Vehicle driving control method, device and vehicle

Abstract

The present invention discloses a vehicle driving control method, device and vehicle, the method comprising: obtaining a target speed set of the vehicle, the target speed set comprising at least one target speed; determining a target control parameter according to the target speed, the target control parameter being determined according to a segmented system function; controlling a driving robot according to the target control parameter, so as to drive and control the vehicle through the driving robot, thereby solving the problem of inaccurate results caused by using the same parameters to control the driving robot during a vehicle driving test, determining segmented target control parameters in advance according to the segmented system function, and realizing segmented determination of control parameters, and then determining corresponding target control parameters by analyzing the target speed, realizing segmented control according to the target speed, improving the control accuracy of the driving robot, and ensuring the accuracy of the vehicle control result.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle driving control method, device and vehicle. Background Art

[0002] With the vigorous development of new energy vehicles, automatic gear cars account for an increasingly larger proportion in the market. Car users have higher and higher requirements for cars, so vehicle testing is essential for car manufacturers and related research. The rotating hub test can provide rich information for evaluating the power, economy and safety of the vehicle. In the past, the rotating hub test usually used manual driving to ensure the target speed, but the tracking error was relatively large and it was difficult to conduct long-term tests. The driving robot can automatically track the target speed through algorithms, which can not only ensure the test accuracy, but also conduct long-term tests.

[0003] However, current driving robots usually use manual parameter adjustment methods, which affects the test accuracy and takes a certain amount of time. In addition, the existing driving robot control method for the hub test uses the same parameters to control the driving robot during the entire hub test. However, the vehicle has different speeds and gears during the test. Using the same parameters for control will lead to inaccurate results, affecting the accuracy of vehicle control. Summary of the invention

[0004] The present invention provides a vehicle driving control method, device and vehicle to solve the problem of inaccurate control of the vehicle and achieve precise control.

[0005] According to one aspect of the present invention, there is provided a vehicle driving control method, comprising:

[0006] Acquire a target vehicle speed set for the vehicle, wherein the target vehicle speed set includes at least one target vehicle speed;

[0007] Determine a target control parameter according to the target vehicle speed, wherein the target control parameter is determined according to a segmented system function;

[0008] The driving robot is controlled according to the target control parameter so as to control the driving of the vehicle through the driving robot.

[0009] According to another aspect of the present invention, there is provided a vehicle driving control device, comprising:

[0010] A vehicle speed acquisition module, used to acquire a target vehicle speed set of the vehicle, wherein the target vehicle speed set includes at least one target vehicle speed;

[0011] A control parameter determination module, used to determine a target control parameter according to the target vehicle speed, wherein the target control parameter is determined according to a segmented system function;

[0012] The vehicle control module is used to control the driving robot according to the target control parameter so as to control the driving of the vehicle through the driving robot.

[0013] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle driving control method described in any embodiment of the present invention.

[0017] The technical solution of the embodiment of the present invention is to obtain a target speed set for the vehicle, wherein the target speed set includes at least one target speed; determine a target control parameter according to the target speed, wherein the target control parameter is determined according to a segmented system function; and control a driving robot according to the target control parameter so as to drive and control the vehicle through the driving robot, thereby solving the problem of inaccurate results caused by using the same parameters to control the driving robot during a vehicle driving test. The segmented target control parameters are determined in advance according to the segmented system function to achieve segmented determination of the control parameters, and then the corresponding target control parameters are determined by analyzing the target speed, thereby achieving segmented control according to the target speed, improving the control accuracy of the driving robot, and ensuring the accuracy of the vehicle control results.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a flow chart of a vehicle driving control method provided according to Embodiment 1 of the present invention;

[0021] Figure 2is a flow chart of a vehicle driving control method provided according to Embodiment 2 of the present invention;

[0022] Figure 3 is a schematic diagram showing a target controlled vehicle speed according to a second embodiment of the present invention;

[0023] Figure 4 is an example diagram of implementing a fuzzy PID according to the second embodiment of the present invention;

[0024] Figure 5a A shift logic diagram for switching from a low gear to a high gear provided in accordance with a second embodiment of the present invention;

[0025] Figure 5b A shift logic diagram for switching from a high gear to a low gear provided in accordance with a second embodiment of the present invention;

[0026] Figure 6 is an example diagram of an implementation of vehicle control provided according to the second embodiment of the present invention;

[0027] Figure 7 is a structural schematic diagram of a vehicle driving control device provided according to Embodiment 3 of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of a vehicle for implementing the vehicle driving control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 A flow chart of a vehicle driving control method is provided for the first embodiment of the present invention. This embodiment is applicable to the case where a driving robot is controlled to realize the driving control of a vehicle. The method can be executed by a vehicle driving control device. The vehicle driving control device can be implemented in the form of hardware and / or software. The vehicle driving control device can be configured in a vehicle. Figure 1 As shown, the method includes:

[0033] S101. Obtain a target vehicle speed set for a vehicle, where the target vehicle speed set includes at least one target vehicle speed.

