Vehicle control method and device based on safe driving mode, vehicle and medium

Abstract

The method is mainly applied to the technical field of automobile engineering. The invention discloses a vehicle control method and device based on a safe driving mode, a vehicle and a medium, which are specifically realized as follows: after the vehicle enters the safe driving mode, operation is carried out according to different scenes, and during rapid turning, torque and braking force are adjusted, and a steering system is controlled to run according to an expected track; during starting, the torque and the vehicle speed are controlled within a preset range based on a preset acceleration pedal curve; during passion driving, monitoring the opening change of an accelerator pedal, and switching to a motion mode after a threshold value is reached; in a collision scene, active braking is performed according to a collision signal and a braking state; and during deceleration parking, the braking force is adjusted, the output of the driving system is controlled, and linear deceleration to stop is realized. By automatically controlling the braking system, the driving system and the steering system, various safe driving scene selections can be provided for a driver, so that the driving experience is improved, and traffic accidents are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automotive engineering, in particular to a vehicle control method and device based on a safe driving mode, a vehicle and a medium. BACKGROUND

[0002] Under the background of the continuous development of the automobile industry, driving mode as an important factor affecting driving experience and safety has always been a key research area. Traditional driving modes mainly focus on meeting the basic driving needs of vehicles, such as pursuing fuel efficiency in economy mode and focusing on driving pleasure in sports mode, etc. However, in actual driving scenarios, these modes often have obvious limitations.

[0003] With the acceleration of urbanization and the increasing complexity of road environment, the situations faced by drivers are also more diverse and variable. On the one hand, the experience levels of different drivers vary greatly. For experienced drivers, they can better cope with various complex road conditions and unexpected situations, and they can ensure driving safety through their skilled operation of the vehicle. However, for novice drivers or people with insufficient driving experience, due to lack of in-depth understanding of the vehicle's performance, braking distance, steering characteristics, etc., they often cannot respond in time and accurately when facing emergency braking, wet road driving, high-speed avoidance, etc., leading to operational errors and causing traffic accidents.

[0004] On the other hand, existing driving modes lack proactive safety protection functions. In many dangerous driving scenarios, such as sudden obstacles in front of the vehicle and vehicle skidding, although the vehicle is equipped with safety configurations such as anti-lock braking system (ABS) and electronic stability program (ESP), these systems usually intervene passively when the vehicle has already become unstable. Existing driving modes cannot adjust the vehicle's braking, driving, and steering systems in advance according to specific driving scenarios to assist the driver in avoiding danger.

[0005] In addition, existing driving modes also have shortcomings in providing options for safe scenarios. Drivers need different driving modes to ensure safety under different road conditions, weather conditions, and traffic flow, but existing modes cannot well meet this demand.

[0006] Therefore, existing driving modes cannot compensate for the operational defects caused by the lack of driving experience, lack proactive safety protection functions, and are difficult to meet the requirements of complex and variable road environments for driving safety and experience, which urgently needs a vehicle control method based on a safe driving mode to solve these problems. SUMMARY

[0007] The application provides a vehicle control method and device based on a safe driving mode, a vehicle and a medium, which can provide more driving mode selections based on safe scenes for a driver, improve driving experience and effectively reduce traffic accidents.

[0008] The application provides a vehicle control method based on a safe driving mode, which comprises the following steps: controlling a target vehicle in a safe driving mode and determining one or more safe driving mode scenes according to a scene selection instruction for the safe driving mode; when the safe driving mode scene is a fast turning scene, adjusting torque and braking force of the target vehicle and controlling the target vehicle to travel along an expected trajectory through a steering system of the target vehicle; when the safe driving mode scene is a starting scene, controlling torque and vehicle speed of the target vehicle within a preset value range through a driving system of the target vehicle based on a preset acceleration pedal curve; when the safe driving mode scene is a passion driving scene, monitoring a change condition of an acceleration pedal opening degree of the target vehicle, and if a change value of the acceleration pedal opening degree reaches a preset threshold, switching from the safe driving mode to a sports mode; when the safe driving mode scene is a collision scene, actively braking the target vehicle according to a collision signal and a vehicle braking state; when the safe driving mode scene is a deceleration and parking scene, adjusting braking force through a braking system of the target vehicle and controlling output of the driving system according to the braking force, so that the target vehicle linearly decelerates to stop moving.

[0009] Optionally, when the safe driving mode scene is the fast turning scene, adjusting the torque and the braking force of the target vehicle and controlling the target vehicle to travel along the expected trajectory through the steering system of the target vehicle further comprises the following steps: monitoring a lateral displacement amount, a steering angle and a steering speed of the target vehicle in real time; when a deviation value of the lateral displacement amount, a deviation value of the steering angle or a deviation value of the steering speed exceeds a corresponding preset safety threshold, determining that the target vehicle is in a vehicle unstable state, reducing the torque of the target vehicle and adjusting the steering angle and the steering speed through the steering system; monitoring whether the target vehicle is in the vehicle unstable state or a stable driving state; if the target vehicle is in the vehicle unstable state, requesting a vehicle body stabilization system of the target vehicle to take over automatic control of the target vehicle until the target vehicle is in the stable driving state; If the target vehicle is in a stable driving state, return to performing the step of monitoring the lateral displacement, the steering angle and the steering speed of the target vehicle in real time.

