CN118494485A

CN118494485A - Vehicle control method, device and storage medium

Info

Publication number: CN118494485A
Application number: CN202410671748.8A
Authority: CN
Inventors: 冯茂林
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2024-05-28
Filing date: 2024-05-28
Publication date: 2024-08-16

Abstract

The disclosure relates to the technical field of vehicle control, and in particular relates to a vehicle control method, a vehicle control device and a storage medium, wherein the vehicle control method comprises the following steps: acquiring driver behavior data; acquiring state information of a vehicle and environment information of the current environment of the vehicle; determining a target control parameter of a traction control system TCS according to at least one of driver behavior data, environment information and state information and a current driving mode of the vehicle; according to the target control parameters of the TCS, the vehicle is driven to realize anti-skid control, so that the TCS system can be triggered and responded in time, and the driving safety is improved.

Description

Vehicle control method, device and storage medium

Technical Field

The disclosure relates to the technical field of vehicle control, and in particular relates to a vehicle control method, a vehicle control device and a storage medium.

Background

The traction control system (Traction Control System, TCS), i.e. the drive slip control system, is mainly aimed at preventing the vehicle from slipping during acceleration to ensure the stability of the vehicle, and the TCS is designed to obtain optimal traction for the vehicle under various driving conditions.

When the traction control system TCS monitors that the slip rate of the driving wheel exceeds the target slip rate (TCS trigger threshold), the engine or the motor is subjected to torque reduction to reduce the slip rate of the driving wheel, so that the vehicle is restored to be stable; the traditional TCS control threshold is generally bound with a driving mode, for example, the TCS control threshold is respectively corresponding to different TCS control thresholds in a comfort mode and a sport mode, and when the driving mode is changed from the comfort mode to the sport mode, the target slip rate in the TCS control threshold is increased and the intervention time is late; the change of the TCS control threshold is only related to the driving mode, ignoring the influence of driving behavior, vehicle state and environmental state on the driving process, and the control effect in the driving process is general.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a control method, apparatus, and storage medium for a vehicle.

According to a first aspect of an embodiment of the present disclosure, there is provided a control method of a vehicle, including:

Acquiring driver behavior data;

acquiring state information of a vehicle and environment information of the current environment of the vehicle;

And driving anti-skid control is carried out on the vehicle according to at least one of the driver behavior data, the environment information and the state information of the vehicle and the current driving mode of the vehicle.

According to a second aspect of the embodiments of the present disclosure, there is provided a control device of a vehicle, including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring driver behavior data, state information of a vehicle and environment information of the current environment of the vehicle;

and the control module is used for carrying out driving anti-skid control on the vehicle according to the current driving mode of the vehicle and at least one of the driver behavior data, the environment information and the state information of the vehicle.

According to a third aspect of embodiments of the present disclosure, there is provided a vehicle comprising: a processor;

A memory for storing processor-executable instructions;

wherein the processor is configured to implement the steps of the method of the first aspect.

According to a fourth aspect of embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, which when executed by a processor of a mobile terminal, causes the mobile terminal to perform a method of controlling a vehicle, the method comprising:

Acquiring driver behavior data;

According to a fifth aspect of embodiments of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of controlling a vehicle as described in the first aspect.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: the method comprises the steps of acquiring driver behavior data, occupation information and tire pressure information of a vehicle and environment information of the current environment of the vehicle, analyzing data information of the three dimensions of the driver behavior, the vehicle and the environment of the vehicle, determining target control parameters of TCS by combining the current driving mode of the vehicle, ensuring the accuracy and rationality of the target control parameters of the TCS, performing driving anti-skid control based on the target control parameters of the TCS, ensuring that the TCS can be triggered and responded in time, and improving driving safety.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a flow chart illustrating a method of controlling a vehicle according to some embodiments of the present disclosure.

Fig. 2 is a flow chart illustrating another vehicle control method according to some embodiments of the present disclosure.

Fig. 3 is a flow chart illustrating another vehicle control method according to some embodiments of the present disclosure.

Fig. 4 is a block diagram of a control device of a vehicle, shown according to some embodiments of the present disclosure.

FIG. 5 is a block diagram of a vehicle, according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to some embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. Various changes, modifications, and equivalents of the methods, devices, and/or systems described herein will become apparent after an understanding of the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will become apparent after an understanding of the disclosure, except where necessary to perform the operations in a particular order. In addition, descriptions of features known in the art may be omitted for the sake of clarity and conciseness.

The implementations described below in some examples of the disclosure are not representative of all implementations consistent with the disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

Fig. 1 is a flowchart illustrating a control method of a vehicle according to some embodiments of the present disclosure, as shown in fig. 1, the control method of a vehicle including the steps of:

S101, acquiring driver behavior data.