[0034] In this embodiment, the target vehicle speed can be specifically understood as the vehicle speed that needs to be reached when the vehicle is controlled during the vehicle drum test. The target vehicle speed set can be specifically understood as a set that stores one or more target vehicle speeds. Usually, the speed of the vehicle is continuously controlled during the vehicle drum test, and the speed of the vehicle is usually not constant, that is, the speed of the vehicle changes during the drum test. The target vehicle speeds at different times can be designed in advance according to the test requirements, and a target vehicle speed set is formed and stored according to the target vehicle speed. Alternatively, different tests have corresponding vehicle speed curves. By analyzing the vehicle speed curve, the target vehicle speed is determined, and a target vehicle speed set is formed and stored. The storage space can be local or cloud-based. When conducting a formal drum test, the target vehicle speed set is obtained from the corresponding storage space.

[0035] When there are multiple target vehicle speeds in the target vehicle speed set, the driving robot is controlled in sequence according to each target vehicle speed, thereby realizing vehicle driving control. The target vehicle speed set is stored in chronological order when storing the target vehicle speeds, so when acquiring the target vehicle speeds, they are also acquired in chronological order. For each target vehicle speed, the steps S102-S103 are used to control the vehicle driving.

[0036] S102. Determine a target control parameter according to the target vehicle speed, wherein the target control parameter is determined according to a segmented system function.

[0037] In this embodiment, the target control parameter can be specifically understood as the parameter for controlling the driving robot, and different vehicle speeds may correspond to different control parameters. The segmented system function can be specifically understood as the functional relationship between vehicle speed, throttle opening, engine speed, and gear information.

[0038] Based on the vehicle's driving speed, accelerator pedal opening and other information, the control parameters corresponding to different speeds are determined in advance. In order to reduce the number of control parameters and reduce the workload, the gears can be divided into sections, and the section system functions of different sections can be determined, and then the control parameters can be determined according to the section system functions. After determining the target vehicle speed, the target control parameters corresponding to the target vehicle speed are determined according to the target vehicle speed combined with the correspondence between the predetermined control parameters and the vehicle speed. When determining the section system function, the section division can also be performed according to the speed.

[0039] S103: Control the driving robot according to the target control parameter, so as to control the driving of the vehicle through the driving robot.

[0040] The driving robot is controlled according to the target control parameters. For example, the throttle opening of the driving robot is controlled when the driving robot steps on the accelerator. The control instructions for the driving robot are determined according to the target control parameters. The behavior of the driving robot is controlled according to the control instructions. The driving robot steps on or releases the accelerator pedal of the vehicle according to the control instructions, and the vehicle speed is controlled by controlling the opening of the accelerator pedal.

[0041] The present embodiment provides a vehicle driving control method, which obtains a target speed set of the vehicle, wherein the target speed set includes at least one target speed; determines a target control parameter according to the target speed, wherein the target control parameter is determined according to a segmented system function; controls a driving robot according to the target control parameter, so as to drive and control the vehicle through the driving robot, thereby solving the problem of inaccurate results caused by using the same parameters to control the driving robot during a vehicle driving test. The segmented target control parameters are determined in advance according to the segmented system function to achieve segmented determination of the control parameters, and then the corresponding target control parameters are determined by analyzing the target speed, thereby achieving segmented control according to the target speed, improving the control accuracy of the driving robot, and ensuring the accuracy of the vehicle control results.

[0042] Embodiment 2

[0043] Figure 2 This is a flow chart of a vehicle driving control method provided by Embodiment 2 of the present invention. This embodiment is refined on the basis of the above embodiment. Figure 2 As shown, the method includes:

[0044] S201. Obtain a target vehicle speed set for the vehicle, where the target vehicle speed set includes at least one target vehicle speed.

[0045] S202: Determine a target gear position according to a target vehicle speed.

[0046] In this embodiment, the target gear can be understood as the gear that the vehicle is in when it is traveling at the target speed. The engine speed and vehicle speed ratio of the vehicle are different in different gears. Electric vehicles and fuel vehicles have corresponding gears when traveling at different speeds. For automatic transmission vehicles, whether electric vehicles or fuel vehicles, although the driver does not need to perform gear shifting operations when driving, their acceleration and deceleration are automatically shifted, that is, when the vehicle travels at different speeds, there are corresponding gears.

[0047] The corresponding gear and the speed range corresponding to each gear are determined in advance according to the characteristics of each vehicle or each type of vehicle, the corresponding relationship between the vehicle speed and the gear is found according to the target vehicle speed, and the target gear corresponding to the target vehicle speed is determined.

