CN114407917A - Driving mode switching method and device, vehicle and readable storage medium - Google Patents
Driving mode switching method and device, vehicle and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application provides a switching method and device of driving modes, a vehicle and a readable storage medium, wherein the switching method comprises the following steps: determining a target torque to be output by the motor according to the operation of the power pedal; controlling the driving torque output by the motor to be converted from the current torque to the target torque; and controlling the vehicle to enter a manual driving mode when the driving torque reaches the target torque. The technical scheme of this application embodiment can be based on the operation to the power pedal is automatic with the vehicle from the smooth-going switching of automatic driving mode to the manual driving mode, has improved the convenience of switching process and has improved user experience.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for switching a driving mode, a vehicle, and a readable storage medium.
Background
At present, when the vehicle is switched from an automatic driving mode to a manual driving mode, the operation of the driver on the vehicle is more complicated, and the convenience and the user experience in the switching process are reduced.
Disclosure of Invention
The embodiment of the application provides a method and a device for switching a driving mode, a vehicle and a readable storage medium, which are used for solving the problems in the related art, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for switching a driving mode, including:
determining a target torque to be output by the motor according to the operation of the power pedal;
controlling the driving torque output by the motor to be converted from the current torque to the target torque;
and controlling the vehicle to enter a manual driving mode when the driving torque reaches the target torque.
In a second aspect, an embodiment of the present application provides a device for switching a driving mode, including:
the determining module is used for determining a target torque to be output by the motor according to the operation of the power pedal;
the first control module is used for controlling the driving torque output by the motor to be converted from the current torque to the target torque;
and the second control module is used for controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque.
In a third aspect, an embodiment of the present application provides a vehicle, including:
a power control unit for determining a target torque to be output by the motor according to an operation of a power pedal;
and the longitudinal motion control unit is used for controlling the driving torque output by the motor to be converted into the target torque from the current torque, and entering a manual driving mode under the condition that the driving torque reaches the target torque.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for switching the driving mode.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium storing computer instructions that, when executed on a computer, perform a method in any one of the above-described aspects.
The advantages or beneficial effects in the above technical solution at least include: the target torque to be output by the motor is determined through the operation of the power pedal, the driving torque output by the motor is automatically controlled to be gradually changed into the target torque from the current torque, the vehicle is controlled to enter the manual driving mode under the condition that the driving torque reaches the target torque, the vehicle can be automatically smoothly switched from the automatic driving mode to the manual driving mode based on the operation of the power pedal, the convenience of the switching process is improved, and the user experience is improved.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.
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In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 is a schematic diagram of a method for switching driving modes according to an embodiment of the present application;
fig. 2 is a schematic flowchart of step S120 according to an embodiment of the present application;
FIG. 3A is a schematic illustration of a torque curve according to an embodiment of the present application;
FIG. 3B is another schematic illustration of a torque curve according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating step S210 according to an embodiment of the present application;
FIG. 5 is a schematic view of a switching device of driving modes according to another embodiment of the present application;
FIG. 6A is a structural frame of a vehicle according to yet another embodiment of the present application;
FIG. 6B is a schematic illustration of an interaction flow between control units of the vehicle of FIG. 6A;
fig. 7 is a block diagram of an electronic device for implementing a method for switching a driving mode according to an embodiment of the present application.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a flowchart of a method of switching driving modes according to an embodiment of the present application. As shown in fig. 1, the handover method may include:
step S110, determining a target torque to be output by a motor according to the operation of a power pedal;
step S120, controlling the driving torque output by the motor to be converted into a target torque from the current torque;
and step S130, controlling the vehicle to enter a manual driving mode when the driving torque reaches the target torque.
For example, the operation of the power pedal may be that the driver steps on the power pedal, and by monitoring the opening degree of the power pedal, the monitoring of the operation of the power pedal may be achieved; the opening degree of the power pedal is the opening degree of the power pedal for controlling the throttle valve. Step S110 may include: determining a torque corresponding to the opening degree of the power pedal according to the opening degree of the power pedal; the torque corresponding to the opening degree of the power pedal is taken as the target torque to be output by the motor.
