Vehicle automatic gear shifting method and related device

Abstract

A vehicle automatic gear shifting method and a related device, applicable to an intelligent vehicle (300). The intelligent vehicle (300) comprises a steering wheel. When it is detected that the intelligent vehicle (300) has changed from a driving state to a stopped state, determining whether a current steering wheel angle degree is within a first preset range; if the current steering wheel angle degree is within a first preset range, determining whether a target included angle between the front of the current intelligent vehicle (300) and a road boundary is greater than a first threshold; if it is greater, triggering a vehicle automatic gear shifting function, to implement an automatic gear shifting function. This can implement automatic shifting functionality while a vehicle is driving, while still ensuring safe driving, so that driving efficiency of the driver is improved.

Description

Vehicle automatic gear shifting method and related equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on November 2, 2023, with application number 202311455707.7, and priority to the Chinese patent application entitled “Vehicle Automatic Shifting Method and Related Equipment”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent terminal technology, and in particular to a vehicle automatic gear shifting method and related equipment. Background Art

[0003] When driving a vehicle, gear shifting is necessary for different driving scenarios. Typically, a car has four gears: Parking (also known as P), which is used when the car is parked and not in use, mechanically locking the wheels to prevent rolling; Drive (also known as D), which is used when the vehicle is moving forward; Neutral (also known as N), which is used when temporarily parking (such as when towing a trailer); and Reverse (also known as R), which is used when reversing. Traditional cars have a physical gear lever that the driver can use to shift gears based on the driving situation. However, with the continuous optimization of vehicle structure, the physical gear lever has been eliminated to simplify the interior layout. However, the driver still needs to manually operate preset controls or buttons to shift gears based on the driving situation, which reduces driving efficiency. Therefore, how to realize the automatic gear shifting function during driving of the car while ensuring safe driving so as to improve the driver's driving efficiency is an urgent problem to be solved.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a vehicle automatic gear shifting method and related equipment, which can realize the automatic gear shifting function during vehicle driving while ensuring safe driving, so as to improve the driver's driving efficiency.

[0006] In a first aspect, embodiments of the present application provide a method for automatically shifting gears in a vehicle, applicable to an intelligent vehicle including a steering wheel. Upon detecting that the intelligent vehicle has transitioned from a driving state to a stopped state, the method determines whether the current steering wheel angle is within a first preset range. If the current steering wheel angle is within the preset range, the method determines whether a target angle between the front of the intelligent vehicle and a road boundary is greater than a first threshold. If so, the method triggers the automatic shifting function of the vehicle.

[0007] Some driving scenarios involve multiple gear shifting of the vehicle, such as a U-turn scenario on a narrow road. The vehicle cannot continue to move forward and needs to shift gears so that the vehicle can reverse; when the vehicle cannot reverse, it needs to shift gears so that the vehicle can move forward. In a driving scenario where the vehicle shifts gears multiple times, if the user shifts gears manually, driving efficiency will be reduced and the driving experience will be poor. In an embodiment of the present application, since the user needs to control the steering wheel at all times during vehicle driving, turning the steering wheel to a preset range can be used as a trigger condition for the vehicle to automatically shift gears. When it is detected that the intelligent vehicle changes from a driving state to a stopped state and the trigger condition is met, the vehicle can automatically shift gears, thereby improving the driver's driving efficiency. However, in some special scenarios, such as emergency braking of the vehicle, the steering wheel turning angle may also be within the preset range, which can trigger the vehicle to automatically shift gears. In order to avoid accidentally triggering the vehicle's automatic gear shifting, this application also needs to determine whether the target angle between the front of the current smart vehicle and the road boundary is greater than a preset threshold. If it is greater, it may indicate that the current vehicle cannot continue to move forward or backward and needs to shift gears again; if it is less than or equal to, the vehicle can successfully turn around without shifting gears, and there is no need to trigger the vehicle's automatic gear shifting, avoiding the problem of users accidentally triggering the vehicle's automatic gear shifting. While ensuring safe driving, the automatic gear shifting function can be realized during vehicle driving to improve the driver's driving efficiency.

[0008] In some embodiments, the smart vehicle also includes a sensor that can obtain current road position information and current vehicle head position information, and determine the target angle based on the current road position information and the current vehicle head position information; wherein, the current road position information includes the position information of the current road relative to the vehicle head of the smart vehicle obtained by the sensor, and the current vehicle head position information includes the current vehicle head position of the smart vehicle.

[0009] In an embodiment of the present application, in order to avoid accidental triggering of the vehicle's automatic gear shifting, such as emergency braking, the steering wheel angle may also be within a preset range. The current road position information and vehicle head position information can be obtained by the smart vehicle's sensors. Based on the current road position information and vehicle head position information, the target angle between the vehicle head and the two road boundary lines can be calculated. The sensor can be a camera. When the sensor is a camera, the current road position information can be image information of the current road boundary; when the sensor is a lidar or millimeter-wave radar, the current road position information can be road direction information and distance information of the current road boundary. Furthermore, based on the target angle, it can be determined whether the vehicle's automatic gear shifting function needs to be activated to prevent false triggering and improve user experience.

[0010] In some embodiments, the smart vehicle includes a display screen. When it is detected that the user turns the steering wheel, a first interface can be displayed on the display screen of the smart vehicle. The first interface includes a first preset area, and the first preset area is used to display the steering wheel angle in real time.

[0011] In an embodiment of the present application, the smart vehicle may also include a display screen. When it is detected that the user is turning the steering wheel, a first interface may be displayed on the display screen of the smart vehicle. The first interface may display a first preset area. When the driver enters the driving state or when the smart vehicle stops, the automatic gear shifting function of the smart vehicle can be activated by turning the steering wheel. The first preset area may display the degree of the user's steering wheel turning in real time. The degree of the user's steering wheel turning may be reflected in the first preset area in the form of a progress bar to prompt the user whether to continue turning the steering wheel. When the progress bar is loaded to 100%, it may indicate that the degree of the user's steering wheel turning has reached a preset threshold, thereby improving the user experience. The first preset area may also reflect the degree of the user's steering wheel turning in other ways such as percentages and circular progress bars.

[0012] In some embodiments, after the vehicle automatic gear shifting function is triggered, a target gear is determined and engaged.

[0013] In an embodiment of the present application, after the vehicle's automatic gear shifting function is triggered, the target gear position can be determined based on a preset algorithm. The preset algorithm can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the passable direction based on the obstacle information around the vehicle. If the distance between the nearest obstacle in front and the vehicle computer is greater than a threshold, it is considered passable. Otherwise, it is not passable. If the front is impassable but the rear is passable, the algorithm outputs R gear; if both the front and rear are impassable, it outputs N gear; and in all other cases, it outputs D gear. When the vehicle's automatic gear shifting function is triggered and the target gear position is determined based on the preset algorithm, the vehicle can automatically shift into the target gear without user operation, thereby improving the user experience.

[0014] In some embodiments, when the smart vehicle is engaged in a target gear, a second interface is displayed on the display screen of the smart vehicle, where the second interface is used to display the target gear.

[0015] In an embodiment of the present application, after the smart vehicle engages a target gear, a second interface may be displayed on the smart vehicle's display screen. When a user operation satisfies the automatic gear shifting conditions, such as turning the steering wheel so that the steering wheel angle reaches a preset threshold while driving, the smart vehicle may initiate automatic gear shifting. Furthermore, a preset algorithm, such as a gear prediction algorithm, may be used to determine the target gear and automatically engage the smart vehicle in the target gear. The second interface may be used to display the target gear to inform the user of the gear currently engaged in the vehicle, thereby improving the user's driving safety and user experience.

[0016] In some embodiments, the smart vehicle also includes a brake pedal. When the smart vehicle is continuously in a stopped state, driving status information is obtained, and the driving status information includes vehicle door information, seat belt status information, steering wheel hands-off status information, and driver's line of sight area information; based on the driving status information, it is determined whether the user's driving status is met; if so, it is determined whether the braking force of the brake pedal within the first preset time period is greater than the second threshold, or whether the brake pedal is continuously stepped on within the second preset time period; if the braking force of the brake pedal within the first preset time period is greater than the second threshold, or the brake pedal is continuously stepped on within the second preset time period, the vehicle's automatic gear shifting function is triggered.

[0017] In an embodiment of the present application, when the intelligent vehicle remains stopped, driving state information can be obtained to determine whether the user's driving state is met. When parked, the vehicle is in P gear and the vehicle computer cannot move. If the vehicle needs to move, it must be shifted into another gear, such as D or R. To ensure safe gear shifting during the vehicle computer's start-up phase, it is necessary to determine whether the user's driving state meets the requirements. If the user meets the requirements, the driver can control the vehicle's direction and movement after the vehicle automatically shifts gears, ensuring the safety of the vehicle's automatic gear shifting. Furthermore, when the user is detected stepping on the brake pedal, if it is detected that the brake pedal's pressure is greater than a second threshold within a first preset time period, or if it is detected that the brake pedal is continuously pressed within a second preset time period; if the brake pedal's pressure is greater than the second threshold within the first preset time period, or if the brake pedal is continuously pressed within the second preset time period, the vehicle's automatic gear shifting function can be triggered. This allows the vehicle to automatically shift gears while ensuring safe driving, thereby improving the driver's driving efficiency.

