TW202402586A - Vehicle control method, vehicle, and non-transitory computer readable storage medium - Google Patents

Abstract

A vehicle control method includes:, determining whether a driving torque strength corresponding to a driving signal received by a vehicle is greater than a cruising torque strength corresponding to a cruise mode when the vehicle is in the cruise mode; and switching the vehicle into an overtake mode when the driving torque strength is greater than the cruising torque strength, in which the vehicle is given priority to drive in the overtake mode.

Description

Vehicle control method, vehicle and non-transitory computer-readable storage medium

The present disclosure relates to a vehicle control method, a vehicle and a non-transitory computer-readable storage medium.

Driving safety requires a high degree of concentration and adaptability. People often drive dangerously due to distracted driving and fatigue, endangering the safety of themselves and others, causing loss of life and property. Therefore, in recent years, the development of vehicles has gradually moved towards electronics and safety, and attempts have been made to develop various electronic mechanisms or mechanisms to assist drivers in driving.

Cruise Control is currently the most representative of the common assisted driving systems in high-speed driving environments. Cruise control can reduce the driver's accelerator operation when the vehicle is traveling at high speed, and the vehicle cruises at the speed set by the driver. However, actual traffic conditions are often complex. When the driver needs to regain control of the vehicle in order to eliminate obstacles in special road conditions (such as a traffic jam in a certain lane), under the existing cruise control mode, the driver must first cancel the cruise control mode before he can control the vehicle by himself. When the driver wants the vehicle to cruise at a constant speed after eliminating the aforementioned obstacles, the driver must activate the cruise control mode again. If this process is repeated many times, it will be cumbersome and inconvenient for the driver.

Therefore, how to come up with a vehicle control method that can solve the above problems is one of the problems that the industry is currently eager to invest in research and development resources to solve.

In view of this, one purpose of the present disclosure is to provide a vehicle control method and a non-transitory computer-readable storage medium that can solve the above problems.

In order to achieve the above object, according to an embodiment of the present disclosure, a vehicle control method includes: when the vehicle is in a cruise control mode, determining whether the driving torque intensity corresponding to the driving signal received by the vehicle is greater than the cruise torque corresponding to the cruise torque mode. intensity; and when the driving torque intensity is greater than the cruising torque intensity, the vehicle is switched to the overtaking mode, in which the vehicle is given priority to drive in the overtaking mode.

In one or more embodiments of the present disclosure, the vehicle control method further includes: maintaining the vehicle in a cruise control mode when the driving torque intensity is equal to or less than the cruising torque intensity.

In one or more embodiments of the present disclosure, the vehicle control method further includes: when the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, causing the vehicle to release the overtaking mode and switch to cruise control. model.

In one or more embodiments of the present disclosure, the vehicle includes a throttle device. The driving signal is generated by the throttle device.

In one or more embodiments of the present disclosure, the throttle device includes a rotating handle. The driving signal includes the angle signal of the rotation handle relative to the initial orientation.

In one or more embodiments of the present disclosure, the accelerator device includes an accelerator pedal. The driving signal includes the displacement of the accelerator pedal from the initial position to the first position.

In order to achieve the above object, according to an embodiment of the present disclosure, a vehicle includes a body and a processor. The processor is installed on the vehicle body and is configured to: when the vehicle is in the cruise control mode, determine whether the driving torque intensity corresponding to the driving signal received by the processor is greater than the cruise torque intensity corresponding to the cruise control mode; and when the driving torque intensity is greater than When the cruising torque is strong, the vehicle switches to overtaking mode, in which the vehicle gives priority to driving in overtaking mode.

In one or more embodiments of the present disclosure, the processor is further configured to maintain the vehicle in the cruise control mode when the driving torque intensity is equal to or less than the cruising torque intensity.

In one or more embodiments of the present disclosure, the processor is further configured to: when the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, cause the vehicle to release the overtaking mode and switch to the cruise control mode. model.

In one or more embodiments of the present disclosure, the vehicle further includes a throttle device. The throttle device is installed on the vehicle body. The driving signal is generated by the throttle device.

In one or more embodiments of the present disclosure, the throttle device includes a rotating handle. The driving signal includes the angle signal of the rotation handle relative to the initial orientation.

