WO2021052213A1 - 调整油门踏板特性的方法和装置 - Google Patents

调整油门踏板特性的方法和装置 Download PDF

Info

Publication number
WO2021052213A1
WO2021052213A1 PCT/CN2020/113867 CN2020113867W WO2021052213A1 WO 2021052213 A1 WO2021052213 A1 WO 2021052213A1 CN 2020113867 W CN2020113867 W CN 2020113867W WO 2021052213 A1 WO2021052213 A1 WO 2021052213A1
Authority
WO
WIPO (PCT)
Prior art keywords
accelerator pedal
vehicle speed
input
pedal opening
acceleration information
Prior art date
Application number
PCT/CN2020/113867
Other languages
English (en)
French (fr)
Inventor
段本明
周勇有
吴自贤
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2021052213A1 publication Critical patent/WO2021052213A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • B60K2026/026—Adjusting of accelerator pedal positions

Definitions

  • This application relates to the automotive field, and more specifically, to a method and device for adjusting the characteristics of the accelerator pedal.
  • Common driving modes generally include: sport mode (sport), economic mode (ECO), Standard mode (normal mode, normal), etc., high-end brand cars will also provide professional mode, the driver can adjust the professional mode according to personal preferences.
  • sport mode sports
  • economic mode ECO
  • Standard mode normal mode, normal
  • high-end brand cars will also provide professional mode, the driver can adjust the professional mode according to personal preferences.
  • the current adjustment efficiency of the professional mode is generally low, and at the same time, it is not convenient for the driver to operate.
  • the present application provides a method and device for adjusting the characteristics of the accelerator pedal, which is convenient for the user to efficiently personalize the driving mode.
  • a method for adjusting characteristics of an accelerator pedal includes:
  • the user adjusts the target driving mode, receiving the vehicle speed, accelerator pedal opening degree and acceleration information input by the user, and at least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information satisfies a preset constraint relationship; Adjusting the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the accelerator pedal opening degree and the acceleration information.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information, without the need to adjust the accelerator pedal opening during the running of the vehicle based on the current real-time speed and current output torque of the vehicle, so as to realize the accelerator control.
  • the adjustment of the pedal curve. Therefore, the method in the embodiment of the present application does not limit the user to only input vehicle speed, accelerator pedal opening and acceleration information while the vehicle is running, and the inputted vehicle speed, accelerator pedal opening or acceleration.
  • the information that satisfies the preset constraint relationship can ensure the rationality of the data, and facilitate the user to efficiently personalize the driving mode.
  • the user can input the vehicle speed, the accelerator pedal opening, and the acceleration information through the input device when the vehicle is stationary (not in a running state), or the user can also input the vehicle speed, the accelerator pedal opening, and the acceleration information while the vehicle is running.
  • the device inputs the vehicle speed, the accelerator pedal opening and the acceleration information.
  • the acceleration information may be acceleration intensity information input by the user that can be used to indicate acceleration intensity.
  • the acceleration information may be an acceleration intensity level; or, the acceleration information may also be acceleration information of a vehicle or a vehicle.
  • the output torque may be a value indicative of acceleration intensity.
  • the above-mentioned input device may be a terminal device.
  • the input device may be a mobile or portable terminal device such as a mobile phone or a notebook computer; or, the input device may also be a desktop computer and other relatively fixed locations.
  • the terminal device is not limited in this embodiment of the application.
  • the aforementioned input device may also be a vehicle-mounted device.
  • the input device may be a vehicle-mounted human-computer interaction device; or, the input device may also be a device integrated in other vehicle-mounted devices. Not limited.
  • the user can use various existing input methods to input the vehicle speed, the accelerator pedal opening, and the acceleration information on the above-mentioned input device.
  • the user can use voice input, physical key input, touch screen input, or handwriting input.
  • the vehicle speed, the accelerator pedal opening degree, and the acceleration information are input in the foregoing input device in two ways, which are not limited in the embodiment of the present application.
  • the method further includes: receiving a flag bit input by a user, the flag bit being used to indicate adjustment of the accelerator pedal characteristic curve; According to the vehicle speed, the accelerator pedal opening and the acceleration information, adjusting the accelerator pedal characteristic curve Pedal MAP includes: in the case of receiving the flag bit, according to the vehicle speed, the accelerator pedal opening and the Acceleration information, adjusting the accelerator pedal characteristic curve Pedal MAP.
  • the flag bit may be used to indicate that the user has a need to adjust the accelerator pedal characteristic curve (in the professional mode).
  • the adjusting the accelerator pedal characteristic curve Pedal MAP according to the vehicle speed, the accelerator pedal opening degree, and the acceleration information includes: according to the vehicle speed, The accelerator pedal opening and the acceleration information determine N target accelerations, each of the N target accelerations corresponds to a vehicle speed and an accelerator pedal opening, and N is an integer greater than or equal to 1; The N target accelerations are used to adjust the accelerator pedal characteristic curve Pedal MAP.
  • the determining N target accelerations according to the vehicle speed, the accelerator pedal opening and the acceleration information includes: determining the vehicle speed, the accelerator pedal The pedal opening and the acceleration information are subjected to interpolation processing and filtering processing to obtain N sets of data.
  • the N sets of data include the vehicle speed, the accelerator pedal opening and the acceleration information;
  • each target acceleration of the N target accelerations corresponds to a vehicle speed and an accelerator pedal opening degree in a set of data in the N sets of data.
  • interpolation processing and filtering processing are performed on the vehicle speed, the accelerator pedal opening degree, and the acceleration information, which can avoid sudden changes in the accelerator pedal characteristic curve due to the excessively large data change rate set by the user. Therefore, it is possible to avoid the problem of acceleration smoothness degradation caused by sudden changes in acceleration information at different vehicle speeds during the acceleration of the vehicle.
  • N sets of data can be obtained after the vehicle speed, the accelerator pedal opening degree, and the acceleration information data are interpolated and filtered.
  • the updated accelerator pedal characteristic curve can be obtained according to the N sets of data, without the need to perform other processing on the N sets of data.
  • N sets of data can be obtained after the vehicle speed, the accelerator pedal opening degree and the acceleration information are interpolated and filtered. At this time, the After the acceleration information in the N sets of data is converted into output torque, the updated accelerator pedal characteristic curve can be obtained according to the N sets of data, without the need to perform other processing on the N sets of data.
  • the adjusting the accelerator pedal characteristic curve according to the N target accelerations includes: according to the N target accelerations, and N baseline torques, The curb weight and/or tire radius are determined to determine the N output torques corresponding to the N target accelerations; and the accelerator pedal characteristic curve is adjusted according to the N output torques.
  • the baseline torque may be understood as the steady-state torque of the vehicle at a specific vehicle speed
  • the curb weight is the total mass of the vehicle
  • the tire radius is the tire radius of the vehicle.
  • the N target accelerations corresponding to the N target accelerations are determined based on the N target accelerations, and N baseline torques, curb weight, and/or tire radius.
  • Output torque including:
  • a(v,k) is the target acceleration
  • vehicle speed v and accelerator pedal opening k correspond to a(v,k)
  • r is the tire radius
  • k is the curb weight
  • T(v) is the baseline torque corresponding to the vehicle speed v
  • T(v,k) is the output torque corresponding to the vehicle speed v and the accelerator pedal opening k.
  • the receiving the vehicle speed, accelerator pedal opening and acceleration information input by the user includes: receiving multiple sets of parameter data input by the user, and each set of parameter data includes Vehicle speed, accelerator pedal opening, and acceleration information, and the constraint relationship is used to limit that at least one of the vehicle speed, the accelerator pedal opening, or the acceleration information in each set of parameter data satisfies a preset value range .
  • the receiving the vehicle speed, accelerator pedal opening and acceleration information input by the user includes: receiving multiple sets of parameter data input by the user, and each set of parameter data includes The vehicle speed, accelerator pedal opening degree, and acceleration information, and the constraint relationship is used to limit that each group of the multiple sets of parameter data satisfies a preset relative relationship.
  • the vehicle speed, accelerator pedal opening degree, and acceleration information included in each set of parameter data in the multiple sets of parameter data are different from each other.
  • the vehicle speed, accelerator pedal opening and acceleration information included in one set of parameter data in the multiple sets of parameter data may be identical to the vehicle speed and accelerator pedal opening included in another set of parameter data in the multiple sets of parameter data.
  • Degree and acceleration information are not the same.
  • At least one of the vehicle speed, accelerator pedal opening, and acceleration information included in each group of parameter data in the multiple sets of parameter data is different.
  • the user can input multiple sets of parameter data at the same time, where each set of parameter data in the multiple sets of parameter data includes different vehicle speed, accelerator pedal opening, and acceleration information, or the multiple sets of parameter data At least one of the vehicle speed, accelerator pedal opening and acceleration information included in each group of parameter data in the parameter data is different, that is to say, the user can be in multiple dimensions (in vehicle speed, accelerator pedal opening and acceleration information) at the same time
  • the accelerator pedal characteristic curve is adjusted. Therefore, the method in the embodiment of the present application can improve the efficiency of the user in adjusting the driving mode.
  • a method for adjusting the characteristics of the accelerator pedal including:
  • the driving mode adjustment user interface including a first input window; receive the user's first input
  • the first parameter information input in the window the first parameter information is any one of vehicle speed, accelerator pedal opening, or acceleration information; in response to the first parameter information input by the user, adjust in the driving mode
  • a second input window is presented in the user interface; the second parameter information input by the user in the second input window is received, where the second parameter information is vehicle speed, accelerator pedal opening, and acceleration information that are different from the first Any one of parameter information; displaying third parameter information in the second input window according to a preset constraint relationship, and the three parameter information is different from the first parameter information among vehicle speed, accelerator pedal opening, and acceleration information And parameters of the second parameter information; adjusting the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the first parameter information, the second parameter information, and the third parameter information.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information through the input device, instead of adjusting the accelerator pedal opening based on the current real-time speed and current output torque of the vehicle during the running of the vehicle. Realize the adjustment of the accelerator pedal curve. Therefore, the method in the embodiment of the present application does not limit the user to only input vehicle speed, accelerator pedal opening and acceleration information while the vehicle is running, and the input vehicle speed, accelerator pedal opening
  • the degree or acceleration information that satisfies the preset constraint relationship can ensure the rationality of the data, and it is convenient for the user to efficiently personalize the driving mode.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information through the input device when the vehicle is stationary (non-driving state), or the user can also input the vehicle speed and accelerator pedal through the input device while the vehicle is running Opening and acceleration information.
  • the acceleration information may be acceleration intensity information input by the user that can be used to indicate acceleration intensity.
  • the acceleration information may be an acceleration intensity level; or, the acceleration information may also be acceleration information of a vehicle or a vehicle.
  • the output torque may be a value indicative of acceleration intensity.
  • the above-mentioned input device may be a terminal device.
  • the input device may be a mobile or portable terminal device such as a mobile phone or a notebook computer; or, the input device may also be a desktop computer and other relatively fixed locations.
  • the terminal device is not limited in this embodiment of the present application.
  • the aforementioned input device may also be a vehicle-mounted device.
  • the input device may be a vehicle-mounted human-computer interaction device; or, the input device may also be a device integrated in other vehicle-mounted devices. Not limited.
  • the user can use various existing input methods to input vehicle speed, accelerator pedal opening and acceleration information on the above input device.
  • the user can use voice input, physical key input, touch screen input or handwriting input to input the vehicle speed, accelerator pedal opening and acceleration information on the above input device.
  • the vehicle speed, accelerator pedal opening and acceleration information are inputted, which is not limited in the embodiment of the present application.
  • the first input window presents a plurality of candidate first parameter information
  • the candidate first parameter information is one of vehicle speed, accelerator pedal opening, or acceleration information
  • the receiving the first parameter information input by the user in the first input window includes: receiving the user in the plurality of candidate first input information presented in the first input window The selected first parameter information.
  • the first input window presents multiple vehicle speeds, and at this time, the vehicle speed selected by the user among the multiple vehicle speeds presented in the first input window may be received.
  • the first input window may also present multiple accelerator pedal opening degrees.
  • the first input window may also present multiple acceleration information.
  • the second input window presents multiple candidate second parameter information, and the candidate second parameter information is different among vehicle speed, accelerator pedal opening, and acceleration information.
  • the receiving the second parameter information input by the user in the second input window includes: receiving a plurality of parameters presented by the user in the second input window. The second parameter information selected in the candidate second input information.
  • the second parameter information may be accelerator pedal opening or acceleration information.
  • the second input window presents a plurality of accelerator pedal opening degrees, and at this time, the accelerator pedal opening degree selected by the user among the plurality of accelerator pedal opening degrees presented in the second input window may be received.
  • the first input window presents a first input box
  • the receiving the first parameter information input by the user in the first input window includes : Receiving the first parameter information input by the user in the first input box presented by the first input window.
  • the vehicle speed input by the user in the first input box presented by the first input window may be received.
  • the accelerator pedal opening degree input by the user in the first input box presented by the first input window may also be received.
  • the acceleration information input by the user in the first input box presented by the first input window may also be received.
  • the second input window presents a second input box
  • the receiving second parameter information input by the user in the second input window includes: Receiving the second parameter information input by the user in the second input box presented by the second input window.
  • the second parameter information may be accelerator pedal opening or acceleration information.
  • the accelerator pedal opening degree input by the user in the second input box presented by the second input window may be received.
  • an apparatus for adjusting characteristics of an accelerator pedal includes an input device and a controller: the input device is used to receive the vehicle speed and accelerator pedal opening degree input by the user when the user adjusts the target driving mode. And acceleration information, at least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information satisfies a preset constraint relationship; the controller is configured to respond to the vehicle speed, the accelerator pedal opening degree and The acceleration information adjusts the accelerator pedal characteristic curve Pedal MAP of the target driving mode.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information, without the need to adjust the accelerator pedal opening during the running of the vehicle based on the current real-time speed and current output torque of the vehicle, so as to realize the accelerator control.
  • the adjustment of the pedal curve. Therefore, the method in the embodiment of the present application does not limit the user to only input vehicle speed, accelerator pedal opening and acceleration information while the vehicle is running, and the inputted vehicle speed, accelerator pedal opening or acceleration.
  • the information that satisfies the preset constraint relationship can ensure the rationality of the data, and facilitate the user to efficiently personalize the driving mode.
  • the user can input the vehicle speed, the accelerator pedal opening, and the acceleration information through the input device when the vehicle is stationary (not in a running state), or the user can also input the vehicle speed, the accelerator pedal opening, and the acceleration information while the vehicle is running.
  • the device inputs the vehicle speed, the accelerator pedal opening and the acceleration information.
  • the acceleration information may be acceleration intensity information input by the user that can be used to indicate acceleration intensity.
  • the acceleration information may be an acceleration intensity level; or, the acceleration information may also be acceleration information of a vehicle or a vehicle.
  • the output torque may be a value indicative of acceleration intensity.
  • the above-mentioned input device may be a terminal device.
  • the input device may be a mobile or portable terminal device such as a mobile phone or a notebook computer; or, the input device may also be a desktop computer and other relatively fixed locations.
  • the terminal device is not limited in this embodiment of the present application.
  • the aforementioned input device may also be a vehicle-mounted device.
  • the input device may be a vehicle-mounted human-computer interaction device; or, the input device may also be a device integrated in other vehicle-mounted devices. Not limited.
  • the user can use various existing input methods to input the vehicle speed, the accelerator pedal opening, and the acceleration information on the above-mentioned input device.
  • the user can use voice input, physical key input, touch screen input, or handwriting input.
  • the vehicle speed, the accelerator pedal opening degree, and the acceleration information are input in the foregoing input device in two ways, which are not limited in the embodiment of the present application.
  • the input device is further configured to: receive a flag bit input by the user, the flag bit being used to indicate adjustment of the accelerator pedal characteristic curve; wherein, the The controller is specifically configured to adjust the accelerator pedal characteristic curve Pedal MAP according to the vehicle speed, the accelerator pedal opening degree, and the acceleration information when the flag is received.
  • the flag bit may be used to indicate that the user has a need to adjust the accelerator pedal characteristic curve (in the professional mode).
  • the controller is specifically configured to: determine N target accelerations according to the vehicle speed, the accelerator pedal opening, and the acceleration information, and the N Each target acceleration in the target acceleration corresponds to a vehicle speed and an accelerator pedal opening, and N is an integer greater than or equal to 1, and the accelerator pedal characteristic curve Pedal MAP is adjusted according to the N target accelerations.
  • the controller is specifically configured to: perform interpolation processing and filtering processing on the vehicle speed, the accelerator pedal opening, and the acceleration information to obtain N groups
  • the N sets of data include the vehicle speed, the accelerator pedal opening and the acceleration information; the N target accelerations are determined according to the N sets of data, and each target acceleration of the N target accelerations Corresponding to the vehicle speed and accelerator pedal opening in one group of the N groups of data.
  • interpolation processing and filtering processing are performed on the vehicle speed, the accelerator pedal opening degree, and the acceleration information, which can avoid sudden changes in the accelerator pedal characteristic curve due to the excessively large data change rate set by the user. Therefore, it is possible to avoid the problem of acceleration smoothness degradation caused by sudden changes in acceleration information at different vehicle speeds during the acceleration of the vehicle.
  • N sets of data can be obtained after interpolation processing and filtering processing are performed on the vehicle speed, the accelerator pedal opening degree, and the acceleration information.
  • the updated accelerator pedal characteristic curve can be obtained according to the N sets of data, without the need to perform other processing on the N sets of data.
  • N sets of data can be obtained after the vehicle speed, the accelerator pedal opening degree and the acceleration information are interpolated and filtered. At this time, the After the acceleration information in the N sets of data is converted into output torque, the updated accelerator pedal characteristic curve can be obtained according to the N sets of data, without the need to perform other processing on the N sets of data.
  • the controller is specifically configured to determine the N target accelerations, N baseline torques, curb weight, and/or tire radius. N output torques corresponding to each target acceleration; adjusting the accelerator pedal characteristic curve according to the N output torques.
  • the baseline torque may be understood as the steady-state torque of the vehicle at a specific vehicle speed
  • the curb weight is the total mass of the vehicle
  • the tire radius is the tire radius of the vehicle.
  • the controller is specifically configured to:
  • a(v,k) is the target acceleration
  • vehicle speed v and accelerator pedal opening k correspond to a(v,k)
  • r is the tire radius
  • k is the curb weight
  • T(v) is the baseline torque corresponding to the vehicle speed v
  • T(v,k) is the output torque corresponding to the vehicle speed v and the accelerator pedal opening k.
  • the input device is specifically configured to: receive multiple sets of parameter data input by the user, each set of parameter data including vehicle speed, accelerator pedal opening and acceleration information,
  • the constraint relationship is used to limit that at least one of the vehicle speed, the accelerator pedal opening degree, or the acceleration information in each group of parameter data satisfies a preset value range.
  • the input device is specifically configured to: receive multiple sets of parameter data input by the user, each set of parameter data including vehicle speed, accelerator pedal opening and acceleration information,
  • the constraint relationship is used to limit that each of the multiple sets of parameter data meets a preset relative relationship.
  • the vehicle speed, accelerator pedal opening degree, and acceleration information included in each set of parameter data in the multiple sets of parameter data are different from each other.
  • the vehicle speed, accelerator pedal opening and acceleration information included in one set of parameter data in the multiple sets of parameter data may be identical to the vehicle speed and accelerator pedal opening included in another set of parameter data in the multiple sets of parameter data.
  • Degree and acceleration information are not the same.
  • At least one parameter of vehicle speed, accelerator pedal opening, and acceleration information included in each set of parameter data in the multiple sets of parameter data is different.
  • the user can input multiple sets of parameter data at the same time, where each set of parameter data in the multiple sets of parameter data includes different vehicle speed, accelerator pedal opening, and acceleration information, or the multiple sets of parameter data At least one of the vehicle speed, accelerator pedal opening and acceleration information included in each group of parameter data in the parameter data is different, that is to say, the user can be in multiple dimensions (in vehicle speed, accelerator pedal opening and acceleration information) at the same time
  • the accelerator pedal characteristic curve is adjusted. Therefore, the method in the embodiment of the present application helps to improve the efficiency of the user in adjusting the driving mode.
  • an apparatus for adjusting characteristics of an accelerator pedal includes an input device and a controller: the input device is used to receive an instruction to adjust a target driving mode input by a user, and display a display in response to the instruction.
  • a driving mode adjustment user interface is presented on the device, the driving mode adjustment user interface includes a first input window; the input device is configured to receive the first parameter information input by the user in the first input window, the The first parameter information is any one of vehicle speed, accelerator pedal opening, or acceleration information; in response to the first parameter information input by the user, the input device is configured to display in the driving mode adjustment user interface
  • the second input window; the input device is used to receive the second parameter information input by the user in the second input window, the second parameter information is different from the vehicle speed, accelerator pedal opening and acceleration information Any one of the first parameter information; the input device is configured to display third parameter information in the second input window according to a preset constraint relationship, and the three parameter information is vehicle speed, accelerator pedal opening, and acceleration Parameters in the information that are different
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information through the input device, instead of adjusting the accelerator pedal opening based on the current real-time speed and current output torque of the vehicle during the running of the vehicle. Realize the adjustment of the accelerator pedal curve. Therefore, the method in the embodiment of the present application does not limit the user to only input vehicle speed, accelerator pedal opening and acceleration information while the vehicle is running, and the input vehicle speed, accelerator pedal opening
  • the degree or acceleration information that satisfies the preset constraint relationship can ensure the rationality of the data, and it is convenient for the user to efficiently personalize the driving mode.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information through the input device when the vehicle is stationary (non-driving state), or the user can also input the vehicle speed and accelerator pedal through the input device while the vehicle is running. Opening and acceleration information.
  • the acceleration information may be acceleration intensity information input by the user that can be used to indicate acceleration intensity.
  • the acceleration information may be an acceleration intensity level; or, the acceleration information may also be acceleration information of a vehicle or a vehicle.
  • the output torque may be a value indicative of acceleration intensity.
  • the above-mentioned input device may be a terminal device.
  • the input device may be a mobile or portable terminal device such as a mobile phone or a notebook computer; or, the input device may also be a desktop computer and other relatively fixed locations.
  • the terminal device is not limited in this embodiment of the present application.
  • the aforementioned input device may also be a vehicle-mounted device.
  • the input device may be a vehicle-mounted human-computer interaction device; or, the input device may also be a device integrated in other vehicle-mounted devices. Not limited.
  • the user can use various existing input methods to input vehicle speed, accelerator pedal opening and acceleration information on the above input device.
  • the user can use voice input, physical key input, touch screen input or handwriting input to input the vehicle speed, accelerator pedal opening and acceleration information on the above input device.
  • the vehicle speed, accelerator pedal opening and acceleration information are inputted, which is not limited in the embodiment of the present application.
  • the first input window presents a plurality of candidate first parameter information
  • the candidate first parameter information is one of vehicle speed, accelerator pedal opening, or acceleration information
  • the input device is specifically configured to: receive the first parameter information selected by the user from the plurality of candidate first input information presented in the first input window.
  • the first input window presents multiple vehicle speeds, and at this time, the vehicle speed selected by the user among the multiple vehicle speeds presented in the first input window may be received.
  • the first input window may also present multiple accelerator pedal opening degrees.
  • the first input window may also present multiple acceleration information.
  • the second input window presents multiple candidate second parameter information, and the candidate second parameter information is different among vehicle speed, accelerator pedal opening, and acceleration information.
  • the input device is specifically configured to: receive the second parameter selected by the user from the plurality of candidate second input information presented in the second input window information.
  • the second parameter information may be accelerator pedal opening or acceleration information.
  • the second input window presents a plurality of accelerator pedal opening degrees, and at this time, the accelerator pedal opening degree selected by the user among the plurality of accelerator pedal opening degrees presented in the second input window may be received.
  • the first input window presents a first input box
  • the input device is specifically configured to: receive all information presented by the user in the first input window. The first parameter information entered in the first input box.
  • the vehicle speed input by the user in the first input box presented by the first input window may be received.
  • the accelerator pedal opening degree input by the user in the first input box presented in the first input window may also be received.
  • the acceleration information input by the user in the first input box presented by the first input window may also be received.
  • the second input window presents a second input box
  • the input device is specifically configured to: receive all information presented by the user in the second input window.
  • the second parameter information may be accelerator pedal opening or acceleration information.
  • the accelerator pedal opening degree input by the user in the second input box presented by the second input window may be received.
  • an apparatus for adjusting characteristics of an accelerator pedal includes a storage medium and a central processing unit.
  • the storage medium may be a non-volatile storage medium, and a computer executable program is stored in the storage medium.
  • the central processing unit is connected to the non-volatile storage medium, and executes the computer executable program to implement the first aspect or the method in any possible implementation of the first aspect, or, the second Aspect or any possible implementation of the second aspect.
  • a chip in a sixth aspect, includes a processor and a data interface, the processor reads instructions stored in a memory through the data interface, and executes the first aspect or any possible implementation of the first aspect The method in the manner, or the method in the second aspect or any possible implementation manner of the second aspect.
  • the chip may further include a memory in which instructions are stored, and the processor is configured to execute instructions stored on the memory.
  • the The processor is configured to execute the method in the first aspect or any possible implementation of the first aspect, or the second aspect or the method in any possible implementation of the second aspect.
  • a computer-readable storage medium stores program code for device execution, and the program code includes the first aspect or any possible implementation manner of the first aspect The instruction of the method in, or the second aspect or the method in any possible implementation of the second aspect.
  • an automobile including the device for adjusting the characteristics of the accelerator pedal according to the third aspect to the fifth aspect.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information, without the need to adjust the accelerator pedal opening based on the current real-time speed and current output torque of the vehicle while the vehicle is running, so as to realize the accelerator The adjustment of the pedal curve. Therefore, the method in the embodiment of the present application does not limit the user to only input the vehicle speed, accelerator pedal opening and acceleration information while the vehicle is running, and the inputted vehicle speed, accelerator pedal opening and acceleration The information that satisfies the preset constraint relationship can ensure the rationality of the data, and facilitate the user to efficiently personalize the driving mode.
  • Fig. 1 is a schematic structural diagram of an autonomous driving vehicle provided by an embodiment of the present application.
  • Fig. 2 is a schematic structural diagram of a computer system provided by an embodiment of the present application.
  • Fig. 3 is a schematic structural diagram of a neural network processor provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the application of a cloud-side commanded automatic driving vehicle provided by an embodiment of the present application.
  • Fig. 5 is a schematic block diagram of a method for adjusting characteristics of an accelerator pedal provided by an embodiment of the present application.
  • FIG. 6 is a system architecture diagram suitable for the method for adjusting the characteristics of the accelerator pedal provided by an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a method for adjusting characteristics of an accelerator pedal provided by an embodiment of the present application.
  • Fig. 8 is a schematic block diagram of a driving mode adjustment user interface in an embodiment of the present application.
  • Fig. 9 is a schematic block diagram of vehicle control in an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a device for adjusting characteristics of an accelerator pedal provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of another device for adjusting characteristics of an accelerator pedal provided by an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of yet another device for adjusting characteristics of an accelerator pedal provided by an embodiment of the present application.
  • Fig. 13 is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.
  • Fig. 14 is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.
  • Fig. 15 is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.
  • Fig. 16 is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.
  • Fig. 17 is a schematic block diagram of a driving mode adjustment user interface in another embodiment of the present application.
  • the technical solutions of the embodiments of the present application may be applied to various vehicles.
  • the vehicle may specifically be a diesel locomotive, a smart electric vehicle, or a hybrid vehicle, or the vehicle may also be a vehicle of other power types. Not limited.
  • the vehicle in the embodiment of the present application can be configured with a variety of driving modes to choose from, specifically, it can include one or more of a variety of driving modes such as sports mode, economy mode, standard mode, snow mode, and hill climbing mode.
  • It may also include an automatic driving mode, that is, the vehicle in the embodiment of the present application may be an automatic driving vehicle, and the automatic driving vehicle may switch between the automatic driving mode and the above-mentioned multiple driving models (the driver driving the vehicle), wherein
  • the automatic driving mode may be a fully automatic driving mode, or may also be a partially automatic driving mode, which is not limited in the embodiment of the present application.
  • FIG. 1 is a functional block diagram of a vehicle 100 provided by an embodiment of the present application.
  • the vehicle 100 may be configured in a fully or partially autonomous driving mode.
  • the vehicle 100 can control itself while in the automatic driving mode, and can determine the current state of the vehicle and its surrounding environment through human operations, determine the possible behavior of at least one other vehicle in the surrounding environment, and determine other vehicles to perform The confidence level corresponding to the likelihood of the possible behavior is used to control the vehicle 100 based on the determined information.
  • the vehicle 100 can be placed to operate without human interaction.
  • the vehicle 100 may include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108 and a power supply 110, a computer system 112, and a user interface 116.
  • the vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple elements.