[0018] In some embodiments, if the vehicle door information includes that the door is closed, the seat belt status information includes that the driver's seat belt is fastened, the hands-on steering wheel status information includes that both hands are holding the steering wheel, and the driver's line of sight area information includes one of the rearview mirror area, central control screen area, instrument panel area, and front display area, then it is determined that the user's driving status is met.

[0019] In this embodiment of the present application, the user's driving state can be understood as the state in which the user can control the vehicle's direction and running direction after the vehicle is shifted from P to D or R. When the vehicle is parked in P, the vehicle computer cannot move. If the vehicle needs to move, it must be shifted into another gear, such as D or R. To ensure safe gear shifting during the vehicle's starting phase, it is necessary to determine whether the user meets the driving state. If the user meets the driving state, the driver can control the vehicle's direction and running direction after the vehicle automatically shifts into gear, ensuring the safety of the vehicle's automatic gear shifting. In this embodiment of the present application, the steering wheel's hands-off state information is considered to ensure that the vehicle's automatic gear shifting function can only be activated when the driver has both hands on the steering wheel. Therefore, after the vehicle triggers automatic gear shifting and starts, the driver can better control the vehicle's direction of travel, thereby improving driving safety. In addition, the embodiment of the present application also considers the driver's gaze area information to ensure that the automatic gear shifting function can only be activated when the driver is looking at one of the rearview mirror area, the center console area, the instrument panel area, or the front display area. Therefore, after the vehicle triggers automatic gear shifting and starts, the driver can better avoid obstacles around the vehicle, thereby improving driving safety.

[0020] In some embodiments, when it is detected that the user's stepping force on the brake pedal is greater than a third threshold, the vehicle's automatic gear shifting function is re-triggered, the target gear is re-determined, and the re-determined target gear is engaged.

[0021] In an embodiment of the present application, when the target gear position conflicts with the user's intention, it is possible to detect whether the brake pedal pressure has increased. Specifically, a deeper application of the brake pedal can be used as a trigger for gear correction. When the user's actual intention is inconsistent with the target gear position, the user can trigger gear correction by increasing the pressure on the brake pedal. In other words, the user's brake pedal pressure must be greater than a preset threshold to achieve a deeper application of the brake pedal. If the vehicle computer detects that the brake pedal pressure has increased, it determines that the target gear position is inconsistent with the user's actual intention. The vehicle's automatic gear shifting function can be re-triggered, and the target gear position can be re-determined based on a preset algorithm, and the re-determined target gear position can be engaged, thereby improving the user experience.

[0022] In some embodiments, vehicle information is obtained, including the current gear and current speed of the smart vehicle; if the current gear includes one of a forward gear and a reverse gear, and the current speed is 0, it is determined that the smart vehicle has changed from a driving state to a stopped state.

[0023] In the embodiments of the present application, to ensure driving safety, the vehicle must be stopped before the automatic gear shifting function is triggered. When the vehicle is currently in either D or R gear, the vehicle speed within a preset period is non-zero, and the current vehicle speed is zero, this indicates that the vehicle has transitioned from a moving state to a stopped state. When the vehicle transitions from a moving state to a stationary state, it can be determined that the automatic gear shifting function is capable of being triggered. This allows the automatic gear shifting function to be implemented while the vehicle is in motion, while ensuring safe driving, thereby improving the driver's driving efficiency.

[0024] In a second aspect, an embodiment of the present application provides a method for automatically shifting gears in a vehicle, which is applied to an intelligent vehicle. The intelligent vehicle includes a brake pedal. When it is detected that the intelligent vehicle changes from a driving state to a stopped state, it is determined whether the brake pedal depression force is greater than a first threshold value within a first preset time period, or whether the brake pedal is continuously stepped on within a second preset time period; if the brake pedal depression force is greater than the first threshold value within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, then the vehicle speed change information within a third preset time period before the intelligent vehicle is in a stopped state is obtained; based on the vehicle speed change information, the acceleration within the third preset time period is determined, and it is determined whether the acceleration is less than or equal to the second threshold value; if it is less than or equal to, the vehicle automatic shifting gear function is triggered.

[0025] Some driving scenarios involve multiple gear shifts, such as a U-turn on a narrow road. When the vehicle cannot continue to move forward, it needs to shift gears so that it can reverse; when the vehicle cannot reverse, it needs to shift gears so that it can move forward. In driving scenarios where the vehicle shifts gears multiple times, if the user manually shifts gears, driving efficiency will be reduced, and the driving experience will be poor. In an embodiment of the present application, since the user needs to frequently step on the brake pedal during vehicle driving, the braking force greater than a preset threshold within a preset time period or the user continuously steps on the brake pedal within a preset time period can be used as a trigger condition for the vehicle to automatically shift gears. When it is detected that the smart vehicle changes from a driving state to a stopped state and the trigger condition is met, the vehicle can automatically shift gears, thereby improving the driver's driving efficiency. However, in some special scenarios, such as emergency vehicle braking, the condition of the brake pedal being continuously stepped on within a preset time period may also be met, or the condition of the brake pedal being stepped on greater than a preset threshold within a preset time period may be met, thereby triggering the vehicle to automatically shift gears. In order to avoid accidentally triggering the vehicle's automatic gear shifting, this application also needs to obtain the vehicle speed change information within a preset time period before the smart vehicle is in a stopped state, and then determine the vehicle's acceleration based on the vehicle speed change information, and judge whether the acceleration is less than or equal to the preset threshold value. If it is less than or equal to, the vehicle's automatic gear shifting function can be triggered; if it is greater, it means that the vehicle is stopped in a relatively short period of time, and the triggering conditions for the vehicle's automatic gear shifting are mistakenly met. There is no need to trigger the vehicle's automatic gear shifting, avoiding the problem of users accidentally triggering the vehicle's automatic gear shifting. While ensuring safe driving, the automatic gear shifting function during vehicle driving can be realized to improve the driver's driving efficiency.

[0026] In some embodiments, vehicle information is obtained, including the current gear and current speed of the smart vehicle; if the current gear includes one of a forward gear and a reverse gear, and the current speed is 0, it is determined that the smart vehicle has changed from a driving state to a stopped state.

[0027] In the embodiments of the present application, to ensure driving safety, the vehicle must be stopped before the automatic gear shifting function is triggered. When the vehicle is currently in either D or R gear, the vehicle speed within a preset period is non-zero, and the current vehicle speed is zero, this indicates that the vehicle has transitioned from a moving state to a stopped state. When the vehicle transitions from a moving state to a stationary state, it can be determined that the automatic gear shifting function is capable of being triggered. This allows the automatic gear shifting function to be implemented while the vehicle is in motion, while ensuring safe driving, thereby improving the driver's driving efficiency.

[0028] In some embodiments, the smart vehicle includes a display screen. When it is detected that a user steps on the brake pedal, a first interface is displayed on the display screen of the smart vehicle. The first interface includes a first preset area, and the first preset area is used to display the braking force of the brake pedal in real time.

[0029] In an embodiment of the present application, the smart vehicle may also include a display screen. When it is detected that the user has stepped on the brake pedal, a first interface may be displayed on the display screen of the smart vehicle. The first interface may display a first preset area. When the driver enters the driving state or when the smart vehicle stops, the automatic gear shifting function of the smart vehicle may be activated by stepping on the brake pedal. The first preset area may display the user's stepping force on the brake pedal in real time. The first preset area may reflect the user's stepping force on the brake pedal in the form of a progress bar to prompt the user whether to continue to increase the force on the brake pedal. When the progress bar is loaded to 100%, it may indicate that the user's stepping force on the brake pedal has reached the preset threshold, thereby improving the user experience. The first preset area may also reflect the user's stepping force on the brake pedal in other ways such as percentages and circular progress bars.

[0030] In some embodiments, after the vehicle's automatic gear shifting function is triggered, a target gear is determined and engaged.

[0031] In an embodiment of the present application, after the vehicle's automatic gear shifting function is triggered, the target gear position can be determined based on a preset algorithm. The preset algorithm can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the passable direction based on the obstacle information around the vehicle. If the distance between the nearest obstacle in front and the vehicle computer is greater than a threshold, it is considered passable. Otherwise, it is not passable. If the front is impassable but the rear is passable, the algorithm outputs R gear; if both the front and rear are impassable, it outputs N gear; and in all other cases, it outputs D gear. When the vehicle's automatic gear shifting function is triggered and the target gear position is determined based on the preset algorithm, the vehicle can automatically shift into the target gear without user operation, thereby improving the user experience.

[0032] In some embodiments, when the smart vehicle is engaged in a target gear, a second interface is displayed on the display screen of the smart vehicle, where the second interface is used to display the target gear.

[0033] In an embodiment of the present application, after the smart vehicle engages a target gear, a second interface may be displayed on the smart vehicle's display screen. When a user operation satisfies the automatic gear shifting conditions, such as when the brake pedal pressure reaches a preset threshold within a preset time period while driving, the smart vehicle may initiate automatic gear shifting. Furthermore, a preset algorithm, such as a gear prediction algorithm, may be used to determine the target gear and automatically engage the smart vehicle in the target gear. The second interface may be used to display the target gear to inform the user of the gear currently engaged in the vehicle, thereby improving the user's driving safety and user experience.

[0034] In a third aspect, a vehicle is provided, comprising: a memory, and one or more processors; the memory is coupled to the one or more processors, the memory being used to store computer program code, the computer program code comprising computer instructions, and the one or more processors calling the computer instructions to enable the vehicle to execute a method as in the first aspect or any one of the embodiments of the first aspect, or a method as in the second aspect or any one of the embodiments of the second aspect.