In some implementations, the driver behavior data is data related to driving behavior of the driver, such as data of the number of times the driver turns the steering wheel, the number of times the accelerator pedal is operated, the number of times the brake pedal is operated, and the duration of driving, for reflecting the driving proficiency of the driver, the more proficiency the driving behavior of the driver is, the higher the driving safety is.

In some implementations, the driver behavior data may further include driver information, a rotation range of each time the steering wheel is rotated, an opening and closing degree of operating the accelerator pedal and operating the brake pedal, that is, a magnitude of the rotation range when the steering wheel is rotated, and a stepping opening and closing degree of stepping on the accelerator pedal and the brake pedal, so as to reflect a magnitude of the operation range of each time the current driver operates.

Optionally, the driver behavior data may be collected based on the vehicle-mounted terminal device, that is, based on the vehicle-mounted terminal, data such as a rotation range and a rotation frequency of the driver rotating the steering wheel, an opening degree and a rotation frequency of operating the accelerator pedal, an opening degree and a rotation frequency of operating the brake pedal, and a continuous driving duration of the vehicle are determined; in some implementations, to ensure reliability and accuracy of the data analysis, the driver behavior data acquired in real time may be stored, then the driver behavior data within a period of time is read from the memory for analysis, and the driving behavior of the driver is evaluated for safety by the driving data of the driver within a period of time.

S102, acquiring state information of the vehicle and environment information of the current environment of the vehicle.

In some implementations, the status information of the vehicle may include size information of the vehicle, man-machine information of the vehicle in running, component information of the vehicle, etc., for example, the higher the safety required of the vehicle when the longer overall size of the body of the vehicle is larger; the manned information of the vehicle reflects the manned quantity of the vehicle, and the higher the manned quantity is, the higher the safety is required when the vehicle runs; accordingly, the component information of the vehicle may be information of each component of the vehicle, such as whether the tire has abnormal tire pressure, whether the safety of the vehicle seat system is good, whether the belt strength is normal, and the like, which affect the safety during running of the vehicle.

In some implementations, the environmental information may be weather conditions of the current environment of the vehicle and road condition information of the current environment, for example, sliding problems of the vehicle are more likely to occur in an uphill road section or in rainy and snowy weather, so that whether the current environment of the vehicle is safe or not can be determined by acquiring the environmental information of the current environment of the vehicle.

Optionally, the environmental information may be obtained from a server, where the server determines whether the current location is a sensitive area according to the location of the vehicle, or obtains weather information of the current location according to the location of the vehicle, and determines environmental information of the current environment of the vehicle according to whether the current location is a sensitive area or whether it is rainy or snowy weather.

In some implementations, the sensitive area may be marked according to actual road conditions, and when the vehicle travels to the marked location, it is determined that the vehicle travels to the sensitive area.

S103, driving anti-skid control is carried out on the vehicle according to at least one of the driver behavior data, the environment information and the state information of the vehicle and the current driving mode of the vehicle.

It can be appreciated that different driving modes may correspond to different driving anti-slip control thresholds, for example, in a comfort mode, a smaller target slip rate may be used for driving anti-slip control, and in a sport mode, a larger target slip rate may be used for driving anti-slip control, so that a base parameter threshold corresponding to driving anti-slip control currently may be determined based on a current driving mode. Optionally, the basic parameters may include the target slip rate and the intervention timing, and may further include parameters such as acceleration and an intervention quantity, which are not limited in particular.

The driver behavior data, the environment information and the state information of the vehicle can respectively represent the driving safety conditions of the vehicle under different dimensions, for example, the driver behavior data can reflect the driving proficiency of the driver, the environment information can reflect whether the vehicle is in a sensitive area or not and whether the vehicle is in rainy or snowy weather, the state information can reflect the current people carrying quantity of the vehicle and whether the components of the vehicle are abnormal, and when the driving of the vehicle is unsafe under any dimension, the suitability of the driving anti-skid control is weaker according to the basic parameter threshold determined by the current driving mode, so that the basic parameter threshold can be optimized for improving the timeliness and the safety of the driving anti-skid control, and the driving anti-skid control can be timely triggered under the condition of special unsafe.

Optionally, a target parameter threshold under the condition of safe driving may be preset, and when any information in the driver behavior data, the environmental information and the state information of the vehicle reflects that the driving safety of the vehicle is low, the basic parameter threshold is directly adjusted to the target parameter threshold.

