CN116044990B - Vehicle gear switching method, device, electronic equipment, medium and program product - Google Patents
Vehicle gear switching method, device, electronic equipment, medium and program product Download PDFInfo
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- CN116044990B CN116044990B CN202310323250.8A CN202310323250A CN116044990B CN 116044990 B CN116044990 B CN 116044990B CN 202310323250 A CN202310323250 A CN 202310323250A CN 116044990 B CN116044990 B CN 116044990B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/18—Preventing unintentional or unsafe shift, e.g. preventing manual shift from highest gear to reverse gear
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Abstract
The application provides a vehicle gear switching method, device, electronic equipment, medium and program product, and belongs to the technical field of vehicles. The method comprises the following steps: determining a running scene of the vehicle according to the state information of the vehicle at the current moment, wherein the state information comprises at least one of environment sensing information, navigation positioning information and chassis information; determining a target gear of the vehicle at the next moment according to at least one of historical state information of the vehicle at different historical moments, a plurality of control instructions, a vehicle dynamics model and environment perception information at the current moment, wherein the control instructions are used for indicating steering wheel angles and longitudinal accelerations at different moments in the running process of the vehicle, and the vehicle dynamics model is used for determining transverse accelerations of the vehicle at different moments based on the steering wheel angles at different moments; the shift position of the vehicle is switched to the target shift position. The automatic gear shifting device can automatically switch gear, and the gear shifting mode is simpler, more convenient and intelligent.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle gear switching method, device, electronic apparatus, storage medium, and program product.
Background
The shift range of a vehicle generally includes D (forward), P (park), R (reverse), N (neutral), etc., and the drive function of the vehicle can be realized by switching between different shift ranges.
Currently, when a vehicle gear is switched, a driver needs to check the position of a target gear on a central control screen in a low head mode, and then the position is touched to finish the gear switching.
However, the above method requires manual switching by a driver, and the gear switching mode is complex and not intelligent enough.
Disclosure of Invention
The embodiment of the application provides a vehicle gear switching method, device, electronic equipment, medium and program product, which can reduce the complexity of a gear switching mode and make the switching mode more intelligent. The technical scheme is as follows:
in a first aspect, a vehicle gear shift method is provided, the method including:
determining a running scene of a vehicle according to state information of the vehicle at the current moment, wherein the state information comprises at least one of environment sensing information, navigation positioning information and chassis information;
Determining a target gear of the vehicle at the next moment according to at least one of historical state information of the vehicle at different historical moments, a plurality of control instructions, a vehicle dynamics model and environment perception information at the current moment, wherein the control instructions are used for indicating steering wheel corners and longitudinal acceleration at different moments in the vehicle driving process, and the vehicle dynamics model is used for determining transverse acceleration of the vehicle at different moments based on the steering wheel corners at different moments;
and switching the gear of the vehicle to the target gear.
In a second aspect, there is provided a vehicle gear shift device including:
the first determining module is used for determining a running scene of the vehicle according to the state information of the vehicle at the current moment, wherein the state information comprises at least one of environment sensing information, navigation positioning information and chassis information;
the second determining module is used for determining a target gear of the vehicle at the next moment according to at least one of historical state information of the vehicle at different historical moments, a plurality of control instructions, a vehicle dynamics model and environment perception information at the current moment, wherein the control instructions are used for indicating steering wheel angles and longitudinal accelerations at different moments in the vehicle driving process, and the vehicle dynamics model is used for determining transverse accelerations of the vehicle at different moments based on the steering wheel angles at different moments;
And the switching module is used for switching the gear of the vehicle to the target gear.
In a third aspect, an electronic device is provided, where the electronic device includes a memory and a processor, where at least one computer program is stored in the memory, where the at least one computer program is loaded and executed by the processor to implement the vehicle gear shifting method according to the first aspect.
In a fourth aspect, there is provided a computer readable storage medium having stored therein at least one computer program capable of implementing the vehicle gear shift method according to the first aspect when executed by a processor.
In a fifth aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, is capable of implementing the vehicle gear shifting method according to the first aspect.
The beneficial effects that technical scheme that this application embodiment provided brought are:
according to the state information of the vehicle at the current moment, the running scene of the vehicle is determined, and then the target gear of the vehicle at the next moment is determined in a corresponding mode according to the running scene of the vehicle, so that the current gear is automatically switched to the target gear, the whole gear switching process does not need the participation of a driver, and the gear switching mode is simpler, more convenient and intelligent. When the running scene of the vehicle is a road starting scene, the vehicle is started to run for a period of time, the navigation direction of the vehicle can be determined based on the historical state information of the vehicle at different historical moments, the running direction of the vehicle can be accurately predicted based on the navigation direction of the vehicle, and the target gear of the vehicle at the next moment can be further determined; when the running scene of the vehicle is a station starting scene, the vehicle is not started at the moment, and the running process of the vehicle can be deduced through a plurality of control instructions, a vehicle dynamics model and environment perception information at the current moment, so that a running route of the vehicle away from the current position can be obtained, and a target gear of the vehicle at the next moment can be determined based on the running route. The method and the device for determining the target gear position determine the target gear position by combining the driving scene of the vehicle and the information of the vehicle, compared with the method and the device for determining the target gear position by selecting the target gear position by a driver according to the driving experience of the driver, the determined target gear position is more accurate, the driver does not need to look up a central control screen, and the driver can look at the front in the whole course in the driving process, so that the safety of the driving process can be improved by adopting the method and the device for determining the target gear position.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a vehicle gear shift logic provided in an embodiment of the present application;
FIG. 2 is a flow chart of another vehicle gear shift method provided by an embodiment of the present application;
FIG. 3 is a flowchart for determining a target gear of a vehicle at a next time based on historical state information at different times according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a navigation plane provided by an embodiment of the present application;
FIG. 5 is a flowchart for determining a travelable track according to an embodiment of the present application;
FIG. 6 is a flow chart for determining a target gear provided by an embodiment of the present application;
fig. 7 is a schematic structural view of a vehicle gear switching device according to an embodiment of the present application;
fig. 8 shows a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It will be understood that, as used in the embodiments of the present application, the terms "each," "plurality," and "any" and the like, a plurality includes two or more, each refers to each of the corresponding plurality, and any refers to any of the corresponding plurality. For example, the plurality of words includes 10 words, and each word refers to each of the 10 words, and any word refers to any one of the 10 words.
