CN116534013A - Vehicle control method, electronic device, storage medium and vehicle - Google Patents
Vehicle control method, electronic device, storage medium and vehicle Download PDFInfo
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- CN116534013A CN116534013A CN202310446998.7A CN202310446998A CN116534013A CN 116534013 A CN116534013 A CN 116534013A CN 202310446998 A CN202310446998 A CN 202310446998A CN 116534013 A CN116534013 A CN 116534013A
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- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000001133 acceleration Effects 0.000 claims abstract description 95
- 230000001629 suppression Effects 0.000 claims abstract description 39
- 238000013507 mapping Methods 0.000 claims description 51
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- 230000006870 function Effects 0.000 description 44
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- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Control Of Transmission Device (AREA)
Abstract
The invention relates to the technical field of intelligent driving, in particular to a vehicle control method, electronic equipment, a storage medium and a vehicle, and aims to solve the technical problem that the effective control efficiency of the vehicle is low due to high false triggering rate of the existing vehicle control method. For this purpose, the vehicle control method of the present invention includes: acquiring a vehicle chassis bus message; analyzing the bus message of the vehicle chassis to obtain vehicle state information; judging whether to start the acceleration suppression function according to the vehicle state information; if yes, the vehicle is controlled according to the vehicle state information. Therefore, the false triggering rate is reduced, and the vehicle control efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent driving, and particularly provides a vehicle control method, electronic equipment, a storage medium and a vehicle.
Background
At present, in daily driving, a certain proportion of traffic accidents occur because a driver mistakenly steps on an accelerator pedal, and especially in special scenes such as test driving, in which the driver is unfamiliar with a vehicle, the driver mistakenly steps on the accelerator pedal due to improper operation, tension and the like. However, in a situation where the vehicle speed increases due to a misstep on the accelerator pedal, the driver cannot always release the accelerator pedal and step on the brake in time.
The existing vehicle lacks of identifying and processing the scene of mistakenly stepping on the accelerator pedal by a user, or the existing vehicle control method has higher false triggering rate after the driver mistakenly stepping on the accelerator pedal, so that the effective control efficiency of the vehicle is lower, and the actual requirement is difficult to meet.
Accordingly, there is a need in the art for a new solution to the above-mentioned problems.
Disclosure of Invention
The present invention has been made to overcome the above-mentioned drawbacks, and to provide a solution or at least partially solve the above-mentioned technical problems. The invention provides a vehicle control method, electronic equipment, a storage medium and a vehicle.
In a first aspect, the present invention provides a vehicle control method, the method comprising: acquiring a vehicle chassis bus message; analyzing the vehicle chassis bus message to obtain vehicle state information; judging whether to start the acceleration suppression function according to the vehicle state information; if yes, the vehicle is controlled according to the vehicle state information.
In one embodiment, the vehicle state information includes a current actual vehicle speed of the vehicle, current gear information, information on whether a parking gear is pressed, and an accelerator pedal stroke value; the judging whether to start the acceleration suppression function according to the vehicle state information comprises the following steps: judging whether to start an acceleration suppression function according to the current actual speed of the vehicle, the current gear information, the information of whether the parking gear is pressed down or not and the accelerator pedal stroke value.
In one specific embodiment, the determining whether to start the accelerator suppressing function according to the current actual vehicle speed of the vehicle, the current gear information, the information about whether the parking gear is pressed, and the accelerator pedal stroke value includes: and when the current actual speed of the vehicle is smaller than or equal to a first threshold value, the current gear information is any one of a forward gear and a reverse gear, the information that the parking gear is pressed is obtained, and the accelerator pedal stroke value is larger than a second threshold value, the acceleration suppression function is determined to be started.
In one embodiment, the controlling the vehicle according to the vehicle state information includes: acquiring an acceleration predicted value of the vehicle according to the vehicle state information; and controlling the output torque of the driving motor based on the acceleration predicted value of the vehicle to reduce the vehicle speed.
