Vehicle driving control method and device, vehicle and storage medium
By recognizing vehicle driving scenarios and user intentions, and using preset rules and models to output power, the problem of untimely response and increased energy consumption in traditional vehicle driving control methods in complex environments is solved, achieving a more efficient driving experience and energy consumption management.
Patent Information
- Application Number
- CN202511093391.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-05
- Publication Date
- 2025-10-31
AI Technical Summary
Existing vehicle driving control methods are not quick enough to respond to complex and ever-changing driving environments and driver intentions, and cannot adjust accurately, resulting in a decline in driving experience or an increase in energy consumption.
By determining the vehicle's driving scenario, acquiring vehicle driving information, recognizing user intent using preset rules or models, and outputting corresponding power to control vehicle driving, including matching pedal opening, rate of change, and vehicle speed information in acceleration and braking scenarios, and updating rules based on historical data to improve recognition accuracy.
It improves vehicle control performance in complex driving environments, enhancing the driving experience and energy consumption management.
Smart Images
Figure CN120863633A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the automotive field, and more particularly to a vehicle driving control method, device, vehicle, and storage medium. Background Technology
[0002] With the continuous development of new energy vehicle technology, how to efficiently and accurately control vehicle power output has become a research hotspot for new energy vehicle companies.
[0003] Currently, most vehicle driving control methods are based on fixed rules or linear models, simply responding to the driver's driving or braking intentions by adjusting the opening of the accelerator or brake pedal. These methods are inadequate when dealing with complex and ever-changing driving environments and driver intentions. For example, in situations such as rapid acceleration or emergency braking, traditional control methods may fail to respond quickly and make accurate adjustments, leading to a degraded driving experience or increased energy consumption. Summary of the Invention
[0004] This application provides a vehicle driving control method, device, vehicle, and storage medium, which helps to improve the control performance of the vehicle during driving.
[0005] In a first aspect, embodiments of this application provide a vehicle driving control method, comprising: determining a vehicle driving scenario, the driving scenario including an acceleration scenario or a braking scenario; obtaining corresponding vehicle driving information according to the driving scenario; determining a user intent based on the vehicle driving information and preset rules under the driving scenario, the preset rules including preset interval combinations corresponding to the vehicle driving information; and outputting power based on the user intent, the power being used to control the driving of the vehicle.
[0006] In one possible implementation, obtaining the corresponding vehicle driving information based on the driving scenario includes: if the driving scenario is the acceleration scenario, obtaining the accelerator pedal opening, vehicle speed, and accelerator pedal opening change rate of the vehicle; or, if the driving scenario is the braking scenario, obtaining the brake pedal opening, vehicle speed, and brake pedal opening change rate of the vehicle.
[0007] In one possible implementation, determining the user intent based on the vehicle driving information and preset rules for the driving scenario includes: if the driving scenario is the acceleration scenario, determining the user intent based on the accelerator pedal opening, the vehicle speed, the rate of change of the accelerator pedal opening, and a first preset rule, wherein the first preset rule is a preset rule for the acceleration scenario; or, if the driving scenario is the braking scenario, determining the user intent based on the brake pedal opening, the vehicle speed, the rate of change of the brake pedal opening, and a second preset rule, wherein the second preset rule is a preset rule for the braking scenario.
[0008] In one possible implementation, the first preset rule includes an accelerator pedal opening range, a vehicle speed range, and an accelerator pedal opening change rate range. Determining the user's intent based on the accelerator pedal opening, vehicle speed, accelerator pedal opening change rate, and the first preset rule includes matching the accelerator pedal opening, vehicle speed, and accelerator pedal opening change rate with the accelerator pedal opening range, vehicle speed range, and accelerator pedal opening change rate range, respectively, to determine the user's intent. The second preset rule includes a brake pedal opening range, vehicle speed range, and brake pedal opening change rate range. Determining the user's intent based on the brake pedal opening, vehicle speed, brake pedal opening change rate, and the second preset rule includes matching the brake pedal opening, vehicle speed, and brake pedal opening change rate with the brake pedal opening range, vehicle speed range, and brake pedal opening change rate range, respectively, to determine the user's intent.
[0009] In one possible implementation, the first preset rule includes an accelerator pedal opening range, a vehicle speed range, and an accelerator pedal opening change rate range. The first preset rule is represented by a first preset model. Determining the user intent based on the accelerator pedal opening, the vehicle speed, the accelerator pedal opening change rate, and the first preset rule includes: inputting the accelerator pedal opening, the vehicle speed, and the accelerator pedal opening change rate into the first preset model to calculate the user intent. The second preset rule includes a brake pedal opening range, a vehicle speed range, and a brake pedal opening change rate range. The second preset rule is represented by a second preset model. Determining the user intent based on the brake pedal opening, the vehicle speed, the brake pedal opening change rate, and the second preset rule includes: inputting the brake pedal opening, the vehicle speed, and the brake pedal opening change rate into the second preset model to calculate the user intent.
