Automobile power drive control method, equipment, storage medium and device

Abstract

The present invention discloses an automobile power drive control method, equipment, storage medium and device. The present invention determines whether to enter the manual driving mode through the current intelligent driving mode state, accelerator pedal signal, brake pedal signal or preset control switch signal of the target vehicle; when the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy; when the target vehicle is in the manual driving mode, the target vehicle is driven according to the SCU shift handle gear request and the manual driving mode drive control strategy. Since the present invention realizes the direct switching between unmanned intelligent driving mode and manual driving mode through the VCU, compared with the prior art of vehicle driving and mode switching through the transfer controller, the present invention achieves the purpose of eliminating the transfer controller to reduce development and maintenance costs, and drives the vehicle according to different driving mode strategies to meet more driving scenarios.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an automobile power drive control method, equipment, storage medium and device. Background Art

[0002] Currently, new energy commercial vehicles utilize a variety of drive modes, including pure electric, hybrid, and fuel cell. When implementing unmanned driving, a relay controller is often used for intelligent driving triggering, driving mode switching, signal acquisition, and conversion. Existing new energy commercial vehicles require not only an autonomous driving controller but also a relay controller component. This component also requires functional development, testing, verification, and after-sales maintenance, adding significant development and maintenance costs and testing cycles to the vehicle development process.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a vehicle power drive control method, equipment, storage medium and device, aiming to solve the technical problems in the existing technology of high development and maintenance costs and long development and verification cycles of drive modes.

[0005] To achieve the above object, the present invention provides a vehicle power drive control method, the vehicle power drive control method comprising the following steps:

[0006] Determine whether to enter manual driving mode based on the target vehicle's current intelligent driving mode status, accelerator pedal signal, brake pedal signal, or preset control switch signal;

[0007] When the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy;

[0008] When the target vehicle is in the manual driving mode, the target vehicle is driven according to the SCU shift handle gear request and the manual driving mode driving control strategy.

[0009] Optionally, when the target vehicle is in the intelligent driving mode, the step of driving the target vehicle according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode driving control strategy includes:

[0010] When the target vehicle is in the intelligent driving mode, the target vehicle speed is calculated based on the ADU wire-controlled gear position request forwarded by the gateway controller and the speed signal collected by the speed sensor;

[0011] Calculate the torque required for normal driving and braking of the vehicle based on the current gear status of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio;

[0012] Determine the target motor driving torque according to the BMS status information, the MCU status information and the target fault status information;

[0013] The target vehicle is driven according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0014] Optionally, before the step of determining whether to enter the manual driving mode according to the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal, or the preset control switch signal, the step further includes:

[0015] The vehicle is powered on with high voltage according to the key switch request, and an autonomous driving request is generated according to the trigger switch signal of the intelligent driving mode;

[0016] obtaining a current brake signal, a current throttle signal, an auxiliary brake switch signal, and an ADU communication signal according to the autonomous driving request;

[0017] Determine whether to enter the intelligent driving mode based on the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal.

[0018] Optionally, the step of determining whether to enter the intelligent driving mode according to the current brake signal, the current throttle signal, the auxiliary brake switch signal, and the ADU communication signal includes:

[0019] When the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal all meet the preset intelligent driving conditions, it is determined to enter the intelligent driving mode.

[0020] Optionally, the preset control switch signal includes an auxiliary brake switch signal and an emergency stop switch signal; and the step of determining whether to enter the manual driving mode according to the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal, or the preset control switch signal includes:

[0021] When the target vehicle is in the intelligent driving mode, if any one of the accelerator pedal signal, brake pedal signal, auxiliary brake switch signal, emergency stop switch signal or ADU communication signal meets the preset validity conditions, it is determined to enter the manual driving mode.

[0022] Optionally, when the target vehicle is in manual driving mode, the step of driving the target vehicle according to the SCU shift handle gear request and the manual driving mode drive control strategy includes:

[0023] When the target vehicle is in manual driving mode, the target vehicle speed is calculated based on the gear position request of the SCU shift handle and the speed signal collected by the speed sensor;

[0024] Calculate the torque required for normal driving and braking of the vehicle based on the current gear status of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio;

[0025] Determine the target motor driving torque according to the BMS status information, the MCU status information and the target fault status information;

[0026] The target vehicle is driven according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0027] Optionally, after the step of driving the target vehicle according to the SCU shift handle gear request and the manual driving mode drive control strategy when the target vehicle is in the manual driving mode, the method further includes:

[0028] The intelligent driving mode status, vehicle fault status and vehicle operating condition information are sent to the IC instrument for status display.

