Automatic driving vehicle deceleration control method and system, vehicle and storage medium

Abstract

The present invention relates to a deceleration control method and a deceleration control system for an autonomous driving vehicle, a vehicle, and a computer-readable storage medium. The deceleration control method for an autonomous driving vehicle comprises the following steps: when the vehicle starts autonomous driving and decelerates, detecting whether it is currently in a separated road state, wherein the separated road state refers to a state in which the difference in friction coefficient between the left front wheel and the right front wheel of the vehicle and the road surface on which they are located exceeds a threshold value; if it is detected that the vehicle is in the separated road state, determining whether the current brake pressure difference between the left front wheel and the right front wheel is not less than an independent preset value; if so, controlling the brake pressure difference to be less than the independent preset value within a preset time to limit the vehicle's yaw, and waiting for the vehicle's steering wheel to be manually manipulated. The application of the solution of the present invention can enhance the stability and reliability of the vehicle during autonomous driving and improve driving safety performance.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a deceleration control method and a deceleration control system for an autonomous driving vehicle, a vehicle, and a computer-readable storage medium. Background Art

[0002] Currently, many vehicles are equipped with autonomous driving features, which can bring a lot of convenience and driving pleasure to people. For example, according to some existing vehicle autonomous driving solutions, the vehicle can be controlled to follow the vehicle in front without the driver having to press the accelerator and brake pedals. In addition, the driver can control the vehicle to continue driving on a trajectory located between the left and right lanes without placing their hands on the steering wheel. However, during autonomous driving, the vehicle may need to slow down or brake at any time for various reasons. At this time, under certain road conditions, the vehicle may deviate from the lane or collide with other unfavorable situations, thereby posing unexpected driving safety risks. Summary of the Invention

[0003] In view of this, the present invention provides a deceleration control method and a deceleration control system for an autonomous driving vehicle, a vehicle, and a computer-readable storage medium, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0004] First, according to a first aspect of the present invention, a deceleration control method for an autonomous driving vehicle is provided, comprising the steps of:

[0005] When the vehicle is in automatic driving mode and is decelerating, detecting whether it is currently in a split road state, wherein the split road state refers to a difference in friction coefficient between the left and right front wheels of the vehicle and the road surface on which they are located exceeding a threshold; and

[0006] If it is detected that the vehicle is in the separated road state, it is determined whether the current brake pressure difference between the left front wheel and the right front wheel is not less than the independent preset value: if so, the brake pressure difference is controlled to be less than the independent preset value within the preset time to limit the vehicle yaw, and wait for the vehicle steering wheel to be manually manipulated.

[0007] In the deceleration control method for an autonomous driving vehicle according to the present invention, optionally, the steps are further included:

[0008] If it is detected that the vehicle steering wheel is not manually operated after the preset time, the vehicle is controlled to continue to decelerate in the automatic driving state until it stops; or

[0009] If it is detected that the vehicle steering wheel has been manually manipulated within the preset time, the vehicle is controlled to exit the automatic driving state.

[0010] In the deceleration control method for an autonomous driving vehicle according to the present invention, optionally, it further includes the step of sending information to notify the vehicle driver to take over the vehicle steering wheel after detecting that the vehicle is in the separated road state.

[0011] In the deceleration control method for an autonomous driving vehicle according to the present invention, optionally, the vehicle driver is differentially informed of the speed of the manipulation action after taking over the vehicle steering wheel based on the size of the brake pressure difference, and the speed of the manipulation action is proportional to the size of the brake pressure difference.

[0012] In the deceleration control method of an autonomous driving vehicle according to the present invention, optionally, the brake pressure difference between the left front wheel and the right front wheel is controlled by controlling an actuator on the vehicle, and the actuator includes an ESP inlet valve, an ESP outlet valve, and an ESP hydraulic motor.

[0013] In the deceleration control method for an autonomous driving vehicle according to the present invention, optionally, the brake pressure difference is obtained by the ESP on the vehicle, and / or the ESP on the vehicle is used to determine whether the vehicle is in the separated road state.

[0014] In the deceleration control method for an autonomous driving vehicle according to the present invention, optionally, the independent preset value is in the range of 10-50 bar, and / or the preset time is in the range of 1-5 seconds.

[0015] Secondly, according to the second aspect of the present invention, it provides a deceleration control system for an autonomous driving vehicle, which includes a processor and a memory for storing instructions. When the instructions are executed, the processor implements the deceleration control method for an autonomous driving vehicle as described in any one of the above items.