In one specific embodiment, the vehicle state information includes a current actual vehicle speed of the vehicle and current gear information, and the current gear information includes any one of a forward gear and a reverse gear; the obtaining the acceleration predicted value of the vehicle according to the vehicle state information includes: acquiring a first mapping table and a second mapping table, wherein the first mapping table is used for storing the corresponding relation between the current actual speed and the acceleration predicted value of the vehicle in the forward gear, and the second mapping table is used for storing the corresponding relation between the current actual speed and the acceleration predicted value of the vehicle in the reverse gear; judging whether the current gear information is a forward gear or a reverse gear; acquiring an acceleration predicted value of the vehicle according to the current actual speed of the vehicle and the first mapping table under the condition that the current gear information is a forward gear; or under the condition that the current gear information is reverse gear, acquiring an acceleration predicted value of the vehicle according to the current actual vehicle speed of the vehicle and the second mapping table.
In one specific embodiment, the obtaining the acceleration prediction value of the vehicle according to the current actual vehicle speed of the vehicle and the first mapping table includes: inquiring in the first mapping table according to the current actual speed of the vehicle to obtain an acceleration predicted value of the vehicle, or obtaining the acceleration predicted value of the vehicle by an interpolation method according to the current actual speed of the vehicle and the first mapping table; and/or
The obtaining the acceleration predicted value of the vehicle according to the current actual speed of the vehicle and the second mapping table comprises the following steps: inquiring in the second mapping table according to the current actual speed of the vehicle to obtain an acceleration predicted value of the vehicle, or obtaining the acceleration predicted value of the vehicle by an interpolation method according to the current actual speed of the vehicle and the second mapping table.
In one embodiment, the method further comprises: and closing the acceleration suppression function when the duration after the acceleration suppression function is turned on is greater than a third threshold value, or a brake pedal of the vehicle is depressed, or a signal for closing the acceleration suppression function is acquired.
In a second aspect, an electronic device is provided comprising at least one processor and at least one storage device adapted to store a plurality of program code adapted to be loaded and executed by the processor to perform the vehicle control method of any of the preceding claims.
In a third aspect, a computer readable storage medium having stored therein a plurality of program codes adapted to be loaded and executed by a processor to perform the vehicle control method of any of the preceding claims is provided.
The technical scheme provided by the invention has at least one or more of the following beneficial effects:
the vehicle control method comprises the steps of obtaining a vehicle chassis bus message; analyzing the bus message of the vehicle chassis to obtain vehicle state information; determining whether to start the acceleration suppression function according to the vehicle state information; if yes, the vehicle is controlled according to the vehicle state information. Therefore, the effective control of the vehicle under the condition that the driver mistakenly steps on the accelerator pedal is realized, the false triggering rate is reduced, the vehicle control efficiency is improved, and the stability and the reliability of an automatic driving system are ensured.
Drawings
The present disclosure will become more readily understood with reference to the accompanying drawings. As will be readily appreciated by those skilled in the art: the drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. Moreover, like numerals in the figures are used to designate like parts, wherein:
FIG. 1 is a flow chart of the main steps of a vehicle control method according to one embodiment of the invention;
FIG. 2 is a schematic diagram of a control flow for a vehicle according to vehicle status information in one embodiment;
FIG. 3 is a complete flow diagram of a vehicle control method in one embodiment;
FIG. 4 is a schematic flow diagram of controlling a vehicle in one embodiment;
fig. 5 is a schematic diagram of the structure of an electronic device in one embodiment.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, a "module," "processor" may include hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, or software components, such as program code, or a combination of software and hardware. The processor may be a central processor, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and/or signal processing functions. The processor may be implemented in software, hardware, or a combination of both. Non-transitory computer readable storage media include any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, and the like. The term "a and/or B" means all possible combinations of a and B, such as a alone, B alone or a and B. The term "at least one A or B" or "at least one of A and B" has a meaning similar to "A and/or B" and may include A alone, B alone or A and B. The singular forms "a", "an" and "the" include plural referents.
At present, the traditional vehicle lacks of identifying and processing the scene of mistakenly stepping on the accelerator pedal by a user, or the existing vehicle control method has higher false triggering rate after the driver mistakenly stepping on the accelerator pedal, so that the effective control efficiency of the vehicle is lower, and the actual requirement is difficult to meet.