[0029] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle power drive control device, which includes a memory, a processor, and a vehicle power drive control program stored in the memory and runnable on the processor, and the vehicle power drive control program is configured to implement the steps of vehicle power drive control as described above.

[0030] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle power drive control program is stored. When the vehicle power drive control program is executed by a processor, the steps of the vehicle power drive control method described above are implemented.

[0031] In addition, to achieve the above-mentioned purpose, the present invention further provides a vehicle power drive control device, the vehicle power drive control device comprising:

[0032] A mode switching module is used to determine whether to enter manual driving mode based on the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal, or the preset control switch signal;

[0033] A mode control module is used to drive the target vehicle when the target vehicle is in the intelligent driving mode according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy;

[0034] The mode control module is further configured to drive the target vehicle according to the SCU shift handle gear request and the manual driving mode driving control strategy when the target vehicle is in the manual driving mode.

[0035] The present invention determines whether to enter the manual driving mode according to the current intelligent driving mode state, accelerator pedal signal, brake pedal signal or preset control switch signal of the target vehicle; when the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy; when the target vehicle is in the manual driving mode, the target vehicle is driven according to the SCU shift handle gear request and the manual driving mode drive control strategy. Since the present invention can manually take over through the brake pedal, accelerator pedal, and auxiliary brake switch to realize the switching between the unmanned intelligent driving mode and the manual driving mode, compared with the prior art that uses a transfer controller to drive the vehicle and switch modes, the present invention achieves the purpose of eliminating the transfer controller to reduce development and maintenance costs, and drives the vehicle according to different driving mode strategies to meet more driving scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural diagram of an automobile power drive control device in a hardware operating environment involved in an embodiment of the present invention;

[0037] Figure 2 This is a flow chart of a first embodiment of a vehicle power drive control method according to the present invention;

[0038] Figure 3 A schematic diagram of the control principle of the first embodiment of the vehicle power drive control method of the present invention;

[0039] Figure 4 This is a flow chart of a second embodiment of a vehicle power drive control method according to the present invention;

[0040] Figure 5 A schematic diagram of a mode switching process of a second embodiment of a vehicle power drive control method according to the present invention;

[0041] Figure 6 This is a flow chart of a third embodiment of a vehicle power drive control method according to the present invention;

[0042] Figure 7 This is a structural block diagram of the first embodiment of the automobile power drive control device of the present invention.

[0043] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0045] Reference Figure 1 , Figure 1This is a schematic diagram of the structure of an automobile power drive control device in the hardware operating environment involved in an embodiment of the present invention.

[0046] like Figure 1 As shown, the vehicle power drive control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display). Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. In the present invention, the wired interface of the user interface 1003 may be a USB interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable memory (NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the automobile power drive control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0048] like Figure 1 As shown, the memory 1005 identified as a computer storage medium may include an operating system, a network communication module, a user interface module, and a vehicle power drive control program.

[0049] exist Figure 1 In the vehicle power drive control device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the user device; the vehicle power drive control device calls the vehicle power drive control program stored in the memory 1005 through the processor 1001 and executes the vehicle power drive control method provided by the embodiment of the present invention.

[0050] Based on the above hardware structure, an embodiment of the automobile power drive control method of the present invention is proposed.

[0051] Reference Figure 2 , Figure 2This is a flow chart of the first embodiment of the vehicle power drive control method of the present invention, which provides the first embodiment of the vehicle power drive control method of the present invention.

[0052] In this embodiment, the vehicle power drive control method includes the following steps:

[0053] Step S10: Determine whether to enter manual driving mode based on the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal or the preset control switch signal.

[0054] It should be noted that the execution entity of this embodiment can be a vehicle controller (VCU) with a vehicle drive control function. The vehicle controller is connected to the gateway controller GW, the automatic driving controller ADU, the vehicle drive system and each vehicle control switch. In this embodiment and the following embodiments, the vehicle power drive control method of the present invention is described using the vehicle controller as an example.

[0055] It is understood that the vehicle drive system includes a speed sensor, a transmission control unit (TCU), a rear axle battery management system (BMS), an MCU motor controller, an EBS electronic braking system (EBS), an EHP steering control unit, and other interactive units. Vehicle control switches include, but are not limited to, a key switch, an intelligent driving trigger switch, and an emergency stop switch.