Information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals referred to herein are user-authorized or fully authorized by parties, and the collection, use, and processing of relevant data requires compliance with relevant laws and regulations and standards of the relevant country and region.
First, before executing the embodiments of the present application, the terms involved in the embodiments of the present application will be explained.
Man-machine driving: the driver drives the vehicle in cooperation with the intelligent program.
Automatic gear shifting: the program automatically completes gear switching without the participation of a driver.
And (3) a chassis: the automobile engine, all parts and assemblies thereof are supported and installed on the automobile by a combination of a drive system, a running system, a steering system and a braking system, so that the integral model of the automobile is formed, the power of the engine is born, and the normal running is ensured.
Front wheelbase: refers to the distance between the front axle of the vehicle and the head of the vehicle. The axle moment is the distance between two perpendicular lines passing through the midpoints of two adjacent wheels on the same side of the vehicle and perpendicular to the longitudinal symmetry plane of the vehicle. In short, the front wheelbase is the distance between the center of the front axle of the vehicle and the center of the rear axle.
The vehicle yaw angle is equal to the vehicle heading minus the centroid slip angle. In other words, the vehicle yaw angle is the angle between the X-axis of the vehicle in the XOY coordinate system and the X-axis of the geodetic coordinate system XOY.
The tire cornering stiffness is the ratio of the tire cornering force to the cornering angle. I.e. k=f/a, where k is cornering stiffness, F is cornering force, a is cornering angle. The cornering stiffness unit is N/rad. Can also be interpreted as F Y The slope of the α -curve at α=0° is the tire cornering stiffness.
The vehicles proposed at present generally have certain driving assistance functions, but these assistance driving often only include functions of controlling the behavior of the vehicle through programs such as adaptive cruising, lane keeping, automatic emergency braking and the like, and ignore man-machine co-driving related functions. For example, when a gear shift is performed, a driver is required to manually touch the position of a target gear to be shifted on the center screen to complete the gear shift. The gear switching mode needs to be participated by a driver, is complex and is not intelligent enough.
In order to further improve man-machine co-driving capability and enable gear shifting in a manual driving process of a driver to be simpler and more efficient, the embodiment of the application provides a vehicle gear switching method, and referring to fig. 1, vehicle gear switching logic comprises an information input process, a target gear determining process and a switching process.
The information input process refers to a process of acquiring state information of the vehicle at a current moment, and then inputting the acquired state information at the current moment into a device or a module for determining a target gear in the vehicle. The state information is used for representing the state of the vehicle inside and outside at the current moment and comprises at least one item of environment sensing information, navigation positioning information, chassis information and the like. The navigation positioning information includes position information of the vehicle, and the like. The location indicated by the environment-aware information is finer than the navigation positioning information, for example, the location indicated by the navigation positioning information is a street, a high speed, a parking lot, etc. of a city, and the location indicated by the environment-aware information is a lane, a parking space, etc., of course, the environment-aware information may also include location information of various obstacles in the external environment, etc. The chassis information includes signals of various instruments in the vehicle, shift information of the own vehicle, and the like.
The target gear determination process refers to a process of determining a target gear of the vehicle at the next time. The target gear determining process comprises processing logic such as self-scene recognition, historical state information processing, drivable track searching, target gear determining and the like. The processing logic for the self-scene recognition is used for recognizing a running scene where the vehicle is currently located based on the input information, wherein the running scene comprises a lane starting scene and a station starting scene. The lane departure scene is a scene in which a vehicle is stopped and waiting on a lane, and is typically a scene in which the vehicle is at a red light such as an intersection. The station start scene refers to a scene in which a vehicle is stopped to be started, typically, a scene in which the vehicle is to exit a parking lot, or a scene in which the vehicle is to be started on an approach road. The processing logic of the historical state information aims at the situation that the vehicle is currently in a road starting scene, at this time, the historical state information of the vehicle at different historical moments in the current driving process can be obtained, and the target gear of the vehicle at the next moment can be predicted by processing the historical state information of the vehicle at the different historical moments. The processing logic of the running track searching aims at the situation that the vehicle is in a station starting scene, at the moment, the vehicle cannot acquire the historical state information of the vehicle at different historical moments due to the fact that the vehicle is not started, but a plurality of control instructions of the vehicle can be acquired, and further the running process of the vehicle is deduced according to the plurality of control instructions, the vehicle dynamics model and the environment perception information at the current moment, so that a running route is obtained. The processing logic for determining the target gear is to determine the target gear of the vehicle at the next moment based on the current running scene of the vehicle and the target gear determined by combining the history state information or combining the drivable path of the vehicle from the current position.
The shift range switching process refers to a process of automatically switching the current shift range to the target shift range based on the determined target shift range.
The embodiment of the application provides a vehicle gear switching method, taking an electronic device to execute the embodiment of the application as an example, referring to fig. 2, a method flow provided by the embodiment of the application includes:
201. and determining the running scene of the vehicle according to the state information of the vehicle at the current moment.
The state information of the vehicle at the current moment comprises at least one of environment sensing information at the current moment, navigation positioning information at the current moment, chassis information at the current moment and the like. The environmental perception information at the current moment can be acquired through a sensor, a radar and other devices arranged on the periphery side of the vehicle body; the navigation positioning information at the current moment can be acquired through GPS (Global Positioning System ) and other devices; the chassis information at the current moment can be acquired through sensors and components in the vehicle.