Therefore, the application provides a vehicle control method, electronic equipment, a storage medium and a vehicle, wherein the method comprises the steps of obtaining a vehicle chassis bus message; analyzing the bus message of the vehicle chassis to obtain vehicle state information; determining whether to start the acceleration suppression function according to the vehicle state information; if yes, the vehicle is controlled according to the vehicle state information. Therefore, the effective control of the vehicle under the condition that the driver mistakenly steps on the accelerator pedal is realized, the false triggering rate is reduced, the vehicle control efficiency is improved, and the stability and the reliability of an automatic driving system are ensured.
Referring to fig. 1, fig. 1 is a schematic flow chart of main steps of a vehicle control method according to an embodiment of the present invention.
As shown in fig. 1, the vehicle control method in the embodiment of the invention mainly includes the following steps S101 to S104.
Step S101: and acquiring a vehicle chassis bus message.
The vehicle chassis bus is responsible for braking/stabilizing/steering of the vehicle chassis and four wheels, and the network signal priority is higher because of the whole vehicle braking/power-assisted steering lamp. The vehicle chassis bus typically has the following Electronic Control Units (ECU): an Antilock Braking System (ABS), a body electronic stability system (ESP), and an electronic steering assist (EPS).
And acquiring a vehicle chassis bus message through a vehicle chassis bus, wherein the vehicle chassis bus message comprises attribute or state information of the vehicle.
Step S102: and analyzing the vehicle chassis bus message to obtain vehicle state information.
The vehicle chassis bus message may be analyzed by a CAN analyzer, or may be analyzed by a software testing tool (e.g., CANtest), and the analysis method of the vehicle chassis bus message is not specifically limited herein.
Step S103: and judging whether to start the acceleration suppression function according to the vehicle state information.
Step S104: if yes, the vehicle is controlled according to the vehicle state information.
Based on the step S101-step S104, acquiring a vehicle chassis bus message; analyzing the bus message of the vehicle chassis to obtain vehicle state information; determining whether to start the acceleration suppression function according to the vehicle state information; if yes, the vehicle is controlled according to the vehicle state information. Therefore, the effective control of the vehicle under the condition that the driver mistakenly steps on the accelerator pedal is realized, the false triggering rate is reduced, the vehicle control efficiency is improved, and the stability and the reliability of an automatic driving system are ensured.
The following further describes the above steps S103 to S104, respectively.
For step S103, in a specific embodiment, the vehicle state information includes a current actual vehicle speed of the vehicle, current gear information, information of whether a parking gear is pressed, and an accelerator pedal stroke value; the judging whether to start the acceleration suppression function according to the vehicle state information comprises the following steps: judging whether to start an acceleration suppression function according to the current actual speed of the vehicle, the current gear information, the information of whether the parking gear is pressed down or not and the accelerator pedal stroke value.
The vehicle state information includes the current actual vehicle speed of the vehicle (own vehicle), current gear information, information whether the parking gear is pressed, and an accelerator pedal stroke value. Wherein the gear information includes forward gear (D gear) and reverse gear (R gear).
It should be noted that in some vehicles, in the case where the current gear information is the forward gear (D-gear) or the reverse gear (R-gear), the park (P-gear) key is allowed to be pressed.
Specifically, whether to turn on the accelerator suppressing function may be determined by information on whether the parking gear is pressed, the current actual vehicle speed of the vehicle, current gear information, and an accelerator pedal stroke value.
In one specific embodiment, the determining whether to start the accelerator suppressing function according to the current actual vehicle speed of the vehicle, the current gear information, the information about whether the parking gear is pressed, and the accelerator pedal stroke value includes: and when the current actual speed of the vehicle is smaller than or equal to a first threshold value, the current gear information is any one of a forward gear and a reverse gear, the information that the parking gear is pressed is obtained, and the accelerator pedal stroke value is larger than a second threshold value, the acceleration suppression function is determined to be started.
