Vehicle control method and apparatus

Abstract

The application relates to a vehicle control method and device, a vehicle, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring scene information of a current road section where a vehicle is located and a vehicle speed label of the current road section; obtaining torque correction information matched with the scene information and the vehicle speed label based on the scene information and the vehicle speed label; correcting torque information of the vehicle based on the torque correction information to obtain target torque information of the vehicle on the current road section; and controlling a driving state of the vehicle on the current road section according to the target torque information. The method can improve the safety of vehicle driving.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, apparatus, vehicle, computer-readable storage medium, and computer program product. Background Technology

[0002] With the rapid development of the new energy vehicle industry, new energy vehicles, with their advantages of being environmentally friendly, efficient, and low-noise, are gradually becoming the mainstream direction of the automotive industry. Vehicle drivability, including acceleration performance, smoothness, and responsiveness, is a core indicator for measuring its quality and directly affects user acceptance and market competitiveness. The realization of drivability fundamentally depends on the precise and intelligent control of the drive motor's output torque.

[0003] In traditional vehicle drive torque control strategies, the accelerator pedal opening and current vehicle speed are collected in real time. The Pedal Map is then used to look up the table to obtain the drive torque under the current driving conditions. The drive torque is then adjusted by identifying the driver's driving habits to obtain a drive torque that matches the driver's driving habits.

[0004] However, while the above-mentioned strategy of adjusting torque by recognizing driving habits can personalize driving style, it reduces the safety of vehicle operation. Summary of the Invention

[0005] Therefore, it is necessary to provide a vehicle control method, device, vehicle, computer-readable storage medium, and computer program product that can improve vehicle driving safety in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a vehicle control method, including:

[0007] Obtain the current scene information of the vehicle and the speed tag of the road segment where the vehicle is currently located;

[0008] Based on the scene information and the vehicle speed label, torque correction information matching the scene information and the vehicle speed label is obtained;

[0009] Based on the torque correction information, the torque information of the vehicle is corrected to obtain the target torque information of the vehicle in the current road segment.

[0010] The vehicle's driving status on the current road segment is controlled according to the target torque information.

[0011] In one embodiment, the method further includes:

[0012] Obtain the maximum permissible speed for the current road segment;

[0013] Based on the maximum permissible driving speed, determine the speed tag of the current road segment.

[0014] In one embodiment, the method further includes:

[0015] Obtain the recommended speed for the current road segment;

[0016] Based on the recommended speed, determine the speed tag of the current road segment.

[0017] In one embodiment, the method further includes:

[0018] Obtain navigation route information that matches the scene information;

[0019] The navigation route information is divided into multiple road segments, and the maximum permissible driving speed for each road segment is determined.

[0020] In one embodiment, obtaining torque correction information matching the scene information and the vehicle speed label based on the scene information and the vehicle speed label includes:

[0021] The scene information is analyzed to obtain the travel scenario corresponding to the vehicle;

[0022] The travel scenario and the vehicle speed label are matched in a first mapping relationship between the scenario, vehicle speed label and torque correction factor in a pre-determined manner to obtain the first correction factor of the vehicle in the current road segment; the torque correction information includes the first correction factor.

[0023] In one embodiment, correcting the vehicle's torque information based on the torque correction information to obtain the vehicle's target torque information for the current road segment includes:

[0024] From the vehicle's torque information, obtain the vehicle's positive torque gradient and positive torque in the current road segment;

[0025] The positive torque gradient is corrected according to the first correction factor to obtain the updated torque gradient;

[0026] The positive torque is corrected according to the first correction factor to obtain the updated positive torque; the target torque information includes the updated torque gradient and the updated positive torque.

[0027] In one embodiment, controlling the vehicle's driving state on the current road segment according to the target torque information includes:

[0028] When the updated torque gradient is within the preset torque gradient range, the vehicle's driving state on the current road segment is controlled according to the updated torque gradient and the updated positive torque.

[0029] When the updated torque gradient is outside the preset torque gradient range, the driving state of the vehicle on the current road segment is controlled according to the relationship between the updated torque gradient and the upper and lower limits of the preset torque gradient range.

[0030] In one embodiment, controlling the vehicle's driving state on the current road segment according to the target torque information includes:

[0031] Obtain the preset comfort pedal opening range corresponding to the driver in the vehicle;

[0032] Based on the preset comfort pedal opening range, the driver's target comfort pedal opening corresponding to the updated positive torque is determined;

[0033] The vehicle's driving status on the current road segment is controlled according to the updated torque gradient and the target comfort pedal opening.

[0034] In one embodiment, obtaining torque correction information matching the scene information and the vehicle speed label based on the scene information and the vehicle speed label includes:

[0035] The driving mode corresponding to the vehicle is obtained by analyzing the scene information;

[0036] The driving mode and the vehicle speed label are matched in a second mapping relationship between the pre-determined mode, vehicle speed label and torque correction factor to obtain the second correction factor of the vehicle in the current road segment; the torque correction information includes the second correction factor.

[0037] In one embodiment, correcting the vehicle's torque information based on the torque correction information to obtain the vehicle's target torque information for the current road segment includes:

[0038] From the vehicle's torque information, obtain the vehicle's recovery torque in the current road segment;

[0039] The recovered torque is corrected according to the second correction factor to obtain the updated recovered torque; the target torque information includes the updated recovered torque.

[0040] In one embodiment, the method further includes:

[0041] When the vehicle is traveling at a preset low speed on the current road segment, the passenger information of the vehicle's cabin is obtained.

[0042] If the cabin passenger information indicates that there are passengers in the rear seats of the vehicle, the second correction factor is reduced.

[0043] In one embodiment, controlling the vehicle's driving state on the current road segment according to the target torque information includes:

[0044] When the regenerative torque is within a predetermined range of single-pedal negative torque, the vehicle's driving state on the current road segment is controlled according to the regenerative torque.

