A method, system, controller, vehicle, and storage medium for vehicle control

Abstract

The present application provides a method, a system, a controller, a vehicle and a storage medium for vehicle control. The method includes: when the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario, the main controller sends a braking request to the brake controller for the brake controller to respond to the braking request and feedback target information; after receiving the target information, the main controller effectively switches the target state to the switching function state being effective; when the switching function state is effective and both the driving state and the parking state are ineffective, the redundant controller sends a brake pressure maintaining request to the brake controller; after receiving the response information of the brake pressure maintaining request, the main controller switches the longitudinal control system of the vehicle from the current first system to the second system; when the vehicle is about to enter the driving scenario from the parking scenario, the first system is the parking system and the second system is the driving system. This method can effectively and reasonably switch the longitudinal control system and ensure the switching safety.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a method, a system, a controller, a vehicle, and a storage medium for vehicle control in the field of vehicles. Background Art

[0002] With the development of the automotive industry, automobiles are increasingly involved in our daily life and work. Facing various scenarios and requirements, vehicle intelligent services are becoming increasingly important highlights and selling points of automobiles. Among them, intelligent driving is an intelligent function service for serving users.

[0003] Currently, there are differences in the longitudinal control of vehicles for driving scenarios and parking scenarios. The parking scenario mainly involves small spaces. Compared with the parking scenario, the driving scenario mainly involves relatively open sections. This results in higher requirements for braking accuracy in the parking scenario, while higher requirements for the braking response speed in the driving scenario. The demand differences in the two different scenarios lead to differences in the corresponding longitudinal control systems in the two scenarios. Therefore, how to effectively and reasonably switch the longitudinal control system without affecting safety has become an urgent problem to be solved. Summary of the Invention

[0004] The present application provides a method, a system, a controller, a vehicle, and a storage medium for vehicle control. The method can effectively and reasonably switch the longitudinal control system and ensure the safety of the switch.

[0005] In a first aspect, a method for vehicle control is provided. The states of the vehicle include a driving state, a parking state, and a switching function state. The method is applied to a controller, and the controller includes a main controller and a redundant controller. The method includes: when it is determined that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario, the main controller sends a braking request to the braking controller of the vehicle for the braking controller to respond to the braking request and feedback target information; wherein the target information is used to indicate that the vehicle speed is less than a preset speed; after the main controller receives the target information feedback by the braking controller, the target state is effectively switched to the switching function state being effective; wherein when the vehicle is about to enter the driving scenario from the parking scenario, the target state is the parking state, and when the vehicle is about to enter the parking scenario from the driving scenario, the target state is the driving state, and the target information is used to indicate that the vehicle speed is less than a preset speed; when the switching function state is effective and both the driving state and the parking state are ineffective, the redundant controller sends a braking pressure maintaining request to the braking controller; after the main controller receives the response information of the braking pressure maintaining request, the longitudinal control system of the vehicle is switched from the current first system to the second system; wherein when the vehicle is about to enter the driving scenario from the parking scenario, the first system is the parking system and the second system is the driving system, and when the vehicle is about to enter the parking scenario from the driving scenario, the first system is the driving system and the second system is the parking system.

[0006] In the above technical solution, the main controller and the redundant controller cooperate to switch the longitudinal control system. The switching process involves the parking state, the driving state, and the switching function state. The main controller is responsible for sending a braking request to the brake controller when the vehicle is about to enter the driving scenario from the parking scenario or when the vehicle is about to enter the parking scenario from the driving scenario, so that the brake controller decelerates and stops the vehicle. After the main controller receives the target information fed back by the brake controller, which indicates that the vehicle speed is less than the preset speed, it switches the driving state validity or the parking state validity to the switching function state validity. That is to say, the main controller performs the state switching when the vehicle is in a low-speed or stationary state, which is beneficial to ensuring the safety of the state switching. The redundant controller is responsible for sending a brake pressure holding request to the brake controller under specific conditions, that is, when the switching function state is valid and both the driving state and the parking state are invalid. After the main controller receives the response information of the brake pressure holding request, it switches the longitudinal control system of the vehicle from the parking system to the driving system or from the driving system to the parking system. When the main controller receives the response information of the brake pressure holding request, it indicates that the vehicle is in a low-speed or stationary pressure holding state. At this time, switching the longitudinal control system is safer. At the same time, the longitudinal control system is switched when the vehicle is about to enter the driving scenario from the parking scenario or when the vehicle is about to enter the parking scenario from the driving scenario, which can adapt to the change of the scenario, so as to better control the vehicle in the driving scenario and the parking scenario to meet the control requirements in the driving scenario and the parking scenario. Therefore, the above technical solution can effectively and reasonably switch the longitudinal control system and ensure the switching safety.

[0007] Combined with the first aspect, in some possible implementation manners, the brake controller includes a main brake controller and a redundant brake controller; the main controller sending the braking request to the brake controller of the vehicle includes: the main controller sending the braking request to the main brake controller; the redundant controller sending the brake pressure holding request to the brake controller includes: the redundant controller sending the brake pressure holding request to the redundant brake controller.

[0008] In the above technical solution, through this redundant control solution, during the switching process of the longitudinal control system, it does not affect the normal control function of the main controller for the vehicle. The main controller, the redundant controller, the main brake controller, and the redundant brake controller can all perform their respective duties, cooperate with each other without interfering with each other, which is beneficial to safely and reliably complete the switching of the longitudinal control system.

