WO2021244444A1 - 控制方法、装置、设备及存储介质 - Google Patents

控制方法、装置、设备及存储介质 Download PDF

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Publication number
WO2021244444A1
WO2021244444A1 PCT/CN2021/096947 CN2021096947W WO2021244444A1 WO 2021244444 A1 WO2021244444 A1 WO 2021244444A1 CN 2021096947 W CN2021096947 W CN 2021096947W WO 2021244444 A1 WO2021244444 A1 WO 2021244444A1
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Prior art keywords
driving mode
threshold
strategy
vehicle
driving
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PCT/CN2021/096947
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English (en)
French (fr)
Inventor
高仕宁
王立军
周时莹
王君君
刘泰言
于丁一
孙振江
刘晔
李超
王长乐
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中国第一汽车股份有限公司
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Priority to EP21818467.9A priority Critical patent/EP4105095A4/en
Publication of WO2021244444A1 publication Critical patent/WO2021244444A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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    • 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
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/11—Instrument graphical user interfaces or menu aspects
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W2540/00—Input parameters relating to occupants
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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Definitions

  • This application relates to the field of vehicle technology, for example, to a control method, device, device, and storage medium.
  • Autonomous driving on the market generally adjusts the distance or the maximum speed separately through a combination switch, and only these two dimensions can be adjusted, and driving modes such as steering control and power output are also decoupled from automatic driving. Users often can only experience one vehicle control mode in an autonomous driving state.
  • the present application provides a control method, device, equipment, and storage medium to improve the riding experience of the user during the automatic driving process.
  • control method including:
  • the current automatic driving mode includes: a conservative style driving mode, a conventional style driving mode, an aggressive style driving mode or a personalized style driving mode, the conservative style driving mode, the conventional style driving mode
  • the driving mode, the aggressive style driving mode, and the personalized style driving mode respectively correspond to different driving strategies, and the driving strategy includes a lane change strategy, an acceleration strategy, a deceleration strategy, a following distance strategy and/or a maximum speed strategy;
  • a control device which includes:
  • the acquisition module is configured to acquire the current automatic driving mode of the vehicle, where the current automatic driving mode includes: a conservative style driving mode, a conventional style driving mode, an aggressive style driving mode, or a personalized style driving mode, the conservative style driving mode ,
  • the conventional style driving mode, the aggressive style driving mode, and the personalized style driving mode respectively correspond to different driving strategies, and the driving strategies include a lane change strategy, an acceleration strategy, a deceleration strategy, a following distance strategy and/ Or maximum speed strategy;
  • the control module is configured to control the vehicle to perform automatic driving according to the driving strategy corresponding to the current automatic driving mode.
  • a computer device which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the above-mentioned control method when the program is executed.
  • a computer-readable storage medium is also provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned control method is realized.
  • FIG. 1 is a flowchart of a control method provided in Embodiment 1 of this application;
  • FIG. 2 is a schematic structural diagram of a control device provided in the second embodiment of the application.
  • FIG. 3 is a schematic structural diagram of a computer device provided in Embodiment 3 of this application.
  • Figure 1 is a flow chart of a control method provided in the first embodiment of this application. This embodiment can be applied to the case of automatic driving control of a vehicle.
  • the method can be executed by the control device in the embodiment of this application, which can use software And/or hardware implementation, as shown in Figure 1, the method includes the following steps:
  • the current automatic driving mode includes: a conservative style driving mode, a regular style driving mode, an aggressive style driving mode, or a personalized style driving mode.
  • the conservative style driving mode, the conventional style driving mode, the aggressive style driving mode, and the personalized style driving mode respectively correspond to different driving strategies, wherein the driving strategy includes a lane change strategy, an acceleration strategy, a deceleration strategy, and a following distance strategy And/or maximum speed strategy.
  • the different driving modes correspond to different lane changing strategies, acceleration strategies, deceleration strategies, following distance strategies and/or maximum speed strategies.
  • the way to obtain the current automatic driving mode may be that the driver sets the automatic driving mode through a Human Machine Interface (HMI) setting interface, or may be the factory default driving mode, which is not limited in the embodiment of the application.
  • HMI Human Machine Interface
  • S120 Control the vehicle to perform automatic driving according to the driving strategy corresponding to the current automatic driving mode.
  • controlling the vehicle to perform automatic driving according to the driving strategy corresponding to the current automatic driving mode includes:
  • the lane-changing path planning is performed when the lane-changing time is greater than the first time threshold.
  • the automatic lane-changing is executed, and the relative value of the lane-changing The speed is greater than the first speed threshold; if the current automatic driving mode is the conventional style driving mode, the lane-changing path planning is performed when the lane-changing time is greater than the second time threshold, and the automatic driving is executed when the driving speed of the preceding vehicle is less than the second speed threshold.
  • Lane change and the relative speed during lane change is greater than the third speed threshold, where the third speed threshold is greater than the first speed threshold, and the second time threshold is less than the first time threshold; if the current automatic driving mode is In the aggressive driving mode, when the lane-changing time is greater than the third time threshold, the lane-changing path is planned.
  • the automatic lane-changing is executed , And the relative speed when changing lanes is greater than the fifth speed threshold, where the fourth speed threshold is greater than the second speed threshold, the third time threshold is less than the second time threshold, and the fifth speed threshold is greater than the third speed Threshold; if the current automatic driving mode is a personalized style driving mode, obtain the user's historical driving data, analyze the historical driving data to obtain the user's driving habits, formulate a lane change strategy according to the user's driving habits, and according to the lane change strategy Perform automatic lane change.
  • it also includes:
  • the acceleration response time during starting and driving is greater than the first time threshold, the acceleration rising slope is less than the first acceleration slope threshold, and the absolute value of deceleration is less than the first deceleration threshold.
  • the deceleration slope is less than the first deceleration slope threshold; if the current automatic driving mode is the conventional style driving mode, the acceleration response time during the start and driving process is greater than the second time threshold, and the acceleration slope is less than the second acceleration slope threshold.