[0010] In one possible implementation, the method further includes: acquiring the vehicle's driving data over a historical time period, the driving data including the accelerator pedal opening, the accelerator pedal opening change rate, the brake pedal opening, the brake pedal opening change rate, and the vehicle speed; and updating the first preset rule corresponding to the first preset model and the second preset rule corresponding to the second preset model based on the vehicle's driving data over the historical time period.
[0011] In one possible implementation, the user intent includes the user intent in the acceleration scenario and the user intent in the braking scenario. The user intent in the acceleration scenario includes at least gradual acceleration, normal acceleration, or rapid acceleration, and the user intent in the braking scenario includes at least gradual braking, normal braking, or rapid braking.
[0012] Secondly, embodiments of this application provide a vehicle driving control device, including one or more functional modules, which are used to execute the vehicle driving control method as described in the first aspect.
[0013] Thirdly, embodiments of this application provide a vehicle, including: a processor and a memory, wherein the memory is used to store a computer program; and the processor is used to run the computer program to implement the vehicle driving control method as described in the first aspect.
[0014] Fourthly, embodiments of this application provide a readable storage medium storing a program that, when run on a vehicle, causes the vehicle to implement the vehicle driving control method as described in the first aspect.
[0015] Fifthly, embodiments of this application provide a program that, when run on a vehicle's processor, causes the vehicle to perform the vehicle driving control method as described in the first aspect.
[0016] In one possible design, the program in the fifth aspect can be stored wholly or partially on a storage medium packaged with the processor, or it can be stored wholly or partially on a memory not packaged with the processor. Attached Figure Description
[0017] Figure 1 A flowchart illustrating an embodiment of the vehicle driving control method provided in this application; Figure 2 A schematic diagram of the first preset rule provided for an embodiment of this application; Figure 3 A schematic diagram of the second preset rule provided in the embodiments of this application; Figure 4 This is a schematic diagram of the preset model training provided in the embodiments of this application; Figure 5 A schematic flowchart of another embodiment of the vehicle driving control method provided in this application; Figure 6 This is a schematic diagram of the vehicle driving control device provided in the embodiments of this application; Figure 7 This is a schematic diagram of the vehicle structure provided in an embodiment of this application. Detailed Implementation
[0018] In this embodiment of the application, unless otherwise stated, the character " / " indicates that the preceding and following objects are in an OR relationship. For example, A / B can represent A or B. "AND / OR" describes the relationship between the associated objects, indicating that three relationships can exist. For example, A AND / OR B can represent: A existing alone, A and B existing simultaneously, and B existing alone.
[0019] It should be noted that the terms "first" and "second" used in the embodiments of this application are used only for distinguishing descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated, nor should they be construed as indicating or implying order.
[0020] In the embodiments of this application, "at least one" means one or more, and "more than one" means two or more. Furthermore, "at least one of the following" or similar expressions refer to any combination of these items, which may include any combination of a single item or a plurality of items. For example, at least one of A, B, or C can represent: A, B, C, A and B, A and C, B and C, or A, B, and C. Each of A, B, and C can be an element itself or a set containing one or more elements.
[0021] In this application, terms such as "exemplary," "in some embodiments," and "in another embodiment" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the term "exemplary" is intended to present the concept in a concrete manner.
[0022] In the embodiments of this application, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction, their meanings are consistent. Similarly, in the embodiments of this application, "communication" and "transmission" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction, their meanings are consistent. For example, transmission can include sending and / or receiving, and can be a noun or a verb.
[0023] In the embodiments of this application, the term "equal to" can be used in conjunction with "greater than" to apply to technical solutions employing the condition of "greater than", and can also be used in conjunction with "less than" to apply to technical solutions employing the condition of "less than". It should be noted that when "equal to" is used with "greater than", it cannot be used with "less than"; and when "equal to" is used with "less than", it cannot be used with "greater than".
[0024] With the continuous development of new energy vehicle technology, how to efficiently and accurately control vehicle power output has become a research hotspot for new energy vehicle companies.
[0025] Currently, most vehicle driving control methods are based on fixed rules or linear models, simply responding to the driver's driving or braking intentions by adjusting the opening of the accelerator or brake pedal. These methods are inadequate when dealing with complex and ever-changing driving environments and driver intentions. For example, in situations such as rapid acceleration or emergency braking, traditional control methods may fail to respond quickly and make accurate adjustments, leading to a degraded driving experience or increased energy consumption.
[0026] To address the aforementioned issues, this application provides a vehicle driving control method that helps improve the vehicle's control performance during driving.
[0027] Figure 1 A flowchart illustrating an embodiment of the vehicle driving control method provided in this application includes the following steps: Step 101: Determine the vehicle's driving scenario.
