Driving control method and device, electronic equipment and storage medium

Abstract

This disclosure provides a vehicle control method, device, electronic device, and storage medium. The method includes: determining the current driving state that an autonomous vehicle needs to enter based on road conditions, wherein the current driving state includes any one of hill start, hill start, and long-term heavy-load hill parking, wherein the long time is longer than a preset time; and controlling at least two of an electro-hydraulic braking system, an electronic parking brake system, and a motor controller to perform corresponding actions to enable the autonomous vehicle to enter the current driving state. The technical solution of this disclosure combines actual road conditions and the load of the autonomous vehicle, employing different braking systems in coordination for different driving states, overcoming the problems of vehicle slippage and actuator damage caused by using a single braking system, thus improving the safety and stability of the autonomous vehicle during uphill and downhill driving.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a driving control method, apparatus, electronic device and storage medium. Background Technology

[0002] Statistics show that the accident rate and property damage rate of vehicles on sloping roads are much higher than the average accident rate and property damage rate of vehicles. Therefore, ensuring the braking performance of vehicles during uphill and downhill driving and improving the driving safety of vehicles on uphill and downhill roads has always been a key focus of national traffic regulations and research in the field of braking safety.

[0003] For autonomous vehicles, when heavily loaded uphill, the vehicle will automatically brake and engage the EPB handbrake due to changes in road conditions. However, due to the excessive weight of the cargo, the vehicle may roll backward when starting. In addition, prolonged parking on a slope using a single actuator (using EPB, EHB, or MCU alone) can damage the actuator. Furthermore, when the vehicle is heavily loaded downhill, the weight of the vehicle and cargo can cause the vehicle to lose control and accelerate downhill. Summary of the Invention

[0004] To address or at least partially address the aforementioned technical problems, this disclosure provides a driving control method, apparatus, electronic device, and storage medium, which improve the safety and stability of unmanned vehicles during uphill and downhill driving.

[0005] In a first aspect, embodiments of this disclosure provide a vehicle control method, the method comprising:

[0006] Based on road conditions, determine the current driving state that the autonomous vehicle needs to enter. The current driving state that needs to be entered includes any one of the following states: hill stop, hill start, and long-term heavy-load hill parking, wherein the long time is greater than a preset time.

[0007] Control at least two of the electro-hydraulic braking system, electronic parking brake system, and motor controller to perform corresponding actions so that the autonomous vehicle enters the driving state that needs to be entered.

[0008] Secondly, embodiments of this disclosure also provide a vehicle control device, the device comprising:

[0009] The subsequent driving status determination module is used to determine the driving status that the autonomous vehicle needs to enter based on road conditions. The driving status that needs to be entered includes any one of the following: hill stop, hill start, and long-term hill parking, wherein the long time is greater than a preset time.

[0010] The driving control module is used to control at least two of the electro-hydraulic braking system, electronic parking brake system and motor controller to perform corresponding actions so that the autonomous vehicle enters the driving state that needs to be entered.

[0011] Thirdly, embodiments of this disclosure also provide an electronic device, the electronic device comprising: one or more processors; a storage device for storing one or more programs; and when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the driving control method as described above.

[0012] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the driving control method as described above.

[0013] This disclosure provides a vehicle control method that determines the current driving state that an autonomous vehicle needs to enter based on road conditions. The current driving state includes any one of the following: hill start, hill stop, and prolonged heavy-load hill parking, where the prolonged period is longer than a preset time. At least two of the following systems—an electro-hydraulic braking system, an electronic parking brake system, and a motor controller—are controlled to perform corresponding actions to enable the autonomous vehicle to enter the current driving state. This technical solution, considering actual road conditions and the autonomous vehicle's load, employs different braking systems in coordination for different driving states, overcoming the problems of vehicle slippage and actuator damage caused by using a single braking system. This improves the safety and stability of the autonomous vehicle during uphill and downhill driving. Attached Figure Description

[0014] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0015] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present disclosure;

[0016] Figure 2 This is a flowchart of a slope stopping control method according to an embodiment of the present disclosure;

[0017] Figure 3 This is a flowchart of a slope control method according to an embodiment of the present disclosure;

[0018] Figure 4 This is a flowchart of a long-term heavy-load slope control method in an embodiment of this disclosure;

[0019] Figure 5 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of the present disclosure;

[0020] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this disclosure. Detailed Implementation

[0021] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0022] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0023] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0024] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this disclosure. This embodiment is applicable to situations where an unmanned vehicle needs to brake according to actual conditions while driving on a slope. The method can be executed by a vehicle control device, which can be implemented in software and / or hardware, and can be configured in an electronic device. Figure 1 As shown, the method may specifically include the following steps:

[0025] S110. Based on road conditions, determine the driving state that the unmanned vehicle needs to enter. The driving state that needs to be entered includes any one of the following: hill stop, hill start, and long-term heavy-load hill parking, wherein the long time is greater than a preset time.

