Vehicle control methods, devices, electronic equipment and vehicles

Abstract

This invention provides a vehicle control method, device, electronic device, and vehicle, relating to the field of vehicle technology. First, upon receiving vehicle fault information in the power domain from a second controller, a request to acquire power domain speed limit information and torque limit information is sent to the second controller. Then, the system receives the power domain speed limit information and torque limit information fed back by the second controller after receiving the request, and determines the vehicle's maximum operating speed and maximum operating torque under the current operating conditions based on this information. Finally, different vehicle control strategies are executed based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode. In this application, by using the maximum speed and maximum torque that the subsystem can execute as the judgment conditions for the vehicle driving mode, the applicability is greatly improved, and the application scenarios and scope of intelligent driving functions are expanded.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a vehicle control method, device, electronic equipment, and vehicle. Background Technology

[0002] Intelligent driving refers to the use of advanced sensors, controllers, actuators, and communication modules to assist drivers in controlling the vehicle. Currently, more and more cars equipped with intelligent driving systems are entering the consumer market, and sales are increasing as intelligent driving gains wider acceptance. Furthermore, these systems are increasingly being used in complex urban environments. With the development of the automotive industry, cars are becoming increasingly integrated into our daily lives and work, appearing in various scenarios. The intelligent driving controller uses feedback from the power domain controller regarding the vehicle's fault status to achieve power control.

[0003] In related technologies, intelligent driving controllers control power based on the fault level of the entire vehicle. However, the fault level of the entire vehicle can be affected by controllers that are not strongly related to the intelligent driving function, causing the intelligent driving function to be deactivated, thereby reducing the user experience and narrowing the scope of daily vehicle use. Summary of the Invention

[0004] This invention provides a vehicle control method, device, electronic device, and vehicle, which aims to solve or partially solve the problems existing in the prior art.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows:

[0006] In a first aspect, embodiments of the present invention provide a vehicle control method applied to a first controller, the method comprising:

[0007] Upon receiving vehicle fault information in the power domain from the second controller, a request to obtain power domain speed limit information and torque limit information is sent to the second controller.

[0008] After receiving the request to obtain speed limit information and torque limit information of the power domain, the second controller receives the speed limit information and torque limit information of the power domain and determines the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions based on the speed limit information and torque limit information.

[0009] Different vehicle control strategies are executed based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode.

[0010] Optionally, the steps for implementing different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode include:

[0011] The intelligent driving mode is maintained when the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters.

[0012] Exit intelligent driving mode when the maximum operating speed and maximum operating torque are outside the limits of the intelligent driving mode operating parameters.

[0013] Optionally, after exiting the intelligent driving mode, the method further includes:

[0014] Send takeover notification to users;

[0015] Upon receiving a takeover signal triggered by the user, the system enters manual operation mode.

[0016] If no user-triggered takeover signal is received, the vehicle enters parking braking mode.

[0017] Secondly, embodiments of the present invention provide another vehicle control method, applied to a second controller, the method comprising:

[0018] Upon receiving fault information from the third controller, the system sends power domain vehicle fault information to the first controller, where the second controller is the controller that affects the vehicle's intelligent driving function.

[0019] After receiving the request for obtaining power domain speed limit information and torque limit information from the first controller, the request for obtaining speed limit information and torque limit information is sent to the third controller.

[0020] It receives speed limiting and torque limiting information from the third controller, generates speed limiting and torque limiting information for the power domain, and sends it to the first controller.

[0021] Optionally, the step of receiving speed limiting information and torque limiting information from the third controller and generating speed limiting information and torque limiting information for the power domain includes:

[0022] It receives speed limit and torque limit information from each third controller, and determines the minimum value of the speed limit and torque limit information from the third controller as the speed limit and torque limit information of the power domain.

[0023] Optionally, after the step of sending power domain vehicle fault information to the first controller upon receiving fault information from the third controller, the method further includes:

[0024] Using the fault information sent by the third controller as an index, a target power control strategy that matches the fault level of the third controller is determined.

