Vehicle driving control method, planning control system, power control system and vehicle

Abstract

The present disclosure provides a vehicle drive control method, a planning control system, a power control system and a vehicle, including: the planning control system obtains vehicle environment information and vehicle operation status information; analyzes and processes the vehicle environment information and the vehicle operation status information to obtain a desired acceleration; determines a bridge control instruction and a torque instruction based on the desired acceleration; sends the bridge control instruction and the torque instruction to the power control system, so that the power control system performs bridge control according to the bridge control instruction and performs drive control according to the torque instruction. The power control system receives the bridge control instruction and torque instruction obtained by the planning control system; sends the bridge control instruction to the target bridge for bridge control; and sends the torque instruction to the corresponding motor for drive control.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a vehicle drive control method, a planning control system, a power control system and a vehicle. Background Art

[0002] The vehicle has multiple driving modes. After the user pre-selects the vehicle's driving mode, the vehicle will be in a certain driving mode. It cannot adopt different driving modes according to specific scenarios, which will cause unreasonable system utilization problems.

[0003] In view of this, how to switch the vehicle's driving mode in different scenarios has become an important research issue. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose a vehicle driving control method, a planning control system, a power control system and a vehicle to solve or partially solve the above technical problems.

[0005] Based on the above purpose, the first aspect of the present disclosure proposes a vehicle driving control method, which is applied to a planning control system. The method includes:

[0006] Obtain vehicle environment information and vehicle operation status information;

[0007] Analyzing and processing the vehicle environment information and the vehicle operation status information to obtain expected acceleration;

[0008] determining a bridge control command and a torque command based on the expected acceleration;

[0009] The bridge control instruction and the torque instruction are sent to a power control system, so that the power control system performs bridge control according to the bridge control instruction and performs drive control according to the torque instruction.

[0010] Based on the same inventive concept, the second aspect of the present disclosure proposes a vehicle driving control method, which is applied to a power control system, and the method includes:

[0011] Receiving the electric bridge control instruction and the torque instruction obtained by the planning control system executing the vehicle drive control method described in the above embodiment;

[0012] Sending the bridge control instruction to the target bridge to control the bridge;

[0013] The torque command is sent to the corresponding motor for drive control.

[0014] Based on the same inventive concept, the third aspect of the present disclosure proposes a planning control system, comprising:

[0015] An information acquisition module is configured to acquire vehicle environment information and vehicle operation status information;

[0016] An expected acceleration acquisition module is configured to analyze and process the vehicle environment information and the vehicle operation state information to obtain an expected acceleration;

[0017] A command acquisition module, configured to determine a bridge control command and a torque command based on the expected acceleration;

[0018] The instruction sending module is configured to send the bridge control instruction and the torque instruction to the power control system, so that the power control system performs bridge control according to the bridge control instruction and performs drive control according to the torque instruction.

[0019] Based on the same inventive concept, the fourth aspect of the present disclosure proposes a power control system, comprising:

[0020] An instruction receiving module is configured to receive an electric bridge control instruction and a torque instruction obtained by the planning control system executing the vehicle drive control method described in the above embodiment;

[0021] A bridge control module is configured to send the bridge control instruction to a target bridge to perform bridge control;

[0022] The drive control module is configured to send the torque instruction to the corresponding motor for drive control.

[0023] Based on the same inventive concept, the fifth aspect of the present disclosure proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0024] Based on the same inventive concept, the sixth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the method as described above.

[0025] Based on the same inventive concept, the seventh aspect of the present disclosure provides a vehicle, including the planning control system described in the third aspect or the power control system described in the fourth aspect or the electronic device described in the fifth aspect or the storage medium described in the sixth aspect.