Considering that the vehicle normally is in a forward state when the current gear of the vehicle is D (forward gear), the vehicle will not normally perform gear shift at this time, and the vehicle will normally be in a reverse state when the current gear of the vehicle is R (reverse gear), the vehicle will not normally perform gear shift at this time, and the vehicle will need to travel away from the current position when the current gear of the vehicle is P (park) or N (neutral). The vehicle gear switching method is mainly applied to a scene that the current gear of the vehicle is P gear or N gear and is switched to D gear or R gear. When the current gear of the vehicle is the P gear or the N gear, according to the state information of the vehicle at the current moment, the determined driving scene comprises a road starting scene and a station starting scene.
Specifically, according to the state information of the vehicle at the current moment, determining the driving scene of the vehicle, including the following steps: 2011. and determining the area where the vehicle is located according to the navigation positioning information at the current moment.
Based on the acquired navigation positioning information at the current moment, the area where the vehicle is located, such as a street, a high speed, a viaduct, a parking lot and the like in a city, can be determined by querying a road network database. The road network database stores the corresponding relation between different areas and the position information.
2012. And determining the position of the vehicle in the area according to the environment sensing information at the current moment.
When the area where the vehicle is located is determined, the vehicle is finely positioned according to the environmental awareness information at the current moment, and the specific position of the vehicle in the area, such as a lane, a parking space and the like, can be determined.
2013. And determining the driving state of the driver according to the chassis information at the current moment.
According to the chassis information at the current moment, the gear information of the vehicle at the current moment and the signals of all the instruments in the cockpit can be obtained, and then the driving state of the driver can be determined according to the gear information at the current moment and the signals of all the instruments in the cockpit. The driving state of the driver includes driving, driving waiting, non-driving, and the like.
For example, if the current gear of the vehicle is N gear, and at this time, signals of various instruments in the cockpit can be collected, it may be determined that the driving state of the driver is driving waiting; if the current gear of the vehicle is the P gear and signals of various instruments in the cockpit are not collected, the driving state of the driver can be determined to be non-driving.
2014. And determining the driving scene of the vehicle according to the position and driving state of the vehicle in the area.
Based on the position and driving state of the vehicle in the area, whether the lane where the vehicle is located is an adjacent lane or not can be determined, and meanwhile, the driving state of a driver is combined, so that the driving scene where the vehicle is located can be determined. For example, if the lane in which the vehicle is located is a non-borderline lane and the driving state of the driver is driving waiting, it may be determined that the vehicle is in a lane departure scene; if the lane where the vehicle is located is a side lane or is located on a certain parking space of the parking lot, the driving state of the driver is not driven, and the situation that the vehicle is located in a station starting scene can be determined.
In the embodiment of the present application, the driving scenes where the vehicles are located are different, and the method for determining the target gear of the vehicle at the next moment is also different, and for the driving scene where the vehicles are located determined in this step, when the driving scene where the vehicles are located is a road starting scene, step 202 may be executed to determine the target gear of the vehicle at the next moment; when the driving scene of the vehicle is a start scene, step 203 and step 204 may be executed to determine the target gear of the vehicle at the next moment.
202. And when the running scene of the vehicle is a road starting scene, determining the target gear of the vehicle at the next moment based on the historical state information of the vehicle at different historical moments.
Specifically, determining the target gear of the vehicle at the next time based on the historical state information of the vehicle at different historical times may employ the following steps:
2021. and screening the historical state information of the vehicle at different historical moments to obtain a plurality of effective historical state information.
Because the history state information is a key for determining a target gear of the vehicle at the next moment, in order to improve the accuracy of the determined target gear, the history state information of the vehicle at different history moments needs to be screened. By screening the historical state information of the vehicle at different historical moments, a plurality of effective historical state information can be obtained.
Specifically, the historical state information of the vehicle at different historical moments is screened to obtain a plurality of effective historical state information, and the following steps can be adopted:
20211. and screening out the historical state information with different vehicle advancing directions and navigation directions indicated by the gear information based on the gear information and the navigation positioning information in the historical state information at each historical moment to obtain a plurality of screened historical state information.
The traveling direction of the vehicle indicated by the gear information is generally the same as the navigation direction, for example, the gear information indicates that the traveling direction of the vehicle is the north-positive direction and the navigation direction should be the north-positive direction. If the vehicle traveling direction indicated by the gear information is opposite to the navigation direction, the historical state information can be determined to be inaccurate, and the historical state information needs to be screened out. When each history state information is screened in the mode, a plurality of screened history state information in the same direction of the vehicle travelling direction and the navigation direction can be obtained.
Further, the historical state information includes abundant information, so as to improve screening efficiency of the historical state information at different historical moments, and before screening the historical state information at different historical moments, the embodiment of the application can also correlate navigation positioning information, environment sensing information and chassis information included in the historical state information at the same moment with position information of the position on a navigation map when the historical state information is collected, wherein the position information on the navigation map includes coordinate information and ground marker information (if a ground marker exists), for example, various signs and the like.
20212. And acquiring a state vector corresponding to each screened historical state information.
Based on each piece of filtered historical state information, each piece of information in the filtered historical state information is used as a vector dimension, and a state vector corresponding to each piece of filtered historical state information can be obtained.
20213. For any one of the screened historical state information, predicting a predicted state vector corresponding to the screened historical state information according to state vectors corresponding to a plurality of screened historical state information before the screened historical state information in acquisition time.
For any selected historical state information, according to the state vectors corresponding to a plurality of selected historical state information before the selected historical state information in the acquisition time, an interpolation algorithm is adopted to predict the predicted state vector corresponding to the selected historical state information. The number of filtered historical state information before the filtered historical state information for the acquisition time depends on the interpolation algorithm selected, for example, the interpolation algorithm selected is a quadratic interpolation algorithm, and two filtered historical state information before the filtered historical state information for the acquisition time can be selected.