  • the absolute value of the speed is less than the second deceleration threshold, and the deceleration slope is less than the second deceleration slope threshold, wherein the second time threshold is less than the second time threshold, and the second acceleration slope threshold is greater than the first acceleration slope threshold, The second deceleration slope threshold is greater than the first deceleration slope threshold, and the second deceleration threshold is greater than the first deceleration threshold; if the current automatic driving mode is an aggressive driving mode, the acceleration response time during starting and driving is longer than the third A time threshold, and the acceleration rising slope is less than the third acceleration slope threshold, the absolute value of deceleration is less than the third deceleration threshold, and the deceleration slope is less than the third deceleration slope threshold, wherein the third time threshold is less than the second time threshold , The third acceleration slope threshold is greater than the second acceleration slope threshold, the third deceleration slope threshold is greater than the second deceleration slope threshold, and the third deceleration threshold is greater than the second deceleration threshold;
  • it also includes:
  • the current automatic driving mode is the conservative driving mode
  • the following distance is greater than the first distance threshold, and when the current car is stopped, when the vehicle is in the follow-stop state, the distance between the vehicle and the preceding vehicle is greater than the second distance threshold, and the maximum speed is less than The current lane speed limit of the first preset multiple
  • the current automatic driving mode is the regular style driving mode
  • the following distance is greater than the third distance threshold, and when the current car is stopped, when the vehicle is in the follow-and-stop state, the vehicle will be with the front
  • the vehicle distance is greater than the fourth distance threshold, the maximum vehicle speed is less than the second preset multiple of the current lane speed limit, wherein the third distance threshold is less than the first distance threshold, the fourth distance threshold is less than the second distance threshold, and the second The preset multiple is less than the first preset multiple; wherein, the first preset multiple may be 10%, and the second preset multiple may be 5%.
  • the current automatic driving mode is the aggressive driving mode
  • the following distance is greater than the fifth distance threshold
  • the distance between the vehicle and the preceding vehicle is greater than the sixth distance threshold
  • the maximum speed is equal to The current lane speed limit, where the fifth distance threshold is less than the third distance threshold, and the sixth distance threshold is less than the fourth distance threshold
  • the current automatic driving mode is a personalized style driving mode
  • the user’s historical driving data is obtained and analyzed
  • the historical driving data obtains the driving habits of the user, formulates the following distance control strategy and the maximum speed control strategy according to the user's driving habits, and executes automatic driving according to the following distance control strategy and the maximum speed control strategy.
  • obtaining the current automatic driving mode includes:
  • the auto-driving mode corresponding to the drop-down box is displayed; detecting the user's touch operation on the auto-driving mode corresponding to the drop-down box, then Acquire the automatic driving mode as the current automatic driving mode.
  • controlling the vehicle to perform automatic driving according to the driving strategy corresponding to the automatic driving mode includes:
  • the automatic driving mode is a personalized style driving mode
  • TSP Content Service Provider
  • obtaining the current automatic driving mode includes:
  • step S1 the driver sets the automatic driving mode through the HMI.
  • Step S2 the automatic driving style set by the HMI setting interactive module is received, and the setting state needs to be memorized, and the style is called in the next power-on cycle, or the factory default can be controlled to be the normal style.
  • Step S3 It is judged in real time whether the automatic driving system is activated. If the automatic driving system is activated, the system starts the automatic driving style algorithm module previously set by the user.
  • step S4 if the driver sets a conservative style, a conventional style, or an aggressive style, the automatic driving control module activates the algorithm software module stored in the local module.
  • step S5 if the driver sets a personalized style, the vehicle communication module sends the current user driving style parameter acquisition request to the TSP platform.
  • step S6 After receiving the request, the TSP platform reads the parameters of the personalized driving style model of the currently logged-in account.
  • step S7 the TSP platform sends the corresponding parameters to the automatic driving control module through the vehicle communication module.
  • Step S8 the automatic driving control module sends the switching request related to the driving style to the driving-related control module, and the modules receiving the switching request of the automatic driving control module include the lane change control module, the following distance strategy module, the acceleration strategy module, and the deceleration strategy module. And the maximum speed strategy module.
  • Step S9 the lane change control module receives the control request of the automatic driving control module, and switches to the automatic driving style state set by the user.
  • the response speed and control slope of the steering control are different.
  • the aggressive style has the fastest response and the most aggressive control;
  • the conservative style has the slowest response and the slowest control;
  • the personalized self-learning style formulates a personalized acceleration control response curve based on the user's usual driving habits.
  • different driving modes correspond to different following distance strategies and maximum speed strategies, as shown in Table 3:
  • the adjustment of the electronically controlled damping device is different.
  • the electronically controlled damping device is adjusted to a softer state; in the conventional style, the electronically controlled damping device is adjusted to a medium state; in the aggressive style, the electronically controlled damping device is adjusted to a medium state;
  • the control damping is adjusted to a harder state; in the personalized self-learning style, according to the usual driving habits of the corresponding user, personalized electronic control damping device control parameters are formulated.
  • the HMI display module indicates to the user the current state of the autonomous driving style.
  • the embodiment of this application proposes an automatic driving mode of L3 and above.
  • the driving style switching in the automatic driving state can be realized to adapt to different users in the automatic driving state.
  • Ride experience demand In the past L2 and below driving assistance systems, the following distance and maximum speed of the vehicle in front of the vehicle can be set through the HMI switch.
  • the automatic driving state of L3 and above is fully controlled by the automatic driving system. At this time, the driver has changed from the driver of the vehicle to the "occupant", and the task of automatic driving is not a simple follow-up control, but also includes overtaking and changing. Road timing selection and other driving scenes.
  • a comprehensive control system is needed to ensure that the occupants of the vehicle are still comfortable and accustomed in the state of automatic driving, that is, the automatic driving system not only has to complete basic driving tasks, but also has to drive the vehicle to a human level. Even better than human excellent drivers.
  • the technical solution of this embodiment obtains the current automatic driving mode, where the current automatic driving mode includes: a conservative style driving mode, a regular style driving mode, an aggressive style driving mode, or a personalized style driving mode, wherein the conservative style driving mode
  • the driving strategies corresponding to the style driving mode, the conventional style driving mode, the radical style driving mode, and the personalized style driving mode are different, wherein the driving strategy includes a lane change strategy, an acceleration strategy, a deceleration strategy, a following distance strategy and/or Maximum speed strategy; according to the driving strategy corresponding to the current automatic driving mode, the vehicle is controlled to perform automatic driving, and the user can subjectively select the driving style or personalized self-learning corresponding to the user's driving style, making the automatic driving system more intelligent and anthropomorphic, Improve the user's riding experience in the process of autonomous driving.
  • Fig. 2 is a schematic structural diagram of a control device provided in the second embodiment of the application. This embodiment can be applied to the situation of vehicle control.
  • the device can be implemented in software and/or hardware.