[0035] In a fourth aspect, a computer-readable storage medium is provided, comprising instructions, which, when executed on a vehicle, cause the vehicle to execute a method according to the first aspect or any one of the embodiments of the first aspect, or a method according to the second aspect or any one of the embodiments of the second aspect.

[0036] In a fifth aspect, a computer program product is provided. When the computer program product is run on a computer, it enables the computer to execute the method of the first aspect or any one of the embodiments of the first aspect, or the method of the second aspect or any one of the embodiments of the second aspect.

[0037] In a sixth aspect, a chip system is provided, comprising at least one processor for implementing the method of the first aspect or any one embodiment of the first aspect, or the method of the second aspect or any one embodiment of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic structural diagram of an intelligent vehicle 300 provided in an embodiment of the present application.

[0039] FIG2 is a system architecture diagram of an intelligent vehicle provided in an embodiment of the present application.

[0040] 3a-3h are a set of user interfaces displayed on a display screen of a smart vehicle 300 provided in an embodiment of the present application.

[0041] FIG4 is a flow chart of a method for automatically shifting gears in a vehicle during driving according to an embodiment of the present application.

[0042] FIG5 is a schematic diagram of a driver turning a steering wheel according to an embodiment of the present application.

[0043] FIG6 is a schematic diagram of a narrow road U-turn provided in an embodiment of the present application.

[0044] FIG7 is a schematic diagram of another narrow road U-turn provided in an embodiment of the present application.

[0045] FIG8 is a schematic diagram of triggering automatic gear shifting of a vehicle by turning the steering wheel, provided in an embodiment of the present application.

[0046] FIG9 is a flow chart of a method for automatically shifting gears in a vehicle during the starting phase provided in an embodiment of the present application.

[0047] FIG10 is a schematic diagram of determining a user's driving status provided in an embodiment of the present application.

[0048] FIG11 is a schematic diagram of a method of stepping on a brake pedal provided in an embodiment of the present application.

[0049] FIG12 is a schematic diagram of triggering automatic gear shifting of a vehicle by stepping on the brake pedal, provided in an embodiment of the present application.

[0050] FIG13 is a schematic diagram of a method for automatically shifting gears of a vehicle during driving provided in an embodiment of the present application.

[0051] FIG14 is a schematic diagram of another method of triggering automatic gear shifting of a vehicle by stepping on the brake pedal, provided in an embodiment of the present application.

[0052] FIG15 is a schematic diagram of a gear correction provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0054] The terms "first," "second," "third," and "fourth," etc., in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, rather than to describe a specific order. In addition, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0055] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0056] An embodiment of the present application provides an intelligent vehicle 300. Please refer to Figure 1, which is a structural diagram of an intelligent vehicle 300 provided by an embodiment of the present application.

[0057] Smart vehicle 300 may include various subsystems, such as a travel system 310, a sensor system 320, a control system 330, one or more peripheral devices 340, a computer system 350, a power supply 360, and a user interface 370. Alternatively, smart vehicle 300 may include more or fewer subsystems, each of which may include multiple components. Furthermore, each subsystem and component of smart vehicle 300 may be interconnected in various ways, such as by wired or wireless means.

[0058] The propulsion system 310 may include components that power the intelligent vehicle 300. In one embodiment, the propulsion system 310 may include an engine 3110, an energy source 3120, a transmission 3130, and wheels 3140. The engine 3110 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 3110 converts the energy source 3120 into mechanical energy.

[0059] Examples of energy source 3120 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 3120 can also provide energy for other systems of smart vehicle 300.

[0060] The transmission 3130 can transmit mechanical power from the engine 3110 to the wheels 3140. The transmission 3130 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 3130 may also include other components, such as a clutch. The drive shaft may include one or more shafts that can be coupled to one or more wheels 3140.

[0061] The sensor system 320 may include several sensors for sensing the surrounding environment information of the smart vehicle 300 and obtaining its own vehicle information. For example, the sensor system 320 may include a positioning system 3210, an inertial measurement unit (IMU) 3220, a radar 3230, and a visual sensor 3240. Among them, the positioning system 3210 may include a GPS system, a Beidou system, or other positioning systems. The sensor system 320 may also include sensors of the internal systems of the monitored smart vehicle 300, such as an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc. The data obtained by these sensors can be used to detect objects and their corresponding characteristics, including but not limited to position, shape, direction, and speed. This detection and identification is of great significance for the smart vehicle 300 to safely perform subsequent operations.

[0062] Positioning system 3210 may be used to determine the geographic location of smart vehicle 300 .

[0063] The IMU 3220 can sense the position and orientation changes of the smart vehicle 300 based on inertial acceleration. In one embodiment, the IMU 3220 can be a combination of an accelerometer and a gyroscope. In this case, the IMU 3220 can be used to measure the curvature of the smart vehicle 300.

[0064] Radar 3230 can use wireless signals to sense the surrounding environment of smart vehicle 300, including but not limited to surrounding vehicles, infrastructure, and pedestrians. It is understood that radar 3230 can include but is not limited to millimeter-wave radar and laser radar. In some embodiments, in addition to sensing the surrounding environment, radar 3230 can also be used to sense the motion of objects in the environment.

[0065] The visual sensor 3240 may be used to capture multiple images of the surrounding environment of the smart vehicle 300. The visual sensor 3240 may include, but is not limited to, a still camera and a video camera.

[0066] In some embodiments, the user's driving status can be detected in real time. For example, the vehicle's door and seatbelt status parameters can be read. If the doors are closed and the driver's seatbelt is fastened, further detection of the hands-off state and the driver's gaze area can be performed. Alternatively, hands-off detection technology can be used to detect whether the steering wheel is held. Alternatively, driver gaze estimation technology can be used to obtain the driver's gaze area. The gaze area can be categorized as the rearview mirror area, the center console area, the instrument panel area, the front display area, and so on.

[0067] The control system 330 may be used to control the operation of the intelligent vehicle 300 and its components. The control system 330 may include multiple components. In one embodiment, the control system 330 includes a steering system 3310, an actuator 3320, a braking unit 3330, a computer vision system 3340, a path control system 3350, and an obstacle avoidance system 3360.

[0068] The steering system 3310 can be operated to adjust the forward direction of the intelligent vehicle 300. For example, in one embodiment, the steering system 3310 can include a steering wheel system.

[0069] In an embodiment of the present application, the steering system 3310 can also be used to sense and send information such as the steering wheel steering angle and the steering wheel hands-off status to the CAN / CANFD bus.

[0070] The actuator 3320 may be used to control the engine 3110 and thus control the speed of the intelligent vehicle 300. For example, in one embodiment, the actuator 3320 may include a throttle.

[0071] Braking unit 3330 can be used to control the deceleration of intelligent vehicle 300. Braking unit 3330 can use friction to reduce the rotational speed of wheel 3140. In other embodiments, braking unit 3330 can convert the kinetic energy of wheel 3140 into electric current. Braking unit 3330 can also use other methods to reduce the rotational speed of wheel 3140 to control the speed of intelligent vehicle 300.

[0072] It is understandable that the actuator 3320 and the brake unit 3330 can be combined into a unit module, and the combined unit module can be used to control the speed of the intelligent vehicle 300. In one embodiment, the combined unit module can include a throttle system and a brake system.

[0073] In this application, the braking unit 3330 can also be used to sense and send brake pedal depression status and depression force information to the CAN / CANFD bus.

[0074] The computer vision system 3340 can be used to process and analyze images captured by the visual sensor 3240 in order to identify the surrounding environment of the intelligent vehicle 300, the characteristics of objects in the surrounding environment, and their motion states. The surrounding environment may include traffic signals, road boundaries, and obstacles. The characteristics of objects in the surrounding environment include, but are not limited to, their surface optical properties. The motion states include, but are not limited to, stationary, accelerating, and decelerating. The computer vision system 3340 can use object recognition algorithms, Structure from Motion (SFM) algorithms, and other computer vision technologies. In some embodiments, the computer vision system 3340 includes an image detection system, a neural network-based processing system, etc., which can be used to draw a route for the environment, identify objects, estimate the speed of objects, etc.

[0075] The route control system 3350 is used to determine the driving route of the smart vehicle 300. In some embodiments, the route control system 3350 can combine data of one or more predetermined routes from the positioning system 3210 to determine the driving route for the smart vehicle 300.

[0076] Obstacle avoidance system 3360 is used to identify, evaluate, avoid, or navigate around obstacles in the surrounding environment.

[0077] It should be noted that the control system 330 may add other components, or replace and / or reduce the components described above.

[0078] Smart vehicle 300 interacts with external sensors, other vehicles, other computer systems, or users via peripheral devices 340. Peripheral devices 340 may include, but are not limited to, a wireless communication system 3410, an onboard computer 3420, a microphone 3430, and / or a speaker 3440.

[0079] It should be noted that, in some embodiments, the peripheral device 340 can interact with the user of the smart vehicle 300. For example, the onboard computer 3420 can provide information to the user of the smart vehicle 300, and the user of the smart vehicle 300 can also upload data to the onboard computer 3420. It is understood that the user of the smart vehicle 300 can operate through the touch screen of the onboard computer 3420. In addition, the peripheral device 340 can provide a means for the smart vehicle 300 to communicate with other devices in the vehicle. For example, the microphone 3430 can receive audio from the user of the smart vehicle 300, which may include voice commands and other audio input. Similarly, the speaker 3440 can output audio to the user of the smart vehicle 300.