[0010] Optionally, when the safe driving mode scenario is a starting scenario, based on a preset acceleration pedal curve, the torque and the speed of the target vehicle are controlled within a preset value range by a driving system of the target vehicle, further comprising: When the speed variation of the target vehicle is detected to be within a preset variation range, and the acceleration pedal opening is monitored to be greater than a preset threshold value within a preset time period, it is determined that the current starting operation is abnormal, and the target vehicle is controlled to be in a safe driving mode; In the safe driving mode, according to the linear relationship of the acceleration pedal curve, the corresponding torque is output by the driving system to make the target vehicle accelerate linearly.

[0011] Optionally, when the safe driving mode scenario is a passion driving scenario, the acceleration pedal opening variation of the target vehicle is monitored, and if the acceleration pedal opening variation value reaches a preset threshold value, the safe driving mode is switched to a sports mode, further comprising: The acceleration pedal opening, the acceleration pedal depression speed and the current speed of the target vehicle are monitored. If the acceleration pedal opening is greater than a first preset threshold value, the acceleration pedal depression speed is greater than a second preset threshold value, and the current speed is greater than a third preset threshold value, it is determined that the driver's operation is a voluntary trigger operation, and the target vehicle is controlled to be switched from the safe driving mode to the sports mode; If the acceleration pedal opening continuously exceeds a fourth preset threshold value for a preset time period, it is determined that the driver's operation is a non-voluntary trigger operation, and the driving system is controlled to stop outputting power and the braking system is controlled to brake; In the process of switching from the safe driving mode to the sports mode or stopping outputting power and braking, the information reminding the driver is sent through the human-computer interaction device of the target vehicle.

[0012] Optionally, when the safe driving mode scenario is a collision scenario, the target vehicle is actively braked according to a collision signal and a vehicle braking state, further comprising: After the vehicle collides, a collision signal from one or more collision detection systems is received, wherein the collision detection system is an airbag control system, an advanced driving assistance system or an automatic driving system; Based on the one or more collision signals, the braking state of the target vehicle is determined; When the braking state is that the driver does not perform the braking operation, the braking system is controlled to actively brake at a preset deceleration, and the target vehicle is controlled to be in a parking state after being stopped by the target vehicle.

[0013] Optionally, when the safe driving mode scene is a deceleration and parking scene, the braking force of the braking system of the target vehicle is adjusted, and the output of the driving system is controlled according to the braking force, so that the target vehicle is linearly decelerated to stop moving, and the method further comprises: When it is detected that the brake pedal opening of the target vehicle exceeds a fifth preset threshold and the vehicle speed of the target vehicle is lower than a sixth preset threshold, it is determined that the target vehicle is in a deceleration state, and the braking force of the braking system is controlled to be increased so that the target vehicle is linearly decelerated to stop moving; After the target vehicle stops moving, the braking force output by the braking system is matched with the current brake pedal opening.

[0014] Optionally, the safe driving mode based vehicle control method further comprises: When the target vehicle is in the safe driving mode, information reminding the driver is sent through the human-computer interaction device of the target vehicle, and the brake light and the danger warning light of the target vehicle are controlled to be turned on to warn that the target vehicle is in an abnormal state.

[0015] The application also provides a safe driving mode based vehicle control device, which comprises: A selection module is configured to control a target vehicle to be in a safe driving mode, and determine one or more safe driving mode scenes according to a scene selection instruction for the safe driving mode; A first scene module is configured to, when the safe driving mode scene is a fast turning scene, adjust the torque and the braking force of the target vehicle, and control the target vehicle to travel along a desired trajectory through a steering system of the target vehicle; A second scene module is configured to, when the safe driving mode scene is a starting scene, control the torque and the vehicle speed of the target vehicle to be within a preset value range through a driving system of the target vehicle based on a preset acceleration pedal curve; A third scene module is configured to, when the safe driving mode scene is an emotional driving scene, monitor the change of the accelerator pedal opening of the target vehicle, and if the change value of the accelerator pedal opening reaches a preset threshold, switch from the safe driving mode to a sports mode; A fourth scene module is configured to, when the safe driving mode scene is a collision scene, actively brake the target vehicle according to a collision signal and a vehicle braking state; a fifth scenario module, configured to, when the safe driving mode scenario is a deceleration and parking scenario, adjust a braking force through a braking system of the target vehicle, and control an output of the driving system according to the braking force, so as to make the target vehicle linearly decelerate to stop moving.

[0016] The application further provides a vehicle comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the safe driving mode based vehicle control method according to any one of the preceding embodiments.

[0017] The application further provides a computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the safe driving mode based vehicle control method according to any one of the preceding embodiments.

[0018] The application has at least the following beneficial effects: The technical solution precisely controls the braking system, the driving system and the steering system of the vehicle, and realizes intelligent operation for different safe driving scenarios. In the fast turning scenario, the torque and the braking force are adjusted and the steering system is controlled to ensure that the vehicle travels along the expected trajectory and avoids losing control. In the starting scenario, the torque and the vehicle speed are controlled according to the preset acceleration pedal curve to make the vehicle start smoothly and reduce the safety hazards caused by sudden acceleration. In the passion driving scenario, the change of the acceleration pedal opening is monitored, and when the threshold is reached, the vehicle is switched to the sports mode to meet the driving demand while ensuring safety. In the collision scenario, the vehicle is actively braked according to the collision signal and the braking state to reduce the collision hazards. In the deceleration and parking scenario, the braking force is adjusted and the driving system output is controlled to realize linear deceleration and stop, avoiding accidents caused by sudden braking. The control method based on the safe driving mode provides rich safe scenario options for the driver, improves the driving experience, effectively reduces traffic accidents caused by improper operation or unexpected situations, and realizes the dual optimization of safety and convenience. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are included to provide a further understanding of the technical solution of the application, and constitute a part of the specification, and are used together with the embodiments of the application to explain the technical solution of the application, and do not constitute a limitation on the technical solution of the application.