Optionally, the safety levels corresponding to the driver behavior data, the environment information and the state information of the vehicle can be obtained, each safety level corresponds to different safety coefficients, and the basic parameter threshold is optimized and adjusted based on the safety coefficients to obtain the target parameter threshold; for example, the safety coefficient corresponding to the dimension with the lowest safety level under the three dimensions is obtained, the basic parameter threshold is optimized and adjusted by the lowest safety coefficient to obtain the target parameter threshold, or the safety coefficients under the three dimensions can be weighted and summed, the basic parameter threshold is optimized and adjusted by the weighted safety coefficient to obtain the target parameter threshold, and the target parameter threshold is used as a decision basis for determining whether the vehicle triggers the anti-skid condition, so that the driving anti-skid control is performed on the vehicle.

In this embodiment, the driver behavior data, the environmental information of the environment where the vehicle is located, and the state information of the vehicle are obtained, the three dimensions of the driver behavior, the vehicle itself, and the environment where the vehicle is located are analyzed, the running safety of the vehicle is judged in combination with the current driving mode of the vehicle, and the driving anti-slip control is performed on the vehicle based on the current driving mode of the vehicle and at least one of the environmental information of the environment where the vehicle is located, and the driver behavior data, the environmental information of the environment where the vehicle is located, so that the anti-slip system can be triggered more timely when the vehicle runs under the condition of lower safety, and the driving safety is increased.

Fig. 2 is a flowchart of another vehicle control method according to some embodiments of the present disclosure, and as shown in fig. 2, the vehicle control method includes the following steps:

s201, acquiring driver behavior data.

In the embodiment of the present disclosure, the implementation method of step S201 may be implemented in any manner in each embodiment of the present disclosure, which is not limited herein, and is not described herein again.

S202, acquiring state information of a vehicle and environment information of the current environment of the vehicle.

In some implementations, the status information of the vehicle may be occupancy information and tire pressure information of the vehicle; the occupation information of the vehicle refers to the occupation information of the vehicle seats, and the more the vehicle seats are occupied, the more the vehicle is loaded, the more attention is required to be paid to the vehicle driving process, namely the higher the required safety is; alternatively, the occupancy information of the vehicle may be obtained by receiving a seat occupancy signal, which may be displayed on a vehicle central control display screen to intuitively determine the occupancy information of the current vehicle.

The tire pressure information of the vehicle refers to the pressure of air in the tire of the vehicle, and can be obtained based on measurement of a tire pressure sensor or can be determined from driving information on an automobile instrument panel or a central control display screen of the vehicle; it can be understood that, if the tire pressure information of the vehicle is abnormal, the current safety of the vehicle is low.

In the embodiment of the present disclosure, the implementation method of step S202 may be implemented in any manner in each embodiment of the present disclosure, which is not limited herein, and is not described herein again.

S203, determining a target control parameter of the traction control system TCS according to the current driving mode of the vehicle and at least one of the driver behavior data, the environment information, and the state information of the vehicle.

In some implementations, different driving modes may correspond to different TCS control parameters, for example, the target slip rate may be smaller in the control parameters corresponding to the TCS in the comfort mode, the intervention time is also smaller, and driving safety is ensured; the target slip rate in the control parameter corresponding to the TCS in the motion mode is increased, and the intervention time is late; the control parameters of the TCS are thus determined according to the current driving mode of the vehicle.

Further, in order to improve the anti-slip effect, whether the driver behavior data, the environment information, the occupancy information and the tire pressure information are safe or not is considered, and when unsafe conditions exist, the control parameters of the TCS are automatically adjusted so that the driver can safely drive the vehicle.

It can be understood that the driver behavior data may reflect the driving proficiency of the driver, the environmental information may reflect whether the vehicle is in a sensitive area and is in a snowy or rainy weather, the occupancy information may reflect the manned condition of the vehicle, and the tire pressure information may reflect whether the tire pressure of the tire of the vehicle is abnormal, so that when any condition of the driver driving proficiency is low, the vehicle is in a sensitive area, the vehicle is running in a snowy or rainy weather, the vehicle is fully loaded, and the vehicle has the tire pressure abnormality is satisfied, it may be determined that the vehicle is running with low safety, and the control parameter of the TCS of the current driving mode is adjusted.

Optionally, a safe and stable target control parameter can be preset, and when the vehicle runs under the condition of low safety, the control parameter of the TCS of the current driving mode is directly adjusted to the preset safe and stable target control parameter; the control parameter of the TCS in the comfort driving mode may be used as a target control parameter, and when the vehicle is running in a low safety condition, the control parameter of the TCS in the current driving mode is adjusted to the target control parameter, that is, the control parameter of the TCS in the comfort mode; or an adjustment coefficient can be set, when the vehicle runs under the condition of low safety, the control parameter of the TCS of the current driving mode is adjusted based on the adjustment coefficient, for example, the target slip rate is reduced based on the first adjustment coefficient, the intervention time is early based on the second adjustment coefficient, the first adjustment coefficient and the second adjustment coefficient can be the same or different, and the running safety of the vehicle is ensured based on the target control parameter of the TCS.