[0025] Send the target power control strategy to the third controller.

[0026] Thirdly, embodiments of the present invention provide a vehicle control device, the device comprising:

[0027] The first request sending module is used to send a request to the second controller to obtain power domain speed limit information and torque limit information when obtaining power domain vehicle fault information sent by the second controller.

[0028] The operating parameter determination module is used to receive the speed limit information and torque limit information of the power domain from the second controller after receiving the request to obtain the speed limit information and torque limit information of the power domain, and to determine the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions based on the speed limit information and torque limit information.

[0029] The execution module is used to execute different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode.

[0030] Optionally, the execution module includes:

[0031] The first execution submodule is used to maintain the intelligent driving mode when the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters.

[0032] The second execution submodule is used to exit the intelligent driving mode when the maximum operating speed and maximum operating torque are outside the limits of the intelligent driving mode operating parameters.

[0033] Optionally, the execution module also includes:

[0034] The reminder sending submodule is used to send takeover reminders to users;

[0035] The first mode switching submodule is used to enter the user manual operation mode when a takeover signal triggered by the user is received.

[0036] The second mode switching submodule enters the parking braking mode if no user-triggered takeover signal is received.

[0037] Fourthly, embodiments of the present invention provide another vehicle control device, the device comprising:

[0038] The fault information sending module is used to send power domain vehicle fault information to the first controller when it receives fault information sent by the third controller. The second controller is the controller that affects the vehicle's intelligent driving function.

[0039] The second request sending module is used to send the speed limit information and torque limit information acquisition request to the third controller after receiving the power domain speed limit information and torque limit information acquisition request sent by the first controller.

[0040] The operating parameter sending module is used to receive speed limit information and torque limit information fed back from the third controller, generate speed limit information and torque limit information for the power domain, and send them to the first controller.

[0041] Optionally, the runtime parameter sending module includes:

[0042] The operating parameter determination submodule is used to receive speed limit information and torque limit information fed back by each third controller, and to determine the minimum value of the speed limit information and torque limit information fed back by the third controller as the speed limit information and torque limit information of the power domain.

[0043] Optionally, the runtime parameter sending module also includes:

[0044] The fault strategy determination submodule is used to determine the target power control strategy that matches the fault level of the third controller, using the fault information sent by the third controller as an index.

[0045] The processing strategy sending submodule is used to send the target power control strategy to the third controller.

[0046] A fifth aspect of this invention provides an electronic device, the electronic device comprising:

[0047] At least one processor; and a memory communicatively connected to the at least one processor; wherein,

[0048] The memory stores instructions that can be executed by at least one processor to enable the at least one processor to perform the method steps proposed in the first or second aspect of the embodiments of the present invention.

[0049] A sixth aspect of the present invention provides a vehicle, the vehicle including a processor, the processor being configured to execute the method steps as provided in the first or second aspect of the present invention.

[0050] The embodiments of this invention include the following advantages: First, upon receiving vehicle fault information in the power domain from the second controller, a request to acquire power domain speed limit information and torque limit information is sent to the second controller. Then, the power domain speed limit information and torque limit information are received from the second controller after receiving the request, and the maximum operating speed and maximum operating torque under the current vehicle operating conditions are determined based on this information. Finally, different vehicle control strategies are executed based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode. In this application, by using the maximum speed and maximum torque that the subsystem can execute as the judgment condition for the vehicle mode, different vehicles can be modularly configured, thus greatly improving the applicability of this application and expanding the application scenarios and scope of intelligent driving functions. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a flowchart of the steps of a vehicle control method according to an embodiment of the present invention;

[0053] Figure 2 This is a flowchart of another vehicle control method in an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram of another vehicle control device in an embodiment of the present invention. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] In related technologies, "non-strongly correlated" means that a fault in the controller will not affect the vehicle's intelligent driving function. Existing power control methods, as shown in Table 1, execute different control methods based on the vehicle's fault level. For example, 0x5: Level 1 5 represents a fault code of level 5, and the corresponding operation should be: immediate high-voltage disconnection. The determination of the vehicle's fault level is made using a reference table as shown in Table 2. In Table 2, when the fault code sent by the controller corresponding to the on-board charger is level 2, the vehicle's fault level is level 2. An on-board charger fault could be a fault in the vehicle's charging port. In practice, a charging port fault does not affect the vehicle's intelligent driving function; therefore, it belongs to the category of controllers that are not strongly correlated with the intelligent driving function. However, this fault will cause the intelligent driving function to disengage.