[0080] The wireless communication system 3410 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 3410 can use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system 3410 can use WiFi to communicate with a wireless local area network (WLAN). In some embodiments, the wireless communication system 3410 can use infrared links, Bluetooth, or ZigBee to communicate directly with devices, which may include but are not limited to public facilities between vehicles and / or roadside stations.

[0081] Power supply 360 can provide power to various components of smart vehicle 300. In one embodiment, power supply 360 can include one or more battery packs, wherein the batteries in the battery packs can be rechargeable lithium-ion batteries or lead-acid batteries. It will be appreciated that in some embodiments, power supply 360 and energy source 3120 can be implemented together.

[0082] Some or all functions of the smart vehicle 300 are controlled by a computer system 350. The computer system 350 may include one or more processors 3520 that execute instructions 35110 stored in a non-transitory computer-readable medium such as a memory 3510. The computer system 350 may also be a plurality of computing devices that control individual components or subsystems of the smart vehicle 300 in a distributed manner.

[0083] Processor 3520 can be any conventional processor, such as commercially available CPU. Optionally, the processor can be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Although Fig. 1 functionally illustrates devices such as a processor, memory and a computer, those of ordinary skill in the art will appreciate that the processor, computer or memory can actually include multiple processors, computers or memories that may or may not be stored in the same physical housing. For example, the memory can be a hard drive or other storage media that is located in a housing that is different from the computer. Therefore, reference to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, each of some components such as a steering assembly and a deceleration assembly can have its own processor, and the processor only performs the calculations related to the functions specific to the assembly.

[0084] In various aspects described herein, the processor can be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle while others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0085] In some embodiments, the memory 3510 may include instructions 35110 (e.g., program logic), which may be executed by the processor 3520 to implement various functions of the smart vehicle 300, including the functions described above. The memory 3510 may also include additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the travel system 310, the sensor system 320, the control system 330, and the peripheral devices 340.

[0086] In addition to storing instructions 35110, memory 3510 can also store data, such as road and route information, vehicle data such as the vehicle's location, direction, speed, and other relevant information.

[0087] The user interface 370 is used to provide information to or receive information from a user of the smart vehicle 300. Optionally, the user interface 370 may include interfaces required by one or more input / output devices in the peripheral device 340, such as a USB interface, an AUX interface, and an OBD interface.

[0088] Computer system 350 can control functions of smart vehicle 300 based on data from various subsystems (e.g., travel system 310, sensor system 320, and control system 330) and data received from user interface 370. For example, computer system 350 can control steering system 3310 to avoid obstacles detected by sensor system 320 and obstacle avoidance system 3360.

[0089] Alternatively, the aforementioned components may not only be assembled as subsystems within the smart vehicle 300, but one or more of the components may also be installed separately from the smart vehicle 300. For example, the memory 3510 may be partially or completely separate from the smart vehicle 300. The aforementioned components may be coupled in a wired and / or wireless manner.

[0090] It should be noted that the above modules and their components may be added, replaced or deleted according to actual needs, and this application does not impose any restrictions on this.

[0091] Optionally, the smart vehicle 300 or a computing device associated with the smart vehicle 300 (such as the computer system 350, computer vision system 3340, and memory 3510 in Figure 1) can predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). It is understandable that each identified object is associated, so the behavior of a single object can also be predicted by analyzing the state of all objects in the surrounding environment. The smart vehicle 300 can adjust its own vehicle speed based on the predicted behavior of the identified object. In other words, the smart vehicle 300 can determine how the vehicle needs to adjust (e.g., accelerate, decelerate, or stop) and to what stable state based on the predicted behavior of the object. In this process, the influence of other factors can also be considered, such as the lateral position of the smart vehicle 300 on the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, etc.

[0092] In addition to providing instructions to adjust the speed of the smart vehicle 300, the computing device may also provide instructions to modify the steering angle of the smart vehicle 300 so that the autonomous vehicle follows a given route and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes).

[0093] The above-mentioned intelligent vehicle 300 can be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and cart, etc., which is not limited in the embodiments of the present application.

[0094] It can be understood that the structural diagram of the intelligent vehicle shown in Figure 1 is only an exemplary implementation in the embodiment of the present application. The intelligent vehicle in the embodiment of the present application includes but is not limited to the above structure.

[0095] Please refer to Figure 2, which is a system architecture diagram of an intelligent vehicle provided in an embodiment of the present application. The system architecture of the intelligent vehicle provided in this application may include a steering system, a braking system, a throttle, a gear prediction module, and a display system. The steering system can sense and transmit information such as steering wheel angle and hands-off status to a CAN / CANFD bus. The steering system can be steering system 3310 in control system 330 in Figure 1 . The braking system can sense and transmit information about brake pedal depression and pedal force to a CAN / CANFD bus. The braking system can be braking unit 3330 in control system 330 in Figure 1 . The throttle can sense and transmit information about throttle pedal depression to a CAN / CANFD bus. The gear shifting system can execute gear shifting commands. The gear shifting system can be a system added to Figure 1 , or a system added to control system 330 in Figure 1 . The gear prediction module can output the optimal gear based on the user's surrounding environment. The gear prediction module can be a module in a computing unit, which can be computer system 350 in Figure 1 . The display system can provide a human-computer interactive display of the automatic gear shifting function.

[0096] The following describes the user interface provided by the embodiments of the present application.

[0097] 3a-3h are a set of user interfaces displayed on a display screen of a smart vehicle 300 provided in an embodiment of the present application.

[0098] FIG3 a exemplarily shows an exemplary user interface 51 on a smart vehicle 300 for displaying guidance on how to automatically shift gears by pressing the brake pedal.

[0099] As shown in FIG3a , the user interface 51 may display two areas, namely a preset area 511 and a preset area 512. The preset area 511 may be used to display a guidance animation prompting the user to step on the brake pedal to activate automatic gear shifting; the preset area 512 may be used to display the force with which the user steps on the brake pedal. When the force with which the user steps on the brake pedal exceeds a preset threshold, the smart vehicle 300 may activate the automatic gear shifting function. In some embodiments, the preset area 512 may reflect the force with which the user steps on the brake pedal in the form of a progress bar to prompt the user whether to increase the force with which the user steps on the brake pedal so that the force with which the user steps on the brake pedal exceeds the preset threshold. In other embodiments, the preset area 512 may also reflect the force with which the user steps on the brake pedal in other ways, such as a percentage or a circular progress bar, which is not specifically limited in this application.

[0100] FIG3 b exemplarily shows an exemplary user interface 52 on a smart vehicle 300 for showing that a user has stepped on the brake pedal to initiate automatic gear shifting.

[0101] As shown in FIG3b , the user interface 52 may display a preset area 521. When the driver enters the driving state or when the smart vehicle 300 comes to a stop, the driver can activate the automatic gear shifting function of the smart vehicle 300 by stepping on the brake pedal. The preset area 521 can display the user's brake pedal force in real time. In some embodiments, the preset area 521 can display the current user's brake pedal force in real time in the form of a progress bar to prompt the user whether to increase the brake pedal force. When the progress bar reaches 100%, it indicates that the user's brake pedal force has reached the preset threshold.

[0102] In some embodiments, the user interface 52 may be a first interface, and the preset area 521 may be a first preset area.

[0103] FIG3 c exemplarily shows an exemplary user interface 53 on the smart vehicle 300 for displaying the result of automatic gear shifting.

[0104] As shown in Figure 3c, the user interface 53 can display a preset area 531. When the user operation meets the automatic gear shifting conditions, the smart vehicle 300 can start automatic gear shifting. Through a preset algorithm, such as a gear prediction algorithm, the target gear is determined and the smart vehicle 300 is automatically shifted into the target gear. The preset area 531 can be used to display the target gear to prompt the user of the gear currently shifted by the vehicle, thereby improving the safety of the user's driving the vehicle and the user experience.

[0105] In some embodiments, the user interface 53 may be a second interface.

[0106] FIG3 d exemplarily shows an exemplary user interface 54 on the smart vehicle 300 for displaying another automatic gear shifting result.

[0107] As shown in Figure 3d, the user interface 54 can display a preset area 541 and a preset area 542. When the user operation meets the automatic gear shifting conditions, for example, when the force exerted by the user on the brake pedal is greater than a preset threshold, the smart vehicle 300 can start automatic gear shifting. Through a preset algorithm, such as a gear prediction algorithm, the target gear is determined and the smart vehicle 300 is automatically shifted into the target gear. The preset area 541 can be used to display the target gear to prompt the user of the gear currently in which the vehicle is shifted, thereby improving the safety of the user driving the vehicle and the user experience. In order to avoid inconsistency between the algorithm prediction result and the user's intention, multiple gear controls can be preset in the preset area 542, such as four gear controls, namely, gear controls for D gear, N gear, R gear and P gear. When the target gear predicted by the smart vehicle 300 is inconsistent with the user's actual intention, the user can touch the gear control in the preset area 542 to re-shift the smart vehicle 300, thereby improving the safety of the user driving the vehicle and the user experience.

[0108] In some embodiments, the user interface 54 may be a second interface.

[0109] FIG3 e exemplarily shows an exemplary user interface 55 on the smart vehicle 300 for displaying instructions for automatically shifting gears by turning the steering wheel.