[0020] Figure 1 is a step flow chart of a safe driving mode based vehicle control method; Figure 2 is a step flow chart of step S102 in the safe driving mode based vehicle control method; Figure 3 is a safe driving mode control schematic diagram in the fast turning scenario of the safe driving mode based vehicle control method; Figure 4 is a control logic diagram of a safe driving mode in a fast turning scene in a vehicle control method based on the safe driving mode; Figure 5 is a step flow chart of step S103 in a vehicle control method based on the safe driving mode; Figure 6 is a linear relationship diagram of a safe driving mode accelerator pedal opening and vehicle speed in a starting scene in a vehicle control method based on the safe driving mode; Figure 7 is a step flow chart of step S104 in a vehicle control method based on the safe driving mode; Figure 8 is a step flow chart of step S105 in a vehicle control method based on the safe driving mode; Figure 9 is a control diagram of a safe driving mode in a collision scene in a vehicle control method based on the safe driving mode; Figure 10 is a step flow chart of step S106 in a vehicle control method based on the safe driving mode; Figure 11 is a structure diagram of a vehicle control device based on the safe driving mode. DETAILED DESCRIPTION

[0021] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0022] The present applicant found that there are mainly three driving modes for current automobile driving modes, namely, an economic mode, a standard mode and a sports mode. A driver selects a driving mode according to driving requirements and driving preferences to meet the requirements for performance, fuel efficiency and driving of an automobile. With the development of society and the improvement of living standards, automobiles are gradually becoming more and more popular in families as consumer goods, and the number of drivers is increasing rapidly. However, not all drivers have sufficient driving experience. When a driver uses a conventional driving mode and encounters a special driving scene, the driver is prone to improper handling, which leads to traffic accidents and causes serious personnel and property damage.

[0023] The driver with insufficient driving experience is unstable in controlling the accelerator pedal and the brake pedal, and the vehicle is prone to rapid acceleration or rapid deceleration during driving; the steering wheel is not controlled well when turning on a curve, and deviation from the lane is prone to cause traffic accidents; in special driving scenarios, the accelerator pedal is easily mistaken for the brake pedal, causing collision or secondary collision accidents; for the above driving scenarios, the conventional economic driving mode, the standard driving mode and the sports driving mode mainly rely on the driver's operation, and the insufficient driving experience of the driver causes poor driving experience and cannot effectively control and avoid traffic accidents. Therefore, the technical solution provides a vehicle control method, device, vehicle and medium based on a safe driving mode. The effective control of the brake system, the driving system and the steering system is automatically provided to the driver, and more driving mode options based on safe scenarios are provided to improve the driving experience and effectively reduce traffic accidents. The following is each embodiment of the technical solution.

[0024] Please refer to Figure 1 , Figure 1 A step flowchart of a vehicle control method based on a safe driving mode.

[0025] The embodiment provides a vehicle control method based on a safe driving mode, which comprises the following steps. S101, controlling a target vehicle in a safe driving mode, and determining one or more safe driving mode scenarios according to a scene selection instruction for the safe driving mode.

[0026] S102, when the safe driving mode scenario is a rapid turning scenario, adjusting the torque and braking force of the target vehicle, and controlling the target vehicle to travel along a desired trajectory through the steering system of the target vehicle.

[0027] S103, when the safe driving mode scenario is a starting scenario, based on a preset acceleration pedal curve, controlling the torque and speed of the target vehicle within a preset value range through the driving system of the target vehicle.

[0028] S104, when the safe driving mode scenario is a passion driving scenario, monitoring the change of the accelerator pedal opening of the target vehicle, and if the change value of the accelerator pedal opening reaches a preset threshold, switching from the safe driving mode to the sports mode.

[0029] S105, when the safe driving mode scenario is a collision scenario, actively braking the target vehicle according to a collision signal and a vehicle braking state.

[0030] S106, when the safe driving mode scenario is a deceleration and parking scenario, adjusting the braking force through the brake system of the target vehicle, and controlling the output of the driving system according to the braking force, so that the target vehicle linearly decelerates to stop moving.

[0031] In the embodiment, the safe driving mode is provided for users to select in the vehicle UI / UE in parallel with the standard driving mode, the sports driving mode and the economic mode. The safe driving mode is subdivided into the fast cornering scene, the starting scene, the passion driving scene, the collision scene and the deceleration parking scene. Users can select one or more safe driving mode scenes according to their driving habits and driving needs. The safe driving mode is a new type of mode different from the conventional driving sports mode, the economic mode and the standard mode. It is embedded in the vehicle control unit under the vehicle domain control architecture or the vehicle control domain controller under the vehicle central integrated architecture in the form of independent software, and effectively controls and manages the braking system of the vehicle in various safety-related driving scenes.