[0026] From the above, it can be seen that the present disclosure provides a vehicle drive control method, a planning control system, a power control system and a vehicle, wherein the planning control system obtains vehicle environment information and vehicle operation status information; analyzes and processes the vehicle environment information and the vehicle operation status information to obtain the expected acceleration; determines the bridge control instruction and the torque instruction based on the expected acceleration, and different expected accelerations correspond to different vehicle operation scenarios. The bridge control instruction and the torque instruction are determined according to the expected acceleration, so that these instructions are more in line with the characteristics of different operation scenarios, and can be accurately controlled based on these instructions; then, the bridge control instruction and the torque instruction are sent to the power control system so that the power system performs drive control according to the instructions; the power control system sends the bridge control instruction to the target bridge for bridge control, and sends the torque instruction to the corresponding motor for drive control. Based on the scheme implemented in this application, the drive mode can be switched according to different operation scenarios to avoid unreasonable system utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a flow chart of a vehicle driving control method according to an embodiment of the present disclosure;

[0029] Figure 2 A flow chart of a vehicle driving control method according to another embodiment of the present disclosure;

[0030] Figure 3A A schematic diagram of a control link of an intelligent driving system according to an embodiment of the present disclosure;

[0031] Figure 3B A schematic diagram of an intelligent driving control link according to an embodiment of the present disclosure;

[0032] Figure 4 A flowchart of a planning control system according to an embodiment of the present disclosure;

[0033] Figure 5 is a flow chart of a power control system according to an embodiment of the present disclosure;

[0034] Figure 6 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0036] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] As mentioned above, how to switch the vehicle's driving mode in different scenarios has become an important research issue.

[0038] Based on the above description, if Figure 1 As shown, the vehicle driving control method proposed in this embodiment is applied to a planning control system, and the method includes:

[0039] Step 101, obtaining vehicle environment information and vehicle operating status information.

[0040] During specific implementation, the planning and control system obtains vehicle environment information and vehicle operation status information. Among them, the planning and control system is also called intelligent driving trajectory planning and control system. The planning and control system can analyze and process data information to determine the vehicle's operation instructions. The vehicle environment information and the vehicle operation status information can be collected and obtained through sensors or perception fusion systems, and sent to the planning and control system. The vehicle environment information includes the relative speed and relative distance between the vehicle and the target object, and the target object includes the vehicle in front and obstacles; the vehicle operation status information includes the vehicle's acceleration, deceleration and constant speed.

[0041] Step 102: Analyze and process the vehicle environment information and the vehicle operation status information to obtain the expected acceleration.

[0042] In specific implementation, the relative distance and relative speed between the vehicle and other surrounding vehicles and objects are determined based on the vehicle environment information, and the expected speed required for the vehicle to avoid collisions and achieve obstacle avoidance in the current driving scenario is determined by comprehensive analysis of the relative distance and relative speed. The current speed of the vehicle is determined based on the vehicle operating status information, where the current speed of the vehicle can also be obtained through the vehicle's IMU-inertial sensor. The planning control system determines the expected acceleration required by the vehicle in the current driving scenario by calculating the difference between the expected speed and the current speed of the vehicle.

[0043] In addition, the desired speed can also be determined by a user's presetting. In addition, the current speed of the vehicle is determined based on the vehicle's operating status information. The planning control system determines the desired acceleration required by the vehicle in the current driving scenario by calculating the difference between the desired speed and the current speed of the vehicle.

[0044] Step 103: determining a bridge control command and a torque command based on the expected acceleration.

[0045] During specific implementation, the electric bridge control command and the torque command are determined according to the expected acceleration. Different expected accelerations correspond to different scenarios, making the obtained commands more accurate and enabling the vehicle's driving mode to be switched in different scenarios, thereby avoiding the problem of unreasonable system utilization caused by the vehicle being in a predetermined driving mode due to the user's pre-selection of a driving mode.

[0046] In some embodiments, step 103 includes:

[0047] Step 1031 , performing a determination process by comparing the expected acceleration with a preset acceleration calibration value to obtain a determination result.

[0048] In specific implementation, the acceleration calibration value is pre-set, and the expected acceleration is compared with the acceleration calibration value to obtain a determination result. For example, the pre-set acceleration calibration value is acceleration A, and the expected acceleration is acceleration a, and the above two accelerations are compared for determination processing. When acceleration a is less than acceleration A, it is determined that the vehicle is in an operating scenario that requires rapid acceleration; when acceleration a is greater than or equal to acceleration A, it is determined that the vehicle is in an operating scenario that requires slow acceleration.

