CN113320548A

CN113320548A - Vehicle control method, device, electronic equipment and storage medium

Info

Publication number: CN113320548A
Application number: CN202110888961.0A
Authority: CN
Inventors: 杨高雷
Original assignee: Neolix Technologies Co Ltd
Current assignee: Neolix Technologies Co Ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2021-08-31

Abstract

The disclosure relates to the technical field of vehicle control, and provides a vehicle control method, a vehicle control device, electronic equipment and a storage medium. The method is applied to an unmanned vehicle, i.e. an unmanned or autonomous device, comprising: under the condition that the vehicle is in an automatic driving mode, when a driving mode switching trigger event is detected, acquiring the current vehicle speed of the vehicle, taking the current vehicle speed as a target vehicle speed, and calculating a target torque based on the target vehicle speed; controlling the running of the vehicle based on the target torque in a process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event; after the driving mode of the vehicle is switched to the remote driving mode, a control instruction sent by the remote driving end is received and responded to, so that the driving of the vehicle is remotely controlled through the remote driving end. The switching of the driving modes can be realized under the condition that the vehicle does not need to be stopped, and therefore the safety of unmanned driving is improved.

Description

Vehicle control method, device, electronic equipment and storage medium

Technical Field

Embodiments of the present disclosure relate to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus, an electronic device, and a computer-readable storage medium.

Background

An unmanned vehicle, also called an automatic vehicle, an unmanned vehicle or a wheeled mobile robot, achieves the purpose of unmanned driving by equipping the vehicle with intelligent software and various sensing devices.

The driving modes of the unmanned vehicle include an automatic driving mode and a remote driving mode. The automatic driving mode is to control the driving of the unmanned vehicle without human intervention. The remote driving mode is to connect the unmanned vehicle with a remote driving terminal by means of a wireless network, so that a remote driver sends a control instruction by checking information uploaded by the unmanned vehicle, and the driving of the unmanned vehicle is controlled remotely.

In the prior art, when an unmanned automobile is switched from an automatic driving mode to a remote driving mode, the unmanned automobile needs to exit the automatic driving mode and be decelerated and parked, so that potential safety hazards exist in some scenes, for example, collision between a rear automobile and a front automobile or rear-end collision between the rear automobile and the front automobile is easily caused, and the safety of unmanned driving is low. Further, during the switching of the driving mode, the torque variation may cause a shock or a shake to the vehicle, resulting in a poor driving experience.

Disclosure of Invention

In view of this, embodiments of the present disclosure provide a vehicle control method, an apparatus, an electronic device, and a computer-readable storage medium, so as to solve the problem that when an unmanned vehicle in the prior art is switched from an automatic driving mode to a remote driving mode, the unmanned vehicle needs to exit the automatic driving mode and perform parking after decelerating, and there are potential safety hazards in some scenes, which results in low safety of unmanned driving.

In a first aspect of the disclosed embodiments, there is provided a vehicle control method including: under the condition that the vehicle is in an automatic driving mode, when a driving mode switching trigger event is detected, acquiring the current vehicle speed of the vehicle, taking the current vehicle speed as a target vehicle speed, and calculating a target torque based on the target vehicle speed; controlling the running of the vehicle based on the target torque in a process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event; after the driving mode of the vehicle is switched to the remote driving mode, a control instruction sent by the remote driving end is received and responded to, so that the driving of the vehicle is remotely controlled through the remote driving end.

In a second aspect of the disclosed embodiments, there is provided a vehicle control apparatus including: the vehicle control device comprises a calculation module, a control module and a control module, wherein the calculation module is configured to acquire the current vehicle speed of the vehicle when a driving mode switching trigger event is detected under the condition that the vehicle is in an automatic driving mode, take the current vehicle speed as a target vehicle speed, and calculate a target torque based on the target vehicle speed; a control module configured to control travel of the vehicle based on the target torque in a process of switching a driving mode of the vehicle from an automatic driving mode to a remote driving mode based on a driving mode switching trigger event; the receiving module is configured to receive a control instruction sent by the remote driving end and respond to the control instruction after the driving mode of the vehicle is switched to the remote driving mode so as to remotely control the running of the vehicle through the remote driving end.

