阅读说明：本技术 车辆的控制方法、装置及车辆 (Vehicle control method and device and vehicle ) 是由 袁光 于 2021-09-01 设计创作，主要内容包括：本公开实施例提供一种车辆的控制方法、装置及车辆,车辆包括后备箱和多个座位,其中,后备箱下以及每一座位下分别设置有压力传感器,该方法包括：基于设置于后备箱下的压力传感器,实时获取后备箱的当前时刻相对于前一时刻的当前时刻质量增加值,并基于设置于每一座位下的压力传感器,实时获取每一座位的当前时刻相对于前一时刻的当前时刻质量增加值,根据各当前时刻质量增加值,以及预存的后备箱、每一座位各自对应的前一时刻质量,确定当前时刻行驶参数,控制车辆基于当前时刻行驶参数行驶,提高了当前时刻行驶参数自修正的灵活性和便捷性,且可以提高车辆控制的可靠性,进而提高车辆行驶的安全性的技术效果。(The embodiment of the disclosure provides a control method and a control device for a vehicle and the vehicle, wherein the vehicle comprises a trunk and a plurality of seats, pressure sensors are respectively arranged below the trunk and each seat, and the method comprises the following steps: the method comprises the steps of acquiring a current moment mass increment value of a trunk in real time relative to a previous moment based on a pressure sensor arranged under the trunk, acquiring a current moment mass increment value of each seat in real time relative to the previous moment based on a pressure sensor arranged under each seat, determining a current moment driving parameter according to each current moment mass increment value and pre-stored previous moment masses corresponding to the trunk and each seat respectively, and controlling a vehicle to run based on the current moment driving parameter, so that the flexibility and convenience of self-correction of the current moment driving parameter are improved, the reliability of vehicle control can be improved, and the technical effect of safety of vehicle running is further improved.)

1. A control method of a vehicle including a trunk and a plurality of seats, wherein pressure sensors are provided under the trunk and under each of the seats, respectively, the method comprising:

the method comprises the steps that a current moment mass increase value of a trunk at the current moment relative to the previous moment is obtained in real time on the basis of a pressure sensor arranged under the trunk, and a current moment mass increase value of each seat at the current moment relative to the previous moment is obtained in real time on the basis of a pressure sensor arranged under each seat;

and determining a current-time driving parameter according to each current-time mass added value and the prestored previous-time mass corresponding to the trunk and each seat, and controlling the vehicle to drive based on the current-time driving parameter.

2. The method of claim 1, wherein determining the current-time driving parameters according to the current-time mass increment values and the prestored corresponding previous-time mass of the trunk and each seat comprises:

calculating the whole vehicle mass of the vehicle at the previous moment according to the mass of the trunk at the previous moment and the mass of each seat at the previous moment;

and determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment of the trunk and the current moment mass increment of each seat, and determining the current moment running parameters according to the current moment mass.

3. The method of claim 2, wherein the current time-of-day quality comprises: the mass of the whole vehicle at the current moment; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

and determining the total mass of the whole vehicle at the previous moment, the mass added value of the trunk at the current moment and the mass added value of each seat at the current moment as the whole vehicle mass at the current moment.

4. The method of claim 3, wherein the current time-of-day quality further comprises: the mass of the front half of the vehicle at the current moment and the mass of the rear half of the vehicle at the current moment; each seat comprises a front half vehicle seat and a rear half vehicle seat; the whole vehicle quality at the previous moment comprises the front half vehicle quality at the previous moment and the rear half vehicle quality at the previous moment; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

determining the sum of the mass of the former half vehicle at the previous moment and the mass of the mass added value of the former half vehicle seat at the current moment as the mass of the former half vehicle at the current moment;

and determining the mass sum of the half-car mass at the last moment, the mass added value of the seat of the half-car at the current moment and the mass added value of the trunk at the current moment as the mass of the half-car at the current moment.

5. The method of claim 4, wherein the current time-of-day quality further comprises: the distance between the gravity center of the vehicle and the front axle of the vehicle at the current moment, and the distance between the gravity center of the vehicle and the rear axle of the vehicle at the current moment; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

determining the distance between the front axles according to the mass of the rear half car at the current moment, the mass of the whole car at the current moment and a preset vehicle wheel base;

and determining the rear axle distance according to the mass of the front half vehicle at the current moment, the mass of the whole vehicle at the current moment and the vehicle wheel base.

6. The method of claim 5, wherein the current time-of-day quality further comprises: a moment of inertia of the vehicle about a vehicle Z axis; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

and determining the product of the whole vehicle mass at the current moment, the distance of the front shaft and the distance of the rear shaft as the moment of inertia.