[0045] If the updated recovery torque is outside the predetermined single-pedal negative torque range, the vehicle's driving state on the current road segment is controlled according to any torque within the predetermined single-pedal negative torque range.

[0046] Secondly, this application provides a vehicle control device, the device comprising:

[0047] The acquisition module is used to acquire the scene information where the vehicle is currently located, as well as the vehicle speed label of the road segment where the vehicle is currently located;

[0048] An analysis module is used to obtain torque correction information that matches the scene information and the vehicle speed label based on the scene information and the vehicle speed label;

[0049] The processing module is used to correct the torque information of the vehicle based on the torque correction information to obtain the target torque information of the vehicle in the current road segment.

[0050] The control module is used to control the driving state of the vehicle on the current road segment according to the target torque information.

[0051] Thirdly, this application also provides a vehicle, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0052] Obtain the current scene information of the vehicle and the speed tag of the road segment where the vehicle is currently located;

[0053] Based on the scene information and the vehicle speed label, torque correction information matching the scene information and the vehicle speed label is obtained;

[0054] Based on the torque correction information, the torque information of the vehicle is corrected to obtain the target torque information of the vehicle in the current road segment.

[0055] The vehicle's driving status on the current road segment is controlled according to the target torque information.

[0056] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0057] Obtain the current scene information of the vehicle and the speed tag of the road segment where the vehicle is currently located;

[0058] Based on the scene information and the vehicle speed label, torque correction information matching the scene information and the vehicle speed label is obtained;

[0059] Based on the torque correction information, the torque information of the vehicle is corrected to obtain the target torque information of the vehicle in the current road segment.

[0060] The vehicle's driving status on the current road segment is controlled according to the target torque information.

[0061] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0062] Obtain the current scene information of the vehicle and the speed tag of the road segment where the vehicle is currently located;

[0063] Based on the scene information and the vehicle speed label, torque correction information matching the scene information and the vehicle speed label is obtained;

[0064] Based on the torque correction information, the torque information of the vehicle is corrected to obtain the target torque information of the vehicle in the current road segment.

[0065] The vehicle's driving status on the current road segment is controlled according to the target torque information.

[0066] The aforementioned vehicle control method, device, vehicle, computer-readable storage medium, and computer program product acquire the vehicle's current scene information and the vehicle speed label of the current road segment. Based on the scene information and speed label, they obtain torque correction information matching the scene information and speed label. The vehicle's torque information is then corrected based on this torque correction information to obtain target torque information for the vehicle on the current road segment. The vehicle's driving state on the current road segment is then controlled according to this target torque information. Therefore, by considering scene information and speed label, the driving needs of the driver under different scenarios and speeds can be met. Furthermore, by correcting the vehicle's torque information based on the torque correction information matching the scene information and speed label, and controlling the vehicle based on the corrected target torque information, safety hazards caused by incorrect torque response due to neglecting scene considerations can be avoided, thus improving vehicle driving safety. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 This is a flowchart illustrating a vehicle control method in one embodiment;

[0069] Figure 2 This is a schematic diagram of a process for obtaining torque correction information that matches the scene information and vehicle speed label based on scene information and vehicle speed label in one embodiment.

[0070] Figure 3 This is a schematic diagram of a process in one embodiment to correct the torque information of a vehicle based on torque correction information to obtain the target torque information of the vehicle in the current road segment.

[0071] Figure 4 This is a schematic diagram of a process for controlling the vehicle's driving state on the current road segment according to the target torque information in one embodiment;

[0072] Figure 5 This is a schematic diagram of a process for obtaining torque correction information that matches the scene information and vehicle speed label based on scene information and vehicle speed label, as described in another embodiment.

[0073] Figure 6 This is a schematic diagram of a process for correcting the vehicle's torque information based on torque correction information to obtain the target torque information of the vehicle in the current road segment, as described in another embodiment.

[0074] Figure 7 This is a flowchart illustrating the vehicle control method in another embodiment;

[0075] Figure 8 This is a structural block diagram of a vehicle control device in one embodiment;

[0076] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0078] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0079] In traditional vehicle drive torque control strategies, the drive torque under the current driving state can be determined through a Pedal Map, and then adjusted based on driving habits. However, in actual vehicle control, a fixed Pedal Map cannot meet the driving needs of drivers in different travel scenarios. Furthermore, due to the different driving needs in different travel scenarios, adjusting the drive torque based on driving habits will result in a mismatch between the adjusted drive torque and the travel scenario. In this scenario, when controlling the vehicle based on the adjusted drive torque, the vehicle may pose safety hazards due to incorrect torque response, thus compromising driving safety. In addition, when adjusting drive torque, most adjustments are made to positive torque (i.e., forward control), without considering the correction of negative torque (i.e., energy recovery) and torque gradient, which leads to low stability during acceleration and deceleration, reducing driving comfort.

[0080] In view of this, such as Figure 1 As shown, this application provides a vehicle control method, which is illustrated using a controller in a vehicle as an example. The method includes the following steps:

[0081] S102, obtain the current scene information of the vehicle and the speed label of the current road segment of the vehicle.

[0082] Scenario information refers to a multi-dimensional set of parameters used to comprehensively characterize the vehicle's driving environment, internal environment, and travel scenario. Scenario information includes, but is not limited to, traffic environment information, travel scenario information, and cabin passenger information. For example, traffic environment information may include traffic flow status (such as congestion and smooth flow), relative distance and relative speed to the vehicle in front and / or behind; travel scenario information may include travel time and the corresponding travel scenario, such as holidays and weekdays, and travel scenario such as short-distance travel, long-distance travel, business travel, and travel with children; cabin passenger information may include the number of passengers other than the driver and their ages, and the number of passengers in the rear seats behind the driver's seat.