[0058] Table 1: Vehicle Fault Levels and Operational Response Table

[0059]

[0060]

[0061] Table 2: Relationship between Overall Vehicle Fault Levels and Fault Levels of Each Subsystem

[0062]

[0063] Based on this, the inventors proposed the inventive concept of this application: by monitoring the fault status of the power domain and the power capability caused by the fault through the intelligent driving controller, starting from the essential point of power demand of intelligent driving, the reliability and accuracy of fault monitoring are ensured, and the usage boundaries and scope of intelligent driving functions are improved.

[0064] This invention provides a vehicle control method applied to a first controller. (See also...) Figure 1 , Figure 1 This application illustrates a flowchart of a vehicle control method according to an embodiment of the present application. The method includes:

[0065] S101: Upon receiving vehicle fault information in the power domain from the second controller, send a request to the second controller to obtain power domain speed limit information and torque limit information.

[0066] In this embodiment, the first controller is an intelligent driving controller, and the second controller is the vehicle's power domain controller. After the intelligent driving controller controls the vehicle to enter the intelligent driving mode, it will monitor the vehicle's power domain controller in real time to monitor whether the power domain controller sends power domain vehicle fault information. If no vehicle fault information is detected, the intelligent driving controller controls the vehicle to continue to execute the intelligent driving mode. If vehicle fault information is detected, the intelligent driving controller needs to determine whether to continue to execute the intelligent driving mode based on the severity of the current fault. Therefore, the intelligent driving controller sends a request to the power domain controller to obtain power domain speed limit information and torque limit information.

[0067] S102: After receiving the request to obtain the speed limit information and torque limit information of the power domain from the second controller, the second controller feeds back the speed limit information and torque limit information of the power domain, and determines the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions based on the speed limit information and torque limit information.

[0068] In this embodiment, after receiving the speed limit and torque limit information of the power domain from the second controller, the intelligent driving controller uses these information as constraint information on the current vehicle operating condition. These constraint information represents limitations on both the speed and torque dimensions. Therefore, based on the constraint information, the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions can be determined. It is understandable that when a vehicle malfunctions, the malfunction also constrains the vehicle's maximum speed and the torque output; that is, different malfunction levels result in different constraints on the maximum vehicle speed and the torque output.

[0069] As an example, the vehicle's constraint information includes speed limit information in the speed dimension and torque limit information in the torque dimension. If the vehicle's speed limit information is "limited to speed below 80km / h", then the vehicle's maximum operating speed under the current operating conditions is 80km / h. If the vehicle's torque limit information is "limited to torque below 200N·m", then the vehicle's maximum operating torque under the current operating conditions is 200N·m.

[0070] S103: Based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode, different vehicle control strategies are executed.

[0071] In this embodiment, the operating parameter limit range of the intelligent driving mode includes an upper limit value and a lower limit value of the operating parameters. The operating parameter limit range refers to the parameter range in which the intelligent driving mode can operate normally. For example, the operating speed limit of the intelligent driving mode can be: a lower limit of 50km / h and an upper limit of 100km / h, then the operating speed limit range of the intelligent driving mode is 50km / h-100km / h. The operating torque limit of the intelligent driving mode can be: a lower limit of 100N·m and an upper limit of 250N·m.

