Vehicle control method, device and vehicle

Abstract

The application provides a vehicle control method, device and vehicle, and relates to the technical field of vehicles.The method comprises the following steps: receiving an instruction sent by an ADAS controller; acquiring a vehicle speed and wheel speeds of each wheel of the vehicle; determining a vehicle speed safety level of the vehicle according to the vehicle speed and the wheel speeds; and executing the instruction sent by the ADAS controller according to the vehicle speed safety level.The application determines different vehicle speed safety levels according to the vehicle speed and the wheel speeds of each wheel, can execute the instruction sent by the ADAS controller in stages, and does not directly exit the control of the ADAS controller, thereby improving the stability of vehicle control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle control method and device and vehicle. BACKGROUND

[0002] With the development of the automobile industry towards the direction of intelligence, the automatic driving vehicle has become a hot spot in the field of vehicle engineering. The automatic driving vehicle aims to free the driver's hands and eyes, improve driving comfort and safety, and when the automatic driving system fails, it can remind the driver to take over the vehicle in time.

[0003] At present, partial automatic driving can be realized through the advanced driving assistant system (ADAS), but due to the high degree of vehicle intelligence and the complexity of electronic and electrical systems, the realization of ADAS control has higher requirements for functional safety.

[0004] In the prior art, when the electric power steering system (EPS) executes the instructions of the ADAS controller, it is easy to completely exit the ADAS control, and the driver needs to take over the vehicle in time, so the stability of automatic driving is low. SUMMARY

[0005] Embodiments of the present application provide a vehicle control method, device and vehicle, which can avoid completely exiting ADAS control in vehicle automatic driving and improve the stability of automatic driving.

[0006] To achieve the above purpose, embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, a vehicle control method is provided, comprising:

[0008] receiving instructions sent by an ADAS controller;

[0009] obtaining the vehicle speed and the wheel speed of each wheel of the vehicle;

[0010] determining the vehicle speed safety level of the vehicle according to the vehicle speed and the wheel speed of each wheel;

[0011] executing the instructions sent by the ADAS controller according to the vehicle speed safety level.

[0012] Optionally, the step of determining the vehicle speed safety level according to the vehicle speed and the wheel speed of each wheel comprises:

[0013] in the case that the vehicle speed and at most one wheel speed are abnormal, determining that the vehicle speed safety level is ASILD;

[0014] In a case where the vehicle speed and 2 or 3 wheel speeds are abnormal, the vehicle speed safety level is determined as ASIL B;

[0015] In a case where the vehicle speed and 4 wheel speeds are abnormal, the vehicle speed safety level is determined as invalid vehicle speed.

[0016] Optionally, the step of executing the instructions sent by the ADAS controller according to the vehicle speed safety level comprises:

[0017] In a case where the vehicle speed safety level is ASIL D, all the instructions sent by the ADAS controller are executed;

[0018] In a case where the vehicle speed safety level is ASIL B, part of the instructions sent by the ADAS controller are executed;

[0019] In a case where the vehicle speed safety level is invalid vehicle speed, a safe vehicle speed is obtained and part of the instructions sent by the ADAS controller are executed.

[0020] Optionally, the case where the vehicle speed and the wheel speed are abnormal comprises:

[0021] An absolute value of a difference between the vehicle speed and the wheel speed is greater than a preset threshold value.

[0022] Optionally, the case where the vehicle speed and the wheel speed are abnormal further comprises:

[0023] The vehicle speed acquisition is abnormal or the wheel speed acquisition is abnormal.

[0024] Optionally, after the step of determining the vehicle speed safety level of the vehicle according to the vehicle speed and each wheel speed, the method further comprises:

[0025] In a case where the vehicle speed safety level is ASIL B or the vehicle speed is invalid, the vehicle speed safety level is sent to the ADAS controller;

[0026] The vehicle speed safety level of ASIL B or invalid vehicle speed is used to inform the function degradation of the ADAS controller.