[0083] The vehicle speed label is used to represent the constrained speed of the vehicle in the current road segment. There are no restrictions on the method of determining the vehicle speed label of the current road segment. The following is an example.

[0084] In one embodiment, the maximum permissible speed for the current road segment is obtained, where the maximum permissible speed refers to the speed limit for the vehicle on the current road segment. Based on the maximum permissible speed, the speed tag for the current road segment is determined. Specifically, the maximum permissible speed is used as the speed tag for the current road segment. Thus, by considering the maximum permissible speed, the speed tag for the current road segment can be determined to the greatest extent possible without violating traffic regulations, avoiding safety issues caused by speeding and improving vehicle driving safety.

[0085] In one embodiment, the recommended speed of the vehicle on the current road segment is obtained; based on the recommended speed, a speed label for the current road segment is determined. Specifically, the recommended speed is used as the speed label for the current road segment. Therefore, by considering the recommended speed, the determined speed label can be applicable to the vast majority of drivers while satisfying their driving habits. This eliminates the possibility of low vehicle safety due to differences in driver behavior and improves overall vehicle safety.

[0086] The method for determining the recommended speed is not limited. For example, the recommended speed can be the speed commonly used by multiple drivers on the current road segment, or it can be any speed between the maximum and minimum permissible speeds on the current road segment.

[0087] S104 obtains torque correction information that matches the scene information and vehicle speed label based on scene information and vehicle speed label.

[0088] Torque correction information is used to correct the torque information of the vehicle's current road segment. This information can include correction factors for different types of torque and correction factors for different types of torque gradients. For example, different types of torque can include positive torque and regenerative torque, and different types of torque gradients can include positive torque gradients and regenerative torque gradients.

[0089] S106, based on torque correction information, corrects the vehicle's torque information to obtain the target torque information of the vehicle in the current road segment.

[0090] The vehicle's torque information is used to characterize the set of different types of torque that the vehicle is currently experiencing on the road segment. The vehicle's torque information includes, but is not limited to: forward torque, forward torque gradient, and regenerative torque.

[0091] For example, the vehicle's torque information includes positive torque, which can be determined based on a predetermined relationship between positive torque, pedal opening and vehicle speed, as well as the vehicle's real-time speed and real-time pedal opening on the current road segment.

[0092] For example, the vehicle's torque information includes a positive torque gradient, which can be determined based on a pre-determined positive torque gradient, the correspondence between pedal opening and vehicle speed, and the vehicle's real-time speed and pedal opening on the current road segment. Similarly, the vehicle's torque information includes regenerative torque, which can be determined based on a pre-determined regenerative torque, the correspondence between pedal opening and vehicle speed, and the vehicle's real-time speed and pedal opening on the current road segment.

[0093] S108 controls the vehicle's driving status on the current road segment according to the target torque information.

[0094] The implementation method of controlling the vehicle's driving state on the current road segment based on the target torque information is not limited. The following is an example. For instance, if the target torque information includes the target recovery torque, then the vehicle's driving state on the current road segment can be controlled based on the target recovery torque.

[0095] The vehicle control method based on the above embodiments acquires the current scene information and the speed label of the current road segment. Based on the scene information and speed label, it obtains torque correction information that matches the scene information and speed label. The torque information of the vehicle is then corrected based on the torque correction information to obtain the target torque information of the vehicle on the current road segment. The vehicle's driving state on the current road segment is then controlled according to the target torque information. Therefore, by considering the scene information and speed label, the driving needs of the driver under different scenarios and speeds can be met. Furthermore, by correcting the vehicle's torque information based on the torque correction information that matches the scene information and speed label, and by controlling the vehicle based on the corrected target torque information, it can avoid safety hazards caused by incorrect torque response due to failure to consider the scene, thus improving vehicle driving safety.

[0096] In one embodiment, the method further includes: acquiring navigation route information matching scene information; dividing the navigation route information into multiple road segments, and determining the maximum permissible driving speed for each road segment. Specifically, based on the vehicle's current location and the location range of each road segment, the current road segment of the vehicle is determined. Thus, by introducing navigation route information, the maximum permissible driving speed of each road segment the vehicle travels on can be known in advance, thereby allowing for the early determination of torque correction information for the vehicle on each road segment, which can improve the safety and comfort of vehicle driving.

[0097] Among them, navigation route information refers to the set of path data of the vehicle from the starting point to the destination. Navigation route information includes, but is not limited to: the maximum permissible driving speed of each current road segment, and the road segment type of each current road segment (such as highway, national road, small road, etc.).

[0098] There are no restrictions on how to obtain torque correction information that matches the scene information and vehicle speed label based on scene information and vehicle speed label. Examples are given below.

[0099] In one embodiment, obtaining torque correction information matching the scene information and vehicle speed label based on scene information and vehicle speed label includes: analyzing the scene information to obtain the traffic flow state corresponding to the vehicle; matching the traffic flow state and vehicle speed label in a pre-determined correspondence between traffic flow state, vehicle speed label, and torque correction factor to obtain a reference correction factor for the vehicle in its current road segment. The torque correction information includes the reference correction factor.

[0100] In one embodiment, such as Figure 2 As shown, based on scene information and vehicle speed labels, torque correction information matching the scene information and vehicle speed labels is obtained, including:

[0101] S202 analyzes the scene information to obtain the travel scene corresponding to the vehicle.

[0102] Specifically, scenario information includes travel time and the corresponding travel scenario. By analyzing the scenario information, the travel scenario corresponding to the vehicle can be obtained. For example, travel time represents holidays and weekdays, and travel scenarios can include short-distance travel, long-distance travel, and travel with children. Therefore, the travel scenario corresponding to the vehicle can represent short-distance travel on holidays, long-distance travel on holidays, commuting to and from get off work, business travel, weekday travel, and travel with children.