It should be noted that, the target slip rate and the intervention timing are examples of the control parameters of the TCS in this embodiment, and in other embodiments, the control parameters of the TCS may further include parameters such as acceleration and intervention quantity, which are not limited specifically.

It will be appreciated that if the vehicle is not traveling with low safety, the control parameters of the TCS may not be adjusted, that is, the control parameters of the TCS corresponding to the current driving mode may be used as target control parameters.

S204, driving anti-skid control is carried out on the vehicle according to the target control parameters of the TCS.

Determining whether the vehicle triggers an anti-slip condition according to the target control parameter of the TCS, determining whether to drive the vehicle to perform anti-slip control, for example, judging whether the driving wheel slip rate of the vehicle exceeds a trigger threshold, namely judging whether the driving wheel slip rate of the vehicle exceeds the target slip rate in the target control parameter of the TCS, thereby determining whether to reduce torque of an engine or a motor of the vehicle so as to ensure that the vehicle runs under the condition of safety and stability; the TCS-based target control parameters are judged, so that the TCS system can be triggered in time, the probability of vehicle slip instability is reduced, and driving safety is improved.

In this embodiment, the driver behavior data, the occupation information and the tire pressure information of the vehicle, and the environmental information of the current environment of the vehicle are obtained, the three dimensions of the driver behavior, the vehicle and the environment of the vehicle are analyzed, the current driving mode of the vehicle is combined, the target control parameters of the TCS are determined, the multidimensional data information in the driving process of the vehicle is integrated, and the more accurate and reasonable target control parameters of the TCS are obtained, so that the TCS system can be triggered and responded in time, and the driving safety is increased.

Fig. 3 is a flowchart illustrating another vehicle control method according to some embodiments of the present disclosure, as shown in fig. 3, the vehicle control method including the steps of:

S301, acquiring driver behavior data, and determining the proficiency of the driver according to the driver behavior data.

In some implementations, a first number of times the driver operates the target assembly within a set period of time may be determined based on the driver behavior data; determining a second time when the change rate of the target component in the set time period is greater than the set threshold value of the target component according to the driver behavior data; and determining the proficiency of the driver according to the first times and the second times.

Alternatively, the target component may be a steering wheel, an accelerator pedal, and a brake pedal; therefore, according to the driver behavior data, the first times of operating the steering wheel, the first times of operating the accelerator pedal and the first times of operating the brake pedal by the driver in the set time period are determined.

In some implementations, the driver behavior data may also include the degree of change of the target component for each operation, so the rate of change of each operation, that is, the steering wheel angle rate of change, the accelerator pedal opening rate of change, and the brake pedal opening rate of change, may be obtained; when the rate of change of the operating target component is large, the driver's proficiency in driving the vehicle may be low, so that a second number of times the rate of change is greater than the set threshold value of the target component may be counted.

Optionally, the set threshold values of different target components may be the same or different; that is, the second times that the steering wheel angle change rate is larger than the corresponding set threshold value of the steering wheel, the second times that the accelerator pedal opening change rate is larger than the corresponding set threshold value of the accelerator pedal, and the second times that the brake pedal opening change rate is larger than the corresponding set threshold value of the brake pedal are counted.

Further, the ratio of the second number of times to the first number of times may be obtained, and the frequency that the change rate of the operation target assembly exceeds the corresponding set threshold value may be determined, where a larger ratio of the second number of times to the first number of times indicates a higher frequency that exceeds the corresponding set threshold value, and the driver's proficiency in driving the vehicle is lower.

Optionally, a frequency threshold may be preset, and when the ratio of the second number of times corresponding to any target component to the first number of times is greater than the frequency threshold, it is determined that the driver's proficiency is low, and the driver is a novice. For example, in this embodiment, the frequency threshold is 0.5, the ratio of the second number of times the steering wheel is operated to the first number of times the steering wheel is operated is greater than the set threshold, and if the ratio is greater than the frequency threshold by 0.5, the driver is determined to be a novice driver, and the proficiency of the driver is low. Correspondingly, when the ratio of the second times to the first times corresponding to any target component is smaller than or equal to the frequency threshold value, the driver skill is determined to be higher.

In the embodiment of the present disclosure, the implementation method of step S301 may be implemented in any manner in each embodiment of the present disclosure, which is not limited herein, and is not described herein again.

S302, acquiring state information of the vehicle, and determining the vehicle safety degree of the vehicle according to the state information.

