a vehicle 100. In the embodiment of the present application, the vehicle 100 has an intelligent driving assistance function. In the process of controlling the vehicle's driving through the intelligent driving assistance function, if it is detected that the brake pedal is stepped on, the stroke of the brake pedal is obtained. When the stroke of the brake pedal meets the exit condition of the intelligent driving assistance function, the intelligent driving assistance function is exited. If it is detected that the brake pedal is released, the intelligent driving assistance function is restored, so that the intelligent driving domain controller takes over the control of the vehicle 100 in time when it is detected that the brake pedal is released, so as to avoid the situation where the driver and the intelligent driving domain controller fail to control the vehicle 100 when the driver accidentally steps on the brake pedal and then releases it immediately, thereby improving driving safety. Among them, the vehicle respectively obtains the first acceleration corresponding to the stroke of the brake pedal and the second acceleration output by the intelligent driving assistance function. When the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it means that the driver has a braking intention, and the second acceleration output by the intelligent driving assistance function does not meet the deceleration requirements corresponding to the above-mentioned braking intention, and it is necessary to exit the intelligent driving assistance function. Therefore, it is determined that the exit conditions of the intelligent driving assistance function are met. The above scheme can accurately judge the driver's intention and make corresponding decisions, thereby improving the reliability of the intelligent driving assistance function.

[0022] Combined with reference Figure 2, which shows a structural block diagram of a vehicle 100 shown in an embodiment of the present application. Vehicle 100 includes an intelligent driving domain controller 10, a braking system domain controller 20, a drive system domain controller 30, and a brake pedal travel sensor 40. The intelligent driving domain controller 10 is connected to the braking system domain controller 20 and the drive system domain controller 30, respectively, and the brake pedal travel sensor 40 is connected to the braking system domain controller 20.

[0023] The intelligent driving domain controller 10 is used to provide intelligent driving assistance functions. In an embodiment of the present application, the intelligent driving domain controller 10 is also used to decide whether to exit the intelligent driving assistance function when the brake pedal is depressed, and, if the intelligent driving assistance function is exited and the brake pedal is released, decide whether to resume the intelligent driving assistance function.

[0024] The brake system domain controller 20 is used to control the brake system of the vehicle 100. The intelligent driving domain controller 10 is periodically provided with brake pedal status information, which includes the value of the brake pedal depressed flag and the first or both items of the brake pedal travel. When the brake pedal depressed flag is set to a first value, the status information also includes the brake pedal travel, and the first value indicates that the brake pedal is depressed, for example, the first value is 1. When the brake pedal depressed flag is set to a second value, the status information does not include the brake pedal travel, and the second value indicates that the brake pedal is not depressed, for example, the second value is 0.

[0025] The driving domain controller 30 is used to control the driving system of the vehicle 100. In the embodiment of the present application, the driving domain controller 30 is used to receive the anti-drag torque determined by the intelligent driving domain controller 10 and control the drive motor to operate according to the anti-drag torque to achieve energy recovery.

[0026] The brake pedal travel sensor 40 is used to detect whether the brake pedal is depressed and the brake pedal travel. It can be located on the brake pedal or the master brake cylinder. Upon detecting the brake pedal being depressed, the brake pedal travel sensor 40 generates a corresponding electrical signal and sends it to the brake system domain controller 20. The brake system domain controller 20 determines the brake pedal travel based on this electrical signal. The brake pedal sensor 40 can be a Hall effect sensor or a pressure sensor.

[0027] In some embodiments, the vehicle 100 further includes an onboard instrument panel 50, which is used to display status information of the vehicle 100. Alternatively, the onboard instrument panel 50 can enable interaction between a person and the vehicle 100 to control navigation, entertainment, and other functions of the vehicle 100. In this embodiment of the present application, the onboard instrument panel 50 is used to display a query message inquiring whether to restore the intelligent driving assistance function. The onboard instrument panel 50 can be the central control display screen of the vehicle 100.

[0028] Please refer to Figure 3 , which shows a flow chart of a method for controlling a vehicle provided by an embodiment of the present application. This method can be applied in Figure 2 The intelligent driving domain controller in the embodiment, the method includes the following process.