[0103] For example, the travel time can be determined by obtaining the current time. For example, by obtaining the vehicle's navigation route information, the distance from the starting point to the ending point of the route can be obtained; if the route distance is greater than a first distance threshold, the travel scenario is determined to be a long-distance trip; if the route distance is less than a second distance threshold, the travel scenario is determined to be a short-distance trip. For example, by obtaining the ages of passengers in the vehicle excluding the driver, the travel scenario can be determined to be a trip with a child based on the passenger ages.

[0104] S204 matches the travel scenario and vehicle speed label in a first mapping relationship between the pre-determined scenario, vehicle speed label and torque correction factor to obtain the first correction factor of the vehicle in the current road segment; the torque correction information includes the first correction factor.

[0105] Specifically, the torque correction factor that matches the travel scenario and vehicle speed label in the first mapping relationship is determined as the first correction factor. In the first mapping relationship, the vehicle speed labels for different road segments may be the same or different; the first mapping relationship can be obtained through experimental testing.

[0106] Taking the vehicle speed label as a representation of the maximum permissible speed of a vehicle on a road segment as an example, as shown in Table 1, a first mapping relationship is provided, wherein:

[0107] Table 1

[0108]

[0109] In Table 1, m1 to ms represent the speed labels for different road segments; n1 to ns represent different travel scenarios, such as n1 for short-distance travel on holidays, n2 for long-distance travel on holidays, n3 for travel with children, and ns for weekday travel; μ11 to μ44 represent the torque correction factors corresponding to different speed labels and travel scenarios. Therefore, by combining the first mapping relationship shown in Table 1 with the travel scenario and speed label of the current road segment, the first correction factor for the vehicle in the current road segment can be obtained. For example, the first correction factor is the torque correction factor μ22 corresponding to the speed label m2 and travel scenario n2.

[0110] Based on the above embodiments, by pre-setting a first mapping relationship between a predetermined scenario, vehicle speed label, and torque correction factor, the torque correction efficiency can be improved and the vehicle driving safety can be further enhanced when the first correction factor of the vehicle in the current road segment is determined by matching the travel scenario and vehicle speed label with the first mapping relationship.

[0111] There are no restrictions on how the vehicle's torque information is corrected based on torque correction information to obtain the target torque information of the vehicle in the current road segment. Examples are given below.

[0112] In one embodiment, the vehicle's torque information may include regenerative torque. In this case, the target torque information obtained after correcting the vehicle's torque information based on torque correction information may include the target regenerative torque. Specifically, correcting the vehicle's torque information based on torque correction information to obtain the vehicle's target torque information for the current road segment includes: correcting the regenerative torque using a reference correction factor to obtain the target regenerative torque. Specifically, the product of the reference correction factor and the regenerative torque is determined as the target regenerative torque.

[0113] In one embodiment, the vehicle's torque information may include a torque gradient and positive torque. The target torque information obtained after correcting the vehicle's torque information based on torque correction information may include updated torque gradient and updated positive torque. Specifically, as... Figure 3 As shown, the vehicle's torque information is corrected based on torque correction information to obtain the target torque information of the vehicle in the current road segment, including:

[0114] S302 obtains the positive torque gradient and positive torque of the vehicle in the current road segment from the vehicle's torque information.

[0115] Specifically, the vehicle's torque information can include the positive torque gradient and positive torque of the vehicle in the current road segment. Therefore, the positive torque gradient and positive torque of the vehicle in the current road segment can be extracted from the vehicle's torque information. The method for obtaining the vehicle's torque information can be found in the aforementioned content.

[0116] S304, correct the positive torque gradient according to the first correction factor to obtain the updated torque gradient.

[0117] The updated torque gradient refers to the gradient after correcting the positive torque gradient. Specifically, the product of the positive torque gradient and the first correction factor is determined as the updated torque gradient. For example, if K_base represents the positive torque gradient and μ represents the first correction factor, then the updated torque gradient K_fix = K_base * μ.

[0118] S306, correct the positive torque according to the first correction factor to obtain the updated positive torque.

[0119] Here, the updated positive torque refers to the torque after correction of the original positive torque. Specifically, the product of the original positive torque and the first correction factor is determined as the updated positive torque. For example, if Tq_base represents the original positive torque and μ represents the first correction factor, then the updated positive torque Tq_fix = Tq_base * μ.

[0120] Based on the above embodiments, by considering travel scenarios to determine the first correction factor, and then correcting the positive torque gradient and positive torque according to the first correction factor, compared with the method of torque correction based on driving habits, it can avoid the safety hazards caused by the vehicle torque response error due to the failure to consider the scenario, and can improve the safety of vehicle driving.

[0121] When the target torque information includes updating the torque gradient and updating the positive torque, controlling the vehicle's driving state on the current road segment according to the target torque information can be achieved in the following way:

[0122] In one embodiment, controlling the vehicle's driving state on the current road segment according to target torque information includes: when the updated torque gradient is within a preset torque gradient range, controlling the vehicle's driving state on the current road segment according to the updated torque gradient and the updated positive torque; when the updated torque gradient is outside the preset torque gradient range, controlling the vehicle's driving state on the current road segment according to the relationship between the updated torque gradient and the upper and lower limits of the preset torque gradient range. Therefore, by setting a preset torque gradient range, the corrected positive torque gradient is controlled within the preset torque gradient range, ensuring the vehicle's torque safety and further improving vehicle driving safety.

[0123] Specifically, based on the relationship between the updated torque gradient and the upper and lower limits of the preset torque gradient range, the driving state of the vehicle on the current road segment is controlled, including: when the updated torque gradient is greater than the upper limit of the preset torque gradient range, the driving state of the vehicle on the current road segment is controlled according to the upper limit of the preset torque gradient range.