[0048] S203: Search the corresponding segment parameter table according to the target gear position to determine the corresponding target control parameter.

[0049] In this embodiment, the segment parameter table can be specifically understood as a data table that stores control parameters and gears in correspondence. The vehicle driving data is analyzed in advance to determine the control parameters under different gears, and a mapping relationship is formed and stored in the segment parameter table.

[0050] As an optional embodiment of this embodiment, this optional embodiment further optimizes the formation of the segment parameter table, including the following steps A1-A4:

[0051] A1. Determine segmented driving data of the vehicle according to at least one gear information of the vehicle, where the gear information at least includes the gear.

[0052] In this embodiment, the segmented driving data can be specifically understood as data obtained by segmenting the driving data according to information such as gear position, speed, etc. The gear position information can include the gear position, the vehicle speed range corresponding to each gear position, etc.

[0053] The gear information of each gear of the vehicle is determined in advance, and the driving data of the vehicle is screened and segmented according to the gear information to obtain segmented driving data corresponding to each gear information. The segmented driving data includes information such as vehicle speed, throttle opening, engine speed, gear position, etc. at different times.

[0054] A2. Determine the segmented system function based on the segmented driving data.

[0055] By performing system identification on the segmented driving data, a segmented system function is obtained. System identification is to determine the mathematical model that describes the system behavior based on the input-output time function of the system. Because the vehicle system has strong nonlinearity, the system identification method adopted by the present invention is the nonlinear least squares method. In the process of system identification, the collected segmented driving data is identified using the nonlinear least squares method to obtain a segmented system function. The segmented system function in this application uses the throttle opening as the independent variable, the vehicle speed as the dependent variable, and the engine speed and gear information as parameters.

[0056] A3. Determine control parameters based on segmented system functions.

[0057] The segmented system function is used as the transfer function, and the control parameters are determined by the parameter optimization algorithm. The parameter optimization algorithm in the present application can be a particle swarm algorithm (PSO). During the movement of the particles, each particle will dynamically adjust the flight speed according to the flight experience of the single particle and the flight experience of the group, and then approach the target at a certain speed until the optimal target is found. When determining the PID control parameters according to the segmented system function, first assign initial values ​​to Kp, Ti and Td. According to the different gears of the vehicle (different gears correspond to different speed sections), the particle swarm algorithm is used to optimize the segmented system transfer function to obtain the optimized segmented control parameters. The essence of parameter optimization is a parameter optimization problem based on the objective function. In the present invention, the objective function is comprehensively expressed by the system steady-state time and steady-state error. The population size of PSO is m=50, the maximum number of iterations is n=100, and the speed inertia coefficient is

[0058] A4. A segmented parameter table is formed according to each gear position and the corresponding control parameters.

[0059] After determining the control parameters based on each gear information, determine the gear in the gear information, form a mapping relationship between the gear and the control parameter, and store them accordingly in a segmented parameter table. When the vehicle has multiple gear information, the corresponding segmented parameter table stores multiple gears and their corresponding control parameters.

[0060] As an optional embodiment of the present embodiment, the further optimization of the optional embodiment also includes: before determining the segmented driving data of the vehicle according to at least one gear information of the vehicle, obtaining the driving information of the vehicle, the driving information at least including the engine speed and the vehicle speed; determining the gear of the vehicle, the speed range corresponding to each gear and the gear shifting speed range of each gear according to the driving information, and forming the gear information.

[0061] In this embodiment, the driving information can be specifically understood as relevant information when the vehicle is driving, such as operating conditions, speed, engine speed, and pedal information. The pedal information can be information about the accelerator pedal or brake pedal. The driving information of this application refers to the driving information generated by the vehicle when the gear position of the vehicle is learned. The gear shifting speed range can be specifically understood as the range of changes in the vehicle speed when the vehicle switches gears. For example, the speed range of the 2nd gear is 20km / h-30km / h, and the gear shifting speed range is 20km / h+1km / h. When the speed is within the range of 19km / h-21km / h, it can be considered that the vehicle is about to shift to the 2nd gear.