  • each of the subsystems and components of the vehicle 100 may be interconnected by wires or wirelessly.
  • the travel system 102 may include components that provide power movement for the vehicle 100.
  • the propulsion system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels/tires 121.
  • the engine 118 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, for example, a hybrid engine composed of a gasoline engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine.
  • the engine 118 converts the energy source 119 into mechanical energy.
  • Examples of energy sources 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity.
  • the energy source 119 may also provide energy for other systems of the vehicle 100.
  • the transmission device 120 can transmit mechanical power from the engine 118 to the wheels 121.
  • the transmission device 120 may include a gearbox, a differential, and a drive shaft.
  • the transmission device 120 may also include other devices, such as a clutch.
  • the drive shaft may include one or more shafts that can be coupled to one or more wheels 121.
  • the sensor system 104 may include several sensors that sense information about the environment around the vehicle 100.
  • the sensor system 104 may include a positioning system 122 (the positioning system may be a GPS system, a Beidou system or other positioning systems), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and Camera 130.
  • the sensor system 104 may also include sensors of the internal system of the monitored vehicle 100 (for example, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and identification are key functions for the safe operation of the autonomous vehicle 100.
  • the positioning system 122 can be used to estimate the geographic location of the vehicle 100.
  • the IMU 124 is used to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration.
  • the IMU 124 may be a combination of an accelerometer and a gyroscope.
  • the radar 126 may use radio signals to sense objects in the surrounding environment of the vehicle 100. In some embodiments, in addition to sensing the object, the radar 126 may also be used to sense the speed and/or direction of the object.
  • the laser rangefinder 128 can use laser light to sense objects in the environment where the vehicle 100 is located.
  • the laser rangefinder 128 may include one or more laser sources, laser scanners, and one or more detectors, as well as other system components.
  • the camera 130 may be used to capture multiple images of the surrounding environment of the vehicle 100.
  • the camera 130 may be a still camera or a video camera.
  • the control system 106 controls the operation of the vehicle 100 and its components.
  • the control system 106 may include various components, including a steering system 132, a throttle 134, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a route control system 142, and an obstacle avoidance system 144.
  • the steering system 132 is operable to adjust the forward direction of the vehicle 100.
  • it may be a steering wheel system in one embodiment.
  • the throttle 134 is used to control the operating speed of the engine 118 and thereby control the speed of the vehicle 100.
  • the braking unit 136 is used to control the vehicle 100 to decelerate.
  • the braking unit 136 may use friction to slow down the wheels 121.
  • the braking unit 136 may convert the kinetic energy of the wheels 121 into electric current.
  • the braking unit 136 may also take other forms to slow down the rotation speed of the wheels 121 to control the speed of the vehicle 100.
  • the computer vision system 140 may be operable to process and analyze the images captured by the camera 130 in order to identify objects and/or features in the surrounding environment of the vehicle 100.
  • the objects and/or features may include traffic signals, road boundaries, and obstacles.
  • the computer vision system 140 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other computer vision technologies.
  • SFM Structure from Motion
  • the computer vision system 140 may be used to map the environment, track objects, estimate the speed of objects, and so on.
  • the route control system 142 is used to determine the travel route of the vehicle 100.
  • the route control system 142 may combine data from the sensor 138, the GPS 122, and one or more predetermined maps to determine the driving route for the vehicle 100.
  • the obstacle avoidance system 144 is used to identify, evaluate and avoid or otherwise cross over potential obstacles in the environment of the vehicle 100.
  • control system 106 may add or alternatively include components other than those shown and described. Alternatively, a part of the components shown above may be reduced.
  • the vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users through peripheral devices 108.
  • the peripheral device 108 may include a wireless communication system 146, an onboard computer 148, a microphone 150, and/or a speaker 152.
  • the peripheral device 108 provides a means for the user of the vehicle 100 to interact with the user interface 116.
  • the onboard computer 148 may provide information to the user of the vehicle 100.
  • the user interface 116 can also operate the onboard computer 148 to receive user input.
  • the on-board computer 148 can be operated through a touch screen.
  • the peripheral device 108 may provide a means for the vehicle 100 to communicate with other devices located in the vehicle.
  • the microphone 150 may receive audio (eg, voice commands or other audio input) from a user of the vehicle 100.
  • the speaker 152 may output audio to the user of the vehicle 100.
  • the wireless communication system 146 may wirelessly communicate with one or more devices directly or via a communication network.
  • the wireless communication system 146 may use 3G cellular communication, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication.
  • the wireless communication system 146 may use WiFi to communicate with a wireless local area network (WLAN).
  • WLAN wireless local area network
  • the wireless communication system 146 may directly communicate with the device using an infrared link, Bluetooth, or ZigBee.
  • Other wireless protocols such as various vehicle communication systems.
  • the wireless communication system 146 may include one or more dedicated short-range communications (DSRC) devices. These devices may include vehicles and/or roadside stations. Public and/or private data communications.
  • DSRC dedicated short-range communications
  • the power supply 110 may provide power to various components of the vehicle 100.
  • the power source 110 may be a rechargeable lithium ion or lead-acid battery.
  • One or more battery packs of such batteries may be configured as a power source to provide power to various components of the vehicle 100.
  • the power source 110 and the energy source 119 may be implemented together, such as in some all-electric vehicles.
  • the computer system 112 may include at least one processor 113 that executes instructions 115 stored in a non-transitory computer readable medium such as the data storage device 114.
  • the computer system 112 may also be multiple computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner.
  • the processor 113 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may be a dedicated device such as an ASIC or other hardware-based processor.
  • FIG. 1 functionally illustrates the processor, memory, and other elements of the computer 110 in the same block, those of ordinary skill in the art should understand that the processor, computer, or memory may actually include Multiple processors, computers, or memories stored in the same physical enclosure.
  • the memory may be a hard disk drive or other storage medium located in a housing other than the computer 110. Therefore, a reference to a processor or computer will be understood to include a reference to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described here, some components such as steering components and deceleration components may each have its own processor that only performs calculations related to component-specific functions .
  • the processor may be located away from the vehicle and wirelessly communicate with the vehicle.
  • some of the processes described herein are executed on a processor arranged in the vehicle and others are executed by a remote processor, including taking the necessary steps to perform a single manipulation.
  • the data storage device 114 may include instructions 115 (eg, program logic), which may be executed by the processor 113 to perform various functions of the vehicle 100, including those functions described above.
  • the data storage device 114 may also contain additional instructions, including sending data to, receiving data from, interacting with, and/or performing data on one or more of the propulsion system 102, the sensor system 104, the control system 106, and the peripheral device 108. Control instructions.
  • the data storage device 114 may also store data, such as road maps, route information, the location, direction, and speed of the vehicle, and other such vehicle data, as well as other information. Such information may be used by the vehicle 100 and the computer system 112 during the operation of the vehicle 100 in autonomous, semi-autonomous, and/or manual modes.
  • the user interface 116 is used to provide information to or receive information from a user of the vehicle 100.
  • the user interface 116 may include one or more input/output devices in the set of peripheral devices 108, such as a wireless communication system 146, an in-vehicle computer 148, a microphone 150, and a speaker 152.
  • the computer system 112 may control the functions of the vehicle 100 based on inputs received from various subsystems (for example, the travel system 102, the sensor system 104, and the control system 106) and from the user interface 116. For example, the computer system 112 may utilize input from the control system 106 in order to control the steering unit 132 to avoid obstacles detected by the sensor system 104 and the obstacle avoidance system 144. In some embodiments, the computer system 112 is operable to provide control of many aspects of the vehicle 100 and its subsystems.
  • one or more of these components described above may be installed or associated with the vehicle 100 separately.
  • the data storage device 114 may exist partially or completely separately from the vehicle 100.
  • the aforementioned components may be communicatively coupled together in a wired and/or wireless manner.
  • FIG. 1 should not be construed as a limitation to the embodiments of the present application.
  • An autonomous vehicle traveling on a road can recognize objects in its surrounding environment to determine the adjustment to the current speed.
  • the object may be other vehicles, traffic control equipment, or other types of objects.
  • each recognized object can be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, distance from the vehicle, etc., can be used to determine the speed to be adjusted by the self-driving car.
  • the self-driving car vehicle 100 or the computing device associated with the self-driving vehicle 100 may be based on the characteristics of the identified object and the surrounding environment
  • the state of the object e.g., traffic, rain, ice on the road, etc.
  • each recognized object depends on each other's behavior, so all recognized objects can also be considered together to predict the behavior of a single recognized object.
  • the vehicle 100 can adjust its speed based on the predicted behavior of the identified object.
  • an autonomous vehicle can determine what stable state the vehicle will need to adjust to (for example, accelerating, decelerating, or stopping) based on the predicted behavior of the object.
  • other factors may also be considered to determine the speed of the vehicle 100, such as the lateral position of the vehicle 100 on the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, and so on.
  • the computing device can also provide instructions to modify the steering angle of the vehicle 100 so that the self-driving car follows a given trajectory and/or maintains an object near the self-driving car (for example, , The safe horizontal and vertical distances of cars in adjacent lanes on the road.
  • the above-mentioned vehicle 100 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, playground vehicle, construction equipment, tram, golf cart, train, and trolley, etc.
  • the application examples are not particularly limited.
  • Fig. 2 is a schematic diagram of an automatic driving system provided by an embodiment of the present application.
  • the automatic driving system shown in FIG. 2 includes a computer system 101, where the computer system 101 includes a processor 103, and the processor 103 is coupled with a system bus 105.
  • the processor 103 may be one or more processors, where each processor may include one or more processor cores.
  • a display adapter (video adapter) 107, the display adapter can drive the display 109, and the display 109 is coupled to the system bus 105.
  • the system bus 105 is coupled with an input/output (I/O) bus 113 through a bus bridge 111.
  • the I/O interface 115 is coupled to the I/O bus.
  • the I/O interface 115 communicates with various I/O devices, such as an input device 117 (such as a keyboard, a mouse, a touch screen, etc.), a media tray 121 (such as a CD-ROM, a multimedia interface, etc.).
  • Transceiver 123 can send and/or receive radio communication signals
  • camera 155 can capture scene and dynamic digital video images
  • external USB interface 125 external USB interface 125.
  • the interface connected to the I/O interface 115 may be a USB interface.
  • the processor 103 may be any traditional processor, including a reduced instruction set computer (RISC) processor, a complex instruction set computer (CISC) processor, or a combination of the foregoing.
  • the processor may be a dedicated device such as an application specific integrated circuit (ASIC).
  • the processor 103 may be a neural network processor or a combination of a neural network processor and the foregoing traditional processors.
  • the computer system 101 may be located far away from the autonomous driving vehicle, and may wirelessly communicate with the autonomous driving vehicle.
  • some of the processes described herein are executed on a processor provided in an autonomous vehicle, and others are executed by a remote processor, including taking actions required to perform a single manipulation.
  • the computer 101 can communicate with the software deployment server 149 through the network interface 129.
  • the network interface 129 is a hardware network interface, such as a network card.
  • the network 127 may be an external network, such as the Internet, or an internal network, such as an Ethernet or a virtual private network (VPN).
  • the network 127 may also be a wireless network, such as a WiFi network, a cellular network, and so on.
  • the hard disk drive interface is coupled to the system bus 105.
  • the hardware drive interface is connected with the hard drive.
  • the system memory 135 is coupled to the system bus 105.
  • the data running in the system memory 135 may include the operating system 137 and application programs 143 of the computer 101.
  • the operating system includes a parser 139 (shell) and a kernel 141 (kernel).
  • the shell 139 is an interface between the user and the kernel of the operating system.
  • the shell is the outermost layer of the operating system.
  • the shell manages the interaction between the user and the operating system: waiting for the user's input, interpreting the user's input to the operating system, and processing the output of various operating systems.
  • the kernel 141 is composed of those parts of the operating system that are used to manage memory, files, peripherals, and system resources. Directly interact with the hardware, the operating system kernel usually runs processes and provides inter-process communication, providing CPU time slice management, interrupts, memory management, IO management, and so on.
  • Application programs 143 include programs related to controlling auto-driving cars, such as programs that manage the interaction between autonomous vehicles and road obstacles, programs that control the route or speed of autonomous vehicles, and programs that control interaction between autonomous vehicles and other autonomous vehicles on the road. .
  • the application 143 also exists on the deploying server 149 system. In one embodiment, when the application program 147 needs to be executed, the computer system 101 may download the application program 143 from the deploying server 14.
  • the application program 141 may also be a program for controlling the autonomous vehicle to avoid collision with other vehicles and to pass the intersection safely.
  • the sensor 153 is associated with the computer system 101.
  • the sensor 153 is used to detect the environment around the computer 101.
  • the sensor 153 can detect animals, cars, obstacles, and crosswalks.
  • the sensor can also detect the surrounding environment of the above-mentioned animals, cars, obstacles, and crosswalks, such as: the environment around the animals, for example, when the animals appear around them. Other animals, weather conditions, the brightness of the surrounding environment, etc.
  • the sensor may be a camera, an infrared sensor, a chemical detector, a microphone, etc.
  • the sensor 153 may predict the driving trajectory of other vehicles based on the detection of surrounding road conditions and other vehicle conditions.
  • the sensor 153 may determine the predicted driving trajectory of the other vehicles based on detecting the lane where the other vehicles are currently located.
  • the sensor 153 can determine the predicted driving trajectory of other vehicles based on detecting the lane where other vehicles are currently located and the lane change signal conditions of other vehicles.
  • the sensor 153 may input current position information of other vehicles through a pre-trained neural network to obtain the predicted driving trajectory of other vehicles.
  • the pre-trained neural network may use a large amount of training sample data.
  • the training data may include the current driving information of the detected vehicle and the driving information of other vehicles after a preset period of time.
  • the sensor 153 may be trained based on training data to obtain a target model, and the target model may be used to determine the predicted driving information of the vehicle according to the current driving information of the vehicle.
  • the sensor 153 processes the input current driving information of the vehicle, and compares the output predicted driving information with the actual driving information of the vehicle after a preset period of time, until the difference between the predicted driving information output by the sensor 153 and the actual driving information of the vehicle is less than A certain threshold to complete the training of the target model.
  • FIG. 3 is a hardware structure of a chip provided by an embodiment of the application, and the chip includes a neural network processor 20.
  • the chip can be set in the sensor 153 as shown in FIG. 2 to complete the determination of the predicted driving trajectory of other vehicles.
  • the algorithms of each layer in the pre-trained neural network can be implemented in the chip as shown in Figure 3.
  • the method for adjusting the characteristics of the accelerator pedal in the embodiment of the present application can also be implemented in the chip as shown in FIG. 3, where the chip can be the same chip as the chip that implements the above-mentioned pre-trained neural network, or the chip It may also be a different chip from the chip that implements the aforementioned pre-training neural network, which is not limited in the embodiment of the present application.
  • the arithmetic circuit 203 includes multiple processing units (process engines, PE). In some implementations, the arithmetic circuit 203 is a two-dimensional systolic array. The arithmetic circuit 203 may also be a one-dimensional systolic array or other electronic circuits capable of performing mathematical operations such as multiplication and addition. In some implementations, the arithmetic circuit 203 is a general-purpose matrix processor.
  • the arithmetic circuit fetches the data corresponding to matrix B from the weight memory 202 and caches it on each PE in the arithmetic circuit.
  • the arithmetic circuit takes the matrix A data and matrix B from the input memory 201 to perform matrix operations, and the partial result or final result of the obtained matrix is stored in an accumulator 208.
  • the vector calculation unit 207 can perform further processing on the output of the arithmetic circuit, such as vector multiplication, vector addition, exponential operation, logarithmic operation, size comparison, and so on.
  • the vector calculation unit 207 can be used for network calculations in the non-convolutional/non-FC layer of the neural network, such as pooling, batch normalization, local response normalization, etc. .
  • the vector calculation unit 207 can store the processed output vector in the unified buffer 206.
  • the vector calculation unit 207 may apply a nonlinear function to the output of the arithmetic circuit 203, such as a vector of accumulated values, to generate the activation value.
  • the vector calculation unit 207 generates a normalized value, a combined value, or both.
  • the processed output vector can be used as an activation input to the arithmetic circuit 203, for example, for use in a subsequent layer in a neural network.
  • the unified memory 206 is used to store input data and output data.
  • the weight data directly transfers the input data in the external memory to the input memory 201 and/or the unified memory 206 through the storage unit access controller 205 (direct memory access controller, DMAC), and stores the weight data in the external memory into the weight memory 202, And the data in the unified memory 206 is stored in the external memory.
  • DMAC direct memory access controller
  • the bus interface unit (BIU) 210 is used to implement interaction between the main CPU, the DMAC, and the fetch memory 209 through the bus.
  • An instruction fetch buffer 509 connected to the controller 204 is used to store instructions used by the controller 504;
  • the controller 204 is used to call the instructions cached in the instruction fetch memory 209 to control the working process of the computing accelerator.
  • the unified memory 206, the input memory 201, the weight memory 202, and the fetch memory 209 are all on-chip (On-Chip) memories.
  • the external memory is a memory external to the NPU.
  • the external memory can be a double data rate synchronous dynamic random access memory.
  • Memory double data rate synchronous dynamic random access memory, DDR SDRAM), high bandwidth memory (HBM) or other readable and writable memory.
  • the computer system 112 can also receive information from other computer systems or transfer information to other computer systems.
  • the sensor data collected from the sensor system 104 of the vehicle 100 may be transferred to another computer to process the data.
  • data from the computer system 312 may be transmitted to the server 320 on the cloud side via the network for further processing.
  • the network and intermediate nodes can include various configurations and protocols, including the Internet, World Wide Web, Intranet, virtual private network, wide area network, local area network, private network using one or more company’s proprietary communication protocols, Ethernet, WiFi and HTTP, And various combinations of the foregoing.
  • This communication can be by any device capable of transferring data to and from other computers, such as modems and wireless interfaces.
  • the server 320 may include a server with multiple computers, such as a load balancing server group, which exchanges information with different nodes of the network for the purpose of receiving, processing, and transmitting data from the computer system 312.
  • the server can be configured similarly to the computer system 312, having a processor 330, a memory 340, instructions 350, and data 360.
  • the data 360 of the server 320 may include information related to road conditions around the autonomous vehicle.
  • the server 320 may receive, detect, store, update, and transmit information related to the road conditions of the autonomous driving vehicle.
  • information related to road conditions around an autonomous vehicle includes the location information and motion parameter information of other vehicles that have an intersection with the predicted travel path of the autonomous vehicle, such as the current location information of other vehicles, speed information of other vehicles, The predicted trajectory information of other vehicles, etc.
  • Common driving modes generally include: sport mode (sport), economic mode (ECO), Standard mode (normal mode, normal), snow mode, and climbing mode.
  • sport mode sport mode
  • ECO economic mode
  • Standard mode normal mode, normal
  • snow mode snow mode
  • climbing mode The differences between the different modes are mainly reflected in the accelerator pedal characteristic curve, shift control, steering control, suspension control, air conditioning control, etc.
  • the most direct and direct influence on the driver is the accelerator pedal map.
  • the accelerator pedal characteristic curve is a curve that describes the relationship between accelerator pedal opening, vehicle speed and required target torque. This curve is solidified in the controller in the form of a table. Generally speaking, different driving modes are configured with different accelerator pedal characteristic curves. When the driver selects different driving modes, different accelerator pedal characteristic curves are selected. During the driving of the vehicle, the controller can query the accelerator pedal characteristic curve to obtain a target output torque according to the accelerator pedal opening and the current vehicle speed depressed by the driver, and the power system performs power output according to the target output torque.
  • some cars will also provide a professional mode (or can also be called a personalized mode), and the driver can adjust the professional mode according to personal preferences.
  • a professional mode or can also be called a personalized mode
  • the driver can adjust the professional mode according to personal preferences.
  • the current adjustment efficiency of the professional mode is generally low, and at the same time, it is not convenient for the driver to operate.
  • the driver can (with his foot) adjust the displacement (or angle) of the accelerator pedal opening to change the accelerator pedal characteristic curve (in the current driving mode).
  • the accelerator pedal opening corresponding to the current real-time vehicle speed and current output torque in map) (that is, the current accelerator pedal opening). It can be seen that this method can only change one point in the accelerator pedal characteristic curve in one dimension at a time, and the adjustment efficiency is low. Moreover, it needs to be adjusted during driving, which is dangerous.
  • the driver can adjust the analytic value of the accelerator pedal opening by changing the preset transfer function in the vehicle, so as to realize the adjustment of the accelerator pedal characteristic curve.
  • the adjustment degree of the accelerator pedal characteristic curve by this method is very limited.
  • the driver can only choose the pre-set transfer function, unable to fully realize the driver's personalized adjustment of the driving mode, and the degree of adjustment of the driving mode is very limited.
  • the present application proposes a method for adjusting the characteristics of the accelerator pedal, which is convenient for the user to efficiently personalize the driving mode.
  • FIG. 5 is a schematic block diagram of a method 500 for adjusting characteristics of an accelerator pedal according to an embodiment of the present application.
  • the method 500 may be executed by the input device and the controller in the vehicle.
  • the controller may be a vehicle controller in the vehicle, and the input device may be a vehicle-mounted human-computer interaction device in the vehicle; or, the input device may also be a device integrated in other vehicle-mounted devices in the vehicle This is not limited in the embodiments of the present application.
  • the input device may also be a user terminal device.
  • the input device may be a mobile or portable terminal device such as a mobile phone or a notebook computer; or, the input device may also be a desktop computer and other locations. Relatively fixed terminal equipment, this embodiment of the present application is not limited to this.
  • FIG. 5 shows the steps or operations of the method 500, but these steps or operations are only examples.
  • the embodiment of the present application may also perform other operations or variations of the operations of the method 500 in FIG. 5, or, not all All steps need to be executed, or these steps can be executed in other order.
  • S510 When the user adjusts the target driving mode, receive the vehicle speed, accelerator pedal opening and acceleration information input by the user.
  • At least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information satisfies a preset constraint relationship.
  • the user may refer to the driver of the vehicle, and the target driving mode may refer to the professional mode.
  • the user can use the method 500 in FIG. 5 to adjust the accelerator pedal characteristic curve Pedal MAP of the professional mode.
  • the acceleration information may be acceleration intensity information input by the user that can be used to indicate acceleration intensity.
  • the acceleration information may be an acceleration intensity level; or, the acceleration information may also be acceleration information of a vehicle or a vehicle.
  • the output torque may be a value indicative of acceleration intensity.
  • a vehicle speed and its corresponding accelerator pedal opening and acceleration information may be referred to as a set of parameter data.
  • each set of parameter data includes corresponding vehicle speed, accelerator pedal opening and acceleration information.
  • the constraint relationship may be used to limit that at least one of the vehicle speed, the accelerator pedal opening degree, or the acceleration information in each set of parameter data satisfies a preset value range;
  • the constraint relationship may also be used to limit that each group in the multiple sets of parameter data satisfies a preset relative relationship.
  • the user can use various existing input methods to input the vehicle speed, the accelerator pedal opening, and the acceleration information on the above-mentioned input device.
  • the user can use voice input, physical key input, touch screen input, or handwriting input.
  • the vehicle speed, the accelerator pedal opening degree, and the acceleration information are input in the foregoing input device in two ways, which are not limited in the embodiment of the present application.
  • the user can input vehicle speed, accelerator pedal opening and acceleration information in the following ways.
  • the user can use an input device with a visual interface to input the data by selecting on the visual interface.
  • the input device may be a mobile device or a vehicle-mounted device.
  • the user can input vehicle speed, accelerator pedal opening, and acceleration information through the user interface shown in FIG. 8.
  • FIG. 8 the style and layout of the various modules (or windows) in FIG. 8 are only limited by examples, and the user interface shown in FIG. 8 may include more or fewer modules (or windows).
  • the left side of the user interface (807 in Figure 8) presents a number of different vehicle speeds.
  • the user can first select the desired setting on the left side of the user interface (807 in Figure 8).
  • the accelerator pedal opening and acceleration information input window will pop up on the right side of the user interface (808 in Figure 8).
  • the input window presents multiple different accelerator pedal openings and multiple different acceleration information At this time, the user can select the accelerator pedal opening and its corresponding acceleration information in the input window on the right.
  • the user can first select the vehicle speed to be set at 100km/h on the left side of the user interface (807 in Figure 8).
  • the accelerator pedal opening and acceleration information input window (808 in Figure 8) pops up on the right side of the interface.
  • the user can select the acceleration information corresponding to 20% accelerator pedal opening by sliding the slider A in the input window , Select the acceleration information corresponding to 60% of the accelerator pedal opening by sliding the slider B in the input window, and select the acceleration information corresponding to 90% of the accelerator pedal opening by sliding the slider C in the input window.
  • press the "confirm" button to complete the setting of the accelerator pedal opening and acceleration information corresponding to the vehicle speed of 100km/h.
  • the user can continue to set the accelerator pedal opening and acceleration information corresponding to other vehicle speeds.
  • the vehicle speed, accelerator pedal opening, and acceleration information input by the user can satisfy the preset constraint relationship, and the constraint relationship can be used to limit that the user-selectable options (values) are all reasonable values (or in Within a reasonable range).
  • the constraint relationship may include the intra-group constraint relationship in each group of vehicle speed, accelerator pedal opening and acceleration information, and may also include the inter-group constraint relationship between each group of vehicle speed, accelerator pedal opening and acceleration information.
  • the constraint relationship within the group may be used to limit that at least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information in each group satisfies a preset value range, and the constraint relationship within the group It can be ensured that each group of vehicle speed, accelerator pedal opening and acceleration information in the vehicle speed, accelerator pedal opening and acceleration information are all within a reasonable range.
  • the value range of the slider A can be limited to between 1-5.
  • the value range of the slider B can be limited to between 3-8.
  • the value range of the slider C can be limited to between 5-10.
  • the inter-group constraint relationship may be used to limit that each group in the multiple sets of parameter data satisfies a preset relative relationship.
  • the constraint relationship between the groups can be defined: the 60% accelerator is selected through the slider B The acceleration information corresponding to the pedal opening is greater than 3.
  • the constraint relationship between the groups can be defined: the acceleration information corresponding to 90% of the accelerator pedal opening degree selected by the slider C is greater than the acceleration information selected by the slider B.
  • the constraint relationship can be preset in the input device to ensure that the options (values) selected by the user are all reasonable values (or within a reasonable range).
  • the user can use an input device with a visual interface to input the data by inputting numbers on the visual interface.
  • the input device may be a mobile device or a vehicle-mounted device.
  • the user can input vehicle speed, accelerator pedal opening, and acceleration information through the user interface shown in FIG. 15.
  • FIG. 15 the style and layout of the various modules (or windows) in FIG. 15 are only limited by examples, and the user interface shown in FIG. 11 may include more or fewer modules (or windows).
  • a first input box is presented on the left side of the user interface (1507 in Figure 15).
  • the user can first enter the vehicle speed to be set at 100km/h in the first input box in the user interface, and correspondingly ,
  • the accelerator pedal opening and acceleration information input window (1508 in Figure 15) will pop up in the user interface.
  • the input window presents multiple second input boxes.
  • the user can select one of the first input boxes in the input window. Enter 20% accelerator pedal opening and its corresponding acceleration information in the second input box, and enter 60% accelerator pedal opening and its corresponding acceleration information in another second input box in the input window. Enter 90% accelerator pedal opening and its corresponding acceleration information in the second input box. After inputting each accelerator pedal opening and its corresponding acceleration information, press the "confirm" button to complete the vehicle speed 100km/h correspondence The accelerator pedal opening and acceleration information settings.
  • the user can continue to set the accelerator pedal opening and acceleration information corresponding to other vehicle speeds.
  • the vehicle speed, accelerator pedal opening, and acceleration information input by the user can satisfy the preset constraint relationship, and the constraint relationship can be used to limit that the values input by the user are all reasonable values (or within a reasonable range). ).
  • the constraint relationship may include the intra-group constraint relationship in each group of vehicle speed, accelerator pedal opening and acceleration information, and may also include the inter-group constraint relationship between each group of vehicle speed, accelerator pedal opening and acceleration information.
  • the constraint relationship within the group may be used to limit that at least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information in each group satisfies a preset value range, and the constraint relationship within the group It can be ensured that each group of vehicle speed, accelerator pedal opening and acceleration information in the vehicle speed, accelerator pedal opening and acceleration information are all within a reasonable range.
  • the value range of the acceleration information can be limited to between 1-5.
  • the value range of the acceleration information can be limited to between 3-8, and input in an input box in the setting window
  • the value range of the acceleration information can be limited to between 5-10.
  • the inter-group constraint relationship may be used to limit that each group in the multiple sets of parameter data satisfies a preset relative relationship.
  • the constraint relationship between groups can be defined: in the setting window The acceleration information corresponding to 60% of the accelerator pedal opening entered in the second input box is greater than 3.
  • the constraint relationship between the groups can be defined: the acceleration information corresponding to 90% of the accelerator pedal opening input in the second input box in the setting window is greater than the above input corresponding to the 60% accelerator pedal opening Speed up information.
  • the constraint relationship may be preset in the input device to ensure that the options (values) selected by the user are all reasonable values (or within a reasonable range).
  • the user when inputting data, the user can first enter the accelerator pedal opening that needs to be set in the user interface, and then the input of vehicle speed and acceleration information will pop up in the user interface. Window, at this time, the user can enter each vehicle speed and its corresponding acceleration information in the pop-up input window.
  • the specific input process is similar to the embodiment shown in FIG. 15, and will not be repeated here.
  • the user can use an input device with a voice recognition function to input the data by voice.
  • the input device may be a mobile device or a vehicle-mounted device.
  • the user can first input the vehicle speed to be set to 100km/h by voice.
  • the input device will prompt the user to input the accelerator pedal opening and acceleration information by voice.