[0049] Step 1032: Determine the corresponding bridge control command and torque command according to the determination result.

[0050] In specific implementation, different judgment results correspond to different vehicle operation scenarios. The corresponding electric bridge control instructions and torque instructions are determined according to the judgment results to make the obtained instructions more accurate. Thus, the corresponding electric bridge control instructions and torque instructions under different vehicle operation scenarios can be obtained, and the vehicle can be driven and controlled according to different operation scenarios.

[0051] In some embodiments, step 1032 includes:

[0052] Step 10321, determining a driving bridge in a current driving state from multiple bridges.

[0053] In specific implementation, when the vehicle is a four-wheel drive vehicle, the driving state of the vehicle includes: front-wheel drive state, rear-wheel drive state and all-wheel drive state. Both the front wheel end and the rear wheel end can be driven and controlled by the electric bridge and torque, but one of the wheel ends is used as the main drive wheel. The driving electric bridge of the current driving state is determined from multiple electric bridges, that is, the electric bridge of the main drive wheel of the vehicle is determined as the driving electric bridge. The driving electric bridge remains connected, and the switching of the vehicle driving state is achieved by controlling the switching of the states of other electric bridges.

[0054] Step 10322, in response to confirming that the expected acceleration is less than the acceleration calibration value, determining that other axles other than the drive axle are disconnected, and determining a first torque command for the wheels controlled by the drive axle.

[0055] In specific implementation, when the expected acceleration of the vehicle is less than the acceleration calibration value, it is determined that other axles other than the drive axle are disconnected, the drive axle remains connected, and the first torque command of the wheel controlled by the drive axle is determined, and the first torque command includes the front wheel end torque command or the rear wheel end torque command. For example, if the rear wheel end of the vehicle is the main drive wheel, when the expected acceleration of the vehicle is less than the acceleration calibration value, the front axle disconnection command is determined, and the rear wheel end torque command is correspondingly determined as the first torque command. At this time, the rear wheel of the vehicle is the main drive wheel, and the rear wheel drives the front wheel. In this way, it is possible to avoid the waste of resources caused by maintaining the same driving mode in different operating scenarios.

[0056] Step 10323, in response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, determining that at least one target axle other than the drive axle is connected, and determining a second torque command for the wheels controlled by the drive axle and the at least one target axle.

[0057] In specific implementation, when the expected acceleration of the vehicle is greater than or equal to the acceleration calibration value, at least one target axle other than the driving axle is determined to be connected, the driving axle remains connected, and the second torque command for the wheels controlled by the driving axle and at least one target axle is determined. The second torque command includes a front wheel end torque command and a rear wheel end torque command. For example, if the rear wheel end of the vehicle is the main driving wheel, when the expected acceleration of the vehicle is greater than or equal to the acceleration calibration value, the front axle connection command is determined, and the front wheel end torque command and the rear wheel end torque command are correspondingly determined as the second torque command. At this time, the front and rear wheels of the vehicle cooperate with each other for driving. In this way, the vehicle can switch to a driving mode in which the front and rear wheels cooperate with each other in extreme operating scenarios to avoid unreasonable system utilization.

[0058] In some embodiments, the driving state of the vehicle is a rear-wheel drive state, and step 1032 includes:

[0059] Step 1032A, in response to confirming that the expected acceleration is less than the acceleration calibration value, a front axle disconnection instruction is obtained, and a rear wheel end torque instruction is determined as a first torque instruction.

[0060] In specific implementation, the rear-wheel drive state is that the rear wheels of the vehicle are the main driving wheels, and the rear wheels drive the front wheels to drive. If the driving state of the vehicle is the rear-wheel drive state, when the expected acceleration of the vehicle is less than the acceleration calibration value, at this time, the vehicle is in an operation scenario that requires slow acceleration, so the electric bridge control instruction is determined to be the front bridge disconnection instruction, and the rear wheel end torque instruction is correspondingly determined as the first torque instruction. At this time, the vehicle maintains the rear-wheel drive state, the rear wheels are the main driving wheels, and the rear wheels drive the front wheels to drive.