[0028] Specifically, the vehicles referred to in this application may include new energy vehicles, and the driving scenarios of the vehicles may include acceleration scenarios or automatic scenarios.
[0029] In some alternative embodiments, the vehicle's driving scenario can be determined based on the user's actions. For example, when the vehicle detects the user pressing the accelerator pedal, it can be determined that the vehicle is in an acceleration scenario; or, when the vehicle detects the user pressing the brake pedal, it can be determined that the vehicle is in a braking scenario.
[0030] In some alternative embodiments, the vehicle's driving scenario can be determined by pedal opening information collected by sensors. For example, when the vehicle collects accelerator pedal opening information, it can be determined that the vehicle is in an acceleration scenario; or, when the vehicle collects brake pedal opening information, it can be determined that the vehicle is in a braking scenario.
[0031] It is understood that the vehicle's driving scenario can also be determined by other means, and this application embodiment does not impose any special limitations on this.
[0032] Step 102: Obtain the corresponding vehicle driving information based on the determined vehicle driving scenario.
[0033] Specifically, vehicle driving information may include the accelerator pedal opening, the rate of change of the accelerator pedal opening, the brake pedal opening, the rate of change of the brake pedal opening, and the vehicle speed.
[0034] Obtaining corresponding vehicle driving information based on the determined vehicle driving scenario can include: in the vehicle acceleration scenario, information such as accelerator pedal opening, accelerator pedal opening change rate, and vehicle speed can be obtained; or, in the vehicle braking scenario, information such as brake pedal opening, brake pedal opening change rate, and vehicle speed can be obtained.
[0035] The accelerator pedal opening and brake pedal opening of the vehicle can be the accelerator pedal opening and brake pedal opening at a certain moment during the vehicle's operation. The accelerator pedal opening and brake pedal opening can be obtained by sensors installed on the vehicle, or the accelerator pedal opening and brake pedal opening can be obtained by other means. This application does not make any special limitations on this.
[0036] The vehicle speed can be the speed of the vehicle at a certain moment during its operation, or the vehicle speed can be the average speed of the vehicle over a certain period of time during its operation; this application does not impose any special limitations on this. The vehicle speed can be obtained by sensors installed on the vehicle, or the vehicle speed can be obtained by other means; this application does not impose any special limitations on this.
[0037] The accelerator pedal opening change rate and brake pedal opening change rate can be calculated. It's understood that the accelerator pedal opening change rate refers to the rate of change of the accelerator pedal opening over a period of time, and the brake pedal opening change rate refers to the rate of change of the brake pedal opening over a period of time. For example, once the accelerator pedal opening at the start and end times of a period of time are determined, the accelerator pedal opening change rate can be calculated based on these starting and ending times. Similarly, once the brake pedal opening at the start and end times of a period of time are determined, the brake pedal opening change rate can be calculated based on these starting and ending times.
[0038] Understandably, once the vehicle acquires the aforementioned accelerator pedal opening, accelerator pedal opening rate of change, brake pedal opening, brake pedal opening rate of change, and vehicle speed, it can send this information to the vehicle's overall controller.
[0039] Step 103: Determine the user intent based on vehicle driving information and preset rules under the driving scenario. The preset rules include preset interval combinations corresponding to vehicle driving information.
[0040] Specifically, the methods for determining user intent based on vehicle driving information and preset rules under driving scenarios may include: determining the corresponding user intent based on the vehicle's accelerator pedal opening, accelerator pedal opening change rate, vehicle speed and a first preset rule; or, determining the corresponding user intent based on the vehicle's brake pedal opening, brake pedal opening change rate, vehicle speed and a second preset rule.
[0041] The first preset rule can be used to characterize the preset rule in the acceleration scenario, and the second preset rule can be used to characterize the preset rule in the braking scenario.
[0042] It is understood that the user intent corresponding to the first preset rule may include user intents such as gradual acceleration, normal acceleration, and rapid acceleration. However, this does not constitute a limitation on the embodiments of this application. In some embodiments, other types of user intents corresponding to the first preset rule may also be included.
[0043] The user intent corresponding to the second preset rule may include user intents such as gentle braking, normal braking, and emergency braking. However, this does not constitute a limitation on the embodiments of this application. In some embodiments, other types of user intents corresponding to the second preset rule may also be included.
[0044] The method for determining the corresponding user intent based on the vehicle's accelerator pedal opening, accelerator pedal opening change rate, vehicle speed, and a first preset rule may include: matching the vehicle's accelerator pedal opening, accelerator pedal opening change rate, and vehicle speed with the accelerator pedal opening range, accelerator pedal opening change rate range, and vehicle speed range in the first preset rule to determine the corresponding user intent.