20214. And screening out the screened historical state information when the difference value between the state vector and the predicted state vector exceeds a preset difference value range.
The preset difference range can be determined according to an empirical value. Since the state vector includes information of different dimensions, the calculation can be performed separately for each dimension of information. Taking the navigation positioning information and the environment sensing information in the state information as examples, based on the navigation positioning information and the environment sensing information, a state vector for representing the position can be determined, the state vector comprises information of x dimension and y dimension, and then the difference value of the state vector and the predicted state vector in the x dimension can be expressed by adopting the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
representing the difference between the state vector and the predicted state vector in the x-dimension,/or->
Values of state vectors representing filtered historical state information in the x dimension, +.>
Values representing the x-dimension of the filtered historical state information of the first two of the filtered historical state information, +.>
A value in the x-dimension representing the filtered historical state information preceding the filtered historical state information, +.>
Representing the value of the predictive state vector in the x dimension,/- >
Representing the value of the filtered historical state information of the first two of the filtered historical state information in the y dimension, +.>
A value in the y-dimension representing the filtered historical state information preceding the filtered historical state information, +.>
Representing the value of the predicted state vector in the y-dimension.
20215. And acquiring a plurality of finally reserved screened historical state information as a plurality of effective historical state information.
2022. Based on the plurality of valid history state information, the navigation direction at the next moment is predicted.
Based on the plurality of effective historical state information, the navigation trend can be determined by analyzing the plurality of historical state information, and then the navigation direction of the next moment can be predicted based on the navigation trend.
2023. The target gear is determined based on the navigation direction at the next moment.
Because the navigation direction is consistent with the vehicle traveling direction indicated by the gear, the traveling direction of the vehicle at the next moment can be determined based on the predicted navigation direction at the next moment, and then the target gear can be determined according to the traveling direction of the vehicle at the next moment. For example, if the predicted navigation direction at the next time is straight along the road, the traveling direction of the vehicle at the next time is straight along the road, and the target gear may be determined as the forward gear according to the navigation direction at the next time.
In another embodiment of the present application, after a plurality of pieces of effective historical state information are acquired, a gear prediction model may be further constructed based on the plurality of pieces of effective historical state information, and then the state at the current time is processed based on the constructed gear prediction model, so as to obtain the target gear at the next time.
Fig. 3 shows a process of determining a target gear of a vehicle at a next moment based on historical state information, referring to fig. 3, the gear information, navigation positioning information and environment sensing information in the historical state information at each moment are associated with position information of the position in a navigation map when the historical state information is collected, further, a vehicle traveling direction indicated by the gear information of the historical state information at each moment is matched with a navigation direction, historical state information of which the vehicle traveling direction indicated by the gear information is opposite to the navigation direction is screened out, then historical state information of which a difference value between a state vector and a predicted state vector exceeds a preset difference value range is screened out, a plurality of effective historical state information are obtained, and then a target gear of the vehicle at the next moment is predicted based on the plurality of effective historical state information.
203. When the running scene of the vehicle is a station starting scene, a drivable route of the vehicle from the current position is determined based on a plurality of control instructions, the vehicle dynamics model and the environmental perception information at the current moment.
The control instruction is used for indicating steering wheel rotation angles and longitudinal accelerations at different moments in the running process of the vehicle. The control command can be read from a configuration file of the vehicle, the control command stored in the configuration file can be calibrated in an off-line mode, and particularly, the control command can be used for collecting the whole driving process from starting to stopping of the vehicle
Steering wheel rotation angles and longitudinal accelerations at different moments are used as a control instruction, and the steering wheel rotation angles and the longitudinal accelerations at different moments in the whole running process from starting to stopping of the vehicle are further used as a control instruction. Setting control instruction to adopt
Representation, then
Wherein U represents the set of all control commands in the configuration file, s represents the steering wheel angle,/->
Is the longitudinal acceleration.
The vehicle dynamics model is used for determining the lateral acceleration of the vehicle at different moments based on steering wheel angles at different moments. The formula of the vehicle dynamics model is as follows:
wherein y represents a longitudinal position, dy represents a longitudinal speed, dy2 represents a longitudinal acceleration, p represents a vehicle yaw angle, dp represents a yaw rate, dp2 represents a yaw rate, v represents a vehicle horizontal speed, cf represents a front wheel yaw stiffness, cr represents a rear wheel yaw stiffness, a represents a front wheel base, b represents a rear wheel base, m is a vehicle mass, I is a vehicle moment of inertia, and s is a steering wheel angle.
In an embodiment of the present application, a drivable path of a vehicle driving away from a current location is determined based on a plurality of control instructions, a vehicle dynamics model, and environmental awareness information at a current time, including the steps of:
2031. and deducing the running process of the vehicle according to the control instructions and the vehicle dynamics model to obtain a plurality of deduced routes.
For any control instruction, based on the control instruction and the vehicle dynamics model, the deduction process of the running process of the vehicle is as follows: the steering wheel angles at different moments in the control command are input into a vehicle dynamics model, the transverse acceleration of the vehicle at different moments is output, the transverse velocity of the vehicle at different moments is obtained by integrating the transverse acceleration at different moments in time based on the transverse acceleration at different moments and the longitudinal acceleration at different moments in the control command, the longitudinal velocity of the vehicle at different moments is obtained by integrating the longitudinal acceleration at different moments in time, the transverse velocity and the longitudinal velocity at the same moment are synthesized to obtain the velocity of the vehicle at different moments, and then the deduction route of the vehicle corresponding to the control command is obtained by integrating the velocity of the vehicle at different moments. And deducing each control instruction according to the mode, and finally obtaining a plurality of deduction routes. When the deduction method provided by the embodiment of the application is adopted to simulate a low-speed starting scene, the deduction error is smaller than 5 cm.
2032. And selecting a drivable path from a plurality of deducted paths according to the environment perception information at the current moment, wherein the drivable path is driven away from the current position by the vehicle.