7. The method of any of claims 1 to 6, wherein obtaining in real time a current time mass gain value of the trunk from a previous time based on a pressure sensor disposed under the trunk and obtaining in real time a current time mass gain value of each seat from a previous time based on a pressure sensor disposed under each seat comprises:

acquiring current time pressure information acquired by a pressure sensor under the trunk in real time, and determining a current time mass increase value of the current time of the trunk relative to a previous time according to the current time pressure information;

and acquiring the current-time pressure information acquired by the pressure sensor under each seat in real time, and determining the mass increase value of the current time under each seat relative to the current time at the previous time according to the current-time pressure information.

8. A control apparatus of a vehicle including a trunk and a plurality of seats, wherein pressure sensors are provided under the trunk and under each of the seats, respectively, the apparatus comprising:

the acquiring unit is used for acquiring a mass increase value of the trunk at the current moment relative to the previous moment in real time based on a pressure sensor arranged under the trunk, and acquiring the mass increase value of each seat at the current moment relative to the previous moment in real time based on the pressure sensor arranged under each seat;

and the determining unit is used for determining the current-time running parameters according to the current-time mass added values and the pre-stored previous-time mass corresponding to the trunk and each seat respectively, and controlling the vehicle to run based on the current-time running parameters.

9. An electronic device, comprising: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the method of any one of claims 1 to 7.

10. A computer readable storage medium having stored therein computer executable instructions for implementing the method of any one of claims 1 to 7 when executed by a processor.

11. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

12. A vehicle comprising a trunk and a plurality of seats, wherein a pressure sensor is provided under the trunk and under each seat, respectively, the vehicle further comprising the apparatus of claim 8.

Technical Field

The embodiment of the disclosure relates to the technical field of automatic driving, in particular to a vehicle control method and device and a vehicle.

Background

With the development of intelligent driving in recent years, the autonomy degree of an automatic driving function is higher and higher, and how to improve the reliability of vehicle control is an urgent problem to be solved.

In the prior art, a control method of a vehicle is usually implemented by using a fixed driving parameter, or a model of an identification parameter is used to perform a back-stepping on the driving parameter, so as to obtain a relatively variable driving parameter.

However, the control of the vehicle by using the fixed and unchangeable driving parameters causes the technical problems of low flexibility of the control of the vehicle and low safety performance of the driving of the vehicle, and the adoption of the model reverse-pushing mode causes the technical problems of increased calculation burden of the vehicle and relatively high cost.

Disclosure of Invention

The embodiment of the disclosure provides a vehicle control method and device and a vehicle, which are used for solving the technical problem that the cost for controlling the vehicle is high.

In a first aspect, an embodiment of the present disclosure provides a control method for a vehicle, where the vehicle includes a trunk and a plurality of seats, and pressure sensors are respectively disposed under the trunk and under each seat, and the method includes:

the method comprises the steps that a current moment mass increase value of a trunk at the current moment relative to the previous moment is obtained in real time on the basis of a pressure sensor arranged under the trunk, and a current moment mass increase value of each seat at the current moment relative to the previous moment is obtained in real time on the basis of a pressure sensor arranged under each seat;

and determining a current-time driving parameter according to each current-time mass added value and the prestored previous-time mass corresponding to the trunk and each seat, and controlling the vehicle to drive based on the current-time driving parameter.

In some embodiments, determining the current-time driving parameters according to the current-time mass increment values and the prestored corresponding previous-time mass of the trunk and each seat comprises:

calculating the whole vehicle mass of the vehicle at the previous moment according to the mass of the trunk at the previous moment and the mass of each seat at the previous moment;

and determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment of the trunk and the current moment mass increment of each seat, and determining the current moment running parameters according to the current moment mass.

In some embodiments, the current time-of-day quality comprises: the mass of the whole vehicle at the current moment; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

and determining the total mass of the whole vehicle at the previous moment, the mass added value of the trunk at the current moment and the mass added value of each seat at the current moment as the whole vehicle mass at the current moment.

In some embodiments, the current time quality further comprises: the mass of the front half of the vehicle at the current moment and the mass of the rear half of the vehicle at the current moment; each seat comprises a front half vehicle seat and a rear half vehicle seat; the whole vehicle quality at the previous moment comprises the front half vehicle quality at the previous moment and the rear half vehicle quality at the previous moment; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

determining the sum of the mass of the former half vehicle at the previous moment and the mass of the mass added value of the former half vehicle seat at the current moment as the mass of the former half vehicle at the current moment;

and determining the mass sum of the half-car mass at the last moment, the mass added value of the seat of the half-car at the current moment and the mass added value of the trunk at the current moment as the mass of the half-car at the current moment.