[0124] Specifically, based on the relationship between the updated torque gradient and the upper and lower limits of the preset torque gradient range, the driving state of the vehicle on the current road segment is controlled, including: when the updated torque gradient is less than the lower limit of the preset torque gradient range, the driving state of the vehicle on the current road segment is controlled according to the lower limit of the preset torque gradient range.

[0125] The lower limit of the preset torque gradient range is the minimum value set to ensure torque safety, and the upper limit is the maximum value set to ensure torque safety. Both the maximum and minimum values ​​can be obtained through experimental testing. For example, if K_fix represents the updated torque gradient, K_sport represents the upper limit of the preset torque gradient range, and K_eco represents the lower limit of the preset torque gradient range, then the following condition must be met: K_eco ≤ K_fix ≤ K_sport. Therefore, by ensuring torque safety, vehicle driving safety can be improved.

[0126] In one embodiment, such as Figure 4 As shown, the vehicle's driving state is controlled according to the target torque information on the current road segment, including:

[0127] S402, obtain the preset comfort pedal opening range corresponding to the driver in the vehicle.

[0128] Among them, the preset comfort pedal opening range refers to the opening range that best matches the driver's physiological habits. Therefore, by taking the preset comfort pedal opening range into account, the vehicle's pedal opening can be kept within the preset comfort pedal opening range, which can reduce driving fatigue, create a driving style that allows the car to move as desired, and improve the vehicle's user experience.

[0129] For example, the preset comfort pedal opening range refers to a predetermined comfort pedal opening range. When the accelerator pedal opening is within the preset comfort pedal opening range, driver fatigue can be reduced. For example, the preset comfort pedal opening range is represented as [app_pct1, app_pct2].

[0130] In one embodiment, the preset comfort pedal opening range can be obtained based on the driver's settings, or the preset comfort pedal opening range can be determined by comprehensively considering the comfort pedal opening ranges of multiple drivers. For example, the intersection of the comfort pedal opening ranges of multiple drivers can be determined as the preset comfort pedal opening range.

[0131] In one embodiment, a driver profile can be established using biometric technology. The driver profile includes the driver's preset pupil data. Thus, by collecting the driver's current pupil data in the vehicle, when the driver's current pupil data matches the preset pupil data, the preset comfort pedal opening range corresponding to the driver in the vehicle can be obtained from the correspondence between the predetermined pupil data and the comfort pedal opening range.

[0132] S404 determines the driver's target comfort pedal opening corresponding to the updated positive torque, based on a preset comfort pedal opening range.

[0133] For example, for any preset pedal opening within a preset comfort pedal opening range, a third mapping relationship between a predetermined preset pedal opening and a preset positive torque is obtained; the updated positive torque is matched with the third mapping relationship to determine the driver's target comfort pedal opening corresponding to the updated positive torque from the preset comfort pedal opening range.

[0134] The S406 controls the vehicle's driving status on the current road segment according to the updated torque gradient and target comfort pedal opening.

[0135] For example, by controlling the vehicle's output updated torque gradient and target comfort pedal opening, the vehicle's driving status on the current road segment can be controlled.

[0136] Based on the content provided in the above embodiments, by considering the preset comfort pedal opening range corresponding to the driver in the vehicle, and thus controlling the vehicle's driving state based on the target comfort pedal opening range determined by the preset comfort pedal opening range, driver fatigue can be reduced, thereby improving the safety of vehicle driving.

[0137] In another embodiment, such as Figure 5 As shown, based on scene information and vehicle speed labels, torque correction information matching the scene information and vehicle speed labels is obtained, including:

[0138] S502 analyzes scene information to obtain the corresponding driving mode for the vehicle.

[0139] The driving mode is used to characterize the mode that the vehicle should operate during driving, and the content of the driving mode is not limited. For example, driving modes may include anti-motion sickness mode, economy mode, comfort mode, sport mode, and ultimate range mode.

[0140] For example, if the scene information includes cabin scene information, then by analyzing the cabin scene information, the number of passengers in the vehicle other than the driver can be determined; when the number of passengers is greater than or equal to a set number, the driving mode corresponding to the vehicle is determined to be anti-motion sickness mode.

[0141] S504 matches the driving mode and vehicle speed label in a pre-determined second mapping relationship between the mode, vehicle speed label, and torque correction factor to obtain the second correction factor of the vehicle in the current road segment; the torque correction information includes the second correction factor.

[0142] Specifically, the torque correction factor that matches the driving mode and vehicle speed label in the second mapping relationship is determined as the second correction factor. In the second mapping relationship, the vehicle speed label and driving mode may be the same or different for different road segments; the second mapping relationship can be obtained through experimental testing.

[0143] Taking the vehicle speed label as a representation of the maximum permissible speed of a vehicle on a road segment as an example, as shown in Table 2, a second mapping relationship is provided, wherein:

[0144] Table 2

[0145]

[0146] In Table 2, m1 to ms represent the speed labels for different road segments. For example, m1 represents low speeds, such as 0-40 km / h (kph); m2 represents medium-high speeds, such as 40kph-80kph; and ms represents high speeds, such as 80kph-140kph. p1 to ps represent different driving modes, such as anti-motion sickness mode (p1), extreme range mode (p2), and one-pedal mode (p3). η11 to η44 represent the torque correction factors corresponding to each driving mode under different speed labels. Therefore, by combining the vehicle's driving mode and the speed label of the current road segment with the second mapping relationship shown in Table 2, the second correction factor for the vehicle in the current road segment can be obtained.

[0147] Based on the above embodiments, by pre-setting a second mapping relationship between a predetermined mode, vehicle speed label, and torque correction factor, the torque correction efficiency of the vehicle can be improved when the second correction factor of the vehicle in the current road segment is determined by matching the driving mode and vehicle speed label with the second mapping relationship, and further the driving safety of the vehicle in different driving modes can be improved.

