Chassis domain control method, device, vehicle and storage medium for medium-speed working conditions

Abstract

The present application provides a chassis domain control method, device, vehicle and storage medium for medium-speed working conditions. The method includes: when the vehicle is in a medium-speed working condition, detecting whether the vehicle is in a lane-changing state; wherein, when the vehicle speed is greater than a first preset speed and less than a second preset speed, determining that the vehicle is in a medium-speed working condition; if it is detected that the vehicle is in a lane-changing state, calculating the steering wheel angle required for lane change; if the steering wheel angle required for lane change is greater than the first preset angle, generating and executing a first torque vector control strategy to enable the vehicle to generate a power-assisted yaw torque, and at the same time, controlling the steering wheel steering assist to adopt a light mode. The present application can improve driving safety under medium-speed working conditions through active safety control.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a chassis domain control method, device, vehicle and storage medium under medium-speed conditions. Background Art

[0002] The chassis refers to the combination of four parts on a vehicle: the transmission system, the running system, the steering system, and the braking system. The function of the chassis is to support and install the vehicle engine and its various components and assemblies to form the overall shape of the vehicle, and to receive the power of the engine to make the vehicle move and ensure normal driving.

[0003] At present, chassis domain control for medium-speed conditions usually responds passively based on the driver's control and is unable to perform active safety control, resulting in low driving safety. Summary of the Invention

[0004] The present application provides a chassis domain control method, device, vehicle and storage medium for medium-speed conditions to solve the problem of low driving safety under medium-speed conditions.

[0005] In a first aspect, the present application provides a chassis domain control method for medium-speed conditions, comprising:

[0006] When the vehicle is in a medium-speed operating condition, detecting whether the vehicle is in a lane-changing state; wherein, when the vehicle speed is greater than a first preset speed and less than a second preset speed, determining that the vehicle is in a medium-speed operating condition;

[0007] If it is detected that the vehicle is in a lane-changing state, the steering wheel angle required for the lane change is calculated;

[0008] If the steering wheel angle required for lane change is greater than a first preset angle, a first torque vectoring control strategy is generated and executed to enable the vehicle to generate a power-assisted yaw moment. At the same time, the steering wheel steering assist is controlled to adopt a light mode.

[0009] In one possible implementation, detecting whether a vehicle is in a lane-changing state includes:

[0010] Obtain the lane the vehicle is in and the distance between the vehicle and the vehicle in front;

[0011] Obtaining the vehicle speed, turn signal switch signal, and steering wheel angle of the vehicle;

[0012] If the steering wheel angle is greater than the second preset angle, the vehicle distance is less than the first preset distance, the vehicle speed is less than the third preset speed, and the turn signal switch signal and the lane the vehicle is in meet preset conditions, then it is determined that the vehicle is in a lane change state;

[0013] Among them, the preset conditions are that the turn signal switch signal is that the left turn signal is on and the lane where the vehicle is located is not the leftmost lane, or the turn signal switch signal is that the right turn signal is on and the lane where the vehicle is located is not the rightmost lane; the third preset speed is greater than the first preset speed and less than the second preset speed.

[0014] In one possible implementation, when it is detected that the vehicle is in a lane change state, the chassis domain control method in a medium-speed operating condition further includes:

[0015] Detect whether there is a risk of collision between the vehicle and surrounding objects;

[0016] If a collision risk is detected between the vehicle and surrounding objects, the vehicle will be controlled to perform pre-braking.

[0017] In one possible implementation, controlling the vehicle to perform pre-braking includes:

[0018] Controlling active pre-action of the brake calipers; and / or,

[0019] Eliminate lost travel in the brake pedal.

[0020] In one possible implementation, detecting whether there is a risk of collision between the vehicle and surrounding objects includes:

[0021] Monitor the distance between the vehicle and surrounding objects;

[0022] If the detected distance between the vehicle and the surrounding objects is less than a second preset distance, it is determined that there is a risk of collision between the vehicle and the surrounding objects.

[0023] In one possible implementation, the chassis domain control method for medium-speed operation further includes:

[0024] When the vehicle is at medium speed, detect whether there is a target on the road ahead;

[0025] If a target object is detected on the road ahead, the driver will be prompted to avoid it;

[0026] monitoring the steering wheel angle in real time and, when detecting that the steering wheel angle changes by more than a third preset angle, determining whether the target object can be avoided;

[0027] If it is determined that the target object can be avoided, whether to perform torque vectoring control is determined based on the current vehicle speed;

[0028] If it is determined to perform torque vectoring control, generating and executing a second torque vectoring control strategy to cause the vehicle to generate a reverse yaw moment;

[0029] If it is determined not to perform torque vectoring control, the vehicle's suspension damping is controlled to increase, and the steering wheel power steering is controlled to adopt a light mode;

[0030] If it is determined that the target object cannot be avoided, the vehicle is controlled to perform pre-braking and the suspension damping of the vehicle is controlled to be reduced.

[0031] In one possible implementation, determining whether the target object can be avoided includes:

[0032] Get the current distance between the vehicle and the target object and the current speed of the vehicle;

[0033] If the ratio of the current distance between the vehicle and the target object and the current speed of the vehicle is greater than the preset response time, it is determined that the target object can be avoided;

[0034] If the ratio of the current distance between the vehicle and the target object to the current speed of the vehicle is not greater than the preset response time, it is determined that the target object cannot be avoided.