In some implementations, the status information of the vehicle includes occupancy information and tire pressure information of the vehicle.

In some implementations, an actual number of vehicles may be determined based on the occupancy information; that is, according to the occupation information, the occupied seat of the vehicle is determined, and whether the current vehicle is full is judged; for example, for a vehicle with a maximum number of seats of 5, if the actual number of vehicles is greater than or equal to 4, the vehicle is considered to be fully loaded, the fully loaded vehicle may be marked as a low safety vehicle, i.e. higher safety and stability is required.

In some implementations, the abnormal tire pressure number of the vehicle may also be determined from the tire pressure information; that is, whether the tires of the vehicle are normal or not is determined according to the tire pressure information, and the abnormal tire pressure number of the vehicle is counted; alternatively, when the number of abnormal tire pressures is not 0, indicating that the tire pressure of the tire of the vehicle is abnormal, determining that the vehicle is a low-safety vehicle; that is, when the number of abnormal tire pressures is greater than or equal to 1, it is determined that the vehicle is a low-safety vehicle.

In some implementations, if the actual people carrier indicates that the current vehicle is full and/or the abnormal tire pressure number indicates that the current vehicle has tires with abnormal tire pressure, determining that the vehicle safety is low; correspondingly, if the actual manned number indicates that the current vehicle is not fully loaded and the abnormal tire pressure number is 0, the vehicle safety degree is determined to be normal.

In the embodiment of the present disclosure, the implementation method of step S302 may be implemented in any manner in each embodiment of the present disclosure, which is not limited herein, and is not described herein again.

S303, acquiring environment information of the current environment of the vehicle, and determining the environmental safety of the current environment of the vehicle according to the environment information.

In some implementations, it may be determined whether the vehicle is currently in a TCS frequent location based on vehicle positioning information in the environmental information; and determining the environmental safety according to weather information in the environmental information and whether the vehicle is in a TCS frequent position.

Optionally, the vehicle positioning information may be a global positioning system (Global Positioning System, GPS) position of the vehicle, determining whether the GPS position of the vehicle is at a TCS frequent location; the TCS frequent location may be known in advance, for example, by determining the TCS frequent location from driving information of the historical vehicle, and determining that the environment where the vehicle is currently located is less safe when the vehicle is at the TCS frequent location.

In some implementations, reporting information may also be sent to the server, the reporting information including a trigger position when the vehicle triggers the TCS; that is, the trigger position information when the TCS is started during the running of the vehicle is reported, so that the server can record the position information of the trigger TCS.

It can be appreciated that the server may determine one or more TCS frequent locations based on the reported information of the historical vehicle, i.e., the server may determine the TCS frequent locations based on the trigger location of the historical vehicle from which the TCS was sent; correspondingly, the vehicle can acquire one or more TCS frequent positions returned by the server, and judge whether the triggering position of the vehicle when the TCS is triggered currently is the TCS frequent position or not; and determining that the vehicle is at the TCS frequent position in response to the trigger position of the vehicle when the TCS is triggered being the same as one of the TCS frequent positions.

Optionally, the weather information in the environment information may include special weather information of slippery road surface such as rainy and snowy weather, and when the weather of the current environment of the vehicle is rainy and snowy weather, it is determined that the environment safety of the current environment of the vehicle is lower. That is, when the vehicle positioning information indicates that the vehicle is at a TCS frequent location and/or the weather information indicates that the vehicle is in a slippery weather on a road surface such as rain or snow, the environmental safety of the environment in which the vehicle is currently located is low; accordingly, when the vehicle is not in the TCS frequent position and the weather is not that of rain, snow or the like, the environmental safety of the environment in which the vehicle is currently located is good.

In the embodiment of the present disclosure, the implementation method of step S303 may be implemented in any manner in each embodiment of the present disclosure, which is not limited herein, and is not described herein again.

S304, determining target control parameters of the TCS according to at least one of the proficiency of the driver, the safety degree of the vehicle and the environmental safety degree and the current driving mode of the vehicle.

It is understood that the basic control parameters of the corresponding TCS may be obtained according to the current driving mode of the vehicle. In some implementations, whether to adjust the base control parameter may be determined based on at least one of a driver's proficiency, vehicle safety, and environmental safety; responding to the need of adjusting the basic control parameters of the TCS, and acquiring the target control parameters of the TCS corresponding to the target driving mode; and adjusting the basic control parameters of the TCS to target control parameters of the TCS.

Optionally, an adjustment threshold corresponding to each dimension may be obtained, and the actual value of each dimension may be compared with the respective adjustment threshold, where the dimensions include a driver proficiency dimension, a vehicle safety dimension, and an environmental safety dimension; if the value of at least one reference dimension is smaller than the corresponding adjustment critical value, the basic control parameter is determined to be adjusted.