[0056] Furthermore, the preset control switch signal includes an auxiliary brake switch signal and an emergency stop switch signal; the step of determining whether to enter the manual driving mode based on the current intelligent driving mode status, accelerator pedal signal, brake pedal signal or preset control switch signal of the target vehicle includes: when the target vehicle is in the intelligent driving mode, if any one of the accelerator pedal signal, brake pedal signal, auxiliary brake switch signal, emergency stop switch signal or ADU communication signal meets the preset validity conditions, it is determined that the manual driving mode is entered.

[0057] It should be noted that the preset validity condition can be a pre-set condition for determining whether any one of the accelerator pedal signal, brake pedal signal, auxiliary brake switch signal, emergency stop switch signal or ADU communication signal is a valid signal.

[0058] In the specific implementation, when the target vehicle is in the intelligent driving mode, if any one of the accelerator pedal signal, brake pedal signal, auxiliary brake switch signal, emergency stop switch signal or ADU communication signal meets the preset validity conditions, it is determined to enter the manual driving mode.

[0059] Step S20: When the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy.

[0060] It should be noted that the current method uses a relay controller to collect throttle pedal signals and transmits them to the VCU for throttle control. The EBS uses the brake pedal signals to be transmitted to the relay controller, which then transmits them to the VCU for control. The gateway controller forwards the ADU wire-controlled gear position request for wire-controlled torque control, and the vehicle controller directly collects throttle pedal signals for drive control. Torque control is simpler than throttle control, involves fewer controllers, and is more reliable.

[0061] It should be understood that multiple controllers are integrated into a single platform in order to achieve different control functions. The present invention mainly realizes the power drive control of unmanned vehicles. The original analog throttle signal is used for throttle control, and the VCU cannot participate in the intelligent driving mode. The analog throttle signal is entirely the responsibility of the intelligent driving system, which has an impact on the safety of the entire vehicle. Torque control is now adopted, and the VCU intelligent driving judgment logic and torque algorithm are added to improve vehicle safety. At the same time, the intelligent driving mode is added to the vehicle core algorithm for easy transplantation, and can adapt to various torque-controlled unmanned vehicle models.

[0062] In the specific implementation, the vehicle controller responds to the throttle, torque, gear and other information requested by the automatic driving controller ADU, and drives the vehicle according to the above information.

[0063] Step S30: When the target vehicle is in the manual driving mode, the target vehicle is driven according to the SCU shift handle gear request and the manual driving mode driving control strategy.

[0064] It should be noted that for further explanation, please refer to Figure 3 Schematic diagram of the control principle. When controlling the powertrain of an autonomous vehicle, the VCU determines whether to enter intelligent or manual driving mode based on the intelligent driving mode status, the driver's accelerator and brake pedals, or other manually controlled switches, thereby switching between manual and intelligent driving. During autonomous driving, the vehicle controller responds to requests from the autonomous driving controller (ADU) for information such as throttle, torque, and gear position. In manual mode, the vehicle controller drives the vehicle forward or backward according to the driver's accelerator and brake pedal opening, gear position, and other information, as in normal driving. To ensure driving safety, during both autonomous and manual driving, the vehicle controller minimizes the torque limit of the vehicle and the torque of other components, such as the motor MCU, battery management system (BMS), and rear axle, to ensure driving safety.

[0065] In specific implementations, the gateway controller forwards SCU handle information (in manual mode) or ADU wire-controlled gear position information (in intelligent driving mode) to the vehicle controller, depending on the driving mode. Upon receiving the gear position information, the VCU calculates the vehicle's drive torque for the corresponding driving mode and sends the calculated drive torque value to the MCU motor controller. The motor responds with the drive torque, thus fulfilling the requirements of the autonomous driving power drive control function. For autonomous vehicle power drive control, the VCU derives five torque values ​​based on the current vehicle state. It compares the normal drive torque calculated for the vehicle's mode with the motor drive torque limit calculated by the BMS power, the MCU's maximum allowable drive / braking torque, the rear axle's allowable drive / reverse-drag torque, and the vehicle's current fault limit torque, taking the smaller value. This determines the final motor output drive torque, which is used to request vehicle drive control. Autonomous driving power drive control builds on existing manual mode technology by adding intelligent driving mode control. This calculation incorporates the autonomous driving torque and then takes the smaller value, also to protect other system components. At the same time, the intelligent driving mode adopts wire-controlled torque control, which has advantages over the current unmanned driving existing technology throttle control. Currently, a transfer controller is used to collect throttle pedal signals and send them to the VCU for throttle control. EBS is used to collect brake pedal signals and send them to the transfer controller, which is then transferred to the VCU for control. The wire-controlled torque control uses the vehicle controller to directly collect throttle pedal signals for drive control. The control is simpler, involves fewer controllers, and is more reliable.