[0035] In one possible implementation, determining whether to perform torque vectoring control according to the current vehicle speed includes:

[0036] If the current speed of the vehicle is greater than a fourth preset speed, determining to perform torque vectoring control;

[0037] If the current vehicle speed is not greater than a fourth preset vehicle speed, determining not to perform torque vectoring control;

[0038] The fourth preset vehicle speed is greater than the first preset vehicle speed and less than the second preset vehicle speed.

[0039] In a second aspect, the present application provides a chassis domain control device for medium-speed operation, comprising:

[0040] a state detection module, configured to detect whether the vehicle is in a lane change state when the vehicle is in a medium-speed operating state; wherein the vehicle is determined to be in a medium-speed operating state when the vehicle speed is greater than a first preset speed and less than a second preset speed;

[0041] A required steering angle calculation module is used to calculate the steering wheel angle required for lane change if it is detected that the vehicle is in a lane change state;

[0042] The torque control module is configured to generate and execute a first torque vectoring control strategy if the steering wheel angle required for lane change is greater than a first preset angle, so as to generate a power-assisted yaw moment for the vehicle and, at the same time, control the steering wheel to adopt a light power steering mode.

[0043] In a possible implementation, the status detection module is further configured to:

[0044] Obtain the lane the vehicle is in and the distance between the vehicle and the vehicle in front;

[0045] Obtain vehicle speed, turn signal switch signal and steering wheel angle;

[0046] If the steering wheel angle is greater than the second preset angle, the vehicle distance is less than the first preset distance, the vehicle speed is less than the third preset speed, and the turn signal switch signal and the lane the vehicle is in meet preset conditions, then it is determined that the vehicle is in a lane change state;

[0047] Among them, the preset conditions are that the turn signal switch signal is that the left turn signal is on and the lane where the vehicle is located is not the leftmost lane, or the turn signal switch signal is that the right turn signal is on and the lane where the vehicle is located is not the rightmost lane; the third preset speed is greater than the first preset speed and less than the second preset speed.

[0048] In one possible implementation, the chassis domain control device for medium-speed operation further includes:

[0049] A collision detection module is used to detect whether there is a risk of collision between the vehicle and surrounding objects when the vehicle is detected to be in a lane change state;

[0050] The pre-braking module is used to control the vehicle to perform pre-braking if a collision risk between the vehicle and surrounding objects is detected.

[0051] In a possible implementation, the pre-braking module is further configured to:

[0052] Controlling active pre-action of the brake calipers; and / or,

[0053] Eliminate lost travel in the brake pedal.

[0054] In one possible implementation, the collision detection module is specifically configured to:

[0055] Monitor the distance between the vehicle and surrounding objects;

[0056] If it is detected that the distance between the vehicle and the surrounding objects is less than a second preset distance, it is determined that there is a risk of collision between the vehicle and the surrounding objects.

[0057] In one possible implementation, the chassis domain control device for medium-speed operation further includes a target avoidance module;

[0058] The object avoidance module is used to:

[0059] When the vehicle is at medium speed, detect whether there is a target on the road ahead;

[0060] If a target object is detected on the road ahead, the driver will be prompted to avoid it;

[0061] monitoring the steering wheel angle in real time and, when detecting that the steering wheel angle changes by more than a third preset angle, determining whether the target object can be avoided;

[0062] If it is determined that the target object can be avoided, whether to perform torque vectoring control is determined based on the current vehicle speed;

[0063] If it is determined to perform torque vectoring control, generating and executing a second torque vectoring control strategy to cause the vehicle to generate a reverse yaw moment;

[0064] If it is determined not to perform torque vectoring control, the vehicle's suspension damping is controlled to increase, and the steering wheel power steering is controlled to adopt a light mode;

[0065] If it is determined that the target object cannot be avoided, the vehicle is controlled to perform pre-braking and the suspension damping of the vehicle is controlled to be reduced.

[0066] In one possible implementation, the target avoidance module is further configured to:

[0067] Get the current distance between the vehicle and the target object and the current speed of the vehicle;

[0068] If the ratio of the current distance between the vehicle and the target object and the current speed of the vehicle is greater than the preset response time, it is determined that the target object can be avoided;

[0069] If the ratio of the current distance between the vehicle and the target object to the current speed of the vehicle is not greater than the preset response time, it is determined that the target object cannot be avoided.

[0070] In one possible implementation, the target avoidance module is further configured to:

[0071] If the current speed of the vehicle is greater than a fourth preset speed, determining to perform torque vectoring control;

[0072] If the current vehicle speed is not greater than a fourth preset vehicle speed, determining not to perform torque vectoring control;

[0073] The fourth preset vehicle speed is greater than the first preset vehicle speed and less than the second preset vehicle speed.

[0074] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the chassis domain control method for medium-speed working conditions as described in the first aspect or any possible implementation of the first aspect are implemented.

[0075] In a fourth aspect, an embodiment of the present application provides a vehicle comprising the electronic device as described in the third aspect.

[0076] In the fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the chassis domain control method for medium-speed conditions as described in the first aspect or any possible implementation method of the first aspect.

[0077] The embodiments of the present application provide a chassis domain control method, device, vehicle and storage medium for medium-speed working conditions. When the vehicle is in a medium-speed working condition and in a lane-changing state, the steering wheel angle required for lane changing is calculated, and when the angle is greater than a first preset angle, that is, when the angle is large, a first torque vector control strategy is executed to cause the vehicle to generate a power-assisted yaw moment, and at the same time, the steering wheel steering assist is controlled to adopt a light mode, which facilitates the driver to quickly complete the lane change and can improve driving safety in medium-speed working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0079] Figure 1 This is a flowchart of the implementation of the chassis domain control method for medium-speed conditions provided in an embodiment of the present application;

[0080] Figure 2 This is a schematic structural diagram of a chassis domain control device for medium-speed operation provided by an embodiment of the present application;

[0081] Figure 3 Schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0082] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0083] In order to make the purpose, technical solutions and advantages of this application clearer, specific embodiments will be described below with reference to the accompanying drawings.