[0009] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: the main controller determines whether each of the current states is valid, and sends notification information indicating whether each of the states is valid to the main brake controller and the redundant brake controller, so as to control the request response logic of the main brake controller and the redundant brake controller; wherein, when the switching function state is valid and both the driving state and the parking state are invalid, the request response logic is: the redundant brake controller responds to requests from the redundant controller; when the driving state is valid or the parking state is valid, the request response logic is: the main brake controller responds to requests from the main controller.

[0010] Combined with the first aspect and the above implementation manners, in some possible implementation manners, after switching the longitudinal control system of the vehicle from the current first system to the second system, it further includes: the main controller sends a brake pressure maintaining request to the brake controller through the second system, and after determining that the pressure maintaining is completed, performs departure control and acceleration / deceleration control of the vehicle through the second system. Alternatively, after switching the longitudinal control system of the vehicle from the current first system to the second system, it further includes: the main controller synchronizes the message that the longitudinal control system of the vehicle is switched from the current first system to the second system to the brake controller.

[0011] In the above technical solution, after the longitudinal control system switching is completed, a brake pressure maintaining request is first sent to the brake controller, so that the brake controller can keep the vehicle in a stationary state and avoid vehicle rollback. Then, departure control and acceleration / deceleration control of the vehicle are performed through the second system, which helps to avoid sudden acceleration or deceleration of the vehicle and improve vehicle safety.

[0012] In the above technical solution, by synchronizing the message that the longitudinal control system of the vehicle is switched from the current first system to the second system to the brake controller, information synchronization between the main controller and the brake controller is achieved. When the brake controller needs to call the longitudinal control system, it can be consistent with the main controller, that is, the main controller and the brake controller will call the same longitudinal control system, thereby making the control effect on the vehicle better.

[0013] Combined with the first aspect and the above implementation manners, in some possible implementation manners, when the current valid states are the switching function state and the driving state, or the switching function state and the parking state, when a request needs to be sent to the brake controller, the request is sent through the main controller.

[0014] In the above technical solution, considering that during the change process of state validity, there may be a situation where the parking state or the driving state is also valid while the switching function state is valid. Therefore, a priority is set when there are two valid states simultaneously, that is, the parking state or the driving state is prioritized. The brake controller responds to the request sent by the main controller, so as to adapt to the actual scenario of the vehicle.

[0015] Combined with the first aspect and the above implementation manner, in some possible implementation manners, determining that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario includes: obtaining identification information in the scenario where the vehicle is located and / or the current position of the vehicle; determining the current scenario where the vehicle is located and the scenario that the vehicle is about to enter according to the identification information and / or the current position of the vehicle; determining that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario according to the current scenario where the vehicle is located and the scenario that the vehicle is about to enter.

[0016] In a second aspect, a vehicle control system is provided, including: a main controller, a redundant controller, and a brake controller; the main controller: is configured to send a braking request to the brake controller when it is determined that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario; the brake controller: is configured to respond to the braking request and feedback target information; wherein, the target information is used to represent that the vehicle speed is less than a preset speed; the main controller: is further configured to switch the target state validity to the switching function state validity after receiving the target information fed back by the brake controller; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the target state is the parking state, and when the vehicle is about to enter the parking scenario from the driving scenario, the target state is the driving state; the redundant controller: is configured to send a brake pressure maintaining request to the brake controller when the switching function state is valid and both the driving state and the parking state are invalid; the brake controller: is further configured to respond to the brake pressure maintaining request and feedback the response information of the brake pressure maintaining request; the main controller: is further configured to switch the longitudinal control system of the vehicle from the current first system to the second system after receiving the response information of the brake pressure maintaining request; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the first system is the parking system and the second system is the driving system, and when the vehicle is about to enter the parking scenario from the driving scenario, the first system is the driving system and the second system is the parking system.

[0017] In combination with the second aspect, in some possible implementation manners, the braking controller includes a main braking controller and a redundant braking controller; the main controller: specifically configured to send the braking request to the main braking controller; the redundant controller: specifically configured to send the braking pressure maintaining request to the redundant braking controller.

[0018] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the main controller: is further configured to determine whether each of the current states is valid, and send notification information indicating whether each of the states is valid to the main braking controller and the redundant braking controller, so as to control the request response logic of the main braking controller and the redundant braking controller; wherein, when the switching function state is valid and both the driving state and the parking state are invalid, the request response logic is: the redundant braking controller responds to the request from the redundant controller; when the driving state is valid or the parking state is valid, the request response logic is: the main braking controller responds to the request from the main controller.

[0019] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the main controller: is further configured to, after switching the longitudinal control system of the vehicle from the current first system to the second system, send a braking pressure maintaining request to the braking controller through the second system, and after determining that the pressure maintaining is completed, perform departure control and acceleration / deceleration control of the vehicle through the second system. Or, the main controller: is further configured to, after switching the longitudinal control system of the vehicle from the current first system to the second system, synchronize the message that the longitudinal control system of the vehicle is switched from the current first system to the second system to the braking controller.

[0020] In combination with the second aspect and the above implementation manners, in some possible implementation manners, when the currently valid state is the switching function state and the driving state, or the switching function state and the parking state, the main controller: is further configured to: when it is necessary to send a request to the braking controller, send the request through the main controller.