[0027] Optionally, after the step of executing the instructions sent by the ADAS controller according to the vehicle speed safety level, the method further comprises:

[0028] In a case where the vehicle speed safety level is invalid vehicle speed, an alarm information is sent.

[0029] Optionally, the step of obtaining a safe vehicle speed and executing part of the instructions sent by the ADAS controller when the vehicle speed safety level is invalid includes:

[0030] If the vehicle speed safety level is invalid, the safe vehicle speed is obtained and the pull-over command sent by the ADAS controller is executed.

[0031] Secondly, embodiments of this application provide a vehicle control device, including:

[0032] The instruction receiving module is used to receive instructions sent by the ADAS controller;

[0033] The vehicle speed and wheel speed acquisition module is used to acquire the vehicle speed and the wheel speed of each wheel;

[0034] The vehicle speed safety level determination module is used to determine the vehicle speed safety level based on the vehicle speed and the speed of each wheel.

[0035] The instruction execution module is used to execute the instructions sent by the ADAS controller according to the vehicle speed safety level.

[0036] Thirdly, embodiments of this application provide a vehicle, the vehicle including a vehicle control device, the vehicle control device including a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the vehicle control method as described in any of the first aspects.

[0037] This application provides a vehicle control method, including: receiving instructions from an ADAS controller; acquiring the vehicle speed and wheel speeds of each wheel; determining a vehicle speed safety level based on the vehicle speed and wheel speeds; and executing instructions from the ADAS controller according to the speed safety level. By determining different speed safety levels based on the vehicle speed and wheel speeds, instructions from the ADAS controller can be executed in stages, preventing abrupt exit from ADAS controller control and improving vehicle control stability. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating the first vehicle control method provided in an embodiment of the present invention;

[0040] Figure 2 A flowchart of a second vehicle control method provided for an embodiment of the present application is shown in FIG. 4;

[0041] Figure 3 A flowchart of a vehicle speed safety level confirmation method provided for an embodiment of the present application is shown in FIG. 5;

[0042] Figure 4 A flowchart of a vehicle speed and wheel speed verification method provided for an embodiment of the present application is shown in FIG. 6;

[0043] Figure 5 A structural diagram of a vehicle control device provided for an embodiment of the present application is shown in FIG. 7;

[0044] Figure 6 A structural diagram of a vehicle provided for an embodiment of the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] Unless otherwise required by context, the term "comprises" in the specification and claims is to be construed as an open, inclusive meaning, i.e. "comprises, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" are intended to mean that a particular feature, structure, material or characteristic included in at least one embodiment or example of the present application. The illustrative representation of the above terms does not necessarily mean the same embodiment or example. In addition, the specific features, structures, materials or characteristics described can be included in any one or more embodiments or examples in any appropriate manner.

[0047] In addition, it should also be noted that when introducing the elements of the present application and their embodiments, the articles "a", "an", "the" and "said" are intended to mean the presence of one or more elements; unless otherwise specified, the meaning of "multiple" is two or more; the terms "comprise", "include", "contain" and "have" are intended to be inclusive and mean that additional elements other than the listed elements can be present; the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance and forming order.

[0048] In the prior art, when an electric power steering (EPS) executes an instruction of an advanced driving assistant system (ADAS) controller, a control method used by the EPS is as follows: when the vehicle speed and the four wheel speeds are all normal, the EPS can execute all dynamic instructions of the ADAS; when the vehicle speed or any wheel speed is abnormal, the EPS exits the ADAS control and prompts the driver to take over the vehicle in time. In this way, the situation of not passing the verification may occur, which may cause the EPS to frequently exit the ADAS control and the driver to frequently take over the vehicle, and the stability of automatic driving is low.

[0049] Therefore, an embodiment of the present application provides a vehicle control method, referring to Figure 1 , comprising:

[0050] S101, receiving an instruction sent by an ADAS controller.