In some embodiments, the current time quality further comprises: the distance between the gravity center of the vehicle and the front axle of the vehicle at the current moment, and the distance between the gravity center of the vehicle and the rear axle of the vehicle at the current moment; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

determining the distance between the front axles according to the mass of the rear half car at the current moment, the mass of the whole car at the current moment and a preset vehicle wheel base;

and determining the rear axle distance according to the mass of the front half vehicle at the current moment, the mass of the whole vehicle at the current moment and the vehicle wheel base.

In some embodiments, the current time quality further comprises: a moment of inertia of the vehicle about a vehicle Z axis; determining the current moment mass of the vehicle according to the whole vehicle mass at the previous moment, the current moment mass increment value of the trunk and the current moment mass increment value of each seat, and the method comprises the following steps:

and determining the product of the whole vehicle mass at the current moment, the distance of the front shaft and the distance of the rear shaft as the moment of inertia.

In some embodiments, the obtaining, in real time, a current-time mass increase value of a current time of the trunk relative to a previous time based on a pressure sensor disposed under the trunk, and obtaining, in real time, a current-time mass increase value of the current time of each seat relative to a previous time based on a pressure sensor disposed under each seat includes:

acquiring current time pressure information acquired by a pressure sensor under the trunk in real time, and determining a current time mass increase value of the current time of the trunk relative to a previous time according to the current time pressure information;

and acquiring the current-time pressure information acquired by the pressure sensor under each seat in real time, and determining the mass increase value of the current time under each seat relative to the current time at the previous time according to the current-time pressure information.

In a second aspect, an embodiment of the present disclosure provides a control apparatus for a vehicle, the vehicle including a trunk and a plurality of seats, wherein pressure sensors are respectively provided under the trunk and under each seat, the apparatus including:

the acquiring unit is used for acquiring a mass increase value of the trunk at the current moment relative to the previous moment in real time based on a pressure sensor arranged under the trunk, and acquiring the mass increase value of each seat at the current moment relative to the previous moment in real time based on the pressure sensor arranged under each seat;

the determining unit is used for determining the driving parameters at the current moment according to the mass added value at the current moment and the pre-stored mass at the previous moment corresponding to the trunk and each seat;

and the control unit is used for controlling the vehicle to run based on the current running parameter.

In some embodiments, the determining unit includes:

the calculating subunit is used for calculating the whole vehicle mass of the vehicle at the previous moment according to the mass of the trunk at the previous moment and the mass of each seat at the previous moment;

the first determining subunit is used for determining the mass of the vehicle at the current moment according to the mass of the whole vehicle at the previous moment, the mass added value of the trunk at the current moment and the mass added value of each seat at the current moment;

and the second determining subunit is used for determining the current-time driving parameter according to the current-time quality.

In some embodiments, the current time-of-day quality comprises: the mass of the whole vehicle at the current moment; the first determining subunit is configured to determine, as the current-time vehicle mass, a mass sum of the vehicle mass at the previous time, the current-time mass added value of the trunk, and the current-time mass added value of each seat.

In some embodiments, the current time-of-day quality comprises: the mass of the front half of the vehicle at the current moment and the mass of the rear half of the vehicle at the current moment; each seat comprises a front half vehicle seat and a rear half vehicle seat; the whole vehicle quality at the previous moment comprises the front half vehicle quality at the previous moment and the rear half vehicle quality at the previous moment; the first determining subunit is used for determining the mass sum of the mass of the former half vehicle at the previous moment and the mass added value of the mass of the former half vehicle seat at the current moment as the mass of the former half vehicle at the current moment, and determining the mass sum of the mass of the latter half vehicle at the previous moment, the mass added value of the latter half vehicle seat at the current moment and the mass added value of the trunk at the current moment as the mass of the latter half vehicle at the current moment.

In some embodiments, the current time-of-day quality comprises: the distance between the gravity center of the vehicle and the front axle of the vehicle at the current moment, and the distance between the gravity center of the vehicle and the rear axle of the vehicle at the current moment; the first determining subunit is configured to determine the front axle distance according to the mass of the rear half automobile at the current time, the mass of the whole automobile at the current time, and a preset automobile wheel base, and determine the rear axle distance according to the mass of the front half automobile at the current time, the mass of the whole automobile at the current time, and the automobile wheel base.

In some embodiments, the current time-of-day quality comprises: a moment of inertia of the vehicle about a vehicle Z axis; the first determining subunit is configured to determine, as the moment of inertia, a product of the total vehicle mass at the current time, the front axle distance, and the rear axle distance.

