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CN-121973736-A - Vehicle control method, device, equipment, medium, program product and vehicle

CN121973736ACN 121973736 ACN121973736 ACN 121973736ACN-121973736-A

Abstract

The present application relates to the field of assisted driving technologies, and in particular, to a vehicle control method, apparatus, device, medium, program product, and vehicle. The method comprises the steps of obtaining state information of a vehicle at the current moment, wherein the state information is used for representing the load state and the road surface attachment state of the vehicle, determining that the road surface attachment mode of the vehicle at the current moment is a preset road surface attachment mode based on the state information, determining braking parameters corresponding to the preset road surface attachment mode and the running parameters of the vehicle in a preset corresponding relation, and controlling the vehicle to brake based on the braking parameters. By the method, the accuracy of triggering the vehicle brake can be improved, the consumption of computing resources can be reduced, and the instantaneity and the reliability of system decision can be improved.

Inventors

  • Chang Jinghu
  • CUI YAJUN
  • ZHANG YOUPENG

Assignees

  • 智驾新程(上海)智能科技有限公司

Dates

Publication Date
20260505
Application Date
20260407

Claims (16)

  1. 1. A vehicle control method, characterized in that the method comprises: Acquiring state information of a vehicle at the current moment, wherein the state information is used for representing the load state and the road surface attachment state of the vehicle; determining that the road surface attaching mode of the vehicle at the current moment is a preset road surface attaching mode based on the state information; determining braking parameters corresponding to the preset pavement attachment mode and the running parameters of the vehicle in a preset corresponding relation; Controlling the vehicle braking based on the braking parameter.
  2. 2. The vehicle control method according to claim 1, characterized in that the state information includes a load state of the vehicle and a current road surface adhesion coefficient of the vehicle to a current road; based on the state information, determining that the road surface attachment mode to which the vehicle belongs at the current moment is a preset road surface attachment mode includes: acquiring a preset road surface adhesion coefficient; Determining the current road type of the road where the vehicle is located at the current moment based on the current road adhesion coefficient and the preset road adhesion coefficient; and based on the load state and the current road type, the road surface attaching mode of the vehicle at the current moment is a preset road surface attaching mode.
  3. 3. The vehicle control method according to claim 2, characterized in that the preset road surface attachment coefficient includes a first preset road surface attachment coefficient and a second preset road surface attachment coefficient, and the first preset road surface attachment coefficient is smaller than the second preset road surface attachment coefficient; the determining, based on the current road surface adhesion coefficient and the preset road surface adhesion coefficient, a current road type of a road on which the vehicle is located at a current moment includes: Determining that the current road type is a first road type under the condition that the current road adhesion coefficient is smaller than or equal to the first preset road adhesion coefficient; Determining that the current road type is a second road type when the current road adhesion coefficient is greater than the first preset road adhesion coefficient and less than or equal to the second preset road adhesion coefficient; And determining that the current road type is a third road type under the condition that the current road adhesion coefficient is larger than the second preset road adhesion coefficient.
  4. 4. The vehicle control method according to any one of claims 1 to 3, characterized in that the preset correspondence relationship includes: At least two road surface attachment modes respectively correspond to one braking information set; Each braking information set comprises a plurality of braking information corresponding to preset speeds; Each piece of braking information comprises a plurality of braking parameters corresponding to the speed change combinations.
  5. 5. The vehicle control method according to claim 4, characterized in that the running parameters include a current running parameter of the vehicle at a current time and a predicted running parameter at a next time, wherein the current running parameter includes a current speed and a current deceleration of the vehicle at the current time, and the predicted running parameter includes a target speed of the vehicle at the next time; In the preset corresponding relation, determining the braking parameters corresponding to the preset pavement attachment mode and the running parameters of the vehicle comprises the following steps: determining a current speed change combination based on the current speed, the target speed, and the current deceleration; in a preset corresponding relation, determining a first braking information set corresponding to the preset pavement attachment mode, and Determining braking information corresponding to the current speed in the first braking information set, and A braking parameter corresponding to the current speed change combination is determined in braking information corresponding to the current speed.
  6. 6. The vehicle control method according to claim 5, characterized in that the determining a current speed change combination based on the current speed, the target speed, and the current deceleration includes: determining a target speed variation based on the current speed and the target speed; the current speed change combination is determined based on the target speed change amount and the current deceleration.