In one or more embodiments of the present disclosure, the accelerator device includes an accelerator pedal. The driving signal includes the displacement of the accelerator pedal from the initial position to the first position.

In order to achieve the above object, according to an embodiment of the present disclosure, a non-transitory computer-readable storage medium includes a computer-executable device that causes the one or more computer processors to perform the following operations when executed by one or more computer processors. Instruction: When receiving information that the vehicle is in the cruise control mode, determine whether the driving torque intensity corresponding to the driving signal received by the vehicle is greater than the cruising torque intensity corresponding to the cruise control mode; and when the driving torque intensity is greater than the cruise torque intensity When, a mode start command is generated to switch the vehicle to the overtaking mode, in which the vehicle is driven in the overtaking mode with priority.

In one or more embodiments of the present disclosure, the non-transitory computer-readable storage medium further includes a computer-executable device that, when executed by the one or more computer processors, causes the one or more computer processors to perform the following operations: Instruction: When the driving torque intensity is equal to or less than the cruising torque intensity, no mode start instruction is generated.

In one or more embodiments of the present disclosure, the non-transitory computer-readable storage medium further includes a computer-executable device that, when executed by the one or more computer processors, causes the one or more computer processors to perform the following operations: Command: When the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, a mode release command is generated, where the mode release command is to cause the vehicle to release the overtaking mode and switch to the fixed speed cruise mode.

In one or more embodiments of the present disclosure, the driving signal is an operation signal of a throttle device of the vehicle.

In one or more embodiments of the present disclosure, the throttle device includes a rotating handle. The driving signal includes the angle signal of the rotation handle relative to the initial orientation.

In one or more embodiments of the present disclosure, the accelerator device includes an accelerator pedal. The driving signal includes the displacement of the accelerator pedal from the initial position to the first position.

To sum up, according to the vehicle control method, vehicle and non-transitory computer-readable storage medium of the present disclosure, when the vehicle is in the cruise control mode, and when the driving torque intensity corresponding to the driving signal received by the vehicle is greater than the cruise control mode, When the cruising torque intensity corresponding to the mode is reached, the vehicle can further switch to the overtaking mode and prioritize driving in the overtaking mode. Moreover, when the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, the vehicle can release the overtaking mode and return to the fixed-speed cruise mode. This allows the driver to quickly switch the vehicle from cruise control mode to overtaking mode to eliminate obstacles in special road conditions (such as a traffic jam in a certain lane), and allow the vehicle to automatically drive in cruise control mode after the obstacles are eliminated, thus streamlining the process. The process of the driver switching the vehicle's driving mode, thereby improving the driver's control experience.

The above is only used to describe the problems to be solved by the present disclosure, the technical means to solve the problems, the effects thereof, etc. The specific details of the present disclosure will be introduced in detail in the following implementation modes and related drawings.

A plurality of implementation manners of the present disclosure will be disclosed below with drawings. For clarity of explanation, many practical details will be explained together in the following description. However, it should be understood that these practical details should not be used to limit the disclosure. That is to say, in some implementations of the present disclosure, these practical details are not necessary. In addition, for the sake of simplifying the drawings, some commonly used structures and components will be illustrated in a simple schematic manner in the drawings.

Please refer to Picture 1 and Picture 2. Figure 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present disclosure. Figure 2 is a schematic diagram of a vehicle 100 according to an embodiment of the present disclosure. As shown in Figures 1 and 2, in this embodiment, the vehicle control method at least includes steps S101 and S102, and can be executed on the vehicle 100.

Step S101: When the vehicle 100 is not traveling in the cruise control mode, determine whether the vehicle 100 meets the mode start conditions, where the mode start conditions include the vehicle 100 receiving a mode start request signal. The mode activation request signal will be explained in detail in the following paragraphs.

Step S102: When the vehicle 100 meets the mode start conditions, the vehicle 100 is caused to travel in the cruise control mode, and the vehicle 100 is driven to travel at the cruise target speed corresponding to the cruise control mode. On the contrary, if the vehicle 100 does not meet the mode start conditions, the vehicle 100 keeps operating in the current mode. For example, if the vehicle 100 does not meet the mode start conditions, the vehicle 100 does not enter the cruise control mode, and accelerates and decelerates according to the accelerator and brake control conditions.