[0084] See also Figure 1 , which shows a flowchart of the implementation of the chassis domain control method for medium-speed conditions provided by an embodiment of the present application. The execution subject of this method can be an electronic device, which can be a central controller of the vehicle. The method is described in detail as follows:

[0085] In S101, when the vehicle is in a medium-speed operating condition, it is detected whether the vehicle is in a lane-changing state; wherein, when the vehicle speed is greater than a first preset speed and less than a second preset speed, it is determined that the vehicle is in a medium-speed operating condition.

[0086] This embodiment performs chassis domain control when the vehicle is in a medium-speed operating condition. The vehicle is determined to be in a medium-speed operating condition when the vehicle speed is between a first preset speed and a second preset speed. The first preset speed is less than the second preset speed.

[0087] The first preset speed and the second preset speed can be determined according to actual needs. For example, the first preset speed can be 40km / h or 45km / h, and the second preset speed can be 80km / h, 75km / h or 70km / h, etc.

[0088] When the vehicle is operating at medium speed, it can detect whether the vehicle is in a lane change state based on the vehicle's current state and the ADAS (Advanced Driving Assistance System). If the vehicle is determined to be in a lane change state, certain safety control strategies can be implemented to assist the driver in changing lanes and ensure safety. If the vehicle is not in a lane change state, steps S102 to S105 below are not executed and the vehicle continues to operate according to the driver's control. The lane change state can be an urban lane change state.

[0089] In some embodiments, the “detecting whether the vehicle is in a lane-changing state” in S101 above may include:

[0090] Obtain the lane the vehicle is in and the distance between the vehicle and the vehicle in front;

[0091] Obtain vehicle speed, turn signal switch signal and steering wheel angle;

[0092] If the steering wheel angle is greater than the second preset angle, the vehicle distance is less than the first preset distance, the vehicle speed is less than the third preset speed, and the turn signal switch signal and the lane the vehicle is in meet preset conditions, then it is determined that the vehicle is in a lane change state;

[0093] Among them, the preset conditions are that the turn signal switch signal is that the left turn signal is on and the lane where the vehicle is located is not the leftmost lane, or the turn signal switch signal is that the right turn signal is on and the lane where the vehicle is located is not the rightmost lane.

[0094] The ADAS system consists of an intelligent forward-looking control module and multiple types of radar sensors equipped with relevant algorithms. The system can sense the surrounding environment, collect data, identify static and dynamic objects, determine vehicle distance and roads, and combine it with navigation map data to perform systematic calculations and analysis.

[0095] In this embodiment, the ADAS system can obtain the current lane of the vehicle and the current distance between the vehicle and the vehicle in front. The corresponding sensors in the vehicle can also obtain the current speed of the vehicle, the current turn signal switch signal and the current steering wheel angle.

[0096] The turn signal switch signal can distinguish whether the left turn signal is on or the right turn signal is on. The lane the vehicle is in can distinguish whether the vehicle is in the leftmost lane or the rightmost lane.

[0097] In this embodiment, if the steering wheel angle is greater than the second preset angle, the vehicle distance is less than the first preset distance, the vehicle speed is less than the third preset speed, and the turn signal switch signal and the lane in which the vehicle is located meet the preset conditions, then it is determined that the vehicle is in a lane changing state; otherwise, it is determined that the vehicle is not in a lane changing state.

[0098] Under medium-speed driving conditions, lane changes are usually necessary because there is a vehicle ahead in the current lane, the distance to the vehicle ahead is small, and the vehicle ahead is driving slowly, causing the vehicle to slow down and affecting the vehicle's driving. When the driver changes lanes, they turn on the turn signal and turn the steering wheel. Therefore, this embodiment can determine whether the vehicle is in the lane change state based on conditions such as the steering wheel angle, the distance to the vehicle ahead, the distance between vehicles, the turn signal switch signal, and the lane the vehicle is in.

[0099] The second preset angle, the first preset distance, and the third preset speed can be calibrated. For example, the second preset angle can be 30 degrees, the first preset distance can be 50 meters or 100 meters, and the third preset speed can be 50 km / h or 55 km / h.

[0100] In S102 , if it is detected that the vehicle is in a lane-changing state, the steering wheel angle required for the lane change is calculated.

[0101] The steering wheel angle required for lane change refers to the angle that the steering wheel needs to be turned compared to the current steering wheel angle in order to complete the lane change.

[0102] When a vehicle is detected to be changing lanes, the steering wheel angle required for the lane change can be calculated using existing methods based on data monitored by the ADAS system and the vehicle's own position. For example, the steering wheel angle required for the lane change can be calculated based on information such as the current vehicle speed and the distance between the vehicle and the preceding vehicle.

[0103] In S103, if the steering wheel angle required for lane change is greater than a first preset angle, a first torque vector control strategy is generated and executed to enable the vehicle to generate a power-assisted yaw moment. At the same time, the steering wheel steering assist is controlled to adopt a light mode.

[0104] In this embodiment, the need for torque vectoring and the use of a light steering assist mode can be determined based on the required steering wheel angle for lane changes. Lane changes typically require quick completion, as otherwise they may affect the movement of vehicles behind. Therefore, the purpose of using torque vectoring and a light steering assist mode during lane changes is to assist the driver in quickly steering and completing lane changes.