[0045] The method for determining the corresponding user intent based on the vehicle's brake pedal opening, brake pedal opening change rate, vehicle speed, and a second preset rule may include: matching the vehicle's brake pedal opening, brake pedal opening change rate, and vehicle speed with the brake pedal opening range, brake pedal opening change rate range, and vehicle speed range in the second preset rule to determine the corresponding user intent.
[0046] For example, Table 1 shows the mapping relationship between the first preset rule and the user intent.
[0047] Table 1
[0048] Referring to Table 1, the accelerator pedal opening is preset into three ranges: S1, M1, and B1. S1 can be used to represent accelerator pedal opening with a small numerical range; for example, the range of S1 can be greater than 0 and less than or equal to 10%. M1 can be used to represent accelerator pedal opening with a medium numerical range; for example, the range of M1 can be greater than 10% and less than or equal to 60%. B1 can be used to represent accelerator pedal opening with a large numerical range; for example, the range of B1 can be greater than 60% and less than or equal to 100%.
[0049] The vehicle speed is preset into three ranges: S2, M2, and B2. S2 represents speeds with a small numerical range; for example, the range of S2 can be greater than 0 and less than or equal to 10. M2 represents speeds with a medium numerical range; for example, the range of M2 can be greater than 10 and less than or equal to 80. B2 represents speeds with a large numerical range; for example, the range of B2 can be greater than 80 and less than or equal to 120.
[0050] The accelerator pedal opening change rate is preset with three ranges: S3, M3, and B3. S3 is used to characterize the accelerator pedal opening change rate over a small range; for example, the range of S3 can be greater than 0 and less than or equal to 10%. M3 is used to characterize the accelerator pedal opening change rate over a medium range; for example, the range of M3 can be greater than 10% and less than or equal to 50%. B3 is used to characterize the accelerator pedal opening change rate over a large range; for example, the range of B3 can be greater than 50% and less than or equal to 100%. It is understandable that the range in which the vehicle is located can be determined based on the accelerator pedal opening, vehicle speed, and the rate of change of accelerator pedal opening, thereby determining the corresponding user intent.
[0051] It should be noted that the above examples only illustrate the number of intervals and the corresponding values of the intervals, but do not constitute a limitation on the embodiments of this application. In some embodiments, other numbers of intervals and values can also be used for division.
[0052] Furthermore, the mapping relationship between each rule and user intent in the rule table shown in Table 1 above is merely an illustrative example, and the mapping relationship can be adjusted according to actual needs.
[0053] Figure 2 An exemplary diagram illustrates the process of determining the mapping relationship between preset rules (i.e., the first preset rule) and user intent in a vehicle acceleration scenario.
[0054] Next, Table 2 will be used to illustrate the mapping relationship between the second preset rule and the user intent.
[0055] For example, Table 2 shows the mapping relationship between the second preset rule and the user intent.
[0056] Table 2
[0057] Referring to Table 2, the brake pedal opening is preset into three ranges: S1', M1', and B1'. S1' can be used to characterize brake pedal opening with a small numerical range; for example, the range of S1' can be greater than 0 and less than or equal to 10%. M1' can be used to characterize brake pedal opening with a medium numerical range; for example, the range of M1' can be greater than 10% and less than or equal to 60%. B1' can be used to characterize brake pedal opening with a large numerical range; for example, the range of B1' can be greater than 60% and less than or equal to 100%.
[0058] The vehicle speed is preset into three ranges: S2', M2', and B2'. S2' represents a speed with a small numerical range; for example, S2' can be greater than 0 and less than or equal to 10. M2' represents a speed with a medium numerical range; for example, M2' can be greater than 10 and less than or equal to 80. B2' represents a speed with a large numerical range; for example, B2' can be greater than 80 and less than or equal to 120.
[0059] The brake pedal opening change rate is preset with three intervals: S3', M3', and B3'. S3' can be used to characterize a brake pedal opening change rate with a small numerical range; for example, the interval of S3' can be greater than 0 and less than or equal to 10%. M3' can be used to characterize a brake pedal opening change rate with a medium numerical range; for example, the interval of M3' can be greater than 10% and less than or equal to 50%. B3' can be used to characterize a brake pedal opening change rate with a large numerical range; for example, the interval of B3' can be greater than 50% and less than or equal to 100%.
[0060] It is understandable that the range in which the vehicle is located can be determined based on the vehicle's brake pedal opening, vehicle speed, and the rate of change of brake pedal opening, thereby determining the corresponding user intent.
[0061] It should be noted that the above examples only illustrate the number of intervals and the corresponding values of the intervals, but do not constitute a limitation on the embodiments of this application. In some embodiments, other numbers of intervals and values can also be used for division.
[0062] Furthermore, the mapping relationship between each rule and user intent in the rule table shown in Table 2 above is only an illustrative example, and the above mapping relationship can be adjusted according to actual needs.