[0110] As shown in FIG3e , the user interface 55 may display two areas, namely a preset area 551 and a preset area 552. The preset area 551 may be used to display a guidance animation prompting the user to activate automatic gear shifting by turning the steering wheel during driving; the preset area 552 may be used to display the degree of steering wheel rotation by the user. When the degree of steering wheel rotation by the user exceeds a preset threshold, the smart vehicle 300 may activate the automatic gear shifting function. In some embodiments, the preset area 552 may reflect the degree of steering wheel rotation by the user in the form of a progress bar to prompt the user whether to continue turning the steering wheel so that the degree of steering wheel rotation by the user exceeds the preset threshold. In other embodiments, the preset area 512 may also reflect the degree of steering wheel rotation by the user in other ways, such as a percentage or a circular progress bar, which is not specifically limited in this application.

[0111] FIG3 f exemplarily shows an exemplary user interface 56 on the smart vehicle 300 for showing that the user turns the steering wheel to start automatic gear shifting.

[0112] As shown in FIG3f , the user interface 56 may display a preset area 561. When the driver enters the driving state or when the smart vehicle 300 is stopped, the driver can activate the automatic gear shifting function of the smart vehicle 300 by turning the steering wheel. The preset area 561 can display the degree of steering wheel rotation of the user in real time. In some embodiments, the preset area 561 can display the degree of steering wheel rotation of the user in the form of a progress bar to prompt the user whether to continue turning the steering wheel. When the progress bar reaches 100%, it indicates that the degree of steering wheel rotation of the user has reached a preset threshold.

[0113] In some embodiments, the user interface 56 may be a first interface, and the preset area 561 may be a first preset area.

[0114] FIG3 g exemplarily shows an exemplary user interface 57 on the smart vehicle 300 for displaying another automatic gear shifting result.

[0115] As shown in FIG3g , the user interface 57 may display a preset area 571 and a preset area 572. In other embodiments, the user interface 57 may display the preset area 571. When a user operation satisfies the automatic gear shifting condition, such as when the steering wheel is turned so that the steering wheel angle reaches a preset threshold during driving, the smart vehicle 300 may initiate automatic gear shifting. Using a preset algorithm, such as a gear prediction algorithm, the target gear is determined and the smart vehicle 300 is automatically shifted into the target gear. The preset area 571 may be used to display the target gear to prompt the user of the gear currently engaged in the vehicle, thereby improving the user's driving safety and user experience. To avoid inconsistencies between the algorithm prediction result and the user's intention, multiple gear controls may be preset in the preset area 572, such as four gear controls for D, N, R, and P. When the target gear predicted by the smart vehicle 300 is inconsistent with the user's actual intention, the user can touch the gear control in the preset area 572 to shift the smart vehicle 300 into a new gear, thereby improving the user's driving safety and user experience.

[0116] In some embodiments, the user interface 57 may be a second interface.

[0117] FIG3 h exemplarily shows an exemplary user interface 58 on the smart vehicle 300 for displaying a gear correction usage guide.

[0118] As shown in Figure 3h, user interface 58 may display a preset area 581, which can be used to display a gear correction guidance animation when the user's intended gear is inconsistent with the target gear automatically engaged by the vehicle computer. Gear correction can be triggered by the user deeply pressing the brake pedal or re-pressing the brake pedal to correct the automatically engaged gear. In contrast, when the system's predicted gear conflict with the user's actual intended gear, the gear position is corrected by sliding the screen. Correcting the gear position by deepening the brake pedal pressure is performed by the foot, saving hand movement.

[0119] The following is an introduction to the vehicle automatic gear shifting method involved in the embodiment of the present application. The vehicle automatic gear shifting method involved in the present application can be used in the vehicle driving stage and can also be used in the vehicle starting stage.

[0120] Please refer to Figure 4, which is a flow chart of a method for automatically shifting gears during vehicle driving provided by an embodiment of the present application, and is described in detail as follows.

[0121] Step S601: Obtain vehicle information.

[0122] Specifically, the vehicle information may include but is not limited to the current gear of the vehicle (also referred to as the current gear), the current vehicle speed (also referred to as the current vehicle speed), the vehicle speed within a preset time period, the current steering wheel angle, and other information.

[0123] Step S602: Determine whether the vehicle state satisfies the automatic gear shifting requirement.

[0124] Specifically, to ensure driving safety, the vehicle must be in automatic gear. The vehicle state can be either D or R. The vehicle speed may be non-zero within a preset time period, and the current vehicle speed being zero indicates that the vehicle has transitioned from a moving state to a stopped state. When the vehicle transitions from a moving state to a stationary state, it can be determined that the vehicle is in automatic gear.

[0125] In some embodiments, a user interface for guiding the use of automatic gear shifting by turning the steering wheel is displayed on the vehicle's display screen, such as the user interface 55 shown in Figure 3e above, to prompt the user how to start the vehicle's automatic gear shifting function, thereby improving the user experience.

[0126] Step S603: If satisfied, determine whether the current steering wheel angle is within a preset angle range.

[0127] Specifically, the preset angle interval can be a steering wheel angle range preset in advance, and the preset angle range can be set close to the maximum steering angle of the steering wheel. In some embodiments, the preset angle interval can be called a first preset range.

[0128] For example, as shown in Figure 5, the user can turn the steering wheel to change the direction of the vehicle's wheels. When the vehicle is in an automatic gear driving state and the user turns the steering wheel, the degree of the steering wheel angle β can be obtained in real time. When the user turns the steering wheel to within the specified angle range, it can be used as a trigger condition for automatic gear shifting. For example, in the scenario of turning around on a narrow road, when the vehicle stops and the steering wheel is almost fully turned, it can indicate that it is currently unable to continue moving forward or backward and needs to shift gears again. For example, if the vehicle is currently in D gear, it needs to be changed to R gear. If the vehicle is currently in R gear, it needs to be changed to D gear.

[0129] In some embodiments, a user interface for the user to turn the steering wheel to start automatic gear shifting is displayed on the vehicle's display screen, such as the user interface 56 shown in Figure 3f above, to prompt the user whether they need to continue turning the steering wheel to trigger the vehicle's automatic gear shifting method.

[0130] Step S604: If the conditions are met, determine the target angle between the vehicle head and the road boundary.

[0131] Specifically, to prevent accidental triggering of the vehicle's automatic gear shifting function, such as during an emergency stop with the steering wheel fully engaged, the smart vehicle's sensors can obtain current road position information and vehicle head position information. Based on this information, the target angle between the vehicle head and the road boundary can be calculated. Furthermore, based on the target angle, the need for automatic gear shifting can be determined, preventing accidental triggering and improving the user experience.

[0132] In some embodiments, the sensor may be a camera, and the current road position information, that is, the image information of the current road boundary, may be obtained through the camera of the smart vehicle. Based on the image information, the position information of the current road relative to the front of the smart vehicle may be determined; the current front position information may include the front position of the current smart vehicle, that is, the position of the camera on the smart vehicle.

[0133] In some embodiments, the sensor may be a lidar or a millimeter-wave radar. The lidar or millimeter-wave radar of the smart vehicle may be used to obtain the current road position information, that is, the road direction information and distance information of the current road boundary. Based on the road direction information and distance information of the current road boundary, the position information of the current road relative to the front of the smart vehicle may be determined; the current front position information may include the front position of the current smart vehicle, that is, the position of the lidar or millimeter-wave radar on the smart vehicle.

[0134] In some embodiments, a coordinate system is established using the above-mentioned sensor of the smart vehicle as the coordinate origin. Based on the current road position information, the position coordinates of the vehicle head relative to the coordinate origin can be determined, and then the target angle between the current road position coordinate point and the coordinate origin can be determined.

[0135] For example, as shown in Figure 6 (a), a vehicle is traveling on a road and needs to make a U-turn. During the left U-turn, when the vehicle reaches point A and detects that the vehicle has transitioned from motion to rest, and the steering wheel angle is within a preset angle range, the system can obtain the current road position information and the vehicle's front position information, and calculate the target angle α1 between the vehicle's front and the road boundary lines. Furthermore, based on this target angle α1, the system can determine whether to activate the vehicle's automatic gear shifting function, preventing false triggering and improving the user experience.

[0136] Step S605: Determine whether the target angle is greater than a preset threshold 1.

[0137] Specifically, the preset threshold 1 can be set based on the angle between the front of the vehicle and the two road boundaries required for a successful U-turn. When the target angle is less than or equal to the preset threshold 1, the vehicle can successfully turn without shifting gears. When the target angle is greater than the preset threshold 1, it can indicate that the vehicle cannot continue forward or backward and needs to shift gears again. For example, if the vehicle is currently in D gear, it needs to shift to R gear, and if the vehicle is currently in R gear, it needs to shift to D gear.

[0138] In some embodiments, the preset threshold 1 may be a first threshold.

[0139] For example, as shown in Figure 6 (a), a vehicle is traveling on a road and needs to make a U-turn. During the left U-turn, when the vehicle reaches point A and detects that the vehicle has transitioned from motion to rest, and the steering wheel angle is within a preset angle range, the current road position information and vehicle head position information are obtained, and a target angle α1 between the vehicle head and the road boundary lines is calculated. Assuming a preset threshold value 1 is θ and the vehicle is currently in gear D, if the target angle α1 is greater than θ, the vehicle has reached the road boundary and cannot continue forward. Therefore, the vehicle needs to re-engage a gear at point A to continue driving and complete the U-turn. As shown in Figure 6 (b), after determining that the target angle α1 is greater than θ, the vehicle can trigger the automatic gear shifting function and re-engage the vehicle at point A, for example, to gear R, to continue driving and complete the U-turn.