[0148] In one embodiment, the vehicle's torque information may include regenerative torque. In this case, the vehicle's torque information is corrected based on torque correction information, and the obtained target torque information for the vehicle in the current road segment may include updated regenerative torque. Specifically, as... Figure 6 As shown, the vehicle's torque information is corrected based on torque correction information to obtain the target torque information of the vehicle in the current road segment, including:

[0149] S602 obtains the vehicle's recovery torque for the current road segment from the vehicle's torque information.

[0150] Specifically, the vehicle's torque information includes the recovery torque of the vehicle in the current road segment, which can be obtained from the vehicle's torque information. The method for obtaining the vehicle's torque information can be found in the aforementioned description.

[0151] In one embodiment, when the vehicle is traveling at a preset low speed on the current road segment, passenger information corresponding to the vehicle's cabin is obtained; if the passenger information indicates that there are passengers in the rear seats of the vehicle, the second correction factor is reduced. Therefore, by reducing the second correction factor when there are passengers in the rear seats, motion sickness caused by strong regenerative torque can be avoided, thus improving the comfort of the vehicle's ride.

[0152] In particular, if a vehicle is traveling during holidays or commuting, it may be traveling at a preset low speed when it reaches the current road segment. Therefore, reducing the second correction factor can help prevent motion sickness. The preset low speed is not limited; for example, it can refer to the minimum speed among multiple historical speeds of the vehicle, or it can refer to the minimum speed recorded for the current road segment.

[0153] Here, the rear seats of the vehicle refer to the seats behind the driver's seat. For example, the cabin passenger information may include the number of passengers in the rear seats behind the driver's seat; when the number of passengers is greater than or equal to a number threshold, it is determined that there are passengers in the rear seats of the vehicle; wherein, the number threshold is greater than 0.

[0154] Wherein, the reduced second correction factor is greater than or equal to 0; in the relevant embodiments of this application, the reduced second correction factor can be 0. Therefore, by setting the second correction factor to 0, the energy recovery torque can be cancelled, avoiding motion sickness among passengers at low vehicle speeds and improving vehicle driving comfort.

[0155] S604, adjust the recovery torque according to the second correction factor to obtain the updated recovery torque.

[0156] Here, the updated regenerated torque refers to the torque after correction of the regenerated torque. Specifically, the product of the regenerated torque and the second correction factor is determined as the updated regenerated torque. For example, if Tq_regen_base represents the regenerated torque and η represents the second correction factor, then the updated regenerated torque Tq_regen_fix = Tq_regen_base * η.

[0157] In one embodiment, the target torque information includes updated regenerative torque. Controlling the vehicle's driving state on the current road segment according to the target torque information includes: when the updated regenerative torque is within a predetermined one-pedal negative torque range, controlling the vehicle's driving state on the current road segment according to the updated regenerative torque; when the updated regenerative torque is outside the predetermined one-pedal negative torque range, controlling the vehicle's driving state on the current road segment based on the relationship between the updated regenerative torque and the upper and lower limits of the one-pedal negative torque range. Therefore, by setting a predetermined one-pedal negative torque range, the corrected regenerative torque is controlled within this range, ensuring vehicle torque safety and improving driving safety.

[0158] Specifically, based on the relationship between the updated recovery torque and the upper and lower limits of the single-pedal negative torque range, the vehicle's driving state on the current road segment is controlled, including: when the updated recovery torque is greater than the upper limit of the single-pedal negative torque range, the vehicle's driving state on the current road segment is controlled according to the upper limit of the single-pedal negative torque range.

[0159] Specifically, based on the relationship between the updated recovery torque and the upper and lower limits of the single-pedal negative torque range, the vehicle's driving state on the current road segment is controlled, including: when the updated recovery torque is less than the lower limit of the single-pedal negative torque range, the vehicle's driving state on the current road segment is controlled according to the lower limit of the single-pedal negative torque range.

[0160] For example, Tq_regen_fix represents the regenerative torque. The lower limit of the predetermined single-pedal negative torque range is 0, and the upper limit is Tq_regen_onepedal. Then, the following condition is met: 0≤Tq_regen_fix≤Tq_regen_onepedal. Therefore, by controlling the regenerative torque within the single-pedal negative torque range, the torque safety of the vehicle can be guaranteed, thereby improving the driving safety of the vehicle.

[0161] Based on the content provided in the above embodiments, by adjusting the correction factor from the perspective of vehicle energy recovery, the driving comfort of the vehicle can be improved when actually controlling the vehicle.

[0162] In summary, such as Figure 7 As shown, this application provides a vehicle control method, which is illustrated using a controller in a vehicle as an example. The method includes the following steps:

[0163] S702, upon receiving a command to select an intelligent driving mode, obtains information about the current scene of the vehicle and navigation route information that matches the scene information.

[0164] S704 divides navigation route information into multiple segments and determines the speed tag for each segment.

[0165] Among these, the maximum permissible speed for a road segment can be used as the speed label for that segment.

[0166] S706 analyzes scene information to obtain the corresponding travel scenario and driving mode of the vehicle.

[0167] S708 determines the current road segment of the vehicle based on the vehicle's current location and the location range of each road segment.

[0168] S710 matches the travel scenario and the vehicle speed label of the current road segment in a first mapping relationship between the pre-determined scenario, vehicle speed label and torque correction factor to obtain the first correction factor of the vehicle in the current road segment.

[0169] S712 matches the driving mode and the speed label of the current road segment in a second mapping relationship between the pre-determined mode, speed label and torque correction factor to obtain the second correction factor of the vehicle in the current road segment.

[0170] S714 obtains the vehicle's positive torque gradient, positive torque, and recovery torque from the vehicle's torque information for the current road segment.

[0171] S716, correct the positive torque gradient according to the first correction factor to obtain the updated torque gradient.

[0172] S718, correct the positive torque according to the first correction factor to obtain the updated positive torque.