In some embodiments, the obtaining unit includes:

the first acquiring subunit is used for acquiring the current time pressure information acquired by the pressure sensor under the trunk in real time and determining the current time mass increase value of the trunk at the current time relative to the previous time according to the current time pressure information;

and the second acquiring subunit is used for acquiring the current-time pressure information acquired by the pressure sensor under each seat in real time and determining the current-time mass increase value of the current time under each seat relative to the previous time according to the current-time pressure information.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the method of the first aspect.

In a fourth aspect, the present disclosure provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the method according to the first aspect when executed by a processor.

In a fifth aspect, the embodiments of the present disclosure provide a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

In a sixth aspect, the present disclosure provides a vehicle comprising a trunk and a plurality of seats, wherein a pressure sensor is disposed under the trunk and under each seat, respectively, and the vehicle further comprises the apparatus according to the second aspect.

The embodiment of the disclosure provides a control method and device for a vehicle and the vehicle, wherein the vehicle comprises a trunk and a plurality of seats, pressure sensors are respectively arranged below the trunk and each seat, and the method comprises the following steps: the method comprises the steps of acquiring a current moment mass increase value of a trunk in real time relative to a previous moment based on a pressure sensor arranged under the trunk, acquiring a current moment mass increase value of each seat in real time relative to the previous moment based on a pressure sensor arranged under each seat, determining a current moment driving parameter according to each current moment mass increase value and pre-stored previous moment masses corresponding to the trunk and each seat respectively, and controlling a vehicle to drive based on the current moment driving parameter, wherein the method comprises the following steps of: the technical characteristics that each current moment mass increment value is obtained in real time, and the current moment running parameter is determined based on each current moment mass increment value and each previous moment mass so as to control the running of the vehicle based on the current moment running parameter are realized, and the technical characteristics that the current moment running parameter is determined in a self-correcting mode is realized, thereby avoiding the defect of low flexibility of vehicle control caused by a control method based on a fixed and unchangeable running parameter in the related technology, having no need of increasing the cost of a chip, having relatively less consumption of computing resources and improving the flexibility and convenience of self-correction of the current moment running parameter, therefore, when the vehicle is controlled to run based on the current moment running parameter, the flexibility of vehicle control can be realized, and because the current moment running parameter is related to the current moment vehicle mass, the control of the vehicle can be closely related to the current vehicle environment, so that the reliability of vehicle control can be improved, and the technical effect of the safety of vehicle running is improved.

Drawings

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

Fig. 1 is a schematic view of an application scenario of a control method of a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a control method of a vehicle according to one embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a control method of a vehicle according to another embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a control method of a vehicle according to another embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a control device of a vehicle according to one embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a control device of a vehicle according to another embodiment of the present disclosure;

fig. 7 is a block diagram of an electronic device of a control method of a vehicle according to an embodiment of the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario of a control method of a vehicle according to an embodiment of the disclosure.

As shown in fig. 1, the vehicle 101 includes four seats (each A, B, C, D as labeled in fig. 1) and one trunk (E as labeled in fig. 1).

It should be understood that fig. 1 is only an exemplary illustration, and an application scenario to which the control method of the present embodiment may be applied is not to be construed as a limitation to the application scenario of the control method of the vehicle of the present embodiment.

For example, in other embodiments, the number of seats may be increased accordingly, such as more seats may be included between seat B, seat D, and trunk E.

In order to improve the reliability of vehicle control, in the related art, a vehicle control method is generally adopted in which: and constructing a vehicle control algorithm model (such as a dynamic model), and controlling the driving strategy (such as driving direction, driving speed and the like) of the vehicle based on the vehicle control algorithm model and the acquired driving parameters suitable for the vehicle control algorithm model.

In one embodiment, the vehicle may be controlled by using fixed and unchangeable driving parameters, and the driving parameters may be parameters such as mass and gravity center position obtained by a calibration test of the vehicle.

However, the method provided by this embodiment is used to control the vehicle, and there is no consideration for information (such as environmental factors) related to the actual operation of the vehicle, which results in that the flexibility of controlling the vehicle is relatively low, and the control effect of controlling the vehicle is easily affected, so that the safety performance of the vehicle running is relatively low.

In another embodiment, the driving parameters may be identified in a fuzzy manner, such as by using a method of identifying a parameter model to extrapolate the corresponding driving parameters (e.g., constructing a parameter prediction model, predicting the corresponding driving parameters based on the parameter prediction model) to obtain relatively variable driving parameters, and controlling the vehicle based on the relatively variable driving parameters.

However, the method provided by the embodiment is adopted to control the vehicle, so that a large computational resource is required for supporting, namely, the consumed resource is large, the computational burden of a chip of the vehicle for executing the method is increased, and the cost of the chip is also increased.