[0072] In one feasible implementation, the operating parameter limits for intelligent driving mode can be determined in the following way:

[0073] First, the system obtains the user-inputted limits for the intelligent driving mode operating parameters. These limits can be the vehicle's desired cruising speed and torque when the intelligent driving mode is activated; these can be considered the first set of operating parameter limits. Simultaneously, the system acquires the vehicle's external environmental parameters and calculates in real-time the appropriate cruising speed and torque for activating the intelligent driving mode. These external environmental parameters can include the distance to the vehicle ahead, current road conditions, etc.; these can be considered the second set of operating parameter limits. Finally, the system calculates the final intelligent driving mode operating parameter limits based on the weights corresponding to the first and second operating parameter limits.

[0074] After obtaining the vehicle's maximum operating speed and maximum operating torque under the current operating conditions, different vehicle control strategies need to be executed based on the logical relationship between the maximum operating speed and maximum operating torque and the operating torque limit. The specific steps can be as follows:

[0075] S103-1: Maintain intelligent driving mode when the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters.

[0076] In this embodiment, if the vehicle's current operating speed and maximum operating torque are within the operating speed and operating torque limits of the intelligent driving mode, it indicates that the vehicle's current fault level is low, the impact on the vehicle is small or negligible, and it will not affect the normal use of the intelligent driving mode. Therefore, the intelligent driving mode can continue to be maintained.

[0077] S103-2: Exit intelligent driving mode when the maximum operating speed and maximum operating torque are outside the limits of the intelligent driving mode operating parameters.

[0078] In this embodiment, if the vehicle's current maximum operating speed and maximum operating torque are outside the operating speed limit and operating torque limit range of the intelligent driving mode, which usually means below the lower limit, it indicates that the vehicle's current fault level is high and has a significant impact on the vehicle, which may lead to a greater risk to the vehicle. Therefore, the intelligent driving mode cannot be maintained and manual operation by the user is required.

[0079] In one feasible implementation, after exiting the intelligent driving mode, the method further includes:

[0080] Send takeover notification to users;

[0081] Upon receiving a takeover signal triggered by the user, the system enters manual operation mode.

[0082] If no user-triggered takeover signal is received, the vehicle enters parking braking mode.

[0083] In this embodiment, after the vehicle exits autonomous driving mode, the user is notified via a display or voice device that the vehicle no longer meets the conditions for autonomous driving and manual operation is required. The user can trigger a takeover signal by placing their hands on the steering wheel. If the vehicle receives the user-triggered takeover signal within a specified time, it indicates that the user has achieved manual control of the vehicle, thus entering manual operation mode. If the user-triggered takeover signal is not received within the specified time, for the vehicle's safety, the intelligent driving controller will send a corresponding parking brake signal to the braking system to control the vehicle to perform a safe braking operation until the vehicle comes to a stop.

[0084] This invention provides a vehicle control method applied to a second controller. See [link to relevant documentation]. Figure 2 , Figure 2 A flowchart illustrating another vehicle control method according to an embodiment of this application is shown. The method includes:

[0085] S201: Upon receiving fault information from the third controller, send power domain vehicle fault information to the first controller.

[0086] In this embodiment, the third controller refers to the controller that directly affects the vehicle's intelligent driving function, i.e., the controller that is strongly related to the vehicle's intelligent driving function. The third controller can be a motor module controller, a DC-DC converter controller, a battery module controller, an electric bridge module controller, and a drive module controller. The third controller monitors the operating status of various corresponding power systems, generates fault information when a fault occurs, and sends it to the vehicle's power domain controller. The fault information can include the fault level and fault code of the power system. After receiving the fault information sent by the third controller, the vehicle's power domain controller sends power domain vehicle fault information to the intelligent driving controller so that the intelligent driving controller is aware that a fault has occurred in the vehicle.

[0087] While the power domain controller sends power domain vehicle fault information to the first controller, the power domain controller also needs to handle the fault based on the fault information sent by the third controller, executing corresponding operations. The specific steps can be as follows:

[0088] Using the fault information sent by the third controller as an index, a target power control strategy that matches the fault level of the third controller is determined.

[0089] Send the target power control strategy to the third controller.