Specifically, the obstacle may be projected into the navigation plane based on the position information of the obstacle indicated by the environmental awareness information, each of the deduced routes may be projected into the navigation plane based on the position information of each of the deduced routes, and then a deduced route which does not collide with the obstacle may be selected from the plurality of deduced routes based on the positional relationship between the obstacle and each of the deduced routes in the navigation plane, thereby obtaining the drivable route. Whether the obstacle collides with the deduction route in the navigation plane is judged, whether the intersection exists between the deduction route and the position area where the obstacle is located or not can be detected, if the intersection exists between the deduction route and the position area where the obstacle is located, the deduction route is determined to collide with the obstacle, the deduction route is discarded, and if the intersection does not exist between the deduction route and the position area where the obstacle is located, the deduction route is determined not to collide with the obstacle, and the deduction route is further taken as a drivable route. For example, the deduced route 1 and the deduced route 2 shown in fig. 4, wherein, the deduced route 1 does not intersect with each obstacle (such as the obstacle a, the obstacle B and the obstacle C) in the navigation plane, that is, the vehicle does not collide with the obstacle when driving along the deduced route 1, and the deduced route 1 is a drivable route; the deduced route 2 does not intersect with the obstacle a and the obstacle C in the navigation plane, but does intersect with the obstacle B, that is, the vehicle collides with the obstacle B when traveling along the deduced route 2, and the deduced route 2 is discarded.
Fig. 5 shows a flowchart for determining a drivable path of a vehicle from a current position in a starting scene of a station, where the driving scene of the vehicle is, referring to fig. 5, a plurality of control commands are acquired, each control command is input into a vehicle dynamics model to obtain a plurality of deduced paths, and safety evaluation is performed on each deduced path based on environmental perception information at the current moment. For any one of the deduced routes, the deduced route is taken as a drivable route when the vehicle does not collide with an obstacle on the navigation plane when driving along the deduced route.
204. Based on the drivable path, a target gear of the vehicle at a next moment is determined.
When it is determined that a drivable path exists in front of the vehicle based on the current position of the vehicle, that is, the vehicle is not collided with an obstacle of a navigation plane when the vehicle is driven forward, the target gear is determined to be a forward gear; when the vehicle does not have a drivable path in front of the vehicle and a drivable path in rear of the vehicle, that is, the vehicle is driven forward to collide with an obstacle on the navigation plane and is driven backward to not collide with the obstacle on the navigation plane, the target gear is determined to be the reverse gear.
Further, when it is determined that no drivable path exists behind the vehicle, a prompt message is also sent to the driver, and the prompt message may be displayed on a display screen of the vehicle, for example, a central control display screen, where the prompt message is used to prompt that neither the front nor the rear of the driver is feasible, and the driver needs to maintain a parking range. Of course, in order to achieve the purpose of strong reminding, the driver can be reminded by matching with voice broadcasting.
Fig. 6 shows a process of determining a target gear in different driving scenarios, referring to fig. 6, determining whether the vehicle is in a road start scenario based on the driving scenario in which the vehicle is currently located, if the vehicle is in the road start scenario, determining whether the gear determined based on the history state information is a D-gear, if it is the D-gear, determining that the target gear is the D-gear, if it is the R-gear, determining that the target gear is the R-gear; if the vehicle is not in a road starting scene, namely, the vehicle is in a station starting scene, judging whether a safe drivable path exists in the front based on the determined drivable path and environment perception information at the current moment, if so, determining that the target gear is a D gear, if not, judging whether the safe drivable path exists in the rear, if so, determining that the target gear is an R gear, if not, sending prompt information to a driver, wherein the prompt information is used for prompting that the driver is not feasible in the front and rear directions and the P gear needs to be kept.
205. The shift position of the vehicle is switched to the target shift position.
Based on the determined target gear, gear switching and driver interaction can be accomplished by sending corresponding control signals to the chassis and the cabin.
By adopting the method provided by the embodiment of the application, the vehicle can establish the man-machine co-driving capability for assisting the driver to finish automatic gear shifting, so that the driver can be safely and efficiently assisted in finishing automatic gear shifting in the driving process, and the driving experience of the driver is greatly improved. The method provided by the embodiment of the application has low requirement on hardware, and can be deployed on all vehicles with navigation and basic perception capability.
According to the method provided by the embodiment of the application, the running scene of the vehicle is determined according to the state information of the vehicle at the current moment, and then the target gear of the vehicle at the next moment is determined in a corresponding mode according to the running scene of the vehicle, so that the current gear is automatically switched to the target gear, the whole gear switching process does not need the participation of a driver, and the gear switching mode is simpler, more convenient and more intelligent. When the running scene of the vehicle is a road starting scene, the vehicle is started to run for a period of time, the navigation direction of the vehicle can be determined based on the historical state information of the vehicle at different historical moments, the running direction of the vehicle can be accurately predicted based on the navigation direction of the vehicle, and the target gear of the vehicle at the next moment can be further determined; when the running scene of the vehicle is a station starting scene, the vehicle is not started at the moment, and the running process of the vehicle can be deduced through a plurality of control instructions, a vehicle dynamics model and environment perception information at the current moment, so that a running route of the vehicle away from the current position can be obtained, and a target gear of the vehicle at the next moment can be determined based on the running route. The application combines the running scene of the vehicle and the information of the vehicle to determine the target gear, compared with the method that a driver selects according to own driving experience, the determined target gear is more accurate, the driver does not need to look up a central control screen, and the driver can look at the front in the whole course of driving, so that the safety of the running process can be improved by adopting the embodiment of the application.