  7. 7. The vehicle control method according to claim 5 or 6, characterized in that the determining brake information corresponding to the current speed in the first set of brake information includes: determining a first preset speed and a second preset speed which are adjacent to the current speed from the preset speeds; Respectively determining braking information corresponding to the first preset speed and braking information corresponding to the second preset speed in the first braking information set; The determining a braking parameter corresponding to the current speed change combination in the braking information corresponding to the current speed comprises: And determining a braking parameter corresponding to the current speed change combination based on the current speed change combination, the braking information corresponding to the first preset speed and the braking information corresponding to the second preset speed.
  8. 8. The vehicle control method according to claim 7, characterized in that the determining of the braking parameter corresponding to the current speed variation combination based on the current speed variation combination, the braking information corresponding to the first preset speed, and the braking information corresponding to the second preset speed includes: Determining a first braking parameter based on the braking information corresponding to the current speed change combination and the first preset speed, and determining a second braking parameter based on the braking information corresponding to the current speed change combination and the second preset speed; determining a braking parameter corresponding to the current speed change combination based on the first preset speed, the second preset speed, the first braking parameter and the second braking parameter.
  9. 9. The vehicle control method according to claim 8, characterized in that the determining a first braking parameter based on the braking information corresponding to the current speed change combination and the first preset speed, and determining a second braking parameter based on the braking information corresponding to the current speed change combination and the second preset speed, includes: determining at least one first speed change combination adjacent to the current speed change combination in braking information corresponding to the first preset speed; Determining the first braking parameter based on the braking parameter corresponding to the first speed change combination; determining at least one second speed change combination adjacent to the current speed change combination in the braking information corresponding to the second preset speed; and determining the second braking parameter based on the braking parameter corresponding to the second speed change combination.
  10. 10. The vehicle control method according to claim 8 or 9, characterized in that the determining a braking parameter corresponding to the current speed change combination based on the first preset speed, the second preset speed, the first braking parameter, and the second braking parameter includes: determining a first weight parameter based on the first preset speed and the second preset speed; determining deviation data based on the first and second braking parameters; Determining a bias parameter based on the first weight parameter and the bias data; A braking parameter corresponding to the current speed change combination is determined based on the first braking parameter and the deviation parameter.
  11. 11. The vehicle control method according to claim 5, characterized in that the current running parameter further includes a current position of the vehicle at the current time, the predicted running parameter further includes a target position of the vehicle at the next time, and a braking parameter corresponding to the current speed change combination is a predicted braking running distance; The controlling the vehicle braking based on the braking parameter includes: determining a target distance based on the current location and the target location; Determining a current braking travel distance based on the predicted braking travel distance and a preset safety distance; and controlling the vehicle to brake under the condition that the target distance is smaller than the current braking running distance.
  12. 12. A vehicle control apparatus characterized by comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring state information of a vehicle at the current moment, and the state information is used for representing the load state and the road surface attachment state of the vehicle; The road surface attachment mode determining module is used for determining that the road surface attachment mode of the vehicle at the current moment is a preset road surface attachment mode based on the state information; the braking parameter determining module is used for determining braking parameters corresponding to the preset pavement attachment mode and the running parameters of the vehicle in a preset corresponding relation; and the vehicle control module is used for controlling the vehicle to brake based on the brake parameters.
  13. 13. An electronic device, comprising: a memory for storing instructions for execution by one or more processors of the electronic device; a processor, which when executing the instructions in the memory, causes the electronic device to perform the vehicle control method of any one of claims 1 to 11.
  14. 14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon instructions that, when executed on a computer, cause the computer to perform the vehicle control method according to any one of claims 1 to 11.
  15. 15. A computer program product, characterized in that the computer program product, when run on an electronic device, causes the electronic device to implement the vehicle control method of any one of claims 1 to 11.
  16. 16. A vehicle, characterized in that the vehicle includes a vehicle controller for executing the vehicle control method according to any one of claims 1 to 11.