[0051] In the embodiment of the present application, the vehicle control method can be applied to an EPS controller, and the EPS controller can receive a steering angle instruction sent by an ADAS controller.

[0052] S102, obtaining a vehicle speed and wheel speeds of each wheel of the vehicle.

[0053] In the embodiment of the present application, the vehicle includes a four-wheel vehicle, and each wheel includes a front left wheel (FL), a front right wheel (FR), a rear left wheel (RL), and a rear right wheel (RR). Hereinafter, the wheel speed of the front left wheel is represented by FL, the wheel speed of the front right wheel is represented by FR, the wheel speed of the rear left wheel is represented by RL, and the wheel speed of the rear right wheel is represented by RR.

[0054] The vehicle speed of the vehicle is the speed of the vehicle detected by a vehicle speed detector, and after detection, a vehicle speed message is sent to a vehicle bus. The detection method of the vehicle speed in the embodiment of the present application is not limited. The bus of the vehicle includes a controller area network (CAN).

[0055] The wheel speed of the vehicle is the speed of the wheel, and the wheel speed can be detected by a wheel speed detector to detect the frequency of the wheel rotation, and then the speed of the wheel movement is calculated according to the frequency. After the wheel speed detector detects the wheel speed, a wheel speed message is sent to the bus of the vehicle.

[0056] In the embodiment of the present application, the vehicle speed and the wheel speed of each wheel are generally obtained from the bus of the vehicle. Specifically, the EPS obtains a vehicle speed message and a wheel speed message from the bus of the vehicle, and then obtains the vehicle speed and the wheel speed of each wheel according to the vehicle speed message and the wheel speed message.

[0057] In some cases, the vehicle speed will detect an abnormality, at this time there is no vehicle speed message on the bus or the vehicle speed message is faulty, the EPS cannot obtain the vehicle speed message from the bus, which is called a vehicle speed acquisition abnormality. In some cases, part of the wheel speed will detect an abnormality, at this time there is no part of the wheel speed message on the bus or the part of the wheel speed message is faulty, the EPS cannot obtain the part of the wheel speed message from the bus, which is called a wheel speed acquisition abnormality.

[0058] It should be noted that in some embodiments, the vehicle speed is obtained according to part or all of the wheel speed, in the case of vehicle speed acquisition abnormality, all wheel speed acquisition abnormalities; in the case of normal vehicle speed acquisition, there may be part of the wheel speed acquisition abnormality.

[0059] S103, according to the vehicle speed and the wheel speed of each wheel, determine the vehicle speed safety level of the vehicle.

[0060] In the embodiment of the application, the vehicle speed safety level is set according to the automotive safety integrity level (ASIL).

[0061] The ASIL level is divided into QM, A, B, C and D five levels, wherein ASIL D is the highest automotive safety integrity level, and the requirement for functional safety is the highest, indicating that the safety of the vehicle is high; The requirements for functional safety of ASIL C, B and A levels are gradually reduced, indicating that the safety of the vehicle is gradually reduced; QM represents quality management (Quality Management), which means that it is enough to develop a system or function according to the quality management system, which generally represents a function unrelated to safety.

[0062] The ASIL level is generally divided according to the following three factors:

[0063] First, the potential severity of the injury or loss caused by the dangerous event (Severity of failure, abbreviated as S);

[0064] Second, the probability of exposure of personnel to the scene where the system failure can cause harm or the possibility of understanding the driving condition where the dangerous event may occur (probability of Exposure, abbreviated as E);

[0065] Third, the ability of the driver and other traffic personnel involved in the danger to avoid a particular injury or loss through timely response (Controllability, abbreviated as C).

[0066] In the embodiment of the application, the vehicle speed safety level is set according to the ASIL level, for example, the vehicle speed safety level is set to ASIL D, ASIL B and invalid vehicle speed.