[0090] In this embodiment, after determining the fault level of the third controller, the pre-established power control strategy table is queried using the third controller and its corresponding fault level as an index. The power control strategy table stores the power control strategy corresponding to each fault level of the third controller. For example, for a fault in the motor module controller, its fault level and corresponding power control strategy are: Level 1 fault: only alarm, no actual impact on motor output. Level 2 fault: affects performance, reduces power. Level 3 fault: no torque output from the front motor, vehicle power limited to 40kph. Level 4 fault: no torque output from the front motor, vehicle power limited to 40kph. Level 5 fault: no torque output from the front motor, vehicle speed power limited to 0kph. Level 6 fault: immediately apply high voltage.

[0091] For drive module controller faults, the fault levels and corresponding power control strategies are as follows: Level 1 fault: only alarm, no actual impact on drive subsystem output, only DTC recorded. Level 2 fault: no power reduction, no speed limit. Charging heating, launch control, motor waste heat recovery function, and plug-in cooling function are prohibited. Level 3 fault: power reduced to 60Kph, torque limited to 2000Nm for two-wheel drive, one motor output limited to 0 for four-wheel drive, and speed limited. Level 4 fault: no torque output, delayed power-off. Level 5 fault: immediate high voltage reduction.

[0092] For battery module controller faults, the fault levels and corresponding power control strategies are as follows: Level 1 fault: only alarm, no impact on battery subsystem output, only DTC recorded. Level 2 fault: depending on the severity of overvoltage, overtemperature, overcurrent, etc., power is limited to 20%, 50%, or 80% of the current available percentage of the power battery. The drive subsystem will coordinate and send the currently supported vehicle speed and the maximum and minimum available torque. Level 3 fault: drive power is limited to 0, no more output. High voltage can be maintained, DC power can be supplied, but no drive is performed. Level 4 fault: output power is limited to 0, requesting power down. Level 5 fault: immediately reduce high voltage.

[0093] For faults in the DC-DC converter controller, the fault levels and corresponding power control strategies are as follows: Level 1 fault: only alarm, no impact on the DC-DC subsystem output. Level 2 fault: limit the DC-DC subsystem output power. Level 3 fault: disable the DC-DC subsystem.

[0094] For faults in the electric axle module controller, the fault levels and corresponding power control strategies are as follows: Level 1 fault: No impact. Level 2 fault: Some functions of the electric axle subsystem are limited, but shifting and power output are not affected. Level 3 fault: The electric axle subsystem cannot disengage and remains engaged. Level 4 fault: The electric axle subsystem cannot engage and remains in two-wheel drive mode. Level 5 fault: Speed ​​limited to 40 kph. Level 6 fault: No torque output, speed limited to 0.

[0095] As an example, when it is determined that the DC-DC converter controller has failed and its failure level is three, the target power control strategy matched with it is: disable the DC-DC subsystem.

[0096] S202: After receiving the request for obtaining power domain speed limit information and torque limit information from the first controller, send the request for obtaining speed limit information and torque limit information to the third controller.

[0097] S203: Receive speed limiting information and torque limiting information from the third controller, generate speed limiting information and torque limiting information for the power domain, and send them to the first controller.

[0098] In the implementations of S202 to S203, after receiving the speed limiting and torque limiting information from different third controllers, the power domain controller needs to determine the speed limiting and torque limiting information for the entire power domain. This can be achieved by:

[0099] It receives speed limit and torque limit information from each third controller, and determines the minimum value of the speed limit and torque limit information from the third controller as the speed limit and torque limit information of the power domain.

[0100] In this embodiment, each third controller determines the highest speed and maximum torque that the corresponding module unit can currently execute based on the current operating conditions of the module unit. Then, each third controller sends the determined highest speed and maximum torque to the intelligent driving controller. The intelligent driving controller determines the minimum value among the highest speed and maximum torque that each third controller can currently execute as the vehicle's highest operating speed and maximum operating torque, because only by meeting the minimum value can all modules operate normally, i.e., the barrel effect.