[0140] Step S606: If the target angle is greater than the preset threshold 1, the vehicle automatic gear shifting function is triggered to determine the target gear position.

[0141] Specifically, the target gear can be determined based on a preset algorithm, which can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the traversable direction based on information about obstacles around the vehicle. If the distance between the nearest obstacle in front and the vehicle computer is greater than a threshold, the vehicle is deemed traversable; otherwise, it is not traversable. When the front is impassable but the rear is, the algorithm outputs R gear; when both the front and rear are impassable, it outputs N gear; and in all other cases, it outputs D gear. In some embodiments, after automatic gear shifting is triggered, the user automatically shifts into the opposite gear, D gear -> R gear, or R gear -> D gear. When the target angle is greater than a preset threshold of 1, it may indicate that the vehicle cannot continue to move forward or backward. Therefore, the vehicle can trigger the automatic gear shifting function, and the target gear that the vehicle currently needs to shift into can be determined based on the prediction algorithm.

[0142] For example, when the vehicle triggers the automatic gear shift function at point A in FIG6 and automatically shifts into gear R, as shown in FIG7(a), the vehicle can travel backward. After reaching point B, when it is detected that the vehicle has changed from a moving state to a stationary state and the steering wheel angle is within a preset angle range, the current road position information and the vehicle head position information can be obtained, and the target angle α2 between the vehicle head and the two road boundary lines can be calculated. If the target angle α2 is greater than θ, it indicates that the vehicle has reached the road boundary and cannot continue to travel backward. Therefore, the vehicle needs to shift gear again at point B before the vehicle can continue to travel and complete the U-turn. As shown in FIG7(b), after determining that the target angle α2 is greater than θ, the vehicle can trigger the automatic gear shift function and shift gear again at point B, such as shifting the vehicle into gear D, and the vehicle can travel forward, thereby continuing to travel and complete the U-turn.

[0143] Step S607: Shift the vehicle into the target gear.

[0144] Specifically, when the vehicle's automatic gear shifting function is triggered and the target gear is determined based on a preset algorithm, the vehicle can automatically shift into the target gear without the need for user operation, thereby improving the user experience. For example, in Figure 6 (a) above, after the vehicle is located at point A and the automatic gear shifting is triggered, the vehicle can automatically shift from D gear to R gear; in Figure 7 (a) above, after the vehicle is located at point B and the automatic gear shifting is triggered, the vehicle can automatically shift from R gear to D gear without the need for manual user operation, thereby improving the user experience. In an embodiment of the present application, when the user performs a narrow road U-turn driving task, the steering wheel is turned to a certain angle, and the system automatically shifts gears for the user, eliminating the need for the user to manually shift gears, thereby improving driving efficiency. At the same time, the method of turning the steering wheel to trigger automatic gear shifting is consistent with the natural driving behavior of narrow road U-turns, and the experience is better.

[0145] In some embodiments, a user interface showing the result of the user turning the steering wheel to start automatic gear shifting is displayed on the vehicle's display screen, such as the user interface 57 shown in FIG. 3 g , to prompt the user that the vehicle is currently in gear.

[0146] For example, as shown in Figure 8, the automatic shifting driving state can be determined first. When the vehicle is in R / D gear and then stops moving, it is determined to be in automatic shifting driving state, and the vehicle computer can display automatic shifting instructions to the user. Furthermore, when the user turns the steering wheel to a specified angle range, such as near full turn, the angle between the vehicle's front and the road boundary lines can be calculated. Lane detection can be performed in real time. Then, the position of the vehicle's current lane in the world coordinate system can be calculated using lane detection technology. Based on the coordinates, the angle between the current lane and the vehicle's front is calculated. If the angle exceeds a preset threshold, it is determined that the user is performing a narrow road U-turn, triggering the automatic shifting function. The vehicle computer can display that automatic shifting has been triggered. Once automatic shifting is triggered, the user automatically shifts into the opposite gear, D->R or R->D. After the shifting is completed, the vehicle computer can display that the automatic shifting has been completed and the shifting direction.

[0147] Please refer to Figure 9, which is a flow chart of a method for automatically shifting gears in a vehicle during the starting phase provided by an embodiment of the present application, and is described in detail as follows.

[0148] Step S701: When the smart vehicle is continuously in a stopped state, obtain driving state information.

[0149] Specifically, driving status information may include, but is not limited to, vehicle door information, seatbelt status information, hands-off state information, and driver's gaze area information. Vehicle door information may include whether all doors are closed or partially closed; seatbelt status information may include whether the driver's seatbelt is fastened or not fastened; hands-off state information may include whether the driver has both hands on the steering wheel or not; and the driver's gaze area information may include the rearview mirror area, central control screen area, instrument panel area, and front display area.

[0150] Step S702: Based on the driving status information, determine whether the user meets the user's driving status.

[0151] Specifically, if the vehicle door information includes the door being closed, the seatbelt status information includes the driver's seatbelt being fastened, the hands-off steering wheel status information includes both hands gripping the steering wheel, and the driver's gaze area information includes one of the following: the rearview mirror area, the central control screen area, the instrument panel area, or the front display area, then the user's driving state is determined to be satisfied. The user's driving state can be understood as the state in which the user can control the vehicle's direction and running direction after the vehicle shifts from P to D or R. When the vehicle is parked in P, the vehicle computer cannot move. If the vehicle needs to move, it must shift into another gear, such as D or R. To ensure safe gear shifting during vehicle start-up, it is necessary to determine whether the user's driving state is satisfied. If the user's driving state is satisfied, the driver can control the vehicle's direction and movement after the vehicle automatically shifts into gear, ensuring the safety of the vehicle's automatic gear shifting. In this embodiment of the present application, the hands-off steering wheel status information is taken into account to ensure that the vehicle's automatic gear shifting function can only be activated when the driver has both hands on the steering wheel. Consequently, after the vehicle triggers automatic gear shifting and starts, the driver can better control the vehicle's direction, thereby improving driving safety. In addition, the embodiment of the present application also takes into account the driver's gaze area information to ensure that the automatic gear shifting function can only be activated after the driver looks at one of the rearview mirror area, central control screen area, instrument panel area, and front display area. Then, after the vehicle triggers the automatic gear shifting function and the vehicle starts, the driver can better avoid obstacles around the vehicle and improve driving safety.

[0152] For example, as shown in Figure 10, after the vehicle is powered on in P gear, the user's driving status can be detected in real time. The vehicle door and seat belt status parameters are obtained. If the door is closed and the driver's seat belt is fastened, the steering wheel hands-off state and the driver's gaze area can be detected. The steering wheel hands-off detection technology can be used to detect whether the steering wheel is held. The driver's gaze area can be obtained through the driver's gaze estimation technology. The gaze area can be divided into the rearview mirror area, the central control screen area, the instrument panel area, the front display area, etc. If it is detected that the steering wheel is in a hand-held state, and / or the gaze area is any of the above, it can be determined that the user is in the user driving state.

[0153] In some embodiments, a user interface that guides the use of automatic gear shifting when the brake pedal is pressed is displayed on the vehicle's display screen, such as the user interface 51 shown in Figure 3a above, to prompt the user to press the brake pedal to start the vehicle's automatic gear shifting function, thereby improving the user experience.

[0154] Step S703: If the vehicle is in a user driving state, determine whether the user's stepping force on the brake pedal is greater than a preset threshold 2 within a preset time period T1.

[0155] Specifically, the preset threshold 2 can be a pre-set pedaling force value. The trigger condition for the vehicle to automatically shift gears can be set as the pedaling force of the brake pedal being continuously greater than the preset threshold 2 within a preset time period T1. When it is detected that the user steps on the brake pedal, that is, after the brake pedal is stepped on, if the user is not driving, the vehicle automatic shifting function may not be activated. Conversely, if it is determined that the user wants to trigger automatic shifting, the vehicle computer can display whether the user action meets the triggering condition, such as displaying a user interface on the vehicle display screen indicating that the user stepped on the brake pedal to initiate automatic shifting, such as the user interface 52 shown in Figure 3b, to prompt the user whether to increase the force on the brake pedal to trigger the vehicle automatic shifting function.

[0156] In some embodiments, the preset time period T1 may be a first preset time period; and the preset threshold 2 may be a second threshold.

[0157] For example, as shown in Figure 11, when it is determined that the user is in a driving state and it is detected that the user steps on the brake pedal, the user's pedaling force on the brake pedal can be displayed in real time on the display screen of the vehicle computer. After the pedaling force is greater than the preset threshold value 2, and the user's pedaling force continues to be greater than the preset threshold value 2 within the preset time period T1, the user can be prompted through obvious interface changes (such as color, icon, percentage, etc.) to indicate that the threshold has been reached, thereby triggering the vehicle's automatic gear shifting function.

[0158] Optionally, step S704: if the vehicle is in a user driving state, determine whether the user continues to step on the brake pedal within a preset time period T2.

[0159] Specifically, the trigger condition for the vehicle's automatic gear shifting can be set to be continuous depressing the brake pedal within a preset time period T2. The user can continuously depress the brake pedal within the preset time period T2 to trigger the vehicle's automatic gear shifting function. It should be noted that the preset time period T1 and the preset time period T2 can be different time periods or the same time period, for example, the preset time period T1 and the preset time period T2 can both be within 1 second.