[0173] S720, adjusts the recovery torque according to the second correction factor to obtain the updated recovery torque.

[0174] S722 determines and updates the target comfort pedal opening corresponding to the driver's positive torque based on the preset comfort pedal opening range corresponding to the driver in the vehicle.

[0175] S724 controls the vehicle's driving status on the current road segment based on the updated torque gradient, target comfort pedal opening, and updated regenerative torque.

[0176] The contents of S702-S724 can be referred to the aforementioned content description, and will not be repeated here.

[0177] As can be seen from the above, by selecting an intelligent driving mode, the driver can control the vehicle to execute the method provided in this application. In one embodiment, the use of intelligent driving modes by various drivers in the same vehicle can be recorded. For example, by recording the first and second correction factors corresponding to a certain travel scenario and a certain driving mode, it is convenient to directly reference the previously determined first and second correction factors when controlling the vehicle again, thereby improving torque correction efficiency. In one embodiment, the first mapping relationship and the second mapping relationship can be configured separately in different vehicles logged in by the same vehicle account. Alternatively, biometric technology can be used to determine whether a driver profile has been established. If a driver profile has been established, the first and second mapping relationships are configured in the vehicle currently operated by the driver.

[0178] Specifically, the method provided in this application, in addition to correcting torque (such as positive torque and regenerative torque), also corrects the positive torque gradient, which can improve the safety and stability of vehicle driving. Furthermore, by combining the travel scenario and the maximum permissible speed of the road segment to determine the corresponding first correction factor, and then modifying the positive torque and positive torque gradient, this application can avoid safety hazards caused by incorrect vehicle torque response due to unconsidered scenarios, thus improving vehicle driving safety. Simultaneously, this application can match the corresponding correction factor according to the driver's actual situation (such as travel scenario and driving mode), determining a suitable correction factor for different drivers, ensuring the vehicle's driving state meets the driver's travel needs, and improving the vehicle's user experience. Furthermore, by correcting the regenerative torque and controlling the corrected regenerative torque within a preset correction range, and considering motion sickness at low speeds, this application cancels energy recovery, i.e., sets the second correction factor to 0, which can prevent passengers from experiencing motion sickness due to strong regenerative torque, thus improving vehicle driving comfort. In addition, this application predetermines the preset comfort pedal opening range corresponding to the driver, and ensures that 80% of the driver's pedal opening is within the preset comfort pedal opening range [app_pct1,app_pct2] by setting the first correction factor, so as to ensure the best feeling and responsiveness of the driver when pressing the accelerator pedal, and improve the stability and comfort of the vehicle.

[0179] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0180] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0181] In one exemplary embodiment, such as Figure 8 As shown, a vehicle control device is provided, including: an acquisition module 802, an analysis module 804, a processing module 806, and a control module 808, wherein:

[0182] The acquisition module 802 is used to acquire the scene information where the vehicle is currently located and the speed tag of the road segment where the vehicle is currently located; the analysis module 804 is used to obtain torque correction information matching the scene information and the speed tag based on the scene information and the speed tag; the processing module 806 is used to correct the torque information of the vehicle based on the torque correction information to obtain the target torque information of the vehicle in the current road segment; and the control module 808 is used to control the driving state of the vehicle in the current road segment according to the target torque information.

[0183] In one embodiment, the acquisition module 802 is further configured to: acquire the maximum permissible driving speed of the current road segment; and determine the speed tag of the current road segment based on the maximum permissible driving speed.

[0184] In one embodiment, the acquisition module 802 is further configured to: acquire the recommended speed of the currently located road segment; and determine the vehicle speed label of the currently located road segment based on the recommended speed.

[0185] In one embodiment, the analysis module 804 is further configured to: obtain navigation route information matching the scene information; divide the navigation route information into multiple road segments, and determine the maximum permissible driving speed for each of the road segments.

[0186] In one embodiment, the analysis module 804 is further configured to: analyze the scene information to obtain the travel scene corresponding to the vehicle; match the travel scene and the vehicle speed label in a first mapping relationship between a predetermined scene, vehicle speed label and torque correction factor to obtain a first correction factor of the vehicle in the current road segment; the torque correction information includes the first correction factor.

[0187] In one embodiment, the processing module 806 is further configured to: obtain, from the vehicle's torque information, the positive torque gradient and positive torque of the vehicle in the current road segment; correct the positive torque gradient according to the first correction factor to obtain an updated torque gradient; correct the positive torque according to the first correction factor to obtain an updated positive torque; the target torque information includes the updated torque gradient and the updated positive torque.

[0188] In one embodiment, the control module 808 is further configured to: control the driving state of the vehicle on the current road segment according to the updated torque gradient and the updated positive torque when the updated torque gradient is within the preset torque gradient range; and control the driving state of the vehicle on the current road segment according to the updated torque gradient and the relationship between the upper limit and lower limit of the preset torque gradient range when the updated torque gradient is outside the preset torque gradient range.

[0189] In one embodiment, the control module 808 is further configured to: obtain a preset comfort pedal opening range corresponding to the driver in the vehicle; determine a target comfort pedal opening of the driver corresponding to the updated positive torque based on the preset comfort pedal opening range; and control the driving state of the vehicle on the current road segment according to the updated torque gradient and the target comfort pedal opening.

[0190] In one embodiment, the analysis module 804 is further configured to: analyze the scene information to obtain the driving mode corresponding to the vehicle; match the driving mode and the vehicle speed label in a second mapping relationship between a pre-determined mode, vehicle speed label and torque correction factor to obtain a second correction factor for the vehicle in the current road segment; the torque correction information includes the second correction factor.

[0191] In one embodiment, the processing module 806 is further configured to: obtain the recovery torque of the vehicle in the current road segment from the vehicle's torque information; correct the recovery torque according to the second correction factor to obtain an updated recovery torque; the target torque information includes the updated recovery torque.