  • the user can follow the voice of the input device. Prompt, input 20% accelerator pedal opening and its corresponding acceleration information by voice, according to the voice prompt of the input device, input 60% accelerator pedal opening and its corresponding acceleration information by voice, according to the input device Voice prompts, input 90% of the accelerator pedal opening and its corresponding acceleration information by voice. After entering each accelerator pedal opening and its corresponding acceleration information, you can follow the voice prompts of the input device through the voice To complete the setting of accelerator pedal opening and acceleration information corresponding to a vehicle speed of 100km/h.
  • the user can continue to set the accelerator pedal opening and acceleration information corresponding to other vehicle speeds.
  • the vehicle speed, accelerator pedal opening, and acceleration information input by the user above can satisfy a preset constraint relationship, and the constraint relationship can be used to limit that the values input by the user are all reasonable values (or in reasonable values). Within range).
  • the constraint relationship may include the intra-group constraint relationship in each group of vehicle speed, accelerator pedal opening and acceleration information, and may also include the inter-group constraint relationship between each group of vehicle speed, accelerator pedal opening and acceleration information.
  • the constraint relationship within the group may be used to limit that at least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information in each group satisfies a preset value range, and the constraint relationship within the group It can be ensured that each group of vehicle speed, accelerator pedal opening and acceleration information in the vehicle speed, accelerator pedal opening and acceleration information are all within a reasonable range.
  • the user can input 20% of the accelerator pedal opening and its corresponding acceleration information by voice according to the voice prompt of the input device.
  • the value range of the acceleration information can be It is limited to between 1-5.
  • the input device can issue a voice prompt; according to the voice prompt of the input device, enter 60% of the accelerator pedal opening and its corresponding by voice
  • the value range of the acceleration information can be limited to between 3-8.
  • the input device can issue a voice prompt; according to the voice prompt of the input device, through the voice prompt Input 90% accelerator pedal opening and its corresponding acceleration information.
  • the value range of the acceleration information can be limited to between 5-10. When the value input by the user exceeds this value range, the input device can make a voice prompt.
  • the inter-group constraint relationship may be used to limit that each group in the multiple sets of parameter data satisfies a preset relative relationship.
  • the constraint relationship between groups may be defined as follows: The user enters the acceleration information corresponding to 60% of the accelerator pedal opening degree greater than 3 by voice.
  • the constraint relationship between groups may be defined as follows: the acceleration information corresponding to 90% of the accelerator pedal opening degree input by the user by voice is greater than the acceleration information corresponding to the 60% accelerator pedal opening degree inputted above.
  • the constraint relationship can be preset in the input device to ensure that the options (values) selected by the user are all reasonable values (or within a reasonable range).
  • the user After completing the setting of the accelerator pedal opening and acceleration information corresponding to each vehicle speed, the user can confirm to save the input data according to the voice prompt of the input device.
  • the user when the user is inputting data, the user can first input the accelerator pedal opening to be set by voice, and then according to the voice prompt of the input device, the user can input each vehicle speed and its speed by voice. Corresponding acceleration information.
  • the specific input process is similar to that in the third embodiment above, and will not be repeated here.
  • the user when the user is inputting data, he can first input the acceleration information that needs to be set by voice, and then according to the voice prompt of the input device, the user can input each vehicle speed and its corresponding by voice. Vehicle speed and accelerator pedal opening.
  • the specific input process is similar to that in the third embodiment above, and will not be repeated here.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information, without the need to adjust the accelerator pedal opening based on the vehicle’s current real-time vehicle speed and current output torque during the running of the vehicle, so as to achieve control of the accelerator pedal.
  • the adjustment of the pedal curve. Therefore, the method in the embodiment of the present application does not limit the user to only input vehicle speed, accelerator pedal opening and acceleration information while the vehicle is running.
  • the input vehicle speed, accelerator pedal opening and acceleration The information that satisfies the preset constraint relationship can ensure the rationality of the data, and facilitate the user to efficiently personalize the driving mode.
  • the user can input the vehicle speed, accelerator pedal opening and acceleration information through the input device when the vehicle is stationary (non-driving state), or the user can also input the vehicle speed and accelerator pedal through the input device while the vehicle is running Opening and acceleration information.
  • the user can input multiple sets of vehicle speed, accelerator pedal opening and acceleration information at the same time, so that the user can adjust multiple sets of data in the accelerator pedal curve at the same time, so that the user can efficiently personalize the driving mode. Therefore, the efficiency of adjusting the driving mode can be improved.
  • the vehicle speed, accelerator pedal opening, and acceleration information included in each set of parameter data in the multiple sets of parameter data are different from each other.
  • the vehicle speed, accelerator pedal opening and acceleration information included in one set of parameter data in the multiple sets of parameter data may be identical to the vehicle speed and accelerator pedal opening included in another set of parameter data in the multiple sets of parameter data. Degree and acceleration information are not the same.
  • At least one parameter of vehicle speed, accelerator pedal opening and acceleration information included in each group of parameter data in the multiple sets of parameter data is different.
  • the user can input multiple sets of parameter data at the same time, wherein the vehicle speed, accelerator pedal opening and acceleration information included in each set of parameter data in the multiple sets of parameter data are different from each other, or the multiple sets of parameter data At least one of the vehicle speed, accelerator pedal opening and acceleration information included in each group of parameter data is different, that is, the user can simultaneously control the accelerator pedal in multiple dimensions (in vehicle speed, accelerator pedal opening and acceleration information)
  • the characteristic curve is adjusted. Therefore, the method in the embodiment of the present application helps to improve the efficiency of the user's adjustment of the driving mode.
  • the method 500 may further include: receiving a flag bit input by a user, and the flag bit may be used to indicate adjustment of the accelerator pedal characteristic curve.
  • the accelerator pedal characteristic curve Pedal MAP may be adjusted according to the vehicle speed, the accelerator pedal opening degree, and the acceleration information.
  • the flag bit may be used to indicate that the user has a need to adjust the accelerator pedal characteristic curve (in the professional mode).
  • the input device can be automatically triggered to send the flag to the vehicle; or, after confirming the completion of vehicle speed, accelerator pedal opening After inputting the speed and acceleration information, the user can send the flag bit to the vehicle through the user interface.
  • the vehicle can adjust the accelerator pedal characteristic curve according to the vehicle speed, accelerator pedal opening and acceleration information input by the user.
  • the adjusting the accelerator pedal characteristic curve according to the vehicle speed, the accelerator pedal opening degree and the acceleration information may include: determining N according to the vehicle speed, the accelerator pedal opening degree and the acceleration information Target accelerations, each of the N target accelerations corresponds to a vehicle speed and an accelerator pedal opening, and N is a positive integer greater than or equal to 1; adjust the accelerator pedal characteristics according to the N target accelerations Curve Pedal MAP.
  • the determining N target accelerations according to the vehicle speed, the accelerator pedal opening and the acceleration information may include: performing interpolation processing on the vehicle speed, the accelerator pedal opening and the acceleration information And filter processing to obtain N sets of data, the N sets of data, the vehicle speed, the accelerator pedal opening, and the acceleration information; the N target accelerations are determined according to the N sets of data, the N target accelerations Each target acceleration in corresponds to the vehicle speed and accelerator pedal opening in one set of the N sets of data.
  • interpolation processing can be performed on the vehicle speed, the accelerator pedal opening and the acceleration information, so that the vehicle speed, the accelerator pedal opening and the acceleration information can be expanded to obtain N sets of data (The N sets of data may be more than the vehicle speed, the accelerator pedal opening, and the acceleration information input by the user).
  • linear interpolation may be performed on the vehicle speed, the accelerator pedal opening, and the acceleration information.
  • filtering processing may be performed on the obtained N sets of data.
  • a change rate threshold can be set for adjacent data in the N groups of data, and when the change rate between adjacent data exceeds the change rate threshold, the data can be restricted according to the change rate threshold.
  • interpolation processing and filtering processing are performed on the vehicle speed, the accelerator pedal opening degree, and the acceleration information, which can avoid sudden changes in the accelerator pedal characteristic curve due to the excessively large data change rate set by the user. Therefore, it is possible to avoid the problem of acceleration smoothness degradation caused by sudden changes in acceleration information at different vehicle speeds during the acceleration of the vehicle.
  • N sets of data can be obtained after interpolation processing and filtering processing are performed on the vehicle speed, the accelerator pedal opening degree, and the acceleration information.
  • the updated accelerator pedal characteristic curve can be obtained according to the N sets of data, without the need to perform other processing on the N sets of data.
  • N sets of data can be obtained after the vehicle speed, the accelerator pedal opening degree and the acceleration information are interpolated and filtered. At this time, the After the acceleration information in the N sets of data is converted into output torque, the updated accelerator pedal characteristic curve can be obtained according to the N sets of data, without the need to perform other processing on the N sets of data.
  • the adjusting the accelerator pedal characteristic curve according to the N target accelerations may include: according to the N target accelerations , And N baseline torques, curb weight and/or tire radius, determine N output torques corresponding to the N target accelerations; adjust the accelerator pedal characteristic curve according to the N output torques.
  • the baseline torque can be understood as the steady-state torque of the vehicle at a specific speed
  • the curb weight refers to the total mass of the vehicle
  • the tire radius refers to the tire radius of the vehicle.
  • the determining the N output torques corresponding to the N target accelerations according to the N target accelerations, and N baseline torques, curb weight, and/or tire radius may include:
  • a(v,k) is the target acceleration
  • vehicle speed v and accelerator pedal opening k correspond to a(v,k)
  • r is the tire radius
  • k is the curb weight
  • T(v) is the baseline torque corresponding to the vehicle speed v
  • T(v,k) is the output torque corresponding to the vehicle speed v and the accelerator pedal opening k.
  • FIG. 6 is a system architecture diagram suitable for the method for adjusting the characteristics of the accelerator pedal provided by an embodiment of the present application. It should be understood that the system architecture shown in FIG. 6 is only an example and not a limitation, and the system architecture in the embodiment of the present application may also include more or fewer modules (or units).
  • the system architecture shown in FIG. 6 may include a driver setting module 600, an accelerator pedal characteristic curve update module 605, and a storage module 604.
  • the driver setting module 600 can provide the driver with an interactive interface for setting the accelerator pedal characteristic curve in the professional mode.
  • the driver setting module 600 can receive and store the driver setting data. After the driver setting is completed, the driver setting data and The setting flag is sent to the accelerator pedal characteristic curve update module 605.
  • the driver setting module 600 may be the input device in the method 500, and the driver setting data may be the vehicle speed, accelerator pedal opening and acceleration information input by the user through the input device in the method 500.
  • the user may use an input device to input vehicle speed, accelerator pedal opening, and acceleration information through any of the methods described in method 500.
  • the user may also input vehicle speed, accelerator pedal opening and acceleration information through other input methods, and the embodiment of the present application does not limit the specific input method.
  • the driver setting module 600 may be configured in the vehicle terminal 617 or the terminal device 616.
  • the driver setting data can be directly transmitted to the accelerator pedal characteristic curve update module 605 through the controller area network (CAN) protocol; when configured in the terminal device, the driver setting data is transmitted through 615 channels of data It is sent to the receiving module of the vehicle, and then transmitted to the accelerator pedal characteristic curve update module 605 through the CAN protocol.
  • CAN controller area network
  • the module 600 can output the setting flag and the driver setting data at the same time.
  • the setting flag can be used to indicate that the driver needs to set the accelerator pedal characteristic curve in professional mode.
  • the setting flag is the input of the algorithm enable flag 601 module, which can be used to activate the accelerator pedal characteristic curve module 605
  • the accelerator pedal characteristic curve update algorithm in, the driver setting data can be one or more sets of data including the relationship between vehicle speed, accelerator pedal opening and acceleration information.
  • the driver setting data is the input of the data processing module 602 .
  • FIG. 6 takes the acceleration information as an acceleration intensity level as an example for description.
  • the acceleration information in the embodiment of the present application may also be the acceleration information of the vehicle or the output torque of the vehicle.
  • the data processing module 602 performs interpolation processing and filtering processing on the driver setting data, and then the accelerator pedal characteristic curve calculation module 603 After the acceleration information is converted into output torque, the updated accelerator pedal characteristic curve can be obtained.
  • the acceleration information is the output torque of the vehicle
  • the data processing module 602 performs interpolation processing and filtering processing on the driver setting data, no other processing is required, and the updated accelerator pedal characteristic curve can be obtained.
  • the accelerator pedal characteristic curve update module 605 may be configured in the controller of the vehicle.
  • the module 605 may be used to execute the method 500 in FIG. 5, and may include: almighty algorithm 601, a data processing module 602, and an accelerator pedal characteristic curve calculation module 603.
  • the algorithm enable 601 can receive the setting flag sent by the driver setting module 600, determine and enable the accelerator pedal characteristic curve update algorithm; the data processing module 602 can interpolate, filter and normalize the driver setting data, And convert the data set by the driver indicating the relationship between vehicle speed, accelerator pedal opening and acceleration information into one or more sets of data indicating the relationship between vehicle speed, accelerator pedal opening and acceleration; accelerator pedal The characteristic curve calculation module 603 can calculate the updated characteristic curve of the accelerator pedal based on the data representing the relationship among the vehicle speed, accelerator pedal opening and acceleration (ie, the relationship among the vehicle speed, accelerator pedal opening and output torque) The data).
  • the storage module 604 may store the accelerator pedal characteristic curve updated according to the method 500.
  • the storage module 604 may be configured in the controller, for example, the storage module 604 may be configured in the vehicle controller of the vehicle.
  • the storage module 604 and the accelerator pedal characteristic curve update module 605 may be configured in the same controller of the vehicle, or may be configured in different controllers of the vehicle respectively, which is not limited in the embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a method for adjusting characteristics of an accelerator pedal provided by an embodiment of the present application.
  • the driver When the driver needs to set the professional mode, he can switch the driving mode to the professional mode first, and then adjust the user interface through the driving mode in the driver setting module to set the acceleration corresponding to different accelerator pedal openings at different vehicle speeds information.
  • FIG. 8 the process of the user inputting vehicle speed, accelerator pedal opening and acceleration information in the embodiment of the present application will be described. It should be understood that the driving mode adjustment user interface shown in FIG. 8 is only an example and not a limitation.
  • the user can input vehicle speed, accelerator pedal opening and acceleration information through any of the methods described in method 500, or the user can also use Other input methods are used to input vehicle speed, accelerator pedal opening and acceleration information, and the embodiment of the present application does not limit the specific input method.
  • the driving mode adjustment user interface shown in FIG. 8 is only an example and not a limitation.
  • the parts in the driving mode adjustment user interface 800 in FIG. 8 only indicate that the driving mode adjustment user interface can input vehicle speed and accelerator pedal opening.
  • the specific method of inputting the vehicle speed, accelerator pedal opening and acceleration information and the specific setting interface style are not limited.
  • the acceleration information is the acceleration intensity as an example for description. It should be understood that the acceleration information in the embodiment of the present application may also be the acceleration of the vehicle or the output torque of the vehicle.
  • the driving mode adjustment user interface 800 may be configured in the driver setting module 600 shown in FIG. 6.
  • the driver setting module 600 may be configured in the terminal device 616 in FIG. 6, or may be configured in the car terminal 617 in FIG. .
  • the setting can be made through the driving mode adjustment user interface 800.
  • the driver can select the vehicle speed to be set in the vehicle speed setting 807, and each vehicle speed can correspond to a setting interface 808, which includes multiple accelerator pedal opening degrees and acceleration information corresponding to each accelerator pedal opening degree.
  • the settable options for the vehicle speed in the vehicle speed setting 807 may include: 10km/h, 50km/h, 100km/h, 150km/h, 200km/h, and each setting interface 808
  • the settable options of accelerator pedal opening can include: 20%, 60%, and 90%.
  • Figure 8 shows that when the vehicle speed in the vehicle speed setting 807 is set to 100km/h, the vehicle speed (ie, the vehicle speed is 100km/h) corresponds to the setting interface 808.
  • the driver opens the accelerator pedal by sliding buttons A, B, and C up and down.
  • the degree is 20%, 60%, and 90%, the corresponding acceleration information is adjusted.
  • the acceleration information can indicate the level of acceleration desired by the driver, and the acceleration information in FIG. 8 is divided into 11 levels (the value range of the acceleration information in FIG. 8 is 0 to 10).
  • the restriction condition (constraint relationship) for adjusting the acceleration information may be preset as: 0 ⁇ A ⁇ B ⁇ C ⁇ 10.
  • the unset vehicle speed (corresponding setting interface) will be set according to the default initial data.
  • the driver setting module 600 can output the professional mode setting flag and the driver setting data (that is, the driver adjusts the settings of the user interface 800 through the driving mode in FIG. 8 , Data representing the relationship between vehicle speed, accelerator pedal opening and acceleration information).
  • the accelerator pedal characteristic curve update module 605 in FIG. 6 determines whether the setting is completed by the driver.
  • the professional mode setting flag output by the driver setting module 600 when the professional mode setting flag output by the driver setting module 600 is received, it may be determined that the driver setting is completed, and S730 is executed; otherwise, S710 is executed.
  • the driver setting data can be processed through the data processing module 102 in FIG. 6.
  • the specific processing procedure may include the following S731, S732, and S733.
  • interpolation processing and filtering processing can be performed on the vehicle speed dimension and the accelerator pedal opening dimension in the driver setting data respectively.
  • the settable options for the above vehicle speed can be extended to: the speed difference between each vehicle speed and the adjacent vehicle speed is 10km/h, that is, the settable options for the above vehicle speed are extended to 10km/h, 20km/h, 30km/h. h&190km/h, 200km/h.
  • linear interpolation may be used to perform interpolation processing on the vehicle speed dimension (ie, vehicle speed expansion).
  • filtering processing can be performed on all the data obtained after interpolation.
  • the acceleration information change rate threshold of adjacent vehicle speeds can be preset to ⁇ 0.1h/km, and all data is filtered after interpolation.
  • the threshold can be used, Limit the acceleration information whose rate of change is too large.
  • the data of the vehicle speed dimension can be kept unchanged, and the 20%, 60%, and 90% of the settable options of the accelerator pedal opening can be interpolated.
  • the above-mentioned settable options of accelerator pedal opening can be expanded to: the difference between each accelerator pedal opening and the adjacent accelerator pedal opening is 10%, that is, the above-mentioned settable option of accelerator pedal opening can be expanded to 10%, 20%, 30%...90%, 100%.
  • linear interpolation may be used to interpolate the accelerator pedal opening dimension.
  • filtering processing can be performed on all the data obtained after interpolation.
  • interpolation processing and filtering processing are performed on the driver setting data (data representing the relationship between the vehicle speed, accelerator pedal opening and acceleration information), which can prevent the data change rate set by the user from being too large.
  • the accelerator pedal characteristic curve has a sudden change, so as to avoid the acceleration smoothness drop caused by the sudden change of the acceleration information at different vehicle speeds during the acceleration of the vehicle.
  • the acceleration information after the aforementioned interpolation processing and filtering processing can be normalized.
  • the normalization process can be as follows:
  • Y(v,k) is the result obtained after normalizing the acceleration information.
  • the normalized data can be converted into acceleration a(v,k), the conversion method can be as follows:
  • a_max(k) is the acceleration value (of the vehicle) when the vehicle speed is v and the accelerator pedal opening is 100%, and this acceleration value is known to the vehicle.
  • the data representing the relationship between the vehicle speed, accelerator pedal opening and acceleration obtained from the above steps, as well as the baseline torque of the vehicle, the curb weight of the vehicle, and the wheel radius of the vehicle, can be Calculate the accelerator pedal characteristic curve.
  • the specific calculation method can be as follows:
  • T(v,k) is the output torque value (of the vehicle) when the vehicle speed is v and the accelerator pedal opening is k.
  • the updated accelerator pedal characteristic curve can be calculated.
  • the accelerator pedal characteristic curve calculation module 603 may output the updated accelerator pedal characteristic curve to the storage module 604.
  • the controller of the vehicle can control the vehicle according to the above-mentioned updated accelerator pedal characteristic curve.
  • Fig. 9 is a schematic block diagram of vehicle control in an embodiment of the present application.
  • the driving mode of the vehicle shown in FIG. 9 includes four modes: sports mode 913, standard mode 912, economic mode 910, and professional mode 904. It should be understood that the vehicle in the embodiment of the present application may also include more or less driving modes. The mode is not limited to this.
  • the accelerator pedal characteristic curve updating module 905 in FIG. 9 may be the accelerator pedal characteristic curve updating module 605 in FIG. 6, and the controller 917 in FIG. 9 may be the storage module 604 in FIG. 6.
  • the accelerator pedal characteristic curve update module 905 may also update the completion flag to the controller 917, and the update completion flag can indicate the accelerator. The update of the pedal characteristic curve has been completed.
  • the driver setting module 900 may also output a setting flag to the controller 917, the setting flag may indicate that the driver has completed the setting, and may also indicate that the driver wants to switch the driving mode to the professional mode.
  • the driving mode demand torque arbitration module 911 in the controller 917 can select the accelerator pedal characteristic curve corresponding to the professional mode for torque output.
  • FIG. 10 is a schematic block diagram of an apparatus 1000 for adjusting characteristics of an accelerator pedal provided by an embodiment of the present application. It should be understood that the device 1000 shown in FIG. 10 is only an example, and the device in the embodiment of the present application may further include other modules or units. It should be understood that the device 1000 can execute each step in the method of FIG. 5 or FIG.
  • the apparatus 1000 includes: an input device 1010 and a controller 1020;
  • the input device 1010 is used to receive the vehicle speed, accelerator pedal opening degree and acceleration information input by the user when the user adjusts the target driving mode, and at least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information is One satisfies the preset constraint relationship;
  • the controller 1020 is configured to adjust the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the vehicle speed, the accelerator pedal opening degree, and the acceleration information.
  • the input device 1010 is further configured to: receive a flag bit input by a user, the flag bit is used to indicate adjustment of the accelerator pedal characteristic curve; wherein, the controller is specifically configured to: In the case of the flag position, the accelerator pedal characteristic curve Pedal MAP is adjusted according to the vehicle speed, the accelerator pedal opening degree, and the acceleration information.
  • the controller 1020 is specifically configured to determine N target accelerations according to the vehicle speed, the accelerator pedal opening, and the acceleration information, and each target acceleration of the N target accelerations corresponds to a vehicle speed And an accelerator pedal opening degree, N is an integer greater than or equal to 1; adjust the accelerator pedal characteristic curve Pedal MAP according to the N target accelerations.
  • the controller 1020 is specifically configured to: perform interpolation processing and filtering processing on the vehicle speed, the accelerator pedal opening degree, and the acceleration information to obtain N groups of data, the N groups of data including the vehicle speed
  • the accelerator pedal opening and the acceleration information; the N target accelerations are determined according to the N sets of data, and each target acceleration of the N target accelerations corresponds to a set of data in the N sets of data Medium speed and accelerator pedal opening.
  • the controller 1020 is specifically configured to: determine the N output torques corresponding to the N target accelerations according to the N target accelerations, and N baseline torques, curb weight, and/or tire radius; The N output torques are used to adjust the accelerator pedal characteristic curve.
  • controller 1020 is specifically configured to:
  • a(v,k) is the target acceleration
  • vehicle speed v and accelerator pedal opening k correspond to a(v,k)
  • r is the tire radius
  • k is the curb weight
  • T(v) is the baseline torque corresponding to the vehicle speed v
  • T(v,k) is the output torque corresponding to the vehicle speed v and the accelerator pedal opening k.
  • the input device 1010 is specifically configured to: receive multiple sets of parameter data input by the user, each set of parameter data includes vehicle speed, accelerator pedal opening and acceleration information, and the constraint relationship is used to limit each set of parameter data At least one of the vehicle speed, the accelerator pedal opening degree or the acceleration information in satisfies a preset value range.
  • the input device 1010 is specifically configured to: receive multiple sets of parameter data input by the user, each set of parameter data includes vehicle speed, accelerator pedal opening, and acceleration information, and the constraint relationship is used to limit the multiple sets of parameter data.
  • each group in the parameter data satisfies the preset relative relationship.
  • the vehicle speed, accelerator pedal opening, and acceleration information included in each set of parameter data in the multiple sets of parameter data are different from each other.
  • At least one parameter of vehicle speed, accelerator pedal opening and acceleration information included in each group of parameter data in the multiple sets of parameter data is different.
  • FIG. 11 is a schematic block diagram of an apparatus 1100 for adjusting characteristics of an accelerator pedal according to an embodiment of the present application. It should be understood that the device 1100 shown in FIG. 11 is only an example, and the device in the embodiment of the present application may further include other modules or units. It should be understood that the apparatus 1100 can execute each step in the method of FIG. 5 or FIG.
  • the apparatus 1100 includes: an input device 1110 and a controller 1120;
  • the input device 1110 is configured to receive an instruction for adjusting a target driving mode input by a user, and present a driving mode adjustment user interface on a display device in response to the instruction, the driving mode adjustment user interface including a first input window;
  • the input device 1110 is configured to receive first parameter information input by the user in the first input window, where the first parameter information is any one of vehicle speed, accelerator pedal opening, or acceleration information, such as Speed
  • the input device 1110 In response to the first parameter information input by the user, the input device 1110 is configured to present a second input window in the driving mode adjustment user interface;
  • the input device 1110 is configured to receive second parameter information input by the user in the second input window, where the second parameter information is vehicle speed, accelerator pedal opening, and acceleration information that are different from the first parameter Any parameter of the information, such as accelerator pedal opening;
  • the input device 1110 is configured to display third parameter information in the second input window according to a preset constraint relationship, where the three parameter information is vehicle speed, accelerator pedal opening, and acceleration information that are different from the first parameter Information and parameters of the second parameter information, such as acceleration information;
  • the controller 1120 is configured to adjust the accelerator pedal characteristic curve Pedal MAP of the target driving mode according to the first parameter information, the second parameter information, and the third parameter information.
  • the first input window presents multiple candidate first parameter information, where the candidate first parameter information is any one of vehicle speed, accelerator pedal opening, or acceleration information, and the input device 1110 is specifically configured to : Receiving the first parameter information selected by the user from the plurality of candidate first input information presented in the first input window.
  • the second input window presents a plurality of candidate second parameter information
  • the candidate second parameter information is any one of vehicle speed, accelerator pedal opening and acceleration information that is different from the first parameter information
  • the input device 1110 is specifically configured to: receive the second parameter information selected by the user from the plurality of candidate second input information presented in the second input window.
  • the first input window presents a first input box
  • the input device 1110 is specifically configured to: receive the first input box entered by the user in the first input box presented by the first input window.
  • One parameter information is specifically configured to: receive the first input box entered by the user in the first input box presented by the first input window.
  • the second input window presents a second input box
  • the input device 1110 is specifically configured to: receive the first input by the user in the second input box presented by the second input window. Two parameter information.
  • FIG. 12 is a schematic block diagram of an apparatus 1200 for adjusting characteristics of an accelerator pedal according to an embodiment of the present application.
  • the apparatus 1200 shown in FIG. 12 includes a memory 1201, a processor 1202, a communication interface 1203, and a bus 1204.
  • the memory 1201, the processor 1202, and the communication interface 1203 implement communication connections between each other through the bus 1204.
  • the memory 1201 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).
  • the memory 1201 may store a program.
  • the processor 1202 is configured to execute each step of the method for adjusting the characteristics of the accelerator pedal according to the embodiment of the present application. For example, FIG. 5 or FIG. The various steps of the illustrated embodiment.
  • the processor 1202 may adopt a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits for executing related programs.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • the method for adjusting the characteristics of the accelerator pedal of the method embodiment of the present application is implemented.
  • the processor 1202 may also be an integrated circuit chip with signal processing capability.
  • each step of the method for adjusting the characteristics of the accelerator pedal in the embodiment of the present application may be completed by an integrated logic circuit of hardware in the processor 1202 or instructions in the form of software.
  • the above-mentioned processor 1202 may also be a general-purpose processor, a digital signal processing (digital signal processing, DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, Discrete gates or transistor logic devices, discrete hardware components.
  • DSP digital signal processing
  • ASIC application-specific integrated circuit
  • FPGA field programmable gate array
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory 1201, and the processor 1202 reads the information in the memory 1201, and combines its hardware to complete the functions required by the units included in the device for adjusting the characteristics of the accelerator pedal in the embodiments of this application, or execute the method embodiments of this application
  • the method of adjusting the characteristics of the accelerator pedal for example, can execute each step/function of the embodiment shown in FIG. 5 or FIG. 7.
  • the communication interface 1203 may use, but is not limited to, a transceiver such as a transceiver to implement communication between the device 1200 and other devices or communication networks.
  • the bus 1204 may include a path for transferring information between various components of the apparatus 1200 (for example, the memory 1201, the processor 1202, and the communication interface 1203).
  • the device shown in the embodiment of the present application may be an in-vehicle device in an autonomous vehicle, or may also be a chip configured in an in-vehicle device.
  • the processor in the embodiment of the present application may be a central processing unit (central processing unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (digital signal processors, DSP), and application-specific integrated circuits. (application specific integrated circuit, ASIC), ready-made programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory in the embodiments of the present application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory can be read-only memory (ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), and electrically available Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • the volatile memory may be random access memory (RAM), which is used as an external cache.
  • RAM random access memory
  • static random access memory static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • Access memory synchronous DRAM, SDRAM
  • double data rate synchronous dynamic random access memory double data rate SDRAM, DDR SDRAM
  • enhanced synchronous dynamic random access memory enhanced SDRAM, ESDRAM
  • synchronous connection dynamic random access memory Take memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (direct rambus RAM, DR RAM).
  • the foregoing embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination.
  • the above-mentioned embodiments may be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions or computer programs.
  • the computer instructions or computer programs are loaded or executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instructions may be transmitted from a website, computer, server, or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more sets of available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium.
  • the semiconductor medium may be a solid state drive.
  • the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not correspond to the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Abstract

