CN110696830A - Vehicle driving mode control method and system - Google Patents

Abstract

The invention relates to the technical field of vehicles, and provides a vehicle driving mode control method and system. The vehicle driving mode control method of the invention includes: identifying a driving scene of a vehicle; and controlling the vehicle to enter a corresponding driving mode according to the driving scene of the vehicle. The driving scenes comprise a long-time parking scene, a traffic light waiting scene, a traffic jam scene, a launch starting scene and an overtaking scene. The driving mode is switched by combining the driving scene, so that the switching of the driving mode is more reasonable, the functions of the existing intelligent driving mode recognition system are enriched, the robustness of the system is improved, and the driving experience of a driver is improved.

Description

Vehicle driving mode control method and system

technical field

The present invention relates to the technical field of vehicles, and in particular, to a method and system for controlling a driving mode of a vehicle.

Background technique

Most of the current vehicles are equipped with a driving mode control system. The driving mode control system includes an economy mode, a standard mode and a sports mode. The driver can choose different driving modes to experience the different driving feelings brought by the vehicle, but in some cases Due to the fact that end customers do not know each mode, it is easy to see that the driving mode selected by the customer does not match the actual driving behavior. In this case, the vehicle often cannot meet the driver's expectations, and the set driving mode cannot Take full advantage of it. For example: the driver selects the economy mode but frequently presses the accelerator and brake pedals deeply and quickly during driving. In this case, the driver depresses the accelerator pedal deeply to obtain better acceleration performance, but in the economic mode, the power output of the engine is smooth and the shift point of the transmission is advanced. In this case, the power output of the whole vehicle may not meet the driving requirements The driver expects to accelerate quickly, and the energy loss due to frequent braking increases, so even if the driver chooses the economy mode, the economy of the vehicle may not be improved. Therefore, whether the driving mode selected by the driver matches the driving behavior of the driver will directly affect the driving experience of the driver. The existing intelligent driving mode recognition system is that the driver manually selects a certain driving mode. During the driving process, regardless of whether the driver's driving behavior matches the selected mode, as long as the driver does not actively switch the mode, the vehicle's driving mode will not be changed. Another change, if the driver lacks understanding of various driving modes, it is easy to see that the driving behavior does not match the selected mode, which reduces the user experience.

In order to solve the above problems, the prior art mainly judges the driving mode according to two indicators, one objective index and one subjective index. The objective index is mainly based on the dynamic driving index of the whole vehicle (using the vehicle speed, longitudinal acceleration, lateral acceleration, etc. to evaluate the degree of intense driving of the whole vehicle) to judge the most suitable driving mode at present; the subjective index is based on the driver's Behavior (manipulating the accelerator pedal, brake pedal, turn signal, etc.) to determine the driver's driving intention (such as wanting the vehicle to quickly output power to improve acceleration performance), and then automatically select the most suitable driving mode for the driver according to the driver's driving intention , which also considers road environment factors (urban roads, suburban roads, highways) when judging the driver's driving intention, aiming to make the judgment result more accurate.

However, the above-mentioned solutions of the prior art have unreasonable situations when switching the driving mode in practical applications, which are manifested in the following two aspects:

1) Unreasonable switching of driving modes is easy to occur when waiting for traffic lights or in traffic jams.

Specifically, when the vehicle is driving in the standard mode or the sport mode, if the vehicle stops when it encounters a traffic light, the dynamic driving index of the vehicle will gradually approach zero (representing the lowest degree of intense driving of the vehicle). The driver cannot monitor the driver's driving intention without the operation, so the final result is that the vehicle will switch from the standard mode or the sport mode to the economic mode, but in fact the driver is forced to stop due to waiting for the traffic light. But the vehicle may not be expected to switch to standard mode. Further, in a traffic-congested road section, the vehicle travels slowly due to environmental restrictions, and the vehicle does not need a large power output at this time, and the most ideal mode is the economical mode. In fact, since the vehicle's slow driving dynamic index is very low, the economical mode is automatically selected by using the existing technical solution. However, in some cases, for example, in order to prevent other vehicles from being jammed, it is not ruled out that the driver will accelerate rapidly, and then follow the car after abruptly decelerates. In this case, the dynamic driving index will rise first. High and then lower, it is also possible that the driving mode will increase during rapid acceleration, and then the driving mode will decrease when following the car slowly, but it is obvious that such a mode switch is not reasonable.

2) When ejecting to start or overtaking, the prior art solution cannot immediately switch to a motion mode with faster power output, which affects the driver's driving experience.

When launching or overtaking, the driver hopes to quickly improve the power of the vehicle. At this time, the most reasonable mode is the sports mode. However, the vehicle is basically stationary when the ejection starts, the dynamic driving index is close to zero, and according to the logic of the current intelligent driving mode recognition system, there is not enough driver input information (such as brake pedal input, steering wheel input) when the vehicle is stationary. , accelerator pedal input, etc.) to determine the current mode. Similarly, when the driver just has the intention of overtaking, the current mode may not be in the sport mode. At present, when overtaking or ejecting start, the most common situation is that the dynamic driving index of the vehicle increases due to the large acceleration and the speed increase during the overtaking process or the ejection start process, and then the mode is switched to the sports mode, but in the ejection start process Or when overtaking, the driver expects that the mode of the vehicle can be switched to the sport mode at the first moment.

To sum up, in order to provide a better driving experience for the driver, it is necessary to improve the driving pattern recognition scheme of the above-mentioned existing intelligent driving pattern recognition system.