In a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: under the condition that the vehicle is in an automatic driving mode, when a driving mode switching trigger event is detected, acquiring the current vehicle speed of the vehicle, taking the current vehicle speed as a target vehicle speed, and calculating a target torque based on the target vehicle speed; controlling the running of the vehicle based on the target torque in a process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event; after the driving mode of the vehicle is switched to the remote driving mode, the control instruction sent by the remote driving end is received and the control instruction is responded, so that the driving of the vehicle is remotely controlled through the remote driving end, and the switching from the automatic driving mode to the remote driving mode can be realized under the condition that the vehicle does not need to stop, therefore, the occurrence of traffic accidents is avoided, and the safety of unmanned driving is improved. Further, the vehicle can be kept stable by controlling the torque change in the process of switching from the automatic driving mode to the remote driving mode, so that the impact or shake of the torque change on the vehicle is avoided, and the driving experience is improved.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

FIG. 2 is a flow chart of another vehicle control method provided by the disclosed embodiment;

fig. 3 is a block diagram of a vehicle control apparatus provided in an embodiment of the present disclosure;

fig. 4 is a schematic diagram of an electronic device provided in an embodiment of the present disclosure.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.

A vehicle control method and apparatus according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a vehicle control method provided in an embodiment of the present disclosure. The Vehicle Control method of fig. 1 may be executed by a Vehicle Control Unit (VCU). As shown in fig. 1, the vehicle control method includes:

s101, under the condition that the vehicle is in an automatic driving mode, when a driving mode switching trigger event is detected, acquiring the current vehicle speed of the vehicle, taking the current vehicle speed as a target vehicle speed, and calculating a target torque based on the target vehicle speed;

s102, controlling the running of the vehicle based on the target torque in the process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event;

and S103, after the driving mode of the vehicle is switched to the remote driving mode, receiving a control instruction sent by the remote driving end and responding to the control instruction so as to remotely control the running of the vehicle through the remote driving end.

Specifically, under the condition that the vehicle is in an automatic driving mode, when a driving mode switching trigger event is detected, the vehicle control unit acquires the current vehicle speed of the vehicle, and takes the current vehicle speed as a target vehicle speed to calculate a target torque based on the target vehicle speed; in the process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event, the vehicle control unit controls the running of the vehicle based on the target torque; further, after the driving mode of the vehicle is switched to the remote driving mode, the vehicle control unit sends a remote control request to the remote driving end, and when a control instruction sent by the remote driving end is received, the vehicle control unit responds to the control instruction to remotely control the running of the vehicle through the remote driving end.

Here, the vehicle control unit is a core of the entire control system as a central control unit of the new energy vehicle. The vehicle controller collects the states of a motor and a battery, collects signals of an accelerator pedal, signals of a brake pedal, signals of an actuator and a sensor, monitors the action of each component controller on the lower layer after making corresponding judgment according to comprehensive analysis of the intention of a driver, and is responsible for normal running, brake energy feedback, energy management of a vehicle engine and a power battery, network management, fault diagnosis and processing, vehicle state monitoring and the like of the vehicle, so that the vehicle can work normally and stably under the states of better dynamic property, higher economy and reliability.

The vehicle may comprise any one of a smart drive vehicle, a assisted drive vehicle, an autonomous vehicle, and an unmanned vehicle. Preferably, in the disclosed embodiment, the vehicle may be an unmanned vehicle that senses the surroundings of the vehicle using an in-vehicle sensor and controls the steering and speed of the vehicle according to the road, vehicle position, and obstacle information obtained by the sensing, thereby enabling the vehicle to safely and reliably travel on the road.