[0062] The vehicle runs the test condition (e.g., NEDC condition) on the drum test bench, and controls the vehicle speed. During the implementation process, the vehicle speed can also be controlled according to the test condition, so that the vehicle traverses all vehicle speeds under the condition, and collects the engine speed information of the vehicle diagnostic system (OBD) and the vehicle speed information of the drum test bench as driving information and stores them. The pedal information of the driving robot can also be collected as driving information. When the gear information of the vehicle is obtained, the driving information is obtained from the corresponding storage space, and the gear position of the vehicle is determined by analyzing the driving information. The ratio of the engine speed to the vehicle speed is different in different gears, and the ratio changes greatly when shifting gears. Therefore, by calculating the ratio of the engine speed to the vehicle speed, the gear position can be determined. In the same gear position, the ratio of the engine speed to the vehicle speed fluctuates within a certain range. For example, the ratio of the engine speed to the vehicle speed in the 6th gear fluctuates around 1.2. The ratio of each vehicle speed to the corresponding engine speed is calculated, and the ratios that are stable in different ranges are determined by comparing the values. The gear position is determined based on the ratios. For example, the ratios are 1.1, 1.2, 1.3, 1.4, 1.5, and 1.6, and the number of gear positions is 6, namely, 6th gear, 5th gear, 4th gear, 3rd gear, 2nd gear, and 1st gear. The range of each vehicle speed corresponding to the ratio of 1.1 is determined, and this range is used as the vehicle speed range of the 6th gear. For data with a ratio of the engine speed to the vehicle speed in the range of 1.1-1.2, it can be divided into the gear position of 1.1 or 1.2 according to the pre-set rules. Since the ratio of engine speed to vehicle speed changes greatly when the vehicle shifts gears, whether a gear shift has been made can be determined based on the change in the ratio of engine speed to vehicle speed. At the same time, the vehicle speed at the time of the gear shift is recorded when the gear shift has been made. The corresponding vehicle speed when the gear is switched is not a fixed value, so the corresponding vehicle speed range when the gear is switched is determined. The gear information is formed based on the gear of the vehicle, the speed range corresponding to each gear, and the gear shift speed range of each gear.

[0063] By analyzing the vehicle's driving information and learning the vehicle's gear information, we can gain a preliminary understanding of the vehicle so that we can subsequently perform system identification on the vehicle.

[0064] As an optional embodiment of this embodiment, this optional embodiment further optimizes the segmented driving data of the vehicle determined according to at least one gear information of the vehicle into A11-A13:

[0065] A11. Obtain vehicle driving data.

[0066] In this embodiment, the driving data can be specifically understood as data generated by the vehicle driving. The driving data can be data such as vehicle speed and engine speed. The driving data in this application is the preparation data before the vehicle performs system identification. The segmented driving data is determined by the driving data, and the system identification is performed by the segmented driving data. The vehicle is controlled to travel at a certain speed in advance, and the driving data of the vehicle is collected and stored. When the vehicle is subjected to system identification, the driving data of the vehicle is obtained from the corresponding storage space.

[0067] A12. For each gear information of the vehicle, segment the driving data of the vehicle according to the gear information to obtain alternative driving data.

[0068] In this embodiment, the candidate driving data may be specifically understood as segmented driving data obtained by screening through gear information.

[0069] For each gear, corresponding segmented driving data is generated. The speed range corresponding to the gear is determined according to the gear information, and the speed in the driving data of the vehicle is screened by the speed range to achieve data segmentation. For example, the speed range in the gear information is 20km / h-30km / h. According to the speed range, the data in the driving data with a speed range of 20km / h-30km / h is screened to obtain the alternative driving data.

[0070] A13. Process the candidate driving data according to the gear shifting speed range in the gear information to obtain segmented driving data.

[0071] Determine the gear shift speed range according to the gear position information, determine the alternative driving data within the gear shift speed range, maintain the vehicle's previous driving speed for the alternative driving data within the gear shift speed range, and form segmented driving data based on the processed alternative driving data combined with the unprocessed alternative driving data.

[0072] The nonlinearity of the vehicle system is strongest during the shifting phase, which is not conducive to system identification. Therefore, step A13 is performed to improve the system identification accuracy. In actual system identification, step A13 may not be performed, and the alternative driving data obtained after segmentation by A12 may be directly used as segmented driving data.

[0073] In order to improve the system identification accuracy, the present application provides a design method for a target control vehicle speed, which pre-designs the target control vehicle speed, controls the vehicle by the target control vehicle speed, and forms driving data for system identification.

[0074] As an optional embodiment of this embodiment, this optional embodiment further optimizes the acquisition of vehicle driving data into B1-B4:

[0075] B1. Determine the lower speed limit and the upper speed limit corresponding to the gear position according to the gear position information of the vehicle.

[0076] The vehicle speed range corresponding to the gear position is determined according to the gear position information, the lower limit value of the vehicle speed range is used as the vehicle speed lower limit, and the upper limit value of the vehicle speed range is used as the vehicle speed upper limit.

[0077] B2. Determine the target control vehicle speed corresponding to the gear position according to the preset first acceleration and second acceleration combined with the lower speed limit and the upper speed limit, wherein the first acceleration is smaller than the second acceleration.