SUMMARY OF THE INVENTION

In view of this, the present invention aims to provide a vehicle driving mode control method to at least partially solve the above technical problems.

In order to achieve the above object, the technical scheme of the present invention is achieved in this way:

A vehicle driving mode control method includes: identifying a driving scene of a vehicle; and controlling the vehicle to enter a corresponding driving mode according to the driving scene of the vehicle.

Further, the driving scene includes a long-term parking scene, a traffic light waiting scene, a traffic jam scene, an ejection start scene, and an overtaking scene, and the driving scene for identifying the vehicle includes: identifying the vehicle according to the number of parking times and the speed of the vehicle. whether the vehicle is in one of the long-term parking scene, the traffic light scene and the traffic jam scene; identify whether the vehicle is in the Ejection start scene; and judging whether the vehicle is in an overtaking scene according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure.

Further, the identifying whether the vehicle is in one of the long-term parking scene, the traffic light scene and the traffic congestion scene according to the number of parking times and the vehicle speed of the vehicle includes: When the number of stops is 1 and the vehicle speed is lower than the first condition of the preset speed threshold for entering the parking state, it is determined whether the first time that the first condition is continuously established is less than the preset time threshold for entering the parking state , if yes, then the driving scene is identified as the traffic light scene, otherwise, the driving scene is identified as the long-term parking scene; and/or corresponding to the situation where the driving scene is the traffic light scene, When the vehicle is in the second condition that the vehicle speed is higher than the preset speed threshold of the exit and other traffic light states, determine whether the second time that the second condition is continuously established exceeds the preset exit and other traffic light time Threshold value, if so, set the number of parking times to 0, otherwise continue to count the number of parking times of the vehicle, if the number of parking times counted is 1, then identify the driving scene as the traffic light scene, if the counted number of stops is 1 If the number of parking times is greater than or equal to 2, the driving scene is identified as the traffic congestion scene.

Further, the identifying whether the vehicle is in the ejection start scene according to the vehicle speed, gear position and accelerator pedal opening of the vehicle includes: when the vehicle is in the vehicle speed less than a preset starting speed threshold, When the gear is a forward gear and the accelerator pedal opening is greater than or equal to the third condition of the preset starting opening threshold, it is determined whether the third time that the third condition is continuously established is less than or equal to the preset If yes, the driving scene is identified as the ejection start scene.

Further, judging whether the vehicle is in an overtaking scenario according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure includes: when the vehicle is in a vehicle speed greater than a preset overtaking limit. When the fourth condition of speed, the turn signal is activated, and the accelerator pedal opening is greater than the preset overtaking opening threshold, it is determined whether the fourth time that the fourth condition is continuously established is greater than the preset overtaking time threshold , if so, continue the following judgment:

When the vehicle is in the fifth condition that the steering wheel angle is greater than a preset overtaking angle threshold value, and the brake master cylinder pressure before a preset time is greater than a preset cornering brake pressure threshold value, it is determined that the first Whether the fifth time for which the five conditions are continuously established is greater than the preset overtaking delay threshold value, and if so, it is identified that the vehicle is in an overtaking scene.

Further, the driving mode includes an economical mode, a standard mode and a sports mode with a power level from low to high, and the controlling the vehicle to enter the corresponding driving mode according to the driving scene of the vehicle includes: in the traffic In the light scene, if the vehicle is in the standard mode or the sport mode, the vehicle is controlled to maintain the current driving mode; in the traffic jam scene, the vehicle is prohibited from entering a driving mode with a higher power level than the current driving mode Switching or controlling the vehicle to be in the economy mode; in the ejection start scenario and the overtaking scenario, controlling the vehicle to switch to the sport mode within a preset time.

Compared with the prior art, the vehicle driving mode control method of the present invention switches the driving mode in combination with the driving scene, which makes the switching of the driving mode more reasonable, helps to enrich the functions of the existing intelligent driving mode recognition system, and increases the robustness of the system. Greatness, enhancing the driver's driving experience.

Another object of the present invention is to provide a vehicle driving mode control system to at least partially solve the above-mentioned technical problems.

In order to achieve the above object, the technical scheme of the present invention is achieved in this way:

A vehicle driving mode control system includes: an identification module for identifying a driving scene of the vehicle; and a control module for controlling the vehicle to enter a corresponding driving mode according to the driving scene of the vehicle identified by the identification module.

Further, the driving scene includes a long-term parking scene, a traffic light waiting scene, a traffic jam scene, an ejection start scene, and an overtaking scene, and the identification module includes: a first identification sub-module, which is used for parking according to the number of times the vehicle is parked. and vehicle speed to identify whether the vehicle is in one of the long-term parking scene, the traffic light scene and the traffic congestion scene; the second identification sub-module is used for the vehicle speed, gear and The accelerator pedal opening is used to identify whether the vehicle is in the ejection start scene; and a third identification sub-module is used for identifying the vehicle according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure. Whether the vehicle in question is in an overtaking scenario.