In some embodiments, the vehicle 100 is a two-wheeled vehicle (such as a scooter or other straddle-type vehicle) or a transportation vehicle with more than two wheels. However, the disclosure is not limited thereto, and the vehicle control method may also be used. Applied to other types of transportation vehicles.

In some embodiments, the vehicle 100 includes a body 110 , a rotating handlebar 120 , a processor 130 , function buttons 140 and a brake 150 . The rotating handle 120, the processor 130, the function buttons 140 and the brake 150 are arranged on the body 110. For example, the function button 140 is a cruise control button or a two-in-one cruise control and reverse button, but the disclosure is not limited to this. When the function button 140 is pressed when the vehicle 100 is not traveling in the cruise control mode, the function button 140 generates a press signal and outputs it to the processor 130 . The processor 130 receives the corresponding pressing signal and regards the pressing signal as a mode start request signal. For example, the function button 140 can be implemented using a switch, which is coupled to the processor 130, the power terminal, and the ground terminal. When the function button 140 is pressed, the switch connects the power terminal and the ground terminal, causing a current surge to be directed to the processor 130. This current surge is the mode start request signal. Then the processor 130 enables the cruise control mode according to the mode activation request signal. Using a switch as a button to trigger a specific function is a common practice in the field of electronic circuits, and will not be described in detail in this disclosure.

The aforementioned steps S101 and S102 are both executed by the processor 130 . In some embodiments, the processor 130 uses the speed of the vehicle 100 when the mode start request signal is received as the set speed of the cruise control mode (ie, the aforementioned cruise target speed), and causes the vehicle 100 to drive at a constant speed at this set speed. . For example, when the cruising target speed is set to 60 km/h and the current speed of the vehicle 100 is less than 60 km/h, the processor 130 will drive the vehicle 100 to accelerate to reach the cruising target speed.

In some embodiments, the processor 130 is, for example, a microprocessor, a microcontroller, a programmable logic controller (PLC), a programmable gate array (PGA), an application specific integrated circuit (ASIC), or can be obtained from various Sensors receive signals, perform logic operations, and send signals to controllers of various components.

In some embodiments, the mode activation condition includes the speed of the vehicle 100 being equal to or greater than a predetermined speed. For example, the predetermined speed is about 10 kilometers/hour, but this disclosure is not limited to this.

In some embodiments, the mode start condition includes that the electric capacity of the electric energy storage device (not shown) of the vehicle 100 is greater than the predetermined electric capacity. In some embodiments, the vehicle 100 is an electric vehicle that uses a motor to drive rear wheels and/or front wheels, and the electricity stored in the aforementioned electrical energy storage device is the power source of the motor. For example, the scheduled power is about 12%, but this disclosure is not limited to this. Thereby, the vehicle control method of this embodiment can prevent the vehicle 100 from entering the cruise control mode when the electric energy storage device is in low power.

In some embodiments, the aforementioned electrical energy storage device is, for example, any device that can store power and release the stored power, including but not limited to a battery pack, a supercapacitor or a supercapacitor. The battery is, for example, one or more chemical storage cells, for example, rechargeable or auxiliary battery cells (including but not limited to nickel-cadmium alloy or lithium-ion battery cells).

In some embodiments, the mode start condition includes the temperature of the electrical energy storage device being less than a predetermined temperature. For example, the predetermined temperature is about 63 degrees Celsius, but the disclosure is not limited thereto. Thereby, the vehicle control method of this embodiment can prevent the temperature of the electric energy storage device from further increasing due to operating in the cruise control mode when the electric energy storage device is at a high temperature, thereby causing damage to the electric energy storage device and/or the vehicle 100 .

In some embodiments, the mode activation condition includes the brake 150 of the vehicle 100 not being operated (ie, the brake 150 is in an idle state). Thereby, the vehicle control method of this embodiment can effectively prevent the driver from accidentally touching the vehicle. An example of an accidental touch situation is that the driver actually wants to operate the brake 150 to decelerate the vehicle 100, but accidentally presses the function button 140.