The driving mode is a mode for controlling the vehicle to travel, and may be an automatic driving mode or a remote driving mode. The automatic driving mode is that the vehicle end controls the vehicle to run. The remote driving mode may be that a remote driver checks the driving road condition of the vehicle through a display screen and controls the driving of the vehicle by controlling a steering wheel and a throttle. For example, video stream data of each direction around the vehicle may be acquired by a camera device provided at the vehicle side, and the acquired video stream data may be transmitted to the remote driving side through network connection and protocol conversion. The video stream data can be used for a display device at the remote driving end to display images or videos of corresponding directions, so that the remote driver can perform remote control such as steering wheel rotation control, accelerator and brake control and the like according to the displayed content.

The driving mode switch triggering event may include at least one of an autonomous driving dysfunction, an inability to avoid an obstacle, an impending collision, a need to slow down, a need to speed up, a need to stop, an impending violation of traffic regulations, or a departure from a lane of travel. It should be noted that the driving mode switching trigger event is not limited to the trigger event described above, and may also be, for example, a red light, a complex road condition, an emergency condition, and the like, which is not limited by the embodiment of the present disclosure. For example, when it is detected that a red light of a traffic light is on, the automatic driving mode may be switched to the remote driving mode to control the vehicle by the remote driver; when a complex road condition such as a road being too bumpy or a vehicle not traveling well according to the road condition in the autonomous driving mode is detected, the autonomous driving mode may be switched to the remote driving mode to adjust the traveling of the vehicle according to the road condition by the remote driver; when an emergency situation such as a traffic accident occurring on the road ahead is detected, the automatic driving mode may be switched to the remote driving mode to prevent the vehicle from driving into the traffic accident section.

The vehicle speed, i.e., the vehicle running speed, refers to the distance traveled by the vehicle per unit time. The current vehicle speed refers to a vehicle speed value at the current moment, namely the vehicle speed value of the vehicle when the driving mode switching trigger event is detected. Further, the current vehicle speed may be taken as the target vehicle speed during the subsequent driving mode switching.

Torque is a specific moment that causes an object to rotate. The torque of the engine refers to the torque output from the crankshaft end of the engine. Under the condition of fixed power, the torque and the engine rotating speed are in an inverse proportion relation, and the faster the rotating speed is, the smaller the torque is; the slower the speed, the greater the torque, which reflects the load capacity of the vehicle within a certain range. The target torque is a torque value that the vehicle needs to satisfy at the present time in order to reach the target vehicle speed.

The control command may include at least one of a driving mode switching command, a braking control command, an oiling control command, a parking control command, a steering control command, a window control command, a multimedia control command, a power supply control command, and a distress control command.

According to the technical scheme provided by the embodiment of the invention, under the condition that the vehicle is in the automatic driving mode, when a driving mode switching trigger event is detected, the current vehicle speed of the vehicle is obtained, the current vehicle speed is taken as the target vehicle speed, and the target torque is calculated based on the target vehicle speed; controlling the running of the vehicle based on the target torque in a process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event; after the driving mode of the vehicle is switched to the remote driving mode, the control instruction sent by the remote driving end is received and the control instruction is responded, so that the driving of the vehicle is remotely controlled through the remote driving end, and the switching from the automatic driving mode to the remote driving mode can be realized under the condition that the vehicle does not need to stop, therefore, the occurrence of traffic accidents is avoided, and the safety of unmanned driving is improved. Further, the vehicle can be kept stable by controlling the torque change in the process of switching from the automatic driving mode to the remote driving mode, so that the impact or shake of the torque change on the vehicle is avoided, and the driving experience is improved.

In some embodiments, calculating the target torque based on the target vehicle speed comprises: and calculating the target torque through a proportional integral derivative algorithm based on the target vehicle speed.

Specifically, the vehicle control unit may calculate the target torque based on the target vehicle speed and through a proportional integral derivative algorithm. Here, the Proportional-Integral-derivative (PID) algorithm is a control algorithm that combines three links of proportion, Integral and derivative, and is the most mature and widely applied control algorithm in the continuous system. The essence of the PID control is that the operation is performed according to the function relationship of proportion, integral and differential according to the input deviation value, and the operation result is used to control the output.