Further, the first identification sub-module is configured to identify whether the vehicle is in one of the long-term parking scene, the traffic light scene and the traffic congestion scene according to the number of parking times and the speed of the vehicle. Including: when the vehicle is in the first condition that the number of times of parking is 1 and the vehicle speed is lower than the preset speed threshold value for entering the parking state, judging whether the first time that the first condition is continuously established is less than the preset entering the parking state. The time threshold value of the parking state, if yes, then identify the driving scene as the traffic light scene, otherwise identify the driving scene as the long-term parking scene; and corresponding to the driving scene as the traffic light scene In the case of the light scene, when the vehicle is in the second condition that the vehicle speed is higher than the preset speed threshold of the exit or other traffic light state, it is determined whether the second time that the second condition is continuously established exceeds the preset exit. Time threshold of waiting traffic lights, if yes, set the number of parking times to 0, otherwise continue to count the number of parking times of the vehicle, if the counted number of parking times is 1, then identify the driving scene as the traffic light scene , and if the counted number of parking times is greater than or equal to 2, the driving scene is identified as the traffic congestion scene.

Further, the second identification sub-module is configured to identify whether the vehicle is in the ejection start scene according to the vehicle speed, gear position and accelerator pedal opening of the vehicle, including: when the vehicle is in the vehicle speed less than a preset When the starting speed threshold value is set, the gear is a forward gear, and the accelerator pedal opening is greater than or equal to the third condition of the preset starting opening threshold value, it is determined that the third condition is continuously established. Whether the time is less than or equal to the preset start delay threshold value, and if so, the driving scene is identified as the ejection start scene.

Further, the third identification sub-module is configured to identify whether the vehicle is in an overtaking scenario according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure, including: when the vehicle is in an overtaking scenario. When the vehicle speed is greater than the preset overtaking speed limit, the turn signal is activated, and the accelerator pedal opening is greater than the preset overtaking opening threshold, it is determined whether the fourth time that the fourth condition is continuously established is greater than the preset time. Set the overtaking time threshold value, if yes, continue the following judgment: when the vehicle is at the steering wheel angle greater than the preset overtaking angle threshold value, and the brake master cylinder pressure before the preset time is greater than the preset turning limit When the fifth condition of the dynamic pressure threshold value is met, it is determined whether the fifth time that the fifth condition is continuously established is greater than the preset overtaking delay threshold value, and if so, it is identified that the vehicle is in an overtaking scenario.

Further, the driving mode includes an economic mode, a standard mode and a sports mode with a power level from low to high, and the control module is configured to control the vehicle to enter the corresponding driving mode including: in the traffic light scenarios, If the vehicle is in the standard mode or the sport mode, control the vehicle to maintain the current driving mode; in the traffic congestion scenario, prohibit the vehicle from switching to a driving mode with a power level higher than the current driving mode or control any other driving mode The vehicle is in the economy mode; in the ejection start scenario and the overtaking scenario, the vehicle is controlled to switch to the sport mode within a preset time.

Another object of the present invention is to provide a machine-readable storage medium to at least partially solve the above-mentioned technical problems.

In order to achieve the above object, the technical scheme of the present invention is achieved in this way:

A machine-readable storage medium having instructions stored on the machine-readable storage medium for causing a machine to execute the above-mentioned vehicle driving mode control method.

The vehicle driving mode control system and the machine-readable storage medium have the same advantages as the above-mentioned vehicle driving mode control method over the prior art, which will not be repeated here.

Other features and advantages of the present invention will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings constituting a part of the present invention are used to provide further understanding of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a schematic flowchart of a vehicle driving mode control method according to an embodiment of the present invention;

FIG. 2 is a schematic flowchart of an example flow of judging a traffic light scene in the first case;

FIG. 3 is a schematic flowchart of an example flow of judging the traffic light scene in the second situation;

4 is a schematic flowchart of an example of judging an ejection start scene in an embodiment of the present invention;

FIG. 5 is a schematic flowchart of an example of judging an overtaking scenario in an embodiment of the present invention; and

FIG. 6 is a schematic structural diagram of a vehicle driving mode control system according to an embodiment of the present invention.

Description of reference numbers:

100. Identification module 200. Control module

110, the first identification sub-module 120, the second identification sub-module

130. The third identification submodule

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

FIG. 1 is a schematic flowchart of a method for controlling a driving mode of a vehicle according to an embodiment of the present invention. As shown in Figure 1, the vehicle driving mode control method includes:

Step S100, identifying the driving scene of the vehicle.

Step S200, controlling the vehicle to enter a corresponding driving mode according to the driving scene of the vehicle.

In the embodiment of the present invention, the driving scenarios mainly include long-term parking scenarios, waiting for traffic lights, traffic jam scenarios, ejection and starting scenarios, and overtaking scenarios, and the driving modes include economical modes with low to high power levels, standard modes and sport mode.

Corresponding to step S100, the identification of the vehicle driving scene in the embodiment of the present invention mainly includes the following three parts:

1. For the long-term parking scene, the traffic light scene, and the traffic congestion scene.

In the embodiment of the present invention, whether the vehicle is in one of the long-term parking scene, the traffic light scene, and the traffic congestion scene is identified according to the number of times of parking and the speed of the vehicle. Wherein, in the embodiment of the present invention, the vehicle speed is recorded as one stop when the vehicle speed drops from higher than the speed threshold (the speed threshold is close to 0) for entering the parking state to lower than the speed threshold, that is, the corresponding number of stops is 1.

Taking the traffic lights in the actual road as an example, the main operation processes involved in waiting for traffic lights, long-term parking and traffic congestion are: the number of stops is 1, and the corresponding time in the parking state is short (for example, the conventional time for waiting for traffic lights). , such as 60s, 30s, etc.), the vehicle may be in a state of waiting for a traffic light. If the corresponding time in the parking state is longer (for example, more than 120s), the vehicle may have been in a long-term parking state; when the vehicle is already in a state of waiting for a traffic light In the parking state, if the vehicle speed is higher than the set threshold within the preset time, the vehicle is likely to have started to drive normally, otherwise it is re-determined whether there is a number of stops. If the number of stops is still 1, the vehicle is likely to be in Wait for the traffic lights. If the number of stops is greater than or equal to 2 times, the vehicle is in a stop-and-go state, which is likely to be in a traffic jam scene.