[0021] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the main controller: is further configured to obtain identification information in the scene where the vehicle is located and / or the current position of the vehicle; determine the current scene where the vehicle is located and the scene that the vehicle is about to enter according to the identification information and / or the current position of the vehicle; determine that the vehicle is about to enter the driving scene from the parking scene or the vehicle is about to enter the parking scene from the driving scene according to the current scene where the vehicle is located and the scene that the vehicle is about to enter.

[0022] In a third aspect, a controller is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the controller executes the method in the above first aspect or any possible implementation manner of the first aspect.

[0023] In a fourth aspect, a vehicle is provided, including the controller in the third aspect.

[0024] In a fifth aspect, a computer program product is provided, which includes: computer program code, when the computer program code runs on a computer, it causes the computer to execute the method in the above first aspect or any possible implementation manner of the first aspect.

[0025] In a sixth aspect, a computer-readable storage medium is provided, which stores computer program code, when the computer program code runs on a computer, it causes the computer to execute the method in the above first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0026] Figure 1 It is a schematic diagram of the longitudinal interface in the driving scenario provided by the embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the longitudinal interface in the parking scenario provided by the embodiment of the present application;

[0028] Figure 3 It is a schematic diagram of the controller provided by the embodiment of the present application;

[0029] Figure 4 It is a schematic flowchart of the method for vehicle control provided by the embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of a vehicle control system provided by the embodiment of the present application;

[0031] Figure 6 It is a schematic diagram of another vehicle control system provided by the embodiment of the present application;

[0032] Figure 7 It is a schematic structural diagram of the controller provided by the embodiment of the present application;

[0033] Figure 8 It is a schematic structural diagram of a vehicle provided by the embodiment of the present application. Detailed Embodiments

[0034] The technical solutions in the present application will be clearly and elaborately described below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0035] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0036] With the continuous development of intelligent driving technology, the core and focus of the subsequent development of intelligent driving technology may be the integration of parking scenarios and driving scenarios. For example, when a user drives from a parking lot in City A to a parking lot in City B, the intermediate scenarios involve parking lots, urban roads, and highway roads. This involves full-scenario assisted driving in intelligent driving. Among them, the driving scenario is usually a high-speed driving scenario, and the parking scenario is usually a low-speed parking scenario.

[0037] Currently, in the driving scenario and the parking scenario, the longitudinal interfaces or control links for vehicles are different. Among them, the longitudinal interface can be understood as a software system for vehicle acceleration and deceleration control. Therefore, the longitudinal interface can also be called the longitudinal control system. Exemplarily, referring to Figure 1 and Figure 2 , the intelligent driving controller can control the driving planning system, the driving perception system, the parking perception system, and the parking planning system. The driving perception system and the parking perception system are used to perceive the external environment information to determine whether the current scenario is a driving scenario or a parking scenario. The driving planning system is used for vehicle control in the driving scenario, and the parking planning system is used for vehicle control in the parking scenario.

[0038] The longitudinal interfaces in the driving scenario and the parking scenario will be introduced separately below:

[0039] Exemplarily, as Figure 1As shown in the figure, the longitudinal interface in the driving scenario is as follows: The intelligent driving controller sends an acceleration request and a parking gear request to the power controller through the driving planning system, and sends a deceleration request to the braking controller to control the braking controller to decelerate. The positive torque is carried in the above acceleration request, and the positive torque is used to indicate the degree of acceleration. The parking gear request is used to indicate whether to accelerate forward or backward. The deceleration can be carried in the deceleration request, and the deceleration can be the speed at which the vehicle is expected to decelerate. The Electrical Park Brake (EPB) request is used to control the parking brake through an electronic circuit.

[0040] Exemplarily, as Figure 2 shown in the figure, the longitudinal interface in the parking scenario is as follows: The intelligent driving controller sends a target acceleration / deceleration, a parking gear request, and an EPB request to the braking controller through the parking planning system, and the braking controller controls by converting the target acceleration / deceleration into a driving torque and a braking force. The driving torque can be understood as the positive torque carried in the acceleration request.

[0041] The differences between the above two longitudinal interfaces mainly come from the differences between the driving scenario and the parking scenario. The parking scenario mainly involves a small space. Compared with the parking scenario, the driving scenario mainly involves relatively open sections. This results in higher requirements for braking accuracy in the parking scenario, while higher requirements for the braking response speed in the driving scenario. The demand differences in the two different scenarios lead to different corresponding longitudinal interfaces. Therefore, how to effectively and reasonably switch the longitudinal control system without affecting safety has become an urgent problem to be solved.

[0042] To solve the above technical problems, the embodiment of the present application provides a vehicle control method, which is applied to a controller, and the controller can be an intelligent driving controller in the vehicle. As Figure 3 shown in the figure, the controller 300 includes: a main controller 301 and a redundant controller 302, and the main controller 301 and the redundant controller 302 can interact through Ethernet. In this embodiment, the main controller and the redundant controller cooperate to switch the longitudinal control system, that is, this embodiment is a vehicle control method based on a dual-domain control architecture. The vehicle control method provided in the embodiment of the present application can effectively and reasonably switch the longitudinal control system and ensure the safety of the switch.

[0043] Figure 4 It is a schematic flowchart of a vehicle control method provided by an embodiment of the present application.

[0044] Exemplarily, as Figure 4 shown in the figure, the method includes:

[0045] Step 401: When it is determined that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario, the main controller sends a braking request to the braking controller of the vehicle for the braking controller to respond to the braking request and feedback target information.

[0046] Step 402: After the main controller receives the target information fed back by the braking controller, it effectively switches the target state to the effective switching function state.