[0192] In one embodiment, the analysis module 804 is further configured to: obtain passenger information of the vehicle's cabin when the vehicle is traveling at a preset low speed on the current road segment; and reduce the second correction factor when the passenger information indicates that there are passengers in the rear seats of the vehicle.

[0193] In one embodiment, the control module 808 is further configured to: control the vehicle's driving state on the current road segment according to the updated recovery torque when the updated recovery torque is within a predetermined range of single-pedal negative torque; and control the vehicle's driving state on the current road segment according to any torque within the predetermined range of single-pedal negative torque when the updated recovery torque is outside the predetermined range of single-pedal negative torque.

[0194] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the vehicle's processor in hardware form or independent of it, or stored in the vehicle's memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0195] In one exemplary embodiment, a computer device is provided, which may be a vehicle, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data generated during the processing of the vehicle control method. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle control method.

[0196] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0197] In one embodiment, a vehicle is also provided, including a memory and a processor, the memory storing a computer program, which the processor executes to implement the steps in the above method embodiments.

[0198] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0199] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0200] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0201] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0202] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0203] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain the current scene information of the vehicle and the speed tag of the road segment where the vehicle is currently located; Based on the scene information and the vehicle speed label, torque correction information matching the scene information and the vehicle speed label is obtained; Based on the torque correction information, the torque information of the vehicle is corrected to obtain the target torque information of the vehicle in the current road segment. The vehicle's driving status on the current road segment is controlled according to the target torque information; The step of obtaining torque correction information matching the scene information and the vehicle speed label based on the scene information and the vehicle speed label includes: The scenario information is analyzed to obtain the travel scenario corresponding to the vehicle; the travel scenario and the vehicle speed label are matched in a first mapping relationship between a pre-determined scenario, vehicle speed label and torque correction factor to obtain the first correction factor of the vehicle in the current road segment; the torque correction information includes the first correction factor; The step of correcting the vehicle's torque information based on the torque correction information to obtain the target torque information of the vehicle in the current road segment includes: obtaining the positive torque gradient and positive torque of the vehicle in the current road segment from the vehicle's torque information; determining the updated torque gradient by multiplying the first correction factor and the positive torque gradient; and determining the updated positive torque by multiplying the first correction factor and the positive torque; the target torque information includes the updated torque gradient and the updated positive torque.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the maximum permissible speed for the current road segment; Based on the maximum permissible driving speed, determine the speed tag of the current road segment.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the recommended speed for the current road segment; Based on the recommended speed, determine the speed tag of the current road segment.

4. The method according to claim 2, characterized in that, The method further includes: Obtain navigation route information that matches the scene information; The navigation route information is divided into multiple road segments, and the maximum permissible driving speed for each road segment is determined.

5. The method according to claim 1, characterized in that, The method further includes: When the updated torque gradient is within the preset torque gradient range, the vehicle's driving state on the current road segment is controlled according to the updated torque gradient and the updated positive torque. When the updated torque gradient is outside the preset torque gradient range, the driving state of the vehicle on the current road segment is controlled according to the relationship between the updated torque gradient and the upper and lower limits of the preset torque gradient range.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the preset comfort pedal opening range corresponding to the driver in the vehicle; Based on the preset comfort pedal opening range, the driver's target comfort pedal opening corresponding to the updated positive torque is determined; The vehicle's driving status on the current road segment is controlled according to the updated torque gradient and the target comfort pedal opening.

7. The method according to any one of claims 1 to 4, characterized in that, The method further includes: The driving mode corresponding to the vehicle is obtained by analyzing the scene information; The driving mode and the vehicle speed label are matched in a second mapping relationship between the pre-determined mode, vehicle speed label and torque correction factor to obtain the second correction factor of the vehicle in the current road segment; the torque correction information includes the second correction factor.

8. The method according to claim 7, characterized in that, The method further includes: From the vehicle's torque information, obtain the vehicle's recovery torque in the current road segment; The recovered torque is corrected according to the second correction factor to obtain the updated recovered torque; the target torque information includes the updated recovered torque.

9. The method according to claim 7, characterized in that, The method further includes: When the vehicle is traveling at a preset low speed on the current road segment, the passenger information of the vehicle's cabin is obtained. If the cabin passenger information indicates that there are passengers in the rear seats of the vehicle, the second correction factor is reduced.

10. The method according to claim 8, characterized in that, The method further includes: When the regenerative torque is within a predetermined range of single-pedal negative torque, the vehicle's driving state on the current road segment is controlled according to the regenerative torque. If the updated recovery torque is outside the predetermined single-pedal negative torque range, the vehicle's driving state on the current road segment is controlled according to any torque within the predetermined single-pedal negative torque range.

11. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire the scene information where the vehicle is currently located, as well as the vehicle speed label of the road segment where the vehicle is currently located; An analysis module is used to obtain torque correction information that matches the scene information and the vehicle speed label based on the scene information and the vehicle speed label; The processing module is used to correct the torque information of the vehicle based on the torque correction information to obtain the target torque information of the vehicle in the current road segment. The control module is used to control the vehicle's driving state on the current road segment according to the target torque information; The analysis module is further configured to: analyze the scene information to obtain the travel scene corresponding to the vehicle; match the travel scene and the vehicle speed label in a first mapping relationship between a pre-determined scene, vehicle speed label and torque correction factor to obtain the first correction factor of the vehicle in the current road segment; the torque correction information includes the first correction factor; The processing module is further configured to: obtain the positive torque gradient and positive torque of the vehicle in the current road segment from the vehicle's torque information; determine the updated torque gradient by multiplying the first correction factor and the positive torque gradient; determine the updated positive torque by multiplying the first correction factor and the positive torque; the target torque information includes the updated torque gradient and the updated positive torque.

12. A vehicle comprising a memory and a processor, said memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 10.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 10.

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