  • the device can be integrated in any device that provides control functions. As shown in FIG. 2, the control device includes: Module 210 and control module 220.
  • the obtaining module 210 is configured to obtain the current automatic driving mode, where the current automatic driving mode includes: a conservative style driving mode, a conventional style driving mode, an aggressive style driving mode, or a personalized style driving mode, wherein the conservative style driving mode Mode, conventional style driving mode, radical style driving mode, and personalized style driving mode respectively correspond to different driving strategies, where the driving strategy includes lane changing strategy, acceleration strategy, deceleration strategy, following distance strategy and/or maximum speed Strategy; the control module 220 is configured to control the vehicle for automatic driving according to the driving strategy corresponding to the current automatic driving mode.
  • control module 220 is set to:
  • the lane-changing path planning is performed when the lane-changing time is greater than the first time threshold.
  • the automatic lane-changing is executed, and the relative value of the lane-changing The speed is greater than the first speed threshold; if the current automatic driving mode is the conventional style driving mode, the lane-changing path planning is performed when the lane-changing time is greater than the second time threshold, and the automatic driving is executed when the driving speed of the preceding vehicle is less than the second speed threshold.
  • Lane change and the relative speed during lane change is greater than the third speed threshold, where the third speed threshold is greater than the first speed threshold, and the second time threshold is less than the first time threshold; if the current automatic driving mode is In the aggressive driving mode, when the lane-changing time is greater than the third time threshold, the lane-changing path is planned.
  • the automatic lane-changing is executed , And the relative speed when changing lanes is greater than the fifth speed threshold, where the fourth speed threshold is greater than the second speed threshold, the third time threshold is less than the second time threshold, and the fifth speed threshold is greater than the third speed Threshold; if the current automatic driving mode is a personalized style driving mode, obtain the user's historical driving data, analyze the historical driving data to obtain the user's driving habits, formulate a lane change strategy according to the user's driving habits, and according to the lane change strategy Perform automatic lane change.
  • control module 220 is set to:
  • the acceleration response time during starting and driving is greater than the first time threshold, the acceleration rising slope is less than the first acceleration slope threshold, and the absolute value of deceleration is less than the first deceleration threshold.
  • the deceleration slope is less than the first deceleration slope threshold; if the current automatic driving mode is the conventional style driving mode, the acceleration response time during the start and driving process is greater than the second time threshold, and the acceleration slope is less than the second acceleration slope threshold.
  • the absolute value of the speed is less than the second deceleration threshold, and the deceleration slope is less than the second deceleration slope threshold, wherein the second time threshold is less than the second time threshold, and the second acceleration slope threshold is greater than the first acceleration slope threshold, The second deceleration slope threshold is greater than the first deceleration slope threshold, and the second deceleration threshold is greater than the first deceleration threshold; if the current automatic driving mode is an aggressive driving mode, the acceleration response time during starting and driving is longer than the third A time threshold, and the acceleration rising slope is less than the third acceleration slope threshold, the absolute value of deceleration is less than the third deceleration threshold, and the deceleration slope is less than the third deceleration slope threshold, wherein the third time threshold is less than the second time threshold , The third acceleration slope threshold is greater than the second acceleration slope threshold, the third deceleration slope threshold is greater than the second deceleration slope threshold, and the third deceleration threshold is greater than the second deceleration threshold;
  • control module 220 is set to:
  • the current automatic driving mode is the conservative driving mode, the following distance is greater than the first distance threshold, and when the current car is stopped, when the vehicle is in the follow-stop state, the distance between the vehicle and the preceding vehicle is greater than the second distance threshold, and the maximum speed is less than The current lane speed limit of the first preset multiple; if the current automatic driving mode is the regular style driving mode, the following distance is greater than the third distance threshold, and when the current car is stopped, when the vehicle is in the follow-and-stop state, the vehicle will be with the front The vehicle distance is greater than the fourth distance threshold, the maximum vehicle speed is less than the second preset multiple of the current lane speed limit, wherein the third distance threshold is less than the first distance threshold, the fourth distance threshold is less than the second distance threshold, and the second The preset multiple is less than the first preset multiple; if the current automatic driving mode is an aggressive driving mode, the following distance is greater than the fifth distance threshold, and when the current vehicle is stopped, when the vehicle is in the follow-stop hold state, the vehicle and the preced
  • the obtaining module 210 is set to:
  • the auto-driving mode corresponding to the drop-down box is displayed; detecting the user's touch operation on the auto-driving mode corresponding to the drop-down box, then Acquire the automatic driving mode as the current automatic driving mode.
  • control module 220 is set to:
  • the automatic driving mode is a personalized style driving mode
  • the driving strategy controls the vehicle to perform automatic driving.
  • the obtaining module 210 is set to:
  • the above-mentioned product can execute the method provided in any embodiment of the present application, and has the functional modules and effects corresponding to the execution method.
  • the technical solution of this embodiment obtains the current automatic driving mode, where the current automatic driving mode includes: a conservative style driving mode, a regular style driving mode, an aggressive style driving mode, or a personalized style driving mode, wherein the conservative style driving mode
  • the driving strategies corresponding to the style driving mode, the conventional style driving mode, the radical style driving mode, and the personalized style driving mode are different, wherein the driving strategy includes a lane change strategy, an acceleration strategy, a deceleration strategy, a following distance strategy and/or Maximum speed strategy; according to the driving strategy corresponding to the current automatic driving mode, the vehicle is controlled to perform automatic driving, and the user can subjectively select the driving style or personalized self-learning corresponding to the user's driving style, making the automatic driving system more intelligent and anthropomorphic, Improve the user's riding experience in the process of autonomous driving.
  • FIG. 3 is a schematic structural diagram of a computer device provided in Embodiment 3 of this application.
  • Figure 3 shows a block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present application.
  • the computer device 12 shown in FIG. 3 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present application.
  • the computer device 12 is represented in the form of a general-purpose computing device.
  • the components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).
  • the bus 18 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure among multiple bus structures.
  • these architectures include but are not limited to Industrial Standard Architecture (ISA) bus, MicroChannel Architecture (MCA) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association) , VESA) local bus and Peripheral Component Interconnect (PCI) bus.
  • the computer device 12 includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and nonvolatile media, removable and non-removable media.
  • the system memory 28 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) 30 and/or a cache memory 32.
  • the computer device 12 may include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • the storage system 34 may be configured to read and write a non-removable, non-volatile magnetic medium (not shown in FIG. 3, usually referred to as a "hard drive").