本申请提供了一种调整油门踏板特性的方法和装置，可应用到自动驾驶领域的智能汽车上。该方法包括：在用户调整目标驾驶模式时，接收用户输入的车速、油门踏板开度和加速信息，所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的约束关系；根据所述车速、所述油门踏板开度和所述加速信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。本申请实施例中的方法，便于用户高效地对驾驶模式进行个性化设置。

Description

调整油门踏板特性的方法和装置
本申请要求于2019年09月18日提交中国专利局、申请号为201910881052.7、申请名称为“调整油门踏板特性的方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及汽车领域，并且更具体地，涉及一种调整油门踏板特性的方法和装置。
背景技术
随着汽车领域的不断发展，汽车的驾乘体验也得到了越来越多的关注，以期满足不同驾驶员的个性化的驾驶需求。
目前，不论是传统汽车还是电动汽车，大多数车辆都为驾驶员提供了可选择的驾驶模式，常见的驾驶模式一般包括：运动模式(sport mode，sport)、经济模式(economic mode，ECO)、标准模式(normal mode，normal)等，高档品牌汽车还会提供专业模式，驾驶员可以根据个人喜好对专业模式进行调整。但是，目前专业模式的调整效率普遍较低，同时，也不方便驾驶员进行操作。
因此，如何便捷高效地对驾驶模式进行个性化设置，成为一个亟需解决的技术问题。
发明内容
本申请提供一种调整油门踏板特性的方法和装置，便于用户高效地对驾驶模式进行个性化设置。
第一方面，提供了一种调整油门踏板特性的方法，该方法包括：
在用户调整目标驾驶模式时，接收用户输入的车速、油门踏板开度和加速信息，所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的约束关系；根据所述车速、所述油门踏板开度和所述加速信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
在本申请实施例中，用户可以输入车速、油门踏板开度和加速信息，而不需要基于车辆的当前实时速度和当前输出扭矩，在车辆行驶的过程中调整油门踏板开度，以实现对油门踏板曲线的调整，因此，本申请实施例中的方法，并不限定用户只能在车辆行驶的过程中输入车速、油门踏板开度和加速信息，而且，输入的车速、油门踏板开度或加速信息满足预设的约束关系可以保证所述数据的合理性，便于用户高效地对驾驶模式进行个性化设置。
例如，用户可以在车辆静止(非行驶状态)的情况下，通过输入设备输入所述车速、所述油门踏板开度和所述加速信息，或者，用户也可以在车辆行驶的过程中，通过输入设备输入所述车速、所述油门踏板开度和所述加速信息。
应理解，所述加速信息可以是用户输入的能够用于表示加速强度的加速强度信息，例如，所述加速信息可以是加速强度等级；或者，所述加速信息也可以是车辆的加速度信息或车辆的输出扭矩。
可选地，上述输入设备可以是终端设备，例如，该输入设备可以是手机或笔记本电脑等可移动的或便携的终端设备；或者，该输入设备也可以是台式电脑等其他位置相对较固定的终端设备，本申请实施例对此并不限定。
可选地，上述输入设备也可以是车载设备，例如，该输入设备可以是车载人机交互设备；或者，该输入设备也可以是集成于其他车载设备中的设备，本申请实施例对此并不限定。
用户可以使用现有的各种输入方式在上述输入设备输入所述车速、所述油门踏板开度和所述加速信息，例如，用户可以使用语音输入、物理按键输入、触摸屏输入或手写输入等各种方式在上述输入设备上输入所述车速、所述油门踏板开度和所述加速信息，本申请实施例对此并不限定。
结合第一方面，在第一方面的某些实现方式中，所述方法还包括：接收用户输入的标志位，所述标志位用于指示调整所述油门踏板特性曲线；其中，所述根据所述车速、所述油门踏板开度和所述加速信息，调整油门踏板特性曲线Pedal MAP，包括：在接收到所述标志位的情况下，根据所述车速、所述油门踏板开度和所述加速信息，调整所述油门踏板特性曲线Pedal MAP。
可选地，所述标志位可以用于表示用户有对(专业模式下的)油门踏板特性曲线进行调整的需求。
结合第一方面，在第一方面的某些实现方式中，所述根据所述车速、所述油门踏板开度和所述加速信息，调整油门踏板特性曲线Pedal MAP，包括：根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，所述N个目标加速度中的每一个目标加速度对应一个车速和一个油门踏板开度，N为大于或等于1的整数；根据所述N个目标加速度，调整所述油门踏板特性曲线Pedal MAP。
结合第一方面，在第一方面的某些实现方式中，所述根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，包括：对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，得到N组数据，所述N组数据包括所述车速、所述油门踏板开度和所述加速信息；根据所述N组数据确定所述N个目标加速度，所述N个目标加速度中的每一个目标加速度对应所述N组数据中的一组数据中的车速和油门踏板开度。
在本申请实施例中，对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，可以避免因用户设置的数据变化率过大而使油门踏板特性曲线出现突变，从而可以避免在车辆加速过程中，出现因不同车速下的加速信息突变而引起的加速平顺性下降问题。
需要说明的，在用户输入的加速信息为车辆的输出扭矩的情况下，对所述车速、所述油门踏板开度和所述加速信息据进行插值处理和滤波处理之后可以得到N组数据，此时，就可以根据所述N组数据得到更新后的油门踏板特性曲线，而不需要对所述N组数据再进行其他处理。
在用户输入的加速信息为车辆的加速度信息的情况下，对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理之后可以得到N组数据，此时，将所述N组数据中的加速度信息转化为输出扭矩后，就可以根据所述N组数据得到更新后的油门踏板特性曲线，而不需要对所述N组数据再进行其他处理。
结合第一方面，在第一方面的某些实现方式中，所述根据所述N个目标加速度，调整所述油门踏板特性曲线，包括：根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩；根据所述N个输出扭矩，调整所述油门踏板特性曲线。
可选地，基线扭矩可以理解为车辆在特定车速下的稳态扭矩，整备质量为车辆的总质量，轮胎半径为车辆的轮胎半径。
结合第一方面，在第一方面的某些实现方式中，所述根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩，包括：
根据下述公式确定所述N个目标加速度对应的N个输出扭矩：
T(v,k)＝a(v,k)*r*m+T(v)
其中，a(v,k)为目标加速度，车速v和油门踏板开度k与a(v,k)对应，r为轮胎半径，k为整备质量，T(v)为车速v对应的基线扭矩，T(v,k)为所述车速v和所述油门踏板开度k对应的输出扭矩。
结合第一方面，在第一方面的某些实现方式中，所述接收用户输入的车速、油门踏板开度和加速信息，包括：接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定每组参数数据中的所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的取值范围。
结合第一方面，在第一方面的某些实现方式中，所述接收用户输入的车速、油门踏板开度和加速信息，包括：接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定所述多组参数数据中的各组之间满足预设的相对关系。
结合第一方面，在第一方面的某些实现方式中，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同。
可选地，所述多组参数数据中的一组参数数据包括的车速、油门踏板开度和加速信息，可以与所述多组参数数据中的另一组参数数据包括的车速、油门踏板开度和加速信息均不相同。
结合第一方面，在第一方面的某些实现方式中，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同。
在本申请实施例中，用户可以同时输入多组参数数据，其中，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同，或者，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同，也就是说，用户可以同时在(车速、油门踏板开度和加速信息中的)多个维度对油门踏板特性曲线进行调整，因此，本申请实施例中的方法能够提高用户对驾驶模式的调整效率。
第二方面，提供了一种调整油门踏板特性的方法，包括：
接收用户输入的调整目标驾驶模式的指令，并响应所述指令在显示设备上呈现驾驶模式调整用户界面，所述驾驶模式调整用户界面包括第一输入窗口；接收所述用户在所述第一输入窗口中输入的第一参数信息，所述第一参数信息为车速、油门踏板开度或加速信息中的任一个参数；响应所述用户输入的所述第一参数信息，在所述驾驶模式调整用户界面中呈现第二输入窗口；接收所述用户在所述第二输入窗口输入的第二参数信息，所述第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数；根据预设的约束关系在所述第二输入窗口显示第三参数信息，所述三参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息和所述第二参数信息的参数；根据所述第一参数信息、所述第二参数信息和所述第三参数信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
在本申请实施例中，用户可以通过输入设备输入车速、油门踏板开度和加速信息，而不需要基于车辆的当前实时速度和当前输出扭矩，在车辆行驶的过程中调整油门踏板开度，以实现对油门踏板曲线的调整，因此，本申请实施例中的方法，并不限定用户只能在车辆行驶的过程中输入车速、油门踏板开度和加速信息，而且，输入的车速、油门踏板开度或加速信息满足预设的约束关系可以保证所述数据的合理性，便于用户高效地对驾驶模式进行个性化设置。
例如，用户可以在车辆静止(非行驶状态)的情况下，通过输入设备输入车速、油门踏板开度和加速信息，或者，用户也可以在车辆行驶的过程中，通过输入设备输入车速、油门踏板开度和加速信息。
应理解，所述加速信息可以是用户输入的能够用于表示加速强度的加速强度信息，例如，所述加速信息可以是加速强度等级；或者，所述加速信息也可以是车辆的加速度信息或车辆的输出扭矩。
可选地，上述输入设备可以是终端设备，例如，该输入设备可以是手机或笔记本电脑等可移动的或便携的终端设备；或者，该输入设备也可以是台式电脑等其他位置相对较固定的终端设备，本申请实施例对此并不限定。
可选地，上述输入设备也可以是车载设备，例如，该输入设备可以是车载人机交互设备；或者，该输入设备也可以是集成于其他车载设备中的设备，本申请实施例对此并不限定。
用户可以使用现有的各种输入方式在上述输入设备输入车速、油门踏板开度和加速信息，例如，用户可以使用语音输入、物理按键输入、触摸屏输入或手写输入等各种方式在上述输入设备上输入车速、油门踏板开度和加速信息，本申请实施例对此并不限定。
结合第二方面，在第二方面的某些实现方式中，所述第一输入窗口呈现多个候选第一参数信息，所述候选第一参数信息为车速、油门踏板开度或加速信息中的任一个参数，所述接收所述用户在所述第一输入窗口中输入的第一参数信息，包括：接收所述用户在所述第一输入窗口呈现的多个所述候选第一输入信息中选择的所述第一参数信息。
例如，所述第一输入窗口呈现有多个车速，此时，可以接收所述用户在所述第一输入窗口呈现的所述多个车速中选择的车速。
可选地，所述第一输入窗口也可以呈现有多个油门踏板开度。或者，所述第一输入窗口也可以呈现有多个加速信息。
结合第二方面，在第二方面的某些实现方式中，所述第二输入窗口呈现多个候选第二参数信息，所述候选第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数，所述接收所述用户在所述第二输入窗口输入的第二参数信息，包括：接收所述用户在所述第二输入窗口呈现的多个所述候选第二输入信息中选择的所述第二参数信息。
可选地，在所述第一参数信息为车速的情况下，所述第二参数信息可以为油门踏板开度或加速信息。
例如，所述第二输入窗口呈现有多个油门踏板开度，此时，可以接收所述用户在所述第二输入窗口呈现的所述多个油门踏板开度中选择的油门踏板开度。
结合第二方面，在第二方面的某些实现方式中，所述第一输入窗口呈现第一输入框，所述接收所述用户在所述第一输入窗口中输入的第一参数信息，包括：接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的所述第一参数信息。
例如，可以接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的车速。
可选地，还可以接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的油门踏板开度。或者，也可以接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的加速信息。
结合第二方面，在第二方面的某些实现方式中，所述第二输入窗口呈现第二输入框，所述接收所述用户在所述第二输入窗口输入的第二参数信息，包括：接收所述用户在所述第二输入窗口呈现的所述第二输入框中输入的所述第二参数信息。
可选地，在所述第一参数信息为车速的情况下，所述第二参数信息可以为油门踏板开度或加速信息。
例如，可以接收所述用户在所述第二输入窗口呈现的所述第二输入框中输入的油门踏板开度。
第三方面，提供了一种调整油门踏板特性的装置，所述装置包括输入设备和控制器：所述输入设备，用于在用户调整目标驾驶模式时，接收用户输入的车速、油门踏板开度和加速信息，所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的约束关系；所述控制器，用于根据所述车速、所述油门踏板开度和所述加速信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
在本申请实施例中，用户可以输入车速、油门踏板开度和加速信息，而不需要基于车辆的当前实时速度和当前输出扭矩，在车辆行驶的过程中调整油门踏板开度，以实现对油门踏板曲线的调整，因此，本申请实施例中的方法，并不限定用户只能在车辆行驶的过程中输入车速、油门踏板开度和加速信息，而且，输入的车速、油门踏板开度或加速信息满足预设的约束关系可以保证所述数据的合理性，便于用户高效地对驾驶模式进行个性化设置。
例如，用户可以在车辆静止(非行驶状态)的情况下，通过输入设备输入所述车速、所述油门踏板开度和所述加速信息，或者，用户也可以在车辆行驶的过程中，通过输入设备输入所述车速、所述油门踏板开度和所述加速信息。
应理解，所述加速信息可以是用户输入的能够用于表示加速强度的加速强度信息，例如，所述加速信息可以是加速强度等级；或者，所述加速信息也可以是车辆的加速度信息 或车辆的输出扭矩。
可选地，上述输入设备可以是终端设备，例如，该输入设备可以是手机或笔记本电脑等可移动的或便携的终端设备；或者，该输入设备也可以是台式电脑等其他位置相对较固定的终端设备，本申请实施例对此并不限定。
可选地，上述输入设备也可以是车载设备，例如，该输入设备可以是车载人机交互设备；或者，该输入设备也可以是集成于其他车载设备中的设备，本申请实施例对此并不限定。
用户可以使用现有的各种输入方式在上述输入设备输入所述车速、所述油门踏板开度和所述加速信息，例如，用户可以使用语音输入、物理按键输入、触摸屏输入或手写输入等各种方式在上述输入设备上输入所述车速、所述油门踏板开度和所述加速信息，本申请实施例对此并不限定。
结合第三方面，在第三方面的某些实现方式中，所述输入设备还用于：接收用户输入的标志位，所述标志位用于指示调整所述油门踏板特性曲线；其中，所述控制器具体用于：在接收到所述标志位的情况下，根据所述车速、所述油门踏板开度和所述加速信息，调整所述油门踏板特性曲线Pedal MAP。
可选地，所述标志位可以用于表示用户有对(专业模式下的)油门踏板特性曲线进行调整的需求。
结合第三方面，在第三方面的某些实现方式中，所述控制器具体用于：根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，所述N个目标加速度中的每一个目标加速度对应一个车速和一个油门踏板开度，N为大于或等于1的整数；根据所述N个目标加速度，调整所述油门踏板特性曲线Pedal MAP。
结合第三方面，在第三方面的某些实现方式中，所述控制器具体用于：对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，得到N组数据，所述N组数据包括所述车速、所述油门踏板开度和所述加速信息；根据所述N组数据确定所述N个目标加速度，所述N个目标加速度中的每一个目标加速度对应所述N组数据中的一组数据中的车速和油门踏板开度。
在本申请实施例中，对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，可以避免因用户设置的数据变化率过大而使油门踏板特性曲线出现突变，从而可以避免在车辆加速过程中，出现因不同车速下的加速信息突变而引起的加速平顺性下降问题。
需要说明的，在用户输入的加速信息为车辆的输出扭矩的情况下，对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理之后可以得到N组数据，此时，就可以根据所述N组数据得到更新后的油门踏板特性曲线，而不需要对所述N组数据再进行其他处理。
在用户输入的加速信息为车辆的加速度信息的情况下，对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理之后可以得到N组数据，此时，将所述N组数据中的加速度信息转化为输出扭矩后，就可以根据所述N组数据得到更新后的油门踏板特性曲线，而不需要对所述N组数据再进行其他处理。
结合第三方面，在第三方面的某些实现方式中，所述控制器具体用于：根据所述N个 目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩；根据所述N个输出扭矩，调整所述油门踏板特性曲线。
可选地，基线扭矩可以理解为车辆在特定车速下的稳态扭矩，整备质量为车辆的总质量，轮胎半径为车辆的轮胎半径。
结合第三方面，在第三方面的某些实现方式中，所述控制器具体用于：
根据下述公式确定所述N个目标加速度对应的N个输出扭矩：
T(v,k)＝a(v,k)*r*m+T(v)
其中，a(v,k)为目标加速度，车速v和油门踏板开度k与a(v,k)对应，r为轮胎半径，k为整备质量，T(v)为车速v对应的基线扭矩，T(v,k)为所述车速v和所述油门踏板开度k对应的输出扭矩。
结合第三方面，在第三方面的某些实现方式中，所述输入设备具体用于：接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定每组参数数据中的所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的取值范围。
结合第三方面，在第三方面的某些实现方式中，所述输入设备具体用于：接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定所述多组参数数据中的各组之间满足预设的相对关系。
结合第三方面，在第三方面的某些实现方式中，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同。
可选地，所述多组参数数据中的一组参数数据包括的车速、油门踏板开度和加速信息，可以与所述多组参数数据中的另一组参数数据包括的车速、油门踏板开度和加速信息均不相同。
结合第三方面，在第三方面的某些实现方式中，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同。
在本申请实施例中，用户可以同时输入多组参数数据，其中，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同，或者，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同，也就是说，用户可以同时在(车速、油门踏板开度和加速信息中的)多个维度对油门踏板特性曲线进行调整，因此，本申请实施例中的方法有助于能够提高用户对驾驶模式的调整效率。
第四方面，提供了一种调整油门踏板特性的装置，所述装置包括输入设备和控制器：所述输入设备，用于接收用户输入的调整目标驾驶模式的指令，并响应所述指令在显示设备上呈现驾驶模式调整用户界面，所述驾驶模式调整用户界面包括第一输入窗口；所述输入设备，用于接收所述用户在所述第一输入窗口中输入的第一参数信息，所述第一参数信息为车速、油门踏板开度或加速信息中的任一个参数；响应所述用户输入的所述第一参数信息，所述输入设备，用于在所述驾驶模式调整用户界面中呈现第二输入窗口；所述输入设备，用于接收所述用户在所述第二输入窗口输入的第二参数信息，所述第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数；所述输入设备，用于根据预设的约束关系在所述第二输入窗口显示第三参数信息，所述三参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息和所述第二参数信息的参数；所 述控制器，用于根据所述第一参数信息、所述第二参数信息和所述第三参数信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
在本申请实施例中，用户可以通过输入设备输入车速、油门踏板开度和加速信息，而不需要基于车辆的当前实时速度和当前输出扭矩，在车辆行驶的过程中调整油门踏板开度，以实现对油门踏板曲线的调整，因此，本申请实施例中的方法，并不限定用户只能在车辆行驶的过程中输入车速、油门踏板开度和加速信息，而且，输入的车速、油门踏板开度或加速信息满足预设的约束关系可以保证所述数据的合理性，便于用户高效地对驾驶模式进行个性化设置。
例如，用户可以在车辆静止(非行驶状态)的情况下，通过输入设备输入车速、油门踏板开度和加速信息，或者，用户也可以在车辆行驶的过程中，通过输入设备输入车速、油门踏板开度和加速信息。
应理解，所述加速信息可以是用户输入的能够用于表示加速强度的加速强度信息，例如，所述加速信息可以是加速强度等级；或者，所述加速信息也可以是车辆的加速度信息或车辆的输出扭矩。
可选地，上述输入设备可以是终端设备，例如，该输入设备可以是手机或笔记本电脑等可移动的或便携的终端设备；或者，该输入设备也可以是台式电脑等其他位置相对较固定的终端设备，本申请实施例对此并不限定。
可选地，上述输入设备也可以是车载设备，例如，该输入设备可以是车载人机交互设备；或者，该输入设备也可以是集成于其他车载设备中的设备，本申请实施例对此并不限定。
用户可以使用现有的各种输入方式在上述输入设备输入车速、油门踏板开度和加速信息，例如，用户可以使用语音输入、物理按键输入、触摸屏输入或手写输入等各种方式在上述输入设备上输入车速、油门踏板开度和加速信息，本申请实施例对此并不限定。
结合第四方面，在第四方面的某些实现方式中，所述第一输入窗口呈现多个候选第一参数信息，所述候选第一参数信息为车速、油门踏板开度或加速信息中的任一个参数，所述输入设备具体用于：接收所述用户在所述第一输入窗口呈现的多个所述候选第一输入信息中选择的所述第一参数信息。
例如，所述第一输入窗口呈现有多个车速，此时，可以接收所述用户在所述第一输入窗口呈现的所述多个车速中选择的车速。
可选地，所述第一输入窗口也可以呈现有多个油门踏板开度。或者，所述第一输入窗口也可以呈现有多个加速信息。
结合第四方面，在第四方面的某些实现方式中，所述第二输入窗口呈现多个候选第二参数信息，所述候选第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数，所述输入设备具体用于：接收所述用户在所述第二输入窗口呈现的多个所述候选第二输入信息中选择的所述第二参数信息。
可选地，在所述第一参数信息为车速的情况下，所述第二参数信息可以为油门踏板开度或加速信息。
例如，所述第二输入窗口呈现有多个油门踏板开度，此时，可以接收所述用户在所述第二输入窗口呈现的所述多个油门踏板开度中选择的油门踏板开度。
结合第四方面，在第四方面的某些实现方式中，所述第一输入窗口呈现第一输入框，所述输入设备具体用于：接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的所述第一参数信息。
例如，可以接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的车速。
可选地，还可以接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的油门踏板开度。或者，也可以接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的加速信息。
结合第四方面，在第四方面的某些实现方式中，所述第二输入窗口呈现第二输入框，所述输入设备具体用于：接收所述用户在所述第二输入窗口呈现的所述第二输入框中输入的所述第二参数信息。
可选地，在所述第一参数信息为车速的情况下，所述第二参数信息可以为油门踏板开度或加速信息。
例如，可以接收所述用户在所述第二输入窗口呈现的所述第二输入框中输入的油门踏板开度。
第五方面，提供了一种调整油门踏板特性的装置，所述装置包括存储介质和中央处理器，所述存储介质可以是非易失性存储介质，所述存储介质中存储有计算机可执行程序，所述中央处理器与所述非易失性存储介质连接，并执行所述计算机可执行程序以实现所述第一方面或者第一方面的任一可能的实现方式中的方法，或，第二方面或者第二方面的任一可能的实现方式中的方法。
第六方面，提供一种芯片，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，执行第一方面或第一方面的任一可能的实现方式中的方法，或，第二方面或者第二方面的任一可能的实现方式中的方法。
可选地，作为一种实现方式，所述芯片还可以包括存储器，所述存储器中存储有指令，所述处理器用于执行所述存储器上存储的指令，当所述指令被执行时，所述处理器用于执行第一方面或第一方面的任一可能的实现方式中的方法，或，第二方面或者第二方面的任一可能的实现方式中的方法。
第七方面，提供一种计算机可读存储介质，所述计算机可读介质存储用于设备执行的程序代码，所述程序代码包括用于执行第一方面或者第一方面的任一可能的实现方式中的方法的指令，或，第二方面或者第二方面的任一可能的实现方式中的方法。
第八方面，提供一种汽车，所述汽车包括上述第三方面至第五方面所述的调整油门踏板特性的装置。
在本申请实施例中，用户可以输入车速、油门踏板开度和加速信息，而不需要基于车辆的当前实时速度和当前输出扭矩，在车辆行驶的过程中调整油门踏板开度，以实现对油门踏板曲线的调整，因此，本申请实施例中的方法，并不限定用户只能在车辆行驶的过程中输入车速、油门踏板开度和加速信息，而且，输入的车速、油门踏板开度和加速信息满足预设的约束关系可以保证所述数据的合理性，便于用户高效地对驾驶模式进行个性化设置。
附图说明
图1是本申请实施例提供的一种自动驾驶车辆的结构示意图。
图2是本申请实施例提供的一种计算机系统的结构示意图。
图3是本申请实施例提供的一种神经网络处理器的结构示意图。
图4是本申请实施例提供的一种云侧指令自动驾驶车辆的应用示意图。
图5是本申请实施例提供的一种调整油门踏板特性的方法的示意性框图。
图6是适用于本申请实施例提供的调整油门踏板特性的方法的系统架构图。
图7是本申请实施例提供的一种调整油门踏板特性的方法的示意性流程图。
图8是本申请一个实施例中的驾驶模式调整用户界面的示意性框图。
图9是本申请一个实施例中的车辆控制的示意性框图。
图10是本申请实施例提供的一种调整油门踏板特性的装置的结构示意图。
图11是本申请实施例提供的另一种调整油门踏板特性的装置的结构示意图。
图12是本申请实施例提供的再一种调整油门踏板特性的装置的结构示意图。
图13是本申请另一个实施例中的驾驶模式调整用户界面的示意性框图。
图14是本申请另一个实施例中的驾驶模式调整用户界面的示意性框图。
图15是本申请另一个实施例中的驾驶模式调整用户界面的示意性框图。
图16是本申请另一个实施例中的驾驶模式调整用户界面的示意性框图。
图17是本申请另一个实施例中的驾驶模式调整用户界面的示意性框图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
本申请实施例的技术方案可以应用于各种车辆，该车辆具体可以为内燃机车、智能电动车或者混合动力车，或者，该车辆也可以为其他动力类型的车辆等，本申请实施例对此并不限定。
本申请实施例中的车辆可以配置有多种可供选择的驾驶模式，具体可以包括运动模式、经济模式、标准模式、雪地模式及爬坡模式等多种驾驶模式中的一种或多种，还可以包括自动驾驶模式，即本申请实施例中的车辆可以为自动驾驶车辆，该自动驾驶车辆可以在自动驾驶模式和上述多种(驾驶员驾驶车辆的)驾驶模型之间进行切换，其中，该自动驾驶模式可以为完全自动驾驶模式，或者，也可以为部分自动驾驶模式，本申请实施例对此并不限定。
图1是本申请实施例提供的车辆100的功能框图。
在一个实施例中，车辆100可以被配置为完全或部分地自动驾驶模式。
例如，车辆100可以在处于自动驾驶模式中的同时控制自身，并且可通过人为操作来确定车辆及其周边环境的当前状态，确定周边环境中的至少一个其他车辆的可能行为，并确定其他车辆执行可能行为的可能性相对应的置信水平，基于所确定的信息来控制车辆100。在车辆100处于自动驾驶模式中时，可以将车辆100置为在没有和人交互的情况下操作。
车辆100可包括各种子系统，例如行进系统102、传感器系统104、控制系统106、一个或多个外围设备108以及电源110、计算机系统112和用户接口116。
可选地，车辆100可包括更多或更少的子系统，并且每个子系统可包括多个元件。另 外，车辆100的每个子系统和元件可以通过有线或者无线互连。
行进系统102可包括为车辆100提供动力运动的组件。在一个实施例中，推进系统102可包括引擎118、能量源119、传动装置120和车轮/轮胎121。引擎118可以是内燃引擎、电动机、空气压缩引擎或其他类型的引擎组合，例如，汽油发动机和电动机组成的混动引擎，内燃引擎和空气压缩引擎组成的混动引擎。引擎118将能量源119转换成机械能量。
能量源119的示例包括汽油、柴油、其他基于石油的燃料、丙烷、其他基于压缩气体的燃料、乙醇、太阳能电池板、电池和其他电力来源。能量源119也可以为车辆100的其他系统提供能量。
传动装置120可以将来自引擎118的机械动力传送到车轮121。传动装置120可包括变速箱、差速器和驱动轴。
在一个实施例中，传动装置120还可以包括其他器件，比如离合器。其中，驱动轴可包括可耦合到一个或多个车轮121的一个或多个轴。