[0063] Figure 3 An exemplary diagram illustrates the process of determining the mapping relationship between preset rules (i.e., the second preset rule) and user intent in a vehicle braking scenario.
[0064] In some optional embodiments, the first and second preset rules described above can be represented by a preset model. In this case, the user intent can also be calculated using the preset model. For example, the accelerator pedal opening, accelerator pedal opening change rate, brake pedal opening, brake pedal opening change rate, and vehicle speed can be input into the preset model, and the user intent can be obtained through calculation using the preset model. For instance, the accelerator pedal opening, accelerator pedal opening change rate, and vehicle speed can be input into the first preset model for calculation to obtain the corresponding user intent, where the first preset model can be a preset model for acceleration scenarios. Alternatively, the brake pedal opening, brake pedal opening change rate, and vehicle speed can be input into the second preset model for calculation to obtain the corresponding user intent, where the second preset model can be a preset model for braking scenarios. It is understandable that the first and second preset models mentioned above can be obtained through pre-training.
[0065] Taking the first preset model in the acceleration scenario as an example, Figure 4 The training process of the first preset model is illustrated as an example.
[0066] refer to Figure 4 The input information may include accelerator pedal opening L1, accelerator pedal opening change rate ΔL1, and vehicle speed V.
[0067] Next, a comprehensive feature u is obtained by linearly combining the accelerator pedal opening L1, the accelerator pedal opening change rate ΔL1, and the vehicle speed V. This comprehensive feature u can be calculated using the following formula: ; Where wi are the weighting coefficients of accelerator pedal opening L1, accelerator pedal opening change rate ΔL1, and vehicle speed V, respectively; xi are the weighting coefficients of accelerator pedal opening L1, accelerator pedal opening change rate ΔL1, and vehicle speed V, respectively; and b is the bias factor. For example, the bias factor b can be the battery remaining charge (State of Charge, SOC) status. The bias factor b can be used to adjust the baseline value of feature fusion.
[0068] Then, the comprehensive feature u can be concatenated with the bit-series data according to a time window (e.g., 500 frames / 5 seconds), and its dimension can be T. 1. Spatial features are extracted through convolution, and nonlinearity is introduced through the ReLU activation function to obtain the convolution output X. This convolution output X can be calculated using the following formula: ; Where Wconv is the weight coefficient of the convolutional layer, and bconv is the bias factor of the convolutional layer.
[0069] Next, pooling layers are used to compress the feature dimensionality, enhancing the model's translation invariance. Finally, high-order features are input into a fully connected layer, and the output is normalized using the Softmax function. This Softmax function can be represented by the following formula: ; Where N is the number of neurons in the output layer, that is, the number of possible outcomes of the user's intent.
[0070] Then, within each timestamp t, a quadruple (s) of state, action, reward, and next state is constructed using the DQN algorithm. t a, r, s t+1 ), and store them in the experience pool.
[0071] Next, a batch of data can be randomly drawn from the experience pool for training. Each quadruple (s) t a, r, s t+1 Each of these can correspond to a target Q-value, which can be calculated by the target network using the following formula: ; Where r is the reward, γ is the discount factor, Q' is the target network, max(Q'(s',a')) is the maximum Q value among all feasible actions in the next state s', and the target Q value is the cumulative reward for performing action a in state s.
[0072] Then, the loss function can be calculated. For example, the mean squared error loss function can be used, and its calculation formula is shown below: ; Where θ is the parameter of the prediction network, N is the number of samples, Q(s,a,θ) is the Q value calculated by the prediction network, and y is the target Q value.
[0073] By copying the parameters and differentiating the loss function, we can obtain the following gradient descent formula: ; The parameters of the prediction network are updated using an optimization algorithm (such as stochastic gradient descent) to minimize the loss function. The updated prediction network parameters are then used for training on the next batch of data.
[0074] In some optional embodiments, the parameters of the target network can be updated periodically by copying the parameters of the prediction network into the target network. This ensures that the parameters of the target network are relatively stable, reduces the variance of the Q-value estimation, and improves the stability of the algorithm.
[0075] It is understood that the training method of the second preset model in the braking scenario can be specifically referred to the training method of the first preset model in the acceleration scenario in the above embodiment, and will not be repeated here.
[0076] Step 104: Output power according to the user's intention, which is used to control the vehicle's movement.
[0077] Specifically, once the user's intent is determined, corresponding motivation can be output based on that intent.
[0078] For example, assuming the user's intention is to accelerate gradually, the vehicle can output corresponding power according to the user's intention to accelerate gradually, so as to achieve the purpose of gradual acceleration.
[0079] For example, assuming the user's intention is normal acceleration, the vehicle can output corresponding power according to the user's intention to accelerate normally, so as to achieve the purpose of normal acceleration.
[0080] For example, if the user's intention is to accelerate rapidly, the vehicle can output corresponding power according to the user's intention to accelerate rapidly.