  • a disk drive configured to read and write to a removable non-volatile disk (such as a "floppy disk") and a removable non-volatile optical disk (such as a compact disk-read only memory (Compact Disc-Read Only Memor, CD-ROM), digital video disc-read only memory ((Digital Video Disc-ROM DVD-ROM) or other optical media) read and write optical disc drives.
  • each drive can pass One or more data medium interfaces are connected to the bus 18.
  • the memory 28 may include at least one program product having a set of (for example, at least one) program modules, which are configured to perform the functions of the embodiments of the present application.
  • a program/utility tool 40 having a set of (at least one) program module 42 may be stored in, for example, the memory 28.
  • Such program module 42 includes, but is not limited to, an operating system, one or more application programs, and other programs Modules and program data, each of these examples or a combination may include the realization of a network environment.
  • the program module 42 usually executes the functions and/or methods in the embodiments described in this application.
  • the computer device 12 can also communicate with one or more external devices 14 (such as keyboards, pointing devices, displays 24, etc.), and can also communicate with one or more devices that enable users to interact with the computer device 12, and/or communicate with Any device (such as a network card, modem, etc.) that enables the computer device 12 to communicate with one or more other computing devices.
  • This communication can be performed through an input/output (Input/Output, I/O) interface 22.
  • the display 24 does not exist as an independent entity, but is embedded in a mirror surface. When the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated.
  • the computer device 12 may also communicate with one or more networks (for example, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 20.
  • the network adapter 20 communicates with other modules of the computer device 12 through the bus 18.
  • other hardware and/or software modules can be used in conjunction with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, redundant arrays of independent hard disks (Redundant Arrays of Independent Disks, RAID) systems, tape drives, data backup storage systems, etc.
  • the processing unit 16 executes a variety of functional applications and data processing by running programs stored in the system memory 28, for example, to implement the control method provided in the embodiments of the present application:
  • the current automatic driving mode includes: a conservative style driving mode, a conventional style driving mode, an aggressive style driving mode, or a personalized style driving mode, where the conservative style driving mode and the conventional style driving mode , Radical style driving mode and personalized style driving mode respectively correspond to different driving strategies, where the driving strategy includes lane change strategy, acceleration strategy, deceleration strategy, following distance strategy and/or maximum speed strategy; according to the current
  • the driving strategy corresponding to the automatic driving mode controls the vehicle to perform automatic driving.
  • the fourth embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the control method as provided in all the application embodiments of the present application is implemented:
  • the current automatic driving mode includes: a conservative style driving mode, a conventional style driving mode, an aggressive style driving mode, or a personalized style driving mode, where the conservative style driving mode and the conventional style driving mode ,