The target torque may represent the torque that the driver expects the vehicle's electric machine to achieve by depressing the power pedal. The current torque is the torque of the vehicle at the current time in the automatic driving mode. Step S120 may include: controlling the driving torque output by the motor to gradually approach the target torque from the current torque; and determining that the current torque is changed into the target torque under the condition that the torque difference value between the driving torque and the target torque is smaller than a preset difference value. The preset difference may be 0N · m, or may be another value greater than 0, and the preset difference may be selected and adjusted according to actual needs, which is not limited in this embodiment. By controlling the driving torque output by the motor to be converted from the current torque to the target torque, the driving torque can be smoothly converted from the current torque to the target torque, so that the driving torque is gradually converted to the torque output by the motor expected by a driver.
According to the switching method, the target torque to be output by the motor is determined through the operation of the power pedal, the driving torque output by the motor is automatically controlled to be gradually changed into the target torque from the current torque, the vehicle is controlled to enter the manual driving mode under the condition that the driving torque reaches the target torque, the vehicle can be automatically and smoothly switched from the automatic driving mode to the manual driving mode based on the operation of the power pedal, the convenience of the switching process is improved, and the user experience is improved.
In practical application, the switching method is suitable for switching control of switching the vehicle from the automatic driving mode to the manual driving mode. The automatic driving mode of the vehicle includes, but is not limited to, an automatic parking mode, an automatic driving mode (i.e., an automatic driving mode), and an automatic braking mode (i.e., an automatic deceleration mode) of the vehicle. For example, in the related art, switching from the automatic parking mode to the manual driving mode requires the driver to sequentially perform operations of exiting the automatic parking mode, releasing an electronic parking Brake system (EPB), and switching out a gear p (Park), which is cumbersome in operation process and reduces convenience of switching and user experience. According to the scheme, the vehicle can be smoothly switched from the automatic parking mode to the manual driving mode based on the operation of the power pedal, so that the driver can smoothly take over the control of the vehicle in a parking scene. Particularly, in an automatic parking scene, a driver pedals a power pedal to switch the vehicle from an automatic parking mode to a manual driving mode, so that the control of the vehicle is directly taken over, the automatic parking of the vehicle is not required to be finished, the vehicle is conveniently controlled to directly drive out of a parking space, and the speed of taking over is improved.
In one embodiment, as shown in fig. 2, controlling the driving torque output by the motor to be changed from the current torque to the target torque may include:
step S210, generating a torque curve according to the current torque and the target torque; the torque curve is connected with the current torque and the target torque;
and step S220, controlling the motor to output corresponding driving torque according to the torque curve.
Illustratively, as shown in fig. 3A and 3B, step S210 may include: and automatically generating a torque curve for smoothly connecting the current torque Mo and the target torque Md according To the current torque Mo and the target torque Md, wherein the torque curve is a curve between the current time To and the target time Td. Furthermore, in step S220, the motor is controlled to output the corresponding driving torque M according to the torque curve, so that the driving torque M output by the motor can be smoothly transited from the current torque Mo to the target torque Md.
In one embodiment, as shown in FIG. 4, generating a torque curve based on the current torque and the target torque includes:
step S410, determining a torque increment according to a torque difference value between a target torque and a current torque;
and step S420, generating a torque curve according to the current torque, the target torque and the torque increment.
The torque increment is an increase of the torque per unit time, and is, for example, an increase of 1N · m per second. The torque increment can be selected and adjusted according to actual needs, and is not limited by the embodiment of the application.
In one example, where the torque difference is greater than the torque threshold, the torque increment is gradually decreased and then gradually increased from the current moment of the current torque to the target moment of the target torque. The target time may be a time that is later than the current time by a preset time, for example, the target time is 6s later than the current time. The following describes the change law of the torque increment by way of example.
As shown in fig. 3A, the abscissa represents time t, and the ordinate represents driving torque M. The current torque Mo is a negative torque, the target torque Md is a positive torque, the torque difference value between the target torque Md and the current torque Mo is larger than a torque threshold value, the change rule of the torque increment from the current moment To the middle moment Tm is set To be gradually reduced, and the change rule from the middle moment Tm To the target moment Td is set To be gradually increased. For example, when the current torque Mo is-1N · m, and the torque increases from the current time To the intermediate time Tm are 2N · m, 1.5N · m, and 1.3N · m in this order, the drive torque at the time To +1 is 1N · m, the drive torque at the time To +2 is 2.5N · m, and the drive torque Mm at the time Tm is 3.8N · m. When the torque increment from the intermediate time Tm to the target time Td is 1N · m, 1.1N · m, and 1.2N · m in this order, the drive torque at the time Tm +1 is 4.8N · m, the drive torque at the time Tm +2 is 5.9N · m, and the drive torque Md at the time Td is 7.1N · m. Therefore, the generated torque curve is steep, and when the motor is controlled to output the driving torque according to the torque curve, the driving torque can be smoothly and rapidly transited from the current torque Mo to the target torque Md, so that the control efficiency is improved. Furthermore, the driving torque can be rapidly transited from negative torque to positive torque, which is suitable for a switching scenario for switching the vehicle from a braking driving mode to a manual driving mode.