Specifically, in one preferred embodiment, whether to turn on the acceleration suppression function is determined by judging whether the vehicle state information satisfies a condition. Specifically, when the current actual vehicle speed of the vehicle is smaller than or equal to a first threshold value, the current gear information is any one of a forward gear and a reverse gear, the information that the parking gear is pressed is obtained, and the accelerator pedal stroke value is larger than a second threshold value, the acceleration suppression function is determined to be started.
The first threshold is a vehicle speed threshold, the second threshold is an accelerator pedal travel threshold, and the first threshold and the second threshold may be values obtained through experiments in advance.
Therefore, the situation that whether a driver mistakenly steps on the accelerator pedal currently can be rapidly and accurately judged through the vehicle state information, and the acceleration suppression function is further started under the situation that the driver mistakenly steps on the accelerator pedal, compared with the existing method that whether the driver mistakenly steps on the accelerator pedal or not is judged through the acquired vehicle sensing distance information, the method and the device eliminate unstable factors of sensing target distances, reduce the resource occupation of an advanced driving assistance system as much as possible, avoid the false triggering rate, and improve the speed and the accuracy.
The above is a further explanation of step S103, and the following further explanation of step S104 is continued.
As shown in fig. 2, in one embodiment, the step S104 may be implemented by the following steps S1041 to S1042.
Step S1041: and acquiring an acceleration predicted value of the vehicle according to the vehicle state information.
The acceleration predicted value refers to a target value of the vehicle acceleration at the next time.
In one specific embodiment, the vehicle state information includes a current actual vehicle speed of the vehicle and current gear information, and the current gear information includes any one of a forward gear and a reverse gear; the obtaining the acceleration predicted value of the vehicle according to the vehicle state information includes: acquiring a first mapping table and a second mapping table, wherein the first mapping table is used for storing the corresponding relation between the current actual speed and the acceleration predicted value of the vehicle in the forward gear, and the second mapping table is used for storing the corresponding relation between the current actual speed and the acceleration predicted value of the vehicle in the reverse gear; judging whether the current gear information is a forward gear or a reverse gear; acquiring an acceleration predicted value of the vehicle according to the current actual speed of the vehicle and the first mapping table under the condition that the current gear information is a forward gear; or under the condition that the current gear information is reverse gear, acquiring an acceleration predicted value of the vehicle according to the current actual vehicle speed of the vehicle and the second mapping table.
Specifically, a first mapping table and a second mapping table are firstly obtained from a database, wherein the first mapping table is used for storing the corresponding relation between the current actual speed of the vehicle and the acceleration predicted value under the forward gear (D gear), and the second mapping table is used for storing the corresponding relation between the current actual speed of the vehicle and the acceleration predicted value under the reverse gear (R gear). Illustratively, table 1 below may be an example of the first mapping table, and table 2 below may be an example of the second mapping table, but is not limited thereto.
TABLE 1 first mapping Table
TABLE 2 second mapping Table
Secondly, judging whether the current gear information is a forward gear (D gear) or a reverse gear (R gear) according to the vehicle state information, and acquiring an acceleration predicted value of the vehicle according to the current actual speed of the vehicle and a first mapping table under the condition that the current gear information is the forward gear; or under the condition that the current gear information is the reverse gear, acquiring the acceleration predicted value of the vehicle according to the current actual speed of the vehicle and the second mapping table.
In one specific embodiment, the obtaining the acceleration prediction value of the vehicle according to the current actual vehicle speed of the vehicle and the first mapping table includes: inquiring in the first mapping table according to the current actual speed of the vehicle to obtain an acceleration predicted value of the vehicle, or obtaining the acceleration predicted value of the vehicle by an interpolation method according to the current actual speed of the vehicle and the first mapping table; and/or
The obtaining the acceleration predicted value of the vehicle according to the current actual speed of the vehicle and the second mapping table comprises the following steps: inquiring in the second mapping table according to the current actual speed of the vehicle to obtain an acceleration predicted value of the vehicle, or obtaining the acceleration predicted value of the vehicle by an interpolation method according to the current actual speed of the vehicle and the second mapping table.