  • the current driving strategies corresponding to the aggressive style driving mode and the personalized style driving mode are different, wherein the driving strategy includes a lane change strategy, an acceleration strategy, a deceleration strategy, a following distance strategy and/or a maximum speed strategy; according to the current
  • the driving strategy corresponding to the automatic driving mode controls the vehicle to perform automatic driving.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or a combination of any of the above.
  • Examples of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, RAM, ROM, (Erasable Programmable Read Only) Memory, EPROM or flash memory), optical fiber, CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above.
  • the computer-readable storage medium can be any tangible medium that contains or stores a program, The program can be used by or combined with the instruction execution system, device, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • suitable medium including, but not limited to, wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • RF radio frequency
  • the computer program code used to perform the operations of this application can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages—such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network including LAN or WAN, or may be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

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Abstract

本文公开了一种控制方法、装置、设备及存储介质。该控制方法包括：获取车辆的当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，所述保守风格驾驶模式、所述常规风格驾驶模式、所述激进风格驾驶模式以及所述个性化风格驾驶模式分别对应的驾驶策略不同，所述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶。

Description

控制方法、装置、设备及存储介质
本申请要求在2020年06月03日提交中国专利局、申请号为202010494898.8的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆技术领域，例如涉及一种控制方法、装置、设备及存储介质。
背景技术
随着自动驾驶等级的提高，除了自动驾驶算法的能力、安全冗余的能力提升之外，还要考虑用户体验。在自动驾驶状态下，驾驶员的角色发生了转变，由驾驶者变为了乘员，车上除了驾驶员之外的其它乘员的驾驶体验也会由原驾驶员的驾驶切换为自动驾驶。因此，自动驾驶对于车辆的控制会严重影响乘坐体验。
市面上的自动驾驶，一般都通过组合开关单独调节车距或者最高车速，并且只有这两个维度可调节，而转向控制、动力输出等驾驶模式也是与自动驾驶解耦的。用户往往只能在自动驾驶状态下体验一种车辆控制模式。
发明内容
本申请提供一种控制方法、装置、设备及存储介质，以提升用户在自动驾驶过程中的乘坐体验。
提供了一种控制方法，包括：
获取车辆的当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，所述保守风格驾驶模式、所述常规风格驾驶模式、所述激进风格驾驶模式以及所述个性化风格驾驶模式分别对应的驾驶策略不同，所述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；
根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶。
还提供了一种控制装置，该装置包括：
获取模块，设置为获取车辆的当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个 性化风格驾驶模式，所述保守风格驾驶模式、所述常规风格驾驶模式、所述激进风格驾驶模式以及所述个性化风格驾驶模式分别对应的驾驶策略不同，所述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；
控制模块，设置为根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶。
还提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述的控制方法。
还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的控制方法。
附图说明
图1为本申请实施例一提供的一种控制方法的流程图；
图2为本申请实施例二提供的一种控制装置的结构示意图；
图3为本申请实施例三提供的一种计算机设备的结构示意图。
具体实施方式
下面结合附图和实施例对本申请进行说明。
相似的标号和字母在下面的附图中表示类似项，因此，一旦一项在一个附图中被定义，则在随后的附图中不需要对其进行定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
实施例一
图1为本申请实施例一提供的一种控制方法的流程图，本实施例可适用于车辆自动驾驶控制的情况，该方法可以由本申请实施例中的控制装置来执行，该装置可采用软件和/或硬件的方式实现，如图1所示，该方法包括如下步骤：
S110，获取当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式。
所述保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式以及个性化风格驾驶模式分别对应的驾驶策略不同，其中，所述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略。
所述不同的驾驶模式对应不同的换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略。
获取当前自动驾驶模式的方式可以为驾驶员通过人机接口(Human Machine Interface，HMI)设置界面设置自动驾驶模式，还可以为出厂默认的驾驶模式，本申请实施例对此不进行限制。
S120，根据所述当前自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶。
因为不同的驾驶模式对应不同的换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略，因此在不同的驾驶模式下，控制车辆按照不同的换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略进行自动驾驶。
可选的，根据所述当前自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶包括：
若当前自动驾驶模式为保守风格驾驶模式，则在换道时间大于第一时间阈值时，进行换道路径规划，在用户确认执行换道的情况下，执行自动换道，且换道时的相对速度大于第一速度阈值；若当前自动驾驶模式为常规风格驾驶模式，则在换道时间大于第二时间阈值时，进行换道路径规划，在前车行驶速度小于第二速度阈值时，执行自动换道，且换道时的相对速度大于第三速度阈值，其中，所述第三速度阈值大于第一速度阈值，其中，所述第二时间阈值小于第一时间阈值；若当前自动驾驶模式为激进风格驾驶模式，则在换道时间大于第三时间阈值时，进行换道路径规划，在前车行驶速度小于第四速度阈值时，或者，车辆所处车道非快车道，则执行自动换道，且换道时的相对速度大于第五速度阈值，其中，所述第四速度阈值大于第二速度阈值，所述第三时间阈值小于第二时间阈值，所述第五速度阈值大于第三速度阈值；若当前自动驾驶模式为个性化风格驾驶模式，则获取用户的历史驾驶数据，分析所述历史驾驶数据得到用户的驾驶习惯，根据用户的驾驶习惯制定换道策略，根据所述换道策略执行自动换道。