[0081] For example, if the user's intention is to brake gently, the vehicle can output corresponding power according to the user's intention to brake gently, so as to achieve the purpose of gentle braking.
[0082] For example, assuming the user's intention is normal braking, the vehicle can output corresponding power according to the user's intention to brake normally, so as to achieve the purpose of normal braking.
[0083] For example, if the user's intention is to brake suddenly, the vehicle can output corresponding power according to the user's intention to brake suddenly, so as to achieve the purpose of emergency braking.
[0084] In some optional embodiments, the preset rules can also be updated based on the driving data of the vehicle during its operation.
[0085] Figure 5 A flowchart illustrating another embodiment of the vehicle driving control method provided in this application may further include the following steps: Step 501: Obtain the vehicle's driving data within the historical time period.
[0086] Specifically, the vehicle's driving data over a historical period may include information such as the accelerator pedal opening, the rate of change of the accelerator pedal opening, the brake pedal opening, the rate of change of the brake pedal opening, and the vehicle speed.
[0087] Step 502: Update the first preset rule and the second preset rule based on the vehicle's driving data within the historical time period.
[0088] Specifically, once the vehicle's driving data within a historical time period is obtained, the first preset rule and the second preset rule can be updated based on the vehicle's driving data within the historical time period.
[0089] The method of updating the first preset rule and the second preset rule based on the vehicle's driving data in the historical time period may include: updating the accelerator pedal opening range, vehicle speed range and accelerator pedal opening change rate range of the first preset rule, and the brake pedal opening range, vehicle speed range and brake pedal opening change rate range of the second preset rule based on the vehicle's driving data in the historical time period.
[0090] For example, the accelerator pedal opening, accelerator pedal opening rate of change, and vehicle speed during a historical time period can be used as samples to input into the first preset model for training, so as to update the accelerator pedal opening range, vehicle speed range, and accelerator pedal opening rate of change range corresponding to the first preset model.
[0091] For example, the brake pedal opening, brake pedal opening change rate, and vehicle speed of a vehicle during a historical time period can be used as samples to input into the second preset model for training, so as to update the brake pedal opening range, vehicle speed range, and brake pedal opening change rate range corresponding to the second preset model.
[0092] By updating the first and second preset rules, user intent can be identified more accurately based on vehicle driving information.
[0093] Figure 6 This is a schematic diagram of the vehicle driving control device provided in the embodiments of this application, such as... Figure 6 As shown, the vehicle driving control device 60 may include: a determining module 61, an acquiring module 62, an identifying module 63, and an output module 64; wherein, The determination module 61 is used to determine the driving scenario of the vehicle, which includes an acceleration scenario or a braking scenario; The acquisition module 62 is used to acquire corresponding vehicle driving information according to the driving scenario; The recognition module 63 is used to determine the user's intent based on the vehicle driving information and preset rules under the driving scenario, wherein the preset rules include preset interval combinations corresponding to the vehicle driving information; Output module 64 is used to output power based on the user's intention, the power being used to control the driving of the vehicle.
[0094] In one possible implementation, the acquisition module 62 is specifically used to acquire the accelerator pedal opening, vehicle speed, and accelerator pedal opening change rate of the vehicle if the driving scenario is the acceleration scenario; or... If the driving scenario is the braking scenario, obtain the vehicle's brake pedal opening, vehicle speed, and brake pedal opening change rate.
[0095] In one possible implementation, the recognition module 63 is specifically used to determine the user's intent based on the accelerator pedal opening, the vehicle speed, the rate of change of the accelerator pedal opening, and a first preset rule if the driving scenario is the acceleration scenario; the first preset rule is a preset rule for the acceleration scenario; or... If the driving scenario is the braking scenario, the user intent is determined based on the brake pedal opening, the vehicle speed, the brake pedal opening change rate, and the second preset rule, where the second preset rule is a preset rule for the braking scenario.
[0096] In one possible implementation, the first preset rule includes an accelerator pedal opening range, a vehicle speed range, and an accelerator pedal opening change rate range; the second preset rule includes a brake pedal opening range, a vehicle speed range, and a brake pedal opening change rate range. Specifically, the identification module 63 is used to match the accelerator pedal opening, the vehicle speed, and the accelerator pedal opening change rate with the accelerator pedal opening range, the vehicle speed range, and the accelerator pedal opening change rate range, respectively, to determine the user's intent; and to match the brake pedal opening, the vehicle speed, and the brake pedal opening change rate with the brake pedal opening range, the vehicle speed range, and the brake pedal opening change rate range, respectively, to determine the user's intent.