Description

Vehicle control method, device, equipment, medium, program product and vehicle Technical Field The present application relates to the field of assisted driving technologies, and in particular, to a vehicle control method, apparatus, device, medium, program product, and vehicle. Background An automatic emergency braking (autonomous emergency braking, AEB) system for vehicles is one of the core safety functions of advanced driver assistance systems (ADVANCED DRIVER ASSISTANCE SYSTEM, ADAS), the core task of which is to evaluate the risk of collision between a vehicle and a forward obstacle accurately in real time and to apply part or all of the braking autonomously when the risk exceeds a safety threshold, in order to avoid or mitigate collision accidents. Currently, AEB systems typically perform risk assessment based on theoretical modeling or fixed time threshold (time to collision, TTC) methods. However, both methods have obvious limitations in practical mass production applications and coping with complex and varied driving scenarios. For example, there are problems such as low accuracy, poor reliability, and large consumption of computing resources. Disclosure of Invention The application provides a vehicle control method, a device, equipment, a medium, a program product and a vehicle, which can improve the accuracy of triggering the braking of the vehicle, reduce the consumption of computing resources and improve the instantaneity and the reliability of system decision. The application provides a vehicle control method, which comprises the steps of obtaining state information of a vehicle at the current moment, wherein the state information is used for representing a load state and a road surface attachment state of the vehicle, determining that the road surface attachment mode of the vehicle at the current moment is a preset road surface attachment mode based on the state information, determining braking parameters corresponding to the preset road surface attachment mode and running parameters of the vehicle in a preset corresponding relation, and controlling vehicle braking based on the braking parameters. According to the vehicle control method provided by the embodiment of the application, the road surface attachment mode of the vehicle at the current moment is determined based on the state information, and the braking parameters corresponding to the preset road surface attachment mode and the running parameters of the vehicle are determined in the preset corresponding relation, so that the dynamic adaptation of the braking model and the real-time working condition can be realized, the self-adaptive capacity of the AEB system to the complex running environment is improved, and the accuracy and the reliability of triggering AEB braking are improved. In addition, the preset corresponding relation can be constructed in advance, and complex calculation is not needed when the braking parameters are determined, so that the consumption of calculation resources is reduced, and the response efficiency of the system is improved. In one possible implementation manner of the first aspect, the state information includes a load state of the vehicle and a current road adhesion coefficient of the vehicle and a current road, and the determining that the road adhesion mode to which the vehicle belongs at the current moment is a preset road adhesion mode based on the state information includes obtaining the preset road adhesion coefficient, determining a current road type of the road to which the vehicle belongs at the current moment based on the current road adhesion coefficient and the preset road adhesion coefficient, and determining that the road adhesion mode to which the vehicle belongs at the current moment is the preset road adhesion mode based on the load state and the current road type. In one possible implementation manner of the first aspect, the preset road surface attachment coefficient includes a first preset road surface attachment coefficient and a second preset road surface attachment coefficient, the first preset road surface attachment coefficient is smaller than the second preset road surface attachment coefficient, and determining the current road type of the road where the vehicle is located at the current moment based on the current road surface attachment coefficient and the preset road surface attachment coefficient includes determining that the current road type is the first road type if the current road surface attachment coefficient is smaller than or equal to the first preset road surface attachment coefficient, determining that the current road type is the second road type if the current road surface attachment coefficient is larger than the first preset road surface attachment coefficient and smaller than or equal to the second preset road surface attachment coefficient, and determining that the current road type is the third road type if the current road surface attachment coefficient