Accordingly, the embodiment of the present invention can determine the following two situations as an waiting traffic light scene, namely:

In the first case, when the vehicle is in the first condition that the number of times of parking is 1 and the vehicle speed is lower than the preset speed threshold for entering the parking state, it is determined whether the first time that the first condition is continuously established is less than the predetermined time. The set time threshold for entering the parking state, if yes, the driving scene is identified as the traffic light scene, otherwise, the driving scene is identified as the long-term parking scene.

The first case will be specifically described below with reference to FIG. 2 . Figure 2 is a schematic diagram of an example flow of judging a traffic light scene in the first case, where Vx represents the vehicle speed, the speed threshold for entering the parking state is recorded as Ke_ExitWaittingTraffSpdThre, and the time threshold for entering the parking state is recorded as Ke_EnterParkingMaxTime. As shown in Figure 2, first determine whether the number of parking times is 1, if so, continue to determine whether the vehicle speed is lower than the threshold value (Ke_EnterParkingSpdThre), if so, continue to determine whether the first time the above-mentioned first condition is continuously established is less than The set threshold value (Ke_EnterParkingMaxTime), if it is established, it indicates that the current traffic light scene is equal (denoted as TrafficLightFlg=1), and if it is not established, it indicates that the current is a long-term parking scene (denoted as StandStillFlg=1).

In the second case, corresponding to the situation that the driving scene is already the traffic light scene, when the vehicle is in the second condition that the vehicle speed is higher than the preset speed threshold value of the exit and other traffic light states, it is judged that Whether the second time when the second condition is continuously established exceeds the preset time threshold for exit and other traffic lights, if so, set the number of parking times to 0, otherwise continue to count the number of parking times of the vehicle, If the number of times is 1, the driving scene is identified as the traffic light scene, and if the counted number of parking times is greater than or equal to 2, the driving scene is identified as the traffic congestion scene.

The first case will be specifically described below with reference to FIG. 3 . FIG. 3 is a schematic flowchart of an example flow of judging a traffic light scene such as exiting in the second case, wherein the preset speed threshold value of the traffic light status such as exit is recorded as Ke_ExitWaittingTraffSpdThre, and the preset time gate of the traffic light such as exiting is denoted as Ke_ExitWaittingTraffSpdThre Limit Ke_ExitWaittingTraffMaxTime. As shown in Figure 3, first determine whether the vehicle speed is higher than the threshold value Ke_ExitWaittingTraffSpdThre (ie the second condition), if the second condition is satisfied, continue to judge whether the duration (ie the second time) exceeds the preset exit, etc. The time threshold of the traffic light (Ke_ExitWaittingTraffMaxTime), if it exceeds, the number of stops will be set to zero (because the vehicle may have been running normally at this time), if the duration does not exceed the threshold, it will continue to judge whether the number of stops is 1. If the number of times is 1, it indicates that the current environment is equal to traffic lights (TrafficLightFlg=1). If the number of parking times is greater than or equal to 2, it indicates that the current urban congestion road section (denoted as SlowFlowFlg=1).

It should be noted that, after the vehicle starts to drive normally, the vehicle driving mode can be continuously monitored and switched through the solution based on the vehicle dynamic driving index or the driver's behavior in the background art.

Second, for the ejection start scene.

In the embodiment of the present invention, whether the vehicle is in the ejection start scene is identified according to the vehicle speed, gear position, and accelerator pedal opening degree of the vehicle.

Ejection start means that the driver wants to obtain sufficient power at the initial starting stage, so that the vehicle can reach the expected speed in the shortest time. The general operation process of the ejection start is as follows: generally when the vehicle is stationary, then step on the brake, then step on the accelerator pedal to a deep position, and then release the brake pedal at the right time, so that the vehicle can quickly obtain sufficient energy in a low gear. 's motivation.

Accordingly, the embodiments of the present invention identify whether the vehicle is in the ejection start scenario, including: when the vehicle is in a situation where the vehicle speed is less than a preset starting speed threshold value, the gear is a forward gear, and the accelerator pedal opening is greater than or When the third condition is equal to the preset starting opening threshold value, determine whether the third time that the third condition is continuously established is less than or equal to the preset starting delay threshold value, and if so, identify the driving scene for the ejection start scene.

4 is a schematic flowchart of an example of judging an ejection start scenario in an embodiment of the present invention, wherein the preset starting speed threshold is denoted as Ke_MaxRaceStarVehSpdTre, the gear signal is denoted as AccGear, and the preset starting opening threshold The value is recorded as Ke_MinRaceStarThroPos, and the preset start delay threshold value is recorded as Ke_RaceStartDelay. Referring to Figure 4, first determine whether the vehicle speed is full or less than Ke_MaxRaceStarVehSpdTre (this value is small, corresponding to the starting state of the vehicle), and if so, continue to determine whether the gear of the transmission satisfies the condition of gear 1 or gear 2 (1≤AccGear≤2 , that is, in the forward gear), if it is satisfied, continue to judge whether the accelerator pedal opening is greater than or equal to the threshold value Ke_MinRaceStarThroPos), if all are satisfied (that is, the third condition is established), then set the timer to zero and start timing to obtain the first Three times, if the third time is less than or equal to Ke_RaceStartDelay, identify the driving scene as the ejection start scene (referred to as RaceStartFlg=1), otherwise RaceStartFlg=0.