[0067] In the embodiment of the present application, the number of wheel speeds that are abnormal in vehicle speed verification is determined to determine the vehicle speed safety level. The more wheel speeds that are abnormal in vehicle speed verification, the greater the probability of vehicle speed abnormality, and the lower the vehicle speed safety level. The fewer wheel speeds that are abnormal in vehicle speed verification, the smaller the probability of vehicle speed abnormality, and the higher the vehicle speed safety level.

[0068] The vehicle speed and wheel speed verification is a judgment process. When the absolute value of the difference between the vehicle speed and the wheel speed is less than or equal to the preset threshold, it indicates that the wheel speed of the corresponding wheel is normal, and the vehicle speed and wheel speed verification is normal. When the absolute value of the difference between the vehicle speed and the wheel speed is greater than the preset threshold, it indicates that the wheel speed of the corresponding wheel is abnormal, and the vehicle speed and wheel speed verification is abnormal.

[0069] It should be noted that when the vehicle speed acquisition is abnormal or the wheel speed acquisition is abnormal, it cannot be determined whether the vehicle speed and wheel speed verification is abnormal by determining whether the absolute value of the difference between the vehicle speed and the wheel speed is greater than the preset threshold. At this time, the vehicle speed is abnormal or the wheel speed of the corresponding wheel is abnormal, and the vehicle speed and wheel speed verification is abnormal.

[0070] In some embodiments, when the number of wheel speeds that are abnormal in vehicle speed verification is less than or equal to 1, the vehicle speed safety level is ASILD level; when the number of wheel speeds that are abnormal in vehicle speed verification is 2 or 3, the vehicle speed safety level is ASILB level; and when the number of wheel speeds that are abnormal in vehicle speed verification is 4, the vehicle speed is invalid.

[0071] S104, executing the instruction sent by the ADAS controller according to the vehicle speed safety level.

[0072] In the embodiment of the present application, the instruction sent by the ADAS controller is executed according to the vehicle speed safety level. Specifically, the higher the vehicle speed safety level, the higher the ability of the EPS to execute the instruction; the lower the vehicle speed safety level, the lower the ability of the EPS to execute the instruction.

[0073] Taking the vehicle speed safety level as ASILD, ASILB, and invalid vehicle speed as an example:

[0074] When the vehicle speed safety level is ASILD, the vehicle speed safety level is high, and the EPS can execute all dynamic instructions of the ADAS. For example, when the vehicle speed safety level is ASILD, the EPS can completely execute the turning angle instruction sent by the ADAS.

[0075] When the vehicle speed safety level is ASILB, the vehicle speed safety level is medium, and the EPS can execute part of the dynamic instructions of the ADAS. For example, when the vehicle speed safety level is ASILB, the EPS can execute the turning angle instruction sent by the ADAS.

[0076] In the case of invalid vehicle speed, the vehicle speed safety level is low, the EPS can execute part of the dynamic instructions of the ADAS, and informs the ADAS controller and the instrument at the same time, at this time, the EPS has no valid vehicle speed, and prompts the driver to take over the vehicle in time, so as to improve the stability and safety of the vehicle. For example, in the case of invalid vehicle speed, the EPS can execute the instructions related to the side parking sent by the ADAS.

[0077] The embodiment of the application provides a vehicle control method, which comprises the following steps: S101, receiving the instructions sent by the ADAS controller; S102, acquiring the vehicle speed and the wheel speeds of the wheels; S103, determining the vehicle speed safety level according to the vehicle speed and the wheel speeds; and S104, executing the instructions sent by the ADAS controller according to the vehicle speed safety level. In this way, different vehicle speed safety levels are determined according to the vehicle speed and the wheel speeds, the instructions sent by the ADAS controller can be executed in stages, and the control stability of the vehicle is improved.

[0078] Optionally, referring to Figure 2 , the step S103 comprises the following steps:

[0079] S1031, in the case that the vehicle speed and at most one wheel speed are abnormal, determining that the vehicle speed safety level is ASILD.