That is, the adjustment threshold values respectively corresponding to the driver proficiency dimension, the vehicle safety dimension, and the environmental safety dimension are obtained, and the actual data of the actually obtained driver proficiency, vehicle safety, and environmental safety are respectively compared with the respective adjustment threshold values; when the actual data with at least one dimension is smaller than the corresponding adjustment critical value, for example, the adjustment critical value of the environmental safety dimension is good, the current environmental safety of the vehicle is low, and the actual data is smaller than the corresponding adjustment critical value, the basic control parameters are determined to need to be adjusted.

Optionally, the target driving mode may be a comfort mode, that is, a mode in which the running is safer and more stable, when it is determined that the basic control parameter of the TCS needs to be adjusted, the target control parameter of the TCS corresponding to the target driving mode, that is, the target control parameter of the TCS corresponding to the comfort mode, is obtained, and the basic control parameter of the TCS of the current driving mode of the vehicle is adjusted to the target control parameter.

It can be appreciated that if it is determined that the basic control parameter of the TCS does not need to be adjusted, the basic control parameter of the TCS corresponding to the current driving mode of the vehicle is the target control parameter of the TCS.

In the embodiment of the present disclosure, the implementation method of step S304 may be implemented in any manner in each embodiment of the present disclosure, which is not limited herein, and is not described herein again.

S305, driving anti-skid control is performed on the vehicle according to the target control parameters of the TCS.

In the embodiment of the present disclosure, the implementation method of step S305 may be implemented in any manner in each embodiment of the present disclosure, which is not limited herein, and is not described herein again.

In this embodiment, based on driver behavior data, occupation information and tire pressure information of a vehicle, and environmental information of a current environment where the vehicle is located, a driver proficiency level, a vehicle safety level, and an environmental safety level of the environment where the vehicle is located are respectively obtained, auxiliary judgment is performed based on safety levels of multiple dimensions, whether adjustment of a basic control parameter of a TCS of a current driving mode is required is determined, and when any one of the driver proficiency level, the vehicle safety level, or the environmental safety level indicates that the vehicle driving safety is low, the basic control parameter of the TCS is adjusted to obtain a target control parameter of the TCS, so that the vehicle can be triggered in time, and the probability of slip instability is reduced.

Fig. 4 is a block diagram of a control device of a vehicle, shown according to some embodiments of the present disclosure. Referring to fig. 4, the apparatus includes an acquisition module 401 and a control module 402.

An obtaining module 401, configured to obtain driver behavior data, state information of a vehicle, and environmental information of an environment in which the vehicle is currently located;

The control module 402 is configured to perform driving anti-skid control on the vehicle according to the current driving mode of the vehicle and at least one of driver behavior data, environment information, and state information of the vehicle.

In some implementations, the control module 402 includes:

Determining a target control parameter of the traction control system TCS according to at least one of driver behavior data, environment information and state information of the vehicle and a current driving mode of the vehicle;

and driving anti-skid control is carried out on the vehicle according to the target control parameters of the TCS.

In some implementations, the control module 402 includes:

determining a proficiency level of the driver according to the driver behavior data;

determining the vehicle safety degree of the vehicle according to the space occupation information and the state information of the tire pressure information vehicle;

According to the environment information, determining the environment safety of the current environment of the vehicle;

The target control parameter of the TCS is determined according to the current driving mode of the vehicle, at least one of the driver's proficiency, the vehicle safety and the environmental safety, and the current driving mode of the vehicle.

In some implementations, the control module 402 includes:

judging whether to adjust basic control parameters according to at least one of the proficiency of a driver, the safety of a vehicle and the safety of the environment;

Responding to the need of adjusting the basic control parameters of the TCS, and acquiring the target control parameters of the TCS corresponding to the target driving mode;

And adjusting the basic control parameters of the TCS to target control parameters of the TCS.

In some implementations, the control module 402 includes:

Acquiring an adjustment critical value corresponding to each dimension, and comparing an actual numerical value of each dimension with the respective adjustment critical value, wherein the dimensions comprise a driver proficiency dimension, a vehicle safety dimension and an environment safety dimension;

If the value of at least one reference dimension is smaller than the corresponding adjustment critical value, the basic control parameter is determined to be adjusted.

In some implementations, the control module 402 includes:

Determining a first number of times the driver operates the target assembly within a set time period according to the driver behavior data;

determining a second time when the change rate of the target component in the set time period is greater than the set threshold value of the target component according to the driver behavior data;

and determining the proficiency of the driver according to the first times and the second times.