It should be noted that the meaning of the third time being less than or equal to Ke_RaceStartDelay is to give a certain delay time to the driving mode corresponding to the ejection start scenario. In the normal driving state, it should be considered to continue monitoring and switching the driving mode of the vehicle based on the vehicle dynamic driving index or driver behavior.

3) Determine whether the vehicle is in an overtaking scenario according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure.

An important judgment information for the driver when overtaking is whether the turn signal signal is turned on, but the turn signal also needs to be turned on when the vehicle is turning. Therefore, when formulating the logic of overtaking scene recognition, it is necessary to distinguish whether the driver wishes to turn or not when turning on the turn signal. Hope to overtake. For general drivers, overtaking and steering have the following similarities and differences in principle:

The same points: a) the left turn signal signal or the right turn signal signal will be activated when overtaking and turning; b) the steering wheel will be rotated by a certain angle when overtaking and turning.

Differences: a) When overtaking, the speed is often higher than when turning. Generally speaking, the speed when turning on urban roads is lower than 50KPH; b) In order to increase the speed as soon as possible when overtaking, the accelerator pedal is opened for a short period of time. It is in a deep position, and the accelerator pedal opening does not have such a phenomenon for steering; c) The speed is often high before steering, and the brake pedal is usually pressed to reduce the speed of the vehicle for smooth steering during steering, so that the vehicle Can successfully complete the steering action.

Accordingly, based on the above principles and the actual driving test overtaking situation, identifying the overtaking scenario in the embodiment of the present invention specifically includes: when the vehicle is at a speed greater than a preset overtaking speed limit, the turn signal is in an activated state, and the accelerator pedal opening is greater than a preset speed limit. When the fourth condition of the overtaking opening threshold value is set, it is determined whether the fourth time for which the fourth condition is continuously established is greater than the preset overtaking time threshold value. If so, continue the following judgment: when the vehicle is in the first position where the steering wheel angle is greater than the preset overtaking angle threshold value, and the brake master cylinder pressure before the preset time is greater than the preset cornering brake pressure threshold value In the case of five conditions, it is determined whether the fifth time when the fifth condition is continuously established is greater than the preset overtaking delay threshold value, and if so, it is identified that the vehicle is in an overtaking scene.

5 is a schematic diagram of an example flow of judging an overtaking scene in an embodiment of the present invention, wherein the preset overtaking limit shorthand is Ke_OvertakingCitySpd, the overtaking scene identifier is CityOvertakingFlg, the turn signal status is TurningLightState, and the preset overtaking opening The threshold is recorded as Ke_OvertakingThrottleThre, the preset overtaking time threshold is recorded as Ke_CityOvertakingExceedThresh, the preset overtaking corner threshold is recorded as Ke_CityOvertakingSteeringAngleThre, and the preset turning braking pressure threshold is recorded as Ke_CityBrakingPreThresh , the preset overtaking delay threshold is recorded as Ke_CityRodOvertakingDelay.

As shown in Figure 5, first determine whether the vehicle speed is greater than the threshold value Ke_OvertakingCitySpd, if not, CityOvertakingFlg=0, otherwise continue to determine whether the turn signal signal is activated (TurningLightState=1?). If the turn signal signal is not activated, CityOvertakingFlg=0, and if the turn signal signal is activated, continue to judge whether the accelerator pedal opening is greater than a specific threshold value (Ke_OvertakingThrottleThre), and the fourth condition is completed. If the fourth condition does not hold, CityOvertakingFlg=0, and the timer is set to the initial value (eg, Timer=1000). If the fourth condition is established, the timer will be reset to zero and start to re-time to determine the fourth time, and then continue to judge whether the fourth time is greater than the specific threshold value Ke_CityOvertakingExceedThreTime, if not, then CityOvertakingFlg=0, otherwise continue to judge whether the steering wheel angle is greater than The specific threshold value Ke_CityOvertakingSteeringAngleThre, if it is, then CityOvertakingFlg=0, otherwise continue to judge the timer for timing the braking time (for example, the timer is Timer1, and its judgment logic is: Timer1(0)=1000, if the master cylinder pressure is greater than Threshold value (master cylinder pressure>Ke_CityBrakingPreThresh), then Timer1 is set to zero and starts to re-time, if the master cylinder pressure is less than the threshold value, the timer Timer1 is set to the initial value (ie Timer1=1000)) whether it is greater than the threshold value Ke_CityBrakingTimeThresh, The fifth condition is completed. If the fifth condition is not satisfied, then CityOvertakingFlg=0, otherwise, the timer Timer2 (Timer2(0)=1000) is set to zero and starts timing, if Timer2≤Ke_CityRodOvertakingDelay, then CityOvertakingFlg=1, otherwise CityOvertakingFlg=0.

It should be noted that the preset overtaking delay threshold value Ke_CityRodOvertakingDelay is similar in meaning to the starting delay threshold value Ke_RaceStartDelay in Section 2). Here, a certain delay time is provided for selecting the driving mode corresponding to the overtaking scenario. If the delay time is exceeded, overtaking may have been completed, and consideration should be given to continue monitoring and switching the driving mode of the vehicle based on the vehicle dynamic driving index or driver behavior.