[0080] In the embodiment of the application, in the case that the absolute value of the difference between the vehicle speed and the wheel speed is less than or equal to the preset threshold value, it is indicated that the wheel speed of the corresponding wheel is normal, and the vehicle speed and the wheel speed are normal; in the case that the absolute value of the difference between the vehicle speed and the wheel speed is greater than the preset threshold value, it is indicated that the wheel speed of the corresponding wheel is abnormal, and the vehicle speed and the wheel speed are abnormal. In the case that the vehicle speed is abnormal or the wheel speed of the corresponding wheel is abnormal, whether the vehicle speed and the wheel speed are abnormal cannot be judged by whether the absolute value of the difference between the vehicle speed and the wheel speed is greater than the preset threshold value, at this time, the vehicle speed is abnormal or the wheel speed of the corresponding wheel is abnormal, and the vehicle speed and the wheel speed are abnormal.

[0081] The case that the vehicle speed and at most one wheel speed are abnormal comprises the case that the vehicle speed and zero wheel speed are abnormal and the case that the vehicle speed and one wheel speed are abnormal.

[0082] In the case that the vehicle speed and zero wheel speed are abnormal, the vehicle speed and the four wheel speeds are normal, the vehicle speed is not abnormal, the performance requirement and the safety requirement of the ADAS control can be ensured, and the vehicle speed safety level is the highest level ASILD.

[0083] In the case that the vehicle speed and one wheel speed are abnormal, the vehicle speed and three wheel speeds are normal, the probability of the abnormal vehicle speed is small, the performance requirement and the safety requirement of the ADAS control can be ensured, and the vehicle speed safety level is the highest level ASILD.

[0084] S1032, in the case of vehicle speed and 2 or 3 wheel speed verification exceptions, determining that the vehicle speed safety level is ASILB.

[0085] The case of vehicle speed and 2 or 3 wheel speed verification exceptions includes: vehicle speed and 2 wheel speed verification exceptions and vehicle speed and 3 wheel speed verification exceptions.

[0086] In the case of vehicle speed and 2 wheel speed verification exceptions, vehicle speed and 2 wheel speed verification are normal, the probability of vehicle speed exception is medium, the performance requirement of ADAS control can be guaranteed, but the safety requirement of ADAS control cannot be guaranteed, and the vehicle speed safety level is ASILB.

[0087] In the case of vehicle speed and 3 wheel speed verification exceptions, vehicle speed and 1 wheel speed verification are normal, the probability of vehicle speed exception is high, but the vehicle speed is still valid, the performance requirement of ADAS control can be guaranteed, but the safety requirement of ADAS control cannot be guaranteed, and the vehicle speed safety level is ASILB.

[0088] S1033, in the case of vehicle speed and 4 wheel speed verification exceptions, determining that the vehicle speed safety level is invalid.

[0089] The case of vehicle speed and 4 wheel speed verification exceptions includes: invalid vehicle speed acquisition and valid vehicle speed acquisition but vehicle speed and 4 wheel speed verification exceptions.

[0090] In some dangerous cases, vehicle speed acquisition exceptions may occur, at which time the vehicle speed cannot be normally detected, and the EPS cannot acquire the vehicle speed from the bus, and in this case there is no valid vehicle speed.

[0091] In the case of valid vehicle speed acquisition but vehicle speed and 4 wheel speed verification exceptions, vehicle speed and 0 wheel speed verification are normal, vehicle speed and 4 wheel speed verification are all abnormal, so it cannot be considered as valid vehicle speed, at which time the vehicle speed is invalid.

[0092] In the embodiment of the application, step S103, determining the vehicle speed safety level of the vehicle according to the vehicle speed and the wheel speeds, comprises: S1031, in the case of vehicle speed and at most 1 wheel speed verification exceptions, determining that the vehicle speed safety level is ASILD; S1032, in the case of vehicle speed and 2 or 3 wheel speed verification exceptions, determining that the vehicle speed safety level is ASILB; S1033, in the case of vehicle speed and 4 wheel speed verification exceptions, determining that the vehicle speed safety level is invalid. According to the number of wheel speeds with vehicle speed verification exceptions, the vehicle speed safety level is confirmed, in the case of the number of wheel speeds with vehicle speed verification exceptions being greater than or equal to 1, ADAS control is not directly exited, and the stability of vehicle control is improved.