In order to avoid at least one of the above technical problems, the inventors of the present disclosure have proposed the inventive concept of the present disclosure: pressure sensors are provided under the trunk and each seat to perform real-time self-correction of the running parameters of the vehicle based on data acquired by the pressure sensors, and to control the running of the vehicle based on the self-corrected running parameters.

The following describes the technical solutions of the present disclosure and how to solve the above technical problems in specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 is a schematic diagram of a control method of a vehicle according to an embodiment of the disclosure.

The vehicle comprises a trunk and a plurality of seats, wherein pressure sensors are arranged below the trunk and below each seat respectively.

As shown in fig. 2, the method includes:

s201: the method comprises the steps of acquiring a current moment mass increase value of a trunk at the current moment relative to a previous moment in real time based on a pressure sensor arranged under the trunk, and acquiring the current moment mass increase value of each seat at the current moment relative to the previous moment in real time based on the pressure sensor arranged under each seat.

For example, the execution subject of the present embodiment may be a control device of a vehicle (hereinafter, simply referred to as a control device), and the control device may specifically be a computer provided in the vehicle, a server provided in the vehicle, an on-board terminal provided in the vehicle, a processor provided in the vehicle, a chip provided in the vehicle, or the like, and the present embodiment is not limited thereto.

Among them, a Pressure Transducer (Pressure Transducer) is capable of sensing Pressure information, and the Pressure Transducer is generally composed of a Pressure sensing element and a signal processing unit. Pressure sensors can be classified into gauge pressure sensors, differential pressure sensors, and absolute pressure sensors according to different types of test pressures.

In the present embodiment, the type of the pressure sensor is not limited, and the type of the pressure sensor provided under the trunk and under each seat may be selected based on application requirements and the like. And the types of the pressure sensors arranged on the same vehicle can be the same or different.

For example, when the method of the present embodiment is applied to the application scenario shown in fig. 1, and the previous time is t0, and the current time is t1, the embodiment may be understood as:

pressure sensors are arranged under the seats A, B, C and D, and pressure sensors are also arranged under the trunk E.

If the pressure sensor arranged under the seat A is a pressure sensor a, the pressure sensor arranged under the seat B is a pressure sensor B, the pressure sensor arranged under the seat C is a pressure sensor C, the pressure sensor arranged under the seat D is a pressure sensor D, and the pressure sensor arranged under the trunk E is a pressure sensor E, then:

based on the pressure sensor a, the control device may acquire the mass increase value of the seat a at the present time between (t1-t 0); based on the pressure sensor B, the control device may acquire the mass increase value of the seat B at the present time between (t1-t 0); based on the pressure sensor C, the control device may acquire the mass increase value of the seat C at the present time between (t1-t 0); based on the pressure sensor D, the control device may acquire the mass increase value of the seat D at the present time between (t1-t 0); based on the pressure sensor E, the control device may acquire the current time-point mass increase value of the trunk E between (t1-t 0).

For example, if between (t1-t0) a passenger is riding in the vehicle, and specifically sitting at seat B, and the passenger also carries a trunk, which is placed in trunk E, then: the pressure sensor B detects pressure information corresponding to the seat B, and correspondingly, the controller can determine a mass increase value at the current moment corresponding to the seat B according to the pressure information corresponding to the seat B; the pressure sensor E detects pressure information corresponding to the trunk E, and correspondingly, the controller can determine a mass increase value at the current moment corresponding to the trunk E according to the pressure information corresponding to the trunk E.

S202: and determining the current-time driving parameters according to the mass added value at each current time and the pre-stored mass at the previous time corresponding to the trunk and each seat.

The driving parameters refer to parameters for controlling the driving of the vehicle, such as speed and acceleration. Mass is a measure of the inertia of the vehicle, and weight reflects the amount of gravity that the vehicle is subjected to, which is caused by the earth's attraction.

In this embodiment, the current-time driving parameter is determined by combining the current-time mass added value and the previous-time mass, which is equivalent to real-time correction of the driving parameter of the vehicle by the current-time mass added value and the previous-time mass, so that the current-time driving parameter has more flexible automatic correction.

S203: and controlling the vehicle to run based on the current running parameter.