[0061] Step 1032B, in response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, obtain the front axle connection instruction, and determine the front wheel end torque instruction and the rear wheel end torque instruction as the second torque instruction.

[0062] In specific implementation, if the driving state of the vehicle is the rear-wheel drive state, when the expected acceleration of the vehicle is greater than or equal to the acceleration calibration value, at this time, the vehicle is in an operating scenario that requires rapid acceleration. Therefore, the electric axle control instruction is determined to be the front axle connection instruction, and the front wheel end torque instruction and the rear wheel end torque instruction are correspondingly determined as the second torque instruction. At this time, the front wheels and rear wheels of the vehicle cooperate with each other for driving.

[0063] In some embodiments, the driving state of the vehicle is a front-wheel drive state, and step 1032 includes:

[0064] Step 1032a, in response to confirming that the expected acceleration is less than the acceleration calibration value, a rear axle disconnection instruction is obtained, and a front wheel end torque instruction is determined as a first torque instruction.

[0065] In specific implementation, the front-wheel drive state is that the front wheels of the vehicle are the main driving wheels, and the front wheels drive the rear wheels to drive. If the driving state of the vehicle is the front-wheel drive state, when the expected acceleration of the vehicle is less than the acceleration calibration value, at this time, the vehicle is in an operation scenario that requires slow acceleration, so the electric bridge control instruction is determined to be the rear bridge disconnection instruction, and the front wheel end torque instruction is correspondingly determined as the first torque instruction. At this time, the vehicle maintains the front-wheel drive state, the front wheels are the main driving wheels, and the front wheels drive the rear wheels to drive.

[0066] Step 1032b, in response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, obtain a rear axle connection instruction, and determine the front wheel end torque instruction and the rear wheel end torque instruction as the second torque instruction.

[0067] In specific implementation, if the driving state of the vehicle is the front-wheel drive state, when the expected acceleration of the vehicle is greater than or equal to the acceleration calibration value, at this time, the vehicle is in an operating scenario that requires rapid acceleration. Therefore, the electric axle control instruction is determined to be the rear axle connection instruction, and the front wheel end torque instruction and the rear wheel end torque instruction are correspondingly determined as the second torque instruction. At this time, the front wheels and rear wheels of the vehicle cooperate with each other for driving.

[0068] Step 104 , sending the bridge control instruction and the torque instruction to a power control system, so that the power control system performs bridge control according to the bridge control instruction and performs drive control according to the torque instruction.

[0069] In specific implementation, the planning control system sends the bridge control instruction and the torque instruction to the power control system. The power control system is a system that executes power drive related instructions and can perform related operations according to the instructions, such as performing bridge disconnection and bridge connection operations according to the bridge control instruction, and performing motor drive operations according to the torque instruction.

[0070] The power control system first sends the bridge control instruction to the target bridge for bridge control, wherein the bridge control instruction includes a bridge connection instruction and a bridge disconnection instruction. The target bridge performs the bridge connection or bridge disconnection operation according to the bridge control instruction to realize the control of the bridge, thereby determining the driving mode. Then the torque instruction is sent to the corresponding motor for drive control, wherein the motor includes a front axle motor and a rear axle motor. When the torque instruction is a front wheel end torque instruction, the front wheel end torque instruction is sent to the front axle motor; when the torque instruction is a rear wheel end torque instruction, the rear wheel end torque instruction is sent to the rear axle motor. Drive control is realized by controlling the motor through the torque instruction, and the drive control of the vehicle is realized on the basis of determining the drive mode.

[0071] In some embodiments, step 104 includes:

[0072] Step 1041, obtaining the bridge controller state and executable torque.

[0073] During specific implementation, the planning control system obtains the state of the electric bridge controller and the executable torque, wherein the executable torque includes: the executable torque at the front wheel end and the executable torque at the rear wheel end.

[0074] Step 1042: Analyze and process the state of the bridge controller to determine whether the bridge controller is in a normal working state.

[0075] In specific implementation, the planning control system analyzes and processes the state of the bridge controller to determine whether the bridge controller is in a normal working state. When the bridge controller is in a normal state, the bridge control instruction can be sent to the power control system to let the power control system execute the bridge control instruction; when the bridge controller is in a fault state, the power control system cannot execute the bridge control instruction and feedback is given to the user. At the same time, it can also determine whether the bridge controller is in a connected state or a disconnected state, so as to determine the bridge control instruction in combination with the determination result of the vehicle's expected acceleration.