[0093] Optionally, referring to Figure 2 , step S104, executing the instructions sent by the ADAS controller according to the vehicle speed safety level, comprises:

[0094] S1041、In the case of ASILD of the vehicle speed safety level, all instructions sent by the ADAS controller are executed.

[0095] The ability of the EPS controller to execute the steering angle instruction is related to the accuracy of the acquired vehicle speed. The smaller the difference between the acquired vehicle speed and the actual vehicle speed, the higher the degree of completion of the EPS controller to execute the steering angle instruction, and the EPS controller can complete the entire steering angle of the steering angle instruction. The larger the difference between the acquired vehicle speed and the actual vehicle speed, the lower the degree of completion of the EPS controller to execute the steering angle instruction, and the EPS controller can complete part of the steering angle of the steering angle instruction.

[0096] For example, based on the characteristics of the steering angle control response, the PID (Proportional, Integral, Differential) parameters of the EPS are slightly different at different vehicle speeds. The smaller the difference between the acquired vehicle speed and the actual vehicle speed, the higher the degree of completion of the steering angle according to the PID parameters of the acquired vehicle speed, and the EPS can complete the entire steering angle of the steering angle instruction. The larger the difference between the acquired vehicle speed and the actual vehicle speed, the lower the degree of completion of the steering angle according to the PID parameters of the acquired vehicle speed, and the EPS can complete part of the steering angle of the steering angle instruction.

[0097] In the case of ASILD of the vehicle speed safety level, the vehicle speed acquired by the EPS controller from the bus and the actual vehicle speed can be considered consistent, and the acquired vehicle speed is referred to as the ASILD level vehicle speed.

[0098] In the case of ASILD of the vehicle speed safety level, the EPS acquires the ASILD level vehicle speed, and uses the PID parameters corresponding to the ASILD level vehicle speed to execute all instructions sent by the ADAS controller, supports ADAS steering angle control, and can guarantee the performance requirements and safety requirements of ADAS control.

[0099] Executing all instructions sent by the ADAS controller includes two aspects: one is to use the PID parameters corresponding to the ASILD level vehicle speed to execute the steering angle instruction sent by the ADAS controller, and the other is to completely execute the steering angle instruction. For example, the steering angle instruction sent by the ADAS controller is 20 degrees, and in the case of ASILD of the vehicle speed safety level, the EPS controller can complete the steering angle of 20 degrees, while guaranteeing the performance requirements in the ADAS control process, and executing all instructions.

[0100] S1042、In the case of ASILB of the vehicle speed safety level, part of the instructions sent by the ADAS controller are executed.

[0101] In the case of ASILB vehicle speed safety level, the vehicle speed obtained by the EPS controller from the bus and the actual vehicle speed can be considered substantially consistent, and the obtained vehicle speed is referred to as ASILB level vehicle speed.

[0102] In the case of ASILB vehicle speed safety level, the EPS obtains ASILB level vehicle speed, and the PID parameters corresponding to the ASILB level vehicle speed can be used to execute part of the instructions sent by the ADAS controller, supporting ADAS degraded control.

[0103] Among them, the automatic driving has a certain level, in some embodiments, the level of automatic driving is divided from low to high as no automation, driving assistance, partial automation, conditional automation, high automation and full automation. The level of ADAS automatic driving is determined according to the current vehicle safety level, and the vehicle speed safety level is part of the vehicle safety level. In the case of ASILB vehicle speed safety level, the safety requirements of ADAS control cannot be fully guaranteed, and ADAS can receive degraded control in the case of ASILB vehicle speed safety level to ensure safety.