[0078] In this embodiment, the first acceleration and the second acceleration are accelerations for controlling the acceleration or deceleration of the vehicle. Taking the acceleration process as an example, for each gear, the vehicle's driving speed is controlled from the lower speed limit to the upper speed limit according to the first acceleration and the second acceleration. During the vehicle acceleration process, the corresponding target control speed during the acceleration process is determined according to the first acceleration and the second acceleration. During the acceleration process, the number of target control speeds is usually multiple. This application sets the first acceleration to be less than the second acceleration, and the target control speed generation rule is as follows: first, slowly accelerate to half of the difference between the upper speed limit and the lower speed limit of the current gear according to the first acceleration, and then quickly accelerate to the upper speed limit of the current gear according to the second acceleration. By controlling the vehicle driving with the target control speed determined by such different accelerations, the accuracy of system identification can be increased, and the identification accuracy of each vehicle system can be further improved.

[0079] B3. Determine the target control vehicle speed for the zero pedal input segment corresponding to the gear position.

[0080] For each gear, when determining the corresponding target control speed, determine the zero pedal input segment corresponding to the gear. You can select any period of time as the zero pedal input segment. Within the zero pedal input segment, the target control speed slowly decreases. Since the target control speed is reduced very little, you can slow down the vehicle by lifting the accelerator pedal.

[0081] The target speed identified by the system contains a wide range of braking information to complete the corresponding braking system identification. In order to reduce the frequent switching of the pedals during vehicle operation, the zero pedal input segment in each segment is added to the target speed in the system identification stage, so that the vehicle's own braking ability in the current segment can be obtained. In the rotating hub test mode, if the target control speed is reduced very little, the vehicle can be decelerated by lifting the accelerator pedal. In this way, the frequent switching of the accelerator pedal and the decelerator pedal can be avoided by braking with the vehicle's own braking force instead of the braking system, thereby improving the stability of the vehicle in rotating hub operation.

[0082] For example, Figure 3 A schematic diagram for displaying the target controlled vehicle speed is provided, which includes the conversion from low gear to high gear and from high gear to low gear. The horizontal axis is time, and the unit can be seconds, minutes, hours, etc. The vertical axis is the target controlled vehicle speed, and the unit can be km / h, m / s, etc. Figure 3 For example, the unit of the horizontal axis is hour (h) and the unit of the vertical axis is km / h.

[0083] B4. Control the vehicle speed according to each target and collect the vehicle's driving data.

[0084] The target control speed is converted into a control command to realize the control of the throttle opening, and then the vehicle speed is controlled, the vehicle is controlled to travel according to each target control speed, and the actual driving data of the vehicle is collected.

[0085] When determining the target control speed, the vehicle's previous operating speed is maintained within the gear shift speed range because the nonlinearity of the vehicle system is strongest during the gear shift phase, which is not conducive to system identification.

[0086] The present application determines the gear information of the vehicle by self-learning the vehicle information, further determines the target control speed for system identification, controls the vehicle by the target control speed, realizes the collection of vehicle driving data, performs segmented system identification based on the driving data, obtains the segmented system function of the vehicle, and then determines the control parameters based on the segmented system function to form a segmented parameter table.

[0087] When the present application performs self-learning on vehicle information, it can learn according to the type of vehicle. For vehicles without gears, it can be directly divided into sections according to speed.

[0088] S204: Control the driving robot according to the target control parameter to control the driving of the vehicle through the driving robot.

[0089] S205: Obtain the actual driving speed of the vehicle.

[0090] In this embodiment, the actual driving data can be specifically understood as the actual speed of the vehicle when it is driving. When the driving robot is controlled by the target control parameter, and the driving speed of the vehicle is controlled, the vehicle will perform corresponding operations under control and feedback the actual driving data. The actual driving speed of the vehicle can be collected directly through a sensor, or the actual driving speed of the vehicle can be calculated by collecting data such as tire speed.

[0091] S206: adjusting the target control parameters according to the actual driving speed and the target vehicle speed, and controlling the driving robot according to the adjusted target control parameters.

[0092] The Kp in the target control parameter is adjusted according to the actual driving data and the target vehicle speed. The speed deviation and the differential and integral of the deviation are calculated according to the actual driving data and the target vehicle speed, and Kp is adjusted. When the vehicle is controlled according to the next target vehicle speed, the control of the driving robot can be determined based on the adjusted Kp, Ti and Td. The control of the driving robot can be the signal made by the driving robot on the pedal.