[0026] In this embodiment, the road conditions mainly refer to the road conditions corresponding to the slope where the autonomous vehicle is located. For example, if the autonomous vehicle is on an uphill slope, the road conditions may be that there are obstacles on the uphill slope for a short time, the obstacles on the uphill slope are removed, or the obstacles on the uphill slope are present for a long time. For another example, if the autonomous vehicle is on a downhill slope, the road conditions may be that there are no obstacles on the downhill slope.

[0027] Preferably, the driverless vehicle in this embodiment is a heavy-load driverless vehicle, meaning the load weight of the driverless vehicle exceeds a preset weight threshold. It is understood that the technical solution of this embodiment is also applicable to non-heavy-load driverless vehicles. Correspondingly, if the road condition is an uphill slope with a short-term obstacle, the driverless vehicle's current driving state can be determined as hill-stop; if the obstacle on the uphill slope is removed, the driverless vehicle's current driving state can be determined as hill start; if the obstacle on the uphill slope is present for a long time, the driverless vehicle's current driving state can be determined as long-term heavy-load hill-stop, where the long time is greater than a preset time, preferably 10 seconds; if the road condition is a downhill slope without obstacles, the driverless vehicle's current driving state can be determined as downhill.

[0028] S120, controls at least two of the following to cooperate in performing corresponding actions to enable the autonomous vehicle to enter the driving state that is currently required: the electro-hydraulic braking system, the electronic parking brake system, and the motor controller.

[0029] The driving control method in this embodiment can preferably be executed by the autonomous vehicle domain controller. Specifically, the autonomous vehicle domain controller determines the driving state that the autonomous vehicle needs to enter based on the road conditions, and then sends corresponding control commands to at least two corresponding braking systems according to the actual control requirements. The at least two corresponding braking systems cooperate with each other to perform corresponding braking operations so that the autonomous vehicle can enter the driving state that needs to be entered.

[0030] The electro-hydraulic brake system (EHB) mainly consists of a brake pedal unit, an electronic control unit, a hydraulic control unit, and a series of sensors. It can brake to a stop according to the corresponding instructions from the autonomous vehicle's domain controller. The electronic parking brake system (EPB) is an electronic brake that can brake by pulling up or releasing according to the corresponding instructions from the autonomous vehicle's domain controller. The motor control unit (MCU) can control the rotation state of the motor according to the corresponding instructions from the autonomous vehicle's domain controller.

[0031] Specifically, if the autonomous vehicle needs to enter a hill-start state, considering the potential for insufficient braking force during the release of brake fluid pressure in the electronic parking brake system, which could cause the vehicle to roll back, the autonomous vehicle domain controller can send corresponding control commands to the electro-hydraulic braking system, the electronic parking brake system, and the motor controller. This allows the electro-hydraulic braking system, the electronic parking brake system, and the motor controller to work together to prevent rolling back during the hill-start process, ensuring the autonomous vehicle smoothly enters the hill-start state. Similarly, if the autonomous vehicle needs to enter a hill-start state, considering the potential for insufficient braking force during the release of the electronic parking brake system, which could also cause the vehicle to roll back, the autonomous vehicle domain controller can send corresponding control commands to the electro-hydraulic braking system and the motor controller during the release of the electro-hydraulic braking system. This allows the electro-hydraulic braking system and the motor controller to work together to prevent rolling back during the hill-start process. Upon completion of the electro-hydraulic braking system release, a corresponding control command is sent to the motor controller to initiate the hill-start maneuver. Specifically, if the autonomous vehicle needs to enter a prolonged heavy-load hill-climbing situation, considering the demands of such a long period and the potential damage to the braking system from prolonged use of a single braking system, the autonomous vehicle domain controller can send corresponding control commands to the electro-hydraulic braking system and motor controller, or to the electro-hydraulic braking system, electronic parking brake system, and motor controller, based on the specific parking time. This ensures a smooth and safe prolonged heavy-load hill-climbing situation for the autonomous vehicle within the designated parking time. Conversely, if the autonomous vehicle needs to enter a downhill situation, considering that relying solely on the electro-hydraulic braking system can lead to sudden braking and reduced braking performance due to overheating after prolonged use, the autonomous vehicle domain controller can send corresponding control commands to the motor controller, or to the electro-hydraulic braking system and motor controller, based on the total braking torque, to ensure a smooth and safe downhill situation for the autonomous vehicle.