[0047] Step 403: When the switching function state is effective and both the driving state and the parking state are ineffective, the redundant controller sends a braking pressure maintaining request to the braking controller.

[0048] Step 404: After the main controller receives the response information of the braking pressure maintaining request, it switches the longitudinal control system of the vehicle from the current first system to the second system.

[0049] In this embodiment, the main controller and the redundant controller cooperate to switch the longitudinal control system. The switching process involves the parking state, the driving state, and the switching function state. The main controller is responsible for sending a braking request to the braking controller when the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario, so that the braking controller decelerates and stops the vehicle. After the main controller receives the target information fed back by the braking controller, which indicates that the vehicle speed is less than the preset speed, it switches the effective driving state or the effective parking state to the effective switching function state. That is to say, the main controller performs the state switching when the vehicle is in a low-speed or stationary state, which is beneficial to ensuring the safety of the state switching. The redundant controller is responsible for sending a braking pressure maintaining request to the braking controller under specific conditions, that is, when the switching function state is effective and both the driving state and the parking state are ineffective. After the main controller receives the response information of the braking pressure maintaining request, it switches the longitudinal control system of the vehicle from the parking system to the driving system or from the driving system to the parking system. After the main controller receives the response information of the braking pressure maintaining request, it indicates that the vehicle is in a low-speed or stationary pressure maintaining state. At this time, switching the longitudinal control system is safer. At the same time, the longitudinal control system is switched when the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario, which can adapt to the change of the scenario, so as to better control the vehicle in the driving scenario and the parking scenario to meet the control requirements in the driving scenario and the parking scenario. Therefore, the above technical solution can effectively and reasonably switch the longitudinal control system and ensure the switching safety.

[0050] The implementation details of the vehicle control method in this embodiment are specifically described below. The following content is only provided for convenient understanding of the implementation details and is not necessary for implementing this solution.

[0051] In step 401, the main controller can determine the current scenario the vehicle is in and the scenario it is about to enter, so as to determine whether the vehicle is about to enter the driving scenario from the parking scenario or the parking scenario from the driving scenario. That is to say, it determines whether the vehicle is in a driving-parking switching scenario. Among them, to determine whether the current scenario the vehicle is in is a driving scenario or a parking scenario, it can be determined according to the detected current situation of the vehicle, or it can be determined by the user according to their own needs. When it is determined that the vehicle is in a driving-parking switching scenario, the main controller sends a braking request to the vehicle's braking controller so that the braking controller can stop the vehicle according to the braking request. The essence of this braking request is to control the vehicle to decelerate, so it can also be understood as a deceleration request. After the braking controller finishes performing the relevant braking operations according to the braking request, it can feedback target information to the main controller. The target information is used to indicate that the vehicle speed is less than a preset threshold. The preset threshold can be set according to actual needs, aiming to indicate that the vehicle is currently moving at a low speed or is stationary. Exemplarily, the controller sends a braking request to the braking controller through the currently running longitudinal control system. After the braking controller finishes performing the braking action, it can feedback that the vehicle is currently at a low speed or stationary through the vehicle speed, wheel speed pulse signal, etc.

[0052] In some embodiments, determining that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario includes:

[0053] First, obtain the scenario information of the scenario the vehicle is in. Exemplarily, the scenario information may include identification information in the scenario and / or the current position of the vehicle. The identification information may include one or any combination of the following: parking lot identification, road identification, speed limit identification. In a specific implementation, the identification information of the scenario the vehicle is in can be sensed by the external environment perception system in the vehicle, and the specific position where the vehicle is currently located can also be obtained through the high-precision positioning module in the vehicle.

[0054] Next, according to the identification information and / or the current position of the vehicle, determine the current scenario the vehicle is in and the scenario the vehicle is about to enter.

[0055] Exemplarily, if it is detected that the vehicle is at the entrance of a parking lot, it can be determined that the current scenario the vehicle is in is the driving scenario, and at the same time, it can be determined that the scenario the vehicle is about to enter is the parking scenario. If it is detected that the vehicle is at the exit of a parking lot, it can be determined that the current scenario the vehicle is in is the parking scenario, and at the same time, it can be determined that the scenario the vehicle is about to enter is the driving scenario.

[0056] Exemplarily, if it is determined according to road signs that the vehicle is on a national highway, provincial highway or county road, and the average speed of the vehicle within the first preset duration is less than the first preset speed threshold, it can be determined that the current scene where the vehicle is located is a driving scene, and at the same time, it can be determined that the scene the vehicle is about to enter is a parking scene. Among them, the first preset speed threshold and the first preset duration can be preset before the vehicle leaves the factory, or can be custom-set by the user according to their own needs, and no specific limitation is made here. For example, assume that the first preset speed threshold is 35 km / h and the first preset duration is 2 min. The vehicle detects that the average speed of the vehicle within 2 min is 30 km / h. Among them, the average speed of 30 km / h is less than the first preset speed threshold of 35 km / h. At this time, the vehicle can determine that the current scene where the vehicle is located is a driving scene and the scene the vehicle is about to enter is a parking scene.

[0057] Exemplarily, if a parking lot sign is detected and the detected driving direction of the vehicle is the direction of entering the parking lot, it can be determined that the current scene where the vehicle is located is a driving scene and the scene the vehicle is about to enter is a parking scene. If a parking lot sign is detected and the detected driving direction of the vehicle is the direction of leaving the parking lot, it can be determined that the current scene where the vehicle is located is a parking scene and the scene the vehicle is about to enter is a driving scene.