Based on the above analysis, an embodiment of the present disclosure provides a control method for a vehicle, where the vehicle includes a trunk and a plurality of seats, and pressure sensors are respectively disposed under the trunk and under each seat, and the method includes: the method comprises the steps of acquiring a current moment mass increase value of a trunk in real time relative to a previous moment based on a pressure sensor arranged under the trunk, acquiring a current moment mass increase value of each seat in real time relative to the previous moment based on a pressure sensor arranged under each seat, determining a current moment driving parameter according to each current moment mass increase value and pre-stored previous moment masses corresponding to the trunk and each seat respectively, and controlling a vehicle to drive based on the current moment driving parameter, wherein the method comprises the following steps of: the technical characteristics that each current moment mass increment value is obtained in real time, and the current moment running parameter is determined based on each current moment mass increment value and each previous moment mass so as to control the running of the vehicle based on the current moment running parameter are realized, and the technical characteristics that the current moment running parameter is determined in a self-correcting mode is realized, thereby avoiding the defect of low flexibility of vehicle control caused by a control method based on a fixed and unchangeable running parameter in the related technology, having no need of increasing the cost of a chip, having relatively less consumption of computing resources and improving the flexibility and convenience of self-correction of the current moment running parameter, therefore, when the vehicle is controlled to run based on the current moment running parameter, the flexibility of vehicle control can be realized, and because the current moment running parameter is related to the current moment vehicle mass, the control of the vehicle can be closely related to the current vehicle environment, so that the reliability of vehicle control can be improved, and the technical effect of the safety of vehicle running is improved.

Referring to fig. 3, fig. 3 is a schematic diagram of a control method of a vehicle according to another embodiment of the disclosure.

The vehicle comprises a trunk and a plurality of seats, wherein pressure sensors are arranged below the trunk and below each seat respectively.

As shown in fig. 3, the method includes:

s301: the method comprises the steps of acquiring a current moment mass increase value of a trunk at the current moment relative to a previous moment in real time based on a pressure sensor arranged under the trunk, and acquiring the current moment mass increase value of each seat at the current moment relative to the previous moment in real time based on the pressure sensor arranged under each seat.

For an exemplary implementation principle of S301, refer to the foregoing embodiments, which are not described herein again.

S302: and calculating the whole vehicle mass of the vehicle at the previous moment according to the mass of the trunk at the previous moment and the mass of each seat at the previous moment.

S303: determining the current moment mass of the vehicle according to the mass of the whole vehicle at the previous moment, the mass increment value of the trunk at the current moment and the mass increment value of each seat at the current moment, and determining the driving parameters at the current moment according to the mass at the current moment.

In some embodiments, the current time-of-day quality comprises: the total vehicle mass at the current moment, S303 may include: and determining the total mass of the whole vehicle at the current moment as the total mass of the whole vehicle at the current moment according to the mass sum of the whole vehicle at the previous moment, the mass added value of the trunk at the current moment and the mass added value of each seat at the current moment.

For example, with reference to the above embodiment and fig. 1, if the vehicle mass at the previous time is M0, the mass increase value at the current time of the trunk is Me, and the mass increase values at the current times of the seats are Ma, Mb, Mc, and Md, respectively, then the vehicle mass at the current time M is M0+ Me + Ma + Mb + Mc + Md.

If the vehicle is in an unloaded state at the previous moment, M0 represents the total vehicle mass in the unloaded state of the vehicle.

It should be noted that, in this embodiment, the total vehicle mass at the current time is determined by combining the total vehicle mass at the previous time, the mass increase value at the current time of the trunk, and the mass increase value at the current time of each seat, so that the technical effects of accuracy and effectiveness of determining the total vehicle mass at the current time can be improved.

In other embodiments, the current time quality further comprises: the mass of the front half of the vehicle at the current moment and the mass of the rear half of the vehicle at the current moment; each seat comprises a front half vehicle seat and a rear half vehicle seat; the whole vehicle quality at the previous moment comprises the front half vehicle quality at the previous moment and the rear half vehicle quality at the previous moment; s303 may include the steps of:

the first step is as follows: and determining the sum of the mass of the former half vehicle at the previous moment and the mass of the mass added value of the seat of the former half vehicle at the current moment as the mass of the former half vehicle at the current moment.

The second step is as follows: and determining the mass sum of the mass of the later half vehicle at the previous moment, the mass added value of the seat of the later half vehicle at the current moment and the mass added value of the trunk at the current moment as the mass of the later half vehicle at the current moment.

For example, with reference to fig. 1 and the above-described embodiments, the vehicle may be divided into two parts: a front half vehicle and a rear half vehicle. Wherein the front half includes front seats (i.e., front half seats), such as seat a and seat C shown in fig. 1. The rear half car includes rear seats (i.e., rear half car seats) including a seat B and a seat D as shown in fig. 1, and a trunk such as a trunk E in fig. 1.

If the vehicle mass in the front half of the previous time is Mf0 and the vehicle mass in the front half of the previous time is Mr0, the vehicle mass in the front half of the current time Mf is Mf0+ Ma + Mc and the vehicle mass in the rear half of the current time Mr is Mr0+ Mb + Md + Me.