[0032] This embodiment provides a driving control method that determines the driving state that the autonomous vehicle needs to enter based on road conditions. The driving state includes any one of the following: hill start, hill stop, and prolonged heavy-load hill parking, where the prolonged period is longer than a preset time. At least two of the following systems—an electro-hydraulic braking system, an electronic parking brake system, and a motor controller—are controlled to perform corresponding actions to enable the autonomous vehicle to enter the desired driving state. This technical solution, considering actual road conditions and the autonomous vehicle's load, employs different braking systems in coordination for different driving states, overcoming the problems of vehicle slippage and actuator damage caused by using a single braking system. This improves the safety and stability of the autonomous vehicle during uphill and downhill driving.

[0033] Figure 2 This is a flowchart of a slope-stop control method according to an embodiment of the present disclosure. Further, based on the above embodiments, as follows... Figure 2 As shown, if the current driving state to be entered is hill stop, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, including:

[0034] S210: Control the electronic hydraulic braking system to stop the driverless vehicle;

[0035] S220. After the driverless vehicle stops, control the electronic parking brake system to engage. When the electronic parking brake system is detected to be engaging, release the electronic hydraulic braking system.

[0036] S230. During the process of engaging the electronic parking brake system, the motor controller is controlled to enter the zero-speed mode of the speed loop.

[0037] S240. When the electronic parking brake system is detected to have completed its pull-up action, the motor controller is controlled to exit the zero-speed mode.

[0038] The speed loop controls the motor speed, with its input being the difference between the reference speed and the feedback speed, enabling the motor to reach the reference speed. The reference speed is the required motor speed determined by the autonomous vehicle's domain controller based on actual needs, while the feedback speed is the current motor speed of the autonomous vehicle. In this embodiment, the motor controller is preferably a PI controller (proportional-integral controller). When the autonomous vehicle needs to enter a hill-stop state, this embodiment's technical solution comprehensively considers the possibility of insufficient braking force during the pull-up process of the electronic parking brake system due to the release of brake oil pressure in the electro-hydraulic braking system, which could cause the autonomous vehicle to roll back. By controlling the electro-hydraulic braking system, the electronic parking brake system, and the motor controller to coordinate and execute corresponding braking actions, the rollback of the autonomous vehicle during hill-stop is prevented.

[0039] For example, when the current driving state that the autonomous vehicle needs to enter is hill stop, the specific process of controlling at least two of the electro-hydraulic braking system, electronic parking brake system and motor controller to perform corresponding actions is as follows:

[0040] If the autonomous vehicle detects an obstacle on an uphill slope and determines that the obstacle is short-lived, the autonomous vehicle domain controller will activate the electro-hydraulic braking system at time t0 to bring the vehicle to a stop. During the period t0-t1, the electro-hydraulic braking system continues to brake. At time t1, after continuous braking, the vehicle speed reaches 0. At this point, the autonomous vehicle domain controller will activate the electronic parking brake and release the electro-hydraulic braking system, simultaneously controlling the motor controller to enter the zero-speed mode of the speed loop. During the period t1-t2... The electronic parking brake system remains engaged, the electro-hydraulic braking system remains disengaged, and the motor controller remains in zero-speed mode. At time t2, the electro-hydraulic braking system completes its release, the electronic parking brake system engages, and the motor controller remains in zero-speed mode. From t2 to t3, the electronic parking brake system remains engaged, and the motor controller remains in zero-speed mode. At time t3, the electronic parking brake system engages, and the autonomous vehicle domain controller exits the zero-speed mode. From t3 to t4, the electronic parking brake system remains engaged. Where t2 = t1 + 0.3s, t3 = t2 + 0.9s, and t4 = t3 + 1s.

[0041] Figure 3 This is a flowchart of a slope control method according to an embodiment of the present disclosure. Further, based on the above embodiments, as follows: Figure 3As shown, if the current driving state to be entered is a hill start, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, including:

[0042] S310. Adjust the gear of the driverless vehicle to forward gear;

[0043] S320, controls the release of the electronic parking brake system;

[0044] S330. During the release of the electronic parking brake system, the motor controller is controlled to enter the zero-speed mode of the speed loop.