In another example, where the torque difference is less than or equal to the torque threshold, the torque delta changes from the current moment of the current torque to the target moment of the target torque on a regular basis of increasing and then decreasing. For example, as shown in fig. 3B, if the current torque Mo and the target torque Md are both positive torques, and the torque difference between the target torque Md and the current torque Mo is smaller than or equal To the torque threshold, the change rule of the torque increment from the current time To the middle time Tm is set To be increasing, and the change rule from the middle time Tm To the target time Td is set To be decreasing. The variation law of the torque increment can be derived by referring to the above examples, and is not described in detail herein. Therefore, the generated torque curve is relatively flat, when the motor is controlled to output the driving torque according to the torque curve, the driving torque can be smoothly transited from the current torque Mo to the target torque Md, and the improvement of user experience is facilitated. Further, the drive torque smoothly transitions from a small positive torque to a large positive torque, which is suitable for a switching scenario in which the vehicle is switched from the driving mode to the manual driving mode.
Fig. 5 is a schematic structural diagram of a switching device of a driving mode according to another embodiment of the present application. As shown in fig. 5, the switching device 500 of the driving mode may include:
a determination module 510, configured to determine a target torque to be output by a motor according to an operation of a power pedal;
a first control module 520 for controlling the driving torque output by the motor to be changed from a current torque to a target torque;
a second control module 530 for controlling the vehicle to enter a manual driving mode if the driving torque reaches the target torque.
In one embodiment, the first control module 520 may include:
the generation submodule is used for generating a torque curve according to the current torque and the target torque; the torque curve is connected with the current torque and the target torque;
and the control submodule is used for controlling the motor to output corresponding driving torque according to the torque curve.
In one embodiment, generating the sub-module may include:
the determining unit is used for determining a torque increment according to a torque difference value between the target torque and the current torque;
and the generating unit is used for generating a torque curve according to the current torque, the target torque and the torque increment.
In one embodiment, generating the sub-module may further include:
the first setting unit is used for setting a change rule of the torque increment from the current moment of the current torque to the target moment of the target torque to be gradually reduced and then gradually increased under the condition that the torque difference value is larger than the torque threshold value.
In one embodiment, generating the sub-module may further include:
and the second setting unit is used for setting the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque to be gradually increased and then gradually decreased under the condition that the torque difference value is smaller than or equal to the torque threshold value.
The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.
Fig. 6A shows a schematic structural diagram of a vehicle according to yet another embodiment of the present application. Fig. 6B shows a schematic interaction flow diagram between the control units in fig. 6A. As shown in fig. 6A and 6B, the vehicle 600 may include:
a power control unit 610 for determining a target torque to be output by the motor according to an operation of a power pedal;
and a longitudinal movement control unit 620 for controlling the driving torque output by the motor to be changed from the current torque to the target torque, and entering a manual driving mode in case that the driving torque reaches the target torque.
For example, the operation of the power pedal may be that the driver steps on the power pedal, and by monitoring the opening degree of the power pedal, the monitoring of the operation of the power pedal may be achieved; the opening degree of the power pedal is the opening degree of the power pedal for controlling the throttle valve. The power control unit 610 may determine a torque corresponding to the opening degree of the power pedal by acquiring the opening degree of the power pedal; and the torque corresponding to the opening degree of the power pedal is taken as the target torque to be output by the motor.
The control manner of the longitudinal motion control unit 620 for controlling the driving torque output by the motor to be changed from the current torque to the target torque can refer to the above example, and is not described herein again. In case the driving torque reaches the target torque, the longitudinal movement control unit 620 enters the manual driving mode, so that the longitudinal movement control unit 620 exits the control of the motor.