[0032] It can be understood that the embodiment realizes intelligent operation for different safe driving scenes by precisely controlling the braking system, the driving system and the steering system of the vehicle. In the fast cornering scene, the torque and the braking force are adjusted and the steering system is controlled to ensure that the vehicle travels along the expected trajectory and avoids losing control. In the starting scene, the torque and the vehicle speed are controlled according to the preset accelerator pedal curve to enable the vehicle to start smoothly and reduce the safety hazards caused by sudden acceleration. In the passion driving scene, the accelerator pedal opening degree change is monitored. When the threshold value is reached, the mode is switched to the sports mode to meet the driving needs while ensuring safety. In the collision scene, the braking is actively controlled according to the collision signal and the braking state to reduce the collision hazards. In the deceleration parking scene, the braking force is adjusted and the driving system is controlled to output to realize linear deceleration to stop and avoid accidents caused by sudden braking. The control method based on the safe driving mode provides users with rich safe scene selection, improves the driving experience, effectively reduces traffic accidents caused by improper operation or unexpected situations, and realizes the dual optimization of safety and convenience.

[0033] Please refer to Figure 2 , Figure 2 A step flowchart of step S102 in a vehicle control method based on a safe driving mode.

[0034] In some embodiments, when the safe driving mode scene is the fast cornering scene, the torque and the braking force of the target vehicle are adjusted, and the target vehicle is controlled to travel along the expected trajectory through the steering system of the target vehicle, further comprising: S201, the lateral displacement amount, the steering angle and the steering speed of the target vehicle are monitored in real time.

[0035] S202, when the deviation value of the lateral displacement amount, the deviation value of the steering angle or the deviation value of the steering speed exceeds the corresponding preset safety threshold value, it is determined that the target vehicle is in an unstable state, and the torque of the target vehicle is reduced, and the steering angle and the steering speed are adjusted through the steering system.

[0036] S203, monitoring whether the target vehicle is in a vehicle unstable state or a stable driving state.

[0037] S204, if the target vehicle is in a vehicle unstable state, requesting the vehicle body stability system of the target vehicle to take over the automatic control of the target vehicle until the target vehicle is in a stable driving state.

[0038] S205, if the target vehicle is in a stable driving state, returning to the step of monitoring the lateral displacement amount, the steering angle and the steering speed of the target vehicle in real time.

[0039] Please refer to Figure 3 , Figure 3 It is a safety driving mode control schematic diagram in a fast turning scene in a vehicle control method based on a safety driving mode.

[0040] It can be understood that in a fast turning scene, the conventional mode is easy to deviate from the lane and the lateral movement is unstable, and the safety driving mode can control the vehicle in advance, control the torque and braking of the vehicle, correct the vehicle stability, and ensure that the vehicle can stably drive according to the expected trajectory of the driver.

[0041] Please refer to Figure 4 , Figure 4 It is a safety driving mode control logic schematic diagram in a fast turning scene in a vehicle control method based on a safety driving mode.

[0042] The technical solution also provides another safety driving mode control method in a fast turning scene: The safety driving mode receives signals of longitudinal acceleration AX, lateral acceleration AY, yaw rate YAW, steering angle and steering speed of the driver of the vehicle in real time.

[0043] The safety driving mode monitors and calculates the longitudinal acceleration AX, lateral acceleration AY, yaw rate YAW and steering angle and steering speed of the driver in real time, and when the threshold value (TBD calibration quantity) is exceeded, the safety driving mode considers that the vehicle will soon enter an unstable state, and at this time, the internal activation signal of the safety driving mode is set.

[0044] The safety driving mode sends a torque request signal to the vehicle controller system to control the torque of the vehicle (including but not limited to torque reduction, calibration quantity) and limit the steering angle and steering speed (limiting quantity TBD) to ensure the stability of the vehicle turning; if during this control process, due to some other conditions (jumping of road adhesion coefficient, etc.), the torque control and the limitation of the steering angle cannot change the stability of the vehicle attitude, finally the vehicle body stability system takes over the control.

[0045] It can be understood that the embodiment monitors the lateral displacement amount, the steering angle and the steering speed in real time, determines that the vehicle is unstable when the deviation value exceeds the safety threshold, reduces the torque and adjusts the steering angle and the speed. If the vehicle is still unstable, the vehicle body stability system is requested to take over until the stable state is restored. This improvement further enhances the safety of the vehicle when turning quickly, effectively prevents the risk of losing control, improves driving safety, optimizes the driving experience, makes the vehicle more stable in complex scenarios, and further reduces the possibility of traffic accidents.

[0046] Please refer to Figure 5 , Figure 5 A step flowchart of step S103 in a vehicle control method based on a safe driving mode.

[0047] In some embodiments, when the safe driving mode scenario is a starting scenario, the torque and speed of the target vehicle are controlled within a preset value range based on a preset acceleration pedal curve through the driving system of the target vehicle, further comprising: S301, when it is detected that the speed change amount of the target vehicle is within a preset change range, and the acceleration pedal opening is greater than a preset threshold value within a preset time period, it is determined that the current starting operation is abnormal, and the target vehicle is controlled in a safe driving mode.

[0048] S302, in the safe driving mode, according to the linear relationship of the acceleration pedal curve, the corresponding torque is output through the driving system to make the target vehicle linearly accelerate.

[0049] It can be understood that in the starting scenario, the control of the acceleration pedal by the novice driver is unstable, that is, the fluctuation of the pedal is heavy, especially the response speed of the acceleration pedal of the new energy vehicle is faster than that of the traditional fuel vehicle, and the impact on the vehicle speed is greater. It is easy to cause acceleration instability and acceleration too slow to cause rear-end collision. The safe driving mode actively calls the acceleration pedal curve under the safe driving mode by identifying and judging the acceleration pedal opening and the speed. In this safe driving mode, no matter how large the change amount of the accelerator switch is, the control of the vehicle torque request and the speed is small and stable.