[0066] This embodiment determines whether to enter the manual driving mode according to the current intelligent driving mode state, accelerator pedal signal, brake pedal signal or preset control switch signal of the target vehicle; when the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy; when the target vehicle is in the manual driving mode, the target vehicle is driven according to the SCU shift handle gear request and the manual driving mode drive control strategy. Since the present invention can be manually taken over by the brake pedal, accelerator pedal, and auxiliary brake switch to realize the switching between the unmanned intelligent driving mode and the manual driving mode, compared with the prior art that drives the vehicle and switches modes through a transfer controller, the present invention achieves the purpose of eliminating the transfer controller to reduce development and maintenance costs, and drives the vehicle according to different driving mode strategies to meet more driving scenarios.

[0067] Reference Figure 4 , Figure 4 This is a flow chart of the second embodiment of the vehicle power drive control method of the present invention, based on the above Figure 2 The first embodiment shown provides a second embodiment of the automobile power drive control method of the present invention.

[0068] In this embodiment, step S20 includes:

[0069] Step S201: When the target vehicle is in the intelligent driving mode, the target vehicle speed is calculated based on the ADU wire-controlled gear position request forwarded by the gateway controller and the speed signal collected by the speed sensor.

[0070] It should be noted that when the vehicle is in intelligent driving mode, the VCU controls the vehicle drive through the ADU wire-controlled gear shift request forwarded by the gateway controller, collects the vehicle speed in real time through the speed sensor, and determines the target required speed based on the wire-controlled gear shift request, thereby adjusting the vehicle speed according to the target required speed until the speed collected by the speed sensor reaches the target required speed.

[0071] Step S202: Calculate the torque required for normal driving and braking of the current vehicle based on the current gear state of the TCU gearbox, the speed ratio corresponding to the gear position, and the rear axle speed ratio.

[0072] It should be noted that the torque required for normal driving of the current vehicle is calculated based on the current gear state of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio; and the torque required for braking of the current vehicle is calculated based on the current gear state of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio.

[0073] Step S203: determining the target motor driving torque according to the BMS status information, the MCU status information and the target fault status information.

[0074] It should be noted that the BMS status information includes the battery charge SOC, the battery charging peak power and the battery fault status information; the MCU status information includes the maximum allowable driving torque of the motor, the maximum allowable braking torque of the motor, the current speed of the motor, the motor fault status, the motor driving torque, the motor braking torque, the motor IGBT enable and the motor control mode; the target fault status information may refer to the fault status information corresponding to each module in the vehicle drive system, such as the ADU fault status, the battery fault status and the motor fault status.

[0075] In specific implementations, the current MCU motor drive torque limit is calculated based on the vehicle operating conditions and BMS power. The maximum allowable driving / braking torque of the MCU motor under the current vehicle conditions is determined based on the motor's external characteristics. The allowable rear axle input torque limit is calculated based on the rear axle's allowable driving / reverse-drag torque to protect the rear axle. The fault limit torque is determined based on the vehicle's current fault status. The target motor drive torque is then determined based on the current MCU motor drive torque limit, the MCU motor's maximum allowable driving / braking torque, the rear axle input torque limit, and the fault limit torque.

[0076] Step S204: driving the target vehicle according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0077] It should be noted that the target vehicle is driven according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0078] Furthermore, before step S30, it also includes: requesting the vehicle's high voltage to be powered on according to the key switch, and generating an automatic driving request according to the trigger switch signal of the intelligent driving mode; obtaining the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal according to the automatic driving request; and determining whether to enter the intelligent driving mode according to the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal.

[0079] It should be noted that whether to enter the intelligent driving mode is determined by obtaining the current brake signal, current throttle signal, auxiliary brake switch signal and ADU communication signal.

[0080] Furthermore, the step of determining whether to enter the intelligent driving mode based on the current braking signal, the current throttle signal, the auxiliary braking switch signal and the ADU communication signal includes: when the current braking signal, the current throttle signal, the auxiliary braking switch signal and the ADU communication signal all meet the preset intelligent driving conditions, determining to enter the intelligent driving mode.