[0105] If the steering wheel angle required for lane change is not greater than the first preset angle, it means that the steering wheel angle required for lane change is small. There is no need to execute the first torque vector control strategy and adjust the steering wheel steering assist to the light mode. The lane change can be completed quickly according to the driver's driving.

[0106] If the required steering wheel angle for lane change is greater than the first preset angle, indicating that the required steering wheel angle for lane change is large, a first torque vectoring control strategy may be generated and executed according to existing methods, and the steering assist may be controlled to a light mode. The first torque vectoring control strategy may include the required output torque of the corresponding wheel axle.

[0107] The above-mentioned generation and execution of the first torque vectoring control strategy may include: determining the first torque vectoring control strategy based on the steering wheel angle required for lane change and the lane change direction, and sending the first torque vectoring control strategy to the VMC (Vehicle Motion Control, chassis domain controller), so that the VMC controls the corresponding motors to distribute torque to the inner and outer wheel axles and the front and rear axles according to the first torque vectoring control strategy, generating a torque difference, forming a power yaw torque, and assisting steering.

[0108] The lane change direction indicates whether the vehicle is changing lanes to the left or right, which can be determined based on the turn signal switch signal or the steering wheel angle. That is, if the lane change direction is left, it indicates that the vehicle is changing lanes to the left, and if the lane change direction is right, it indicates that the vehicle is changing lanes to the right.

[0109] The assist yaw moment is a yaw moment in the same direction as the lane change direction. That is, if the vehicle changes lanes to the left, a first torque vectoring control strategy is generated and executed to cause the vehicle to generate a yaw moment to the left; if the vehicle changes lanes to the right, a first torque vectoring control strategy is generated and executed to cause the vehicle to generate a yaw moment to the right, so as to assist the driver in completing the lane change quickly.

[0110] Among them, the correspondence between the steering wheel angle required for lane change and the first torque vector control strategy can be pre-calibrated, so that the corresponding first torque vector control strategy can be determined based on the correspondence and the current steering wheel angle required for lane change.

[0111] The steering wheel power steering adopts light mode. Compared with the standard mode, the steering wheel power steering is increased and the steering wheel is lighter, making it easier for the driver to perform steering operations.

[0112] It should be noted that, since the vehicle speed is less than the third preset speed when changing lanes, the vehicle speed is slow and the vehicle driving is relatively stable, and there is no need to consider the vehicle stability issue.

[0113] In an embodiment of the present application, when the vehicle is in a medium-speed condition and in a lane-changing state, the steering wheel angle required for lane change is calculated, and when the angle is greater than a first preset angle, that is, when the angle is large, a first torque vector control strategy is executed to enable the vehicle to generate a power-assisted yaw moment, and at the same time, the steering wheel steering assist is controlled to adopt a light mode, which facilitates the driver to quickly complete the lane change and can improve driving safety in medium-speed conditions.

[0114] In some embodiments, when it is detected that the vehicle is in a lane change state, the above-mentioned chassis domain control method for the medium-speed operating condition further includes:

[0115] Detect whether there is a risk of collision between the vehicle and surrounding objects;

[0116] If a collision risk is detected between the vehicle and surrounding objects, the vehicle will be controlled to perform pre-braking.

[0117] In this embodiment, during a vehicle's lane change, it can detect in real time whether there is a collision risk between the vehicle and surrounding objects. If a collision risk is detected between the vehicle and any surrounding object, the vehicle is controlled to perform pre-braking. If no collision risk is detected between the vehicle and any surrounding objects, no action is taken and the lane change is carried out according to the driver's control. Pre-braking involves taking certain measures before the driver presses the brake pedal to shorten the response time when the driver presses the brake pedal.

[0118] Controlling the vehicle to perform pre-braking may include sending a pre-braking signal to the VMC, so that the VMC controls the vehicle to perform pre-braking according to the pre-braking signal.

[0119] In one possible implementation, if a collision risk between the vehicle and surrounding objects is detected, the driver is reminded to stop changing lanes and take braking measures.

[0120] Reminding the driver to stop changing lanes and take braking measures may include sending an alarm signal to the instrument, causing the corresponding indicator light of the instrument to flash, and / or using voice to remind the driver to stop changing lanes and take braking measures.

[0121] In some embodiments, controlling the vehicle to perform pre-braking may include:

[0122] Controlling active pre-action of the brake calipers; and / or,

[0123] Eliminate lost travel in the brake pedal.

[0124] Control the active pre-action of the brake caliper, that is, the brake caliper performs the action in advance to reduce the distance between the brake disc and the brake pad, so that the brake can be braked quickly when the driver brakes.

[0125] Eliminate the idle travel of the brake pedal, that is, eliminate the ineffective travel at the front end of the brake pedal, so as to respond quickly to the driver's braking.

[0126] In some embodiments, detecting whether there is a collision risk between the vehicle and surrounding objects may include:

[0127] Monitor the distance between the vehicle and surrounding objects;

[0128] If it is detected that the distance between the vehicle and the surrounding objects is less than a second preset distance, it is determined that there is a risk of collision between the vehicle and the surrounding objects.

[0129] In this embodiment, the ADAS system may monitor the distance between the vehicle and surrounding objects, and determine whether there is a risk of collision between the vehicle and the object based on the distance.

[0130] The surrounding objects may include at least one of a road guardrail, a road curb, a preceding vehicle, and vehicles on the left and right.