Referring to fig. 7, a schematic structural diagram of a vehicle gear shifting device according to an embodiment of the present application is provided, where the device may be implemented by software, hardware, or a combination of both, and may be all or a part of an electronic device, and the device includes:
a first determining module 701, configured to determine a driving scenario in which the vehicle is located according to state information of the vehicle at a current moment, where the state information includes at least one of environment sensing information, navigation positioning information, and chassis information;
the second determining module 702 is configured to determine, based on a driving scenario in which the vehicle is located, a target gear of the vehicle at a next time according to at least one of historical state information of the vehicle at different historical times, a plurality of control instructions, a vehicle dynamics model and environmental awareness information of the current time, where the control instructions are used to instruct steering wheel angles and longitudinal accelerations of the vehicle at different times during driving of the vehicle, and the vehicle dynamics model is used to determine lateral accelerations of the vehicle at different times based on the steering wheel angles at different times;
a switching module 703 for switching the gear of the vehicle to the target gear.
In another embodiment of the present application, a first determining module 701 is configured to determine, according to navigation positioning information at a current time, an area where a vehicle is located; determining the position of the vehicle in the area according to the environmental perception information at the current moment; determining the driving state of a driver according to the chassis information at the current moment; and determining the driving scene of the vehicle according to the position and driving state of the vehicle in the area.
In another embodiment of the present application, the second determining module 702 is configured to determine, when a driving scenario in which the vehicle is located is a road start scenario, a target gear of the vehicle at a next time based on historical state information of the vehicle at different historical times; when the running scene of the vehicle is a station starting scene, a drivable path of the vehicle from the current position is determined based on a plurality of control instructions, a vehicle dynamics model and environmental perception information at the current moment, and a target gear of the vehicle at the next moment is determined based on the drivable path.
In another embodiment of the present application, the second determining module 702 is configured to screen the historical state information of the vehicle at different historical moments to obtain a plurality of valid historical state information; predicting a navigation direction at a next moment based on the plurality of effective historical state information; the target gear is determined based on the navigation direction at the next moment.
In another embodiment of the present application, the second determining module 702 is configured to screen out historical state information that is indicated by the gear information and that is different from the navigation direction, based on the gear information and the navigation positioning information in the historical state information at each historical moment, so as to obtain a plurality of screened historical state information; acquiring a state vector corresponding to each screened historical state information; for any one of the screened historical state information, predicting a predicted state vector corresponding to the screened historical state information according to state vectors corresponding to a plurality of screened historical state information before the screened historical state information in acquisition time; when the difference value between the state vector and the predicted state vector exceeds a preset difference value range, screening out the screened historical state information; and acquiring a plurality of finally reserved screened historical state information as a plurality of effective historical state information.
In another embodiment of the present application, the second determining module 702 is configured to derive a driving process of the vehicle according to the plurality of control instructions and the vehicle dynamics model, so as to obtain a plurality of derived routes; and selecting a drivable path from a plurality of deducted paths according to the environment perception information at the current moment, wherein the drivable path is driven away from the current position by the vehicle.
In another embodiment of the present application, the second determining module 702 is configured to, for any one control command, input steering wheel angles at different moments in the control command into the vehicle dynamics model, and output lateral accelerations of the vehicle at different moments; determining the speed of the vehicle at different moments based on the lateral acceleration at different moments and the longitudinal acceleration at different moments in the control command; and integrating the speeds of the vehicles at different moments to obtain the deduction route of the vehicle corresponding to the control instruction.
In another embodiment of the present application, the second determining module 702 is configured to project the obstacle into the navigation plane based on the location information of the obstacle indicated by the environmental awareness information; projecting each derived route into a navigation plane based on the position information of each derived route; based on the position relation between the obstacle and each deduction route in the navigation plane, selecting a deduction route which does not collide with the obstacle from a plurality of deduction routes, and obtaining a travelable route.
In another embodiment of the present application, the second determining module 702 is configured to determine the target gear as the forward gear when it is determined that the drivable path exists in front of the vehicle based on the current position of the vehicle; when the drivable path does not exist in front of the vehicle and the drivable path exists in rear of the vehicle, the target gear is determined to be the reverse gear.
In another embodiment of the present application, the apparatus further comprises:
and the sending module is used for sending prompt information to the driver when the fact that no drivable route exists behind the vehicle is determined, wherein the prompt information is used for prompting that the front and the rear of the driver are not feasible and keeping the parking gear.
In summary, according to the device provided by the embodiment of the application, the driving scene of the vehicle is determined according to the state information of the vehicle at the current moment, and then the target gear of the vehicle at the next moment is determined in a corresponding mode according to the driving scene of the vehicle, so that the current gear is automatically switched to the target gear, the whole gear switching process does not need to be participated by a driver, and the gear switching mode is simpler, more convenient and intelligent. When the running scene of the vehicle is a road starting scene, the vehicle is started to run for a period of time, the navigation direction of the vehicle can be determined based on the historical state information of the vehicle at different historical moments, the running direction of the vehicle can be accurately predicted based on the navigation direction of the vehicle, and the target gear of the vehicle at the next moment can be further determined; when the running scene of the vehicle is a station starting scene, the vehicle is not started at the moment, and the running process of the vehicle can be deduced through a plurality of control instructions, a vehicle dynamics model and environment perception information at the current moment, so that a running route of the vehicle away from the current position can be obtained, and a target gear of the vehicle at the next moment can be determined based on the running route. The application combines the running scene of the vehicle and the information of the vehicle to determine the target gear, compared with the method that a driver selects according to own driving experience, the determined target gear is more accurate, the driver does not need to look up a central control screen, and the driver can look at the front in the whole course of driving, so that the safety of the running process can be improved by adopting the embodiment of the application.
The vehicle gear switching method provided by the embodiment of the application can be executed by the electronic device 800, and the electronic device 800 is not only suitable for vehicles, but also suitable for carriers such as aerocars, ships and the like. In the following embodiments, an example of a vehicle will be described. The electronic device 800 may be an in-vehicle terminal (e.g., an in-vehicle system), a vehicle, or a device for implementing a part of functions in the vehicle, which is not limited in the embodiments of the present application.