[0016] Furthermore, according to a third aspect of the present invention, there is provided a vehicle comprising the deceleration control system for an autonomous driving vehicle as described above.

[0017] In addition, according to a fourth aspect of the present invention, it provides a computer-readable storage medium for storing instructions, which, when executed, implement the deceleration control method for an autonomous driving vehicle as described in any one of the above.

[0018] The application of the technical solution of this invention can optimize the stability and maneuverability of autonomous vehicles during deceleration, effectively improving vehicle safety, especially on separated roads, and preventing accidents. This invention boasts strong practicality and low application costs, and can comprehensively balance the stability and deceleration of autonomous vehicles during deceleration, thereby helping to improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a flow chart of an embodiment of a deceleration control method for an autonomous driving vehicle according to the present invention.

[0020] Figure 2 It is an application Figure 1 Schematic diagram of the collected separated road status signal and the brake pressure signals of the four front and rear wheels of the vehicle in the embodiment shown.

[0021] Figure 3 It is an application Figure 1 Schematic diagram of the working block diagram of the embodiment shown. DETAILED DESCRIPTION

[0022] First of all, it should be noted that the following will illustrate the steps, composition, working principles, characteristics and advantages of the deceleration control method and deceleration control system of the autonomous driving vehicle, the vehicle and the computer-readable storage medium according to the present invention in an illustrative manner. However, all descriptions should not be used to form any limitations on the present invention.

[0023] See also Figure 1 、 Figures 2 to 3 These drawings illustrate the basic process, working principle, and other contents of an embodiment of a deceleration control method for an autonomous driving vehicle according to the present invention. The following describes the present invention through this exemplary embodiment.

[0024] like Figure 1 As shown, in this embodiment, the deceleration control method of the autonomous driving vehicle may include the following steps:

[0025] First, in step S11, for vehicles equipped with an automatic driving function, the automatic driving function can be turned on as needed during driving to facilitate driving (the driver is usually in a hands-off state at this time, but it is also possible to place one or both hands on the vehicle steering wheel without operating it), and once the automatic driving vehicle slows down and becomes unstable, it is detected whether it is currently in a separated road state.

[0026] As used herein, the technical term "split road state" refers to a situation in which the difference in friction coefficient between the vehicle's left and right front wheels and their respective road surfaces exceeds a threshold value (the specific value of this threshold value can be set or adjusted based on actual application conditions). Generally speaking, when a vehicle is in this split road state, the left and right front wheels contact different road surface conditions (for example, the left front wheel contacts a smooth asphalt surface, while the right front wheel contacts a wet or icy surface). This can easily lead to a significant difference in braking pressure between the left and right front wheels during vehicle deceleration, causing the vehicle to yaw.

[0027] See also Figure 2 , the above situations are schematically shown in this figure. Figure 2 As shown, the curve change of the split road state signal S at the position indicated by the reference numeral A indicates that the vehicle has been detected to be in a split road state. At the same time, according to the brake pressure signal P1 of the left front wheel and the brake pressure signal P2 of the right front wheel, a significant brake pressure difference will be generated between them, which may cause the vehicle to deviate from the lane, collide, and other adverse safety issues. The above problems may be particularly prominent when the vehicle is rapidly decelerating in an automatic driving state, such as when the driver is not in control. Figure 2 , the brake pressure signal P3 of the left rear wheel and the brake pressure signal P4 of the right rear wheel are shown at the same time, and the brake pressure difference between them is not obvious.

[0028] For the detection and identification of separated road conditions, existing technologies have provided many technical means and methods. For example Figure 3 As shown in the figure, a corresponding detection module 3 can be set in the ESP (Electronic Stability Program) indicated by the reference numeral 2 to detect and identify the divided road state. The detection module 3 can be implemented by any suitable components such as processor chips, sensors, etc., or by using components, devices or systems already configured on the vehicle through software, a combination of software and hardware. For example, once the above-mentioned detection module 1 identifies that the vehicle is currently in a divided road state, the corresponding flag state can be changed (such as changing it from "FALSE" to "TRUE"), so that, for example, the ADAS (Advanced Driver Assistance System) controller (in Figure 2 Other units, modules, devices or systems (denoted by reference numeral 1) can determine that the vehicle is in a separated road state according to the above-mentioned flag state, so as to facilitate taking corresponding control measures accordingly.

[0029] Return to Figure 1 In step S12, if it is detected that the vehicle is in a divided road state, the current brake pressure difference between the left front wheel and the right front wheel can be obtained. For example only, the brake pressure difference can be obtained by, for example, ESP or any other suitable unit, module, or system provided on the vehicle.