[0131] When the surrounding objects represent different objects, the second preset distance can be calibrated to different distances. For example, if the surrounding object is a road guardrail or a road curb, the second preset distance can be 20cm, 30cm, etc.; if the surrounding objects are the left and right vehicles, the second preset distance can be 40cm, 50cm, etc.; if the surrounding object is the vehicle in front, the second preset distance can be 10m, 15m, 20m, etc. If the surrounding object is the vehicle in front, it can also detect whether the distance between the current vehicle and the vehicle in front is gradually decreasing, or whether the current vehicle's speed is greater than the speed of the vehicle in front.

[0132] For a clearer explanation, if the distance between the vehicle and the surrounding object is detected to be less than the second preset distance, then determining that there is a risk of collision between the vehicle and the surrounding object may include:

[0133] When the surrounding object is a road guardrail or a road curb, if the distance between the vehicle and the surrounding object is less than a third preset distance, it is determined that there is a collision risk between the vehicle and the surrounding object;

[0134] When the surrounding objects are left and right vehicles, if the distance between the vehicle and the surrounding objects is less than a fourth preset distance, it is determined that there is a collision risk between the vehicle and the surrounding objects;

[0135] When the surrounding object is the vehicle in front, if the distance between the vehicle and the surrounding object is less than the fifth preset distance, it is determined that there is a risk of collision between the vehicle and the surrounding object, or if the distance between the vehicle and the surrounding object is less than the fifth preset distance and the speed of the vehicle is greater than the speed of the vehicle in front, it is determined that there is a risk of collision between the vehicle and the surrounding object.

[0136] The third preset distance may be 20 cm, 30 cm, etc., the fourth preset distance may be 40 cm, 50 cm, etc., and the fifth preset distance may be 10 m, 15 m, 20 m, etc. The third preset distance may also be equal to the fourth preset distance.

[0137] In some embodiments, the above-mentioned chassis domain control method under medium-speed conditions may further include:

[0138] When the vehicle is at medium speed, detect whether there is a target on the road ahead;

[0139] If a target object is detected on the road ahead, the driver will be prompted to avoid it;

[0140] monitoring the steering wheel angle in real time and, when detecting that the steering wheel angle changes by more than a third preset angle, determining whether the target object can be avoided;

[0141] If it is determined that the target object can be avoided, whether to perform torque vectoring control is determined based on the current vehicle speed;

[0142] If it is determined to perform torque vectoring control, generating and executing a second torque vectoring control strategy to cause the vehicle to generate a reverse yaw moment;

[0143] If it is determined not to perform torque vectoring control, the vehicle's suspension damping is controlled to increase, and the steering wheel power steering is controlled to adopt a light mode;

[0144] If it is determined that the target object cannot be avoided, the vehicle is controlled to perform pre-braking and the suspension damping of the vehicle is controlled to be reduced.

[0145] The target object may be an obstacle, a speed bump, a pothole, or the like.

[0146] In this embodiment, the ADAS system can detect whether there are objects on the road ahead of the vehicle using one or more of the following: a forward-looking camera, a 360-degree surround-view camera, an ultrasonic radar, a corner radar, etc. If no objects are detected on the road ahead of the vehicle, no action is taken, and the vehicle continues to monitor the road ahead for objects and drives according to the driver's control.

[0147] If an object is detected on the road ahead, the system will warn the driver via voice prompts. The driver may or may not make the necessary evasive maneuver after hearing the voice prompts.

[0148] The system can monitor the steering wheel angle to determine whether the driver is maneuvering. If the steering wheel angle changes by more than a third preset angle within a preset time period, the driver is confirmed to be maneuvering, and then determine whether the target object can be avoided. The preset time period is a short time period, such as 100 milliseconds, and the third preset angle can be calibrated, for example, 5 degrees.

[0149] If it is determined that the target object cannot be avoided, the vehicle will be controlled to perform pre-braking in order to quickly respond to the driver's braking measures; controlling the vehicle's suspension damping to reduce the impact of the road on the tires and vehicle, ensuring driving comfort.

[0150] In one possible implementation, if it is determined that the target object cannot be avoided, the driver may be prompted to take braking measures through voice or the like, so that the driver can take braking measures to avoid an accident when passing the target object due to excessive speed.

[0151] Among them, controlling the vehicle to perform pre-braking and controlling the vehicle to reduce the suspension damping are both done by sending signals to the VMC, and the VMC controls the vehicle to perform pre-braking and control the vehicle to reduce the suspension damping.

[0152] If it is determined that the target object can be avoided, whether to perform torque vectoring control can be determined based on the current vehicle speed; if it is determined that torque vectoring control is to be performed, a second torque vectoring control strategy is generated and executed to cause the vehicle to generate a reverse yaw moment.

[0153] The counter-yaw moment is a yaw moment opposite to the vehicle's avoidance direction. The vehicle's avoidance direction can be determined by the direction of the steering wheel. If the vehicle's avoidance direction is left, a rightward yaw moment is generated; if the vehicle's avoidance direction is right, a leftward yaw moment is generated. This stabilizes the vehicle and prevents accidents such as skidding and rollover.

[0154] If torque vectoring is not selected, the vehicle's suspension damping is increased to maintain stability. The steering assist is set to a light mode to facilitate evasive maneuvers and quickly avoid impacting other vehicles.

[0155] In some embodiments, the above-mentioned determination of whether the target object can be avoided includes:

[0156] Get the current distance between the vehicle and the target object and the current speed of the vehicle;

[0157] If the ratio of the current distance between the vehicle and the target object and the current speed of the vehicle is greater than the preset response time, it is determined that the target object can be avoided;

[0158] If the ratio of the current distance between the vehicle and the target object to the current speed of the vehicle is not greater than the preset response time, it is determined that the target object cannot be avoided.