[0045] S340. When the electronic parking brake system release action is detected to be completed and the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller is controlled to enter the torque loop and add a first torque on the basis of the driving torque corresponding to the zero speed mode, so as to start the autonomous vehicle.

[0046] The torque loop controls the torque of the motor's power output shaft, allowing for precise torque output control. The zero-speed mode corresponds to the drive torque when the autonomous vehicle's wheels rotate at 0 speed. The autonomous vehicle's starting speed is provided by the throttle; as the throttle is pressed down during startup, the starting speed increases. The preset speed is the speed at which the vehicle avoids rolling back when the motor controller exits zero-speed mode; preferably, the preset speed is 0.3 m / s. The first torque is the torque required to increase the autonomous vehicle's speed from 0 to a starting speed greater than the preset speed, based on the zero-speed mode drive torque. The first torque is determined by the autonomous vehicle's domain controller based on different slopes and load changes; that is, the first torque required to increase the vehicle's speed from 0 to the starting speed varies for different slopes and / or different loads. When the autonomous vehicle needs to enter a hill start mode, the technical solution of this embodiment comprehensively considers the possibility of insufficient braking force during the release of the electronic parking brake system, which could cause the autonomous vehicle to roll back. During the release of the electronic hydraulic brake system, the autonomous vehicle domain controller sends corresponding control commands to both the electronic hydraulic brake system and the motor controller, enabling them to work together to prevent rollback during the hill start. Simultaneously, upon completion of the release of the electronic hydraulic brake system, a corresponding control command is sent to the motor controller, allowing the autonomous vehicle to smoothly enter the hill start mode.

[0047] For example, when the current driving state that the autonomous vehicle needs to enter is a hill start, the specific process of controlling at least two of the electro-hydraulic braking system, electronic parking brake system and motor controller to perform corresponding actions is as follows:

[0048] When the autonomous vehicle detects that an obstacle on the uphill slope has been removed, the autonomous vehicle domain controller adjusts the vehicle's gear to forward at time t5, simultaneously releasing the electronic parking brake and controlling the motor controller to enter the zero-speed mode of the speed loop. From t5 to t6, the electronic parking brake continues to release, and the motor controller remains in zero-speed mode. At time t6, the electronic parking brake release is complete, the autonomous vehicle domain controller sets the desired speed to be greater than 0, and the motor controller remains in zero-speed mode. From t6 to t7, the autonomous vehicle domain controller controls the motor controller to enter the torque loop, slowly increasing the torque based on the drive torque corresponding to the zero-speed mode until the increased torque reaches the first torque, so that the vehicle speed gradually changes to the desired speed, completing the autonomous vehicle start-up. At time t7, the vehicle speed changes to the desired speed, completing the autonomous vehicle start-up. Where t6 = t5 + 1s, t7 = t6 + 1s.

[0049] Figure 4 This is a flowchart of a long-term heavy-load slope control method according to an embodiment of this disclosure. Based on the above embodiments, further, as follows... Figure 4 As shown, if the current driving state to be entered is long-term heavy-load hill-climbing, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, including:

[0050] S410: Control the electro-hydraulic braking system to stop the driverless vehicle;

[0051] S420: Adjust the gear of the driverless vehicle to forward gear, control the motor controller to enter the zero speed mode of the speed loop, and release the electro-hydraulic braking system at the same time.

[0052] S430: If it is detected that the driverless vehicle can drive normally within the first preset time, and the starting speed of the driverless vehicle is detected to be greater than the preset speed, the motor controller is controlled to enter the torque loop, and a second torque is added on the basis of the driving torque corresponding to the zero speed mode, so as to enable the driverless vehicle to start.

[0053] The technical solution of this embodiment uses an electro-hydraulic braking system and a motor controller to brake the unmanned vehicle within a first preset time, thus avoiding the problem of performance damage to the corresponding braking system caused by using a single braking system, and also avoiding the risk of the vehicle rolling away.

[0054] In this embodiment, the first preset time can be provided by the autonomous vehicle supplier or determined based on the phenomena and effects observed during the user's actual operation. Preferably, the first preset time is 10 seconds. The second torque is the torque required to change the speed of the autonomous vehicle from 0 to a starting speed greater than the preset speed, based on the driving torque corresponding to the zero-speed mode. The second torque is determined by the autonomous vehicle domain controller according to different slopes and load changes. That is, for different slopes and / or different loads, the corresponding second torque is different when the speed of the autonomous vehicle changes from 0 to a starting speed greater than the preset speed.