[0076] Step 1043, determining a torque command range by analyzing and processing the executable torque, and after determining that the torque command is within the torque command range, sending the electric bridge control command and the torque command to a power control system.

[0077] During specific implementation, the planning control system analyzes and processes the executable torque to determine the torque command range. According to the torque command range, it is judged whether the torque command is within the range that the motor can normally execute, so as to avoid the problem that the motor cannot normally execute the torque command due to the torque command being too large or too small. Among them, the torque command range includes the front wheel end torque command range and the rear wheel end torque command range. The front wheel end torque command range and the rear wheel end torque command range can be different. When judging whether the torque command is within the torque command range, it is judged whether the front wheel end torque command is within the range that the front axle motor can normally execute according to the front wheel end torque command range, so as to ensure that the front wheel end torque command can be normally executed; it is judged whether the rear wheel end torque command is within the range that the rear axle motor can normally execute according to the rear wheel end torque command range, so as to ensure that the rear wheel end torque command can be normally executed.

[0078] In the above scheme, the planning control system determines the bridge control instructions and torque instructions according to the expected acceleration obtained by analysis and processing, and can determine the corresponding instructions according to the specific scenario to realize the drive control of the vehicle. Therefore, the vehicle's drive mode can be switched according to the specific scenario to avoid resource waste and unreasonable system utilization.

[0079] like Figure 2As shown, another embodiment of the vehicle driving control method is applied to a power control system, and the method includes:

[0080] Step 201 : receiving the electric bridge control instruction and the torque instruction obtained by the planning control system executing the vehicle drive control method described in the above embodiment.

[0081] During specific implementation, the power control system receives the electric bridge control instruction and the torque instruction determined by the planning control system in the above embodiment.

[0082] Step 202: Send the bridge control instruction to the target bridge to perform bridge control.

[0083] In specific implementation, the power control system sends a bridge control instruction to the target bridge, wherein the bridge control instruction includes a bridge connection instruction and a bridge disconnection instruction. The target bridge performs a bridge connection or bridge disconnection operation according to the bridge control instruction to realize control of the bridge.

[0084] Step 203: Send the torque command to the corresponding motor for drive control.

[0085] In specific implementation, the power control system sends the torque command to the corresponding motor, wherein the motor includes the front axle motor and the rear axle motor. When the torque command is the front wheel end torque command, the front wheel end torque command is sent to the front axle motor; when the torque command is the rear wheel end torque command, the rear wheel end torque command is sent to the rear axle motor. The drive control is achieved by controlling the motor through the torque command.

[0086] In the above scheme, the power control system controls the target bridge according to the bridge control instruction to determine the driving mode; the power control system controls the motor according to the torque instruction and realizes the driving control of the vehicle based on the determined driving mode.

[0087] In the above embodiment, the planning control system obtains vehicle environment information and vehicle operation status information; analyzes and processes the vehicle environment information and the vehicle operation status information to obtain the expected acceleration; determines the bridge control instruction and the torque instruction based on the expected acceleration, and different expected accelerations correspond to different vehicle operation scenarios. The bridge control instruction and the torque instruction are determined according to the expected acceleration, so that these instructions are more in line with the characteristics of different operation scenarios, and can be accurately controlled based on these instructions; then, the bridge control instruction and the torque instruction are sent to the power control system so that the power system performs drive control according to the instructions; the power control system sends the bridge control instruction to the target bridge for bridge control, and sends the torque instruction to the corresponding motor for drive control. Based on the solution implemented in this application, the drive mode can be switched according to different operation scenarios to avoid unreasonable system utilization.

[0088] It should be noted that the embodiments of the present disclosure may be further described in the following manner:

[0089] like Figure 3A As shown, Figure 3A Schematic diagram of a control link of an intelligent driving system according to an embodiment.