In some embodiments, controlling the travel of the vehicle based on the target torque includes: and acquiring the real-time vehicle speed of the vehicle, and adjusting the real-time torque corresponding to the real-time vehicle speed based on the target torque under the condition that the real-time vehicle speed is different from the target vehicle speed so as to enable the real-time vehicle speed to be the same as or close to the target vehicle speed.

Specifically, the vehicle control unit obtains a real-time vehicle speed of the vehicle, and when the real-time vehicle speed is different from the target vehicle speed, the vehicle control unit adjusts a real-time torque corresponding to the real-time vehicle speed based on the target torque, so that the real-time vehicle speed is the same as or close to the target vehicle speed. Here, the real-time vehicle speed refers to a vehicle speed value of the vehicle acquired in real time during the switching from the automatic driving mode to the remote driving mode. The real-time torque refers to a torque value which needs to be reached in real time during the switching from the automatic driving mode to the remote driving mode.

According to the technical scheme provided by the embodiment of the disclosure, by adjusting the real-time torque based on the target torque, when the real-time torque reaches or approaches the target torque, the actual vehicle speed of the vehicle can be ensured to be the same as or close to the target vehicle speed, namely, the vehicle speed of the vehicle is kept unchanged in the process of switching from the automatic driving mode to the remote driving mode, and therefore, the possibility of shock or shaking of the vehicle is reduced.

In some embodiments, the vehicle control method further includes: detecting vehicle running data of a vehicle in real time, and sending the detected vehicle running data to a remote driving end; and receiving a control instruction sent by the remote driving end, wherein the control instruction is an operation suggestion determined by the remote driving end based on the vehicle running data.

Specifically, the vehicle control unit detects vehicle running data of a vehicle in real time and sends the detected vehicle running data to a remote driving end; further, the vehicle control unit receives a control command sent by the remote driving end, wherein the control command is an operation suggestion determined by the remote driving end based on the vehicle driving data.

Here, the vehicle travel data is image and video data of the vehicle itself and image and video data of the environment around the vehicle, which are acquired by one or more cameras installed around the vehicle during travel of the vehicle. For example, in the driving process of the vehicle, when the camera installed at the right front of the vehicle collects that a pedestrian is close to the vehicle, a remote driver can timely control the vehicle to avoid the pedestrian after seeing video data uploaded by the camera on a display screen of a remote driving end, so that traffic accidents are avoided.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

Fig. 2 is a flowchart of another vehicle control method provided in the embodiments of the present disclosure. The vehicle control method of fig. 2 may be performed by a vehicle control unit. The vehicle control method of fig. 2 may be performed by a server. As shown in fig. 2, the vehicle control method includes:

s201, detecting vehicle running data of a vehicle in real time under the condition that the vehicle is in an automatic driving mode, and sending the detected vehicle running data to a remote driving end;

s202, when a driving mode switching trigger event is detected, acquiring the current speed of the vehicle, and taking the current speed as a target speed;

s203, calculating a target torque through a proportional integral derivative algorithm based on the target vehicle speed;

s204, acquiring the real-time speed of the vehicle in the process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event;

s205, under the condition that the real-time vehicle speed is different from the target vehicle speed, adjusting the real-time torque corresponding to the real-time vehicle speed based on the target torque so as to enable the real-time vehicle speed to be the same as or close to the target vehicle speed;

and S206, after the driving mode of the vehicle is switched to the remote driving mode, receiving a control instruction sent by the remote driving end and responding to the control instruction so as to remotely control the running of the vehicle through the remote driving end.