可选的，还包括：
若当前自动驾驶模式为保守风格驾驶模式，则起步和驾驶过程中的加速度响应时间大于第一时间阈值，且加速度上升斜率小于第一加速度斜率阈值，减速度的绝对值小于第一减速度阈值，减速度斜率小于第一减速度斜率阈值；若当前自动驾驶模式为常规风格驾驶模式，则起步和行驶过程中的加速度响应时间大于第二时间阈值，且加速度上升斜率小于第二加速度斜率阈值，减速度的绝对值小于第二减速度阈值，减速度斜率小于第二减速度斜率阈值，其中，所述第二时间阈值小于第二时间阈值，所述第二加速度斜率阈值大于第一加速度 斜率阈值，第二减速度斜率阈值大于第一减速度斜率阈值，第二减速度阈值大于第一减速度阈值；若当前自动驾驶模式为激进风格驾驶模式，则起步和行驶过程中的加速度响应时间大于第三时间阈值，且加速度上升斜率小于第三加速度斜率阈值，减速度的绝对值小于第三减速度阈值，减速度斜率小于第三减速度斜率阈值，其中，所述第三时间阈值小于第二时间阈值，所述第三加速度斜率阈值大于第二加速度斜率阈值，第三减速度斜率阈值大于第二减速度斜率阈值，第三减速度阈值大于第二减速度阈值；若当前自动驾驶模式为个性化风格驾驶模式，则获取用户的历史驾驶数据，分析所述历史驾驶数据得到用户的驾驶习惯，根据用户的驾驶习惯制定加速控制策略和减速控制策略，根据所述加速控制策略和减速控制策略执行自动驾驶。
可选的，还包括：
若当前自动驾驶模式为保守风格驾驶模式，则跟车距离大于第一距离阈值，且当前车停止时，当车辆处于跟停保持状态时，车辆与前车距离大于第二距离阈值，最高车速小于第一预设倍数的当前车道限速；若当前自动驾驶模式为常规风格驾驶模式，则跟车距离大于第三距离阈值，且当前车停止时，当车辆处于跟停保持状态时，车辆与前车距离大于第四距离阈值，最高车速小于第二预设倍数的当前车道限速，其中，所述第三距离阈值小于第一距离阈值，第四距离阈值小于第二距离阈值，所述第二预设倍数小于第一预设倍数；其中，所述第一预设倍数可以为10％，所述第二预设倍数可以为5％。若当前自动驾驶模式为激进风格驾驶模式，则跟车距离大于第五距离阈值，且当前车停止时，当车辆处于跟停保持状态时，车辆与前车距离大于第六距离阈值，最高车速等于当前车道限速，其中，所述第五距离阈值小于第三距离阈值，第六距离阈值小于第四距离阈值；若当前自动驾驶模式为个性化风格驾驶模式，则获取用户的历史驾驶数据，分析所述历史驾驶数据得到用户的驾驶习惯，根据用户的驾驶习惯制定跟车距离控制策略和最高速度控制策略，根据所述跟车距离控制策略和最高速度控制策略执行自动驾驶。
可选的，获取当前自动驾驶模式包括：
检测到用户对自动驾驶模式界面中自动驾驶模式对应区域的下拉框的点击操作，则显示所述下拉框对应的自动驾驶模式；检测到用户对下拉框对应的自动驾驶模式的触控操作，则获取所述自动驾驶模式作为当前自动驾驶模式。
可选的，根据所述自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶包括：
若自动驾驶模式为个性化风格驾驶模式，则向内容服务提供者(Telematics Service Provider，TSP)平台发送当前用户驾驶风格参数获取请求；接收所述TSP 平台反馈的驾驶风格参数，根据所述驾驶风格参数制定自动驾驶策略；根据所述自动驾驶策略控制车辆执行自动驾驶。
可选的，获取当前自动驾驶模式包括：
获取用户输入至HMI设置界面的自动驾驶模式。
在一个例子中，步骤S1，驾驶员通过HMI设置自动驾驶模式，共四种可设置模式，包含保守风格、常规风格、激进风格以及个性化风格。其中，用户可以在自动驾驶未激活时设置自动驾驶风格，也可在自动驾驶激活状态下通过HMI切换自动驾驶风格。步骤S2，接收到HMI设置交互模块设置的自动驾驶风格，需要记忆设置状态，在下一次上电循环中调出该风格，也可以控制出厂默认为常规风格。步骤S3，实时判断自动驾驶系统是否激活，如果自动驾驶系统激活，则系统内部启动用户之前设置的自动驾驶风格算法模块。步骤S4，如果驾驶员设置的是保守风格或常规风格或激进风格，则自动驾驶控制模块启动本地模块存储的算法软件模块。步骤S5，如果驾驶员设置的是个性化风格，则通过车辆通信模块向TSP平台发送当前用户驾驶风格参数获取请求。步骤S6，TSP平台接收到请求之后，读取当前登录账户的个性化驾驶风格模型参数。步骤S7，TSP平台将对应的参数通过车辆通信模块发送给自动驾驶控制模块。步骤S8，自动驾驶控制模块将驾驶风格相关的切换请求发送到驾驶相关的控制模块，接收自动驾驶控制模块切换请求的模块包含换道控制模块、跟车距离策略模块、加速策略模块、减速策略模块和最高速度策略模块。步骤S9，换道控制模块接收自动驾驶控制模块的控制请求，切换至用户设置的自动驾驶风格状态。
针对换道策略，不同的驾驶模式对应的换道策略不同，如下表1所示：
表1
Figure PCTCN2021096947-appb-000001
Figure PCTCN2021096947-appb-000002
针对加速策略和减速策略，不同的驾驶模式对应不同的加速策略和减速策略，如表2所示：
表2
Figure PCTCN2021096947-appb-000003
Figure PCTCN2021096947-appb-000004
在不同的自动驾驶风格状态下，转向控制的响应速度及控制斜率不同。激进风格响应最快，控制最激进；保守风格响应最慢，控制最缓和；个性化自学习风格根据对应用户平时的驾驶习惯，制定个性化的加速控制响应曲线。针对跟车距离策略和最高速度策略，不同的驾驶模式对应不同的跟车距离策略和最高速度策略，如表3所示：
表3
Figure PCTCN2021096947-appb-000005
在不同的自动驾驶模式下，电控阻尼装置的调节情况有所区别，保守风格下，电控阻尼调节为较软状态；常规风格下，电控阻尼装置调节为中等状态；激进风格下，电控阻尼调节为较硬状态；个性化自学习风格下，根据对应用户平时的驾驶习惯，制定个性化的电控阻尼装置控制参数。
通过HMI显示模块为用户指示当前所处的自动驾驶风格状态。
本申请实施例提出了一种L3及以上自动驾驶模式，通过驾驶员预设或者个性化自学习两种方法，可实现自动驾驶状态下的驾驶风格切换，以适应不同用户在自动驾驶状态下的乘坐体验需求。以往的L2及以下驾驶辅助系统，可通过HMI开关设置本车对于前车的跟车距离以及最高车速。而L3及以上自动驾驶激活状态，完全由自动驾驶系统控制车辆，此时，驾驶员从车辆的驾驶者变为了“乘员”，而自动驾驶任务也不是简单的跟车控制，还包含超车、换道时机选择等其它的驾驶场景。因此，需要一种综合性的控制系统来保证在自动驾驶状态下，车辆乘员的感受依然舒适和习惯，即自动驾驶系统不仅仅要完成基本驾驶任务，而且要在驾驶车辆的过程中驾驶水平拟人化甚至超过人类优秀的驾驶员。
本实施例的技术方案，通过获取当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，其中，所述保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式以及个性化风格驾驶模式分别对应的驾驶策略不同，其中，所述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；根据所述当前自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶，能够通过用户主观选择驾驶风格或者个性化自学习对应用户的驾驶风格，使自动驾驶系统更加智能化、拟人化，提升用户在自动驾驶过程中的乘坐体验。
实施例二
图2为本申请实施例二提供的一种控制装置的结构示意图。本实施例可适用于车辆控制的情况，该装置可采用软件和/或硬件的方式实现，该装置可集成在任何提供控制功能的设备中，如图2所示，所述控制装置包括：获取模块210和控制模块220。
获取模块210，设置为获取当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，其中，所述保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式以及个性化风格驾驶模式分别对应的驾驶策略不同，其中，所述驾驶 策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；控制模块220，设置为根据所述当前自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶。
可选的，控制模块220是设置为：