Referring to fig. 8, the electronic device 800 includes a processor 801. Some or all of the functionality of the electronic device 800 may be controlled by a computing platform. The computing platform may include one or more processors 801, which is a circuit with signal processing capabilities, which in one implementation may be a circuit with instruction fetch and execute capabilities, such as a central processing unit (central processing unit, CPU), microprocessor, graphics processor (graphics processing unit, GPU) (which may be understood as a microprocessor), or digital signal processor (digital signal processor, DSP), etc.; in another implementation, the processor may implement a function through a logical relationship of hardware circuitry that is fixed or reconfigurable, e.g., a hardware circuitry implemented for an application-specific integrated circuit (ASIC) or a programmable logic device (programmable logic device, PLD), e.g., a Field Programmable Gate Array (FPGA). In the reconfigurable hardware circuit, the processor loads the configuration document, and the process of implementing the configuration of the hardware circuit may be understood as a process of loading instructions by the processor to implement the functions of some or all of the above units. Furthermore, a hardware circuit designed for artificial intelligence may be used, which may be understood as an ASIC, such as a neural network processing unit (neural network processing unit, NPU), tensor processing unit (tensor processing unit, TPU), deep learning processing unit (deep learningprocessing unit, DPU), etc. In addition, the computing platform may also include a memory for storing instructions, and some or all of the processors may call the instructions in the memory to execute the instructions to implement the corresponding functions.
The electronic device 800 may also include a display device 802. In some embodiments, the display apparatus 802 may be a display screen, AR display device, VR display device, projection device, or the like within the pod.
The display device 802 may be used to display information, images, video, etc. The display device may include a display panel, which may employ a liquid crystal display (liquid crystal display, LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED) or an active-matrix organic light-emitting diode (matrixorganic light emitting diode), a flexible light-emitting diode (FLED), a mini, micro led, micro-OLED, a quantum dot light-emitting diode (quantum dot lightemitting diodes, QLED), or the like.
The display device 802 may be touched to receive input signals from a user, may sense boundaries of touch or slide actions, and may also detect durations and pressures associated with touch or slide operations.
In the embodiment of the present application, the processor may control the display device 802 to display a prompt message or the like. In some possible implementations, the processor may also control the display device 802 to display icons and/or cards of applications, media information, etc., which may be stored in the form of data in a memory in the computing platform.
It should be appreciated that the operations described above may be performed by the same processor or may be performed by one or more processors, as embodiments of the present application are not limited in detail.
Further, as shown in fig. 8, the electronic device 800 further includes: memory 803, and communication component 804. Memory 803 in FIG. 8, described above, may be used to store one or more computer instructions. The memory 803 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. The processor 801 may execute one or more computer instructions stored in the memory 103 to perform the steps provided by the various embodiments of the present application.
The communication component 804 of fig. 8 described above is configured to facilitate wired or wireless communication between the device in which the communication component is located and other devices. The device in which the communication component is located may access a wireless network based on a communication standard, such as WiFi,2G, 3G, 4G, or 5G, or a combination thereof. In one exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component may be implemented based on Near Field Communication (NFC) technology, radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies. Based on the communication component 104, the electronic device 800 can obtain data sent by other devices. For example, the sensor data transmitted from the in-vehicle sensor and the control instruction transmitted from the vehicle control system, etc., the present embodiment is not limited.
The embodiment of the application provides a computer readable storage medium, wherein at least one computer program is stored in the computer readable storage medium, and the at least one computer program can realize the vehicle gear switching method when being executed by a processor.
The methods in this application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described herein are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network device, a user device, a core network device, OAM (Operation Administration and Maintenance, operations administration maintenance), or other programmable apparatus. The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The usable medium may be a magnetic medium, e.g., floppy disk, hard disk, tape; but also optical media such as digital video discs; but also semiconductor media such as solid state disks. The computer readable storage medium may be volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage medium.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (12)
1. A vehicle gear shift method, characterized by comprising:
determining a running scene of a vehicle according to state information of the vehicle at the current moment, wherein the state information comprises at least one of environment sensing information, navigation positioning information and chassis information;
when the running scene of the vehicle is a road starting scene, determining a target gear of the vehicle at the next moment based on the historical state information of the vehicle at different historical moments; when the running scene of the vehicle is a station starting scene, a drivable path of the vehicle from the current position is determined based on a plurality of control instructions, a vehicle dynamics model and environmental perception information at the current moment, a target gear of the vehicle at the next moment is determined based on the drivable path, the control instructions are used for indicating steering wheel angles and longitudinal accelerations at different moments in the running process of the vehicle, and the vehicle dynamics model is used for determining transverse accelerations of the vehicle at different moments based on the steering wheel angles at different moments;
And switching the gear of the vehicle to the target gear, wherein the gear of the vehicle is a parking gear or a neutral gear, and the target gear is a forward gear or a backward gear.
2. The method according to claim 1, wherein determining a driving scenario in which the vehicle is located according to the state information of the vehicle at the current time comprises: determining the area where the vehicle is located according to the navigation positioning information at the current moment;
determining the position of the vehicle in the area according to the environmental perception information at the current moment;
determining the driving state of a driver according to the chassis information at the current moment;
and determining a driving scene of the vehicle according to the position of the vehicle in the area and the driving state.
3. The method of claim 1, wherein the determining a target gear of the vehicle at a next time based on historical state information of the vehicle at different historical times comprises:
screening the historical state information of the vehicle at different historical moments to obtain a plurality of effective historical state information;
predicting a navigation direction at a next moment based on the plurality of valid history state information;
And determining the target gear based on the navigation direction of the next moment.