[0159] The preset response time is the sum of the driver response time and the vehicle response time. The driver response time and the vehicle response time can be obtained through calibration. For example, the driver response time may be 2 seconds and the vehicle response time may be 1 second, so the preset response time is 3 seconds.

[0160] The ratio of the current distance between the vehicle and the target object divided by the current speed of the vehicle is calculated. If the ratio is greater than the preset response time, it is determined that the target object can be avoided; otherwise, it is determined that the target object cannot be avoided.

[0161] In some embodiments, determining whether to perform torque vectoring control based on the current vehicle speed includes:

[0162] If the current speed of the vehicle is greater than a fourth preset speed, determining to perform torque vectoring control;

[0163] If the current vehicle speed is not greater than a fourth preset vehicle speed, determining not to perform torque vectoring control;

[0164] The fourth preset vehicle speed is greater than the first preset vehicle speed and less than the second preset vehicle speed.

[0165] The fourth preset vehicle speed may be obtained by calibration. For example, the fourth preset vehicle speed may be 65 km / h.

[0166] When the vehicle speed is greater than the fourth preset speed, it means that the vehicle speed is too fast. At this time, if the steering wheel is turned, accidents such as skidding and rollover may occur. Therefore, some measures need to be taken to stabilize the vehicle. However, since the vehicle speed is too fast, the suspension control measures cannot ensure the stable driving of the vehicle. Torque vectoring control can be performed to make the vehicle generate a reverse yaw torque to offset the force that may cause the vehicle to skid or roll over, so as to ensure stable driving of the vehicle.

[0167] When the vehicle speed does not exceed the fourth preset speed, it means that the vehicle speed is slow. At this time, it is only necessary to control the suspension to ensure stable driving of the vehicle. In order to help the vehicle quickly avoid the target object, the steering wheel power steering can be controlled to adopt a light mode.

[0168] It should be noted that the steering wheel angle required to avoid the target object is usually small. Therefore, when determining whether to perform torque vectoring control, there is no need to consider the steering wheel angle required to avoid the target object.

[0169] The embodiment of the present application is aimed at medium-speed operating conditions in specific scenarios, and realizes information interaction and fusion between different modules. Based on signals such as the ADAS system and vehicle status, it responds in advance to the upcoming operating conditions, performs specific control through VMC, and realizes pre-control, which can improve driving perception and enhance vehicle driving safety.

[0170] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0171] The following are device embodiments of the present application. For details not fully described therein, please refer to the corresponding method embodiments described above.

[0172] Figure 2 A schematic diagram of the structure of a chassis domain control device for medium-speed operation provided by an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown, which are detailed as follows:

[0173] like Figure 2 As shown, the chassis domain control device 30 for medium-speed working conditions includes: a state detection module 31 , a required angle calculation module 32 and a torque control module 33 .

[0174] The state detection module 31 is used to detect whether the vehicle is in a lane change state when the vehicle is in a medium speed state; wherein, when the vehicle speed is greater than a first preset speed and less than a second preset speed, the vehicle is determined to be in a medium speed state;

[0175] A required steering angle calculation module 32 is configured to calculate the steering wheel angle required for lane change if it is detected that the vehicle is in a lane change state;

[0176] The torque control module 33 is configured to generate and execute a first torque vectoring control strategy if the steering wheel angle required for lane change is greater than a first preset angle, so as to generate a power-assisted yaw moment for the vehicle and, at the same time, control the steering wheel to adopt a light steering mode.

[0177] In the embodiment of the present application, a required steering wheel angle calculation module is used to calculate the steering wheel angle required for lane change when the vehicle is in a medium-speed condition and in a lane-changing state. The torque control module is used to execute a first torque vector control strategy when the angle is greater than a first preset angle, that is, when the angle is large, so that the vehicle generates a power-assisted yaw moment and at the same time controls the steering wheel power steering to adopt a light mode, so that the driver can quickly complete the lane change and improve driving safety in medium-speed conditions.

[0178] In a possible implementation, the status detection module 31 is further configured to:

[0179] Obtain the lane the vehicle is in and the distance between the vehicle and the vehicle in front;

[0180] Obtain vehicle speed, turn signal switch signal and steering wheel angle;

[0181] If the steering wheel angle is greater than the second preset angle, the vehicle distance is less than the first preset distance, the vehicle speed is less than the third preset speed, and the turn signal switch signal and the lane the vehicle is in meet preset conditions, then it is determined that the vehicle is in a lane change state;

[0182] Among them, the preset conditions are that the turn signal switch signal is that the left turn signal is on and the lane where the vehicle is located is not the leftmost lane, or the turn signal switch signal is that the right turn signal is on and the lane where the vehicle is located is not the rightmost lane; the third preset speed is greater than the first preset speed and less than the second preset speed.

[0183] In one possible implementation, the chassis domain control device for medium-speed operation further includes: a collision detection module and a pre-braking module;

[0184] A collision detection module is used to detect whether there is a risk of collision between the vehicle and surrounding objects when the vehicle is detected to be in a lane change state;

[0185] The pre-braking module is used to control the vehicle to perform pre-braking if a collision risk between the vehicle and surrounding objects is detected.

[0186] In a possible implementation, the pre-braking module is further configured to:

[0187] Controlling active pre-action of the brake calipers; and / or,

[0188] Eliminate lost travel in the brake pedal.