[0058] Then, according to the current scene where the vehicle is located and the scene the vehicle is about to enter, it is determined that the vehicle is about to enter the driving scene from the parking scene or the vehicle is about to enter the parking scene from the driving scene. For example, if the current scene where the vehicle is located is a parking scene and the scene it is about to enter is a driving scene, it is determined that the vehicle is about to enter the driving scene from the parking scene. If the current scene where the vehicle is located is a driving scene and the scene it is about to enter is a parking scene, it is determined that the vehicle is about to enter the parking scene from the driving scene.

[0059] In step 402, after the main controller receives the target information fed back by the brake controller, it can switch the current valid state from the target state to the switching function state. For example, the target state is set to invalid and the switching function state is set to valid. Among them, the target state is a parking state or a driving state. When the vehicle is about to enter the driving scene from the parking scene, the target state is the parking state. When the vehicle is about to enter the parking scene from the driving scene, the target state is the driving state.

[0060] Exemplarily, when the vehicle is currently in a parking scenario, the main controller sets the parking state to valid and the driving state to invalid. When the vehicle is currently in a driving scenario, the main controller sets the driving state to valid and the parking state to invalid. When the vehicle is about to enter the driving scenario from the parking scenario or about to enter the parking scenario from the driving scenario, the main controller sets the driving state and the parking state to invalid and sets the switching function state to valid. Among them, the switching function state can be understood as a state between the driving state and the parking state. For example, there is a transition state where the switching function state is valid between the valid driving state and the valid parking state. When the driving state is valid, it indicates that the vehicle is currently in a driving scenario, and when the parking state is valid, it indicates that the vehicle is currently in a parking scenario. When the switching function state is valid, it indicates that the vehicle is currently about to enter the driving scenario from the parking scenario or about to enter the parking scenario from the driving scenario.

[0061] In step 403, the main controller can synchronize the information on whether each state is valid to the redundant controller. Thus, when the redundant controller determines that the switching function state is valid and both the driving state and the parking state are invalid, it sends a brake pressure holding request to the brake controller. Among them, after receiving the brake pressure holding request from the redundant controller, the brake controller controls the vehicle to decelerate and keeps the vehicle stationary to prevent the vehicle from rolling. When the brake controller controls the vehicle to decelerate and keeps the vehicle stationary, it can feedback the response information of the brake pressure holding request to the main controller to indicate that the vehicle has decelerated and remained stationary. The response information of this brake pressure holding request can be understood as the handshake completion information feedback by the brake controller, which can be manifested as a flag bit in specific implementation.

[0062] Exemplarily, after the redundant controller sends a brake pressure holding request to the brake controller, the brake controller can feedback the response information of the brake pressure holding request to the redundant controller. The redundant controller can synchronize the response information of this brake pressure holding request to the main brake controller, so that the main brake controller can receive the above response information of the brake pressure holding request. Optionally, the brake controller can also directly feedback the response information of the brake pressure holding request to the main controller.

[0063] In step 404, after receiving the response information of the brake holding request, the main controller switches the longitudinal control system of the vehicle from the current first system to the second system. Among them, one of the first system and the second system is the driving system corresponding to the driving state, and the other is the parking system corresponding to the parking state. When the vehicle is about to enter the driving scenario from the parking scenario, the first system is the parking system and the second system is the driving system. When the vehicle is about to enter the parking scenario from the driving scenario, the first system is the driving system and the second system is the parking system. That is to say, when it is determined in step 401 that the vehicle is about to enter the driving scenario from the parking scenario, the current first system is the parking system. When it is determined in step 401 that the vehicle is about to enter the parking scenario from the driving scenario, the current first system is the driving system. Exemplarily, the main controller can turn off the first system and activate the second system to switch the longitudinal control system of the vehicle from the current first system to the second system.

[0064] In some embodiments, the brake controller includes: a main brake controller and a redundant brake controller. In step 401, the main controller sends a braking request to the brake controller of the vehicle, specifically: the main controller sends a braking request to the main brake controller. In step 403, the redundant controller sends a brake holding request to the brake controller, specifically: the redundant controller sends a brake holding request to the redundant brake controller.

[0065] In this embodiment, both the controller and the brake controller adopt a redundant control scheme, that is, the controller includes: a main controller and a redundant controller, and the brake controller includes a main brake controller and a redundant brake controller. The main controller interacts with the main brake controller, and the redundant controller interacts with the redundant brake controller. When the longitudinal control system needs to be switched, the redundant controller sends a brake holding request to the redundant brake controller. After the longitudinal control system is switched, the redundant controller will not send a request to the redundant brake controller, that is, the redundant controller and the redundant brake controller stop working, and the current vehicle control is realized by the main controller and the main brake controller. Through this redundant control scheme, during the switching process of the longitudinal control system, the normal control function of the main controller on the vehicle is not affected.

[0066] The main controller, the redundant controller, the main brake controller, and the redundant brake controller can all perform their respective functions, cooperate with each other and do not interfere with each other, which is conducive to safely and reliably completing the switching of the longitudinal control system.