[0101] By employing this application, there is no need to concern oneself with the entire vehicle's powertrain, including variations in the configuration of its subsystem modules, thus standardizing the monitoring interface for intelligent driving and reducing related development work. Since differences between the modular configurations of vehicle subsystems are not considered, only the maximum speed and maximum torque that a subsystem can execute are used as the standard for measuring the target power control strategy. Even vehicles with different subsystem modular configurations can use the same method, significantly expanding the applicability of this application, ensuring the reliability and accuracy of fault monitoring, broadening the boundaries and scope of intelligent driving functions, and enhancing the user experience.

[0102] The following embodiment illustrates the interaction process of a vehicle control system, which includes a first controller, a second controller, and a third controller.

[0103] First, the third controller monitors the operating status of its corresponding power unit in real time, and generates fault information and sends it to the second controller when a fault is detected.

[0104] The second controller communicates with the third controller in real time. After receiving fault information from each of the third controllers, it generates power domain vehicle fault information and sends it to the first controller. Simultaneously, the second controller also generates a target power control strategy that matches the fault level of the fault information sent by the third controllers.

[0105] The third controller communicates with the second controller in real time. After receiving the power domain vehicle fault information sent by the second controller, the third controller sends a request to the second controller to obtain the power domain speed limit information and torque limit information.

[0106] After receiving the request for obtaining power domain speed limit information and torque limit information from the first controller, the second controller sends the request for obtaining speed limit information and torque limit information to the third controller.

[0107] After receiving the target power control strategy sent by the second controller, the third controller will control the power unit to execute the target power control strategy. After receiving the speed limit information and torque limit information acquisition request sent by the second controller, the third controller will send the speed limit information and torque limit information of the power unit to the second controller in real time.

[0108] After receiving the speed limiting and torque limiting information from the third controller, the second controller generates speed limiting and torque limiting information for the power domain and sends it to the first controller.

[0109] After receiving the speed limit information and torque limit information of the power domain sent by the second controller, the first controller determines the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions based on the speed limit information and torque limit information, and executes different vehicle control strategies according to the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limit range of the intelligent driving mode.

[0110] This invention also provides a vehicle control device, see reference. Figure 3 The diagram illustrates a functional block diagram of a vehicle control device according to the present invention, which may include the following modules:

[0111] The first request sending module 301 is used to send a request to the second controller to obtain power domain speed limit information and torque limit information when obtaining power domain vehicle fault information sent by the second controller.

[0112] The operating parameter receiving module 302 is used to receive the speed limit information and torque limit information of the power domain fed back by the second controller after receiving the request to obtain the speed limit information and torque limit information of the power domain, and to determine the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions based on the speed limit information and torque limit information.

[0113] The execution module 303 is used to execute different vehicle control strategies based on the matching relationship between the maximum operating speed and the maximum operating torque and the operating parameter limit range of the intelligent driving mode.

[0114] In one feasible implementation, the execution module 303 includes:

[0115] The first execution submodule is used to maintain the intelligent driving mode when the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters.

[0116] The second execution submodule is used to exit the intelligent driving mode when the maximum operating speed and maximum operating torque are outside the limits of the intelligent driving mode operating parameters.

[0117] In one feasible implementation, the execution module 303 further includes:

[0118] The reminder sending submodule is used to send takeover reminders to users;

[0119] The first mode switching submodule is used to enter the user manual operation mode when a takeover signal triggered by the user is received.

[0120] The second mode switching submodule enters the parking braking mode if no user-triggered takeover signal is received.

[0121] This invention also provides another vehicle control device, see reference. Figure 4 The device includes:

[0122] The fault information sending module 401 is used to send power domain vehicle fault information to the first controller when it receives fault information sent by the third controller. The second controller is the controller that affects the intelligent driving function of the vehicle.

[0123] The second request sending module 402 is used to send a request for obtaining speed limit information and torque limit information to the third controller after obtaining the request for obtaining power domain speed limit information and torque limit information sent by the first controller.