若当前自动驾驶模式为保守风格驾驶模式，则在换道时间大于第一时间阈值时，进行换道路径规划，在用户确认执行换道的情况下，执行自动换道，且换道时的相对速度大于第一速度阈值；若当前自动驾驶模式为常规风格驾驶模式，则在换道时间大于第二时间阈值时，进行换道路径规划，在前车行驶速度小于第二速度阈值时，执行自动换道，且换道时的相对速度大于第三速度阈值，其中，所述第三速度阈值大于第一速度阈值，其中，所述第二时间阈值小于第一时间阈值；若当前自动驾驶模式为激进风格驾驶模式，则在换道时间大于第三时间阈值时，进行换道路径规划，在前车行驶速度小于第四速度阈值时，或者，车辆所处车道非快车道，则执行自动换道，且换道时的相对速度大于第五速度阈值，其中，所述第四速度阈值大于第二速度阈值，所述第三时间阈值小于第二时间阈值，所述第五速度阈值大于第三速度阈值；若当前自动驾驶模式为个性化风格驾驶模式，则获取用户的历史驾驶数据，分析所述历史驾驶数据得到用户的驾驶习惯，根据用户的驾驶习惯制定换道策略，根据所述换道策略执行自动换道。
可选的，控制模块220是设置为：
若当前自动驾驶模式为保守风格驾驶模式，则起步和驾驶过程中的加速度响应时间大于第一时间阈值，且加速度上升斜率小于第一加速度斜率阈值，减速度的绝对值小于第一减速度阈值，减速度斜率小于第一减速度斜率阈值；若当前自动驾驶模式为常规风格驾驶模式，则起步和行驶过程中的加速度响应时间大于第二时间阈值，且加速度上升斜率小于第二加速度斜率阈值，减速度的绝对值小于第二减速度阈值，减速度斜率小于第二减速度斜率阈值，其中，所述第二时间阈值小于第二时间阈值，所述第二加速度斜率阈值大于第一加速度斜率阈值，第二减速度斜率阈值大于第一减速度斜率阈值，第二减速度阈值大于第一减速度阈值；若当前自动驾驶模式为激进风格驾驶模式，则起步和行驶过程中的加速度响应时间大于第三时间阈值，且加速度上升斜率小于第三加速度斜率阈值，减速度的绝对值小于第三减速度阈值，减速度斜率小于第三减速度斜率阈值，其中，所述第三时间阈值小于第二时间阈值，所述第三加速度斜率阈值大于第二加速度斜率阈值，第三减速度斜率阈值大于第二减速度斜率阈值，第三减速度阈值大于第二减速度阈值；若当前自动驾驶模式为个性化风格驾驶模式，则获取用户的历史驾驶数据，分析所述历史驾驶数据得到用户的驾 驶习惯，根据用户的驾驶习惯制定加速控制策略和减速控制策略，根据所述加速控制策略和减速控制策略执行自动驾驶。
可选的，控制模块220是设置为：
若当前自动驾驶模式为保守风格驾驶模式，则跟车距离大于第一距离阈值，且当前车停止时，当车辆处于跟停保持状态时，车辆与前车距离大于第二距离阈值，最高车速小于第一预设倍数的当前车道限速；若当前自动驾驶模式为常规风格驾驶模式，则跟车距离大于第三距离阈值，且当前车停止时，当车辆处于跟停保持状态时，车辆与前车距离大于第四距离阈值，最高车速小于第二预设倍数的当前车道限速，其中，所述第三距离阈值小于第一距离阈值，第四距离阈值小于第二距离阈值，所述第二预设倍数小于第一预设倍数；若当前自动驾驶模式为激进风格驾驶模式，则跟车距离大于第五距离阈值，且当前车停止时，当车辆处于跟停保持状态时，车辆与前车距离大于第六距离阈值，最高车速等于当前车道限速，其中，所述第五距离阈值小于第三距离阈值，第六距离阈值小于第四距离阈值；若当前自动驾驶模式为个性化风格驾驶模式，则获取用户的历史驾驶数据，分析所述历史驾驶数据得到用户的驾驶习惯，根据用户的驾驶习惯制定跟车距离控制策略和最高速度控制策略，根据所述跟车距离控制策略和最高速度控制策略执行自动驾驶。
可选的，获取模块210是设置为：
检测到用户对自动驾驶模式界面中自动驾驶模式对应区域的下拉框的点击操作，则显示所述下拉框对应的自动驾驶模式；检测到用户对下拉框对应的自动驾驶模式的触控操作，则获取所述自动驾驶模式作为当前自动驾驶模式。
可选的，控制模块220是设置为：
若自动驾驶模式为个性化风格驾驶模式，则向TSP平台发送当前用户驾驶风格参数获取请求；接收所述TSP平台反馈的驾驶风格参数，根据所述驾驶风格参数制定自动驾驶策略；根据所述自动驾驶策略控制车辆执行自动驾驶。
可选的，获取模块210是设置为：
获取用户输入至HMI设置界面的自动驾驶模式。
上述产品可执行本申请任意实施例所提供的方法，具备执行方法相应的功能模块和效果。
本实施例的技术方案，通过获取当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，其中，所述保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式以及个性化风格驾驶模式分别对应的驾驶策略不同，其中，所 述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；根据所述当前自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶，能够通过用户主观选择驾驶风格或者个性化自学习对应用户的驾驶风格，使自动驾驶系统更加智能化、拟人化，提升用户在自动驾驶过程中的乘坐体验。
实施例三
图3为本申请实施例三提供的一种计算机设备的结构示意图。图3示出了适于用来实现本申请实施方式的示例性计算机设备12的框图。图3显示的计算机设备12仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图3所示，计算机设备12以通用计算设备的形式表现。计算机设备12的组件可以包括但不限于：一个或者多个处理器或者处理单元16，系统存储器28，连接不同系统组件(包括系统存储器28和处理单元16)的总线18。
总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industrial Standard Architectur，ISA)总线，微通道体系结构(MicroChannel Architecture，MCA)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及外围组件互连((Peripheral Component Interconnect，PCI)总线。
计算机设备12包括多种计算机系统可读介质。这些介质可以是任何能够被计算机设备12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(Random Access Memory，RAM)30和/或高速缓存存储器32。计算机设备12可以包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以设置为读写不可移动的、非易失性磁介质(图3未显示，通常称为“硬盘驱动器”)。尽管图3中未示出，可以提供设置为对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如光盘-只读存储器(Compact Disc-Read Only Memor，CD-ROM)，数字视频光盘-只读存储器((Digital Video Disc-ROM DVD-ROM)或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。存储器28可以包括至少一个程序产 品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请实施例的功能。
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如存储器28中，这样的程序模块42包括——但不限于——操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或一种组合中可能包括网络环境的实现。程序模块42通常执行本申请所描述的实施例中的功能和/或方法。
计算机设备12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该计算机设备12交互的设备通信，和/或与使得该计算机设备12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(Input/Output，I/O)接口22进行。另外，本实施例中的计算机设备12，显示器24不是作为独立个体存在，而是嵌入镜面中，在显示器24的显示面不予显示时，显示器24的显示面与镜面从视觉上融为一体。并且，计算机设备12还可以通过网络适配器20与一个或者多个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器20通过总线18与计算机设备12的其它模块通信。应当明白，尽管图中未示出，可以结合计算机设备12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、独立硬盘冗余阵列(Redundant Arrays of Independent Disks，RAID)系统、磁带驱动器以及数据备份存储系统等。
处理单元16通过运行存储在系统存储器28中的程序，从而执行多种功能应用以及数据处理，例如实现本申请实施例所提供的控制方法：
获取当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，其中，所述保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式以及个性化风格驾驶模式分别对应的驾驶策略不同，其中，所述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；根据所述当前自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶。