[0067] In some embodiments, the main controller determines whether each current state is valid and sends notification information indicating whether each state is valid to the main brake controller and the redundant brake controller to control the request response logic of the main brake controller and the redundant brake controller. Among them, when the switching function state is valid and both the driving state and the parking state are invalid, the request response logic is: the redundant brake controller responds to requests from the redundant controller; when the driving state is valid or the parking state is valid, the request response logic is: the main brake controller responds to requests from the main controller. Exemplarily, the main controller can send the notification information indicating whether each current state is valid to the main brake controller and the redundant brake controller in real time. After receiving the notification information indicating whether each state is valid, the main brake controller and the redundant brake controller can determine the current request response logic. For example, when the switching function state is valid and both the driving state and the parking state are invalid, the redundant brake controller only responds to requests from the redundant controller and ignores requests from the main controller. When the driving state or the parking state is valid, the main brake controller only responds to requests from the main controller and ignores requests from the redundant controller. When the driving state or the parking state is valid and the switching function state is also valid, the main brake controller only responds to requests from the main controller and ignores requests from the redundant controller. It can be understood that whether it is the main brake controller or the redundant brake controller, the requests they respond to are essentially deceleration requests. When the vehicle is not stationary, the purpose of the deceleration request is to reduce the vehicle speed. When the vehicle has stopped, the purpose of the deceleration request is to maintain pressure, that is, to keep the vehicle stationary and prevent the vehicle from rolling.

[0068] In some embodiments, when the currently valid states are the switching function state and the driving state, or the switching function state and the parking state, when a request needs to be sent to the brake controller, the request is sent by the main controller. That is to say, when the switching function state is valid and the driving state is valid, or when the switching function state is valid and the parking state is valid, the brake controller only responds to requests from the main controller. Considering that during the change process of state validity, there may be a situation where the switching function state is valid and one of the parking state or the driving state is also valid, therefore, a priority is set when there are two valid states simultaneously, that is, the parking state being valid or the driving state being valid takes precedence, and the brake controller responds to the requests sent by the main controller, so as to adapt to the actual scenario of the vehicle. Exemplarily, when the brake controller includes a main brake controller and a redundant brake controller, the main brake controller responds to the requests sent by the main controller. For example, the main brake controller responds to the brake request, brake pressure maintenance request, etc. sent by the main controller. Among them, the brake request and the brake pressure maintenance request can both be essentially understood as deceleration requests.

[0069] In some embodiments, after step 404, the main controller sends a brake pressure maintenance request to the main brake controller through the second system, and after determining that the pressure maintenance is completed, performs vehicle departure control and acceleration / deceleration control through the second system. That is, after the safe switch between the driving system and the parking system is completed, the main controller sends a brake pressure maintenance request to the brake controller through the switched driving system or parking system. After the brake controller feeds back the message that the pressure maintenance is completed, the main controller can use the switched longitudinal control system to perform departure control and acceleration / deceleration control. The main controller can send a pressure relief request to the brake controller to achieve departure control. The main controller can send an acceleration request to the power controller according to the acceleration / deceleration requirements of the current scenario where the vehicle is located to achieve vehicle acceleration, and send a deceleration request to the brake controller to achieve vehicle deceleration.

[0070] In this embodiment, after the longitudinal control system switch is completed, first send a brake pressure maintenance request to the brake controller, so that the brake controller can keep the vehicle in a stationary state and avoid vehicle rollback. Then, perform vehicle departure control and acceleration / deceleration control through the second system, which is beneficial to avoid sudden acceleration or deceleration of the vehicle and improve vehicle safety.

[0071] Exemplarily, when the brake controller includes a main brake controller and a redundant brake controller, the main controller can send a brake pressure maintenance request to the main brake controller through the switched driving system or parking system, that is, the main controller and the main brake controller interact with each other.

[0072] In some embodiments, after step 404, the main controller synchronizes the message of switching the vehicle's longitudinal control system from the current first system to the second system to the brake controller. For example, the main controller can send the identification information of the second system to the brake controller, so that the brake controller knows the longitudinal control system currently called by the main controller to achieve information synchronization between the main controller and the brake controller. When the brake controller needs to call the longitudinal control system, it can be consistent with the main controller, that is, the main controller and the brake controller will call the same longitudinal control system, so that the control effect on the vehicle is better.

[0073] In some embodiments, the vehicle control method is implemented based on a dual-domain control architecture, and the dual-domain control architecture can be understood as a concept of redundant control. The implementation process of the vehicle control method based on the dual-domain control architecture is as follows:

[0074] The main controller uses its own environmental perception results (such as parking lot signs, road signs, speed limit signs, etc.) or the results of high-precision intelligent driving positioning to judge the specific position of the vehicle at this time and the upcoming scenario.

[0075] When the master controller determines that the preset switching conditions are met (such as near the parking lot entrance or exit, etc.), it uses the longitudinal control system for vehicle control at this time to send a braking request to the master brake controller. After receiving the braking request, the master brake controller performs a braking operation and at the same time feeds back to the master controller that the vehicle is in a stationary state through signals such as vehicle speed and wheel speed pulses. At this time, the master controller switches the state of the vehicle from the parking / driving state (effective) to the switching function state (effective). The master controller sends information on whether each state is effective to the master brake controller and the redundant brake controller.

[0076] After the master brake controller and the redundant brake controller receive the information on whether each state is effective, at this time, the redundant brake controller preferentially responds to the braking pressure holding request of the redundant controller and feeds back the handshake completion information (feeds back a flag bit information) to indicate that the redundant brake controller has performed the braking pressure holding operation and keeps the vehicle in a stationary state without rolling back.