Specifically, if the current actual vehicle speed is in the first mapping table, acquiring an acceleration predicted value corresponding to the current actual vehicle speed according to a corresponding relation between the current actual vehicle speed and the acceleration predicted value in the first mapping table.
If the current actual vehicle speed is not in the first mapping table, the acceleration prediction value can be obtained specifically through a single linear interpolation method. For example, firstly, it is determined which two vehicle speeds are present in the first mapping table, then a single linear interpolation function is determined according to the two vehicle speeds, and the acceleration prediction value can be obtained by bringing the current actual vehicle speed into the single linear interpolation function.
The above is a detailed description of acquiring the acceleration predicted value of the vehicle according to the current actual vehicle speed of the vehicle and the first map, and the principle of acquiring the acceleration predicted value of the vehicle according to the current actual vehicle speed of the vehicle and the second map is similar to the principle, and is not repeated here.
Step S1042: and controlling the output torque of the driving motor based on the acceleration predicted value of the vehicle to reduce the vehicle speed.
The first mapping table and the second mapping table can show that the obtained acceleration predicted value of the vehicle is a negative value, and the vehicle speed needs to be reduced at the moment, so that the output torque of the driving motor of the vehicle can be adjusted according to the acceleration predicted value to reduce the vehicle speed.
On the premise of not influencing driving experience, whether torque output of a vehicle driving motor is controlled or not is judged through the acquired vehicle state information, so that safety of traffic participants in a test driving and test driving route is protected. In the case where an operator who is unfamiliar with the vehicle is likely to operate the accelerator pedal by mistake, an acceleration suppression function is newly added, and the acceleration suppression function can be realized by a function switch. When the function switch of the acceleration suppression function is turned on, the current actual vehicle speed, the current gear information, the signal of the pressed P gear and the stroke value of the accelerator pedal are combined, whether the acceleration suppression function needs to be turned on or not can be judged, and the output torque of the driving motor is controlled, so that the occurrence rate and the severity of road injury accidents caused by misoperation of the accelerator pedal by a driver are greatly reduced.
In addition, the output torque of the driving motor can be controlled, and meanwhile, the vehicle can be controlled to display prompt information on an instrument screen and/or the vehicle can be controlled to output voice prompt information.
For example, a word of "step on accelerator pedal by mistake, please slow down" is displayed on the meter display screen. Or a voice prompt is given to the driver, for example, a voice output of "mistakenly stepping on the accelerator pedal and requesting deceleration".
As shown in fig. 3 and 4 in particular, the logic implemented by the Advanced Driving Assistance System (ADAS) of the vehicle comprises in particular: and collecting a vehicle chassis bus message, analyzing the message to obtain vehicle state information, and judging whether to start an acceleration suppression function or not or whether to trigger a meter popup or a voice prompt according to the vehicle state information. In the case where it is determined that the acceleration suppression function is turned on, a deceleration operation is performed by an actuator (for example, a brake control unit BCU, a core electronic control unit VCU, a continuous damping control system CDC, or the like), and an operation such as an instrument screen reminder or a voice reminder is performed.
In one embodiment, the method further comprises: and closing the acceleration suppression function when the duration after the acceleration suppression function is turned on is greater than a third threshold value, or a brake pedal of the vehicle is depressed, or a signal for closing the acceleration suppression function is acquired.
Specifically, in each operation after the acceleration suppression function is turned on, a logic operation is performed on the duration after the function is turned on, the brake pedal state, and a signal indicating whether the acceleration suppression function is turned off, specifically, if any one of the three conditions is triggered, the acceleration suppression function is turned off, so that when the function is not expected to be turned on, a driver can cancel torque take-over control of the driving motor in time.