[0029] S301, when controlling the driving of the vehicle through the intelligent driving assistance function, if it is detected that the brake pedal of the vehicle is depressed, the travel of the brake pedal is obtained.

[0030] Intelligent driving assistance systems integrate advanced technologies to assist or even replace the driver with some driving tasks, aiming to improve driving safety and comfort. These include cruise control, full-speed adaptive cruise control, automatic avoidance, command-based lane change, traffic light assistance, and narrow road memory reverse.

[0031] When the brake pedal travel sensor detects brake pedal movement, it generates an electrical signal and sends it to the brake domain controller. Based on the electrical signal, the brake domain controller sets the brake pedal pressed flag to a first specified value, calculates the brake pedal travel based on the electrical signal, and then sends the brake pedal pressed flag value and brake pedal travel to the intelligent driving domain controller. The brake pedal pressed flag can be B_Pedal_Applied, and the first specified value indicates that the brake pedal is pressed. Optionally, the first specified value is 1.

[0032] In this embodiment of the present application, the braking domain controller periodically sends brake pedal status information to the intelligent driving domain controller. The status information includes the value of the brake pedal depressed flag and the brake pedal travel. If the intelligent driving domain controller detects that the value of the brake pedal depressed flag is a first specified value, it determines that the vehicle's brake pedal is depressed.

[0033] In some embodiments, the intelligent driving domain controller starts timing when monitoring the vehicle's brake pedal being stepped on. When the time interval between the latest received stepping status information and the first received stepping status information is greater than the specified time length, it means that the vehicle's brake pedal has been stepped on for a duration greater than or equal to the specified time length, and the brake pedal stroke is obtained. If the vehicle's brake pedal has been stepped on for a duration less than the specified time length, the subsequent steps are not performed. Stepping status information refers to status information in which the brake pedal stepping flag is set to the first specified value. The specified time length is set to avoid the situation in which the brake pedal stepping flag is set to the first specified value due to a brief vibration of the vehicle after the vehicle passes through a bumpy road or due to durability. For example, the specified time length is 0.1 seconds.

[0034] The intelligent driving domain controller continuously monitors the travel of the brake pedal in multiple pressing status information, and obtains the travel of the brake pedal when the above travel no longer changes or the change is less than a predetermined threshold.

[0035] S302: Determine whether the exit conditions of the intelligent driving assistance function are met based on the travel of the brake pedal.

[0036] The intelligent driving assistance function exit conditions refer to the conditions that must be met for the vehicle to exit the intelligent driving assistance function. In the embodiments of this application, while the vehicle is being controlled by the intelligent driving assistance function, the intelligent driving assistance function is not directly exited. Instead, the vehicle determines whether the driver intends to control the vehicle by using the brake pedal travel. If the driver's intention to control the vehicle is determined, the intelligent driving assistance function exit conditions are determined to be met. The process of detecting the intelligent driving assistance function exit conditions will be described in the embodiments below.

[0037] S303: If it is determined that the exit conditions of the intelligent driving assistance function are met, exit the intelligent driving assistance function.

[0038] After the vehicle exits the intelligent driving assistance function, control is transferred to the driver, who then operates the vehicle's actuators to control the vehicle's movement. These actuators include the brake pedal, traction pedal, steering wheel, gear lever, etc.

[0039] In some embodiments, when the vehicle exits the intelligent driving assistance function, the target information of the intelligent driving assistance function is saved. The target information includes at least one of the configuration information and the planning information. The configuration information can be set by the user before using the intelligent driving assistance function this time. It can be set according to the specific type of the intelligent driving assistance function, such as the cruising speed of the cruise control function, the speed limit information of the adaptive cruise function, the maximum lateral distance of the automatic avoidance function, etc. The planning information refers to the planned path output by the intelligent driving assistance function, as well as the speed, acceleration, steering wheel angle, driving curvature, etc. of each path point on the planned path. In this way, when the vehicle subsequently resumes the intelligent driving assistance function, the target information can be directly obtained and used without the user having to reset it, or without having to re-plan the path, thereby improving the efficiency of intelligent driving.

[0040] S304, when it is detected that the vehicle's brake pedal is released, the intelligent driving assistance function is restored.