传感器系统104可包括感测关于车辆100周边的环境的信息的若干个传感器。
例如，传感器系统104可包括定位系统122(定位系统可以是GPS系统，也可以是北斗系统或者其他定位系统)、惯性测量单元(inertial measurement unit，IMU)124、雷达126、激光测距仪128以及相机130。传感器系统104还可包括被监视车辆100的内部系统的传感器(例如，车内空气质量监测器、燃油量表、机油温度表等)。来自这些传感器中的一个或多个的传感器数据可用于检测对象及其相应特性(位置、形状、方向、速度等)。这种检测和识别是自主车辆100的安全操作的关键功能。
定位系统122可用于估计车辆100的地理位置。IMU 124用于基于惯性加速度来感测车辆100的位置和朝向变化。在一个实施例中，IMU 124可以是加速度计和陀螺仪的组合。
雷达126可利用无线电信号来感测车辆100的周边环境内的物体。在一些实施例中，除了感测物体以外，雷达126还可用于感测物体的速度和/或前进方向。
激光测距仪128可利用激光来感测车辆100所位于的环境中的物体。在一些实施例中，激光测距仪128可包括一个或多个激光源、激光扫描器以及一个或多个检测器，以及其他系统组件。
相机130可用于捕捉车辆100的周边环境的多个图像。相机130可以是静态相机或视频相机。
控制系统106为控制车辆100及其组件的操作。控制系统106可包括各种元件，其中包括转向系统132、油门134、制动单元136、传感器融合算法138、计算机视觉系统140、路线控制系统142以及障碍物避免系统144。
转向系统132可操作来调整车辆100的前进方向。例如在一个实施例中可以为方向盘系统。
油门134用于控制引擎118的操作速度并进而控制车辆100的速度。
制动单元136用于控制车辆100减速。制动单元136可使用摩擦力来减慢车轮121。在其他实施例中，制动单元136可将车轮121的动能转换为电流。制动单元136也可采取其他形式来减慢车轮121转速从而控制车辆100的速度。
计算机视觉系统140可以操作来处理和分析由相机130捕捉的图像以便识别车辆100 周边环境中的物体和/或特征。所述物体和/或特征可包括交通信号、道路边界和障碍物。计算机视觉系统140可使用物体识别算法、运动中恢复结构(Structure from Motion，SFM)算法、视频跟踪和其他计算机视觉技术。在一些实施例中，计算机视觉系统140可以用于为环境绘制地图、跟踪物体、估计物体的速度等等。
路线控制系统142用于确定车辆100的行驶路线。在一些实施例中，路线控制系统142可结合来自传感器138、GPS 122和一个或多个预定地图的数据以为车辆100确定行驶路线。
障碍物避免系统144用于识别、评估和避免或者以其他方式越过车辆100的环境中的潜在障碍物。
当然，在一个实例中，控制系统106可以增加或替换地包括除了所示出和描述的那些以外的组件。或者也可以减少一部分上述示出的组件。
车辆100通过外围设备108与外部传感器、其他车辆、其他计算机系统或用户之间进行交互。外围设备108可包括无线通信系统146、车载电脑148、麦克风150和/或扬声器152。
在一些实施例中，外围设备108提供车辆100的用户与用户接口116交互的手段。例如，车载电脑148可向车辆100的用户提供信息。用户接口116还可操作车载电脑148来接收用户的输入。车载电脑148可以通过触摸屏进行操作。在其他情况中，外围设备108可提供用于车辆100与位于车内的其它设备通信的手段。例如，麦克风150可从车辆100的用户接收音频(例如，语音命令或其他音频输入)。类似地，扬声器152可向车辆100的用户输出音频。
无线通信系统146可以直接地或者经由通信网络来与一个或多个设备无线通信。例如，无线通信系统146可使用3G蜂窝通信，例如CDMA、EVD0、GSM/GPRS，或者4G蜂窝通信，例如LTE。或者5G蜂窝通信。无线通信系统146可利用WiFi与无线局域网(wireless local area network，WLAN)通信。在一些实施例中，无线通信系统146可利用红外链路、蓝牙或ZigBee与设备直接通信。其他无线协议，例如各种车辆通信系统，例如，无线通信系统146可包括一个或多个专用短程通信(dedicated short range communications，DSRC)设备，这些设备可包括车辆和/或路边台站之间的公共和/或私有数据通信。
电源110可向车辆100的各种组件提供电力。在一个实施例中，电源110可以为可再充电锂离子或铅酸电池。这种电池的一个或多个电池组可被配置为电源为车辆100的各种组件提供电力。在一些实施例中，电源110和能量源119可一起实现，例如一些全电动车中那样。
车辆100的部分或所有功能受计算机系统112控制。计算机系统112可包括至少一个处理器113，处理器113执行存储在例如数据存储装置114这样的非暂态计算机可读介质中的指令115。计算机系统112还可以是采用分布式方式控制车辆100的个体组件或子系统的多个计算设备。
处理器113可以是任何常规的处理器，诸如商业可获得的CPU。可选地，该处理器可以是诸如ASIC或其它基于硬件的处理器的专用设备。尽管图1功能性地图示了处理器、存储器、和在相同块中的计算机110的其它元件，但是本领域的普通技术人员应该理解该 处理器、计算机、或存储器实际上可以包括可以或者可以不存储在相同的物理外壳内的多个处理器、计算机、或存储器。例如，存储器可以是硬盘驱动器或位于不同于计算机110的外壳内的其它存储介质。因此，对处理器或计算机的引用将被理解为包括对可以或者可以不并行操作的处理器或计算机或存储器的集合的引用。不同于使用单一的处理器来执行此处所描述的步骤，诸如转向组件和减速组件的一些组件每个都可以具有其自己的处理器，所述处理器只执行与特定于组件的功能相关的计算。
在此处所描述的各个方面中，处理器可以位于远离该车辆并且与该车辆进行无线通信。在其它方面中，此处所描述的过程中的一些在布置于车辆内的处理器上执行而其它则由远程处理器执行，包括采取执行单一操纵的必要步骤。
在一些实施例中，数据存储装置114可包含指令115(例如，程序逻辑)，指令115可被处理器113执行来执行车辆100的各种功能，包括以上描述的那些功能。数据存储装置114也可包含额外的指令，包括向推进系统102、传感器系统104、控制系统106和外围设备108中的一个或多个发送数据、从其接收数据、与其交互和/或对其进行控制的指令。
除了指令115以外，数据存储装置114还可存储数据，例如道路地图、路线信息，车辆的位置、方向、速度以及其它这样的车辆数据，以及其他信息。这种信息可在车辆100在自主、半自主和/或手动模式中操作期间被车辆100和计算机系统112使用。
用户接口116，用于向车辆100的用户提供信息或从其接收信息。可选地，用户接口116可包括在外围设备108的集合内的一个或多个输入/输出设备，例如无线通信系统146、车车在电脑148、麦克风150和扬声器152。
计算机系统112可基于从各种子系统(例如，行进系统102、传感器系统104和控制系统106)以及从用户接口116接收的输入来控制车辆100的功能。例如，计算机系统112可利用来自控制系统106的输入以便控制转向单元132来避免由传感器系统104和障碍物避免系统144检测到的障碍物。在一些实施例中，计算机系统112可操作来对车辆100及其子系统的许多方面提供控制。
可选地，上述这些组件中的一个或多个可与车辆100分开安装或关联。例如，数据存储装置114可以部分或完全地与车辆100分开存在。上述组件可以按有线和/或无线方式来通信地耦合在一起。
可选地，上述组件只是一个示例，实际应用中，上述各个模块中的组件有可能根据实际需要增添或者删除，图1不应理解为对本申请实施例的限制。
在道路行进的自动驾驶汽车，如上面的车辆100，可以识别其周围环境内的物体以确定对当前速度的调整。所述物体可以是其它车辆、交通控制设备、或者其它类型的物体。在一些示例中，可以独立地考虑每个识别的物体，并且基于物体的各自的特性，诸如它的当前速度、加速度、与车辆的间距等，可以用来确定自动驾驶汽车所要调整的速度。
可选地，自动驾驶汽车车辆100或者与自动驾驶车辆100相关联的计算设备(如图1的计算机系统112、计算机视觉系统140、数据存储装置114)可以基于所识别的物体的特性和周围环境的状态(例如，交通、雨、道路上的冰、等等)来预测所述识别的物体的行为。可选地，每一个所识别的物体都依赖于彼此的行为，因此还可以将所识别的所有物体全部一起考虑来预测单个识别的物体的行为。车辆100能够基于预测的所述识别的物体的 行为来调整它的速度。换句话说，自动驾驶汽车能够基于所预测的物体的行为来确定车辆将需要调整到(例如，加速、减速、或者停止)什么稳定状态。在这个过程中，也可以考虑其它因素来确定车辆100的速度，诸如，车辆100在行驶的道路中的横向位置、道路的曲率、静态和动态物体的接近度等等。
除了提供调整自动驾驶汽车的速度的指令之外，计算设备还可以提供修改车辆100的转向角的指令，以使得自动驾驶汽车遵循给定的轨迹和/或维持与自动驾驶汽车附近的物体(例如，道路上的相邻车道中的轿车)的安全横向和纵向距离。
上述车辆100可以为轿车、卡车、摩托车、公共汽车、船、飞机、直升飞机、割草机、娱乐车、游乐场车辆、施工设备、电车、高尔夫球车、火车、和手推车等，本申请实施例不做特别的限定。
图2是本申请实施例提供的自动驾驶系统的示意图。
如图2所示的自动驾驶系统包括计算机系统101，其中，计算机系统101包括处理器103，处理器103和系统总线105耦合。处理器103可以是一个或者多个处理器，其中每个处理器都可以包括一个或多个处理器核。显示适配器(video adapter)107，显示适配器可以驱动显示器109，显示器109和系统总线105耦合。系统总线105通过总线桥111和输入输出(I/O)总线113耦合。I/O接口115和I/O总线耦合。I/O接口115和多种I/O设备进行通信，比如输入设备117(如：键盘，鼠标，触摸屏等)，多媒体盘(media tray)121,(例如，CD-ROM，多媒体接口等)。收发器123(可以发送和/或接受无线电通信信号)，摄像头155(可以捕捉景田和动态数字视频图像)和外部USB接口125。其中，可选地，和I/O接口115相连接的接口可以是USB接口。
其中，处理器103可以是任何传统处理器，包括精简指令集计算(reduced instruction set computer，RISC)处理器、复杂指令集计算(complex instruction set computer，CISC)处理器或上述的组合。可选地，处理器可以是诸如专用集成电路(application specific integrated circuit，ASIC)的专用装置。可选地，处理器103可以是神经网络处理器或者是神经网络处理器和上述传统处理器的组合。
可选地，在本文所述的各种实施例中，计算机系统101可位于远离自动驾驶车辆的地方，并且可与自动驾驶车辆无线通信。在其它方面，本文所述的一些过程在设置在自动驾驶车辆内的处理器上执行，其它由远程处理器执行，包括采取执行单个操纵所需的动作。
计算机101可以通过网络接口129和软件部署服务器149通信。网络接口129是硬件网络接口，比如，网卡。网络127可以是外部网络，比如因特网，也可以是内部网络，比如以太网或者虚拟私人网络(virtual private network，VPN)。可选地，网络127还可以是无线网络，比如WiFi网络，蜂窝网络等。
硬盘驱动接口和系统总线105耦合。硬件驱动接口和硬盘驱动器相连接。系统内存135和系统总线105耦合。运行在系统内存135的数据可以包括计算机101的操作系统137和应用程序143。
操作系统包括解析器139(shell)和内核141(kernel)。shell 139是介于使用者和操作系统之内核(kernel)间的一个接口。shell是操作系统最外面的一层。shell管理使用者与操作系统之间的交互:等待使用者的输入，向操作系统解释使用者的输入，并且处理各种各样的操作系统的输出结果。
内核141由操作系统中用于管理存储器、文件、外设和系统资源的那些部分组成。直接与硬件交互，操作系统内核通常运行进程，并提供进程间的通信，提供CPU时间片管理、中断、内存管理、IO管理等等。
应用程序143包括控制汽车自动驾驶相关的程序，比如，管理自动驾驶的汽车和路上障碍物交互的程序，控制自动驾驶汽车路线或者速度的程序，控制自动驾驶汽车和路上其他自动驾驶汽车交互的程序。应用程序143也存在于deploying server 149的系统上。在一个实施例中，在需要执行应用程序147时，计算机系统101可以从deploying server14下载应用程序143。
例如，应用程序141还可以是控制自动驾驶车辆避免与其它车辆碰撞，安全通过交叉路口的程序。
传感器153和计算机系统101关联。传感器153用于探测计算机101周围的环境。举例来说，传感器153可以探测动物，汽车，障碍物和人行横道等，进一步传感器还可以探测上述动物，汽车，障碍物和人行横道等物体周围的环境，比如：动物周围的环境，例如，动物周围出现的其他动物，天气条件，周围环境的光亮度等。可选地，如果计算机101位于自动驾驶的汽车上，传感器可以是摄像头，红外线感应器，化学检测器，麦克风等。
示例性地，传感器153可以根据探测到周围道路情况和其它其他车辆情况，预测其他车辆的行驶轨迹。
例如，若其他车辆所在的道路前方无交叉路口，传感器153可以根据探测到当前其他车辆所在的车道，确定其他车辆的预测行驶轨迹。
例如，若其他车辆所在的车道前方有交叉路口，传感器153可以根据探测到当前其他车辆所在的车道以及其他车辆的变道信号灯情况，确定其他车辆的预测行驶轨迹。
例如，传感器153可以通过预先训练的神经网络输入当前其他车辆的位置信息，得到其他车辆的预测行驶轨迹。预先训练的神经网络可以是通过大量训练样本数据，比如，训练数据可以包括探测到车辆当前的行驶信息以及预设时段后其他车辆的行驶信息。传感器153可以基于训练数据训练得到目标模型，该目标模型可以用于根据车辆当前的行驶信息确定车辆的预测行驶信息。传感器153对输入的车辆当前的行驶信息进行处理，将输出的预测行驶信息与预设时段后车辆实际的行驶信息进行对比，直到传感器153输出的预测行驶信息与车辆实际的行驶信息的差值小于一定的阈值，从而完成目标模型的训练。
图3为本申请实施例提供的一种芯片硬件结构，该芯片包括神经网络处理器20。该芯片可以被设置在如图2所示的传感器153中，用以完成确定其他车辆的预测行驶轨迹。预训练的神经网络中各层的算法均可在如图3所示的芯片中得以实现。
本申请实施例中的调整油门踏板特性的方法也可以在如图3所示的芯片中得以实现，其中，该芯片可以与实现上述预训练的神经网络的芯片是同一个芯片，或者，该芯片也可以与实现上述预训练的神经网络的芯片是不同的芯片，本申请实施例对此并不限定。
在一些实现中，运算电路203内部包括多个处理单元(process engine,PE)。在一些实现中，运算电路203是二维脉动阵列。运算电路203还可以是一维脉动阵列或者能够执行例如乘法和加法这样的数学运算的其它电子线路。在一些实现中，运算电路203是通用的矩阵处理器。
举例来说，假设有输入矩阵A，权重矩阵B，输出矩阵C。运算电路从权重存储器 202中取矩阵B相应的数据，并缓存在运算电路中每一个PE上。运算电路从输入存储器201中取矩阵A数据与矩阵B进行矩阵运算，得到的矩阵的部分结果或最终结果，保存在累加器(accumulator)208中。
向量计算单元207可以对运算电路的输出做进一步处理，如向量乘，向量加，指数运算，对数运算，大小比较等等。例如，向量计算单元207可以用于神经网络中非卷积/非FC层的网络计算，如池化(pooling)，批归一化(batch normalization)，局部响应归一化(local response normalization)等。
在一些实现种，向量计算单元能207将经处理的输出的向量存储到统一缓存器206。例如，向量计算单元207可以将非线性函数应用到运算电路203的输出，例如累加值的向量，用以生成激活值。在一些实现中，向量计算单元207生成归一化的值、合并值，或二者均有。在一些实现中，处理过的输出的向量能够用作到运算电路203的激活输入，例如，用于在神经网络中的后续层中的使用。
统一存储器206用于存放输入数据以及输出数据。
权重数据直接通过存储单元访问控制器205(direct memory access controller，DMAC)将外部存储器中的输入数据搬运到输入存储器201和/或统一存储器206、将外部存储器中的权重数据存入权重存储器202，以及将统一存储器206中的数据存入外部存储器。
总线接口单元(bus interface unit，BIU)210，用于通过总线实现主CPU、DMAC和取指存储器209之间进行交互。
与控制器204连接的取指存储器(instruction fetch buffer)509，用于存储控制器504使用的指令；
控制器204，用于调用取指存储器209中缓存的指令，实现控制该运算加速器的工作过程。
一般地，统一存储器206，输入存储器201，权重存储器202以及取指存储器209均为片上(On-Chip)存储器，外部存储器为该NPU外部的存储器，该外部存储器可以为双倍数据率同步动态随机存储器(double data rate synchronous dynamic random access memory,DDR SDRAM)、高带宽存储器(high bandwidth memory，HBM)或其他可读可写的存储器。
计算机系统112还可以从其它计算机系统接收信息或转移信息到其它计算机系统。或者，从车辆100的传感器系统104收集的传感器数据可以被转移到另一个计算机对此数据进行处理。
例如，如图4所示，来自计算机系统312的数据可以经由网络被传送到云侧的服务器320用于进一步的处理。网络以及中间节点可以包括各种配置和协议，包括因特网、万维网、内联网、虚拟专用网络、广域网、局域网、使用一个或多个公司的专有通信协议的专用网络、以太网、WiFi和HTTP、以及前述的各种组合。这种通信可以由能够传送数据到其它计算机和从其它计算机传送数据的任何设备，诸如调制解调器和无线接口。
在一个示例中，服务器320可以包括具有多个计算机的服务器，例如负载均衡服务器群，为了从计算机系统312接收、处理并传送数据的目的，其与网络的不同节点交换信息。该服务器可以被类似于计算机系统312配置，具有处理器330、存储器340、指令350、和数据360。
示例性地，服务器320的数据360可以包括自动驾驶车辆周围道路情况的相关信息。例如，服务器320可以接收、检测、存储、更新、以及传送与自动驾驶车辆道路情况的相关信息。
例如，自动驾驶车辆周围道路情况的相关信息包括与自动驾驶车辆的预测行驶路径具有交汇点的其他车辆的位置信息以及运动参数的信息，比如，其他车辆当前的位置信息、其他车辆的速度信息、其他车辆的预测行驶轨迹信息等。
目前，不论是传统汽车还是电动汽车，大多数车辆都为驾驶员提供了可选择的驾驶模式，常见的驾驶模式一般包括：运动模式(sport mode，sport)、经济模式(economic mode，ECO)、标准模式(normal mode，normal)、雪地模式及爬坡模式等，不同模式之间的差异主要体现在油门踏板特性曲线、换挡控制、转向控制、悬架控制、空调控制等方面，其中对驾驶员影响最大、最直接的是油门踏板特性曲线(pedal map)。
油门踏板特性曲线是一种描述油门踏板开度、车速与需求目标扭矩之间关系的曲线，该曲线以表格的形式固化在控制器中。一般来说，不同的驾驶模式配置有不同的油门踏板特性曲线，当驾驶员选择不同的驾驶模式时，即选择了不同的油门踏板特性曲线。在车辆驾驶过程中，控制器可以根据驾驶员踩下的油门踏板开度和当前车速，查询油门踏板特性曲线得到一个目标输出扭矩，动力系统按照这个目标输出扭矩进行动力输出。
为了满足不同驾驶员个性化的驾驶需求，部分汽车还会提供专业模式(或者也可以称为个性化模式)，驾驶员可以根据个人喜好对专业模式进行调整。但是，目前专业模式的调整效率普遍较低，同时，也不方便驾驶员进行操作。
例如，在车辆行驶的过程中，在当前的实时车速下，驾驶员可以(用脚)去调整油门踏板开度的位移(或角度)，以改变(当前驾驶模式中)油门踏板特性曲线(pedal map)中当前实时车速及当前输出扭矩对应的油门踏板开度(即当前油门踏板开度)。可以看出，该方法每次只能在一个维度去改变油门踏板特性曲线中的一个点，调整的效率较低，而且，需要在行驶过程中进行调整，具有一定的危险性。
再例如，驾驶员可以通过改变车辆中预置的传递函数，去调整油门踏板开度的解析值，从而实现对油门踏板特性曲线的调整，但是，该方法对油门踏板特性曲线的调整程度十分有限，驾驶员只能选择预先设置好的传递函数，无法完全实现驾驶员对驾驶模式的个性化调整，对驾驶模式的调节程度十分有限。
因此，本申请提出一种调整油门踏板特性的方法，便于用户高效地对驾驶模式进行个性化设置。
图5是本申请一个实施例的调整油门踏板特性的方法500的示意性框图。该方法500可以由车辆中的输入设备和控制器执行。
其中，所述控制器可以为车辆中的整车控制器，所述输入设备可以是车辆中的车载人机交互设备；或者，该输入设备也可以是集成于车辆中的其他车载设备中的设备，本申请实施例对此并不限定。
可选地，所述输入设备还可以是用户终端设备，例如，所述输入设备可以是手机或笔记本电脑等可移动的或便携的终端设备；或者，该输入设备也可以是台式电脑等其他位置相对较固定的终端设备，本申请实施例对此并不限定。
应理解，图5示出了方法500的步骤或操作，但这些步骤或操作仅是示例，本申请实 施例还可以执行其他操作或者图5中方法500的各个操作的变形，或者，并不是所有步骤都需要执行，或者，这些步骤可以按照其他顺序执行。
S510，在用户调整目标驾驶模式时，接收用户输入的车速、油门踏板开度和加速信息。
其中，所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的约束关系。
可选地，所述用户可以是指车辆的驾驶员，所述目标驾驶模式可以是指专业模式。例如，在专业模式不满足用户的驾驶需求时，用户可以使用图5中的方法500调整专业模式的油门踏板特性曲线Pedal MAP。
应理解，所述加速信息可以是用户输入的能够用于表示加速强度的加速强度信息，例如，所述加速信息可以是加速强度等级；或者，所述加速信息也可以是车辆的加速度信息或车辆的输出扭矩。
在本申请实施例中，一个车速及其对应的油门踏板开度和加速信息可以称为一组参数数据。
在上述S510中，可以接收用户输入的一组参数数据或多组参数数据，每组参数数据包括对应的车速、油门踏板开度和加速信息。
可选地，所述约束关系可以用于限定每组参数数据中的所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的取值范围；
可选地，在用户输入多组参数数据的情况下，所述约束关系还可以用于限定所述多组参数数据中的各组之间满足预设的相对关系。
用户可以使用现有的各种输入方式在上述输入设备输入所述车速、所述油门踏板开度和所述加速信息，例如，用户可以使用语音输入、物理按键输入、触摸屏输入或手写输入等各种方式在上述输入设备上输入所述车速、所述油门踏板开度和所述加速信息，本申请实施例对此并不限定。
可选地，用户可以通过以下几种方式输入车速、油门踏板开度和加速信息。
应理解，下述几种输入方式仅为示例而非限定，本申请实施例对具体的输入方式并不限定。
方式一：
可选地，用户可以利用具有可视化界面的输入设备，通过在可视化界面上进行选择的方式输入所述数据。其中，所述输入设备可以为移动设备或车载设备。
在一种可能的实现方式中，用户可以通过图8所示的用户界面输入车速、油门踏板开度和加速信息。
应理解，图8中的各个模块(或窗口)的样式和布局仅为示例而限定，图8所示的用户界面可以包括更多或者更少的模块(或窗口)。
如图8所示，用户界面的左侧(图8中的807)呈现有多个不同的车速，用户在输入数据时，可以先在用户界面的左侧(图8中的807)选择需要设置的车速，随后会在用户界面的右侧弹出油门踏板开度和加速信息的输入窗口(图8中的808)，输入窗口中呈现有多个不同的油门踏板开度和多个不同的加速信息，此时，用户可以在右侧的输入窗口里选择油门踏板开度及其对应的加速信息。
例如，如图8所示，用户界面中呈现有多个不同的车速，用户可以先在用户界面的左 侧(图8中的807)选择需要设置的车速100km/h，相应地，会在用户界面的右侧弹出油门踏板开度和加速信息的输入窗口(图8中的808)，此时，用户可以通过滑动输入窗口中的滑块A来选择20％的油门踏板开度对应的加速信息，通过滑动输入窗口中的滑块B来选择60％的油门踏板开度对应的加速信息，通过滑动输入窗口中的滑块C来选择90％的油门踏板开度对应的加速信息，在选择完各个油门踏板开度对应的加速信息后，通过“确认”键完成车速100km/h对应的油门踏板开度和加速信息的设置。
在完成车速100km/h对应的油门踏板开度和加速信息的设置后，用户可以继续设置其他车速对应的油门踏板开度和加速信息。
需要说明的是，上述用户输入的车速、油门踏板开度和加速信息可以满足预设的约束关系，所述约束关系可以用于限定用户可选择的选项(数值)均为合理的值(或在合理的范围内)。
可选地，所述约束关系可以包括每组车速、油门踏板开度和加速信息中的组内约束关系，也可以包括各组车速、油门踏板开度和加速信息之间的组间约束关系。
其中，所述组内约束关系可以用于限定每组中的所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的取值范围，所述组内约束关系可以保证每组车速、油门踏板开度和加速信息中的车速、油门踏板开度及加速信息均在合理的范围内。
例如，用户选择车速100km/h后，通过滑块A来选择20％的油门踏板开度对应的加速信息时，该滑块A的取值范围可以被限定为1-5之间，通过滑块B来选择60％的油门踏板开度对应的加速信息时，该滑块B的取值范围可以被限定为3-8之间，通过滑块C来选择90％的油门踏板开度对应的加速信息时，该滑块C的取值范围可以被限定为5-10之间。
所述组间约束关系可以用于限定所述多组参数数据中的各组之间满足预设的相对关系。
例如，用户选择车速100km/h后，通过滑块A来选择20％的油门踏板开度对应的加速信息为3时，所述组间约束关系可以限定：通过滑块B来选择60％的油门踏板开度对应的加速信息大于3。
相应地，所述组间约束关系可以限定：通过滑块C来选择90％的油门踏板开度对应的加速信息大于上述通过滑块B选择的加速信息。
可选地，可以在输入设备中预先设置所述约束关系，以确保用户选择的选项(数值)均为合理的值(或在合理的范围内)。
用户在完成各个车速对应的油门踏板开度和加速信息的设置后，可以点击“设置完成”键保存输入的车速、油门踏板开度和加速信息。
在另一种可能的实现方式中，如图13所示，用户在输入车速、油门踏板开度和加速信息时，可以先在用户界面中选择需要设置的油门踏板开度，随后会在用户界面中弹出车速和加速信息的输入窗口，此时，用户可以在弹出的输入窗口里选择各个车速及其对应的加速信息。具体输入过程与上述图8所示的实施例类似，这里不再赘述。
在另一种可能的实现方式中，如图14所示，用户在输入车速、油门踏板开度和加速信息时，可以先在用户界面中选择需要设置的加速信息，随后会在用户界面中弹出车速和油门踏板开度的输入窗口，此时，用户可以在弹出的输入窗口里选择各个车速及其对应的 车速和油门踏板开度。具体输入过程与上述图8所示的实施例类似，这里不再赘述。
方式二：
可选地，用户可以利用具有可视化界面的输入设备，通过在可视化界面上输入数字的方式输入所述数据。其中，所述输入设备可以为移动设备或车载设备。
在一种可能的实现方式中，用户可以通过图15所示的用户界面输入车速、油门踏板开度和加速信息。
应理解，图15中的各个模块(或窗口)的样式和布局仅为示例而限定，图11所示的用户界面可以包括更多或者更少的模块(或窗口)。
例如，如图15所示，用户界面的左侧(图15中的1507)呈现有第一输入框，用户可以先在用户界面中的第一输入框输入需要设置的车速100km/h，相应地，会在用户界面中弹出油门踏板开度和加速信息的输入窗口(图15中的1508)，所述输入窗口呈现有多个第二输入框，此时，用户可以在输入窗口中的一个第二输入框中输入20％的油门踏板开度及其对应的加速信息，在输入窗口中的另一个第二输入框中输入60％的油门踏板开度及其对应的加速信息，在输入窗口中的再一个第二输入框中输入90％的油门踏板开度及其对应的加速信息，在输入完各个油门踏板开度及其对应的加速信息后，通过“确认”键完成车速100km/h对应的油门踏板开度和加速信息的设置。
在完成车速100km/h对应的油门踏板开度和加速信息的设置后，用户可以继续设置其他车速对应的油门踏板开度和加速信息。
需要说明的是，上述用户输入的车速、油门踏板开度和加速信息可以满足预设的约束关系，所述约束关系可以用于限定用户输入的数值均为合理的值(或在合理的范围内)。
可选地，所述约束关系可以包括每组车速、油门踏板开度和加速信息中的组内约束关系，也可以包括各组车速、油门踏板开度和加速信息之间的组间约束关系。
其中，所述组内约束关系可以用于限定每组中的所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的取值范围，所述组内约束关系可以保证每组车速、油门踏板开度和加速信息中的车速、油门踏板开度及加速信息均在合理的范围内。
例如，用户输入车速100km/h后，在设置窗口中的一个输入框中输入20％的油门踏板开度对应的加速信息时，该加速信息的取值范围可以被限定为1-5之间，在设置窗口中的一个输入框中输入60％的油门踏板开度对应的加速信息时，该加速信息的取值范围可以被限定为3-8之间，在设置窗口中的一个输入框中输入90％的油门踏板开度对应的加速信息时，该加速信息的取值范围可以被限定为5-10之间。
所述组间约束关系可以用于限定所述多组参数数据中的各组之间满足预设的相对关系。
例如，用户输入车速100km/h后，在输入窗口中的一个第二输入框中输入20％的油门踏板开度对应的加速信息为3时，所述组间约束关系可以限定：在设置窗口中的另一个第二输入框中输入的60％的油门踏板开度对应的加速信息大于3。
相应地，所述组间约束关系可以限定：在设置窗口中的再一个第二输入框中输入的90％的油门踏板开度对应的加速信息大于上述输入的60％的油门踏板开度对应的加速信息。
可选地，可以在输入设备中预先设置所述约束关系，以确保用户选择的选项(数值) 均为合理的值(或在合理的范围内)。
用户在完成各个车速对应的油门踏板开度和加速信息的设置后，可以点击“设置完成”键保存输入的车速、油门踏板开度和加速信息。
在另一种可能的实现方式中，如图16所示，用户在输入数据时，可以先在用户界面中输入需要设置的油门踏板开度，随后会在用户界面中弹出车速和加速信息的输入窗口，此时，用户可以在弹出的输入窗口里输入各个车速及其对应的加速信息。具体输入过程与上述图15所示的实施例类似，这里不再赘述。
在另一种可能的实现方式中，如图17所示，用户在输入数据时，可以先在用户界面中输入需要设置的加速信息，随后会在用户界面中弹出车速和油门踏板开度的输入窗口，此时，用户可以在弹出的输入窗口里输入各个车速及其对应的车速和油门踏板开度。具体输入过程与上述图15所示的实施例类似，这里不再赘述。
方式三：
可选地，用户可以利用具有语音识别功能的输入设备，通过语音的方式输入所述数据。其中，所述输入设备可以为移动设备或车载设备。