实施例四
本申请实施例四提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请所有申请实施例提供的控制方法：
获取当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，其中，所述保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式以及个性化风格驾驶模式当前对应的驾驶策略不同，其中，所述驾驶策略包括换道策略、加速策略、减速策略、跟车距离策略和/或最高速度策略；根据所述当前自动驾驶模式对应的驾驶策略控制车辆进行自动驾驶。
可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、RAM、ROM、可擦式可编程只读存储器((Erasable Programmable Read Only Memory，EPROM或闪存)、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括LAN或WAN—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。

Claims (10)

  1. 一种控制方法，包括：
    获取车辆的当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，所述保守风格驾驶模式、所述常规风格驾驶模式、所述激进风格驾驶模式以及所述个性化风格驾驶模式分别对应的驾驶策略不同，所述驾驶策略包括以下至少之一：换道策略、加速策略、减速策略、跟车距离策略、最高速度策略；
    根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶。
  2. 根据权利要求1所述的方法，其中，在所述驾驶策略包括所述换道策略的情况下，所述根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶，包括：
    在所述当前自动驾驶模式为所述保守风格驾驶模式的情况下，在所述车辆的换道时间大于第一时间阈值的情况下，进行换道路径规划，在用户确认执行换道的情况下，执行自动换道，且所述车辆换道时的相对速度大于第一速度阈值；
    在所述当前自动驾驶模式为所述常规风格驾驶模式的情况下，在所述车辆的换道时间大于第二时间阈值的情况下，进行换道路径规划，在前车行驶速度小于第二速度阈值的情况下，执行自动换道，且所述车辆换道时的相对速度大于第三速度阈值，其中，所述第三速度阈值大于所述第一速度阈值，所述第二时间阈值小于所述第一时间阈值；
    在所述当前自动驾驶模式为所述激进风格驾驶模式的情况下，在所述车辆的换道时间大于第三时间阈值的情况下，进行换道路径规划，在前车行驶速度小于第四速度阈值，或者，所述车辆所处车道不是快车道的情况下，执行自动换道，且所述车辆换道时的相对速度大于第五速度阈值，其中，所述第四速度阈值大于所述第二速度阈值，所述第三时间阈值小于所述第二时间阈值，所述第五速度阈值大于所述第三速度阈值；
    在所述当前自动驾驶模式为所述个性化风格驾驶模式的情况下，获取用户的历史驾驶数据，分析所述历史驾驶数据得到所述用户的驾驶习惯，根据所述用户的驾驶习惯制定换道策略，根据所述换道策略执行自动换道。
  3. 根据权利要求2所述的方法，在所述驾驶策略还包括所述加速策略和所述减速策略的情况下，所述根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶，还包括：
    在所述当前自动驾驶模式为所述保守风格驾驶模式的情况下，控制所述车辆在起步和驾驶过程中的加速度响应时间大于所述第一时间阈值，加速度上升 斜率小于第一加速度斜率阈值，减速度的绝对值小于第一减速度阈值，减速度斜率小于第一减速度斜率阈值；
    在所述当前自动驾驶模式为所述常规风格驾驶模式的情况下，控制所述车辆在起步和行驶过程中的加速度响应时间大于所述第二时间阈值，加速度上升斜率小于第二加速度斜率阈值，减速度的绝对值小于第二减速度阈值，减速度斜率小于第二减速度斜率阈值，其中，所述第二加速度斜率阈值大于所述第一加速度斜率阈值，所述第二减速度斜率阈值大于所述第一减速度斜率阈值，所述第二减速度阈值大于所述第一减速度阈值；
    在所述当前自动驾驶模式为所述激进风格驾驶模式的情况下，控制所述车辆在起步和行驶过程中的加速度响应时间大于第三时间阈值，加速度上升斜率小于第三加速度斜率阈值，减速度的绝对值小于第三减速度阈值，减速度斜率小于第三减速度斜率阈值，其中，所述第三加速度斜率阈值大于所述第二加速度斜率阈值，所述第三减速度斜率阈值大于所述第二减速度斜率阈值，所述第三减速度阈值大于所述第二减速度阈值；
    在所述当前自动驾驶模式为所述个性化风格驾驶模式的情况下，根据所述用户的驾驶习惯制定加速控制策略和减速控制策略，根据所述加速控制策略和所述减速控制策略执行自动驾驶。
  4. 根据权利要求2所述的方法，在所述驾驶策略还包括所述跟车距离策略和所述最高速度策略的情况下，所述根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶，还包括：
    在所述当前自动驾驶模式为所述保守风格驾驶模式的情况下，控制所述车辆的跟车距离大于第一距离阈值，且在前车停止且所述车辆处于跟停保持状态的情况下，控制所述车辆与所述前车的距离大于第二距离阈值，所述车辆的最高车速小于第一预设倍数的当前车道限速；
    在所述当前自动驾驶模式为所述常规风格驾驶模式的情况下，控制所述车辆的跟车距离大于第三距离阈值，且在前车停止且所述车辆处于跟停保持状态的情况下，控制所述车辆与所述前车的距离大于第四距离阈值，所述车辆的最高车速小于第二预设倍数的当前车道限速，其中，所述第三距离阈值小于所述第一距离阈值，所述第四距离阈值小于所述第二距离阈值，所述第二预设倍数小于所述第一预设倍数；
    在所述当前自动驾驶模式为所述激进风格驾驶模式的情况下，控制所述车辆的跟车距离大于第五距离阈值，且在前车停止且所述车辆处于跟停保持状态的情况下，控制所述车辆与所述前车的距离大于第六距离阈值，所述车辆的最 高车速等于当前车道限速，其中，所述第五距离阈值小于所述第三距离阈值，所述第六距离阈值小于所述第四距离阈值；
    在所述当前自动驾驶模式为所述个性化风格驾驶模式的情况下，根据所述用户的驾驶习惯制定跟车距离控制策略和最高速度控制策略，根据所述跟车距离控制策略和所述最高速度控制策略执行自动驾驶。
  5. 根据权利要求1所述的方法，其中，所述获取车辆的当前自动驾驶模式，包括：
    在检测到用户对自动驾驶模式界面中自动驾驶模式对应区域的下拉框的点击操作的情况下，显示所述下拉框对应的多种自动驾驶模式；
    在检测到所述用户对所述下拉框对应的一种自动驾驶模式的触控操作的情况下，获取所述一种自动驾驶模式作为所述当前自动驾驶模式。
  6. 根据权利要求5所述的方法，其中，所述根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶，包括：
    在所述当前自动驾驶模式为所述个性化风格驾驶模式的情况下，向内容服务提供者TSP平台发送当前用户驾驶风格参数获取请求；
    接收所述TSP平台反馈的驾驶风格参数，根据所述驾驶风格参数制定自动驾驶策略；
    根据所述自动驾驶策略控制所述车辆执行自动驾驶。
  7. 根据权利要求1所述的方法，其中，所述获取车辆的当前自动驾驶模式，包括：
    获取用户输入至人机接口HMI设置界面的自动驾驶模式，将获取的自动驾驶模式作为所述当前自动驾驶模式。
  8. 一种控制装置，包括：
    获取模块，设置为获取车辆的当前自动驾驶模式，其中，所述当前自动驾驶模式包括：保守风格驾驶模式、常规风格驾驶模式、激进风格驾驶模式或个性化风格驾驶模式，所述保守风格驾驶模式、所述常规风格驾驶模式、所述激进风格驾驶模式以及所述个性化风格驾驶模式分别对应的驾驶策略不同，所述驾驶策略包括以下至少之一：换道策略、加速策略、减速策略、跟车距离策略、最高速度策略；
    控制模块，设置为根据所述当前自动驾驶模式对应的驾驶策略控制所述车辆进行自动驾驶。
  9. 一种计算机设备，包括存储器、处理器及存储在所述存储器上并可在所 述处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如权利要求1-7中任一项所述的控制方法。
  10. 一种计算机可读存储介质，存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1-7中任一项所述的控制方法。
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