[0041] The intelligent driving domain controller determines that the vehicle's brake pedal is released when detecting that the value of the brake pedal depressed flag bit in the status information sent by the braking domain controller is a second specified value. For example, the second specified value is 0.

[0042] Restoring the intelligent driving assistance function, that is, handing control of the vehicle to the intelligent driving domain controller. As mentioned in the above embodiment, when the vehicle exits the intelligent driving assistance function, the target information of the intelligent driving assistance function is saved. After resuming the intelligent driving assistance function, the vehicle obtains the current driving information of the vehicle and controls the intelligent driving assistance function to control the vehicle according to the target information and the current driving information.

[0043] The current driving information includes the vehicle's current position, current speed, current acceleration, current steering wheel angle, and so on. The above current driving information can be collected by the vehicle's various sensors and reported to the intelligent driving domain controller. In the case where the target information includes planning information, the vehicle can obtain the planning information after the current position from the planning information, and adjust the planning information after the current position in combination with the current driving information, and then control the vehicle's driving according to the adjusted planning information without the need to re-plan the path. In the case where the target information does not include planning information, the vehicle can re-plan the path based on the configuration information, the vehicle's current position, and the destination of the trip, and control the vehicle's driving according to the newly generated planned path.

[0044] In some embodiments, S302 includes S3021 and S3022.

[0045] S3021, obtain the first acceleration corresponding to the stroke of the brake pedal and the second acceleration output by the intelligent driving assistance function.

[0046] The intelligent driving domain controller determines a first acceleration corresponding to the brake pedal travel based on a first mapping relationship, which refers to a mapping relationship between the brake pedal travel and acceleration and can be pre-stored locally in the vehicle. The intelligent driving domain controller directly reads the second acceleration.

[0047] S3022: If the brake pedal stroke is within the valid stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it is determined that the exit conditions of the intelligent driving assistance function are met.

[0048] Considering factors such as the mechanical structure and compression rate of the braking system, the brake pedal has an idle stroke. When the brake pedal stroke is idle, it does not bring any deceleration. The lower limit of the effective stroke range is greater than or equal to the above-mentioned idle stroke. Optionally, the lower limit of the effective stroke range refers to the maximum stroke of the brake pedal when the absolute value of the acceleration determined when the brake pedal is stepped on is less than the first specified acceleration. The first specified acceleration is set based on experiments or experience, for example, 0.1m / s 2 Under the condition that the first specified acceleration is determined, the lower limit of the above-mentioned effective travel range can be obtained by looking up a first mapping relationship between brake pedal travel and acceleration, which can be pre-stored locally in the vehicle. Optionally, the lower limit of the effective travel range is 20mm.

[0049] The upper limit of the effective travel range is the maximum effective travel of the brake pedal. Optionally, the upper limit of the effective travel range refers to the minimum travel of the brake pedal when the absolute value of the acceleration determined when the brake pedal is depressed is greater than the second specified acceleration. The first specified acceleration is less than the second specified acceleration. The second specified acceleration is set based on experiments or experience, for example, 3m / s 2 Under the condition that the second specified acceleration is determined, the upper limit of the effective travel range can also be obtained by looking up the table according to the first mapping relationship. Optionally, the upper limit of the effective travel range is 80 mm.

[0050] In an embodiment of the present application, the upper limit and lower limit of the above-mentioned effective travel range are predetermined and stored locally in the vehicle. The intelligent driving domain controller directly reads the upper limit and lower limit of the above-mentioned effective travel range and determines whether the travel of the brake pedal is within the effective travel range.

[0051] If the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it is determined that the driver has a braking intention, and the second acceleration output by the intelligent driving assistance function does not meet the deceleration requirement corresponding to the above braking intention, and it is necessary to exit the intelligent driving assistance function. Therefore, it is determined that the exit condition of the intelligent driving assistance function is met. If the absolute value of the first acceleration is less than or equal to the absolute value of the second acceleration, it is determined that the driver has a braking intention, but the second acceleration output by the intelligent driving assistance function can meet the deceleration requirement corresponding to the above braking intention, and there is no need to exit the intelligent driving assistance function. In other words, the intelligent driving domain controller determines that the exit condition of the intelligent driving assistance function is not met and continues to control the vehicle through the intelligent driving assistance function.