In some implementations, the status information of the vehicle includes occupancy information and tire pressure information, and the control module 402 includes:

determining the actual number of vehicles according to the occupancy information;

Determining the abnormal tire pressure quantity of the vehicle according to the tire pressure information;

And determining the vehicle safety degree of the vehicle according to the actual number of the vehicles and the abnormal tire pressure number.

In some implementations, the control module 402 includes:

determining whether the vehicle is currently in a TCS frequent position or not according to the vehicle positioning information in the environment information;

And determining the environmental safety according to weather information in the environmental information and whether the vehicle is in a TCS frequent position.

In some implementations, the apparatus 400 further includes:

the method comprises the steps of sending report information to a server, wherein the report information comprises a trigger position when a vehicle triggers TCS;

Acquiring one or more TCS frequent positions returned by a server, wherein the TCS frequent positions are determined based on reported information of a historical vehicle;

and determining that the vehicle is at the TCS frequent position in response to the trigger position of the vehicle when the TCS is triggered being the same as one of the TCS frequent positions.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Fig. 5 is a block diagram of a vehicle 500, according to an exemplary embodiment. For example, the vehicle 500 may be a hybrid vehicle, or may be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 500 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to fig. 5, a vehicle 500 may include various subsystems, such as an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. Vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 500 may be achieved by wired or wireless means.

In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, a navigation system, and the like.

The sensing system 520 may include several sensors for sensing information of the environment surrounding the vehicle 500. For example, sensing system 520 may include a global positioning system (which may be a GPS system, or may be a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.

Decision control system 530 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 540 may include components that provide powered movement of the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of the vehicle 500 are controlled by the computing platform 550. The computing platform 550 may include at least one processor 551 and memory 552, and the processor 551 may execute instructions 553 stored in the memory 552.

The processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable GATE ARRAY, FPGA), a System On Chip (SOC), an Application SPECIFIC INTEGRATED Circuit (ASIC), or a combination thereof.

The memory 552 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to instructions 553, memory 552 may store data such as road maps, route information, vehicle position, direction, speed, and the like. The data stored by memory 552 may be used by computing platform 550.

In an embodiment of the present disclosure, the processor 551 may execute the instructions 553 to complete all or part of the steps of the control method of the vehicle described above.

The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the control method of the vehicle provided by the present disclosure.

Furthermore, the word "exemplary" is used herein to mean serving as an example, instance, illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the use of the word exemplary is intended to present concepts in a concrete fashion. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from context, "X application a or B" is intended to mean any one of the natural inclusive permutations. I.e. if X applies a; x is applied with B; or both X applications a and B, "X application a or B" is satisfied under any of the foregoing examples. In addition, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form.

Also, although the disclosure has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art upon the reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations and is limited only by the scope of the claims. In particular regard to the various functions performed by the above described components (e.g., elements, resources, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (which is functionally equivalent), even though not structurally equivalent to the disclosed structure. In addition, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or more other features of the other implementations as may be desired and advantageous for any given or particular application. Furthermore, to the extent that the terms "includes," including, "" has, "" having, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

In the foregoing detailed description, reference is made to the accompanying drawings in which is shown by way of illustration specific aspects in which the disclosure may be practiced. In this regard, terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, which refer to directions or represent positional relationships, may be used with reference to the orientations of the depicted figures. Because components of the devices described can be positioned in a number of different orientations, the directional terminology is used for purposes of illustration and is in no way limiting. It is to be understood that other aspects may be utilized and structural or logical changes may be made without departing from the concepts of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense.

It should be understood that features of some embodiments of the various disclosure described herein may be combined with one another, unless specifically indicated otherwise. As used herein, the term "and/or" includes any one of the items listed in relation and any combination of any two or more; similarly, ".a.at least one of the" includes any of the relevant listed items and any combination of any two or more.

It should be understood that the terms "coupled," "attached," "mounted," "connected," "secured," and the like as used in the embodiments of the present disclosure are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, unless otherwise specifically indicated and defined; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms herein above will be understood by those of ordinary skill in the art as the case may be.

Furthermore, the word "on" as used in reference to a component, element, or layer of material being formed on or located on a surface may be used herein to mean that the component, element, or layer of material is positioned (e.g., placed, formed, deposited, etc.) on the surface "indirectly" such that one or more additional components, elements, or layers are disposed between the surface and the component, element, or layer of material. However, the word "on" as used in reference to a component, element or material layer that is formed on or located on a surface may also optionally have a particular meaning: a component, element, or layer of material is positioned (e.g., placed, formed, deposited, etc.) "directly on, e.g., in direct contact with, the surface.