According to the vehicle 600 of the embodiment of the present application, the power control unit 610 determines the target torque to be output by the motor through the operation of the power pedal, may cause the longitudinal movement control unit 620 to automatically control the driving torque output by the motor to gradually transition from the current torque to the target torque, and control to enter the manual driving mode in case the driving torque reaches the target torque. As such, the longitudinal movement control unit 620 may automatically switch from the autonomous driving mode to the manual driving mode smoothly based on the operation of the power pedal, improving the convenience of the switching process and improving the user experience.
In one embodiment, power control unit 610 is configured to generate a switch request based on operation of a power pedal;
the longitudinal motion control unit 620 is configured to generate a corresponding torque acquisition request in case of receiving a switching request;
the power control unit 610 is also configured to send a target torque to the longitudinal motion control unit 620 upon receiving a torque acquisition request.
Illustratively, the power control unit 610 generates a switching request according to an operation of a power pedal and transmits the switching request to the longitudinal movement control unit 620, and the longitudinal movement control unit 620 generates a corresponding torque acquisition request and transmits the torque acquisition request to the power control unit 610 in case of receiving the switching request, so that the power control unit 610 transmits a target torque to the longitudinal movement control unit 620 in case of receiving the torque acquisition request. In this manner, the longitudinal motion control unit 620 can achieve the acquisition of the target torque.
In one embodiment, power control unit 610 is configured to generate a switch request if the opening of the power pedal reaches an opening threshold within a preset time. For example, if the opening degree of the power pedal reaches 60% within 3.5s, power control unit 610 generates a switching request. The preset time and the opening threshold value can be selected and adjusted according to actual needs, and the embodiment of the application does not limit the preset time and the opening threshold value. Therefore, mode switching triggered by misoperation of the power pedal can be avoided, and switching safety is improved.
In one embodiment, the power control unit 610 is configured to determine a torque corresponding to an opening degree of the power pedal according to the opening degree; and when the torque corresponding to the opening degree is smaller than the torque threshold value, the torque corresponding to the opening degree is set as the target torque. In the present embodiment, when the torque corresponding to the opening degree of the power pedal is smaller than the torque threshold, the power control unit 610 takes the torque corresponding to the opening degree as the target torque, so that the target torque is suitable for the operation demand of the driver, and the user experience is improved.
In one embodiment, the power control unit 610 is further configured to set the torque threshold as the target torque if the torque corresponding to the opening degree is greater than or equal to the torque threshold. In the present embodiment, when the torque corresponding to the opening degree of the power pedal is greater than or equal to the torque threshold, the power control unit 610 sets the torque threshold as the target torque, and can limit the target torque when the driver mistakenly steps on the power pedal, thereby preventing the motor from outputting a large driving torque in a short time, and improving the safety of the manual driving mode in taking over the automatic driving mode.
In one embodiment, as shown in fig. 6A and 6B, the vehicle 600 may further include:
and a parking control unit 630, configured to send a switching request to the longitudinal motion control unit 620 if the switching request is successfully confirmed.
Illustratively, when the power control unit 610 generates a switching request, the power control unit 610 first transmits the switching request to the parking control unit 630. Upon receiving the switching request, the parking control unit 630 confirms the switching request, and if the confirmation is successful, transmits the switching request to the longitudinal movement control unit 620. By confirming the switching request by the parking control unit 630 and sending the switching request to the longitudinal motion control unit 620 only when the switching condition is successfully confirmed, the false switching caused by communication errors can be avoided, and the reliability of the switching is improved.
In one embodiment, the parking control unit 630 is further configured to generate automatic driving data of the vehicle 600 according to an environment in which the vehicle 600 is located in an automatic driving mode;
the longitudinal movement control unit 620 is also configured to control the vehicle 600 to travel according to the automatic travel data in a case where the automatic travel data is received.
In one example, the automatic traveling data includes a driving traveling direction, a first distance, and a first speed, and the longitudinal motion control unit 620 controls the vehicle 600 to accelerate toward the driving traveling direction at a traveling speed less than the first speed by the first distance upon receiving the driving traveling direction, the first distance, and the first speed transmitted from the parking control unit 630. In this manner, the longitudinal motion control unit 620 and the parking control unit 630 can realize the drive control of the vehicle 600 in cooperation.