[0050] Please refer to Figure 6 , Figure 6 A linear relationship diagram of the acceleration pedal opening and the speed of the safe driving mode in the starting scenario in a vehicle control method based on a safe driving mode.

[0051] In this embodiment, the change amount of the vehicle speed is 0-TBD Kph (a calibrated amount), and within a certain time (TBD calibrated amount), the driver's accelerator pedal opening fluctuation is greater than a certain threshold (TBD calibrated amount), the system considers that the driver's starting operation is abnormal, and actively enters the safe driving mode (the safe driving mode can be manually entered). According to the above working condition, the safe driving mode enters the acceleration pedal curve in the safe driving mode for execution, and the torque request is made according to the linear curve (calibrated amount) of the accelerator pedal, the vehicle accelerates smoothly, and the stability of the vehicle during starting is ensured, and the problem of deep and shallow accelerator pedal operation is avoided.

[0052] It can be understood that, in this embodiment, by detecting the change amount of the vehicle speed and the accelerator pedal opening, when it is determined that the starting operation is abnormal, the vehicle is automatically switched to the safe driving mode, and the torque is output according to the linear relationship of the acceleration pedal curve, and linear acceleration is realized. This improvement effectively avoids the problems of too fast starting and loss of control of the vehicle caused by misoperation or improper operation (such as sudden acceleration) of the driver, and makes the starting process more stable and controllable. At the same time, this technical means further optimizes the driving experience, reduces the risk of traffic accidents caused by improper starting, and enhances the adaptability and safety of the vehicle in complex road conditions.

[0053] Please refer to Figure 7 , Figure 7 A step flow chart of step S104 in a vehicle control method based on a safe driving mode.

[0054] In some embodiments, when the safe driving mode scenario is a passion driving scenario, the change of the accelerator pedal opening of the target vehicle is monitored, and if the change value of the accelerator pedal opening reaches a preset threshold, the safe driving mode is switched to the sports mode, further comprising: S401, monitoring the accelerator pedal opening, the accelerator pedal depression speed and the current speed of the target vehicle.

[0055] S402, if the accelerator pedal opening is greater than a first preset threshold, the accelerator pedal depression speed is greater than a second preset threshold, and the current speed is greater than a third preset threshold, it is determined that the driver's operation is a voluntary trigger operation, and the target vehicle is controlled to switch from the safe driving mode to the sports mode.

[0056] S403, if the accelerator pedal opening continuously exceeds a fourth preset threshold for more than a preset time, it is determined that the driver's operation is a non-voluntary trigger operation, and the driving system is controlled to stop outputting power and the braking system is controlled to brake.

[0057] S404, in the process of switching from the safe driving mode to the sports mode or stopping outputting power and braking, the information reminding the driver is sent through the human-computer interaction device of the target vehicle.

[0058] It can be understood that the passion driving scenario is a vehicle acceleration scenario in which the driver initiates the maximum opening of the accelerator pedal, and the acceleration demand exceeds the linear curve of the safe driving mode. The driver needs to manually operate or adjust the safe driving mode setting during driving to switch the safe driving mode to the normal mode (such as the sports mode), which is unsafe and affects the driving experience. The safe driving mode can automatically enter the sports mode according to the change of the accelerator pedal, meet the driving demand, and improve the driving experience.

[0059] In this embodiment, when the opening of the accelerator pedal of the driver is greater than TBD (a calibrated quantity), the depression speed of the accelerator pedal is greater than TBD (a calibrated quantity), and the vehicle speed is greater than TBD Kph (a calibrated quantity), it is considered that the driver needs to switch from the safe driving mode to the sports mode. According to the above working conditions, the safe driving mode controls the vehicle to automatically switch to the sports mode to meet the driving demand. When the safe driving mode is working, the safe driving mode reminds the driver through the HMI (sound or instrument icon or information entertainment system text pop-up window) to avoid traffic accidents caused by the vehicle in the safe driving mode. If the driver does not actively trigger the passion driving, for example, the driver cannot normally drive due to an abnormal physical condition during driving, and the accelerator pedal is depressed at full power or no action is taken on the accelerator pedal, when the opening of the accelerator pedal is greater than TBD (a calibrated quantity) for a certain time, the safe driving mode considers that the driver misoperates, controls to cut off the power and brake against the drag. Since the mode switching operation has no memory function, if it is needed to enter the safe driving mode, it needs to be selected again.

[0060] It can be understood that, in this embodiment, the opening of the accelerator pedal, the depression speed, and the vehicle speed are monitored to accurately judge the operation intention of the driver: if the active trigger condition (the opening, the speed, and the vehicle speed all exceed the threshold value) is met, the vehicle switches to the sports mode; if it is a non-active trigger (the opening exceeds the threshold value and the duration is long), the power output is stopped and the brake is applied. At the same time, the driver is reminded through the human-machine interaction device to ensure the safety of the operation. This improvement effectively balances the driving passion and safety, avoids dangerous situations caused by misoperation or excessive aggressive operation, improves the driving experience, and further reduces the risk of traffic accidents.

[0061] Please refer to Figure 8 , Figure 8 A step flowchart of step S105 in a vehicle control method based on a safe driving mode.