Although terms such as "first," "second," and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections are not limited by these terms. Rather, these terms are only used to distinguish one component, part, region, layer or section from another component, part, region, layer or section. Thus, a first component, part, region, layer or section discussed in examples described herein could also be termed a second component, part, region, layer or section without departing from the teachings of the examples. In addition, the terms "first," "second," are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description herein, the meaning of "plurality" means at least two, e.g., two, three, etc., unless specifically defined otherwise.

It will be understood that spatially relative terms, such as "above," "upper," "lower," and "lower," among others, are used herein to describe one element's relationship to another element as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "upper" relative to another element would then be oriented "below" or "lower" relative to the other element. Thus, the term "above" encompasses both an orientation above and below, depending on the spatial orientation of the device. The device may have other orientations (e.g., rotated 90 degrees or at other orientations), and spatially relative descriptors used herein interpreted accordingly.

Claims

1. A control method of a vehicle, characterized by comprising:

Acquiring driver behavior data;

2. The control method of the vehicle according to claim 1, characterized in that the driving anti-slip control of the vehicle according to at least one of the driver behavior data, the environment information, and the state information of the vehicle and the current driving mode of the vehicle includes:

Determining a target control parameter of a traction control system TCS according to a current driving mode of the vehicle and at least one of the driver behavior data, the environment information, and the state information of the vehicle;

3. The control method of the vehicle according to claim 2, characterized in that the determining the target control parameter of the traction control system TCS according to the current driving mode of the vehicle and at least one of the driver behavior data, the environment information, and the state information of the vehicle includes:

determining the proficiency of the driver according to the driver behavior data;

determining the vehicle safety degree of the vehicle according to the state information of the vehicle;

According to the environment information, determining the environment safety degree of the current environment of the vehicle;

determining a target control parameter of the TCS according to a current driving mode of the vehicle and at least one of the driver's proficiency, the vehicle safety and the environmental safety.

4. The control method of the vehicle according to claim 3, characterized in that the determining the target control parameter of the TCS according to the current driving mode of the vehicle and at least one of the proficiency of the driver, the vehicle safety and the environmental safety includes:

Determining basic control parameters of the TCS according to the current driving mode of the vehicle;

Judging whether to adjust the basic control parameters according to at least one of the proficiency of the driver, the vehicle safety and the environmental safety;

responding to the need of adjusting the basic control parameters of the TCS, and acquiring target control parameters of the TCS corresponding to a target driving mode;

5. The method according to claim 4, wherein the determining whether to adjust the basic control parameter based on at least one of the driver's proficiency, the vehicle safety, and the environmental safety includes:

6. The control method of a vehicle according to any one of claims 3 to 5, characterized in that the determining of the proficiency of the driver based on the driver behavior data includes:

determining a first number of times of operating the target component by the driver within a set time period according to the driver behavior data;

Determining a second time when the change rate of the target component in the set time period is greater than a set threshold value of the target component according to the driver behavior data;

7. The control method of a vehicle according to any one of claims 3 to 5, characterized in that the state information of the vehicle includes occupancy information and tire pressure information, and the determining the vehicle safety of the vehicle based on the state information of the vehicle includes:

And determining the vehicle safety degree of the vehicle according to the actual carrier number and the abnormal tire pressure number.

8. The control method of a vehicle according to any one of claims 3 to 5, characterized in that the determining, based on the environmental information, an environmental safety level of an environment in which the vehicle is currently located, includes:

9. The control method of a vehicle according to any one of claims 3 to 5, characterized in that the method further includes:

sending report information to a server, wherein the report information comprises a trigger position when the vehicle triggers the TCS;

Acquiring one or more TCS frequent positions returned by the server, wherein the TCS frequent positions are determined based on the reported information of the historical vehicle;

10. A control device for a vehicle, comprising:

11. The control device of the vehicle according to claim 10, characterized in that the control module includes:

12. The control device of the vehicle according to claim 11, characterized in that the control module includes:

13. The control device of the vehicle according to claim 12, characterized in that the control module includes:

14. The control device of the vehicle according to claim 13, characterized in that the control module includes:

15. The control device of a vehicle according to any one of claims 12 to 14, characterized in that the control module includes:

16. The control device of a vehicle according to any one of claims 12 to 14, characterized in that the state information of the vehicle includes occupancy information and tire pressure information, the control module including:

17. The control device of a vehicle according to any one of claims 12 to 14, characterized in that the control module includes:

18. The control device of a vehicle according to any one of claims 12 to 14, characterized in that the device further comprises:

19. A vehicle, characterized by comprising:

A processor;

A memory for storing processor-executable instructions;

wherein the processor is configured to: the steps of carrying out the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium, which when executed by a processor of a mobile terminal, causes the mobile terminal to perform a method of controlling a vehicle, the method comprising:

Acquiring driver behavior data;

21. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1-9.