Through the new acceleration suppression function, when the function switch is opened, the current speed of the vehicle, the current gear information, the signal of the pressed P gear and the travel value of the accelerator pedal are combined to judge that the vehicle is in a false acceleration state, and then the output torque of the driving motor is controlled according to the current actual speed, so that the occurrence rate of traffic accidents is reduced, and the vehicle has a tonifying effect. In addition, the unstable factor of the perceived target distance is eliminated, and less calculation effort of an Advanced Driving Assistance System (ADAS) controller is occupied as much as possible. According to the method and the device, whether the accelerator pedal is stepped on by mistake or not can be judged without obtaining the distance information perceived by the vehicle, the torque output of the motor is further controlled, and when the switch for inhibiting the acceleration function is turned on, the control of the torque output is released by judging the time difference between the starting time and the current time and the state of the brake pedal or the function switch so as to close the acceleration inhibition function.
It should be noted that, although the foregoing embodiments describe the steps in a specific order, it will be understood by those skilled in the art that, in order to achieve the effects of the present invention, the steps are not necessarily performed in such an order, and may be performed simultaneously (in parallel) or in other orders, and these variations are within the scope of the present invention.
It will be appreciated by those skilled in the art that the present invention may implement all or part of the above-described methods according to the above-described embodiments, or may be implemented by means of a computer program for instructing relevant hardware, where the computer program may be stored in a computer readable storage medium, and where the computer program may implement the steps of the above-described embodiments of the method when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include: any entity or device, medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, software distribution media, and the like capable of carrying the computer program code. It should be noted that the computer readable storage medium may include content that is subject to appropriate increases and decreases as required by jurisdictions and by jurisdictions in which such computer readable storage medium does not include electrical carrier signals and telecommunications signals.
The invention further provides electronic equipment. In one embodiment of the electronic device according to the present invention, as particularly shown in fig. 5, the electronic device includes at least one processor 51 and at least one storage device 52, the storage device may be configured to store a program for executing the vehicle control method of the above-described method embodiment, and the processor may be configured to execute the program in the storage device, including, but not limited to, the program for executing the vehicle control method of the above-described method embodiment. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments of the present invention.
The electronic device in the embodiment of the invention can be a control device formed by various devices. In some possible implementations, the electronic device may include multiple storage devices and multiple processors. And the program for executing the vehicle control method of the above-described method embodiment may be divided into a plurality of sub-programs, each of which may be loaded and executed by a processor to perform the different steps of the vehicle control method of the above-described method embodiment, respectively. Specifically, each of the sub-programs may be stored in different storage devices, and each of the processors may be configured to execute the programs in one or more storage devices to collectively implement the vehicle control method of the above method embodiment, that is, each of the processors executes different steps of the vehicle control method of the above method embodiment, respectively, to collectively implement the vehicle control method of the above method embodiment.
The plurality of processors may be processors disposed on the same device, for example, the electronic device may be a high-performance device composed of a plurality of processors, and the plurality of processors may be processors configured on the high-performance device. In addition, the plurality of processors may be processors disposed on different devices, for example, the electronic device may be a server cluster, and the plurality of processors may be processors on different servers in the server cluster.
Further, the invention also provides a computer readable storage medium. In one embodiment of the computer-readable storage medium according to the present invention, the computer-readable storage medium may be configured to store a program for executing the vehicle control method of the above-described method embodiment, which may be loaded and executed by a processor to implement the above-described vehicle control method. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments of the present invention. The computer readable storage medium may be a storage device including various electronic devices, and optionally, the computer readable storage medium in the embodiments of the present invention is a non-transitory computer readable storage medium.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (10)
1. A vehicle control method, characterized in that the method comprises:
acquiring a vehicle chassis bus message;
analyzing the vehicle chassis bus message to obtain vehicle state information;
judging whether to start the acceleration suppression function according to the vehicle state information;
if yes, the vehicle is controlled according to the vehicle state information.
2. The vehicle control method according to claim 1, characterized in that the vehicle state information includes a current actual vehicle speed of the vehicle, current gear information, information on whether a parking gear is pressed, and an accelerator pedal stroke value;
the judging whether to start the acceleration suppression function according to the vehicle state information comprises the following steps: judging whether to start an acceleration suppression function according to the current actual speed of the vehicle, the current gear information, the information of whether the parking gear is pressed down or not and the accelerator pedal stroke value.