Wherein, M is Mf + Mr, and M0 is Mf0+ Mr 0.

In some embodiments, the current time quality further comprises: the distance between the gravity center of the vehicle and the front axle of the vehicle at the current moment, and the distance between the gravity center of the vehicle and the rear axle of the vehicle at the current moment; s303 may include the steps of:

the first step is as follows: and determining the distance between the front axles according to the mass of the rear half car at the current moment, the mass of the whole car at the current moment and the preset wheel base of the car.

The second step is as follows: and determining the rear axle distance according to the mass of the front half vehicle at the current moment, the mass of the whole vehicle at the current moment and the vehicle axle distance.

For example, referring to fig. 1 and the above-described embodiment, when the vehicle wheelbase is L, the front axle distance Lf is L × Mr/M, and the rear axle distance Lr is L × Mf/M.

In some embodiments, the current time quality further comprises: the moment of Inertia of the vehicle about the Z-axis (moment of Inertia) S303 may include determining the moment of Inertia as the product of the mass of the entire vehicle, the distance of the front axle, and the distance of the rear axle at the present time.

For example, in connection with fig. 1 and the above-described embodiments, the moment of inertia Iz ═ M × Lf ×, Lr.

It should be noted that, in this embodiment, the current-time quality includes one or more of the above parameters, so that flexibility and diversity of determining the current-time driving parameter can be achieved, and the technical effect of improving the reliability of controlling the vehicle driving based on the current driving parameter can be further achieved.

S304: and controlling the vehicle to run based on the current running parameter.

Referring to fig. 4, fig. 4 is a schematic diagram of a control method of a vehicle according to another embodiment of the disclosure.

The vehicle comprises a trunk and a plurality of seats, wherein pressure sensors are arranged below the trunk and below each seat respectively.

As shown in fig. 4, the method includes:

s401: the method comprises the steps of obtaining current time pressure information collected by a pressure sensor under a trunk in real time, and determining a current time mass increase value of the trunk at the current time relative to the previous time according to the current time pressure information.

For example, in combination with fig. 1 and the above-mentioned embodiment, the control device may obtain the current-time pressure information Fe collected by the pressure sensor E, and determine the current-time mass increase value of the trunk E according to the current-time pressure information Fe.

For the calculation principle between the pressure information and the mass, reference may be made to the related art, and details thereof are not described herein.

S402: and acquiring the current-time pressure information acquired by the pressure sensor under each seat in real time, and determining the mass increase value of the current time under each seat relative to the current time at the previous time according to the current-time pressure information.

Similarly, referring to fig. 1 and the above-mentioned embodiment, taking the determination of the mass increase value of the seat a at the current time as an example, the control device may obtain the pressure information Fa at the current time collected by the pressure sensor a, and determine the mass increase value of the seat a at the current time according to the pressure information Fa at the current time.

It should be noted that, in this embodiment, by determining the current-time quality increase value corresponding to the pressure information in combination with the pressure information, the current-time quality increase value can be determined in a low-cost manner, so as to meet the requirement of saving cost, and the current-time quality increase value can be determined in a more convenient manner, so as to meet the technical effects of convenience and saving computing resources.

S403: and determining the current-time driving parameters according to the mass added value at each current time and the pre-stored mass at the previous time corresponding to the trunk and each seat.

For an exemplary implementation principle of S403, reference may be made to the foregoing embodiments, which are not described herein again.

S404: and controlling the vehicle to run based on the current running parameter.

Referring to fig. 5, fig. 5 is a schematic diagram of a control device of a vehicle according to an embodiment of the disclosure.

The vehicle comprises a trunk and a plurality of seats, wherein pressure sensors are arranged below the trunk and below each seat respectively.

As shown in fig. 5, a control device 500 for a vehicle includes:

an obtaining unit 501, configured to obtain, in real time, a current-time mass increase value of the trunk at the current time relative to a previous time based on a pressure sensor arranged under the trunk, and obtain, in real time, a current-time mass increase value of each seat at the current time relative to the previous time based on a pressure sensor arranged under each seat.

A determining unit 502, configured to determine a current-time driving parameter according to each current-time mass increment value and a pre-stored previous-time mass corresponding to each seat and the trunk.

A control unit 503, configured to control the vehicle to travel based on the current time travel parameter.

Referring to fig. 6, fig. 6 is a schematic diagram of a control device of a vehicle according to another embodiment of the disclosure.

The vehicle comprises a trunk and a plurality of seats, wherein pressure sensors are arranged below the trunk and below each seat respectively.