[0160] In some embodiments, the preset time period T2 may be a second preset time period.

[0161] Step S705: If the user's braking force is greater than the preset threshold 2 within the preset time period T1, or the user continues to step on the brake pedal within the preset time period T2, the vehicle's automatic gear shifting function is triggered, and the target gear is determined based on the preset algorithm.

[0162] Specifically, if the user's brake pedal pressure is greater than a preset threshold value 2 within a preset time period T1, or if the user continuously depresses the brake pedal within a preset time period T2, the vehicle's automatic gear shifting function is triggered. The preset algorithm can be a gear prediction algorithm. For example, when the vehicle is in P gear, the gear prediction algorithm can predict the traversable direction based on information about obstacles around the vehicle. If the distance between the nearest obstacle in front and the vehicle computer is greater than the threshold, the vehicle is deemed traversable; otherwise, the vehicle is deemed impassable. If the front is impassable but the rear is, the algorithm outputs R gear; if both the front and rear are impassable, the algorithm outputs N gear; and in all other cases, the algorithm outputs D gear.

[0163] Step S706: Shift the vehicle into the target gear.

[0164] Specifically, when the vehicle's automatic gear shifting function is triggered and the target gear is determined based on a preset algorithm, the vehicle can automatically shift into the target gear without user interaction, thus improving the user experience. In this application, the user can trigger the vehicle computer system to predict the gear position by pressing the brake pedal, thereby achieving automatic gear shifting. Based on existing technologies, the addition of driving status judgment can prevent false triggering and improve safety; the gear prediction algorithm can be triggered when the user presses the brake to prepare to shift gears, which improves real-time performance; the vehicle computer can display prompt information to the user at each stage of automatic gear shifting, and the user and the vehicle computer can make collaborative decisions to optimize the user experience.

[0165] In some embodiments, a user interface showing the automatic gear shifting result of pressing the brake pedal is displayed on the vehicle's display screen, such as the user interface 53 shown in FIG3 c , prompting the user of the current gear the vehicle is in, thereby improving the user's driving safety and user experience.

[0166] Optionally, a user interface for another automatic gear shifting result of pressing the brake pedal is displayed on the vehicle's display screen, such as the user interface 54 shown in FIG3d above. When the automatically engaged target gear conflicts with the user's actual intention, the user can select the desired gear on the user interface 54, and the vehicle can then engage the gear selected by the user.

[0167] For example, as shown in Figure 12, the user's driving status can be determined first. After the vehicle is powered on and in P gear, the user's driving status can be detected in real time. The vehicle's door and seatbelt status parameters can be read. If the doors are closed and the driver's seatbelt is fastened, the driver's hands-off state and the driver's gaze area can be detected. Hands-off detection technology can be used to determine whether the steering wheel is held. Driver gaze estimation technology can be used to determine the driver's gaze area. Gaze areas can be categorized as the rearview mirror area, the central control screen area, the instrument panel area, the front display area, and so on. If the steering wheel is detected as being held and / or the gaze area is any of the above, the user is considered to be driving. The vehicle computer can then display instructions for automatic gear shifting. This can be in the form of animation, text, or language. Furthermore, if the brake pedal is detected to be pressed, if the user is not driving, the automatic gear shifting determination is not initiated. Otherwise, if the user is determined to have intended to trigger automatic gear shifting, the vehicle computer can display whether the user's action meets the triggering conditions. For example, a trigger condition could be when the brake force exceeds a preset threshold. After the user applies the brakes, the vehicle computer displays the brake force in real time. Once the force meets the threshold, a noticeable interface change (such as color, icon, or percentage) indicates that the threshold has been reached. Alternatively, the trigger condition could be that the brake pedal remains depressed for a period of time, or that the brake force remains above a threshold for a period of time. Next, based on the user's braking behavior, the vehicle computer can determine that the automatic gear shift trigger condition has been met and display the automatic gear shift function as triggered. This display can be via graphics, text, animation, or voice. If the user releases the brake pedal within a period of time but the automatic gear shift trigger condition has not been met, the vehicle computer determines that the user requires guidance. In this case, the vehicle computer can redisplay the automatic gear shift instruction. Once automatic gear shift is triggered, the vehicle computer can begin running the gear prediction algorithm, displaying a waiting state for automatic gear shift. In P gear, the gear prediction algorithm predicts a traversable direction based on information about surrounding obstacles. If the distance between the nearest obstacle and the vehicle computer is greater than the threshold, the vehicle is deemed traversable; otherwise, it is not traversable. When the front is impassable but the rear is, the algorithm outputs R gear; when both the front and rear are impassable, it outputs N gear; in all other cases, it outputs D gear. After the gear prediction algorithm outputs its result, the vehicle computer can engage the corresponding gear for the user and display the completed gear engagement. Optionally, a gear correction guide (such as user interface 58 shown in FIG. 3h ) can also be displayed. If the automatically engaged gear conflicts with the user's actual intended gear, the gear correction guide can be used to perform a corrective action.

[0168] Please refer to Figure 13, which is a schematic diagram of another method for automatically shifting gears of a vehicle during the driving phase provided by an embodiment of the present application, and is described in detail as follows.

[0169] Step S801: When it is detected that the brake pedal is in a depressed state, the vehicle state is determined.

[0170] Specifically, when the brake pedal is depressed, the vehicle state is determined in real time based on the vehicle speed. When the vehicle speed is 0, it is a stationary state, and vice versa.

[0171] Step S802: When it is detected that the smart vehicle changes from a driving state to a stopped state, it is determined whether a trigger condition for automatic gear shifting of the vehicle is met.

[0172] Specifically, the vehicle's automatic gear shifting trigger condition can be whether the brake pedal pressure is greater than a preset threshold value 3 within a preset time period T3, or whether the brake pedal is continuously pressed within a preset time period T4. If the brake pedal pressure is greater than the preset threshold value 3 within the preset time period T3, or the brake pedal is continuously pressed within the preset time period T4, it can be determined that the vehicle's automatic gear shifting trigger condition is met. When the vehicle changes from a moving state to a stationary state, the judgment of whether the automatic gear shifting condition is met is triggered. When the brake pressure and time meet the preset conditions, for example, the brake pressure is greater than 50% within 1 second, the vehicle computer determines that the automatic gear shifting trigger condition is met.

[0173] In some embodiments, the preset time period T3 may be a first preset time period, the preset time period T4 may be a second preset time period, and the preset threshold 3 may be a first threshold.

[0174] Step S803: If satisfied, calculate whether the vehicle acceleration within the preset time period T4 is greater than the preset threshold 4.

[0175] Specifically, the preset time period T4 can be a preset time period before the vehicle comes to a stop. Under unusual circumstances, such as when a user makes an emergency stop, the brake pedal force may exceed a preset threshold value 3 during the preset time period T3, thereby erroneously triggering the vehicle's automatic gear shifting function. To prevent erroneous triggering of the vehicle's automatic gear shifting function, acceleration can be calculated based on the change in vehicle speed during the most recent time period T4. If the acceleration exceeds a preset threshold value 4 (the degree of change in vehicle speed), it is determined that the user's sudden braking action erroneously met the automatic gear shifting condition, and the automatic gear shifting function may not be executed.

[0176] In some embodiments, the preset time period T4 may be a third preset time period, and the preset threshold 4 may be a second threshold.

[0177] Step S804: If it is less than or equal to, the vehicle automatic gear shifting function is triggered, and the target gear is determined based on a preset algorithm.

[0178] Specifically, if the vehicle acceleration is less than or equal to a preset threshold value 4 within a preset time period T4, it is determined to be a non-false trigger, and the vehicle's automatic gear shifting function can be triggered. The vehicle's display can indicate that the automatic gear shifting function has been triggered, and the gear prediction algorithm begins running. If the front is impassable but the rear is, the algorithm outputs R gear; if both the front and rear are impassable, the algorithm outputs N gear; and in all other cases, D gear is output. In some embodiments, after the automatic gear shifting function is triggered, the user automatically shifts into the opposite gear: D gear -> R gear, or R gear -> D gear.

[0179] Step S805: Shift the vehicle into the target gear.

[0180] Specifically, when the vehicle's automatic gear shifting function is triggered and the target gear is determined based on a preset algorithm, the vehicle can automatically shift into the target gear without user interaction, improving the user experience. In this embodiment of the application, it can be used in R, N, and D gears, covering a wider range. The brake pedal's pressure threshold can be reset, and false trigger detection is added based on Figure 8 above, improving vehicle driving safety.

[0181] For example, as shown in Figure 14, when the brake pedal is depressed, the vehicle's state can be determined in real time based on vehicle speed. A speed of 0 indicates a stationary state, while a speed of 0 indicates a moving state. When the vehicle transitions from a moving state to a stationary state, a determination can be made as to whether the automatic gear shifting conditions have been met. When the braking force and duration meet preset conditions, such as a braking force greater than 50% for 1 second, the vehicle computer can determine that the automatic gear shifting conditions have been met. Furthermore, a false triggering determination can be performed by calculating the acceleration based on recent speed changes. If the acceleration exceeds a preset threshold (the degree of speed change), it can be determined that the user's sudden braking action mistakenly met the automatic gear shifting condition, and the automatic gear shifting function will not be executed. If the determination is not a false trigger, the vehicle computer can display that the automatic gear shifting condition has been triggered and initiate the gear prediction algorithm. The gear prediction algorithm can be the same as the one described above, or it can be used to select the opposite gear for the user. For example, if the current gear is D, the gear prediction algorithm will output R; if the current gear is R, the gear prediction algorithm will output D.