[0052] In other embodiments, S302 includes S3023.

[0053] S3023: If the brake pedal stroke is greater than or equal to the upper limit of the above-mentioned effective stroke range, it is determined that the exit conditions of the intelligent driving assistance function are met.

[0054] The brake pedal stroke is greater than or equal to the upper limit of the above-mentioned valid stroke range, indicating that the driver has the intention to brake, and therefore it is determined that the exit conditions of the intelligent driving assistance function are met.

[0055] In some other embodiments, when the brake pedal stroke is less than or equal to the lower limit of the above-mentioned effective stroke range, it is determined that the brake pedal is most likely depressed due to the vehicle shaking after passing through bumpy road conditions, and the driver has no intention of braking. Therefore, it is determined that the exit conditions of the intelligent driving assistance function are not met, and the vehicle continues to be controlled by the intelligent driving assistance function.

[0056] To sum up, the technical solution provided by the embodiment of the present application is that during the process of controlling the vehicle driving through the intelligent driving assistance function, if it is detected that the brake pedal is stepped on, the travel of the brake pedal is obtained, and when the travel of the brake pedal meets the exit condition of the intelligent driving assistance function, the intelligent driving assistance function is exited. If it is detected that the brake pedal is released afterwards, the intelligent driving assistance function is restored, so that the intelligent driving domain controller takes over the control of the vehicle in time when it is detected that the brake pedal is released, avoiding the situation where neither the driver nor the intelligent driving domain controller controls the vehicle when the driver accidentally steps on the brake pedal and immediately releases it, thereby improving driving safety. In addition, it can also ensure the continuity of the intelligent driving assistance function and improve the driver's experience of using the intelligent driving assistance function. Among them, the vehicle respectively obtains the first acceleration corresponding to the stroke of the brake pedal and the second acceleration output by the intelligent driving assistance function. When the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it means that the driver has a braking intention, and the second acceleration output by the intelligent driving assistance function does not meet the deceleration requirements corresponding to the above-mentioned braking intention, and it is necessary to exit the intelligent driving assistance function. Therefore, it is determined that the exit conditions of the intelligent driving assistance function are met. The above scheme can accurately judge the driver's intention and make corresponding decisions, thereby improving the reliability of the intelligent driving assistance function.

[0057] Please refer to Figure 4 , which shows a flow chart of a method for controlling a vehicle according to an embodiment of the present application. Figure 3 In the optional embodiment provided by the illustrated embodiment, S304 can be replaced by S404, or S405-S406. The method includes the following process.

[0058] S501, when controlling the driving of a vehicle through an intelligent driving assistance function, if it is detected that the brake pedal of the vehicle is depressed, the travel of the brake pedal is obtained.

[0059] S502: Determine whether the exit conditions of the intelligent driving assistance function are met based on the travel of the brake pedal.

[0060] Among them, S502 is implemented as: obtaining the first acceleration corresponding to the stroke of the brake pedal and the second acceleration output by the intelligent driving assistance function; if the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it is determined that the exit condition of the intelligent driving assistance function is met.

[0061] S503: If it is detected that the exit condition of the intelligent driving assistance function is met, the intelligent driving assistance function is exited.

[0062] S504: If it is detected that the vehicle's brake pedal is released and the exit time of the intelligent driving assistance function is less than the first time, the intelligent driving assistance function is restored.

[0063] In this embodiment of the present application, the intelligent driving domain controller measures the duration of the intelligent driving assistance function after exiting the intelligent driving assistance function. If the vehicle's brake pedal is released and the intelligent driving assistance function exit duration is less than a first duration, the intelligent driving assistance function is automatically restored, thereby improving the continuity of the intelligent driving assistance function. The first duration is set based on experiments or experience, for example, 5 seconds.

[0064] S505: If it is detected that the vehicle's brake pedal is released and the exit time of the intelligent driving assistance function is greater than the first time period and less than the second time period, an inquiry message is issued.