[0090] In the vehicle intelligent driving system, the intelligent driving system includes at least one of the following: an intelligent driving perception system, an intelligent driving regulation and control system, a vehicle steering system, a vehicle braking system, and a vehicle power system. The intelligent driving regulation and control system is the planning control system in the above embodiment, and the vehicle power system is the power control system in the above embodiment.

[0091] Step A: The intelligent driving perception system identifies the vehicle's surrounding environment information and transmits the environment information to the intelligent driving regulation and control system. The intelligent driving regulation and control system sends a lateral control request and a longitudinal control request for the vehicle in combination with the vehicle's surrounding environment information and the vehicle's operating status information, wherein the vehicle's operating status information includes vehicle speed, acceleration, relative position to the target, etc. The lateral control request includes a turning angle request; and the longitudinal control request includes a braking request and a torque request.

[0092] In step B, the vehicle steering system executes the turning angle request issued by the intelligent driving system; the vehicle braking system executes the braking deceleration request issued by the intelligent driving system; and the vehicle power system executes the acceleration torque request issued by the intelligent driving system.

[0093] like Figure 3B As shown, Figure 3B Schematic diagram of the intelligent driving control link of the embodiment.

[0094] In the vehicle intelligent driving control system, the driving control system includes at least one of the following: an intelligent driving regulation and control system, a vehicle power system, a front axle motor, and a rear axle motor. The intelligent driving regulation and control system is the planning control system in the above embodiment, and the vehicle power system is the power control system in the above embodiment.

[0095] In step a, the intelligent driving system collects vehicle environment information through its own sensors and perception system, and outputs relevant target object information to the intelligent driving regulation and control system. The target object information includes but is not limited to the relative speed and relative distance between the vehicle and the target object.

[0096] Step b: The intelligent driving control system receives the target object information, and outputs the bridge controller state and the front and rear wheel end torque request to the vehicle power system in combination with the vehicle surrounding environment information and the vehicle operation status information at that time. The vehicle operation status information includes at least one of the following: acceleration, deceleration, and constant vehicle speed.

[0097] Step c, when the vehicle is a rear-wheel drive vehicle, if the vehicle requires a small acceleration in the current operating scenario, the intelligent driving regulation and control system determines the front axle control disconnection command and the rear wheel end torque command; if the vehicle requires a large acceleration in the current operating scenario, the intelligent driving regulation and control system determines the front axle control connection command, the front wheel end torque command and the rear wheel end torque command.

[0098] Step d, after the vehicle power system receives the electric bridge control instruction, the front wheel end torque instruction and the rear wheel end torque instruction, it sends the corresponding torque instruction to the motor, sends the front wheel end torque instruction to the front axle motor, sends the rear wheel end torque instruction to the rear axle motor, performs related operations, and realizes vehicle drive.

[0099] In the above embodiment, the bridge control instruction and the torque instruction are determined according to the expected acceleration obtained by analysis and processing, and the corresponding instructions can be determined according to the specific scenario to realize the drive control of the vehicle. Therefore, the drive mode of the vehicle can be switched according to the specific scenario to avoid resource waste and unreasonable system utilization.

[0100] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0101] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0102] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a planning control system.

[0103] refer to Figure 4 , Figure 4 The planning control system of the embodiment comprises:

[0104] The information acquisition module 401 is configured to acquire vehicle environment information and vehicle operation status information;

[0105] The expected acceleration acquisition module 402 is configured to analyze and process the vehicle environment information and the vehicle operation state information to obtain the expected acceleration;

[0106] An instruction acquisition module 403 is configured to determine a bridge control instruction and a torque instruction based on the expected acceleration;

[0107] The instruction sending module 404 is configured to send the bridge control instruction and the torque instruction to the power control system, so that the power control system performs bridge control according to the bridge control instruction and performs drive control according to the torque instruction.

[0108] In some embodiments, the instruction acquisition module 403 specifically includes:

[0109] A determination processing unit is configured to perform determination processing by comparing the expected acceleration with a preset acceleration calibration value to obtain a determination result;

[0110] The command determination unit is configured to determine the corresponding bridge control command and torque command according to the determination result.