[0030] Subsequently, in step S13, the brake pressure difference obtained above can be compared with an independent preset value. The independent preset value is allowed to be flexibly set and adjusted according to the needs in different application scenarios. For example, it can be set within an optional range of 10-50 bar.

[0031] Specifically, in step S13, if it is determined after comparison that the brake pressure difference between the left and right front wheels is less than the independent preset value (in Figure 1 Indicated by the reference symbol "N" in the figure), it means that although the vehicle is in a separated road state at this time, the brake pressure difference formed at this time is not enough to cause safety issues such as vehicle lane departure and collision that deserve attention, so it is possible to return to the previous step S11.

[0032] On the contrary, if it is determined after comparison that the brake pressure difference between the left and right front wheels is not less than the above-mentioned independent preset value (in Figure 1 If the vehicle is in a state of emergency (indicated by the reference symbol "Y"), feasible control measures should be taken to avoid potential safety issues. For example, in step S14, within a preset time (the preset time can optionally be set in the range of 1-5 seconds, such as 2 seconds, 2.5 seconds, or any other appropriate value, and such a time value can be related to the vehicle driver's emergency response capabilities), the brake pressure difference between the left and right front wheels can be controlled to be less than the aforementioned independent preset value to limit vehicle yaw. The vehicle then waits for the vehicle's steering wheel to be manually manipulated. For example, the driver can be notified to take control, or in some cases, other vehicle occupants can be allowed to take control. This will be discussed in more detail later. Although the vehicle's deceleration performance may be compromised within the preset time, it will provide the vehicle with better stability and controllability before the steering wheel is manually manipulated. In particular, the stability of the autonomous vehicle during deceleration on a divided road is relatively more prominent and improved, which is very beneficial for enhancing driving safety.

[0033] In an optional situation, the control operation for the brake pressure difference between the left and right front wheels can be performed by controlling the actuator on the vehicle (in Figure 3 7) is used to realize such an actuator, which can be controlled, for example, Figure 3The brake control module 6 shown in the figure may include, but is not limited to, an ESP inlet valve, an ESP outlet valve, an ESP hydraulic motor, etc. For example, the brake pressure of the left front wheel and / or the right front wheel can be regulated by controlling the operation of the ESP hydraulic motor. The brake control module 6 can also be connected to the ADAS controller 1 via one or more intermediate modules 4 or 5 to receive instructions from the ADAS to control the brake pressure of each wheel of the vehicle to perform deceleration, parking brake, etc. It should be understood that in Figure 3 Several block diagrams are merely used to illustrate the working principles of the present invention. In actual applications, there may be more complex or simplified implementation methods.

[0034] The above has been targeted Figures 1 to 3 The example of the deceleration control method for an autonomous vehicle is shown, which generally illustrates exemplary steps S11-S14 involved therein. However, it should be noted that the present invention allows for more embodiments.

[0035] For example, in some optional embodiments, if it is detected that after the above-mentioned preset time, the vehicle steering wheel is not manually controlled due to various reasons, then the vehicle can be controlled to continue to decelerate in the current automatic driving state until the vehicle stops.

[0036] In addition, in some optional embodiments, if it is detected that the vehicle steering wheel has been manually controlled within a preset time, for example, some vehicle drivers may have a faster emergency response speed beyond the normal level, then the vehicle can be controlled to exit the current automatic driving state relatively quickly, and the vehicle steering wheel can be manually taken over for operation immediately.

[0037] For another example, as an optional scenario, it is also possible to consider using a variety of feasible methods to notify the vehicle driver to take over the steering wheel of the vehicle after detecting that the vehicle is in a separated road state. For example, such messages can be sent in the cab in the form of sound (such as human voice, music alarm, etc.), screen signal, etc., alone or in any combination, to remind the vehicle driver to take over the steering wheel of the vehicle.

[0038] In addition, in optional scenarios, the vehicle driver can be discriminated against the speed of the steering action to be performed when taking over the vehicle's steering wheel based on the magnitude of the brake pressure difference between the left and right front wheels. Specifically, if the detected brake pressure difference is large, the vehicle driver is informed that they need to manually control the steering wheel faster; conversely, if the detected brake pressure difference is small, the vehicle driver is informed that they need to manually control the steering wheel slower. In other words, the speed of the steering wheel control action applied by the vehicle driver is proportional to the magnitude of the brake pressure difference between the left and right front wheels. Depending on different application requirements, this discriminatory notification can be achieved, for example, by using different sound signals (e.g., different frequencies, loudness, sound content, etc.), different light signals (e.g., different flashing frequencies, colors, etc.), or a combination thereof.