In another example, the automatic traveling data includes a brake traveling direction, a second distance, and a second speed, and the longitudinal motion control unit 620 controls the vehicle 600 to decelerate in the brake traveling direction at a traveling speed less than the second speed for the second distance upon receiving the driving brake traveling direction, the second distance, and the second speed transmitted from the parking control unit 630. Wherein the second speed is less than the first speed. In this manner, the longitudinal motion control unit 620 and the parking control unit 630 may implement braking control of the vehicle 600 in cooperation.
In the present embodiment, in the automatic parking mode, the longitudinal motion control unit 620 and the parking control unit 630 perform cooperative driving and braking control on the vehicle 600, which also helps to improve the accuracy of parking control and the comfort of parking, thereby improving the user experience.
In one embodiment, the longitudinal motion control unit 620 is connected to the parking control unit 630, and the longitudinal motion control unit 620 is configured to control the motor to output a safety torque to enter a safety mode if it is detected that the parking control unit 630 fails to operate in the automatic driving mode. The safe torque may be 0N · m or another value larger than 0, and the safe torque may be selected and adjusted according to actual needs, which is not limited in the embodiment of the present application. The longitudinal movement control unit 620 facilitates to reduce the running speed of the vehicle 600 in case of a failure of the parking control unit 630 by controlling the motor to output a safety torque, and ensures safe braking and parking of the vehicle 600, thereby entering a safe mode.
In one embodiment, the longitudinal motion control unit 620 is connected to the power control unit 610 and the parking control unit 630, respectively, and the longitudinal motion control unit 620 is configured to send mode feedback commands to the power control unit 610 and the parking control unit 630, respectively, in case of entering the manual driving mode, so as to enable the power control unit 610 and the parking control unit 630 to enter the manual driving mode, respectively. For example, in the case where the longitudinal motion control unit 620 and the parking control unit 630 enter the manual driving mode, the operation is stopped; the power control unit 610 may control the motor to output a corresponding torque based on an operation of the driver stepping on the power pedal in case of entering the manual driving mode. It should be noted that, data interaction in the automatic driving mode is different from data interaction in the manual driving mode among the power control unit 610, the longitudinal motion control unit 620 and the parking control unit 630, and the longitudinal motion control unit 620 enables the operating states of the power control unit 610 and the parking control unit 630 to be adapted to the longitudinal motion control unit 620 by enabling the power control unit 610 and the parking control unit 630 to enter the manual driving mode, so as to ensure accuracy of data interaction.
Fig. 7 shows a block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 7, the electronic apparatus includes: memory 710 and processor 720, memory 710 having stored therein instructions executable on processor 720. The processor 720, when executing the instructions, implements the method of switching driving modes in the above-described embodiments. The number of the memory 710 and the processor 720 may be one or more. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
The electronic device may further include a communication interface 730 for communicating with an external device to perform data interactive transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 720 may process instructions for execution within the electronic device, including instructions stored in or on a memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to an interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 710, the processor 720 and the communication interface 730 are integrated on a chip, the memory 710, the processor 720 and the communication interface 730 may complete communication with each other through an internal interface.
It should be understood that the processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an Advanced reduced instruction set machine (ARM) architecture.
Embodiments of the present application provide a computer-readable storage medium (such as the memory 710 described above) storing computer instructions, which when executed by a processor implement the methods provided in embodiments of the present application.
Optionally, the memory 710 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of an electronic device for implementing a switching method of a driving mode, and the like. Further, the memory 710 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 710 may optionally include a memory remotely located from the processor 720, and these remote memories may be connected over a network to an electronic device for implementing the switching method of the driving mode. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" 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 defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more (two or more) executable instructions for implementing specific logical functions or steps in the process. And the scope of the preferred embodiments of the present application includes other implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the method of the above embodiments may be implemented by hardware that is configured to be instructed to perform the relevant steps by a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (21)
1. A method of switching a driving mode, comprising:
determining a target torque to be output by the motor according to the operation of the power pedal;
controlling the driving torque output by the motor to be changed from the current torque to the target torque;
and controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque.
2. The switching method according to claim 1, wherein controlling the driving torque output by the motor to shift from a current torque to the target torque includes:
generating a torque curve according to the current torque and the target torque; the torque curve joins the current torque and the target torque;
and controlling the motor to output corresponding driving torque according to the torque curve.