例如，用户可以先通过语音的方式输入需要设置的车速100km/h，相应地，输入设备会提示用户通过语音的方式输入弹出油门踏板开度和加速信息，此时，用户可以根据输入设备的语音提示，通过语音的方式输入20％的油门踏板开度及其对应的加速信息，根据输入设备的语音提示，通过语音的方式输入60％的油门踏板开度及其对应的加速信息，根据输入设备的语音提示，通过语音的方式输入90％的油门踏板开度及其对应的加速信息，在输入完各个油门踏板开度及其对应的加速信息后，可以根据输入设备的语音提示，通过语音的方式完成车速100km/h对应的油门踏板开度和加速信息的设置。
在完成车速100km/h对应的油门踏板开度和加速信息的设置后，用户可以继续设置其他车速对应的油门踏板开度和加速信息。
需要说明的是，上述用户输入的所述车速、油门踏板开度和加速信息可以满足预设的约束关系，所述约束关系可以用于限定用户输入的数值均为合理的值(或在合理的范围内)。
可选地，所述约束关系可以包括每组车速、油门踏板开度和加速信息中的组内约束关系，也可以包括各组车速、油门踏板开度和加速信息之间的组间约束关系。
其中，所述组内约束关系可以用于限定每组中的所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的取值范围，所述组内约束关系可以保证每组车速、油门踏板开度和加速信息中的车速、油门踏板开度及加速信息均在合理的范围内。
例如，用户通过语音的方式输入车速100km/h后，用户可以根据输入设备的语音提示，通过语音的方式输入20％的油门踏板开度及其对应的加速信息，该加速信息的取值范围可以被限定为1-5之间，当用户输入的数值超出这个取值范围时，输入设备可以发出语音提示；根据输入设备的语音提示，通过语音的方式输入60％的油门踏板开度及其对应的加速信息，该加速信息的取值范围可以被限定为3-8之间，当用户输入的数值超出这个取值范围时，输入设备可以发出语音提示；根据输入设备的语音提示，通过语音的方式输入90％的油门踏板开度及其对应的加速信息，该加速信息的取值范围可以被限定为5-10之间，当用户输入的数值超出这个取值范围时，输入设备可以发出语音提示。
所述组间约束关系可以用于限定所述多组参数数据中的各组之间满足预设的相对关系。
例如，用户通过语音的方式输入车速100km/h后，根据输入设备的语音提示，通过语音的方式输入20％的油门踏板开度对应的加速信息为3时，所述组间约束关系可以限定：用户通过语音的方式输入60％的油门踏板开度对应的加速信息大于3。
相应地，所述组间约束关系可以限定：用户通过语音的方式输入90％的油门踏板开度对应的加速信息大于上述输入的60％的油门踏板开度对应的加速信息。
可选地，可以在输入设备中预先设置所述约束关系，以确保用户选择的选项(数值)均为合理的值(或在合理的范围内)。
用户在完成各个车速对应的油门踏板开度和加速信息的设置后，可以根据输入设备的语音提示，确认保存输入的数据。
在另一种可能的实现方式中，用户在输入数据时，可以先通过语音的方式输入需要设置的油门踏板开度，随后根据输入设备的语音提示，用户可以通过语音的方式输入各个车速及其对应的加速信息。具体输入过程与上述方式三的实施例类似，这里不再赘述。
在另一种可能的实现方式中，用户在输入数据时，可以先通过语音的方式输入需要设置的加速信息，随后根据输入设备的语音提示，用户可以通过语音的方式输入各个车速及其对应的车速和油门踏板开度。具体输入过程与上述方式三的实施例类似，这里不再赘述。
在本申请实施例中，用户可以输入车速、油门踏板开度和加速信息，而不需要基于车辆的当前实时车速和当前输出扭矩，在车辆行驶的过程中调整油门踏板开度，以实现对油门踏板曲线的调整，因此，本申请实施例中的方法，并不限定用户只能在车辆行驶的过程中输入车速、油门踏板开度和加速信息，而且，输入的车速、油门踏板开度和加速信息满足预设的约束关系可以保证所述数据的合理性，便于用户高效地对驾驶模式进行个性化设置。
例如，用户可以在车辆静止(非行驶状态)的情况下，通过输入设备输入车速、油门踏板开度和加速信息，或者，用户也可以在车辆行驶的过程中，通过输入设备输入车速、油门踏板开度和加速信息。
在本申请实施例中，用户可以同时输入多组车速、油门踏板开度和加速信息，从而可以使用户同时调整油门踏板曲线中的多组数据，使用户高效地对驾驶模式进行个性化设置，因此，能够提高驾驶模式的调整效率。
可选地，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同。可选地，所述多组参数数据中的一组参数数据包括的车速、油门踏板开度和加速信息，可以与所述多组参数数据中的另一组参数数据包括的车速、油门踏板开度和加速信息均不相同。
可选地，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同。
也就是说，用户可以同时输入多组参数数据，其中，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同，或者，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同，也就是说，用户可以同时在(车速、油门踏板开度和加速信息中的)多个维度对油门踏板特性曲线进行调整， 因此，本申请实施例中的方法有助于能够提高用户对驾驶模式的调整效率。
可选地，所述方法500还可以包括：接收用户输入的标志位，所述标志位可以用于指示调整所述油门踏板特性曲线。
进一步地，在接收到所述标志位的情况下，可以根据所述车速、所述油门踏板开度和所述加速信息，调整所述油门踏板特性曲线Pedal MAP。
可选地，所述标志位可以用于表示用户有对(专业模式下的)油门踏板特性曲线进行调整的需求。
例如，在输入数据后，在用户通过用户界面确认完成车速、油门踏板开度和加速信息的输入时，可以自动触发输入设备向车辆发送所述标志位；或者，在确认完成车速、油门踏板开度和加速信息的输入后，用户可以再通过用户界面向车辆发送所述标志位。
相应地，车辆在接收到所述标志位后，可以根据用户输入的车速、油门踏板开度和加速信息，对油门踏板特性曲线进行调整。
S520，根据所述车速、所述油门踏板开度和所述加速信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
可选地，所述根据所述车速、所述油门踏板开度和所述加速信息，调整油门踏板特性曲线，可以包括：根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，所述N个目标加速度中的每一个目标加速度对应一个车速和一个油门踏板开度，N为大于或等于1的正整数；根据所述N个目标加速度，调整所述油门踏板特性曲线Pedal MAP。
可选地，所述根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，可以包括：对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，得到N组数据，所述N组数据所述车速、所述油门踏板开度和所述加速信息；根据所述N组数据确定所述N个目标加速度，所述N个目标加速度中的每一个目标加速度对应所述N组数据中的一组数据中的车速和油门踏板开度。
可选地，可以对所述车速、所述油门踏板开度和所述加速信息进行插值处理，从而可以对所述车速、所述油门踏板开度和所述加速信息进行扩展，得到N组数据(所述N组数据可以多于用户输入的所述车速、所述油门踏板开度和所述加速信息)。
例如，可以对所述车速、所述油门踏板开度和所述加速信息进行线性插值。
可选地，可以对得到的N组数据进行滤波处理。
例如，可以对N组数据中的相邻数据设置变化率阈值，当相邻数据间的变化率超过该变化率阈值时，则可以根据该变化率阈值对该数据进行限制。
在本申请实施例中，对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，可以避免因用户设置的数据变化率过大而使油门踏板特性曲线出现突变，从而可以避免在车辆加速过程中，出现因不同车速下的加速信息突变而引起的加速平顺性下降问题。
需要说明的，在用户输入的加速信息为车辆的输出扭矩的情况下，对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理之后可以得到N组数据，此时，就可以根据所述N组数据得到更新后的油门踏板特性曲线，而不需要对所述N组数据再进行其他处理。
在用户输入的加速信息为车辆的加速度信息的情况下，对所述车速、所述油门踏板开 度和所述加速信息进行插值处理和滤波处理之后可以得到N组数据，此时，将所述N组数据中的加速度信息转化为输出扭矩后，就可以根据所述N组数据得到更新后的油门踏板特性曲线，而不需要对所述N组数据再进行其他处理。
可选地，在用户输入的加速信息为加速信息或车辆的加速度信息的情况下，所述根据所述N个目标加速度，调整所述油门踏板特性曲线，可以包括：根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩；根据所述N个输出扭矩，调整所述油门踏板特性曲线。
其中，基线扭矩可以理解为车辆在特定车速下的稳态扭矩，整备质量指车辆的总质量，轮胎半径指车辆的轮胎半径。
可选地，所述根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩，可以包括：
根据下述公式确定所述N个目标加速度对应的N个输出扭矩：
T(v,k)＝a(v,k)*r*m+T(v)
其中，a(v,k)为目标加速度，车速v和油门踏板开度k与a(v,k)对应，r为轮胎半径，k为整备质量，T(v)为车速v对应的基线扭矩，T(v,k)为所述车速v和所述油门踏板开度k对应的输出扭矩。
下面结合图6-图9对本申请实施例的处理流程进行详细描述。
图6是适用于本申请实施例提供的调整油门踏板特性的方法的系统架构图。应理解，图6示出的系统架构仅是示例而非限定，本申请实施例中的系统架构还可以包括更多或更少的模块(或单元)。
图6所示的系统架构可以包括驾驶员设置模块600、油门踏板特性曲线更新模块605和存储模块604。
驾驶员设置模块600可以为驾驶员提供设置专业模式下设置油门踏板特性曲线的交互界面，该驾驶员设置模块600可以接收并存储驾驶员设置数据，在驾驶员设置完成后将驾驶员设置数据以及设置标志位发送给油门踏板特性曲线更新模块605。其中，驾驶员设置模块600可以为方法500中的输入设备，驾驶员设置数据可以为方法500中用户通过输入设备输入的车速、油门踏板开度和加速信息。
可选地，用户可以使用输入设备，通过方法500中所述的任意一种方式输入车速、油门踏板开度和加速信息。或者，用户也可以通过其他输入方式输入车速、油门踏板开度和加速信息，本申请实施例对具体的输入方法并不限定。
如图6所示，驾驶员设置模块600既可以配置在车端617，也可以配置在终端设备616。
配置在车端时，驾驶员设置数据可以直接通过控制器局域网总线(controller area network，CAN)协议传输至油门踏板特性曲线更新模块605；配置在终端设备时，驾驶员设置数据通过数据传输615通道下发到车端的接收模块，然后通过CAN协议传输至油门踏板特性曲线更新模块605。
当驾驶员通过驾驶员设置模块600完成个性化设置时，该模块600可以同时输出设置标志位和驾驶员设置数据。
其中，设置标志位可以用于表示驾驶员有对专业模式下的油门踏板特性曲线进行设置的需求，设置标志位是算法使能标志位601模块的输入，可以用于激活油门踏板特性曲线 模块605中的油门踏板特性曲线更新算法；驾驶员设置数据可以是包括：车速、油门踏板开度及加速信息三者之间关系的一组或多组数据，驾驶员设置数据是数据处理模块602的输入。
为便于描述，图6中以加速信息为加速强度等级为例进行说明，本申请实施例中的加速信息也可以是车辆的加速度信息或车辆的输出扭矩。
需要说明的，在所述加速信息为车辆的加速度信息的情况下，通过数据处理模块602对驾驶员设置数据进行插值处理和滤波处理之后，再通过油门踏板特性曲线计算模块603将该数据中的加速度信息转化为输出扭矩后，就可以得到更新后的油门踏板特性曲线。
在所述加速信息为车辆的输出扭矩的情况下，通过数据处理模块602对驾驶员设置数据进行插值处理和滤波处理之后，不需要再进行其他的处理，就可以得到更新后的油门踏板特性曲线。
油门踏板特性曲线更新模块605可以配置于车辆的控制器中，该模块605可以用于执行图5中的方法500，可以包括：算法全能601、数据处理模块602及油门踏板特性曲线计算模块603。
其中，算法使能601可以接收驾驶员设置模块600发送的设置标志位，判断并使能油门踏板特性曲线更新算法；数据处理模块602可以对驾驶员设置数据进行插值、滤波及归一化处理，并将驾驶员设置的表示车速、油门踏板开度及加速信息三者之间关系的数据，转化为表示车速、油门踏板开度及加速度三者之间关系的一组或多组数据；油门踏板特性曲线计算模块603可以根据表示车速、油门踏板开度及加速度三者之间关系的数据，计算得到更新后的油门踏板特征曲线(即，车速、油门踏板开度及输出扭矩三者之间关系的数据)。
存储模块604可以存储根据方法500更新后的油门踏板特性曲线。存储模块604可以配置于控制器中，例如，存储模块604可以配置于车辆的整车控制器中。
可选地，存储模块604与油门踏板特性曲线更新模块605可以配置于车辆的同一个控制器中，也可以分别配置车辆的不同控制器中，本申请实施例对此并不限定。
图7是本申请实施例提供的一种调整油门踏板特性的方法的示意性流程图。
S710，模式选择与设置。
当驾驶员有对专业模式设置需求时，可以先将驾驶模式切换为专业模式，然后可以通过驾驶员设置模块中的驾驶模式调整用户界面，设置不同车速下的、不同油门踏板开度对应的加速信息。
以图8为例，对本申请实施例中用户输入车速、油门踏板开度和加速信息的过程进行描述。应理解，图8所示的驾驶模式调整用户界面仅为示例而非限定，用户可以通过方法500中所述的任意一种方式输入车速、油门踏板开度和加速信息，或者，用户也可以通过其他输入方式输入车速、油门踏板开度和加速信息，本申请实施例对具体的输入方法并不限定。
应理解，图8所示的驾驶模式调整用户界面仅为示例而非限定，图8中的驾驶模式调整用户界面800中的各部分仅表示该驾驶模式调整用户界面中可以输入车速、油门踏板开度和加速信息，在本申请实施例中，对于输入车速、油门踏板开度和加速信息的具体方式及具体的设置界面样式并不限定。
图8中以加速信息为加速强度为例进行说明，应理解，本申请实施例中的加速信息也可以为车辆的加速度或车辆的输出扭矩。
该驾驶模式调整用户界面800可以配置于图6所示的驾驶员设置模块600中，该驾驶员设置模块600可以配置于图6中的终端设备616，也可以配置于图6中的车端617。
可选地，当图8中的驾驶员806有选择专业驾驶模式的需求时，可以通过驾驶模式调整用户界面800进行设置。
例如，驾驶员可以在车速设置807中选择需要设置的车速，每个车速可以对应一个设置界面808，该设置界面808中包括多个油门踏板开度、及各个油门踏板开度对应加速信息。
作为示例而非限定，如图8所示，车速设置807中车速的可设置选项可以包括：10km/h、50km/h、100km/h、150km/h、200km/h，每个设置界面808中的油门踏板开度的可设置选项可以包括：20％、60％、90％。
图8中示出了车速设置807中的车速设置为100km/h时，该车速(即车速100km/h)对应的设置界面808，驾驶员通过上下滑动按钮A、B、C分别对油门踏板开度为20％、60％、90％时对应的各个加速信息进行调整。其中，加速信息可以表示驾驶员希望的加速强弱等级，图8中的加速信息分为11个等级(图8中加速信息的取值范围为0至10)。
可选地，可以预先设置对加速信息进行调整的限制条件(约束关系)为：0<A<B<C<10。
可选地，可以为每个车速对应的设置界面808预先设置默认的初始加速信息数值，例如，可以预先设置：A＝1,B＝5,C＝9。
可选地，当驾驶员完成一个设置界面的设置后，点击设置界面808中的“确认”即可，当驾驶员完成所有车速(对应的设置界面)的设置后，点击图8中驾驶模式调整用户界面中的“设置完成”即可，即，完成了驾驶员设置数据的输入。
可选地，当驾驶员仅对部分车速(对应的设置界面)进行设置时，没有设置的车速(对应的设置界面)将按照默认的初始数据进行设置。
可选地，在驾驶员将驾驶模式切换为专业模式，但没有对任何车速(对应的设置界面)进行设置的情况下，在驾驶员点击“设置完成”后，全部车速(对应的设置界面)都按照默认的初始数据进行设置。
当驾驶员设置完成(即驾驶员点击“设置完成”)后，驾驶员设置模块600可以输出专业模式设置标志位以及驾驶员设置数据(即驾驶员通过图8中的驾驶模式调整用户界面800设置的，表示车速、油门踏板开度及加速信息三者之间关系的数据)。
S720，判断是否设置完成。
图6中的油门踏板特性曲线更新模块605确定驾驶员是否设置完成。
可选地，在接收到驾驶员设置模块600输出的专业模式设置标志位时，可以确定驾驶员设置完成，执行S730；否则，执行S710。
S730，加速信息处理。
当判断驾驶员设置完成后，可以通过图6中的数据处理模块102对驾驶员设置数据进行处理。具体处理过程可以包括下述S731、S732及S733。
S731，插值与滤波。
可选地，可以分别对驾驶员设置数据中的车速维度和油门踏板开度维度进行插值处理 和滤波处理。
(1)对车速维度进行插值处理和滤波处理：
可以保持油门踏板开度维度的数据不变，对车速的可设置选项的10km/h、50km/h、100km/h、150km/h、200km/h进行插值处理。
例如，可以将上述车速的可设置选项扩展为：各车速与相邻车速的速度间隔差值为10km/h，即，将上述车速的可设置选项扩展为10km/h、20km/h、30km/h……190km/h、200km/h。可选地，可以使用线性插值对车速维度进行插值处理(即车速扩展)。
可选地，可以对插值后得到的所有数据进行滤波处理。
例如，可以预先设定相邻车速的加速信息变化率阈值为±0.1h/km，插值后对所有数据进行滤波处理，当相邻车速的加速信息变化率超过该阈值时，可以利用该阈值，对变化率过大的加速信息进行限制。
(2)对油门踏板开度维度进行插值处理和滤波处理：
可以保持车速维度的数据不变，对油门踏板开度的可设置选项的20％、60％、90％进行插值处理。
例如，可以将上述油门踏板开度的可设置选项扩展为：各油门踏板开度与相邻油门踏板开度的差值为10％，即将上述油门踏板开度的可设置选项扩展为10％、20％、30％……90％、100％。可选地，可以使用线性插值对油门踏板开度维度进行插值处理。
可选地，可以对插值后得到的所有数据进行滤波处理。
例如，可以预先设定相邻油门踏板开度的加速信息变化率阈值为±25(加速信息变化率＝加速信息/油门踏板开度区间值，若预先设定相邻油门踏板开度的差值为10％时，对应的加速信息的变化最大为2.5，则加速信息变化率阈值为：2.5/0.1＝25)，插值后对所有数据进行滤波处理，当相邻油门踏板开度的加速信息变化率超过该阈值时，可以利用该阈值，对变化率过大的油门踏板开度进行限制。
在本申请实施例中，对驾驶员设置数据(表示车速、油门踏板开度及加速信息三者之间关系的数据)进行插值处理和滤波处理，可以避免因用户设置的数据变化率过大而使油门踏板特性曲线出现突变，从而可以避免在车辆加速过程中，出现因不同车速下的加速信息突变而引起的加速平顺性下降问题。
S732，数据归一化处理。
可以对上述插值处理和滤波处理后的加速信息进行归一化处理。
例如，如图8所示的加速信息的取值范围为0至10，设车速v和油门踏板开度k对应的加速信息为X(v,k)，则归一化处理可以如下：
Y(v,k)＝X(v,k)/10
其中，Y(v,k)为对加速信息进行归一化处理后得到的结果。
S733，数据转化。
可以将归一化之后的数据转换成加速度a(v,k)，转换方法可以如下：
a(v,k)＝Y(v,k)*a_max(v,100)
其中，a_max(k)为车辆的车速为v、油门踏板开度为100％时的(该车辆的)加速度值，这个加速度值对于该车辆来说是已知的。
此时，就可以得到表示车速、油门踏板开度及加速度三者之间关系的数据。
S740，油门踏板特性曲线计算。
在油门踏板特性曲线计算模块603中，根据上述步骤得到的表示车速、油门踏板开度及加速度三者之间关系的数据，以及车辆的基线扭矩、车辆的整备质量、车辆的车轮半径，就可以计算得到油门踏板特性曲线。具体计算方法可以如下：
T(v,k)＝a(v,k)*r*m+T(v)
其中，T(v,k)即为车辆的车速为v、油门踏板开度为k时的(该车辆的)输出扭矩值。
根据以上步骤，就可以计算得到更新后的油门踏板特性曲线。
S750，更新油门踏板特性曲线。
如图6所示，油门踏板特性曲线计算模块603可以将更新后的油门踏板特性曲线输出至存储模块604。
S760，车辆控制。
车辆的控制器可以根据上述更新后的油门踏板特性曲线，对车辆进行控制。
图9是本申请一个实施例中的车辆控制的示意性框图。图9中示出的车辆的驾驶模式包括运动模式913、标准模式912、经济模式910及专业模式904四种模式，应理解，本申请实施例中的车辆还可以包括更多或更少的驾驶模式，对此并不限定。
图9中的油门踏板特性曲线更新模块905可以为图6中的油门踏板特性曲线更新模块605，图9中的控制器917可以为图6中的存储模块604。
在油门踏板特性曲线更新模块905将更新后的油门踏板特性曲线输出至控制器917的情况下，油门踏板特性曲线更新模块905还可以向控制器917更新完成标志，该更新完成标志位可以指示油门踏板特性曲线的更新已完成。
可选地，驾驶员设置模块900还可以向控制器917输出设置标志位，该设置标志位可以指示驾驶员已完成设置，还可以指示驾驶员要将驾驶模式切换为专业模式。
结合以上数据，控制器917中的驾驶模式需求扭矩仲裁模块911，可以选择专业模式对应的油门踏板特性曲线进行扭矩输出。
图10是本申请一个实施例提供的调整油门踏板特性的装置1000的示意性框图。应理解，图10示出的装置1000仅是示例，本申请实施例的装置还可包括其他模块或单元。应理解，装置1000能够执行图5或图7的方法中的各个步骤，为了避免重复，此处不再详述。
所述装置1000包括：输入设备1010和控制器1020；
其中，所述输入设备1010，用于在用户调整目标驾驶模式时，接收用户输入的车速、油门踏板开度和加速信息，所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的约束关系；
所述控制器1020，用于根据所述车速、所述油门踏板开度和所述加速信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
可选地，所述输入设备1010还用于：接收用户输入的标志位，所述标志位用于指示调整所述油门踏板特性曲线；其中，所述控制器具体用于：在接收到所述标志位的情况下，根据所述车速、所述油门踏板开度和所述加速信息，调整所述油门踏板特性曲线Pedal MAP。
可选地，所述控制器1020具体用于：根据所述车速、所述油门踏板开度和所述加速 信息确定N个目标加速度，所述N个目标加速度中的每一个目标加速度对应一个车速和一个油门踏板开度，N为大于或等于1的整数；根据所述N个目标加速度，调整所述油门踏板特性曲线Pedal MAP。
可选地，所述控制器1020具体用于：对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，得到N组数据，所述N组数据包括所述车速、所述油门踏板开度和所述加速信息；根据所述N组数据确定所述N个目标加速度，所述N个目标加速度中的每一个目标加速度对应所述N组数据中的一组数据中的车速和油门踏板开度。
可选地，所述控制器1020具体用于：根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩；根据所述N个输出扭矩，调整所述油门踏板特性曲线。
可选地，所述控制器1020具体用于：
根据下述公式确定所述N个目标加速度对应的N个输出扭矩：
T(v,k)＝a(v,k)*r*m+T(v)
其中，a(v,k)为目标加速度，车速v和油门踏板开度k与a(v,k)对应，r为轮胎半径，k为整备质量，T(v)为车速v对应的基线扭矩，T(v,k)为所述车速v和所述油门踏板开度k对应的输出扭矩。
可选地，所述输入设备1010具体用于：接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定每组参数数据中的所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的取值范围。
可选地，所述输入设备1010具体用于：接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定所述多组参数数据中的各组之间满足预设的相对关系。
可选地，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同。
可选地，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同。
图11是本申请一个实施例提供的调整油门踏板特性的装置1100的示意性框图。应理解，图11示出的装置1100仅是示例，本申请实施例的装置还可包括其他模块或单元。应理解，装置1100能够执行图5或图7的方法中的各个步骤，为了避免重复，此处不再详述。
所述装置1100包括：输入设备1110和控制器1120；
其中，所述输入设备1110，用于接收用户输入的调整目标驾驶模式的指令，并响应所述指令在显示设备上呈现驾驶模式调整用户界面，所述驾驶模式调整用户界面包括第一输入窗口；
所述输入设备1110，用于接收所述用户在所述第一输入窗口中输入的第一参数信息，所述第一参数信息为车速、油门踏板开度或加速信息中的任一个参数，例如车速；
响应所述用户输入的所述第一参数信息，所述输入设备1110，用于在所述驾驶模式调整用户界面中呈现第二输入窗口；
所述输入设备1110，用于接收所述用户在所述第二输入窗口输入的第二参数信息， 所述第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数，例如油门踏板开度；
所述输入设备1110，用于根据预设的约束关系在所述第二输入窗口显示第三参数信息，所述三参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息和所述第二参数信息的参数，例如加速信息；
所述控制器1120，用于根据所述第一参数信息、所述第二参数信息和所述第三参数信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
可选地，所述第一输入窗口呈现多个候选第一参数信息，所述候选第一参数信息为车速、油门踏板开度或加速信息中的任一个参数，所述输入设备1110具体用于：接收所述用户在所述第一输入窗口呈现的多个所述候选第一输入信息中选择的所述第一参数信息。
可选地，所述第二输入窗口呈现多个候选第二参数信息，所述候选第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数，所述输入设备1110具体用于：接收所述用户在所述第二输入窗口呈现的多个所述候选第二输入信息中选择的所述第二参数信息。
可选地，所述第一输入窗口呈现第一输入框，所述输入设备1110具体用于：接收所述用户在所述第一输入窗口呈现的所述第一输入框中输入的所述第一参数信息。
可选地，所述第二输入窗口呈现第二输入框，所述输入设备1110具体用于：接收所述用户在所述第二输入窗口呈现的所述第二输入框中输入的所述第二参数信息。
图12是本申请一个实施例的调整油门踏板特性的装置1200的示意性框图。图12所示的装置1200包括存储器1201、处理器1202、通信接口1203以及总线1204。其中，存储器1201、处理器1202、通信接口1203通过总线1204实现彼此之间的通信连接。
存储器1201可以是只读存储器(read only memory，ROM)，静态存储设备，动态存储设备或者随机存取存储器(random access memory，RAM)。存储器1201可以存储程序，当存储器1201中存储的程序被处理器1202执行时，处理器1202用于执行本申请实施例的调整油门踏板特性的方法的各个步骤，例如，可以执行图5或图7所示实施例的各个步骤。
处理器1202可以采用通用的中央处理器(central processing unit，CPU)，微处理器，应用专用集成电路(application specific integrated circuit，ASIC)，或者一个或多个集成电路，用于执行相关程序，以实现本申请方法实施例的调整油门踏板特性的方法。
处理器1202还可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，本申请实施例的调整油门踏板特性的方法的各个步骤可以通过处理器1202中的硬件的集成逻辑电路或者软件形式的指令完成。
上述处理器1202还可以是通用处理器、数字信号处理器(digital signal processing，DSP)、专用集成电路(ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、 只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1201，处理器1202读取存储器1201中的信息，结合其硬件完成本申请实施例中调整油门踏板特性的装置包括的单元所需执行的功能，或者，执行本申请方法实施例的调整油门踏板特性的方法，例如，可以执行图5或图7所示实施例的各个步骤/功能。
通信接口1203可以使用但不限于收发器一类的收发装置，来实现装置1200与其他设备或通信网络之间的通信。
总线1204可以包括在装置1200各个部件(例如，存储器1201、处理器1202、通信接口1203)之间传送信息的通路。
应理解，本申请实施例所示的装置可以是自动驾驶车辆中的车载设备，或者，也可以是配置于车载设备中的芯片。
应理解，本申请实施例中的处理器可以为中央处理单元(central processing unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
还应理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的随机存取存储器(random access memory，RAM)可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。
上述实施例，可以全部或部分地通过软件、硬件、固件或其他任意组合来实现。当使用软件实现时，上述实施例可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令或计算机程序。在计算机上加载或执行所述计算机指令或计算机程序时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以为通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集合的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介 质(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质。半导体介质可以是固态硬盘。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (25)