[0065] The first duration is less than the second duration, and the second duration is determined based on experiments or experience, for example, 10 seconds. The query information is used to inquire whether to restore the intelligent driving assistance function. In some embodiments, the intelligent driving domain controller sends the query information to the vehicle display module, and the vehicle display module displays the above query information. In other embodiments, the intelligent driving domain controller sends the query information to the vehicle voice module, and the vehicle voice module plays the above query information.

[0066] S506: After obtaining a confirmation signal corresponding to the inquiry information, the intelligent driving assistance function is restored.

[0067] In some embodiments, the vehicle-mounted display module displays the inquiry information and displays a first interactive control and a second interactive control at the same time. The first interactive control is used to trigger a confirmation signal corresponding to the inquiry information, and the second interactive control is used to trigger a negative signal corresponding to the inquiry information. The driver can choose to trigger the first interactive control or the second interactive control according to his own needs.

[0068] In other embodiments, the intelligent vehicle voice module listens to the voice signal emitted by the driver while playing the above-mentioned inquiry information. When the first keyword is detected in the voice signal, it is determined that a confirmation signal corresponding to the inquiry information is obtained. When the second keyword is detected in the voice signal, or when no voice signal is detected within a predetermined time period, it is determined that a negative signal corresponding to the inquiry information is obtained. The first keyword, the second keyword, and the predetermined time period are all set based on experiments or experience. For example, the first keyword is "OK", "Confirm", or "Agree". The second keyword is "Reject", "Disagree", etc. The predetermined time period is 10 seconds.

[0069] After receiving the denial signal corresponding to the inquiry information, the intelligent driving domain controller keeps the intelligent driving assistance function exited and the driver continues to control the vehicle.

[0070] If the intelligent driving assistance function is exited for longer than the second duration, the intelligent driving domain controller does not restore the intelligent driving assistance function, and vehicle control is returned to the driver. As mentioned in the above embodiment, the vehicle saves the target message of the intelligent driving assistance function when exiting the intelligent driving assistance function. If it detects that the vehicle's brake pedal is released and the intelligent driving assistance function is exited for longer than the second duration, the intelligent driving domain controller will also delete the target message to save storage resources.

[0071] In an embodiment of the present application, when it is detected that the vehicle's brake pedal is released and the exit time of the intelligent driving assistance function is greater than the first time length and less than the second time length, the driver is required to confirm before restoring the intelligent driving assistance function to meet the driver's personalized needs.

[0072] To sum up, the technical solution provided by the embodiment of the present application is that during the process of controlling the vehicle driving through the intelligent driving assistance function, if it is detected that the brake pedal is stepped on, the stroke of the brake pedal is obtained, and when the stroke of the brake pedal meets the exit condition of the intelligent driving assistance function, the intelligent driving assistance function is exited. After that, if it is detected that the brake pedal is released, and the exit time of the intelligent driving assistance function is less than the first time, the intelligent driving assistance function is automatically restored. If it is detected that the brake pedal is released, and the exit time of the intelligent driving assistance function is greater than the first time and less than the second time, the intelligent driving assistance function is restored after the driver confirms, so that the intelligent driving domain controller takes over the control of the vehicle in time when it is detected that the brake pedal is released, avoiding the situation where the driver and the intelligent driving domain controller have no control over the vehicle when the driver accidentally steps on the brake pedal and immediately releases it, thereby improving driving safety. In addition, it can also ensure the continuity of the intelligent driving assistance function and improve the driver's experience of using the intelligent driving assistance function.

[0073] Please refer to Figure 5 , which shows a flow chart of a method for controlling a vehicle provided by an embodiment of the present application. Figure 3 In an optional embodiment provided in the embodiment, the method includes the following process.

[0074] S501, when controlling the driving of a vehicle through an intelligent driving assistance function, if it is detected that the brake pedal of the vehicle is depressed, the travel of the brake pedal is obtained.

[0075] S502, obtaining a first acceleration corresponding to the travel of the brake pedal and a second acceleration output by the intelligent driving assistance function.

[0076] At step S503, if the brake pedal travel is within the valid travel range and the absolute value of the first acceleration is less than the absolute value of the second acceleration, the absolute value of the difference between the first acceleration and the second acceleration is obtained. At step S504, if the absolute value of the difference is greater than or equal to a specified acceleration, a counter-drag torque corresponding to the specified acceleration is determined, and the vehicle's drive motor is controlled to operate according to the counter-drag torque corresponding to the specified acceleration.