[0055] Based on the above embodiments, further, such as Figure 4 As shown, if the current driving state to be entered is long-term heavy-load hill-climbing, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, and the system will also include:

[0056] S440. If it is detected that the driverless vehicle cannot drive normally within the first preset time, the electronic hydraulic braking system is activated to brake, and the motor controller is controlled to exit the zero speed mode.

[0057] S450. If it is detected that the driverless vehicle can drive normally within the second preset time, and the starting speed of the driverless vehicle is less than or equal to the preset speed, the motor controller is controlled to enter the zero speed mode of the speed loop, and the electronic hydraulic braking system is released at the same time. The second preset time is greater than the first preset time.

[0058] S460: When the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller is controlled to enter the torque loop and add a third torque on the basis of the driving torque corresponding to the zero speed mode, so as to enable the autonomous vehicle to start.

[0059] The second preset time can be provided by the autonomous vehicle supplier or determined based on the user's actual operation and the observed phenomena and effects. Preferably, the second preset time is 2 minutes. The third torque is the torque required to increase the speed of the autonomous vehicle from 0 to a starting speed greater than the preset speed, based on the driving torque corresponding to the zero-speed mode. The third torque is determined by the autonomous vehicle domain controller according to different slopes and load changes. That is, for different slopes and / or different loads, the corresponding third torque is different when the speed of the autonomous vehicle increases from 0 to a starting speed greater than the preset speed.

[0060] The technical solution of this embodiment uses the electro-hydraulic braking system, the motor controller, the electro-hydraulic braking system, and the motor controller to brake the unmanned vehicle in sequence within a second preset time, which avoids the problem of damage to the performance of the corresponding braking system caused by using a single braking system, and also avoids the risk of the vehicle rolling back.

[0061] Based on the above embodiments, further, such as Figure 4 As shown, if the current driving state to be entered is long-term heavy-load hill-climbing, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, and the system will also include:

[0062] S470. If it is detected that the driverless vehicle cannot drive normally within the second preset time, the gear of the driverless vehicle will be adjusted to the parking gear, the electronic parking brake system will be pulled up, and the braking pressure of the electronic hydraulic braking system will be adjusted to the preset pressure to assist the electronic parking brake system in parking.

[0063] S480. If the autonomous vehicle is detected to be able to drive normally within the third preset time, the gear of the autonomous vehicle is adjusted to forward gear. When the starting speed of the autonomous vehicle is detected to be less than or equal to the preset speed, the motor controller is controlled to enter the zero speed mode of the speed loop, and the electro-hydraulic braking system and the electronic parking brake system are released at the same time. When the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller is controlled to enter the torque loop, and a fourth torque is added on the basis of the driving torque corresponding to the zero speed mode to enable the autonomous vehicle to start. The third preset time is greater than the second preset time.

[0064] S490. If the driverless vehicle is detected to be unable to drive normally within the third preset time, a fault code will be sent to the cloud.

[0065] The technical solution of this embodiment uses an electro-hydraulic braking system, a motor controller, an electro-hydraulic braking system, an electro-hydraulic braking system, and an electronic parking brake system in sequence within a third preset time to brake the unmanned vehicle, thereby avoiding the problem of performance damage to the corresponding braking system caused by using a single braking system, and also avoiding the risk of the vehicle rolling away.

[0066] The third preset time can be provided by the autonomous vehicle supplier or determined based on the user's actual operation and the observed phenomena and effects. Preferably, the third preset time is 7 minutes. The fourth torque is the torque required to increase the speed of the autonomous vehicle from 0 to a starting speed greater than the preset speed, based on the driving torque corresponding to the zero-speed mode. The fourth torque is determined by the autonomous vehicle domain controller according to different slopes and load changes. That is, for different slopes and / or different loads, the corresponding fourth torque is different when the speed of the autonomous vehicle increases from 0 to a starting speed greater than the preset speed.

[0067] Preferably, if the autonomous vehicle still cannot drive normally within the third preset time, the autonomous vehicle domain controller will send a fault code to the cloud, and notify relevant personnel through the cloud that the vehicle is at risk of slipping, prompting them to check the fault.

[0068] Based on the above embodiments, further, if the current driving state to be entered also includes downhill, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, including:

[0069] The total braking torque required by an autonomous vehicle when descending a slope is calculated using proportional-integral-derivative control.

[0070] If the total braking torque is less than or equal to the maximum torque that the motor controller torque loop can provide, then the motor controller torque loop is used to brake downhill.

[0071] If the total braking torque is greater than the maximum torque that the motor controller torque loop can provide, then the motor controller torque loop braking and electro-hydraulic braking system are used to brake downhill.