In some embodiments, the mode activation condition includes the speed of the vehicle 100 falling within a predetermined speed range. For example, the predetermined speed range is about 10 km/h to about 60 km/h, but the disclosure is not limited thereto. In other words, when the speed of the vehicle 100 is less than 10 km/h or greater than 60 km/h, the vehicle 100 will not enter the cruise control mode. Thereby, the vehicle control method of this embodiment can prevent the vehicle 100 from driving at a fixed speed outside the safe predetermined speed range, thereby causing safety hazards to the driver.

In some embodiments, the mode start condition further includes the output power of the power system (eg, motor) of the vehicle 100 without load reduction. Specifically, a temperature sensor (not shown) is provided next to or inside the motor. The temperature sensor senses the temperature of the motor at any time and outputs the sensed data to the processor 130 . When the temperature of the motor is greater than a predetermined motor temperature (for example, 100 degrees Celsius), the processor 130 will adjust the torque intensity output to the motor to dynamically limit the driving torque, rotational speed, and output power of the motor. This behavior is called load reduction. In other words, as long as the temperature of the motor is maintained at or below the predetermined motor temperature, the motor will not experience a load reduction condition.

By the way, after the motor is deloaded, its temperature will begin to drop. The processor 130 will not release the load reduction until the temperature of the motor drops to be equal to or less than a safe motor temperature (the safe motor temperature is less than a predetermined motor temperature, such as 90 degrees Celsius). After the load reduction is released, the driving torque, rotation speed and output power of the motor can be further increased to increase the current speed of the vehicle 100 . In addition, the output power of the motor is proportional to the driving torque and speed.

In some implementations, the vehicle 100 must meet multiple mode activation conditions before entering the cruise control mode. For example, when the processor 130 receives the mode activation request signal and the speed of the vehicle 100 is equal to or greater than the predetermined speed, the vehicle 100 switches to the cruise control mode. Alternatively, the vehicle 100 will switch to the cruise control mode only when the processor 130 receives the mode start request signal, the current speed of the vehicle 100 is equal to or greater than the predetermined speed, and the power of the electric energy storage device of the vehicle 100 is greater than the predetermined power. In some embodiments, the vehicle 100 must meet all the above mode starting conditions before entering the cruise control mode.

In addition, the cruising target speed of the cruise control mode (the cruising target speed is equal to or greater than the predetermined speed) can also be input to the processor 130 in advance. When the processor 130 receives the mode start request signal, the processor 130 drives the motor to increase/decrease the speed of the vehicle 100 to the cruise target speed, and then switches the vehicle 100 to the cruise control mode. In some embodiments, the vehicle 100 will switch to a certain mode only when the processor 130 receives the mode start request signal and the status of the vehicle 100 meets at least one of the aforementioned mode start conditions (for example, the power of the electrical energy storage device is greater than the predetermined power). Speed cruising mode.

As shown in Figure 1, in this embodiment, the vehicle control method further includes steps S103, S104, S105, and S106, and can be executed on the vehicle 100, where steps S104 and S105 continue after step S103, and step S106 continues After step S104.

Step S103: The processor 130 determines whether the driving torque intensity corresponding to the driving signal received by the vehicle 100 is greater than the cruising torque intensity corresponding to the cruise control mode. The torque intensity referred to here refers to the output torque of the motor. The aforementioned cruise target speed will be directly affected by the cruise torque intensity. For example, if the vehicle 100 wants to drive at a constant speed with a cruising target speed of 60 km/h, the processor 130 will dynamically adjust the cruising torque intensity so that the speed of the vehicle 100 can reach 60 km/h. In addition, the driving signal will be explained in detail in the following paragraphs.

Step S104: When the driving torque intensity is greater than the cruising torque intensity, the processor 130 further switches the vehicle 100 to the overtaking mode, where the vehicle 100 preferentially drives in the overtaking mode. For example, if the cruise torque intensity currently corresponding to the cruise control mode is 30% of the maximum driving torque, and when the driving torque intensity corresponding to the driving signal received by the processor 130 is 40% of the maximum driving torque, the processor 130 controls The vehicle 100 further enters the overtaking mode and drives in the overtaking mode with priority. Furthermore, when the vehicle 100 is traveling on flat ground, the cruising torque intensity allows the vehicle 100 to travel at a speed of approximately 50 km/h, and the driving torque intensity allows the vehicle 100 to travel at a speed of approximately 70 km/h. In other words, the speed of vehicle 100 will accelerate from about 50 km/h to about 70 km/h for overtaking.