[0077] The specified acceleration refers to the acceleration corresponding to the maximum anti-drag torque allowed by the vehicle. Optionally, the specified acceleration is 3m / s 2 .

[0078] The intelligent driving domain controller determines the anti-drag torque corresponding to the specified acceleration based on a second mapping relationship, where the second mapping relationship includes a mapping relationship between the anti-drag torque and the acceleration. The second mapping relationship can be pre-stored locally in the vehicle.

[0079] The intelligent driving domain controller sends the above-mentioned anti-drag torque to the drive domain controller, and the drive domain controller controls the vehicle's drive motor to operate according to the anti-drag torque corresponding to the specified acceleration. In this way, the drive motor will reverse, thereby realizing energy recovery. Because energy is generated when the driver steps on the brake pedal, however, the intelligent driving domain controller still controls the vehicle's driving through the intelligent driving assistance function at this time, so it is necessary to recover the above-mentioned energy. In the embodiment of the present application, when the absolute value of the difference is greater than or equal to the specified acceleration, the anti-drag torque corresponding to the specified acceleration is determined, and the vehicle's drive motor is controlled to operate according to the anti-drag torque corresponding to the specified acceleration, thereby realizing maximum energy recovery.

[0080] 5S505 , when the absolute value of the difference is less than the specified acceleration, determining the anti-drag torque corresponding to the absolute value of the difference, and controlling the drive motor of the vehicle to operate according to the anti-drag torque corresponding to the absolute value of the difference.

[0081] The intelligent driving domain controller determines a reverse drag torque corresponding to the difference determination value based on the second mapping relationship. In this embodiment of the present application, when the absolute value of the difference is less than the specified acceleration, the reverse drag torque corresponding to the absolute value of the difference is determined, and the vehicle's drive motor is controlled to operate according to the reverse drag torque corresponding to the absolute value of the difference, thereby achieving energy recovery.

[0082] To sum up, the technical solution provided by the embodiment of the present application obtains the absolute value of the difference between the two when the deceleration determined by the intelligent driving assistance function is greater than the deceleration caused by the driver stepping on the brake pedal. When the absolute value of the difference is greater than or equal to the specified acceleration, the back-drag torque corresponding to the specified acceleration is determined, and the vehicle's drive motor is controlled to operate according to the back-drag torque corresponding to the specified acceleration. When the absolute value of the difference is less than the specified acceleration, the back-drag torque corresponding to the absolute value of the difference is determined, and the vehicle's drive motor is controlled to operate according to the back-drag torque corresponding to the absolute value of the difference. This can recover the energy generated by the driver stepping on the brake pedal, thereby improving the vehicle's endurance.

[0083] Please refer to Figure 6 , which shows a block diagram of a vehicle control device provided by an embodiment of the present application. The device includes: a brake pedal monitoring module 610, a condition detection module 620 and an intelligent driving module 630.

[0084] The brake pedal monitoring module 610 is used to obtain the travel of the brake pedal if it is detected that the vehicle's brake pedal is depressed during the process of controlling the vehicle's driving through the intelligent driving assistance function.

[0085] Condition detection module 620 is configured to determine whether intelligent driving assistance function exit condition 6 is satisfied based on the brake pedal travel. Condition detection module 620 is configured to obtain a first acceleration corresponding to the brake pedal travel and a second acceleration output by the intelligent driving assistance function; if the brake pedal travel is within the valid travel range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, then the intelligent driving assistance function exit condition is determined to be satisfied.

[0086] The intelligent driving module 630 is used to exit the intelligent driving assistance function if it is detected that the exit conditions of the intelligent driving assistance function are met.

[0087] The intelligent driving module 630 is also used to restore the intelligent driving assistance function when it is detected that the vehicle's brake pedal is released.