In addition, it should be noted that the solution for recognizing the driving scene in the embodiment of the present invention can also be applied to other control systems of the vehicle to assist in decision-making. For example, some vehicle control functions are not suitable for Through the solution of the embodiment of the present invention, the corresponding driving scene can be identified first, and then the corresponding control function can be controlled to not be activated. In addition, if any of the sub-conditions included in the above-mentioned first condition to fifth condition is not satisfied, the corresponding process should be exited.

Further, corresponding to step S200, for the above-mentioned long-term parking scene, waiting traffic light scene, traffic jam scene, ejection start scene, and overtaking scene, in this embodiment of the present invention, the vehicle is controlled according to the driving scene of the vehicle. Entering the corresponding driving mode may specifically include: in the traffic light scenario, if the vehicle is in the standard mode or the sport mode, controlling the vehicle to maintain the current driving mode; in the traffic congestion scenario, prohibiting The vehicle is switched to a driving mode with a power level higher than the current driving mode or the vehicle is controlled to be in the economy mode; in the ejection start scenario and the overtaking scenario, the vehicle is controlled to switch to the economy mode within a preset time sport mode.

For example, when waiting for a traffic light, the vehicle stops so that its dynamic driving index approaches zero, and the driver does not perform a driving operation, so that the driver's driving intention cannot be monitored. The mode switching scheme will switch the vehicle from the standard mode or the sport mode to the economy mode, but in fact the driver is only forced to stop due to waiting for a traffic light and does not expect the vehicle to switch to the standard mode. In this regard, the method of the embodiment of the present invention is used to identify the traffic light scene, and if the vehicle is originally in the standard mode or the sports mode, the vehicle can be kept in the original mode without switching to the economical mode. Similarly, in the traffic congestion scenario, the most ideal mode is the economy mode, but in order to prevent other vehicles from jamming, it is not ruled out that the driver will accelerate rapidly, and then slow down after the rapid deceleration. In the driving mode switching scheme, this change will cause the vehicle to frequently switch driving modes. In this regard, the method of the embodiment of the present invention is used to identify the traffic congestion scene, and the vehicle is prohibited from switching to a higher-level mode (if the vehicle is originally in the standard mode, the vehicle is allowed to switch to the economical mode in the congested road section, but if the vehicle is originally in the economical mode mode, even if the driver accelerates for a period of time, it does not allow the vehicle to switch to standard mode or sport mode). Similarly, the driving mode switching scheme in the prior art cannot immediately switch to the sport mode with faster power output when launching or overtaking, which affects the driving experience of the driver. Recognizing the ejection start scene and the overtaking scene, if the driver has the intention of ejection start or overtaking, the driver will switch to the sports mode at the first time, so that the vehicle can increase the speed in the shortest time to meet the driver's acceleration Or overtaking needs.

To sum up, the vehicle driving mode control method according to the embodiment of the present invention proposes a solution of switching the driving mode in combination with the driving scene, so that the switching of the driving mode is more reasonable. In addition, the vehicle driving mode control method of the embodiment of the present invention can be applied to the existing intelligent driving mode recognition system of the vehicle, and by detecting several typical driving modes, the intelligent driving mode recognition system can be used in the scene of waiting for traffic lights or the scene of traffic congestion. The lower mode switching is more reasonable, which increases the robustness of the system. At the same time, when launching or overtaking, the intelligent driving mode recognition system can switch to the sports mode with faster power output at the first time, improving the driver's driving experience. In addition, the vehicle driving mode control method of the embodiment of the present invention realizes the improvement of the performance of the intelligent driving mode recognition system at the software level, does not involve modification of system components, and the development process is simple and flexible.

6 is a schematic structural diagram of a vehicle driving mode control system according to an embodiment of the present invention. The vehicle driving mode control system and the above-mentioned vehicle driving mode control method are based on the same inventive idea. As shown in FIG. 6 , the vehicle driving mode control system may include: an identification module 100 for identifying the driving scene of the vehicle; and a control module 200 for controlling the driving scene of the vehicle identified by the identification module 100 . The vehicle enters the corresponding driving mode.

Wherein, the driving scenarios include a long-term parking scenario, a traffic light waiting scenario, a traffic jam scenario, an ejection start scenario, and an overtaking scenario.

Preferably, the identification module 100 includes: a first identification sub-module 110 for identifying whether the vehicle is in the long-term parking scene, the traffic light scene and the one of the traffic jam scenarios; the second identification sub-module 120 for identifying whether the vehicle is in the ejection start scene according to the vehicle speed, gear position and accelerator pedal opening; and the third identification sub-module 130 , which is used to identify whether the vehicle is in an overtaking scenario according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure.

More preferably, the first identifying sub-module 110 identifying whether the vehicle is in one of the long-term parking scene, the traffic light scene and the traffic congestion scene includes: when the vehicle is parked When the number of times is 1 and the vehicle speed is lower than the first condition of the preset speed threshold value for entering the parking state, it is determined whether the first time that the first condition is continuously established is less than the preset time threshold value for entering the parking state, If yes, then identify the driving scene as the traffic light scene, otherwise, identify the driving scene as the long-term parking scene; and corresponding to the situation that the driving scene is the traffic light scene, in the When the vehicle is in the second condition that the vehicle speed is higher than the preset speed threshold value of the traffic light state such as exit, determine whether the second time that the second condition is continuously established exceeds the preset time threshold value of the traffic light such as exit , if so, set the number of parking times to 0, otherwise continue to count the number of parking times of the vehicle, if the number of parking times counted is 1, then identify the driving scene as the traffic light scene, if the number of parking times counted is greater than or equal to 2, the driving scene is identified as the traffic jam scene.