Step S105: When the driving torque intensity is equal to or less than the cruising torque intensity, the processor 130 does not cause the vehicle 100 to further switch to the overtaking mode and maintains it in the cruise control mode. For example, if the cruise torque intensity currently corresponding to the cruise control mode is 30% of the maximum driving torque, and when the driving torque intensity corresponding to the driving signal received by the processor 130 is 20% of the maximum driving torque, the processor 130 controls The vehicle 100 does not enter the overtaking mode and remains in the cruise control mode. In other words, the speed of vehicle 100 will be maintained at about 50 kilometers/hour.

Step S106: When the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, the processor 130 causes the vehicle 100 to release the overtaking mode and switch to the cruise control mode again. For example, if the current cruise torque intensity corresponding to the cruise control mode is 30% of the maximum driving torque, and when the driving torque intensity corresponding to the driving signal received by the processor 130 is adjusted from 40% of the maximum driving torque to 0%, The processor 130 controls the vehicle 100 to release the overtaking mode and make the vehicle 100 enter the cruise control mode. In other words, the speed of the vehicle 100 will be decelerated from the speed originally driven by the driving torque intensity (for example, about 70 km/h) to about 50 km/h.

In this way, the driver can make the vehicle 100 quickly enter the overtaking mode from the cruise control mode to eliminate special road conditions obstacles (such as a traffic jam in a certain lane), and allow the vehicle 100 to automatically drive in the cruise control mode after the obstacles are eliminated. Therefore, The process for the driver to switch the driving mode of the vehicle 100 can be simplified, thereby improving the driver's control experience.

In some embodiments, vehicle 100 includes a throttle device. The driving signal is generated by the throttle device. Specifically, in some embodiments, the throttle device at least includes the rotating handle 120 shown in FIG. 2 . The driving signal includes an angle signal of the rotation of the rotating handle 120 relative to the initial orientation, that is to say, the angle signal represents the rotation amount of the rotating handle 120 . For example, the rotating handle 120 is configured to rotate forward (or counterclockwise) from 0 to 90 degrees from the initial orientation. When the angle of rotation relative to the initial orientation is 0 degrees, the driving torque intensity corresponding to the driving signal is 0% of the maximum driving torque; when the angle of rotation relative to the initial orientation is 90 degrees, the driving torque intensity corresponding to the driving signal is the maximum 90% of the driving torque. In practical applications, the relationship between the angle of rotation of the rotating handle 120 relative to the initial orientation and the intensity of the driving torque corresponding to the driving signal may be linear or nonlinear.

For example, rotating the handle 120 can generate a driving signal of 0~3.3V according to its rotated state. When the driver slightly rotates the throttle (for example, the angle of rotation is 10 degrees relative to the initial orientation), the throttle generates a 0.7V drive signal and outputs it to the processor 130 . After detecting the 0.7V driving signal, the processor 130 drives the motor to run at 20% of the maximum driving torque. When the driver rotates the accelerator greatly (for example, the angle of rotation is 90 degrees relative to the initial orientation), the accelerator generates a driving signal exceeding 3V and outputs it to the processor 130 . After detecting a driving signal exceeding 3V, the processor 130 drives the motor to operate at 90% of the maximum driving torque.

In some other embodiments, the vehicle 100 is a transportation vehicle with more than two wheels, and the accelerator device of the vehicle 100 may include an accelerator pedal, and the driving signal includes an amplitude signal of the accelerator pedal being stepped on relative to the initial position. For example, the amplitude signal represents the displacement of the accelerator pedal from an initial position to a first position. The accelerator pedal is configured to be depressed 0 to 10 centimeters from the initial position. When the pedaling amplitude is 0 cm relative to the initial position, the driving torque intensity corresponding to the drive signal is 0% of the maximum driving torque; when the pedaling amplitude is 10 cm relative to the initial position (i.e. the accelerator pedal moves to the first position ), the driving torque intensity corresponding to the driving signal is 90% of the maximum driving torque. In practical applications, the relationship between the depression amplitude of the accelerator pedal relative to the initial position and the driving torque intensity corresponding to the driving signal may be linear or nonlinear, and this disclosure also does not limit this.