[0062] In some embodiments, when the safe driving mode scenario is a collision scenario, the target vehicle is actively braked according to the collision signal and the vehicle braking state, and further comprising: S501, after the vehicle collides, receiving a collision signal from one or more collision detection systems, wherein the collision detection system is an airbag control system, an advanced driving assistance system, or an automatic driving system.

[0063] S502, determine the braking state of the target vehicle based on the one or more collision signals.

[0064] S503, when the braking state is that the driver does not perform braking operation, control the braking system to actively brake at a preset deceleration and control the target vehicle to be in a parking state after the target vehicle is stopped.

[0065] It can be understood that in a collision scenario, the conventional mode brakes based on the deceleration intention of the driver after the vehicle collides, such as the driver losing consciousness due to physical condition, not releasing the accelerator pedal, or the driver mistakenly operating the accelerator pedal as a brake pedal due to excessive tension, which is easy to cause secondary traffic accidents. The safe driving mode actively brakes according to the input of the collision signal and the braking state of the vehicle to avoid secondary accident injury.

[0066] Please refer to Figure 9 , Figure 9 is a control schematic diagram of a safe driving mode in a vehicle control method based on a safe driving mode in a collision scenario.

[0067] In this embodiment, after the collision, the safe driving mode recognizes the input of the collision signal (including but not limited to ACU, ADAS, and ADS), and judges according to the braking state of the vehicle; if the safe driving mode monitors that the driver does not perform any braking measure, the safe driving mode considers that the driver misoperates, and the internal activation signal of the safe driving mode is set. According to the above working condition, the safe driving mode controls the braking system to actively brake at a preset deceleration (calibration quantity), and performs EPB clamping after stopping.

[0068] It can be understood that this embodiment accurately judges the braking state of the vehicle by receiving the collision signal from the airbag control system, the advanced driving assistance system, or the autonomous driving system. When it is detected that the driver does not perform braking operation, the system automatically controls the braking system to actively brake at a preset deceleration, and places the vehicle in a parking state after stopping. This improvement effectively makes up for the deficiency that the driver may not be able to brake in time due to panic or slow reaction when the collision occurs, maximally reduces the collision consequences, reduces the accident loss, significantly improves the safety and reliability of the vehicle in emergency situations, and further protects the safety of the driver and passengers.

[0069] Please refer to Figure 10 , Figure 10 is a step flowchart of step S106 in a vehicle control method based on a safe driving mode.

[0070] In some embodiments, when the safe driving mode scenario is the deceleration and parking scenario, the braking force is adjusted by the braking system of the target vehicle, and the output of the driving system is controlled according to the braking force to make the target vehicle linearly decelerate to stop moving, further comprising: S601, when it is detected that the brake pedal opening of the target vehicle exceeds the fifth preset threshold and the vehicle speed of the target vehicle is lower than the sixth preset threshold, it is determined that the target vehicle is in a deceleration state, and the braking system is controlled to increase the braking force to make the target vehicle linearly decelerate to stop moving.

[0071] S602, after the target vehicle stops moving, the braking force output by the braking system is controlled to match the current brake pedal opening.

[0072] It can be understood that in the deceleration and parking scenario, the vehicle in the normal mode brakes according to the braking intention of the driver, and the novice driver is prone to jerking when the brake pedal is not controlled well, and the rear vehicle is rear-ended due to excessive braking. The safe driving mode can actively control the braking force, request the braking system to adjust the braking force, and the vehicle stops smoothly to ensure the stability of the vehicle.

[0073] In the present embodiment, when it is recognized that the vehicle is in a deceleration state through the vehicle brake pedal opening TBD (a calibrated quantity) and the vehicle speed less than TBD Kph (a calibrated quantity), during the deceleration process, the safe driving mode requests the braking system to perform additional dynamic braking force control on the braking system based on the driver's braking to ensure the comfort of braking. After the vehicle stops, the safe driving mode controls the braking force to rebuild the pressure to the braking force corresponding to the pedal stroke, so as to ensure that the vehicle will not slide backward.

[0074] It can be understood that the present embodiment detects the brake pedal opening and the vehicle speed, and when the vehicle is in a deceleration state, the system automatically increases the braking force to make the vehicle linearly decelerate to stop. After parking, the braking force matches the brake pedal opening to ensure that the vehicle is stably parked. This improvement makes the deceleration and parking process more stable and controllable, avoids the risk of vehicle out of control and vehicle sliding due to insufficient or excessive braking force, improves the safety and comfort of driving, and further enhances the adaptability and reliability of the vehicle in complex road conditions.

[0075] In some embodiments, a vehicle control method based on a safe driving mode further comprises: When the target vehicle is in the safe driving mode, the information reminding the driver is issued through the human-computer interaction device of the target vehicle, and the brake light and the hazard warning light of the target vehicle are controlled to be lit to warn that the target vehicle is in an abnormal state.

[0076] In the embodiment, when the vehicle is in the safe driving mode, the driver is reminded by the HMI (sound or instrument icon or infotainment system text pop-up), and the brake light and hazard warning light are turned on to remind the surrounding drivers of the abnormal state of the current vehicle, so as to avoid traffic accidents caused by the vehicle in the safe driving mode.

[0077] It can be understood that the embodiment can timely send warning information to the driver when the vehicle is in an abnormal state, and remind the surrounding vehicles and pedestrians through light, thereby enhancing the active safety and passive safety of the vehicle. It not only improves the perception ability of the driver to the state of the vehicle, but also reduces the risk of traffic accidents caused by the abnormal state of the vehicle through external warning, and further optimizes the driving safety and the safety of the overall traffic environment.