[0097] In one possible implementation, the first preset rule includes an accelerator pedal opening range, a vehicle speed range, and an accelerator pedal opening change rate range, and the first preset rule is represented by a first preset model. The second preset rule includes a brake pedal opening range, a vehicle speed range, and a brake pedal opening change rate range, and the second preset rule is represented by a second preset model. The recognition module 63 is specifically used to input the accelerator pedal opening, the vehicle speed, and the accelerator pedal opening change rate into the first preset model to calculate the user intent; and to input the brake pedal opening, the vehicle speed, and the brake pedal opening change rate into the second preset model to calculate the user intent.
[0098] In one possible implementation, the vehicle driving control device 60 further includes: The update module is used to obtain the vehicle's driving data within a historical time period. The vehicle's driving data within the historical time period includes the accelerator pedal opening, the accelerator pedal opening change rate, the brake pedal opening, the brake pedal opening change rate, and the vehicle speed. The first preset rule corresponding to the first preset model and the second preset rule corresponding to the second preset model are updated based on the vehicle's driving data within the historical time period.
[0099] In one possible implementation, the user intent includes the user intent in the acceleration scenario and the user intent in the braking scenario. The user intent in the acceleration scenario includes at least gradual acceleration, normal acceleration, or rapid acceleration, and the user intent in the braking scenario includes at least gradual braking, normal braking, or rapid braking.
[0100] Figure 6 The vehicle driving control device 60 provided in the illustrated embodiment can be used to execute the technical solution of the method embodiment shown in this application. Its implementation principle and technical effects can be further referred to the relevant description in the method embodiment.
[0101] It should be understood that the division of the various modules of the vehicle driving control device 60 described above is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented in software via processing element calls, while others are implemented in hardware. For example, the detection module can be a separate processing element, or it can be integrated into a chip in the terminal device. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.
[0102] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs). Alternatively, these modules can be integrated together as a system-on-a-chip (SOC).
[0103] Figure 7This is a schematic diagram of a speed regulating mechanism for a lift, provided in an embodiment of this application. The vehicle 700 may include: at least one processor; and at least one memory communicatively connected to the processor. The memory stores program instructions executable by the processor, and the processor in the vehicle 700 can execute the actions performed in the memory access method provided in this embodiment by calling the program instructions.
[0104] like Figure 7 As shown, vehicle 700 is represented in the form of a general-purpose computing device. The components of vehicle 700 may include, but are not limited to: one or more processors 710, memory 720, communication bus 740 connecting different system components (including memory 720 and processor 710), and communication interface 730.
[0105] The communication bus 740 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) buses, Micro Channel Architecture (MAC) buses, Enhanced ISA buses, Video Electronics Standards Association (VESA) local buses, and Peripheral Component Interconnect (PCI) buses.
[0106] Vehicle 700 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by end devices, including volatile and non-volatile media, removable and non-removable media.
[0107] Memory 720 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The terminal device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Although Figure 7As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a removable non-volatile optical disc (e.g., a compact disc read-only memory (CD-ROM), a digital video disc read-only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the communication bus 740 via one or more data media interfaces. The memory 720 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.
[0108] A program / utility having a set (at least one) of program modules can be stored in memory 720. Such program modules include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules typically perform the functions and / or methods described in the embodiments of this application.
[0109] Vehicle 700 can also communicate with one or more external devices (e.g., keyboard, pointing device, display, etc.), and with one or more devices that enable a user to interact with the terminal device, and / or with any device that enables the terminal device to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through communication interface 730. Furthermore, vehicle 700 can also communicate via a network adapter ( Figure 7 (Not shown) communicates with one or more networks (e.g., Local Area Network (LAN), Wide Area Network (WAN), and / or public networks, such as the Internet). The aforementioned network adapter can communicate with other modules of the terminal device via the communication bus 740. It should be understood that, although... Figure 7 As not shown in the diagram, other hardware and / or software modules can be used in conjunction with the vehicle 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, Redundant Arrays of Independent Drives (RAID) systems, tape drives, and data backup storage systems.
[0110] The processor 710 executes various functional applications and data processing by running programs stored in the memory 720, such as implementing the methods provided in the embodiments of this application.
[0111] It is understood that the interface connection relationships between the modules illustrated in the embodiments of this application are merely illustrative and do not constitute a structural limitation on the vehicle 700. In other embodiments of this application, the vehicle 700 may also adopt different interface connection methods or combinations of multiple interface connection methods as described in the above embodiments.
[0112] In the above embodiments, the processor may include, for example, a CPU, DSP, microcontroller, or digital signal processor, and may also include a GPU, embedded neural network processing unit (NPU), and image signal processor (ISP). The processor may also include necessary hardware accelerators or logic processing hardware circuits, such as an ASIC, or one or more integrated circuits for controlling the execution of the program in this application. Furthermore, the processor may have the function of operating one or more software programs, which may be stored in a storage medium.
[0113] This application also provides a readable storage medium storing a program that, when run on a system, causes the system to execute the method provided in the embodiments shown in this application.
[0114] This application also provides a program product, which includes a program that, when run on a system, causes the system to execute the method provided in the embodiments shown in this application.