[0088] In some embodiments, the device further includes: a calculation module and a drive control module (not shown). The calculation module is configured to obtain the absolute value of the difference between the first acceleration and the second acceleration if the brake pedal travel is within the effective travel range and the absolute value of the first acceleration is less than the absolute value of the second acceleration. The drive control module is configured to, if the absolute value of the difference is greater than or equal to the specified acceleration, determine the back-drag torque corresponding to the specified acceleration and control the vehicle's drive motor to operate according to the back-drag torque corresponding to the specified acceleration; if the absolute value of the difference is less than the specified acceleration, determine the back-drag torque corresponding to the absolute value of the difference and control the vehicle's drive motor to operate according to the back-drag torque corresponding to the absolute value of the difference.

[0089] In some embodiments, the condition detection module 620 is used to determine that the exit condition of the intelligent driving assistance function is met if the stroke of the brake pedal is greater than or equal to the upper limit value of the effective stroke range.

[0090] In some embodiments, the intelligent driving module 630 is used to restore the intelligent driving assistance function if it is detected that the brake pedal of the vehicle is released and the exit time of the intelligent driving assistance function is less than the first time.

[0091] In some embodiments, the intelligent driving module 630 is used to send an inquiry message if it is detected that the vehicle's brake pedal is released and the exit time of the intelligent driving assistance function is greater than the first time length and less than the second time length; after obtaining a confirmation signal corresponding to the inquiry message, the intelligent driving assistance function is restored.

[0092] In some embodiments, the device further includes: a saving module and an information acquisition module (not shown in the figure). The saving module is used to save the target information of the intelligent driving assistance function when exiting the intelligent driving assistance function, and the target information includes at least one of the configuration information and the planning information. The information acquisition module is used to obtain the current driving information of the vehicle after restoring the intelligent driving assistance function. The intelligent driving module 630 is used to control the intelligent driving assistance function to control the vehicle driving according to the target information and the current driving information.

[0093] To sum up, the technical solution provided by the embodiment of the present application is that during the process of controlling the vehicle driving through the intelligent driving assistance function, if it is detected that the brake pedal is stepped on, the travel of the brake pedal is obtained, and when the travel of the brake pedal meets the exit condition of the intelligent driving assistance function, the intelligent driving assistance function is exited. If it is detected that the brake pedal is released afterwards, the intelligent driving assistance function is restored, so that the intelligent driving domain controller takes over the control of the vehicle in time when it is detected that the brake pedal is released, avoiding the situation where neither the driver nor the intelligent driving domain controller controls the vehicle when the driver accidentally steps on the brake pedal and immediately releases it, thereby improving driving safety. In addition, it can also ensure the continuity of the intelligent driving assistance function and improve the driver's experience of using the intelligent driving assistance function. Among them, the vehicle respectively obtains the first acceleration corresponding to the stroke of the brake pedal and the second acceleration output by the intelligent driving assistance function. When the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it means that the driver has a braking intention, and the second acceleration output by the intelligent driving assistance function does not meet the deceleration requirements corresponding to the above-mentioned braking intention, and it is necessary to exit the intelligent driving assistance function. Therefore, it is determined that the exit conditions of the intelligent driving assistance function are met. The above scheme can accurately judge the driver's intention and make corresponding decisions, thereby improving the reliability of the intelligent driving assistance function.

[0094] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] In several embodiments provided in this application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0096] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0097] See also Figure 7 , which shows that an embodiment of the present application further provides a vehicle 700, which includes: one or more processors 710, a memory 720, and one or more applications. The one or more applications are stored in the memory 720 and configured to be executed by the one or more processors 710, and the one or more applications are configured to execute the methods described in the above embodiments.

[0098] The processor 710 may include one or more processing cores. The processor 710 utilizes various interfaces and circuits to connect various components within the battery management system. It executes instructions, programs, code sets, or instruction sets stored in the memory 720, as well as accesses data stored in the memory 720, to perform various functions of the battery management system and process data. Optionally, the processor 710 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 710 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 710 and may be implemented separately via a communication chip.

[0099] The memory 720 may include a random access memory (RAM) or a read-only memory (ROM). The memory 720 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 720 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, etc. The data storage area may also store data created by the vehicle map during use (such as a phone book, audio and video data, chat history data, etc.).

[0100] An embodiment of the present application further provides a computer-readable storage medium, which stores computer program instructions. The computer program instructions can be called by a processor to execute the method described in the above embodiment.