[0182] An embodiment of the present application provides a method for correcting a conflict between automatic gear shifting and user intent. When the target gear position conflicts with the user's intent, the method can detect whether the brake pedal is depressed more deeply. Specifically, a deeper depression of the brake pedal can be used as a trigger condition for gear correction. When the user's actual intent is inconsistent with the target gear position, the user can trigger gear correction by depressing the brake pedal more deeply. That is, the user's brake pedal depression force needs to be greater than a preset threshold (e.g., a preset threshold greater than preset threshold 2, which may also be referred to as a third threshold in some embodiments) to achieve a deeper depression of the brake pedal.

[0183] If the vehicle computer detects increased brake pedal pressure, it determines that the target gear is inconsistent with the user's actual intention. If the brake pedal pressure increases, the prediction algorithm outputs the opposite gear. Specifically, if the vehicle is currently braking and the user increases brake pedal pressure within a certain time limit, the gear prediction algorithm outputs the opposite gear (for example, D -> R, or R -> D). The vehicle computer displays the latest gear prediction result and completes the gear shift.

[0184] Optionally, when the user is not braking and presses the brake pedal again, the gear prediction algorithm outputs the opposite gear (D->R, R->D), and the vehicle computer can display the latest gear prediction result and complete the gear shifting.

[0185] Optionally, if the user corrects the gear position using other alternative gear shifting methods (such as hand-held gear shifting or screen gear shifting), the automatic gear shifting function changes to a disabled state. After shifting into P gear again, the automatic gear shifting function can be automatically activated again.

[0186] In this embodiment of the present application, the user can correct the automatically engaged gear by increasing the pressure on the brake pedal or pressing the brake pedal again. This is in contrast to correcting the gear by sliding the screen when the system's predicted gear position conflicts with the user's actual intention. By increasing the pressure on the brake pedal to correct the gear position, the corrective action is still performed by the foot, saving hand movement.

[0187] For example, as shown in Figure 15, the user can trigger automatic gear shifting by deeply depressing the brake pedal, and the vehicle computer will display that the gear prediction is complete. If the gear prediction result conflicts with the user's intention, the user can perform a designated action to correct the gear shift. If the user is currently braking and the user presses the brake pedal harder within a limited time, the gear prediction algorithm outputs the opposite gear (D->R, R->D). The vehicle computer displays the latest gear prediction result and completes the gear shift.

[0188] The present application provides a computer storage medium, characterized in that the computer storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned vehicle automatic gear shifting methods is implemented.

[0189] An embodiment of the present application provides a vehicle comprising a processor configured to support the vehicle in implementing the corresponding functions of any of the aforementioned methods for automatically shifting gears. The vehicle may also include a memory coupled to the processor and storing necessary program instructions and data for the vehicle. The vehicle may also include a communication interface for communicating with other devices or a communication network.

[0190] This application provides a chip system that includes a processor for supporting a vehicle in implementing the aforementioned functions, such as generating or processing information required for the aforementioned method of automatically shifting gears. In one possible design, the chip system also includes a memory for storing necessary program instructions and data for the vehicle. The chip system can be composed solely of a chip or include a chip and other discrete components.

[0191] The present application provides a computer program, characterized in that the computer program includes instructions, and when the computer program is executed by a computer, the computer is caused to execute the above-mentioned method for automatically shifting gears in a vehicle.

[0192] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0193] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0194] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0195] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0196] In addition, the functional units in the embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0197] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present application. Among them, the aforementioned storage medium may include: U disk, mobile hard disk, magnetic disk, optical disk, read-only memory (Read-Only Memory, abbreviated: ROM) or random access memory (Random Access Memory, abbreviated: RAM) and other media that can store program codes.

[0198] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for automatically shifting gears of a vehicle, characterized in that: Applied to an intelligent vehicle, the intelligent vehicle includes a steering wheel, and the method includes: When detecting that the intelligent vehicle changes from a driving state to a stopped state, determining whether the current steering wheel angle is within a first preset range; If the current steering wheel angle is within the first preset range, determining whether the current target angle between the front of the smart vehicle and the road boundary is greater than a first threshold; If it is greater, the vehicle's automatic gear shifting function will be triggered.

2. The method according to claim 1, characterized in that: The smart vehicle further includes a sensor, and the method further includes: Obtain current road position information and current vehicle head position information, and determine the target angle based on the current road position information and the current vehicle head position information, wherein the current road position information includes the position information of the current road relative to the vehicle head obtained by the sensor, and the current vehicle head position information includes the current vehicle head position of the smart vehicle.

3. The method according to claim 1 or 2, characterized in that: The smart vehicle includes a display screen, and the method further includes: When it is detected that the user turns the steering wheel, a first interface is displayed on the display screen of the smart vehicle, wherein the first interface includes a first preset area, and the first preset area is used to display the steering wheel rotation angle in real time.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: After the automatic gear shifting function of the vehicle is triggered, a target gear is determined and the target gear is engaged.

5. The method according to claim 4, characterized in that: The method further comprises: When the smart vehicle is engaged in the target gear, a second interface is displayed on the display screen of the smart vehicle, where the second interface is used to display the target gear.

6. The method according to any one of claims 1 to 5, characterized in that: The smart vehicle further includes a brake pedal, and the method further includes: When the smart vehicle is continuously in a stopped state, driving state information is obtained, wherein the driving state information includes vehicle door information, seat belt state information, steering wheel hands-off state information, and driver's sight area information; Based on the driving state information, determining whether the user's driving state is satisfied; If satisfied, determining whether the braking force of the brake pedal is greater than a second threshold value within the first preset time period, or determining whether the brake pedal is continuously stepped on within the second preset time period; If the braking force of the brake pedal is greater than the second threshold value within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, the automatic gear shifting function of the vehicle is triggered.

7. The method according to claim 6, characterized in that: If the vehicle door information includes that the door is closed, the seat belt status information includes that the driver's seat belt is fastened, the hands-on steering wheel status information includes that both hands are holding the steering wheel, and the driver's line of sight area information includes one of the rearview mirror area, central control screen area, instrument panel area, and front display area, then it is determined that the user's driving status is met.

8. The method according to claim 6 or 7, characterized in that: The method further comprises: When it is detected that the user's stepping force on the brake pedal is greater than a third threshold, the vehicle's automatic gear shifting function is re-triggered, the target gear is re-determined, and the re-determined target gear is engaged.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: Acquire vehicle information, wherein the vehicle information includes the current gear position and current speed of the smart vehicle; If the current gear position includes one of a forward gear and a reverse gear, and the current vehicle speed is 0, it is determined that the intelligent vehicle changes from a driving state to a stopped state.

10. A method for automatically shifting gears of a vehicle, characterized in that: Applied to an intelligent vehicle, the intelligent vehicle includes a brake pedal, and the method includes: When it is detected that the intelligent vehicle changes from a driving state to a stopped state, it is determined that the braking pedal stepping force is whether the brake pedal is continuously stepped on within a second preset time period; If the brake pedal stepping force is greater than the first threshold value within the first preset time period, or the brake pedal is continuously stepped on within the second preset time period, then obtaining the vehicle speed change information within a third preset time period before the smart vehicle is in the stopped state; determining the acceleration within the third preset time period based on the vehicle speed change information, and determining whether the acceleration is less than or equal to a second threshold; If it is less than or equal to, the vehicle's automatic gear shifting function will be triggered.

11. The method according to claim 10, characterized in that: The method further comprises: Acquire vehicle information, wherein the vehicle information includes the current gear position and current speed of the smart vehicle; If the current gear position includes one of a forward gear and a reverse gear, and the current vehicle speed is 0, it is determined that the intelligent vehicle changes from a driving state to a stopped state.

12. The method according to claim 10 or 11, characterized in that: The smart vehicle includes a display screen, and the method further includes: When it is detected that a user steps on the brake pedal, a first interface is displayed on the display screen of the smart vehicle, wherein the first interface includes a first preset area, and the first preset area is used to display the stepping force of the brake pedal in real time.

13. The method according to claims 10-12, characterized in that: The method further comprises: After the automatic gear shifting function of the vehicle is triggered, a target gear is determined and the target gear is engaged.

14. The method according to claim 13, characterized in that: The method further comprises: When the smart vehicle is engaged in the target gear, a second interface is displayed on the display screen of the smart vehicle, where the second interface is used to display the target gear.

15. A vehicle, characterized in that: include: A memory, one or more processors; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the vehicle to execute the method as described in any one of claims 1-9, or execute the method as described in any one of claims 10-14.

16. A chip system, characterized in that: The chip system includes at least one processor, a memory and an interface circuit, the memory, the interface circuit and the at least one processor are interconnected by lines, and instructions are stored in the at least one memory; when the instructions are executed by the processor, the method described in any one of claims 1 to 9 is implemented, or the method described in any one of claims 10 to 14 is executed.

17. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on a vehicle, the vehicle executes the method as claimed in any one of claims 1 to 9, or executes the method as claimed in any one of claims 10 to 14.

18. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are run on a vehicle, the vehicle executes the method according to any one of claims 1 to 9, or executes the method according to any one of claims 10 to 14.

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