[0077] After the master controller receives the flag bit information, it performs the switching of the longitudinal control system. Then, the master controller can synchronize the switching information of the longitudinal control system to the master brake controller, so that the master controller and the master brake controller can call the same longitudinal control system to perform longitudinal control on the vehicle. The switching of the longitudinal control system can be understood as: activating the driving system after turning off the parking system, or activating the parking system after turning off the driving system.

[0078] After the safe switching of the driving system and the parking system is completed, the master controller uses the switched longitudinal control system to send a braking pressure holding request to the master brake controller. After the pressure holding is completed, the vehicle departure control and acceleration / deceleration control are performed. That is, the master controller uses the switched longitudinal control system to perform departure and functional logic vehicle control.

[0079] In this embodiment, in the vehicle control process of integrated driving and parking, the redundant control scheme of the intelligent driving controller and the brake controller is combined, which can safely and reliably realize the adaptive switching of the longitudinal control system and complete the realization of functional requirements. Moreover, compared with the conventional P gear or EPB, the adaptive switching of the longitudinal control system does not require shifting gears or releasing the EPB when driving away, and has better link control, better timeliness, and better functional experience.

[0080] Figure 5 It is a schematic diagram of a vehicle control system provided by an embodiment of the present application.

[0081] Exemplarily, as Figure 5 shown, the system includes: a controller 500 and a brake controller 503. The controller 500 includes: a master controller 501 and a redundant controller 502.

[0082] Main controller 501: Used to send a braking request to the brake controller 503 when it is determined that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario;

[0083] Brake controller 503: Used to respond to the braking request and feedback target information; wherein, the target information is used to represent that the vehicle speed is less than a preset speed;

[0084] Main controller 501: Used to effectively switch the target state to the effective switching function state after receiving the target information feedback by the brake controller; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the target state is the parking state, and when the vehicle is about to enter the parking scenario from the driving scenario, the target state is the driving state;

[0085] Redundant controller 502: Used to send a brake pressure holding request to the brake controller 503 when the switching function state is effective and both the driving state and the parking state are invalid;

[0086] Brake controller 503: Used to respond to the brake pressure holding request and feedback the response information of the brake pressure holding request;

[0087] Main controller 501: Also used to switch the longitudinal control system of the vehicle from the current first system to the second system after receiving the response information of the brake pressure holding request; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the first system is the parking system and the second system is the driving system, and when the vehicle is about to enter the parking scenario from the driving scenario, the first system is the driving system and the second system is the parking system.

[0088] In a possible implementation manner, as Figure 6 described, the brake controller 503 includes a main brake controller 504 and a redundant brake controller 505; Main controller 501: Specifically used to send the braking request to the main brake controller 504; Redundant controller 502: Specifically used to send the brake pressure holding request to the redundant brake controller 505.

[0089] In a possible implementation, the main controller 501 is further configured to determine whether each of the current states is valid, and send notification information indicating whether each of the states is valid to the main brake controller 504 and the redundant brake controller 505, so as to control the request response logic of the main brake controller 504 and the redundant brake controller 505; wherein, when the switching function state is valid and both the driving state and the parking state are invalid, the request response logic is that the redundant brake controller 505 responds to requests from the redundant controller 502; when the driving state is valid or the parking state is valid, the request response logic is that the main brake controller 504 responds to requests from the main controller 501.

[0090] In a possible implementation, the main controller 501 is further configured to, after switching the longitudinal control system of the vehicle from the current first system to the second system, send a brake pressure maintenance request to the brake controller 503 through the second system, and after determining that the pressure maintenance is completed, perform departure control and acceleration / deceleration control of the vehicle through the second system.

[0091] In a possible implementation, when the currently valid states are the switching function state and the driving state, or the switching function state and the parking state, the main controller 501 is further configured to: when a request needs to be sent to the brake controller 503, send the request through the main controller 501.

[0092] In a possible implementation, the main controller 501 is further configured to, after switching the longitudinal control system of the vehicle from the current first system to the second system, synchronize the message of switching the longitudinal control system of the vehicle from the current first system to the second system to the brake controller.

[0093] In a possible implementation, the main controller 501 is further configured to obtain identification information in the scenario where the vehicle is located and / or the current position of the vehicle; determine the current scenario where the vehicle is located and the scenario that the vehicle is about to enter according to the identification information and / or the current position of the vehicle; and determine that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario according to the current scenario where the vehicle is located and the scenario that the vehicle is about to enter.

[0094] It should be noted that this embodiment is a system embodiment corresponding to the above method embodiment, and this embodiment can be implemented in cooperation with the above method embodiment. The relevant technical details mentioned in the above method embodiment are still valid in this embodiment, and in order to avoid repetition, they will not be elaborated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the above method embodiment.

[0095] In addition, in order to highlight the innovative part of the present invention, devices that are not closely related to solving the technical problems proposed by the present invention are not introduced in this embodiment. However, this does not mean that there are no other devices in the vehicle control system of this embodiment.

[0096] Figure 7 It is a schematic structural diagram of a controller provided by an embodiment of the present application.

[0097] Exemplarily, as Figure 7 shown, the controller 700 includes: a memory 702 and a processor 701. Among them, executable program code is stored in the memory 702, and the processor 701 is used to call and execute the executable program code to execute a vehicle control method.

[0098] The controller provided by this embodiment is used to execute the above-mentioned vehicle control method, so the same effect as the above implementation method can be achieved.