More preferably, the second identifying sub-module 120 identifying whether the vehicle is in the ejection start scenario includes: when the vehicle is in the vehicle speed less than a preset starting speed threshold value, the gear is forward When the third condition is that the opening degree of the accelerator pedal is greater than or equal to the preset starting opening degree threshold, it is judged whether the third time that the third condition is continuously established is less than or equal to the preset starting delay threshold value, if yes, identify the driving scene as the ejection start scene;

More preferably, the third identification sub-module 130 identifies whether the vehicle is in an overtaking scenario including: when the vehicle is in a vehicle speed greater than a preset overtaking speed limit, the turn signal is in an activated state, and the accelerator pedal opening is greater than a preset speed limit. When the fourth condition of the overtaking opening threshold value is set, it is judged whether the fourth time that the fourth condition is continuously established is greater than the preset overtaking time threshold value, and if so, the following judgment is continued: when the vehicle is in the When the steering wheel angle is greater than the preset overtaking angle threshold value, and the brake master cylinder pressure before the preset time is greater than the preset cornering brake pressure threshold value, it is determined that the fifth condition is continuously established. Whether the time is greater than the preset overtaking delay threshold, and if so, it is identified that the vehicle is in an overtaking scene.

Further, the driving modes include an economy mode, a standard mode and a sport mode with a power level from low to high, and the control module 200 is configured to control the vehicle to enter the corresponding driving mode including: in the traffic light scene, etc. , if the vehicle is in the standard mode or the sport mode, control the vehicle to maintain the current driving mode; in the traffic congestion scenario, prohibit the vehicle from switching or controlling the driving mode with a power level higher than the current driving mode The vehicle is in the economy mode; in the ejection start scenario and the overtaking scenario, the vehicle is controlled to switch to the sport mode within a preset time.

For the specific implementation details and effects of the vehicle driving mode control system according to the embodiment of the present invention, reference may be made to the above-mentioned vehicle driving mode control method, which will not be repeated here.

An embodiment of the present invention further provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, the instructions are used to cause the machine to execute the above-mentioned vehicle driving mode control. Wherein, the machine-readable storage medium includes but is not limited to phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), only Read-only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash Memory (Flash Memory) or other memory technologies, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) ) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices and various other media that can store program code. The machine that performs the above-mentioned vehicle driving mode control is, for example, a computer, a microcontroller, a microprocessor, etc., or an ECU (Electronic Control Unit, electronic control unit) of the vehicle. It can be understood that when the machine executing the above-mentioned vehicle driving mode control method is the ECU of the vehicle, the embodiment of the present invention is equivalent to providing a vehicle driving mode selection algorithm that can be embedded in the ECU control program, so as to realize the control of the vehicle driving mode. The optimization of vehicle chassis performance is simple and can save development costs.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the present invention. within the scope of protection.

Claims (10)