[0101] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for computer program instructions for executing any of the method steps described above. These computer program instructions may be read from or written to one or more computer program products. The computer program instructions may be compressed in a suitable form.

[0102] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for controlling a vehicle, characterized in that: The method comprises: During the process of controlling the driving of the vehicle through the intelligent driving assistance function, if it is detected that the brake pedal of the vehicle is depressed, the travel of the brake pedal is obtained; determining whether an exit condition of the intelligent driving assistance function is met according to the travel of the brake pedal; If it is determined that the exit condition of the intelligent driving assistance function is met, exit the intelligent driving assistance function; When it is detected that the brake pedal of the vehicle is released, resuming the intelligent driving assistance function; Wherein, determining whether the intelligent driving assistance function exit condition is met according to the travel of the brake pedal includes: Obtaining a first acceleration corresponding to the stroke of the brake pedal and a second acceleration output by the intelligent driving assistance function; If the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it is determined that the exit condition of the intelligent driving assistance function is met.

2. The method according to claim 1, characterized in that The method further comprises: If the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is smaller than the absolute value of the second acceleration, obtaining the absolute value of the difference between the first acceleration and the second acceleration; When the absolute value of the difference is greater than or equal to a specified acceleration, determining a counter-drag torque corresponding to the specified acceleration, and controlling a drive motor of the vehicle to operate according to the counter-drag torque corresponding to the specified acceleration; When the absolute value of the difference is less than the specified acceleration, a counter-drag torque corresponding to the absolute value of the difference is determined, and a drive motor of the vehicle is controlled to operate according to the counter-drag torque corresponding to the absolute value of the difference.

3. The method according to claim 1, characterized in that The determining whether the intelligent driving assistance function exit condition is met according to the brake pedal stroke further includes: If the stroke of the brake pedal is greater than or equal to the upper limit value of the effective stroke range, it is determined that the exit condition of the intelligent driving assistance function is met.

4. The method according to any one of claims 1 to 3, characterized in that If it is detected that the brake pedal of the vehicle is released, the intelligent driving assistance function is restored, including: If it is detected that the brake pedal of the vehicle is released and the exit time of the intelligent driving assistance function is less than the first time, the intelligent driving assistance function is restored.

5. The method according to any one of claims 1 to 3, characterized in that If it is detected that the brake pedal of the vehicle is released, the intelligent driving assistance function is restored, including: If it is detected that the brake pedal of the vehicle is released and the exit time of the intelligent driving assistance function is greater than the first time period and less than the second time period, a query message is issued; After obtaining a confirmation signal corresponding to the inquiry information, the intelligent driving assistance function is restored.

6. The method according to any one of claims 1 to 3, characterized in that The method further comprises: When exiting the intelligent driving assistance function, saving target information of the intelligent driving assistance function, the target information including at least one of configuration information and planning information; After restoring the intelligent driving assistance function, obtaining current driving information of the vehicle; Control the intelligent driving assistance function to control the vehicle driving according to the target information and the current driving information.

7. A device for controlling a vehicle, characterized in that: The device comprises: A brake pedal monitoring module is used to obtain the travel of the brake pedal if it is detected that the vehicle's brake pedal is depressed during the process of controlling the vehicle's driving through the intelligent driving assistance function; a condition detection module, configured to determine whether an exit condition of the intelligent driving assistance function is satisfied based on the travel of the brake pedal; An intelligent driving module, configured to exit the intelligent driving assistance function if it is determined that the exit condition of the intelligent driving assistance function is met; The intelligent driving module is further configured to restore the intelligent driving assistance function when detecting that the brake pedal of the vehicle is released; Among them, the condition detection module is used to: obtain the first acceleration corresponding to the stroke of the brake pedal and the second acceleration output by the intelligent driving assistance function; if the stroke of the brake pedal is within the effective stroke range and the absolute value of the first acceleration is greater than the absolute value of the second acceleration, it is determined that the exit condition of the intelligent driving assistance function is met.

8. A vehicle, characterized in that: include: Memory; one or more processors coupled to the memory; One or more programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to perform the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which can be called by a processor to execute the method according to any one of claims 1 to 6.

10. A computer program product, which is configured to implement the method according to any one of claims 1 to 6 when instructions in the computer program product are executed.

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