[0072] Considering that relying solely on the electro-hydraulic braking system during downhill driving can lead to sudden braking and, with prolonged use, reduced braking performance due to overheating, reducing its use during downhill driving is a direct and effective way to improve the safety of autonomous vehicles. Therefore, this embodiment's technical solution, depending on the total braking torque, uses either the motor controller alone or a combination of the electro-hydraulic braking system and the motor controller during downhill driving. This allows the autonomous vehicle to maintain a constant low speed during downhill driving, preventing wheel lock-up and ensuring stability and comfort.

[0073] Figure 5 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of this disclosure. Figure 5As shown: The device includes: a subsequent driving status determination module 510 and a driving control module 520, wherein:

[0074] The subsequent driving status determination module 510 is used to determine the driving status that the unmanned vehicle needs to enter based on the road conditions. The driving status that needs to be entered includes any one of the following: hill stop, hill start, and long-term hill stand, wherein the long time is greater than a preset time.

[0075] The driving control module 520 is used to control at least two of the electro-hydraulic braking system, electronic parking brake system and motor controller to perform corresponding actions so that the driverless vehicle enters the driving state that needs to be entered.

[0076] This embodiment provides a driving control device that utilizes a subsequent driving state determination module to determine the driving state that the autonomous vehicle needs to enter based on road conditions. The driving state to be entered includes any one of the following: hill start, hill stop, and prolonged heavy-load hill parking, where the prolonged period is longer than a preset time. The driving control module controls at least two of the following: an electro-hydraulic braking system, an electronic parking brake system, and a motor controller to perform corresponding actions, thereby enabling the autonomous vehicle to enter the required driving state. This technical solution, considering actual road conditions and the autonomous vehicle's load, employs different braking systems in coordination for different driving states, overcoming the problems of vehicle slippage and actuator damage caused by using a single braking system, thus improving the safety and stability of the autonomous vehicle during uphill and downhill driving.

[0077] Based on the above technical solutions, the driving control module 520 may further include a hill-start assist control unit. Specifically, if the current driving state to be entered is hill-start assist, it can control the electro-hydraulic braking system to brake and stop the driverless vehicle; after the driverless vehicle stops, it controls the electronic parking brake system to engage; when the electronic parking brake system is detected to be engaging, it releases the electro-hydraulic braking system; during the engagement of the electronic parking brake system, it controls the motor controller to enter the zero-speed mode of the speed loop; when the engagement of the electronic parking brake system is detected to be complete, it controls the motor controller to exit the zero-speed mode.

[0078] Based on the above technical solutions, the driving control module 520 may further include a hill start control unit, which can be used for:

[0079] If the current driving state to be entered is hill start, the gear of the autonomous vehicle will be adjusted to forward; the electronic parking brake system will be released; during the release of the electronic parking brake system, the motor controller will be controlled to enter the zero speed mode of the speed loop; when the release of the electronic parking brake system is detected and the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller will be controlled to enter the torque loop, and a first torque will be added on the basis of the driving torque corresponding to the zero speed mode to enable the autonomous vehicle to start.

[0080] Based on the above technical solutions, the driving control module 520 may further include a long-term heavy-load hill-climbing control unit, which can be used for:

[0081] If the current driving state to be entered is a long-term heavy-load hill-climbing situation, the electro-hydraulic braking system is controlled to brake and stop the autonomous vehicle; the gear of the autonomous vehicle is adjusted to forward gear, the motor controller is controlled to enter the zero-speed mode of the speed loop, and the electro-hydraulic braking system is released; if it is detected that the autonomous vehicle can drive normally within the first preset time, and the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller is controlled to enter the torque loop, and a second torque is added on the basis of the driving torque corresponding to the zero-speed mode, so as to start the autonomous vehicle.

[0082] Based on the above technical solutions, the long-term heavy-load parking slope control unit can also be used for:

[0083] If the driverless vehicle is found to be unable to drive normally within the first preset time, the electronic hydraulic braking system will be activated to brake, and the motor controller will be controlled to exit the zero speed mode.

[0084] If it is detected that the driverless vehicle can drive normally within the second preset time, and the starting speed of the driverless vehicle is less than or equal to the preset speed, the motor controller is controlled to enter the zero speed mode of the speed loop, and the electro-hydraulic braking system is released at the same time. The second preset time is longer than the first preset time.

[0085] When the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller enters the torque loop and adds a third torque on the basis of the driving torque corresponding to the zero speed mode, so as to enable the autonomous vehicle to start.