As shown in Figure 1, in this embodiment, the vehicle control method further includes steps S107 and S108, and can be executed on the vehicle 100, where step S107 continues after steps S105 and S106, and step S108 continues after step S107. .

Step S107: When the vehicle 100 is traveling in the cruise control mode, the processor 130 determines whether the vehicle 100 meets the mode release condition.

Step S108: When the vehicle 100 meets the mode release condition, the processor 130 releases the cruise control mode. On the contrary, if the vehicle 100 does not meet the mode release condition, the processor 130 allows the vehicle 100 to maintain the cruise control mode operation.

In some embodiments, the mode release condition includes that the power of the electrical energy storage device of the vehicle 100 is equal to or less than a predetermined power. In some embodiments, the vehicle 100 is an electric vehicle that uses a motor to drive the front and rear wheels, and the electricity stored in the aforementioned electrical energy storage device is the power source of the motor. For example, the scheduled power is about 12%, but this disclosure is not limited to this. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the electric energy storage device is at low power, so as to avoid further power consumption of the vehicle 100 .

In some embodiments, the mode release condition includes the temperature of the electrical energy storage device being equal to or greater than a predetermined temperature. For example, the predetermined temperature is about 63 degrees Celsius, but the disclosure is not limited thereto. Thereby, the vehicle control method of this embodiment can automatically release the cruise control mode of the vehicle 100 when the electric energy storage device is at a high temperature, so as to avoid the temperature of the electric energy storage device from further causing damage to the electric energy storage device and/or the vehicle 100 .

In some embodiments, the mode release condition includes the speed of the vehicle 100 being equal to or less than a safe speed. For example, the safe speed is about 5 kilometers/hour, but this disclosure is not limited to this. In some implementations, the safe speed is set to be less than the predetermined speed. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the vehicle 100 is unable to travel at the set speed of the cruise control mode due to specific factors (for example, the vehicle 100 climbs a steep slope). To avoid excessive wear and tear on the power system of the vehicle 100 .

In some implementations, the processor 130 may not set a safe speed, but use a predetermined speed to determine whether to release the cruise control mode. For example, when the speed of the vehicle 100 is less than a predetermined speed, the processor 130 determines that the vehicle 100 meets the mode release condition and releases the cruise control mode.

In some embodiments, the mode release condition includes the vehicle 100 receiving a mode release request signal. In some embodiments, when the function button 140 is pressed while the vehicle 100 is traveling in the cruise control mode, the processor 130 may receive the corresponding press signal and regard the press signal as a mode release request signal. Then, the cruise control mode is released according to the mode release request signal. As mentioned above, the function button 140 can be implemented through a switch to generate and output a press signal.

In some embodiments, when the brake 150 of the vehicle 100 is operated when the vehicle 100 is traveling in the cruise control mode (that is, the brake 150 is in a pressed state), the processor 130 may receive the corresponding operation signal and generate the corresponding operation signal. The operation signal is regarded as a mode release request signal. Thereby, the vehicle control method of this embodiment allows the driver to independently decide the timing of releasing the cruise control mode through manual operation. In some embodiments, the processor 130 will release the cruise control mode only when the brake 150 is operated for more than a certain time (for example, more than 3 seconds).

In some embodiments, the mode release condition further includes a load reduction condition occurring in the power system of the vehicle 100 (ie, the temperature of the motor is greater than a predetermined motor temperature). At this time, the processor 130 determines that the temperature of the motor is too high, which may affect driving safety, and cancels the cruise control mode.

In some implementations, when only one of the foregoing mode release conditions is met, the processor 130 will control the vehicle 100 to release the cruise control mode. In some embodiments, the cruise control mode will be released only when the vehicle 100 meets at least two of the aforementioned mode release conditions. Alternatively, in some embodiments, the cruise control mode will be released only when the vehicle 100 meets each of the foregoing mode release conditions.

In some implementations, the vehicle control method of the present disclosure may be implemented through one or more microcontrollers. However, those skilled in the art will recognize that the embodiments disclosed in the present disclosure may be implemented as one or more computer programs executed by one or more computers (e.g., as one or more computer programs running on one or more computer systems). or multiple programs), as one or more programs being executed by one or more controllers (eg, microcontrollers), as one or more programs being executed by one or more processors 130 (eg, microprocessors) A program, as firmware, or as virtually any combination thereof that is equivalently implemented in whole or in part in a standard integrated circuit (e.g., an application specific integrated circuit or ASIC). In view of the teachings of this disclosure, designing circuits and/or writing code for software and/or firmware will be well within the skill of those skilled in this art.