3. The vehicle control method according to claim 2, characterized in that the determining whether to turn on a suppression acceleration function based on a current actual vehicle speed of the vehicle, the current gear information, information on whether the parking gear is pressed, and the accelerator pedal stroke value includes: and when the current actual speed of the vehicle is smaller than or equal to a first threshold value, the current gear information is any one of a forward gear and a reverse gear, the information that the parking gear is pressed is obtained, and the accelerator pedal stroke value is larger than a second threshold value, the acceleration suppression function is determined to be started.
4. The vehicle control method according to claim 1, characterized in that the controlling the vehicle according to the vehicle state information includes:
acquiring an acceleration predicted value of the vehicle according to the vehicle state information;
and controlling the output torque of the driving motor based on the acceleration predicted value of the vehicle to reduce the vehicle speed.
5. The vehicle control method according to claim 4, characterized in that the vehicle state information includes a current actual vehicle speed of the vehicle and current shift information including any one of a forward gear and a reverse gear;
the obtaining the acceleration predicted value of the vehicle according to the vehicle state information includes:
acquiring a first mapping table and a second mapping table, wherein the first mapping table is used for storing the corresponding relation between the current actual speed and the acceleration predicted value of the vehicle in the forward gear, and the second mapping table is used for storing the corresponding relation between the current actual speed and the acceleration predicted value of the vehicle in the reverse gear;
judging whether the current gear information is a forward gear or a reverse gear;
acquiring an acceleration predicted value of the vehicle according to the current actual speed of the vehicle and the first mapping table under the condition that the current gear information is a forward gear; or under the condition that the current gear information is reverse gear, acquiring an acceleration predicted value of the vehicle according to the current actual vehicle speed of the vehicle and the second mapping table.
6. The vehicle control method according to claim 5, characterized in that the obtaining the acceleration prediction value of the vehicle from the current actual vehicle speed of the vehicle and the first map includes: inquiring in the first mapping table according to the current actual speed of the vehicle to obtain an acceleration predicted value of the vehicle, or obtaining the acceleration predicted value of the vehicle by an interpolation method according to the current actual speed of the vehicle and the first mapping table;
and/or
The obtaining the acceleration predicted value of the vehicle according to the current actual speed of the vehicle and the second mapping table comprises the following steps: inquiring in the second mapping table according to the current actual speed of the vehicle to obtain an acceleration predicted value of the vehicle, or obtaining the acceleration predicted value of the vehicle by an interpolation method according to the current actual speed of the vehicle and the second mapping table.
7. The vehicle control method according to claim 1, characterized in that the method further comprises: and closing the acceleration suppression function when the duration after the acceleration suppression function is turned on is greater than a third threshold value, or a brake pedal of the vehicle is depressed, or a signal for closing the acceleration suppression function is acquired.
8. An electronic device comprising at least one processor and at least one memory device, the memory device being adapted to store a plurality of program codes, characterized in that the program codes are adapted to be loaded and executed by the processor to perform the vehicle control method of any one of claims 1 to 7.
9. A computer readable storage medium having stored therein a plurality of program codes, characterized in that the program codes are adapted to be loaded and executed by a processor to perform the vehicle control method of any one of claims 1 to 7.
10. A vehicle comprising a vehicle body, at least one processor and at least one memory device, wherein the memory device is adapted to store a plurality of program codes, characterized in that the program codes are adapted to be loaded and run by the processor to perform the vehicle control method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310446998.7A CN116534013A (en) | 2023-04-23 | 2023-04-23 | Vehicle control method, electronic device, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310446998.7A CN116534013A (en) | 2023-04-23 | 2023-04-23 | Vehicle control method, electronic device, storage medium and vehicle |
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| Publication Number | Publication Date |
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| CN116534013A true CN116534013A (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310446998.7A Pending CN116534013A (en) | 2023-04-23 | 2023-04-23 | Vehicle control method, electronic device, storage medium and vehicle |
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| Country | Link |
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| CN (1) | CN116534013A (en) |
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2023
- 2023-04-23 CN CN202310446998.7A patent/CN116534013A/en active Pending
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