[0124] The operating parameter sending module 403 is used to receive the speed limit information and torque limit information fed back by the third controller, generate the speed limit information and torque limit information of the power domain, and send them to the first controller.

[0125] In one feasible implementation, the operation parameter sending module 403 includes:

[0126] The operating parameter determination submodule is used to receive speed limit information and torque limit information fed back by each third controller, and to determine the minimum value of the speed limit information and torque limit information fed back by the third controller as the speed limit information and torque limit information of the power domain.

[0127] In one feasible implementation, the operation parameter sending module 403 further includes:

[0128] The fault strategy determination submodule is used to determine the target power control strategy that matches the fault level of the third controller, using the fault information sent by the third controller as an index.

[0129] The processing strategy sending submodule is used to send the target power control strategy to the third controller.

[0130] In yet another embodiment of the present invention, a vehicle is also provided, the vehicle including a processor, the processor being configured to implement the method as proposed in the first aspect of the embodiments of the present invention when executing.

[0131] Based on the same inventive concept, another embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus.

[0132] Memory, used to store computer programs;

[0133] The processor, when executing a program stored in memory, implements the vehicle control method of the present invention.

[0134] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned terminal and other devices. The memory can include Random Access Memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory can also be at least one storage system located remotely from the aforementioned processor.

[0135] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0136] Furthermore, to achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the vehicle control method of embodiments of this application.

[0137] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable vehicles (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0138] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0139] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0141] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. "And / or" indicates that either one or both can be chosen. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0142] The present invention has provided a detailed description of a vehicle control method, device, electronic device, and vehicle. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A vehicle control method, characterized in that, Applied to a first controller, the method includes: Upon receiving vehicle fault information in the power domain from the second controller, a request to obtain power domain speed limit information and torque limit information is sent to the second controller. After receiving the request to obtain the speed limit information and torque limit information of the power domain from the second controller, the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions are determined based on the speed limit information and torque limit information. Based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode, different vehicle control strategies are executed; The step of executing different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode includes: When the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters, the intelligent driving mode is maintained. If the maximum operating speed and maximum operating torque are outside the limits of the intelligent driving mode operating parameters, exit the intelligent driving mode. The operating parameter range of the intelligent driving mode is determined by a first operating parameter limit and a corresponding first preset weight, a second operating parameter limit and a corresponding second preset weight, wherein the first operating parameter limit is the vehicle's cruise speed and operating torque that the user expects when the intelligent driving mode is activated, and the second operating parameter limit is the cruise speed and operating torque that are suitable for the current vehicle to activate the intelligent driving mode, calculated in real time based on the vehicle's external environmental parameters.

2. The vehicle control method according to claim 1, characterized in that, After exiting the intelligent driving mode, the method further includes: Send takeover notification to users; Upon receiving a takeover signal triggered by the user, the system enters manual operation mode. If no user-triggered takeover signal is received, the vehicle enters parking braking mode.

3. A vehicle control method, characterized in that, Applied to a second controller, the method includes: Upon receiving fault information from the third controller, the system sends power domain vehicle fault information to the first controller, wherein the third controller is a controller that affects the vehicle's intelligent driving function. After receiving the request to obtain power domain speed limit information and torque limit information from the first controller, the request to obtain speed limit information and torque limit information is sent to the third controller. Receive the speed limiting information and torque limiting information fed back by the third controller, generate the speed limiting information and torque limiting information of the power domain, and send them to the first controller; After receiving speed limit information and torque limit information of the power domain sent by the second controller, the first controller determines the maximum operating speed and maximum operating torque of the vehicle under the current operating condition based on the speed limit information and the torque limit information; and executes different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limit range of the intelligent driving mode. The step of executing different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode includes: The intelligent driving mode is maintained when the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters. If the maximum operating speed and maximum operating torque are outside the limits of the intelligent driving mode operating parameters, exit the intelligent driving mode. The operating parameter range of the intelligent driving mode is determined by a first operating parameter limit and a corresponding first preset weight, a second operating parameter limit and a corresponding second preset weight, wherein the first operating parameter limit is the vehicle's cruise speed and operating torque that the user expects when the intelligent driving mode is activated, and the second operating parameter limit is the cruise speed and operating torque that are suitable for the current vehicle to activate the intelligent driving mode, calculated in real time based on the vehicle's external environmental parameters.