[0081] It should be noted that according to Figure 5 It can be seen from the mode switching process diagram shown that the VCU determines whether to allow entry into the intelligent driving mode based on the driver's operation of the vehicle's high-voltage power-on, the intelligent driving trigger switch status, the brake pedal opening, the accelerator pedal opening and the auxiliary brake switch status, and the current vehicle automatic driving controller ADU communication status; wherein, when the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal all meet the preset intelligent driving conditions, the VCU enters the intelligent driving mode, wherein the preset intelligent driving conditions can be pre-set conditions for the VCU to enter the intelligent driving mode, and when there is no brake signal, no throttle signal, the auxiliary brake switch is not pressed and the ADU communication is not lost, it is determined that the VCU enters the intelligent driving mode.

[0082] This embodiment determines whether to enter the manual driving mode based on the current intelligent driving mode status, accelerator pedal signal, brake pedal signal or preset control switch signal of the target vehicle; when the target vehicle is in the intelligent driving mode, the target vehicle speed is calculated based on the ADU wire-controlled gear request forwarded by the gateway controller and the speed signal collected by the speed sensor; the torque required for normal driving and braking of the current vehicle is calculated based on the current gear status of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio; the target motor driving torque is determined based on the BMS status information, the MCU status information and the target fault status information; the target vehicle is driven based on the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed; when the target vehicle is in the manual driving mode, the target vehicle is driven based on the SCU shift handle gear request and the manual driving mode drive control strategy. Since the present invention can manually take over through the brake pedal, accelerator pedal, and auxiliary brake switch to achieve switching between unmanned driving intelligent mode and manual driving manual mode, compared with the prior art in which the vehicle is driven and the mode is switched through a transfer controller, the present invention achieves the purpose of eliminating the transfer controller to reduce development and maintenance costs, and drives the vehicle according to different driving mode strategies to meet more driving scenarios.

[0083] Reference Figure 6 , Figure 6 This is a flow chart of the second embodiment of the vehicle power drive control method of the present invention, based on the above Figure 2 The first embodiment shown here provides a third embodiment of the automobile power drive control method of the present invention.

[0084] In this embodiment, step S30 includes:

[0085] Step S301: When the target vehicle is in manual driving mode, the target vehicle speed is calculated according to the gear position request of the SCU shift handle and the speed signal collected by the speed sensor.

[0086] It should be noted that when the target vehicle is in manual driving mode, the VCU controls the vehicle drive through the SCU shift handle gear request, collects the vehicle speed in real time through the speed sensor, and determines the target required speed based on the wire control gear request, thereby adjusting the vehicle speed according to the target required speed until the speed collected by the speed sensor reaches the target required speed.

[0087] Step S302: Calculate the torque required for normal driving and braking of the current vehicle based on the current gear state of the TCU gearbox, the speed ratio corresponding to the gear position, and the rear axle speed ratio.

[0088] It should be noted that when in manual mode control, the VCU calculates and outputs the driving torque under different states of manual mode based on the driver's SCU gear status, accelerator pedal opening, brake pedal opening, and auxiliary brake switch status, by judging whether the vehicle is in acceleration, braking, auxiliary braking, high-speed coasting, low-speed creeping, or parking.

[0089] It should be understood that the torque required for normal driving of the current vehicle is calculated based on the current gear state of the TCU gearbox, the speed ratio corresponding to the gear state of the gearbox, and the speed ratio of the rear axle; and the torque required for braking of the current vehicle is calculated based on the current gear state of the TCU gearbox, the speed ratio corresponding to the gear state of the gearbox, and the speed ratio of the rear axle.

[0090] Step S303: determining the target motor driving torque according to the BMS status information, the MCU status information and the target fault status information.

[0091] It should be noted that the BMS status information includes the battery charge SOC, the battery charging peak power and the battery fault status information; the MCU status information includes the maximum allowable driving torque of the motor, the maximum allowable braking torque of the motor, the current speed of the motor, the motor fault status, the motor driving torque, the motor braking torque, the motor IGBT enable and the motor control mode; the target fault status information may refer to the fault status information corresponding to each module in the vehicle drive system, such as the ADU fault status, the battery fault status and the motor fault status.