As shown in fig. 6, a control device 600 for a vehicle includes:

an obtaining unit 601, configured to obtain, in real time, a current-time mass increase value of the trunk at the current time relative to a previous time based on a pressure sensor disposed under the trunk, and obtain, in real time, a current-time mass increase value of each seat at the current time relative to the previous time based on a pressure sensor disposed under each seat.

As can be seen from fig. 6, in some embodiments, the obtaining unit 601 includes:

a first obtaining subunit 6011, configured to obtain pressure information at the current time, which is collected by a pressure sensor under the trunk in real time, and determine, according to the pressure information at the current time, a mass increase value of the trunk at the current time relative to a mass increase value at a previous time;

a second obtaining subunit 6012, configured to obtain pressure information of the current time, which is collected by the pressure sensor under each seat in real time, and determine, according to the pressure information of the current time, a mass increase value of the current time relative to a previous time under each seat.

A determining unit 602, configured to determine a current-time driving parameter according to each current-time mass increase value and a pre-stored previous-time mass corresponding to each of the trunk and each seat.

As can be seen in fig. 6, in some embodiments, the determining unit 602 includes:

and the calculating subunit 6021 is configured to calculate a total vehicle mass of the vehicle at a previous moment according to the previous moment mass of the trunk and the previous moment mass of each seat.

A first determining subunit 6022, configured to determine, according to the entire vehicle mass at the previous time, the current-time mass increase value of the trunk, and the current-time mass increase value of each seat, the current-time mass of the vehicle.

In some embodiments, the current time-of-day quality comprises: the mass of the whole vehicle at the current moment; the first determining subunit 6022 is configured to determine a sum of the mass of the entire vehicle at the previous time, the mass increase value of the trunk at the current time, and the mass increase value of each seat at the current time as the mass of the entire vehicle at the current time.

In some embodiments, the current time-of-day quality comprises: the mass of the front half of the vehicle at the current moment and the mass of the rear half of the vehicle at the current moment; each seat comprises a front half vehicle seat and a rear half vehicle seat; the whole vehicle quality at the previous moment comprises the front half vehicle quality at the previous moment and the rear half vehicle quality at the previous moment; the first determining subunit 6022 is configured to determine a sum of the mass of the former half vehicle at the previous time and the mass of the mass added value of the former half vehicle seat at the current time as the mass of the former half vehicle at the current time, and determine a sum of the mass of the latter half vehicle at the previous time, the mass added value of the latter half vehicle seat at the current time, and the mass added value of the trunk at the current time as the mass of the latter half vehicle at the current time.

In some embodiments, the current time-of-day quality comprises: the distance between the gravity center of the vehicle and the front axle of the vehicle at the current moment, and the distance between the gravity center of the vehicle and the rear axle of the vehicle at the current moment; the first determining subunit 6022 is configured to determine the front axle distance according to the rear half-axle mass at the current time, the total vehicle mass at the current time, and a preset vehicle axle distance, and determine the rear axle distance according to the front half-axle mass at the current time, the total vehicle mass at the current time, and the vehicle axle distance.

In some embodiments, the current time-of-day quality comprises: a moment of inertia of the vehicle about a vehicle Z axis; the first determining subunit 6022 is configured to determine a product of the vehicle mass at the current time, the front axle distance, and the rear axle distance as the moment of inertia.

A second determining subunit 6023, configured to determine the current-time driving parameter according to the current-time quality.

A control unit 603 configured to control the vehicle to travel based on the current time travel parameter.

The present disclosure also provides an electronic device and a readable storage medium according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

As shown in fig. 7, is a block diagram of an electronic device of a control method of a vehicle according to an embodiment of the present disclosure. Electronic devices are 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 disclosure described and/or claimed herein.

As shown in fig. 7, the electronic apparatus includes: one or more processors 701, a memory 702, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the 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). In fig. 7, one processor 701 is taken as an example.

The memory 702 is a non-transitory computer readable storage medium provided by the present disclosure. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform a method of controlling a vehicle provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions for causing a computer to execute the control method of a vehicle provided by the present disclosure.

The memory 702, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the vehicle in the embodiments of the present disclosure. The processor 701 executes various functional applications of the server and data processing by executing non-transitory software programs, instructions, and modules stored in the memory 702, that is, implements the control method of the vehicle in the above-described method embodiment.

The memory 702 may include a storage program area and a storage data area, wherein the storage program 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 the electronic device of the control method of the vehicle, and the like. Further, the memory 702 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 702 may optionally include memory located remotely from the processor 701, and these remote memories may be connected to the electronics of the control method of the vehicle through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the control method of the vehicle may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703 and the output device 704 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.

The input device 703 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic equipment of the control method of the vehicle, such as an input device of a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 704 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

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

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