According to the technical scheme provided by the embodiment of the invention, under the condition that the vehicle is in an automatic driving mode, the vehicle driving data of the vehicle is detected in real time, and the detected vehicle driving data is sent to a remote driving end; when a driving mode switching trigger event is detected, acquiring the current speed of the vehicle, and taking the current speed as a target speed; calculating a target torque through a proportional integral derivative algorithm based on the target vehicle speed; the method comprises the steps that in the process of switching the driving mode of a vehicle from an automatic driving mode to a remote driving mode based on a driving mode switching trigger event, the real-time speed of the vehicle is obtained; under the condition that the real-time vehicle speed is different from the target vehicle speed, adjusting the real-time torque corresponding to the real-time vehicle speed based on the target torque so as to enable the real-time vehicle speed to be the same as or close to the target vehicle speed; after the driving mode of the vehicle is switched to the remote driving mode, the control instruction sent by the remote driving end is received and the control instruction is responded, so that the driving of the vehicle is remotely controlled through the remote driving end, and the switching from the automatic driving mode to the remote driving mode can be realized under the condition that the vehicle does not need to stop, therefore, the occurrence of traffic accidents is avoided, and the safety of unmanned driving is improved. Further, the vehicle can be kept stable by controlling the torque change in the process of switching from the automatic driving mode to the remote driving mode, so that the impact or shake of the torque change on the vehicle is avoided, and the driving experience is improved.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Fig. 3 is a schematic diagram of a vehicle control device provided in an embodiment of the present disclosure. As shown in fig. 3, the vehicle control apparatus includes:

a calculation module 301 configured to, when a driving mode switching trigger event is detected while the vehicle is in an automatic driving mode, acquire a current vehicle speed of the vehicle, set the current vehicle speed as a target vehicle speed, and calculate a target torque based on the target vehicle speed;

a control module 302 configured to control travel of the vehicle based on the target torque in a process of switching a driving mode of the vehicle from an automatic driving mode to a remote driving mode based on a driving mode switching trigger event;

and the receiving module 303 is configured to receive the control instruction sent by the remote driving end and respond to the control instruction after the driving mode of the vehicle is switched to the remote driving mode, so as to remotely control the running of the vehicle through the remote driving end.

According to the technical scheme provided by the embodiment of the disclosure, under the condition that the vehicle is in an automatic driving mode, when a driving mode switching trigger event is detected, the current vehicle speed of the vehicle is obtained, the current vehicle speed is used as a target vehicle speed, and a target torque is calculated based on the target vehicle speed; controlling the running of the vehicle based on the target torque in a process of switching the driving mode of the vehicle from the automatic driving mode to the remote driving mode based on the driving mode switching trigger event; after the driving mode of the vehicle is switched to the remote driving mode, the control instruction sent by the remote driving end is received and the control instruction is responded, so that the driving of the vehicle is remotely controlled through the remote driving end, and the switching from the automatic driving mode to the remote driving mode can be realized under the condition that the vehicle does not need to stop, therefore, the occurrence of traffic accidents is avoided, and the safety of unmanned driving is improved. Further, the vehicle can be kept stable by controlling the torque change in the process of switching from the automatic driving mode to the remote driving mode, so that the impact or shake of the torque change on the vehicle is avoided, and the driving experience is improved.

In some embodiments, the calculation module 301 of FIG. 3 calculates the target torque based on the target vehicle speed and by a proportional integral derivative algorithm.

In some embodiments, the control module 302 of fig. 3 obtains a real-time vehicle speed of the vehicle, and adjusts a real-time torque corresponding to the real-time vehicle speed based on the target torque so that the real-time vehicle speed is the same as or close to the target vehicle speed when the real-time vehicle speed is different from the target vehicle speed.

In some embodiments, the vehicle control apparatus further includes: a transmitting module 304, the transmitting module 304 being configured to detect vehicle driving data of the vehicle in real time and transmit the detected vehicle driving data to a remote driving terminal; the receiving module of fig. 3 receives a control instruction sent by the remote driving end, wherein the control instruction is an operation suggestion determined by the remote driving end based on the vehicle driving data.

In some embodiments, the driving mode switch triggering event includes at least one of an automatic driving dysfunction, an inability to avoid an obstacle, an impending collision, a need to slow down, a need to speed up, a need to stop, an impending violation of traffic regulations, or a departure from a lane of travel.

In some embodiments, the control command includes at least one of a driving mode switching command, a braking control command, a refueling control command, a parking control command, a steering control command, a window control command, a multimedia control command, a power control command, and a distress control command.