When logic is implemented as software/firmware and stored in memory, the logic or information may be stored on any non-transitory computer-readable storage medium for use by or with associated processor systems or methods. Non-transitory computer-readable storage media are electronic, magnetic, optical or other physical devices or components that contain or store computer and/or processor programs on a non-transitory basis. The logic and/or information may be embodied in any computer-readable medium for use by an instruction execution system, device, or device (such as a computer-based system, a system containing a processor, or a system that may retrieve and execute instructions from an instruction execution system, device, or device). Other systems of instructions associated with logic and/or information) are used by or in conjunction with them.

In some implementations, the non-transitory computer-readable storage medium includes computer-executable instructions that, when executed by one or more computer processors 130, cause the one or more computer processors 130 to: upon receipt of information regarding When the vehicle 100 is in the cruise control mode, it is determined whether the driving torque intensity corresponding to the driving signal received by the vehicle 100 is greater than the cruising torque intensity corresponding to the cruise control mode; and when the driving torque intensity is greater than the cruise torque intensity, a driving force is generated. The vehicle 100 further switches to the mode start command of the overtaking mode, in which the vehicle 100 preferentially drives in the overtaking mode. According to the mode start command, the vehicle 100 switches and operates in the overtaking mode.

In some embodiments, the non-transitory computer-readable storage medium further includes computer-executable instructions that, when executed by the one or more computer processors 130, cause the one or more computer processors 130 to: when driving When the torque intensity is equal to or less than the cruising torque intensity, no mode start command is generated. At this time, the vehicle 100 will not switch to the overtaking mode, but will remain in the cruise control mode.

In some embodiments, the non-transitory computer-readable storage medium further includes computer-executable instructions that, when executed by the one or more computer processors 130, cause the one or more computer processors 130 to: when driving When the torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, a mode release command is generated, where the mode release command causes the vehicle 100 to release the overtaking mode and switch to the fixed speed cruise mode.

In some embodiments, the non-transitory computer-readable storage medium further includes computer-executable instructions that, when executed by the one or more computer processors 130, cause the one or more computer processors 130 to: deactivate The vehicle 100 in the cruise control mode generates a control command to drive the vehicle 100 to release the cruise control mode. The mode release conditions used to release the cruise control mode are the same as mentioned above, and will not be described again here.

In some embodiments, the driving signal is an operating signal generated by controlling a throttle device of the vehicle 100 . In some embodiments, the driving signal includes an angle signal of the rotation handle 120 of the rotating vehicle 100 relative to the initial orientation. In some embodiments, the driving signal is an amplitude signal of the accelerator pedal of the vehicle 100 being depressed relative to the initial position.

From the above detailed description of specific implementations of the present disclosure, it can be clearly seen that according to the vehicle control method and the non-transitory computer-readable storage medium of the present disclosure, when the vehicle is in the cruise control mode, and when the vehicle receives When the driving torque intensity corresponding to the driving signal is greater than the cruising torque intensity corresponding to the cruise control mode, the vehicle can further switch to the overtaking mode and give priority to driving in the overtaking mode. Moreover, when the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, the vehicle can release the overtaking mode and return to the fixed-speed cruise mode. This allows the driver to quickly switch the vehicle from cruise control mode to overtaking mode to eliminate obstacles in special road conditions (such as a traffic jam in a certain lane), and allow the vehicle to automatically drive in cruise control mode after the obstacles are eliminated, thus streamlining the process. The process of the driver switching the vehicle's driving mode, thereby improving the driver's control experience.

Although the disclosure has been disclosed in the above embodiments, it is not intended to limit the disclosure. Anyone skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure. Therefore, the protection of the disclosure is The scope shall be determined by the appended patent application scope.

100:Vehicle 110: Body 120:Turn the handle 130: Processor 140: Function buttons 150:brake S101, S102, S103, S104, S105, S106, S107, S108: Steps

In order to make the above and other objects, features, advantages and embodiments of the present disclosure more obvious and understandable, the accompanying drawings are described as follows: Figure 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present disclosure. Figure 2 is a schematic diagram illustrating a vehicle according to an embodiment of the present disclosure.

Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without

S101,S102,S103,S104,S105,S106,S107,S10 8: Steps

Claims (18)

A vehicle control method, including: when a vehicle is in a constant speed cruise mode, determining whether a driving torque intensity corresponding to a driving signal received by the vehicle is greater than a cruise torque intensity corresponding to the constant speed cruise mode; and When the driving torque intensity is greater than the cruising torque intensity, the vehicle is switched to an overtaking mode, wherein the vehicle is driven in the overtaking mode with priority. The vehicle control method as described in claim 1 further includes: When the driving torque intensity is equal to or less than the cruising torque intensity, the vehicle is maintained in the cruise control mode. The vehicle control method as described in claim 1, further comprising: when the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, causing the vehicle to release the overtaking mode and switch to the fixed mode. Speed cruising mode. The vehicle control method as claimed in claim 1, wherein the vehicle includes a throttle device, and the driving signal is generated by the throttle device. The vehicle control method of claim 4, wherein the throttle device includes a rotating handle, and the driving signal includes an angle signal of the rotation of the rotating handle relative to an initial orientation. The vehicle control method of claim 4, wherein the accelerator device includes an accelerator pedal, and the drive signal includes a displacement amount of the accelerator pedal from an initial position to a first position. A vehicle containing: a vehicle body; and A processor, disposed on the body and configured to: When a vehicle is in a constant-speed cruise mode, determine whether a driving torque intensity corresponding to a driving signal received by the processor is greater than a cruising torque intensity corresponding to the constant-speed cruise mode; and When the driving torque intensity is greater than the cruising torque intensity, the vehicle is switched to an overtaking mode, wherein the vehicle is driven in the overtaking mode with priority. The vehicle of claim 7, wherein the processor is further configured to: When the driving torque intensity is equal to or less than the cruising torque intensity, the vehicle is maintained in the cruise control mode. The vehicle of claim 7, wherein the processor is further configured to: When the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, the vehicle is released from the overtaking mode and switched to the fixed speed cruise mode. The vehicle of claim 7 further includes a throttle device, the throttle device is provided on the body, and the driving signal is generated by the throttle device. The vehicle of claim 10, wherein the throttle device includes a rotating handle, and the driving signal includes an angle signal of the rotation of the rotating handle relative to an initial orientation. The vehicle of claim 10, wherein the accelerator device includes an accelerator pedal, and the drive signal includes a displacement amount of the accelerator pedal from an initial position to a first position. A non-transitory computer-readable storage medium that contains computer-executable instructions that, when executed by one or more computer processors, cause the one or more computer processors to: When receiving information that a vehicle is in a constant speed cruise mode, determine whether a driving torque intensity corresponding to a driving signal received by the vehicle is greater than a cruise torque intensity corresponding to the constant speed cruise mode; and When the driving torque intensity is greater than the cruising torque intensity, a mode start command is generated to switch the vehicle to an overtaking mode, in which the vehicle is driven in the overtaking mode with priority. The non-transitory computer-readable storage medium of claim 13, further comprising computer-executable instructions that, when executed by the one or more computer processors, cause the one or more computer processors to perform the following operations: When the driving torque intensity is equal to or less than the cruising torque intensity, the mode start command is not generated. The non-transitory computer-readable storage medium of claim 13, further comprising computer-executable instructions that, when executed by the one or more computer processors, cause the one or more computer processors to perform the following operations: When the driving torque intensity is adjusted from greater than the cruising torque intensity to equal to or less than the cruising torque intensity, a mode release command is generated, wherein the mode release command causes the vehicle to release the overtaking mode and switch to the cruise control mode. model. The non-transitory computer-readable storage medium as claimed in claim 13, wherein the driving signal is an operation signal of a throttle device of the vehicle. The non-transitory computer-readable storage medium of claim 16, wherein the throttle device includes a rotating handle, and the driving signal includes an angle signal of the rotation of the rotating handle relative to an initial orientation. The non-transitory computer-readable storage medium of claim 16, wherein the accelerator device includes an accelerator pedal, and the drive signal includes a displacement amount of the accelerator pedal from an initial position to a first position.

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