[0086] Based on the above technical solutions, the long-term heavy-load parking slope control unit can also be used for:

[0087] If the driverless vehicle is found to be unable to drive normally within the second preset time, the gear of the driverless vehicle will be adjusted to the parking gear, the electronic parking brake system will be pulled up, and the braking pressure of the electronic hydraulic braking system will be adjusted to the preset pressure to assist the electronic parking brake system in parking.

[0088] If the autonomous vehicle is detected to be able to drive normally within the third preset time, the gear of the autonomous vehicle will be adjusted to forward gear. When the starting speed of the autonomous vehicle is detected to be less than or equal to the preset speed, the motor controller will be controlled to enter the zero speed mode of the speed loop, and the electro-hydraulic braking system and the electronic parking brake system will be released at the same time. When the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller will be controlled to enter the torque loop, and a fourth torque will be added on the basis of the driving torque corresponding to the zero speed mode to enable the autonomous vehicle to start. The third preset time is greater than the second preset time.

[0089] If the driverless vehicle is detected to be unable to drive normally within the third preset time, a fault code will be sent to the cloud.

[0090] Based on the above technical solutions, furthermore, if the current driving state to be entered also includes downhill, then the driving control module 520 may also include a downhill control unit, which can be used for:

[0091] The total braking torque required by an autonomous vehicle when descending a slope is calculated using proportional-integral-derivative control.

[0092] If the total braking torque is less than or equal to the maximum torque that the motor controller torque loop can provide, then the motor controller torque loop is used to brake downhill.

[0093] If the total braking torque is greater than the maximum torque that the motor controller torque loop can provide, then the motor controller torque loop braking and electro-hydraulic braking system are used to brake downhill.

[0094] The driving control device provided in this embodiment can execute the steps in the driving control method provided in this embodiment, and has the execution steps and beneficial effects, which will not be repeated here.

[0095] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this disclosure. See below for details. Figure 6 It shows a schematic diagram of a structure suitable for implementing the electronic device 500 in the embodiments of this disclosure. Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0096] like Figure 6As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 501, which can perform various appropriate actions and processes to implement the methods of the embodiments described herein, based on a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of the electronic device 500. The processing device 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0097] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowcharts, thereby implementing the vehicle control method as described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, it performs the functions defined in the methods of embodiments of this disclosure.

[0098] It should be noted that the computer-readable storage medium described in this disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable storage medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0099] The aforementioned computer-readable storage medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: determine, based on road conditions, the driving state that the autonomous vehicle needs to enter, wherein the driving state to be entered includes any of the states of hill stop, hill start, and long-term heavy-load hill parking, wherein the long-term duration is greater than a preset time; and control at least two of the electro-hydraulic braking system, electronic parking brake system, and motor controller to cooperate in performing corresponding actions to enable the autonomous vehicle to enter the driving state that needs to be entered.

[0100] Optionally, when one or more of the above-described procedures are executed by the electronic device, the electronic device may also perform other steps described in the above embodiments.

[0101] In the context of this disclosure, a computer-readable storage medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be a machine-readable signal medium or a machine-readable storage medium. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0102] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A vehicle control method, characterized in that, The method includes: Based on road conditions, determine the current driving state that the autonomous vehicle needs to enter. The current driving state that needs to be entered includes any one of the following states: hill stop, hill start, and long-term heavy-load hill parking, wherein the long time is longer than a preset time. Control at least two of the electro-hydraulic braking system, electronic parking brake system and motor controller to perform corresponding actions so that the driverless vehicle enters the driving state that needs to be entered; If the current required driving state is hill stop, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, including: Control the electro-hydraulic braking system to bring the driverless vehicle to a stop; After the driverless vehicle stops, the electronic parking brake system is engaged. When the electronic parking brake system is detected to be engaged, the electronic hydraulic brake system is released. During the process of engaging the electronic parking brake system, the motor controller enters the zero-speed mode of the speed loop; When the electronic parking brake system is detected to have completed its pull-up action, the motor controller exits the zero-speed mode.

2. The method according to claim 1, characterized in that, If the current driving state to be entered is a hill start, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller shall cooperate to perform corresponding actions, including: Adjust the gear of the driverless vehicle to forward; Control the release of the electronic parking brake system; During the release of the electronic parking brake system, the motor controller enters the zero-speed mode of the speed loop; When the electronic parking brake system release action is detected to be completed and the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller is controlled to enter the torque loop, and a first torque is added on the basis of the driving torque corresponding to the zero speed mode to enable the autonomous vehicle to start.