[0092] In specific implementations, the current MCU motor drive torque limit is calculated based on the vehicle operating conditions and BMS power. The maximum allowable driving / braking torque of the MCU motor under the current vehicle conditions is determined based on the motor's external characteristics. The allowable rear axle input torque limit is calculated based on the rear axle's allowable driving / reverse-drag torque to protect the rear axle. The fault limit torque is determined based on the vehicle's current fault status. The target motor drive torque is then determined based on the current MCU motor drive torque limit, the MCU motor's maximum allowable driving / braking torque, the rear axle input torque limit, and the fault limit torque.

[0093] Step S304: driving the target vehicle according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0094] It should be noted that the target vehicle is driven according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0095] In the specific implementation, the VCU determines whether to allow entry into the intelligent driving mode based on the driver's operation of the vehicle's high-voltage power-on, intelligent driving trigger switch status, brake pedal opening, accelerator pedal opening and auxiliary brake switch status, and the current vehicle automatic driving controller ADU communication status; the VCU completes the control switch between the intelligent driving mode and the manual mode based on whether the conditions for entering manual takeover are met; the gateway controller forwards the SCU handle information in the manual mode or the ADU wire-controlled gear position in the intelligent driving mode to the vehicle controller according to the different driving mode controls. After receiving the gear information, the VCU calculates the vehicle's driving torque under the corresponding driving mode, and sends the calculated driving torque value to the MCU motor controller. The motor responds to the driving torque, thereby realizing the unmanned driving power drive control function requirements.

[0096] Furthermore, after step 30, it also includes: sending the intelligent driving mode status, vehicle fault status and vehicle operating condition information to the IC instrument for status display.

[0097] In specific implementations, the vehicle controller (VCU) requests the vehicle's high voltage to be powered up based on the key switch, enabling the MCU. The gateway controller sends an autonomous driving request to the autonomous driving controller (ADU) based on the status of the intelligent driving trigger switch and the emergency stop switch. The ADU determines whether to request the VCU to enter intelligent driving mode based on the gateway request, the VCU's driving status, and the vehicle's fault conditions. The VCU switches between intelligent driving and manual driving modes based on the ADU's intelligent driving mode request, brake pedal opening, accelerator pedal opening, auxiliary brake switch status, and ADU fault conditions. The VCU returns the intelligent driving mode status to the autonomous driving controller (ADU) and the gateway controller (GW). Based on the mode status, the gateway controller (GW) forwards interactive signals related to intelligent or manual driving, such as gear shift requests and steering requests, to other relevant vehicle controllers. Based on the current driving mode, the VCU determines whether to enter manual or intelligent driving mode and sends the drive torque to the motor controller to control the vehicle's powertrain for braking and acceleration. The VCU calculates vehicle speed based on the speed signal collected by the speed sensor. The VCU calculates the torque required for normal driving / braking based on vehicle information such as the current gear position of the TCU transmission, the corresponding gear ratio, and the rear axle speed ratio. The VCU also calculates the motor driving torque allowed by the BMS output power based on the BMS status information. The VCU also calculates the MCU's allowable driving / braking torque based on the MCU status information. The VCU also sends relevant information, such as the intelligent driving mode status and vehicle fault status, to the IC instrument panel for status display.

[0098] This embodiment determines whether to enter the manual driving mode based on the current intelligent driving mode status, accelerator pedal signal, brake pedal signal or preset control switch signal of the target vehicle; when the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy; when the target vehicle is in the manual driving mode, the target vehicle speed is calculated based on the SCU shift handle gear request and the speed signal collected by the vehicle speed sensor; the torque required for normal driving and braking of the current vehicle is calculated based on the current gear status of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio; the target motor driving torque is determined based on the BMS status information, the MCU status information and the target fault status information; the target vehicle is driven based on the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed. Since the present invention can manually take over through the brake pedal, accelerator pedal, and auxiliary brake switch to achieve switching between unmanned driving intelligent mode and manual driving manual mode, compared with the prior art in which the vehicle is driven and the mode is switched through a transfer controller, the present invention achieves the purpose of eliminating the transfer controller to reduce development and maintenance costs, and drives the vehicle according to different driving mode strategies to meet more driving scenarios.

[0099] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle power drive control device, which includes a memory, a processor, and a vehicle power drive control program stored in the memory and runnable on the processor, and the vehicle power drive control program is configured to implement the steps of vehicle power drive control as described above.

[0100] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle power drive control program is stored. When the vehicle power drive control program is executed by a processor, the steps of the vehicle power drive control method described above are implemented.

[0101] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the automobile power drive control device of the present invention.