  1. 一种调整油门踏板特性的方法，其特征在于，包括：
    在用户调整目标驾驶模式时，接收用户输入的车速、油门踏板开度和加速信息，所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的约束关系；
    根据所述车速、所述油门踏板开度和所述加速信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收用户输入的标志位，所述标志位用于指示调整所述油门踏板特性曲线；
    其中，所述根据所述车速、所述油门踏板开度和所述加速信息，调整油门踏板特性曲线Pedal MAP，包括：
    在接收到所述标志位的情况下，根据所述车速、所述油门踏板开度和所述加速信息，调整所述油门踏板特性曲线Pedal MAP。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述车速、所述油门踏板开度和所述加速信息，调整油门踏板特性曲线Pedal MAP，包括：
    根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，所述N个目标加速度中的每一个目标加速度对应一个车速和一个油门踏板开度，N为大于或等于1的整数；
    根据所述N个目标加速度，调整所述油门踏板特性曲线Pedal MAP。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，包括：
    对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，得到N组数据，所述N组数据包括所述车速、所述油门踏板开度和所述加速信息；
    根据所述N组数据确定所述N个目标加速度，所述N个目标加速度中的每一个目标加速度对应所述N组数据中的一组数据中的车速和油门踏板开度。
  5. 根据权利要求3或4所述的方法，其特征在于，所述根据所述N个目标加速度，调整所述油门踏板特性曲线，包括：
    根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩；
    根据所述N个输出扭矩，调整所述油门踏板特性曲线。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩，包括：
    根据下述公式确定所述N个目标加速度对应的N个输出扭矩：
    T(v,k)＝a(v,k)*r*m+T(v)
    其中，a(v,k)为目标加速度，车速v和油门踏板开度k与a(v,k)对应，r为轮胎半径，k为整备质量，T(v)为车速v对应的基线扭矩，T(v,k)为所述车速v和所述油门踏板开度k对应的输出扭矩。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述接收用户输入的车速、油门踏板开度和加速信息，包括：
    接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定每组参数数据中的车速、油门踏板开度或加速信息中的至少一项满足预设的取值范围。
  8. 根据权利要求1至6中任一项所述的方法，其特征在于，所述接收用户输入的车速、油门踏板开度和加速信息，包括：
    接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定所述多组参数数据中的各组之间满足预设的相对关系。
  9. 根据权利要求7或8所述的方法，其特征在于，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同。
  10. 根据权利要求7或8所述的方法，其特征在于，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同。
  11. 一种调整油门踏板特性的方法，其特征在于，包括：
    接收用户输入的调整目标驾驶模式的指令，并响应所述指令在显示设备上呈现驾驶模式调整用户界面，所述驾驶模式调整用户界面包括第一输入窗口；
    接收所述用户在所述第一输入窗口中输入的第一参数信息，所述第一参数信息为车速、油门踏板开度或加速信息中的任一个参数；
    响应所述用户输入的所述第一参数信息，在所述驾驶模式调整用户界面中呈现第二输入窗口；
    接收所述用户在所述第二输入窗口输入的第二参数信息，所述第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数；
    根据预设的约束关系在所述第二输入窗口显示第三参数信息，所述三参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息和所述第二参数信息的参数；
    根据所述第一参数信息、所述第二参数信息和所述第三参数信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
  12. 一种调整油门踏板特性的装置，其特征在于，所述装置包括输入设备和控制器：
    所述输入设备，用于在用户调整目标驾驶模式时，接收用户输入的车速、油门踏板开度和加速信息，所述车速、所述油门踏板开度或所述加速信息中的至少一项满足预设的约束关系；
    所述控制器，用于根据所述车速、所述油门踏板开度和所述加速信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
  13. 根据权利要求12所述的装置，其特征在于，所述输入设备还用于：
    接收用户输入的标志位，所述标志位用于指示调整所述油门踏板特性曲线；
    其中，所述控制器具体用于：在接收到所述标志位的情况下，根据所述车速、所述油门踏板开度和所述加速信息，调整所述油门踏板特性曲线Pedal MAP。
  14. 根据权利要求12或13所述的装置，其特征在于，所述控制器具体用于：
    根据所述车速、所述油门踏板开度和所述加速信息确定N个目标加速度，所述N个目标加速度中的每一个目标加速度对应一个车速和一个油门踏板开度，N为大于或等于1 的整数；
    根据所述N个目标加速度，调整所述油门踏板特性曲线Pedal MAP。
  15. 根据权利要求14所述的装置，其特征在于，所述控制器具体用于：
    对所述车速、所述油门踏板开度和所述加速信息进行插值处理和滤波处理，得到N组数据，所述N组数据包括所述车速、所述油门踏板开度和所述加速信息；
    根据所述N组数据确定所述N个目标加速度，所述N个目标加速度中的每一个目标加速度对应所述N组数据中的一组数据中的车速和油门踏板开度。
  16. 根据权利要求14或15所述的装置，其特征在于，所述控制器具体用于：
    根据所述N个目标加速度、及N个基线扭矩、整备质量和/或轮胎半径，确定所述N个目标加速度对应的N个输出扭矩；
    根据所述N个输出扭矩，调整所述油门踏板特性曲线。
  17. 根据权利要求16所述的装置，其特征在于，所述控制器具体用于：
    根据下述公式确定所述N个目标加速度对应的N个输出扭矩：
    T(v,k)＝a(v,k)*r*m+T(v)
    其中，a(v,k)为目标加速度，车速v和油门踏板开度k与a(v,k)对应，r为轮胎半径，k为整备质量，T(v)为车速v对应的基线扭矩，T(v,k)为所述车速v和所述油门踏板开度k对应的输出扭矩。
  18. 根据权利要求12至17中任一项所述的装置，其特征在于，所述输入设备具体用于：
    接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定每组参数数据中的车速、油门踏板开度或加速信息中的至少一项满足预设的取值范围。
  19. 根据权利要求12至17中任一项所述的装置，其特征在于，所述输入设备具体用于：
    接收所述用户输入的多组参数数据，每组参数数据包括车速、油门踏板开度和加速信息，所述约束关系用于限定所述多组参数数据中的各组之间满足预设的相对关系。
  20. 根据权利要求18或19所述的装置，其特征在于，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息互不相同。
  21. 根据权利要求18或19所述的装置，其特征在于，所述多组参数数据中各组参数数据包括的车速、油门踏板开度和加速信息中至少有一项参数不相同。
  22. 一种调整油门踏板特性的装置，其特征在于，所述装置包括输入设备和控制器：
    所述输入设备，用于接收用户输入的调整目标驾驶模式的指令，并响应所述指令在显示设备上呈现驾驶模式调整用户界面，所述驾驶模式调整用户界面包括第一输入窗口；
    所述输入设备，用于接收所述用户在所述第一输入窗口中输入的第一参数信息，所述第一参数信息为车速、油门踏板开度或加速信息中的任一个参数；
    响应所述用户输入的所述第一参数信息，所述输入设备，用于在所述驾驶模式调整用户界面中呈现第二输入窗口；
    所述输入设备，用于接收所述用户在所述第二输入窗口输入的第二参数信息，所述第二参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息的任一个参数；
    所述输入设备，用于根据预设的约束关系在所述第二输入窗口显示第三参数信息，所述三参数信息为车速、油门踏板开度和加速信息中不同于所述第一参数信息和所述第二参数信息的参数；
    所述控制器，用于根据所述第一参数信息、所述第二参数信息和所述第三参数信息，调整所述目标驾驶模式的油门踏板特性曲线Pedal MAP。
  23. 一种汽车，其特征在于，所述汽车包括如权利要求12至21中任一项或22所述的装置。
  24. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有程序指令，当所述程序指令由处理器运行时，实现权利要求1至10中任一项或11所述的方法。
  25. 一种芯片，其特征在于，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，以执行如权利要求1至10中任一项或11所述的方法。
PCT/CN2020/113867 2019-09-18 2020-09-08 调整油门踏板特性的方法和装置 WO2021052213A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910881052.7A CN112519575B (zh) 2019-09-18 2019-09-18 调整油门踏板特性的方法和装置
CN201910881052.7 2019-09-18