1. A vehicle driving mode control method, wherein the vehicle driving mode control method comprises: Identify the driving scene of the vehicle; and According to the driving scene of the vehicle, the vehicle is controlled to enter a corresponding driving mode. 2 . The vehicle driving mode control method according to claim 1 , wherein the driving scene includes a long-term parking scene, a traffic light waiting scene, a traffic jam scene, an ejection start scene, and an overtaking scene, and the identifying vehicle The driving scenarios include: Identifying whether the vehicle is in one of the long-term parking scene, the traffic light scene, and the traffic congestion scene according to the number of parking times and the speed of the vehicle; Identifying whether the vehicle is in the launch-start scenario according to the vehicle's speed, gear, and accelerator pedal opening; and Whether the vehicle is in an overtaking scene is determined according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure. 3 . The vehicle driving mode control method according to claim 2 , wherein identifying whether the vehicle is in the long-term parking scene, the traffic light scene and the One of the traffic jam scenarios includes: When the vehicle is in the first condition that the number of stops is 1 and the vehicle speed is lower than the preset speed threshold for entering the parking state, it is determined whether the first time that the first condition is continuously established is less than the preset entering the parking state. If yes, identify the driving scene as the traffic light scene, otherwise identify the driving scene as the long-term parking scene; and/or Corresponding to the situation that the driving scene is the traffic light scene, when the vehicle is in the second condition that the vehicle speed is higher than the preset speed threshold value of the exit and other traffic light states, it is determined that the second condition continues Whether the established second time exceeds the preset time threshold for exit and other traffic lights, if so, set the number of stops to 0, otherwise continue to count the number of stops of the vehicle, if the counted number of stops is 1, then identify The driving scene is the traffic light scene, and if the counted number of stops is greater than or equal to 2, the driving scene is identified as the traffic congestion scene. 4 . The vehicle driving mode control method according to claim 2 , wherein the identifying whether the vehicle is in the ejection start scene according to the vehicle speed, gear position and accelerator pedal opening degree of the vehicle comprises: 5 . when the vehicle is in a third condition that the vehicle speed is less than a preset starting speed threshold, the gear is a forward gear, and the accelerator pedal opening is greater than or equal to a preset starting opening threshold, It is judged whether the third time for which the third condition is continuously established is less than or equal to a preset start delay threshold value, and if so, the driving scene is identified as the ejection start scene. 5 . The vehicle driving mode control method according to claim 2 , characterized in that, according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure to determine whether the vehicle is in a Overtaking scenarios include: When the vehicle is in the fourth condition that the vehicle speed is greater than the preset overtaking speed limit, the turn signal is in the activated state, and the accelerator pedal opening is greater than the preset overtaking opening threshold, it is determined that the fourth condition is continuously established. Whether the fourth time is greater than the preset overtaking time threshold, if so, continue to judge as follows: When the vehicle is in the fifth condition that the steering wheel angle is greater than a preset overtaking angle threshold value, and the brake master cylinder pressure before a preset time is greater than a preset cornering brake pressure threshold value, it is determined that the first Whether the fifth time for which the five conditions are continuously established is greater than the preset overtaking delay threshold value, and if so, it is identified that the vehicle is in an overtaking scene. 6 . The vehicle driving mode control method according to claim 2 , wherein the driving modes include an economy mode, a standard mode and a sport mode with a power level from low to high, and the control method according to the driving scene of the vehicle is performed. 7 . The vehicle entering the corresponding driving mode includes: In the traffic light scene, if the vehicle is in the standard mode or the sport mode, controlling the vehicle to maintain the current driving mode; In the traffic congestion scenario, prohibiting the vehicle from switching to a driving mode with a power level higher than the current driving mode or controlling the vehicle to be in the economy mode; In the ejection start scenario and the overtaking scenario, the vehicle is controlled to switch to the sport mode within a preset time. 7. A vehicle driving mode control system, wherein the vehicle driving mode control system comprises: an identification module for identifying the driving scene of the vehicle; and The control module controls the vehicle to enter a corresponding driving mode according to the driving scene of the vehicle identified by the identification module. 8 . The vehicle driving mode control system according to claim 7 , wherein the driving scene includes a long-term parking scene, a traffic light waiting scene, a traffic jam scene, an ejection start scene, and an overtaking scene, and the identification module includes: 9 . : a first identification sub-module, configured to identify whether the vehicle is in one of the long-term parking scene, the traffic light scene and the traffic congestion scene according to the number of parking times and the speed of the vehicle; a second identification sub-module, configured to identify whether the vehicle is in the ejection start scene according to the vehicle speed, gear position and accelerator pedal opening; and a third identification sub-module, configured to identify whether the vehicle is in an overtaking scenario according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure; Preferably, the first identification sub-module is configured to identify whether the vehicle is in one of the long-term parking scene, the traffic light scene and the traffic congestion scene according to the number of parking times and the speed of the vehicle Including: when the vehicle is in the first condition that the number of times of parking is 1 and the vehicle speed is lower than the preset speed threshold value for entering the parking state, judging whether the first time that the first condition is continuously established is less than the preset entering the parking state. The time threshold value of the parking state, if yes, then identify the driving scene as the traffic light scene, otherwise identify the driving scene as the long-term parking scene; and corresponding to the driving scene as the traffic light scene In the case of the light scene, when the vehicle is in the second condition that the vehicle speed is higher than the preset speed threshold of the exit or other traffic light state, it is determined whether the second time that the second condition is continuously established exceeds the preset exit. Time threshold of waiting traffic lights, if yes, set the number of parking times to 0, otherwise continue to count the number of parking times of the vehicle, if the counted number of parking times is 1, then identify the driving scene as the traffic light scene , if the counted number of parking times is greater than or equal to 2, the driving scene is identified as the traffic congestion scene; Preferably, the second identification sub-module is configured to identify whether the vehicle is in the ejection start scenario according to the vehicle speed, gear position and accelerator pedal opening of the vehicle, including: when the vehicle is at a speed lower than a preset speed When the starting speed threshold value is set, the gear is a forward gear, and the accelerator pedal opening is greater than or equal to the third condition of the preset starting opening threshold value, it is determined that the third condition is continuously established. Whether the time is less than or equal to the preset start delay threshold, if so, identifying the driving scene as the ejection start scene; Preferably, the third identification sub-module is configured to identify whether the vehicle is in an overtaking scenario according to the vehicle speed, turn signal signal, accelerator pedal opening, steering wheel angle and brake cylinder pressure, including: when the vehicle is in an overtaking scenario When the vehicle speed is greater than the preset overtaking speed limit, the turn signal is activated, and the accelerator pedal opening is greater than the preset overtaking opening threshold, it is determined whether the fourth time that the fourth condition is continuously established is greater than the preset time. Set the overtaking time threshold value, if yes, continue the following judgment: when the vehicle is at the steering wheel angle greater than the preset overtaking angle threshold value, and the brake master cylinder pressure before the preset time is greater than the preset turning limit When the fifth condition of the dynamic pressure threshold value is met, it is determined whether the fifth time that the fifth condition is continuously established is greater than the preset overtaking delay threshold value, and if so, it is identified that the vehicle is in an overtaking scenario. 9 . The vehicle driving mode control system of claim 8 , wherein the driving modes include an economy mode, a standard mode and a sport mode with power levels ranging from low to high, and the control module is configured to control the vehicle to enter the The corresponding driving modes include: In the traffic light scene, if the vehicle is in the standard mode or the sport mode, controlling the vehicle to maintain the current driving mode; In the traffic congestion scenario, prohibiting the vehicle from switching to a driving mode with a power level higher than the current driving mode or controlling the vehicle to be in the economy mode; In the ejection start scenario and the overtaking scenario, the vehicle is controlled to switch to the sport mode within a preset time. 10 . A machine-readable storage medium having instructions stored thereon, the instructions being used to cause a machine to execute the vehicle driving mode control method according to any one of claims 1 to 6 .

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