4. The vehicle control method according to claim 3, characterized in that, The steps of receiving speed limiting information and torque limiting information from the third controller and generating speed limiting information and torque limiting information for the power domain include: The system receives speed limit information and torque limit information from each of the third controllers, and determines the minimum value of the speed limit information and torque limit information from the third controllers as the speed limit information and torque limit information of the power domain.

5. The vehicle control method according to claim 3, characterized in that, After receiving fault information from the third controller and sending power domain vehicle fault information to the first controller, the method further includes: Using the fault information sent by the third controller as an index, a target power control strategy matching the fault level of the third controller is determined; The target power control strategy is sent to the third controller.

6. A vehicle control device, characterized in that, The device includes: The first request sending module is used to send a request to the second controller to obtain power domain speed limit information and torque limit information when obtaining power domain vehicle fault information sent by the second controller. The operating parameter determination module is used to receive the speed limit information and torque limit information of the power domain fed back by the second controller after receiving the request to obtain the speed limit information and torque limit information of the power domain, and to determine the maximum operating speed and maximum operating torque of the vehicle under the current operating conditions based on the speed limit information and the torque limit information. The execution module is used to execute different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limit range of the intelligent driving mode; The execution module includes: The first execution submodule is used to maintain the intelligent driving mode when the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters. The second execution submodule is used to exit the intelligent driving mode when the maximum operating speed and maximum operating torque are outside the limit range of the intelligent driving mode operating parameters; The operating parameter range of the intelligent driving mode is determined by a first operating parameter limit and a corresponding first preset weight, a second operating parameter limit and a corresponding second preset weight, wherein the first operating parameter limit is the vehicle's cruise speed and operating torque that the user expects when the intelligent driving mode is activated, and the second operating parameter limit is the cruise speed and operating torque that are suitable for the current vehicle to activate the intelligent driving mode, calculated in real time based on the vehicle's external environmental parameters.

7. A vehicle control device, characterized in that, The device includes: The fault information sending module is used to send power domain vehicle fault information to the first controller when it receives fault information sent by the third controller, wherein the third controller is a controller that affects the intelligent driving function of the vehicle. The second request sending module is used to send a request for obtaining speed limit information and torque limit information to the third controller after receiving the request for obtaining power domain speed limit information and torque limit information sent by the first controller. The operating parameter sending module is used to receive the speed limiting information and torque limiting information fed back by the third controller, generate the speed limiting information and torque limiting information of the power domain, and send them to the first controller. The first controller is further configured to, after receiving the speed limit information and torque limit information of the power domain sent by the second controller, determine the maximum operating speed and maximum operating torque of the vehicle under the current operating condition based on the speed limit information and the torque limit information; and execute different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limit range of the intelligent driving mode. The step of executing different vehicle control strategies based on the matching relationship between the maximum operating speed and maximum operating torque and the operating parameter limits of the intelligent driving mode includes: When the maximum operating speed and maximum operating torque are within the limits of the intelligent driving mode operating parameters, the intelligent driving mode is maintained. If the maximum operating speed and maximum operating torque are outside the limits of the intelligent driving mode operating parameters, exit the intelligent driving mode. The operating parameter range of the intelligent driving mode is determined by a first operating parameter limit and a corresponding first preset weight, a second operating parameter limit and a corresponding second preset weight, wherein the first operating parameter limit is the vehicle's cruise speed and operating torque that the user expects when the intelligent driving mode is activated, and the second operating parameter limit is the cruise speed and operating torque that are suitable for the current vehicle to activate the intelligent driving mode, calculated in real time based on the vehicle's external environmental parameters.

8. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the vehicle control method according to any one of claims 1-5.

9. A vehicle, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the vehicle control method as described in any one of claims 1-5.

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