[0078] Please refer to Figure 11 , Figure 11 is a structural schematic diagram of a vehicle control device based on a safe driving mode.

[0079] The embodiment also provides a vehicle control device based on a safe driving mode, which comprises: The selection module 701 is configured to control the target vehicle to be in the safe driving mode, and determine one or more safe driving mode scenes according to a scene selection instruction for the safe driving mode.

[0080] The first scene module 702 is configured to adjust the torque and braking force of the target vehicle when the safe driving mode scene is a fast turning scene, and control the target vehicle to travel along a desired trajectory through a steering system of the target vehicle.

[0081] The second scene module 703 is configured to control the torque and speed of the target vehicle within a preset value range through a driving system of the target vehicle based on a preset acceleration pedal curve when the safe driving mode scene is a starting scene.

[0082] The third scene module 704 is configured to monitor the change of the acceleration pedal opening degree of the target vehicle when the safe driving mode scene is a passion driving scene, and switch from the safe driving mode to the sports mode if the change value of the acceleration pedal opening degree reaches a preset threshold.

[0083] The fourth scene module 705 is configured to actively brake the target vehicle according to a collision signal and a vehicle braking state when the safe driving mode scene is a collision scene.

[0084] The fifth scene module 706 is configured to adjust the braking force through a braking system of the target vehicle, and control the output of the driving system according to the braking force, so that the target vehicle linearly slows down to stop moving when the safe driving mode scene is a deceleration and parking scene.

[0085] The specific implementation and technical effects of the vehicle control device based on the safe driving mode according to the embodiments of the present application can refer to the specific implementation and technical effects of the vehicle control method based on the safe driving mode according to any of the above embodiments.

[0086] The embodiments of the present application also provide a vehicle control device, which comprises a memory, a processor, and a program stored in the memory and executable on the processor, and the program, when executed by the processor, implements the vehicle control method based on the safe driving mode according to the above embodiments.

[0087] For example, the processor and the memory in the vehicle controller can be connected through a bus. The memory, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one disk memory, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the control processor, and these remote memories can be connected to the control device through a network. The non-transitory software programs and instructions required to implement the control method according to the above embodiments are stored in the memory, and when executed by the processor, the control method according to the above embodiments is executed.

[0088] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment.

[0089] The embodiments of the present application also provide a vehicle comprising the vehicle control device according to the above embodiments.

[0090] The vehicle can be a private car, such as a sedan, an SUV, an MPV, or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck, or a large trailer, etc. The vehicle needs to have an electric motor that can output power or store mechanical energy as a generator. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0091] Since the vehicle applies all the technical solutions of the above control device or vehicle controller, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0092] In addition, one embodiment of the present application also provides a computer readable storage medium, which stores computer executable instructions for executing the above vehicle control method based on the safe driving mode.

[0093] It is worth noting that since the computer readable storage medium of the embodiment of the present application can execute the vehicle control method based on the safe driving mode of any of the above embodiments, the specific implementation and technical effects of the computer readable storage medium of the embodiment of the present application can refer to the specific implementation and technical effects of the vehicle control method based on the safe driving mode of any of the above embodiments.

[0094] In addition, one embodiment of the present application also provides a computer program product, comprising computer programs or computer instructions, the computer programs or computer instructions are stored in a computer readable storage medium, the processor of the computer equipment reads the computer programs or computer instructions from the computer readable storage medium, and the processor executes the computer programs or computer instructions, so that the computer equipment executes the above-mentioned vehicle control method based on the safe driving mode.

[0095] It is worth noting that since the computer program product of the embodiment of the present application can execute the vehicle control method based on the safe driving mode of any of the above embodiments, the specific implementation and technical effects of the computer program product of the embodiment of the present application can refer to the specific implementation and technical effects of the vehicle control method based on the safe driving mode of any of the above embodiments.

[0096] Those of ordinary skill in the art can understand that all or some steps in the above disclosed method and system can be implemented as software, firmware, hardware and appropriate combinations thereof. Some or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, as known to those of ordinary skill in the art, communication media generally includes computer readable instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transmission mechanisms, and can include any information delivery medium.

[0097] The device embodiments described above are only illustrative, wherein the units described as separate components can or can not be physically separated, i.e., can be located in one place, or can also be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme.

Claims

1. A vehicle control method based on a safe driving mode, characterized in that, The method includes: Control the target vehicle to enter a safe driving mode, and determine one or more safe driving mode scenarios based on the scenario selection instructions for the safe driving mode; When the safe driving mode scenario is a fast turning scenario, the torque and braking force of the target vehicle are adjusted, and the target vehicle is controlled to drive along the expected trajectory through the steering system of the target vehicle; When the safe driving mode scenario is a starting scenario, based on the preset acceleration pedal curve, the torque and speed of the target vehicle are controlled within a preset range by the drive system of the target vehicle. When the safe driving mode scenario is a passionate driving scenario, the change in the accelerator pedal opening of the target vehicle is monitored. If the change in the accelerator pedal opening reaches a preset threshold, the mode is switched from the safe driving mode to the sport mode. When the safe driving mode scenario is a collision scenario, the target vehicle is actively braked based on the collision signal and the vehicle braking status. When the safe driving mode scenario is a deceleration and stopping scenario, the braking force is adjusted through the braking system of the target vehicle, and the output of the drive system is controlled according to the braking force, so that the target vehicle decelerates linearly to a stop.