[0093] The parameter Kp in the target control parameter directly affects the response speed of the system. Fuzzy processing of Kp can improve the control stability of PID and realize the function of automatic adjustment of Kp within a certain range. For example, Figure 4 A fuzzy PID implementation example diagram is provided. The actuator 32 is controlled by the target vehicle speed and the target control parameter of the PID controller 31, and the actual driving speed of the vehicle is output. The fuzzy controller 33 adjusts Kp in the target control parameter by the actual driving speed and the target vehicle speed, and uses the adjusted Kp, Ti and Td as new target control parameters. When the actuator 32 is controlled according to the next target vehicle speed, the actuator 32 is controlled by the new target control parameter and the next target vehicle speed. The fuzzy domain of the vehicle speed error and the error differential is {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}. Table 1 provides a fuzzy rule, in which NB, NM, NS, ZO, PS, PM, and PB represent negative large, negative medium, negative small, zero, positive small, positive medium, and positive large, respectively, and the defuzzification adopts the centroid method.

[0094] Table 1 Kp fuzzy rules

[0095] dKp\Kp NB NM NS ZO PS PM PB NB PB PB PM PM PS ZO ZO NM PB PB PM PS PS ZO NS NS PM PM PM PS ZO NS NS ZO PM PM PS ZO NS NM NM PS PS PS ZO NS NS NM NM PM PS ZO NS NM NM NM NB PB ZO ZO NM NM NM NB NB

[0096] It should be noted that, since the control parameters are determined in segments, the adjusted target control parameters are used as the control parameters of this segment. When controlling the driving robot, the next target speed needs to be within this segment range. Exemplarily, when segmenting by gear, the control parameters correspond to the gear. Therefore, if the target control parameters of the 2nd gear are adjusted, when the next target speed is the 2nd gear, the adjusted target control parameters are used to control the driving robot. If the next target speed is the 3rd gear, the control parameters corresponding to the 3rd gear are used to control the driving robot. After the target control parameters are adjusted, the original target control parameters corresponding to the segment parameter table can be saved and replaced, or they can be used only this time without updating the control parameters in the segment parameter table.

[0097] As an optional embodiment of the present embodiment, the further optimization of the present optional embodiment includes determining the next control parameter when it is detected that the target vehicle speed is within the gear shifting speed range; and controlling the driving robot according to the next control parameter.

[0098] In this embodiment, the next control parameter can be specifically understood as the next control parameter. When it is checked that the target vehicle speed is within the gear shift speed range, the current gear of the vehicle is determined. For example, the vehicle is currently in the 3rd gear, and the vehicle accelerates to 49km / h. 49km / h is within the gear shift speed range. At this time, it can be determined that the vehicle is shifted from the 3rd gear to the 4th gear. Therefore, the control parameter corresponding to the 4th gear is determined by looking up the segmented parameter table. This control parameter is used as the next control parameter, and the next control parameter is used to control the driving robot when the vehicle accelerates. During the hub test, the vehicle needs to follow the target speed. The driving robot can judge the vehicle's gear shifting needs in advance and switch to the control parameters of the next stage of the vehicle in advance to improve the control accuracy of the vehicle during gear shifting.

[0099] The vehicle in this application maintains the system parameters of the previous moment when shifting gears. Figure 5a A shift logic diagram for switching from a low gear to a high gear is provided, wherein the horizontal axis represents the vehicle speed and the vertical axis represents the gear position. For example, the vehicle speed is expressed in km / h and the gear position is expressed in terms of switching from 1st gear to 2nd gear. Figure 5b A shift logic diagram for switching from a high gear to a low gear is provided, wherein the horizontal axis represents the vehicle speed and the vertical axis represents the gear position. For example, the vehicle speed is expressed in km / h and the gear position is expressed in terms of switching from 2nd gear to 1st gear.

[0100] For example, Figure 6An implementation example diagram of vehicle control is provided, including a self-learning mode and a rotating hub test mode. The control parameters are determined by the self-learning mode to form a segmented parameter table. When forming the segmented parameter table, if the vehicle is a first type vehicle with a gear, the gear information is identified by running the gear information working condition, and the segmented system identification is performed according to the gear information; if the vehicle is a second type vehicle without a gear, the vehicle is segmented according to the speed, thereby realizing the segmented system identification. The system identification is performed by segmentation using the nonlinear least squares method to obtain a segmented system function. The segmented system function is processed by the particle swarm algorithm combined with the initial control parameters to obtain the control parameters and form a segmented parameter table. In the rotating hub test mode, the controller controls the driving robot according to the target vehicle speed combined with the control parameters in the segmented parameter table and the fuzzy PID algorithm, so as to control the pedal (accelerator pedal or brake pedal) of the vehicle through the driving robot.