[0039] According to the design concept of the present invention, a deceleration control system for an autonomous driving vehicle is also provided, which may include a processor and a memory for storing instructions. When the instructions are executed, the processor in the above-mentioned deceleration control system can implement the deceleration control method for the autonomous driving vehicle according to the present invention, thereby bringing the obvious technical advantages of the solution of the present invention as described above, and in particular, can provide strong protection for the safety of vehicles and personnel, etc., and avoid the occurrence of unexpected accidents. In specific applications, the deceleration control system can be integrated into the autonomous driving system of the vehicle, or it can be separately set up on the vehicle as an independent part.

[0040] Furthermore, a technical solution of the present invention further provides a vehicle on which the aforementioned autonomous vehicle deceleration control system can be configured. It should be understood that the vehicles according to the present invention may include, but are not limited to, various types of vehicles, such as gasoline-powered vehicles, pure electric vehicles, and hybrid vehicles.

[0041] In addition, the present invention further provides a computer-readable storage medium for storing instructions, which, when executed, can implement the deceleration control method of the autonomous driving vehicle according to the present invention. The above-mentioned computer-readable storage medium can be any type of component, module or device that can store instructions, and may include but is not limited to, for example, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), etc.

[0042] The above description of the deceleration control method and control system for an autonomous vehicle, a vehicle, and a computer-readable storage medium according to the present invention is provided in detail by way of example only. These examples are intended solely to illustrate the principles and implementation methods of the present invention and are not intended to limit the present invention. Persons skilled in the art may readily make various modifications and improvements without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions are intended to fall within the scope of the present invention and are defined by the various claims of the present invention.

Claims

1. A deceleration control method for an autonomous driving vehicle, characterized in that: Including steps: When the vehicle is in automatic driving mode and is decelerating, detecting whether it is currently in a split road state, wherein the split road state refers to a difference in friction coefficient between the left and right front wheels of the vehicle and the road surface on which they are located exceeding a threshold; as well as If it is detected that the vehicle is in the separated road state, it is determined whether the current brake pressure difference between the left front wheel and the right front wheel is not less than the independent preset value: if so, the brake pressure difference is controlled to be less than the independent preset value within the preset time to limit the vehicle yaw, and wait for the vehicle steering wheel to be manually manipulated.

2. The deceleration control method for an autonomous driving vehicle according to claim 1, wherein: Also includes the steps: If it is detected that the vehicle steering wheel is not manually operated after the preset time, the vehicle is controlled to continue to decelerate in the automatic driving state until it stops; or If it is detected that the vehicle steering wheel has been manually manipulated within the preset time, the vehicle is controlled to exit the automatic driving state.

3. The deceleration control method for an autonomous driving vehicle according to claim 1, wherein: It also includes the steps of: after detecting that the vehicle is in the separated road state, controlling the brake pressure difference to be less than the independent preset value within the preset time to limit the vehicle's yaw, sending a message to notify the vehicle driver to take over the vehicle steering wheel.

4. The deceleration control method for an autonomous driving vehicle according to claim 3, wherein: The speed of the control action after taking over the vehicle steering wheel is differentially informed to the vehicle driver according to the magnitude of the brake pressure difference, and the speed of the control action is proportional to the magnitude of the brake pressure difference.

5. The deceleration control method for an autonomous driving vehicle according to claim 1, wherein: The brake pressure difference between the left front wheel and the right front wheel is controlled by controlling an actuator on the vehicle, wherein the actuator includes an ESP inlet valve, an ESP outlet valve, and an ESP hydraulic motor.

6. The deceleration control method for an autonomous driving vehicle according to claim 1, wherein: The brake pressure difference is acquired by the ESP on the vehicle, and / or it is determined by the ESP on the vehicle whether the vehicle is in the separated road state.

7. The deceleration control method for an autonomous driving vehicle according to any one of claims 1 to 6, wherein: The independent preset value ranges from 10 to 50 bar, and / or the preset time ranges from 1 to 5 seconds.

8. A deceleration control system for an autonomous vehicle, comprising a processor and a memory for storing instructions, characterized in that: When the instruction is executed, the processor implements the deceleration control method for an autonomous driving vehicle as described in any one of claims 1-7.

9. A vehicle, characterized in that: The vehicle includes the deceleration control system for an autonomous vehicle as described in claim 8.

10. A computer-readable storage medium for storing instructions, characterized in that: When executed, the instructions implement the deceleration control method for an autonomous driving vehicle as described in any one of claims 1-7.

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