In some embodiments, the vehicle comprises any of a smart drive vehicle, a drive-assist vehicle, an autonomous vehicle, an unmanned vehicle.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

Fig. 4 is a schematic diagram of an electronic device provided in an embodiment of the present disclosure. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps in the various method embodiments described above are implemented when the processor 401 executes the computer program 403. Alternatively, the processor 401 implements the functions of the respective modules/units in the above-described respective apparatus embodiments when executing the computer program 403.

Illustratively, the computer program 403 may be partitioned into one or more modules/units, which are stored in the memory 402 and executed by the processor 401 to accomplish the present disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 403 in the electronic device 4.

The electronic device 4 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that fig. 4 is merely an example of the electronic device 4, and does not constitute a limitation of the electronic device 4, and may include more or less components than those shown, or combine certain components, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.

The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 4. Further, the memory 402 may also include both internal storage units of the electronic device 4 and external storage devices. The memory 402 is used for storing computer programs and other programs and data required by the electronic device. The memory 402 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, and multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.

Claims

1. A vehicle control method characterized by comprising:

under the condition that a vehicle is in an automatic driving mode, when a driving mode switching trigger event is detected, acquiring the current vehicle speed of the vehicle, taking the current vehicle speed as a target vehicle speed, and calculating a target torque based on the target vehicle speed;

controlling travel of the vehicle based on the target torque in a process of switching the driving mode of the vehicle from the automatic driving mode to a remote driving mode based on the driving mode switching trigger event;

after the driving mode of the vehicle is switched to the remote driving mode, receiving a control instruction sent by a remote driving end and responding to the control instruction so as to remotely control the running of the vehicle through the remote driving end.

2. The method of claim 1, wherein said calculating a target torque based on said target vehicle speed comprises:

and calculating the target torque by a proportional integral derivative algorithm based on the target vehicle speed.

3. The method of claim 1, wherein said controlling the travel of the vehicle based on the target torque comprises:

and acquiring the real-time vehicle speed of the vehicle, and adjusting the real-time torque corresponding to the real-time vehicle speed based on the target torque under the condition that the real-time vehicle speed is different from the target vehicle speed so as to enable the real-time vehicle speed to be the same as or close to the target vehicle speed.

4. The method of claim 1, further comprising:

detecting vehicle running data of the vehicle in real time, and sending the detected vehicle running data to the remote driving end;

receiving the control instruction sent by the remote driving end, wherein the control instruction is an operation suggestion determined by the remote driving end based on the vehicle running data.

5. The method of any one of claims 1-4, wherein the driving mode switch triggering event includes at least one of an automatic driving dysfunction, an inability to avoid an obstacle, an impending collision, a need for deceleration, a need for speed increase, a need for parking, an impending violation of traffic regulations, or a lane departure.

6. The method of any one of claims 1 to 4, wherein the control command comprises at least one of a driving mode switching command, a braking control command, a refueling control command, a parking control command, a steering control command, a window control command, a multimedia control command, a power control command, a distress control command.

7. The method according to any one of claims 1 to 4, wherein the vehicle comprises any one of a smart drive vehicle, an assisted drive vehicle, an autonomous vehicle, an unmanned vehicle.

8. A vehicle control apparatus characterized by comprising:

the vehicle control device comprises a calculation module, a control module and a control module, wherein the calculation module is configured to acquire the current vehicle speed of a vehicle when a driving mode switching trigger event is detected under the condition that the vehicle is in an automatic driving mode, take the current vehicle speed as a target vehicle speed and calculate a target torque based on the target vehicle speed;

a control module configured to control travel of the vehicle based on the target torque in a process of switching a driving mode of the vehicle from the automatic driving mode to a remote driving mode based on the driving mode switching trigger event;

the receiving module is configured to receive a control instruction sent by a remote driving end and respond to the control instruction after the driving mode of the vehicle is switched to the remote driving mode so as to remotely control the running of the vehicle through the remote driving end.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.