[0101] The present application provides a vehicle driving control method, which determines a segmented parameter table through segmented identification, selects the corresponding target control parameter according to the target speed of the vehicle, and improves the control accuracy of a single control parameter. According to the identified vehicle shift speed range, the next control parameter can be switched in advance. The present application also uses fuzzy PID to perform fuzzy processing on the control parameter Kp, and adjusts Kp in real time according to the error of the target vehicle speed and the differential of the error in the drum test mode, thereby improving the control stability and accuracy of the traditional PID. The present application only needs to obtain the engine speed through OBD, the pedal information through the driving robot, and the real-time vehicle speed through the drum test bench, which greatly reduces the acquisition of other vehicle parameters. The reasonable design of the target vehicle speed shortens the preparation stage before the vehicle performs the drum test, and the control of the vehicle is automatically controlled by the driving robot, which reduces the errors caused by manual operation, and still has good applicability for test vehicles with less information acquisition.

[0102] Embodiment 3

[0103] Figure 7 This is a schematic diagram of the structure of a vehicle driving control device provided by Embodiment 3 of the present invention. Figure 7 As shown, the device includes: a vehicle speed acquisition module 41, a control parameter determination module 42 and a vehicle control module 43.

[0104] The vehicle speed acquisition module 41 is used to acquire a target vehicle speed set of the vehicle, wherein the target vehicle speed set includes at least one target vehicle speed;

[0105] A control parameter determination module 42, used to determine a target control parameter according to the target vehicle speed, wherein the target control parameter is determined according to a segmented system function;

[0106] The vehicle control module 43 is used to control the driving robot according to the target control parameter so as to control the driving of the vehicle through the driving robot.

[0107] An embodiment of the present application provides a vehicle driving control device, which solves the problem of inaccurate results caused by using the same parameters to control a driving robot during a vehicle driving test. The segmented target control parameters are determined in advance according to the segmented system function to achieve segmented determination of the control parameters. The corresponding target control parameters are then determined by analyzing the target vehicle speed, thereby achieving segmented control according to the target vehicle speed, improving the control accuracy of the driving robot, and ensuring the accuracy of the vehicle control results.

[0108] Optionally, the control parameter determination module 42 includes:

[0109] a target gear position determining unit, configured to determine a target gear position according to the target vehicle speed;

[0110] The control parameter search unit is used to search the corresponding segment parameter table according to the target gear position to determine the corresponding target control parameter.

[0111] Optionally, the device further comprises:

[0112] A segmented data determination unit, configured to determine segmented driving data of the vehicle according to at least one gear information of the vehicle, wherein the gear information at least includes the gear;

[0113] A piecewise function determination unit, used for determining a piecewise system function according to the piecewise driving data;

[0114] A control parameter determination unit, used to determine a control parameter according to the segmented system function;

[0115] The parameter table forming unit is used to form a segmented parameter table according to each gear position and the corresponding control parameter.

[0116] Optionally, the device further comprises:

[0117] A driving information acquisition module, used for acquiring driving information of the vehicle before determining the segmented driving data of the vehicle according to at least one gear position information of the vehicle, wherein the driving information at least includes an engine speed and a vehicle speed;

[0118] The gear information forming module is used to determine the gear of the vehicle, the vehicle speed range corresponding to each gear and the gear shifting speed range of each gear according to the driving information, and form the gear information.

[0119] Optionally, the segmented data determination unit is specifically used to: obtain vehicle driving data; for each gear information of the vehicle, segment the vehicle driving data according to the gear information to obtain alternative driving data; process the alternative driving data according to the gear shifting speed range in the gear information to obtain segmented driving data.

[0120] Optionally, the method for obtaining the vehicle's driving data may be: determining the lower speed limit and the upper speed limit corresponding to the gear according to the gear information of the vehicle; determining the target control speed corresponding to the gear according to a preset first acceleration and second acceleration in combination with the lower speed limit and the upper speed limit, wherein the first acceleration is less than the second acceleration; determining the target control speed of the zero pedal input segment corresponding to the gear; controlling the vehicle according to each target control speed, and collecting the vehicle's driving data.

[0121] Optionally, the device further comprises:

[0122] A next parameter determination module, used to determine the next control parameter when it is detected that the target vehicle speed is within the gear shifting speed range;

[0123] The next control module is used to control the driving robot according to the next control parameter.

[0124] Optionally, the device further comprises:

[0125] An actual speed determination module is used to obtain the actual driving speed of the vehicle;

[0126] The parameter adjustment module is used to adjust the target control parameter according to the actual driving speed and the target vehicle speed, and control the driving robot according to the adjusted target control parameter.

[0127] The vehicle driving control device provided in the embodiment of the present invention can execute the vehicle driving control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0128] Embodiment 4

[0129] Figure 8 A schematic diagram of a vehicle 50 that may be used to implement an embodiment of the present invention is shown. The components shown herein, their connections and relationships, and their functions are provided as examples only, and are not intended to limit implementations of the inventions described and / or claimed herein.