[0189] In one possible implementation, the collision detection module is specifically configured to:

[0190] Monitor the distance between the vehicle and surrounding objects;

[0191] If it is detected that the distance between the vehicle and the surrounding objects is less than a second preset distance, it is determined that there is a risk of collision between the vehicle and the surrounding objects.

[0192] In one possible implementation, the chassis domain control device for medium-speed operation further includes a target avoidance module;

[0193] The object avoidance module is used to:

[0194] When the vehicle is at medium speed, detect whether there is a target on the road ahead;

[0195] If a target object is detected on the road ahead, the driver will be prompted to avoid it;

[0196] monitoring the steering wheel angle in real time and, when detecting that the steering wheel angle changes by more than a third preset angle, determining whether the target object can be avoided;

[0197] If it is determined that the target object can be avoided, whether to perform torque vectoring control is determined based on the current vehicle speed;

[0198] If it is determined to perform torque vectoring control, generating and executing a second torque vectoring control strategy to cause the vehicle to generate a reverse yaw moment;

[0199] If it is determined not to perform torque vectoring control, the vehicle's suspension damping is controlled to increase, and the steering wheel power steering is controlled to adopt a light mode;

[0200] If it is determined that the target object cannot be avoided, the vehicle is controlled to perform pre-braking and the suspension damping of the vehicle is controlled to be reduced.

[0201] In one possible implementation, the target avoidance module is further configured to:

[0202] Get the current distance between the vehicle and the target object and the current speed of the vehicle;

[0203] If the ratio of the current distance between the vehicle and the target object and the current speed of the vehicle is greater than the preset response time, it is determined that the target object can be avoided;

[0204] If the ratio of the current distance between the vehicle and the target object to the current speed of the vehicle is not greater than the preset response time, it is determined that the target object cannot be avoided.

[0205] In one possible implementation, the target avoidance module is further configured to:

[0206] If the current speed of the vehicle is greater than a fourth preset speed, determining to perform torque vectoring control;

[0207] If the current vehicle speed is not greater than a fourth preset vehicle speed, determining not to perform torque vectoring control;

[0208] The fourth preset vehicle speed is greater than the first preset vehicle speed and less than the second preset vehicle speed.

[0209] The present application also provides a computer program product having program code, which, when executed in a corresponding processor, controller, computing device, or electronic device, executes the steps of any of the above-mentioned chassis domain control method embodiments for medium-speed conditions, such as Figure 1S101 to S103 shown. Those skilled in the art will appreciate that the methods and devices proposed in the embodiments of the present application and their associated equipment can be implemented in various forms of hardware, software, firmware, a dedicated processor, or a combination thereof. The dedicated processor may include an application specific integrated circuit (ASIC), a reduced instruction set computer (RISC), and / or a field programmable gate array (FPGA). The proposed methods and devices are preferably implemented as a combination of hardware and software. The software is preferably installed on a program storage device as an application. It is typically based on a machine with a computer platform having hardware, such as one or more central processing units (CPUs), a random access memory (RAM), and one or more input / output (I / O) interfaces. An operating system is also typically installed on the computer platform. The various processes and functions described herein may be part of an application, or a portion thereof may be executed by an operating system.

[0210] Figure 3 Schematic diagram of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 4 of this embodiment includes: a processor 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40. When the processor 40 executes the computer program 42, the steps in the above-mentioned chassis domain control method embodiments for each medium-speed operating condition are implemented, for example Figure 1 Alternatively, when the processor 40 executes the computer program 42, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 2 Functions of the modules / units 31 to 33 shown.

[0211] For example, the computer program 42 may be divided into one or more modules / units, which are stored in the memory 41 and executed by the processor 40 to complete / implement the solution provided by the present application. The one or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the electronic device 4. For example, the computer program 42 may be divided into Figure 2 Modules / units 31 to 33 are shown.

[0212] The electronic device 4 may be a central controller or other device. The electronic device 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that Figure 3 It is only an example of the electronic device 4 and does not constitute a limitation of the electronic device 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0213] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0214] The memory 41 may be an internal storage unit of the electronic device 4, such as a hard disk or memory of the electronic device 4. The memory 41 may also be an external storage device of the electronic device 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 4. Furthermore, the memory 41 may include both an internal storage unit of the electronic device 4 and an external storage device. The memory 41 is used to store the computer program and other programs and data required by the electronic device. The memory 41 may also be used to temporarily store data that has been output or is about to be output.

[0215] Corresponding to the above-mentioned electronic device, an embodiment of the present application further provides a vehicle, which includes the above-mentioned electronic device and has the same beneficial effects as the above-mentioned electronic device.

[0216] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0217] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0218] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0219] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0220] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0221] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0222] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of the above-mentioned chassis domain control method embodiments for each medium-speed working condition. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable media does not include electrical carrier signals and telecommunication signals.