[0111] In some embodiments, the instruction determination unit specifically includes:

[0112] a driving bridge determining subunit, configured to determine a driving bridge in a current driving state from among a plurality of bridges;

[0113] a first torque command acquisition subunit, configured to, in response to confirming that the expected acceleration is less than the acceleration calibration value, determine that other axles other than the drive axle are disconnected, and determine a first torque command for a wheel controlled by the drive axle;

[0114] The second torque command acquisition subunit is configured to determine that at least one target axle other than the drive axle is connected in response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, and determine a second torque command for the wheels controlled by the drive axle and the at least one target axle.

[0115] In some embodiments, the driving state of the vehicle is a rear-wheel drive state, and the instruction determination unit specifically includes:

[0116] a first torque command acquisition subunit, configured to obtain a front axle disconnection command in response to confirming that the expected acceleration is less than the acceleration calibration value, and determine a rear wheel end torque command as a first torque command;

[0117] The second torque command acquisition subunit is configured to obtain a front axle connection command in response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, and determine a front wheel end torque command and a rear wheel end torque command as a second torque command.

[0118] In some embodiments, the driving state of the vehicle is a front-wheel drive state, and the instruction determination unit specifically includes:

[0119] a first torque command acquisition subunit, configured to obtain a rear axle disconnection command in response to confirming that the expected acceleration is less than the acceleration calibration value, and determine a front wheel end torque command as a first torque command;

[0120] The second torque command acquisition subunit is configured to obtain a rear axle connection command in response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, and determine a front wheel end torque command and a rear wheel end torque command as a second torque command.

[0121] In some embodiments, the instruction sending module 404 specifically includes:

[0122] A state acquisition unit configured to acquire a bridge controller state and executable torque;

[0123] an analysis and processing unit, configured to determine that the bridge controller is in a normal working state by analyzing and processing the state of the bridge controller;

[0124] The torque command range determination unit is configured to determine the torque command range by analyzing and processing the executable torque, and after determining that the torque command is within the torque command range, send the electric bridge control command and the torque command to the power control system.

[0125] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides a power control system.

[0126] refer to Figure 5 , Figure 5 The power control system of the embodiment includes:

[0127] The command receiving module 501 is configured to receive the electric bridge control command and the torque command obtained by the planning control system executing the vehicle driving control method described in the above embodiment;

[0128] The bridge control module 502 is configured to send the bridge control instruction to the target bridge to perform bridge control;

[0129] The drive control module 503 is configured to send the torque instruction to the corresponding motor for drive control.

[0130] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0131] The device of the above embodiment is used to implement the corresponding vehicle driving control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0132] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle drive control method described in any of the above embodiments is implemented.

[0133] Figure 6 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 610, a memory 620, an input / output interface 630, a communication interface 640, and a bus 650. The processor 610, the memory 620, the input / output interface 630, and the communication interface 640 are connected to each other through the bus 650 in the device.

[0134] The processor 610 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0135] The memory 620 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 620 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 620 and are called and executed by the processor 610.

[0136] The input / output interface 630 is used to connect the input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0137] The communication interface 640 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0138] The bus 650 comprises a pathway for transmitting information between the various components of the device (eg, the processor 610, the memory 620, the input / output interface 630, and the communication interface 640).

[0139] It should be noted that, although the above device only shows the processor 610, the memory 620, the input / output interface 630, the communication interface 640 and the bus 650, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0140] The electronic device of the above embodiment is used to implement the corresponding vehicle driving control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0141] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle drive control method described in any of the above embodiments.

[0142] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0143] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle drive control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0144] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0145] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0146] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0147] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A vehicle driving control method, characterized in that: Applied to planning control systems, the method comprises: Obtain vehicle environment information and vehicle operation status information; Analyzing and processing the vehicle environment information and the vehicle operation status information to obtain expected acceleration; determining a bridge control command and a torque command based on the expected acceleration; Sending the bridge control instruction and the torque instruction to a power control system, so that the power control system performs bridge control according to the bridge control instruction and performs drive control according to the torque instruction; The determining of the bridge control command and the torque command based on the expected acceleration comprises: The expected acceleration is compared with a preset acceleration calibration value to perform a determination process to obtain a determination result; According to the determination result, determining the corresponding bridge control command and torque command; Determining the corresponding bridge control command and torque command according to the determination result includes: Determine a driving bridge of a current driving state from among a plurality of bridges; In response to confirming that the expected acceleration is less than a preset acceleration calibration value, determining that other axles other than the drive axle are disconnected, and determining a first torque command for a wheel controlled by the drive axle; In response to confirming that the expected acceleration is greater than or equal to a preset acceleration calibration value, at least one target axle other than the drive axle is determined to be connected, and a second torque command for wheels controlled by the drive axle and the at least one target axle is determined.