[0130] like Figure 8As shown, the vehicle 50 includes at least one processor 51, and a memory connected to the at least one processor 51 in communication, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 to the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the vehicle 50 can also be stored. The processor 51, ROM 52 and RAM 53 are connected to each other through a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0131] A number of components in the vehicle 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the vehicle 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0132] The processor 51 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as a vehicle driving control method.

[0133] In some embodiments, the vehicle driving control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the vehicle driving control method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to execute the vehicle driving control method in any other appropriate manner (e.g., by means of firmware).

[0134] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0135] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0136] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0137] To provide interaction with a user, the systems and techniques described herein may be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the vehicle. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may 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 input, voice input, or tactile input).

[0138] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0139] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0140] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0141] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle driving control method, characterized in that: include: Acquire a target vehicle speed set for the vehicle, wherein the target vehicle speed set includes at least one target vehicle speed; Determine a target control parameter according to the target vehicle speed, wherein the target control parameter is determined according to a segmented system function; The driving robot is controlled according to the target control parameter so as to drive the vehicle through the driving robot. Wherein, determining the target control parameter according to the target vehicle speed includes: determining a target gear position according to the target vehicle speed; According to the target gear position, a corresponding segment parameter table is searched to determine a corresponding target control parameter; The steps of forming the segment parameter table include: Determining segmented driving data of the vehicle according to at least one gear information of the vehicle, wherein the gear information at least includes a gear; The step of determining the segmented driving data of the vehicle according to at least one gear position information of the vehicle comprises: Obtain vehicle driving data; The obtaining of the vehicle driving data comprises: Determine a lower speed limit and an upper speed limit corresponding to the gear position according to the gear position information of the vehicle; Determining a target control vehicle speed corresponding to the gear position according to a preset first acceleration and a second acceleration combined with a lower speed limit and an upper speed limit, wherein the first acceleration is less than the second acceleration; determining a target controlled vehicle speed for a zero pedal input segment corresponding to the gear position; The vehicle is controlled according to the target speed control and the driving data of the vehicle is collected.

2. The method according to claim 1, characterized in that The step of forming the segment parameter table further includes: Determining a segmented system function according to the segmented driving data; determining control parameters according to the segmented system function; A segmented parameter table is formed according to each gear position and the corresponding control parameters.

3. The method according to claim 2, characterized in that Before determining the segmented driving data of the vehicle according to at least one gear position information of the vehicle, the method further includes: Acquiring driving information of the vehicle, the driving information at least including engine speed and vehicle speed; The gear position of the vehicle, the vehicle speed range corresponding to each gear position and the gear shifting speed range of each gear position are determined according to the driving information, and the gear position information is formed.

4. The method according to claim 2, characterized in that: The step of determining the segmented driving data of the vehicle according to at least one gear position information of the vehicle further includes: For each gear information of the vehicle, segment the driving data of the vehicle according to the gear information to obtain alternative driving data; The alternative driving data is processed according to the gear shifting speed range in the gear position information to obtain segmented driving data.

5. The method according to any one of claims 1 to 4, characterized in that: Also includes: When it is detected that the target vehicle speed is within the gear shifting speed range, determining the next control parameter; The driving robot is controlled according to the next control parameter.

6. The method according to any one of claims 1 to 4, characterized in that: Also includes: Get the actual speed of the vehicle; The target control parameter is adjusted according to the actual driving speed and the target vehicle speed, and the driving robot is controlled according to the adjusted target control parameter.

7. A vehicle driving control device, characterized in that: include: A vehicle speed acquisition module, used to acquire a target vehicle speed set of the vehicle, wherein the target vehicle speed set includes at least one target vehicle speed; A control parameter determination module, used to determine a target control parameter according to the target vehicle speed, wherein the target control parameter is determined according to a segmented system function; A vehicle control module, used to control the driving robot according to the target control parameter, so as to control the driving of the vehicle through the driving robot; The control parameter determination module comprises: a target gear position determining unit, configured to determine a target gear position according to the target vehicle speed; A control parameter search unit, used to search the corresponding segment parameter table according to the target gear position and determine the corresponding target control parameter; The device further comprises: A segmented data determination unit, configured to determine segmented driving data of the vehicle according to at least one gear information of the vehicle, wherein the gear information at least includes a gear; The segmented data determination unit is specifically used to obtain the driving data of the vehicle; The driving data acquisition unit is specifically used to determine the lower speed limit and the upper speed limit corresponding to the gear according to the gear information of the vehicle; determine the target control vehicle speed corresponding to the gear according to the preset first acceleration and second acceleration combined with the lower speed limit and the upper speed limit, wherein the first acceleration is less than the second acceleration; determine the target control vehicle speed of the zero pedal input section corresponding to the gear; control the vehicle according to each of the target control vehicle speeds, and collect the driving data of the vehicle.

8. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle driving control method according to any one of claims 1 to 6.

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