3. The method of switching according to claim 2, wherein generating a torque curve based on the current torque and the target torque comprises:
determining a torque increment according to a torque difference value between the target torque and the current torque;
generating the torque curve according to the current torque, the target torque and the torque increment.
4. The shift method according to claim 3, wherein, in the case where the torque difference is larger than a torque threshold value, a change rule of the torque increment from the current time of the current torque to the target time of the target torque is first decreasing and then increasing.
5. The shift method according to claim 3, wherein, in a case where the torque difference value is less than or equal to a torque threshold value, a change rule of the torque increment from the current time of the current torque to the target time of the target torque is first increasing and then decreasing.
6. A switching device of a driving mode, characterized by comprising:
the determining module is used for determining a target torque to be output by the motor according to the operation of the power pedal;
the first control module is used for controlling the driving torque output by the motor to be converted from the current torque to the target torque;
and the second control module is used for controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque.
7. The switching device of claim 6, wherein the first control module comprises:
the generation submodule is used for generating a torque curve according to the current torque and the target torque; the torque curve joins the current torque and the target torque;
and the control submodule is used for controlling the motor to output corresponding driving torque according to the torque curve.
8. The switching device of claim 7, wherein the generating submodule comprises:
the determining unit is used for determining a torque increment according to a torque difference value between the target torque and the current torque;
and the generating unit is used for generating the torque curve according to the current torque, the target torque and the torque increment.
9. The switching device of claim 8, wherein the generation submodule further comprises:
the first setting unit is used for setting a change rule of the torque increment from the current moment of the current torque to the target moment of the target torque to be gradually reduced and then gradually increased under the condition that the torque difference value is larger than a torque threshold value.
10. The switching device of claim 8, wherein the generation submodule further comprises:
and the second setting unit is used for setting the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque to be gradually increased and then gradually decreased under the condition that the torque difference value is smaller than or equal to a torque threshold value.
11. A vehicle, characterized by comprising:
a power control unit for determining a target torque to be output by the motor according to an operation of a power pedal;
and the longitudinal motion control unit is used for controlling the driving torque output by the motor to be converted from the current torque to the target torque, and entering a manual driving mode under the condition that the driving torque reaches the target torque.
12. The vehicle of claim 11, characterized in that the power control unit is configured to generate a switch request in accordance with an operation of the power pedal;
the longitudinal motion control unit is used for generating a corresponding torque acquisition request under the condition of receiving the switching request;
the power control unit is further configured to send the target torque to the longitudinal motion control unit upon receiving the torque acquisition request.
13. The vehicle according to claim 12, characterized in that the power control unit is configured to generate the switching request if the opening degree of the power pedal reaches an opening degree threshold within a preset time.
14. The vehicle according to claim 12, characterized in that the power control unit is configured to determine a torque corresponding to an opening degree of the power pedal, based on the opening degree; and when the torque corresponding to the opening degree is smaller than a torque threshold value, the torque corresponding to the opening degree is taken as the target torque.
15. The vehicle according to claim 14, characterized in that the power control unit is further configured to take the torque threshold value as the target torque if the torque corresponding to the opening degree is greater than or equal to the torque threshold value.
16. The vehicle of claim 12, further comprising:
and the parking control unit is used for sending the switching request to the longitudinal motion control unit under the condition of successfully confirming the switching request.
17. The vehicle according to claim 16, wherein the parking control unit is further configured to generate automatic travel data of the vehicle according to an environment in which the vehicle is located in an automatic driving mode;
the longitudinal motion control unit is further configured to control the vehicle to travel according to the automatic travel data in a case where the automatic travel data is received.
18. The vehicle of claim 16, wherein the longitudinal motion control unit is connected to the parking control unit, and the longitudinal motion control unit is configured to control the motor to output a safety torque to enter a safety mode when the parking control unit is monitored to be out of operation in an automatic driving mode.
19. The vehicle according to claim 16, wherein the longitudinal motion control unit is connected to the power control unit and the parking control unit, respectively, and is configured to send mode feedback instructions to the power control unit and the parking control unit, respectively, to cause the power control unit and the parking control unit to enter a manual driving mode, respectively, in case of entering the manual driving mode.
20. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
21. A computer readable storage medium having stored therein computer instructions which, when executed by a processor, implement the method of any one of claims 1-5.
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