Publications (1)

Publication Number Publication Date
WO2021052213A1 true WO2021052213A1 (zh) 2021-03-25

Family

ID=74883903

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/113867 WO2021052213A1 (zh) 2019-09-18 2020-09-08 调整油门踏板特性的方法和装置

Country Status (2)

Country Link
CN (2) CN114919405A (zh)
WO (1) WO2021052213A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113978477A (zh) * 2021-09-24 2022-01-28 合众新能源汽车有限公司 一种油门踏板误踩纠正方法
CN114152447A (zh) * 2021-11-29 2022-03-08 东风汽车有限公司东风日产乘用车公司 车辆驾驶性能评价方法、装置、设备及存储介质
CN114161941A (zh) * 2021-11-22 2022-03-11 中国煤炭科工集团太原研究院有限公司 车辆行走的控制方法、装置、电子设备及存储介质
CN114312792A (zh) * 2022-03-02 2022-04-12 摩登汽车有限公司 车辆驾驶模式的控制方法及系统
CN115075959A (zh) * 2022-08-04 2022-09-20 潍柴动力股份有限公司 一种车辆滤波时间调整方法和装置
CN115648957A (zh) * 2022-12-27 2023-01-31 小米汽车科技有限公司 车辆控制方法、装置、存储介质及芯片

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113237671A (zh) * 2021-05-19 2021-08-10 东风柳州汽车有限公司 一种电动车油门标定方法及装置
CN113335286B (zh) * 2021-07-15 2022-07-26 上海洛轲智能科技有限公司 车辆的扭矩图生成方法、装置、电子设备和存储介质
CN113602217A (zh) * 2021-08-12 2021-11-05 安徽江淮汽车集团股份有限公司 用于轿跑车型的驾驶模式交互方法
CN114962046A (zh) * 2021-08-26 2022-08-30 长城汽车股份有限公司 车辆扭矩控制方法、装置、控制器、车辆及存储介质
CN114435364B (zh) * 2022-01-27 2023-08-04 东风汽车集团股份有限公司 车辆加速踏板控制方法及相关设备
CN114610427A (zh) * 2022-03-08 2022-06-10 广汽埃安新能源汽车有限公司 一种车辆加速踏板特性的生成方法及系统
CN114571997B (zh) * 2022-04-29 2022-07-15 国汽智控(北京)科技有限公司 油门踏板的位置调节方法、装置、设备、车辆和介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102039819A (zh) * 2009-10-09 2011-05-04 罗伯特·博世有限公司 用于选择加速踏板阻力特征曲线的控制装置和方法
CN102416955A (zh) * 2010-09-28 2012-04-18 宝马股份公司 用于支持驾驶者实施控制消耗的行驶的驾驶者辅助系统
CN102741081A (zh) * 2010-02-20 2012-10-17 奥迪股份公司 机动车
CN102756731A (zh) * 2011-04-26 2012-10-31 奥迪股份公司 包括驾驶员辅助系统的机动车
CN104736372A (zh) * 2012-10-23 2015-06-24 罗伯特·博世有限公司 用于运行至少一个驾驶员协助系统的方法以及用于至少一个驾驶员协助系统的运行装置
CN104828090A (zh) * 2014-12-09 2015-08-12 北汽福田汽车股份有限公司 车辆的控制方法、装置和车辆

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE60226817D1 (de) * 2001-08-23 2008-07-10 Nissan Motor Fahrassistenzsystem
JP3531640B2 (ja) * 2002-01-10 2004-05-31 日産自動車株式会社 車両用運転操作補助装置
DE102010041537B4 (de) * 2010-09-28 2021-04-15 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem zur Unterstützung des Fahrers zum verbrauchskontrollierten Fahren
US9827999B2 (en) * 2015-10-27 2017-11-28 Thunder Power New Energy Vehicle Development Company Limited Adaptive EV pedal stroke
CN108263245A (zh) * 2017-01-03 2018-07-10 南京世界村汽车动力有限公司 一种电动车油门灵敏度调节系统
US10452074B2 (en) * 2017-03-10 2019-10-22 Baidu Usa Llc Method and system for controlling autonomous driving vehicle reentering autonomous driving mode
DE102017206264A1 (de) * 2017-04-12 2018-10-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ausgabe haptischer Informationen an den Fahrer eines Kraftfahrzeugs über das Bremspedal

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102039819A (zh) * 2009-10-09 2011-05-04 罗伯特·博世有限公司 用于选择加速踏板阻力特征曲线的控制装置和方法
CN102741081A (zh) * 2010-02-20 2012-10-17 奥迪股份公司 机动车
CN102416955A (zh) * 2010-09-28 2012-04-18 宝马股份公司 用于支持驾驶者实施控制消耗的行驶的驾驶者辅助系统
CN102756731A (zh) * 2011-04-26 2012-10-31 奥迪股份公司 包括驾驶员辅助系统的机动车
CN104736372A (zh) * 2012-10-23 2015-06-24 罗伯特·博世有限公司 用于运行至少一个驾驶员协助系统的方法以及用于至少一个驾驶员协助系统的运行装置
CN104828090A (zh) * 2014-12-09 2015-08-12 北汽福田汽车股份有限公司 车辆的控制方法、装置和车辆

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113978477A (zh) * 2021-09-24 2022-01-28 合众新能源汽车有限公司 一种油门踏板误踩纠正方法
CN113978477B (zh) * 2021-09-24 2024-04-05 合众新能源汽车股份有限公司 一种油门踏板误踩纠正方法
CN114161941A (zh) * 2021-11-22 2022-03-11 中国煤炭科工集团太原研究院有限公司 车辆行走的控制方法、装置、电子设备及存储介质
CN114161941B (zh) * 2021-11-22 2023-08-25 中国煤炭科工集团太原研究院有限公司 车辆行走的控制方法、装置、电子设备及存储介质
CN114152447A (zh) * 2021-11-29 2022-03-08 东风汽车有限公司东风日产乘用车公司 车辆驾驶性能评价方法、装置、设备及存储介质
CN114152447B (zh) * 2021-11-29 2024-03-29 东风汽车有限公司东风日产乘用车公司 车辆驾驶性能评价方法、装置、设备及存储介质
CN114312792A (zh) * 2022-03-02 2022-04-12 摩登汽车有限公司 车辆驾驶模式的控制方法及系统
CN115075959A (zh) * 2022-08-04 2022-09-20 潍柴动力股份有限公司 一种车辆滤波时间调整方法和装置
CN115075959B (zh) * 2022-08-04 2024-02-20 潍柴动力股份有限公司 一种车辆滤波时间调整方法和装置
CN115648957A (zh) * 2022-12-27 2023-01-31 小米汽车科技有限公司 车辆控制方法、装置、存储介质及芯片

Also Published As

Publication number Publication date
CN112519575B (zh) 2022-04-22
CN114919405A (zh) 2022-08-19
CN112519575A (zh) 2021-03-19

Similar Documents

Publication Publication Date Title
WO2021052213A1 (zh) 调整油门踏板特性的方法和装置
WO2021135371A1 (zh) 一种自动驾驶方法、相关设备及计算机可读存储介质
WO2021212379A1 (zh) 车道线检测方法及装置
WO2021102955A1 (zh) 车辆的路径规划方法以及车辆的路径规划装置
WO2021098222A1 (zh) 一种车辆行驶控制方法及相关设备
WO2021000800A1 (zh) 道路可行驶区域推理方法及装置
WO2021189210A1 (zh) 一种车辆换道方法及相关设备
CN112512887B (zh) 一种行驶决策选择方法以及装置
CN113525373B (zh) 一种车辆的变道控制系统、控制方法以及变道控制装置
WO2022205243A1 (zh) 一种变道区域获取方法以及装置
WO2021204189A1 (zh) 一种驾驶性能调节方法和装置
WO2021168669A1 (zh) 车辆控制方法及装置
WO2023274361A1 (zh) 一种发声装置的控制方法、发声系统以及车辆
US20230222914A1 (en) Vehicle reminding method and system, and related device
JP2023536483A (ja) 車両の動き状態認識方法及び機器
US20230048680A1 (en) Method and apparatus for passing through barrier gate crossbar by vehicle
CN114531913A (zh) 车道线检测方法、相关设备及计算机可读存储介质
WO2022022344A1 (zh) 一种自动驾驶行车控制方法及装置
CN115042821A (zh) 车辆控制方法、装置、车辆及存储介质
WO2021254000A1 (zh) 车辆纵向运动参数的规划方法和装置
WO2022061702A1 (zh) 驾驶提醒的方法、装置及系统
CN115056784A (zh) 车辆控制方法、装置、车辆、存储介质及芯片
US20230256970A1 (en) Lane Change Track Planning Method and Apparatus
US20240137721A1 (en) Sound-Making Apparatus Control Method, Sound-Making System, and Vehicle
CN114572219B (zh) 自动超车方法、装置、车辆、存储介质及芯片

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20865726

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20865726

Country of ref document: EP

Kind code of ref document: A1