[0099] In the case of adopting an integrated unit, the controller may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the controller. The storage module can be used to support the controller to execute mutual program code and data, etc.

[0100] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the disclosure of the present application. The processor can also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0101] This embodiment also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium. When the computer program code runs on a computer, the computer is enabled to execute the above-mentioned related method steps to implement a vehicle control method in the above embodiment.

[0102] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above embodiment.

[0103] In addition, the controller provided by the embodiment of the present application can specifically be a chip, a component, or a module. The controller may include a processor and a memory connected to each other; among them, the memory is used to store instructions. When the controller runs, the processor can call and execute the instructions to enable the chip to execute a vehicle control method in the above embodiment.

[0104] This embodiment also provides a vehicle, such as Figure 8 shown. The vehicle 800 includes a controller 700 as Figure 7 shown. The controller 700 includes a main controller and a redundant controller.

[0105] Among them, the controller, system, vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0106] The above content is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A method for vehicle control, characterized in that, The states of the vehicle include: driving state, parking state, and switching function state. The method is applied to a controller, and the controller includes a main controller and a redundant controller. The method includes: When it is determined that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario, the main controller sends a braking request to the braking controller of the vehicle for the braking controller to respond to the braking request and feedback target information; wherein, the target information is used to represent that the vehicle speed is less than a preset speed. After the main controller receives the target information fed back by the braking controller, it effectively switches the target state to the effective switching function state; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the target state is the parking state, and when the vehicle is about to enter the parking scenario from the driving scenario, the target state is the driving state. When the switching function state is effective and both the driving state and the parking state are ineffective, the redundant controller sends a brake pressure maintenance request to the braking controller. After the main controller receives the response information of the brake pressure maintenance request, it switches the longitudinal control system of the vehicle from the current first system to the second system; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the first system is the parking system and the second system is the driving system, and when the vehicle is about to enter the parking scenario from the driving scenario, the first system is the driving system and the second system is the parking system.

2. The method according to claim 1, wherein The braking controller includes a main braking controller and a redundant braking controller. The main controller sending a braking request to the braking controller of the vehicle includes: The main controller sends the braking request to the main braking controller. The redundant controller sending a brake pressure maintenance request to the braking controller includes: The redundant controller sends the brake pressure maintenance request to the redundant braking controller.

3. The method according to claim 2, wherein The method further includes: The main controller determines whether each of the current states is effective and sends notification information indicating whether each state is effective to the main braking controller and the redundant braking controller to control the request response logic of the main braking controller and the redundant braking controller. Wherein, when the switching function state is effective and both the driving state and the parking state are ineffective, the request response logic is: the redundant braking controller responds to the request from the redundant controller. When the driving state is effective or the parking state is effective, the request response logic is: the main braking controller responds to the request from the main controller.

4. The method according to claim 1, wherein After switching the longitudinal control system of the vehicle from the current first system to the second system, it further includes: The main controller sends a brake pressure maintenance request to the braking controller through the second system, and after determining that the pressure maintenance is completed, performs departure control and acceleration / deceleration control of the vehicle through the second system. Or, After switching the longitudinal control system of the vehicle from the current first system to the second system, it further includes: The master controller synchronizes the message that the longitudinal control system of the vehicle is switched from the current first system to the second system to the brake controller.

5. The method according to claim 1, wherein The method further includes: When the current valid state is the switching function state and the driving state, or the switching function state and the parking state, when a request needs to be sent to the brake controller, the request is sent through the master controller.

6. The method according to any one of claims 1 to 5, characterized in that The determination that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario includes: Obtaining identification information in the scenario where the vehicle is located and / or the current position of the vehicle; Determining the current scenario where the vehicle is located and the scenario that the vehicle is about to enter according to the identification information and / or the current position of the vehicle; Determining that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario according to the current scenario where the vehicle is located and the scenario that the vehicle is about to enter.

7. A vehicle control system, characterized in that, Including: A master controller, a redundant controller, and a brake controller; The states of the vehicle include: a driving state, a parking state, and a switching function state; The master controller: is configured to send a braking request to the brake controller when it is determined that the vehicle is about to enter the driving scenario from the parking scenario or the vehicle is about to enter the parking scenario from the driving scenario; The brake controller: is configured to respond to the braking request and feedback target information; wherein, the target information is used to represent that the vehicle speed is less than a preset speed; The master controller: is further configured to, after receiving the target information fed back by the brake controller, effectively switch the target state to the effective switching function state; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the target state is the parking state, and when the vehicle is about to enter the parking scenario from the driving scenario, the target state is the driving state; The redundant controller: is configured to send a brake pressure maintaining request to the brake controller when the switching function state is effective and both the driving state and the parking state are ineffective; The brake controller: is further configured to respond to the brake pressure maintaining request and feedback response information of the brake pressure maintaining request; The master controller: is further configured to, after receiving the response information of the brake pressure maintaining request, switch the longitudinal control system of the vehicle from the current first system to the second system; wherein, when the vehicle is about to enter the driving scenario from the parking scenario, the first system is a parking system and the second system is a driving system, and when the vehicle is about to enter the parking scenario from the driving scenario, the first system is the driving system and the second system is the parking system.

8. A controller, characterized in that, The controller includes: A memory for storing executable program code; A processor for calling and running the executable program code from the memory, so that the controller executes the method according to any one of claims 1 to 6.

9. A vehicle, characterized in that, The vehicle includes: the controller according to claim 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed, implements the method according to any one of claims 1 to 6.

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