[0102] like Figure 7 As shown, the automobile power drive control device proposed in the embodiment of the present invention includes:

[0103] The mode switching module 10 is used to determine whether to enter the manual driving mode according to the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal or the preset control switch signal;

[0104] A mode control module 20 is configured to drive the target vehicle according to the gateway controller forwarding the ADU wire-controlled gear position request and the intelligent driving mode driving control strategy when the target vehicle is in the intelligent driving mode;

[0105] The mode control module 20 is further configured to drive the target vehicle according to the SCU shift handle gear request and the manual driving mode driving control strategy when the target vehicle is in the manual driving mode.

[0106] This embodiment determines whether to enter the manual driving mode according to the current intelligent driving mode state, accelerator pedal signal, brake pedal signal or preset control switch signal of the target vehicle; when the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy; when the target vehicle is in the manual driving mode, the target vehicle is driven according to the SCU shift handle gear request and the manual driving mode drive control strategy. Since the present invention can be manually taken over by the brake pedal, accelerator pedal, and auxiliary brake switch to realize the switching between the unmanned intelligent driving mode and the manual driving mode, compared with the prior art that drives the vehicle and switches modes through a transfer controller, the present invention achieves the purpose of eliminating the transfer controller to reduce development and maintenance costs, and drives the vehicle according to different driving mode strategies to meet more driving scenarios.

[0107] Furthermore, the mode control module 20 is also used to calculate the target vehicle speed based on the ADU wire-controlled gear request forwarded by the gateway controller and the speed signal collected by the speed sensor when the target vehicle is in the intelligent driving mode; calculate the torque required for normal driving and braking of the current vehicle based on the current gear status of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio; determine the target motor driving torque based on the BMS status information, the MCU status information, and the target fault status information; and drive the target vehicle based on the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0108] Furthermore, the mode switching module 10 is also used to request the vehicle's high voltage to be powered on according to the key switch, and generate an automatic driving request according to the trigger switch signal of the intelligent driving mode; obtain the current braking signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal according to the automatic driving request; and determine whether to enter the intelligent driving mode according to the current braking signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal.

[0109] Furthermore, the mode switching module 10 is also used to determine whether to enter the intelligent driving mode when the current braking signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal all meet preset intelligent driving conditions.

[0110] Furthermore, the mode switching module 10 is also used to determine that the target vehicle enters the manual driving mode when any one of the accelerator pedal signal, brake pedal signal, auxiliary brake switch signal, emergency stop switch signal or ADU communication signal meets the preset validity conditions when the target vehicle is in the intelligent driving mode.

[0111] Furthermore, the mode control module 20 is also used to calculate the target vehicle speed based on the SCU shift handle gear request and the speed signal collected by the speed sensor when the target vehicle is in the manual driving mode; calculate the torque required for normal driving and braking of the current vehicle based on the current gear state of the TCU gearbox, the speed ratio corresponding to the gear position of the gearbox, and the rear axle speed ratio; determine the target motor driving torque based on the BMS status information, the MCU status information, and the target fault status information; and drive the target vehicle based on the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

[0112] Furthermore, the mode control module 20 is also used to send the intelligent driving mode status, vehicle fault status and vehicle operating condition information to the IC instrument for status display.

[0113] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0114] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0115] In addition, for technical details not fully described in this embodiment, reference can be made to the automobile power drive control method provided in any embodiment of the present invention, and will not be repeated here.

[0116] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0117] The serial numbers of the embodiments of the present invention are for descriptive purposes only and do not represent superiority or inferiority of the embodiments. In a unit claim that enumerates several means, several of these means may be embodied by the same item of hardware. The use of the terms first, second, and third, etc., does not denote any order; these terms should be interpreted as designations.

[0118] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0119] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle power drive control method, characterized in that: The vehicle power drive control method comprises the following steps: Determine whether to enter manual driving mode based on the target vehicle's current intelligent driving mode status, accelerator pedal signal, brake pedal signal, or preset control switch signal; When the target vehicle is in the intelligent driving mode, the target vehicle is driven according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy; When the target vehicle is in manual driving mode, driving the target vehicle according to the SCU shift handle gear request and the manual driving mode drive control strategy; The step of driving the target vehicle according to the gateway controller forwarding the ADU wire-controlled gear position request and the intelligent driving mode driving control strategy when the target vehicle is in the intelligent driving mode includes: When the target vehicle is in the intelligent driving mode, the target vehicle speed is calculated based on the ADU wire-controlled gear position request forwarded by the gateway controller and the speed signal collected by the speed sensor; Calculate the torque required for normal driving and braking of the vehicle based on the current gear status of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio; Determine the target motor driving torque according to the BMS status information, the MCU status information and the target fault status information; driving the target vehicle according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed; Before the step of determining whether to enter the manual driving mode according to the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal or the preset control switch signal, the method further includes: The vehicle is powered on with high voltage according to the key switch request, and an autonomous driving request is generated according to the trigger switch signal of the intelligent driving mode; obtaining a current brake signal, a current throttle signal, an auxiliary brake switch signal, and an ADU communication signal according to the autonomous driving request; Determine whether to enter the intelligent driving mode based on the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal.