4. A method according to claim 3, wherein said screening the historical state information of the vehicle at different historical moments to obtain a plurality of valid historical state information comprises:
screening out historical state information with different vehicle advancing directions and navigation directions indicated by the gear information based on the gear information and the navigation positioning information in the historical state information at each historical moment to obtain a plurality of screened historical state information;
acquiring a state vector corresponding to each screened historical state information;
for any one screened historical state information, predicting a predicted state vector corresponding to the screened historical state information according to state vectors corresponding to a plurality of screened historical state information before the screened historical state information in acquisition time;
screening the screened historical state information when the difference value between the state vector and the predicted state vector exceeds a preset difference value range;
and acquiring a plurality of finally reserved screened historical state information as the plurality of effective historical state information.
5. The method of claim 1, wherein determining a drivable path for the vehicle to travel away from the current location based on the plurality of control commands, the vehicle dynamics model, and the context awareness information at the current time comprises:
according to the control instructions and the vehicle dynamics model, deducing the running process of the vehicle to obtain a plurality of deduced routes;
and selecting a drivable path of the vehicle from the current position from the plurality of deducted paths according to the environment perception information at the current moment.
6. The method of claim 5, wherein the deriving the travel course of the vehicle based on the plurality of control commands and the vehicle dynamics model to obtain a plurality of derived routes comprises:
for any control instruction, inputting steering wheel angles at different moments in the control instruction into the vehicle dynamics model, and outputting the lateral acceleration of the vehicle at different moments;
determining the speed of the vehicle at different moments based on the lateral acceleration at different moments and the longitudinal acceleration at different moments in the control command;
And integrating the speeds of the vehicle at different moments to obtain a deduction route of the vehicle corresponding to the control instruction.
7. The method of claim 5, wherein selecting a drivable path for the vehicle to travel away from a current location from the plurality of derived paths based on the context awareness information comprises:
projecting the obstacle into a navigation plane based on the position information of the obstacle indicated by the environment sensing information;
projecting each derived route into the navigation plane based on the location information of each derived route;
and selecting a deduction route which does not collide with the obstacle from the deduction routes based on the position relation between the obstacle and each deduction route in the navigation plane, so as to obtain the drivable route.
8. The method of claim 1, wherein the determining a target gear of the vehicle at a next time based on the drivable path comprises:
determining the target gear as a forward gear when it is determined that a drivable path exists in front of the vehicle based on the current position of the vehicle;
And when the front of the vehicle has no drivable path and the rear of the vehicle has a drivable path, determining that the target gear is a reverse gear.
9. The method of claim 8, wherein the method further comprises:
and when the fact that no drivable route exists behind the vehicle is determined, sending prompt information to a driver, wherein the prompt information is used for prompting that the front and the rear of the driver are not feasible, and keeping a parking gear.
10. A vehicle gear shift device, characterized by comprising:
the first determining module is used for determining a running scene of the vehicle according to the state information of the vehicle at the current moment, wherein the state information comprises at least one of environment sensing information, navigation positioning information and chassis information;
the second determining module is used for determining a target gear of the vehicle at the next moment based on the historical state information of the vehicle at different historical moments when the running scene of the vehicle is a road starting scene; when the running scene of the vehicle is a station starting scene, a drivable path of the vehicle from the current position is determined based on a plurality of control instructions, a vehicle dynamics model and environmental perception information at the current moment, a target gear of the vehicle at the next moment is determined based on the drivable path, the control instructions are used for indicating steering wheel angles and longitudinal accelerations at different moments in the running process of the vehicle, and the vehicle dynamics model is used for determining transverse accelerations of the vehicle at different moments based on the steering wheel angles at different moments;
And the switching module is used for switching the gear of the vehicle to the target gear, wherein the gear of the vehicle is a parking gear or a neutral gear, and the target gear is a forward gear or a backward gear.
11. An electronic device comprising a memory and a processor, wherein the memory stores at least one computer program that is loaded and executed by the processor to implement the vehicle gear shift method of any one of claims 1 to 9.
12. A computer-readable storage medium, characterized in that at least one computer program is stored in the computer-readable storage medium, which is capable of implementing the vehicle gear shift method according to any one of claims 1 to 9 when being executed by a processor.
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| CN109050531B (en) * | 2018-07-27 | 2020-11-03 | 吉利汽车研究院（宁波）有限公司 | Cruise vehicle speed control device and method |
| CN111350811A (en) * | 2018-12-24 | 2020-06-30 | 长城汽车股份有限公司 | Vehicle and gear selecting method and device of transmission of vehicle |
| CN109583151B (en) * | 2019-02-20 | 2023-07-21 | 阿波罗智能技术(北京)有限公司 | Method and device for predicting running track of vehicle |
| CN112092797B (en) * | 2020-09-23 | 2021-09-21 | 中国第一汽车股份有限公司 | Gear shifting control method and device based on multiple dimensions, vehicle and medium |
| CN112380448B (en) * | 2020-12-03 | 2022-02-22 | 腾讯科技（深圳）有限公司 | Vehicle data processing method and device, computer equipment and storage medium |
| CN112818910B (en) * | 2021-02-23 | 2022-03-18 | 腾讯科技（深圳）有限公司 | Vehicle gear control method and device, computer equipment and storage medium |
| CN114044003B (en) * | 2021-12-21 | 2024-01-23 | 吉林大学 | Tracking control method for front-rear double-axle steering vehicle |
| CN115062202A (en) * | 2022-06-30 | 2022-09-16 | 重庆长安汽车股份有限公司 | Method, device, equipment and storage medium for predicting driving behavior intention and track |
| CN115285145A (en) * | 2022-08-08 | 2022-11-04 | 北京建筑大学 | Unmanned curve collision avoidance trajectory planning and tracking control method |
| CN115681483A (en) * | 2022-10-31 | 2023-02-03 | 集度科技有限公司 | Vehicle controller, vehicle and vehicle control method |
| CN115743135A (en) * | 2022-12-20 | 2023-03-07 | 北京清研宏达信息科技有限公司 | L2-level automatic driving gear control method and system for shift-by-wire electric vehicle |
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