2. The method according to claim 1, characterized in that The driving state of the vehicle is rear-wheel drive; Determining the corresponding bridge control command and torque command according to the determination result includes: In response to confirming that the expected acceleration is less than the acceleration calibration value, obtaining a front axle disconnection instruction, and determining a rear wheel end torque instruction as a first torque instruction; In response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, a front axle connection command is obtained, and a front wheel end torque command and a rear wheel end torque command are determined as second torque commands.

3. The method according to claim 1, characterized in that The driving state of the vehicle is front-wheel drive; Determining the corresponding bridge control command and torque command according to the determination result includes: In response to confirming that the expected acceleration is less than the acceleration calibration value, obtaining a rear axle disconnection instruction, and determining a front wheel end torque instruction as a first torque instruction; In response to confirming that the expected acceleration is greater than or equal to the acceleration calibration value, a rear axle connection command is obtained, and a front wheel end torque command and a rear wheel end torque command are determined as second torque commands.

4. The method according to claim 1, characterized in that: The step of sending the electric bridge control instruction and the torque instruction to a power control system includes: Get the bridge controller status and executable torque; By analyzing and processing the state of the bridge controller, determining that the bridge controller is in a normal working state; The torque command range is determined by analyzing and processing the executable torque, and after determining that the torque command is within the torque command range, the electric bridge control command and the torque command are sent to a power control system.

5. A vehicle driving control method, characterized in that: Applied to a power control system, the method comprises: Receiving the electric bridge control instruction and the torque instruction obtained by executing the vehicle drive control method according to any one of claims 1 to 4 by the planning control system; Sending the bridge control instruction to the target bridge to control the bridge; The torque command is sent to the corresponding motor for drive control.

6. A planning control system, characterized in that: The planning control system comprises: An information acquisition module is configured to acquire vehicle environment information and vehicle operation status information; An expected acceleration acquisition module is configured to analyze and process the vehicle environment information and the vehicle operation state information to obtain an expected acceleration; A command acquisition module, configured to determine a bridge control command and a torque command based on the expected acceleration; An instruction sending module is configured to send the bridge control instruction and the torque instruction to a power control system, so that the power control system performs bridge control according to the bridge control instruction and performs drive control according to the torque instruction; The instruction acquisition module includes: A determination processing unit is configured to perform determination processing by comparing the expected acceleration with a preset acceleration calibration value to obtain a determination result; an instruction determination unit, configured to determine corresponding bridge control instructions and torque instructions according to the determination result; The instruction determination unit comprises: a driving bridge determining subunit, configured to determine a driving bridge in a current driving state from among a plurality of bridges; a first torque command acquisition subunit, configured to, in response to confirming that the expected acceleration is less than a preset acceleration calibration value, determine that other axles other than the drive axle are disconnected, and determine a first torque command for a wheel controlled by the drive axle; The second torque command acquisition subunit is configured to determine that at least one target axle other than the drive axle is connected in response to confirming that the expected acceleration is greater than or equal to a preset acceleration calibration value, and determine a second torque command for the wheels controlled by the drive axle and the at least one target axle.

7. A power control system, characterized in that: The power control system comprises: An instruction receiving module is configured to receive an electric bridge control instruction and a torque instruction obtained by the planning control system executing the vehicle drive control method according to any one of claims 1 to 4; A bridge control module is configured to send the bridge control instruction to a target bridge to perform bridge control; The drive control module is configured to send the torque instruction to the corresponding motor for drive control.

8. A vehicle, characterized in that: It includes the planning control system as described in claim 6 or the power control system as described in claim 7.

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