2. The vehicle power drive control method according to claim 1, wherein: The step of determining whether to enter the intelligent driving mode according to the current brake signal, the current throttle signal, the auxiliary brake switch signal, and the ADU communication signal includes: When the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal all meet the preset intelligent driving conditions, it is determined to enter the intelligent driving mode.

3. The vehicle power drive control method according to claim 1, wherein: The preset control switch signal includes an auxiliary brake switch signal and an emergency stop switch signal; the step of determining whether to enter the manual driving mode based on the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal or the preset control switch signal includes: When the target vehicle is in the intelligent driving mode, if any one of the accelerator pedal signal, brake pedal signal, auxiliary brake switch signal, emergency stop switch signal or ADU communication signal meets the preset validity conditions, it is determined to enter the manual driving mode.

4. The vehicle power drive control method according to claim 1, wherein: The step of driving the target vehicle according to the SCU shift handle gear request and the manual driving mode drive control strategy when the target vehicle is in the manual driving mode includes: When the target vehicle is in manual driving mode, the target vehicle speed is calculated based on the gear position request of the SCU shift handle and the speed signal collected by the speed sensor; Calculate the torque required for normal driving and braking of the vehicle based on the current gear status of the TCU gearbox, the corresponding speed ratio of the gearbox, and the rear axle speed ratio; Determine the target motor driving torque according to the BMS status information, the MCU status information and the target fault status information; The target vehicle is driven according to the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed.

5. The vehicle power drive control method according to claim 1, wherein: After the step of driving the target vehicle according to the SCU shift handle gear request and the manual driving mode drive control strategy when the target vehicle is in the manual driving mode, the method further includes: The intelligent driving mode status, vehicle fault status and vehicle operating condition information are sent to the IC instrument for status display.

6. An automobile power drive control device, characterized in that: The vehicle power drive control device includes: a memory, a processor, and a vehicle power drive control program stored in the memory and executable on the processor. When the vehicle power drive control program is executed by the processor, the steps of the vehicle power drive control method according to any one of claims 1 to 5 are implemented.

7. A storage medium, characterized in that: The storage medium stores a vehicle power drive control program, which, when executed by a processor, implements the steps of the vehicle power drive control method according to any one of claims 1 to 5.

8. An automobile power drive control device, characterized in that: The automobile power drive control device comprises: A mode switching module is used to determine whether to enter manual driving mode based on the current intelligent driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal, or the preset control switch signal; A mode control module is used to drive the target vehicle when the target vehicle is in the intelligent driving mode according to the gateway controller forwarding the ADU wire-controlled gear request and the intelligent driving mode drive control strategy; The mode control module is further configured to drive the target vehicle according to the SCU shift handle gear request and the manual driving mode drive control strategy when the target vehicle is in the manual driving mode; The mode control module is further configured to, when the target vehicle is in the intelligent driving mode, calculate the target vehicle speed based on the ADU wire-controlled gear request forwarded by the gateway controller and the vehicle speed signal collected by the vehicle speed sensor; calculate the torque required for normal driving and braking of the current vehicle based on the current gear state of the TCU gearbox, the speed ratio corresponding to the gearbox, and the rear axle speed ratio; determine the target motor driving torque based on the BMS status information, the MCU status information, and the target fault status information; and drive the target vehicle based on the torque required for normal driving and braking of the vehicle, the target motor driving torque, and the target vehicle speed; The signal judgment module is used to request the vehicle's high voltage to be powered on according to the key switch, and generate an automatic driving request according to the trigger switch signal of the intelligent driving mode; obtain the current brake signal, current throttle signal, auxiliary brake switch signal and ADU communication signal according to the automatic driving request; and determine whether to enter the intelligent driving mode based on the current brake signal, the current throttle signal, the auxiliary brake switch signal and the ADU communication signal.

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