2. The method according to claim 1, characterized in that, When the safe driving mode scenario is a fast turning scenario, adjusting the torque and braking force of the target vehicle, and controlling the target vehicle to travel along the expected trajectory through the steering system of the target vehicle, further includes: Real-time monitoring of the target vehicle's lateral displacement, steering angle, and steering speed; When the deviation of the lateral displacement, the deviation of the steering angle, or the deviation of the steering speed exceeds the corresponding preset safety threshold, the target vehicle is determined to be in an unstable state, and the torque of the target vehicle is reduced, and the steering angle and the steering speed are adjusted through the steering system. The system monitors whether the target vehicle is in an unstable or stable driving state. If the target vehicle is in an unstable state, the vehicle stability system of the target vehicle is requested to take over the automatic control of the target vehicle until the target vehicle is in a stable driving state. If the target vehicle is in a stable driving state, then return to the step of real-time monitoring of the target vehicle's lateral displacement, steering angle, and steering speed.

3. The method according to claim 1, characterized in that, When the safe driving mode scenario is a start-up scenario, based on a preset acceleration pedal curve, the torque and speed of the target vehicle are controlled within a preset range by the target vehicle's drive system, further including: When the speed change of the target vehicle is detected to be within a preset range, and the accelerator pedal opening is detected to exceed a preset threshold within a preset time period, the current starting operation is determined to be abnormal, and the target vehicle is controlled to enter a safe driving mode. In the safe driving mode, based on the linear relationship of the acceleration pedal curve, the drive system outputs corresponding torque to enable the target vehicle to accelerate linearly.

4. The method according to claim 1, characterized in that, When the safe driving mode scenario is a passionate driving scenario, the change in the accelerator pedal opening of the target vehicle is monitored. If the change in the accelerator pedal opening reaches a preset threshold, the mode is switched from the safe driving mode to the sport mode. This further includes: Monitor the accelerator pedal opening, accelerator pedal depressing speed, and current vehicle speed of the target vehicle; If the accelerator pedal opening is greater than a first preset threshold, the accelerator pedal depressing speed is greater than a second preset threshold, and the current vehicle speed is greater than a third preset threshold, then the driver's operation is determined to be an active trigger operation, and the target vehicle is controlled to switch from the safe driving mode to the sport mode. If the accelerator pedal opening is continuously greater than the fourth preset threshold and exceeds the preset duration, the driver's operation is determined to be a non-active trigger operation, and the drive system is controlled to stop outputting power and the braking system is controlled to brake. During the process of switching from the safe driving mode to the sport mode or stopping power output and braking, the driver is reminded of information through the human-machine interaction device of the target vehicle.

5. The method according to claim 1, characterized in that, When the safe driving mode scenario is a collision scenario, the active braking of the target vehicle based on the collision signal and the vehicle braking status further includes: After a vehicle collision, it receives collision signals from one or more collision detection systems, wherein the collision detection system is an airbag control system, an advanced driver assistance system, or an autonomous driving system. Based on the one or more collision signals, determine the braking state of the target vehicle; When the braking state is that the driver does not perform the braking operation, the braking system is controlled to actively brake according to the preset deceleration, and after the target vehicle is brought to a stop, the target vehicle is controlled to be in a parking state.

6. The method according to claim 1, characterized in that, When the safe driving mode scenario is a deceleration and stopping scenario, adjusting the braking force through the braking system of the target vehicle and controlling the output of the drive system according to the braking force to make the target vehicle decelerate linearly to a stop, further includes: When the brake pedal opening of the target vehicle exceeds the fifth preset threshold and the vehicle speed is lower than the sixth preset threshold, it is determined that the target vehicle is in a deceleration state, and the braking system is controlled to increase the braking force so that the target vehicle decelerates linearly to a stop. After the target vehicle stops moving, the braking force output by the braking system is matched with the current brake pedal opening.

7. The method according to claim 1, characterized in that, The method further includes: When the target vehicle is in the safe driving mode, a message is sent to remind the driver through the target vehicle's human-machine interface device, and the brake lights and hazard warning lights of the target vehicle are illuminated to warn that the target vehicle is in an abnormal state.

8. A vehicle control device based on a safe driving mode, characterized in that, The device includes: The selection module is used to control the target vehicle to be in a safe driving mode, and to determine one or more safe driving mode scenarios according to the scenario selection instructions for the safe driving mode. The first scenario module is used to adjust the torque and braking force of the target vehicle when the safe driving mode scenario is a fast turning scenario, and to control the target vehicle to drive along the expected trajectory through the steering system of the target vehicle. The second scenario module is used to control the torque and speed of the target vehicle within a preset range based on a preset acceleration pedal curve when the safe driving mode scenario is a starting scenario. The third scenario module is used to monitor the change in the accelerator pedal opening of the target vehicle when the safe driving mode scenario is the passionate driving scenario. If the change in the accelerator pedal opening reaches a preset threshold, the mode is switched from the safe driving mode to the sport mode. The fourth scenario module is used to actively brake the target vehicle based on the collision signal and the vehicle braking status when the safe driving mode scenario is a collision scenario. The fifth scenario module is used to adjust the braking force of the target vehicle's braking system and control the output of the drive system according to the braking force when the safe driving mode scenario is a deceleration and stopping scenario, so that the target vehicle decelerates linearly to a stop.

9. A vehicle, characterized in that, The vehicle includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the vehicle control method based on a safe driving mode as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method based on safe driving mode as described in any one of claims 1 to 7.

Images