[0115] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.
[0116] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0117] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0118] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0119] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.
Claims
1. A vehicle driving control method, characterized in that, The method includes: Determine the vehicle's driving scenario, which includes acceleration or braking scenarios; Obtain the corresponding vehicle driving information based on the driving scenario; Based on the vehicle driving information and preset rules under the driving scenario, the user intent is determined, and the preset rules include preset interval combinations corresponding to the vehicle driving information. Power is output based on the user's intent, and the power is used to control the movement of the vehicle.
2. The method according to claim 1, characterized in that, The step of obtaining the corresponding vehicle driving information based on the driving scenario includes: If the driving scenario is the acceleration scenario, obtain the vehicle's accelerator pedal opening, vehicle speed, and accelerator pedal opening change rate; or, If the driving scenario is the braking scenario, obtain the vehicle's brake pedal opening, vehicle speed, and brake pedal opening change rate.
3. The method according to claim 2, characterized in that, The process of determining user intent based on the vehicle driving information and preset rules under the driving scenario includes: If the driving scenario is the acceleration scenario, the user intent is determined based on the accelerator pedal opening, the vehicle speed, the rate of change of the accelerator pedal opening, and a first preset rule, where the first preset rule is a preset rule for the acceleration scenario; or... If the driving scenario is the braking scenario, the user intent is determined based on the brake pedal opening, the vehicle speed, the brake pedal opening change rate, and the second preset rule, where the second preset rule is a preset rule for the braking scenario.
4. The method according to claim 3, characterized in that, The first preset rule includes an accelerator pedal opening range, a vehicle speed range, and an accelerator pedal opening change rate range. Determining the user intent based on the accelerator pedal opening, the vehicle speed, the accelerator pedal opening change rate, and the first preset rule includes: The accelerator pedal opening, vehicle speed, and accelerator pedal opening change rate are matched with the accelerator pedal opening range, vehicle speed range, and accelerator pedal opening change rate range, respectively, to determine the user's intent. The second preset rule includes a brake pedal opening range, a vehicle speed range, and a brake pedal opening change rate range. Determining the user intent based on the brake pedal opening, the vehicle speed, the brake pedal opening change rate, and the second preset rule includes: The brake pedal opening, vehicle speed, and brake pedal opening change rate are matched with the brake pedal opening range, vehicle speed range, and brake pedal opening change rate range, respectively, to determine the user's intent.
5. The method according to claim 3, characterized in that, The first preset rule includes an accelerator pedal opening range, a vehicle speed range, and an accelerator pedal opening change rate range. The first preset rule is characterized by a first preset model. Determining the user intent based on the accelerator pedal opening, the vehicle speed, the accelerator pedal opening change rate, and the first preset rule includes: The accelerator pedal opening, the vehicle speed, and the rate of change of the accelerator pedal opening are input into the first preset model to calculate and obtain the user intent; The second preset rule includes a brake pedal opening range, a vehicle speed range, and a brake pedal opening change rate range. The second preset rule is characterized by a second preset model. Determining the user intent based on the brake pedal opening, the vehicle speed, the brake pedal opening change rate, and the second preset rule includes: The user intent is calculated by inputting the brake pedal opening, the vehicle speed, and the brake pedal opening change rate into the second preset model.
6. The method according to claim 5, characterized in that, The method further includes: The vehicle's driving data during a historical time period is obtained, including the accelerator pedal opening, the accelerator pedal opening change rate, the brake pedal opening, the brake pedal opening change rate, and the vehicle speed. The first preset rule corresponding to the first preset model and the second preset rule corresponding to the second preset model are updated based on the vehicle's driving data within the historical time period.
7. The method according to any one of claims 1-6, characterized in that, The user intent includes the user intent in the acceleration scenario and the user intent in the braking scenario. The user intent in the acceleration scenario includes at least gradual acceleration, normal acceleration, or rapid acceleration. The user intent in the braking scenario includes at least gradual braking, normal braking, or rapid braking.
8. A vehicle driving control device, characterized in that, The device includes: A determination module is used to determine the driving scenario of the vehicle, which includes an acceleration scenario or a braking scenario; The acquisition module is used to acquire corresponding vehicle driving information based on the driving scenario. The recognition module is used to determine the user's intent based on the vehicle driving information and preset rules under the driving scenario, wherein the preset rules include preset interval combinations corresponding to the vehicle driving information; An output module is used to output power based on the user's intent, the power being used to control the movement of the vehicle.
9. A vehicle, characterized in that, include: Processor and memory, the memory being used to store programs; The processor is used to run the program to implement the vehicle driving control method as described in any one of claims 1-7.
10. A readable storage medium, characterized in that, The readable storage medium stores a program that, when run on the vehicle, implements the vehicle driving control method as described in any one of claims 1-7.