[0223] In addition, the embodiments shown in the drawings of the present application or the features of the various embodiments mentioned in this specification are not necessarily to be understood as independent embodiments. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0224] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A chassis domain control method for medium speed conditions, characterized in that: include: When the vehicle is in a medium-speed operating condition, detecting whether the vehicle is in a lane-changing state; wherein, when the vehicle speed is greater than a first preset speed and less than a second preset speed, determining that the vehicle is in the medium-speed operating condition; If it is detected that the vehicle is in a lane change state, calculating the steering wheel angle required for the lane change; the required steering wheel angle refers to the angle that the steering wheel needs to be turned compared to the current steering wheel angle to complete the lane change; If the steering wheel angle required for the lane change is greater than a first preset angle, generating and executing a first torque vectoring control strategy to generate a power-assisted yaw moment for the vehicle and, at the same time, controlling the steering wheel to adopt a light power steering mode; When the vehicle is at medium speed, detect whether there is a target on the road ahead; If a target object is detected on the road ahead, the driver will be prompted to avoid it; monitoring the steering wheel angle in real time, and determining whether the target object can be avoided when detecting that the change in the steering wheel angle is greater than a third preset angle; If it is determined that the target object can be avoided, determining whether to perform torque vectoring control according to the current vehicle speed; If it is determined to perform torque vectoring control, generating and executing a second torque vectoring control strategy to cause the vehicle to generate a reverse yaw moment; If it is determined not to perform torque vectoring control, the vehicle's suspension damping is controlled to increase, and the steering wheel power steering is controlled to adopt a light mode; If it is determined that the target object cannot be avoided, the vehicle is controlled to perform pre-braking and the suspension damping of the vehicle is controlled to be reduced.

2. The chassis domain control method for medium speed conditions according to claim 1, characterized in that: The detecting whether the vehicle is in a lane-changing state includes: Obtain the lane in which the vehicle is located and the distance between the vehicle and the preceding vehicle; Obtaining the vehicle speed, turn signal switch signal, and steering wheel angle of the vehicle; If the steering wheel angle is greater than a second preset angle, the vehicle distance is less than a first preset distance, the vehicle speed is less than a third preset speed, and the turn signal switch signal and the lane in which the vehicle is located meet preset conditions, then it is determined that the vehicle is in a lane change state; Among them, the preset conditions are that the turn signal switch signal is that the left turn signal is on and the lane where the vehicle is located is not the leftmost lane, or the turn signal switch signal is that the right turn signal is on and the lane where the vehicle is located is not the rightmost lane; the third preset vehicle speed is greater than the first preset vehicle speed and less than the second preset vehicle speed.

3. The chassis domain control method for medium speed conditions according to claim 1, characterized in that: When it is detected that the vehicle is in a lane-changing state, the chassis domain control method in the medium-speed operating condition further includes: Detecting whether there is a risk of collision between the vehicle and surrounding objects; If it is detected that there is a risk of collision between the vehicle and surrounding objects, the vehicle is controlled to perform pre-braking.

4. The chassis domain control method for medium speed conditions according to claim 3 is characterized in that: The controlling the vehicle to perform pre-braking includes: Controlling active pre-action of the brake calipers; and / or, Eliminate lost travel in the brake pedal.

5. The chassis domain control method for medium speed conditions according to claim 3, characterized in that: The detecting whether there is a collision risk between the vehicle and surrounding objects includes: monitoring the distance between the vehicle and surrounding objects; If it is detected that the distance between the vehicle and the surrounding objects is less than a second preset distance, it is determined that there is a risk of collision between the vehicle and the surrounding objects.

6. The chassis domain control method for medium speed conditions according to any one of claims 1 to 5, characterized in that: The determining whether the target object can be avoided includes: Obtaining a current distance between the vehicle and the target object and a current speed of the vehicle; If the ratio of the current distance between the vehicle and the target object and the current speed of the vehicle is greater than a preset response time, it is determined that the target object can be avoided; If the ratio of the current distance between the vehicle and the target object to the current speed of the vehicle is not greater than the preset response time, it is determined that the target object cannot be avoided.

7. The chassis domain control method for medium speed operation according to any one of claims 1 to 5, characterized in that: The determining whether to perform torque vectoring control according to the current vehicle speed includes: If the current speed of the vehicle is greater than a fourth preset speed, determining to perform torque vectoring control; If the current vehicle speed is not greater than the fourth predetermined vehicle speed, determining not to perform torque vectoring control; The fourth preset vehicle speed is greater than the first preset vehicle speed and less than the second preset vehicle speed.

8. A chassis domain control device for medium speed working conditions, characterized in that: include: a state detection module, configured to detect whether the vehicle is in a lane change state when the vehicle is in a medium-speed operating state; wherein the vehicle is determined to be in a medium-speed operating state when the vehicle speed is greater than a first preset speed and less than a second preset speed; a required steering angle calculation module, configured to calculate a steering wheel angle required for lane change if it is detected that the vehicle is in a lane change state; the required steering wheel angle refers to the angle that the steering wheel needs to be turned compared to the current steering wheel angle to complete the lane change; a torque control module, configured to generate and execute a first torque vectoring control strategy if the steering wheel angle required for the lane change is greater than a first preset angle, so as to generate a power-assisted yaw moment for the vehicle and, at the same time, control the steering wheel to adopt a light power assist mode; The target object avoidance module is used to detect whether there is a target on the road ahead when the vehicle is in a medium-speed operating condition; if a target is detected on the road ahead, the driver is prompted to avoid it; the steering wheel angle is monitored in real time, and when the change in the steering wheel angle is detected to be greater than a third preset angle, it is determined whether the target object can be avoided; if it is determined that the target object can be avoided, it is determined whether torque vectoring control is performed according to the current vehicle speed; if it is determined that torque vectoring control is performed, a second torque vectoring control strategy is generated and executed to cause the vehicle to generate a reverse yaw moment; if it is determined that torque vectoring control is not performed, the suspension damping of the vehicle is controlled to increase, and the steering wheel steering assist is controlled to adopt a light mode; if it is determined that the target object cannot be avoided, the vehicle is controlled to perform pre-braking, and the suspension damping of the vehicle is controlled to decrease.

9. A vehicle comprising an electronic device, the electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the chassis domain control method for medium-speed conditions as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the chassis domain control method for medium-speed conditions as described in any one of claims 1 to 7 are implemented.

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