3. The method according to claim 1, characterized in that, If the current required driving state is prolonged heavy-load hill-climbing, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller will cooperate to perform corresponding actions, including: Control the electro-hydraulic braking system to bring the driverless vehicle to a stop; The driverless vehicle is shifted to forward gear, the motor controller is controlled to enter the zero-speed mode of the speed loop, and the electro-hydraulic braking system is released. If the autonomous vehicle is detected to be able to drive normally within the first preset time, and the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller is controlled to enter the torque loop, and a second torque is added on the basis of the driving torque corresponding to the zero speed mode, so as to enable the autonomous vehicle to start.

4. The method according to claim 3, characterized in that, If the current required driving state is prolonged heavy-load hill-climbing, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller shall cooperate to perform corresponding actions, and the system shall also include: If the driverless vehicle is found to be unable to drive normally within the first preset time, the electronic hydraulic braking system will be activated to brake, and the motor controller will be controlled to exit the zero speed mode. If it is detected that the driverless vehicle can drive normally within the second preset time, and the starting speed of the driverless vehicle is less than or equal to the preset speed, the motor controller is controlled to enter the zero speed mode of the speed loop, and the electro-hydraulic braking system is released at the same time. The second preset time is longer than the first preset time. When the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller enters the torque loop and adds a third torque on the basis of the driving torque corresponding to the zero speed mode, so as to enable the autonomous vehicle to start.

5. The method according to claim 4, characterized in that, If the current required driving state is prolonged heavy-load hill-climbing, then at least two of the control electro-hydraulic braking system, electronic parking brake system, and motor controller shall cooperate to perform corresponding actions, and the system shall also include: If the driverless vehicle is found to be unable to drive normally within the second preset time, the gear of the driverless vehicle will be adjusted to the parking gear, the electronic parking brake system will be pulled up, and the braking pressure of the electronic hydraulic braking system will be adjusted to the preset pressure to assist the electronic parking brake system in parking. If the autonomous vehicle is detected to be able to drive normally within the third preset time, the gear of the autonomous vehicle will be adjusted to forward gear. When the starting speed of the autonomous vehicle is detected to be less than or equal to the preset speed, the motor controller will be controlled to enter the zero speed mode of the speed loop, and the electro-hydraulic braking system and the electronic parking brake system will be released at the same time. When the starting speed of the autonomous vehicle is detected to be greater than the preset speed, the motor controller will be controlled to enter the torque loop, and a fourth torque will be added on the basis of the driving torque corresponding to the zero speed mode to enable the autonomous vehicle to start. The third preset time is greater than the second preset time. If the driverless vehicle is detected to be unable to drive normally within the third preset time, a fault code will be sent to the cloud.

6. The method according to claim 1, characterized in that, The current driving state to be entered also includes downhill driving. In this case, at least two of the control systems—the electro-hydraulic braking system, the electronic parking brake system, and the motor controller—will coordinate to perform corresponding actions, including: The total braking torque required by an autonomous vehicle when descending a slope is calculated using proportional-integral-derivative control. If the total braking torque is less than or equal to the maximum torque that the motor controller torque loop can provide, then the motor controller torque loop is used to brake downhill. If the total braking torque is greater than the maximum torque that the motor controller torque loop can provide, then the motor controller torque loop braking and electro-hydraulic braking system are used to brake downhill.

7. A vehicle control device, characterized in that, include: The subsequent driving status determination module is used to determine the driving status that the autonomous vehicle needs to enter based on road conditions. The driving status that needs to be entered includes any one of the following: hill stop, hill start, and long-term hill parking, wherein the long time is greater than a preset time. The driving control module is used to control at least two of the electro-hydraulic braking system, electronic parking brake system, and motor controller to cooperate in performing corresponding actions to enable the autonomous vehicle to enter the required driving state; if the required driving state is hill stop, then... The system controls the electro-hydraulic braking system to stop the autonomous vehicle; after the autonomous vehicle stops, the system controls the electronic parking brake system to engage; when the electronic parking brake system is detected to be engaging, the system releases the electro-hydraulic braking system; during the engagement of the electronic parking brake system, the system controls the motor controller to enter the zero-speed mode of the speed loop; when the engagement of the electronic parking brake system is detected to be complete, the system controls the motor controller to exit the zero-speed mode.

8. An electronic device, characterized in that, The electronic device includes: Electro-hydraulic braking system, electronic parking brake system, and motor controller; One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

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