[0104] Part of the instructions includes two cases: first, using the PID parameters corresponding to the ASILB level vehicle speed to execute the steering angle instructions sent by the ADAS controller; second, in the case of ASILB level vehicle speed, most of the steering angle instructions can be completed, for example, the steering angle instructions sent by the ADAS controller are 20 degrees, and the EPS controller can only complete 19 degrees of steering angle, and the partial instructions are executed.

[0105] Since the ASILB level vehicle speed is close to the real vehicle speed, the EPS uses the PID parameters corresponding to the ASILB level vehicle speed in the process of executing the ADAS steering angle control, which can guarantee the performance requirements of the ADAS control.

[0106] S1043, in the case of invalid vehicle speed safety level, obtaining a safe vehicle speed and executing part of the instructions sent by the ADAS controller. In the case of invalid vehicle speed safety level, using the safe vehicle speed can support the maximum range of steering angle control.

[0107] In the case of invalid vehicle speed safety level, the EPS cannot obtain valid vehicle speed, but can obtain related PID parameters of safe vehicle speed to execute part of the instructions sent by the ADAS controller, for example, the safe vehicle speed is 0Km / h. Based on the characteristics of steering angle control response, the EPS needs to limit different steering wheel steering angles and steering wheel steering angle speeds at different vehicle speeds, and the steering wheel steering angle and steering wheel steering angle speed limit value corresponding to 0 vehicle speed is the largest. Therefore, when the EPS determines that the vehicle speed is invalid, the EPS uses the steering wheel steering angle and steering wheel steering angle speed limit value corresponding to 0 vehicle speed, which can maximize the support of the ADAS controller for steering angle control.

[0108] In the case of the vehicle speed safety level being invalid, the EPS controller can execute part of the instructions and is different from the ASIL B level. In the case of invalid vehicle speed, the PID parameters are basically not applicable, but the steering angle instruction can be basically fully executed. For example, in the case of the vehicle speed safety level being invalid, the steering angle instruction sent by the ADAS controller is 20 degrees, and the EPS controller can basically complete a steering angle of 20 degrees, but the performance requirements in the ADAS control process cannot be basically guaranteed.

[0109] In addition, in the case of the vehicle speed safety level being invalid, the EPS supports the ADAS controller to implement the operation of parking on the side, so as to guarantee the safety requirements of the ADAS control. The EPS can also send the information of invalid vehicle speed to the ADAS controller and issue an alarm to prompt the driver to take over the vehicle in time, so as to avoid the safety hidden danger caused by the driver not taking over in time due to the too fast exit of the ADAS control, and improve the stability and safety of vehicle control.

[0110] In the embodiment of the application, step S104 comprises: S1041, in the case of the vehicle speed safety level being ASIL D, executing all instructions sent by the ADAS controller; S1042, in the case of the vehicle speed safety level being ASIL B, executing part of the instructions sent by the ADAS controller; and S1043, in the case of the vehicle speed safety level being invalid, acquiring a safe vehicle speed and executing part of the instructions sent by the ADAS controller. In this way, in the first aspect, in different vehicle speed safety levels, the optimal vehicle speed can be used to execute the instructions sent by the ADAS controller, thereby improving the stability of vehicle control; and in the second aspect, in the case of the vehicle speed safety level being invalid, the ADAS control is not directly exited, the safe vehicle speed can be acquired and part of the instructions of the ADAS can be executed, thereby avoiding the safety hidden danger caused by the driver not taking over in time due to the too fast exit of the ADAS control, and improving the safety of vehicle control.

[0111] Reference Figure 3 The embodiment of the application provides a vehicle speed safety level confirmation method, which comprises:

[0112] Step a1, verifying the vehicle speed and each wheel speed respectively.

[0113] Step a2, judging whether the vehicle speed is abnormal in verification with at most one wheel speed, if yes, acquiring the ASIL D level vehicle speed; and if no, executing step a3.

[0114] Step a3, judging whether the vehicle speed is abnormal in verification with at most three wheel speeds, if yes, acquiring the ASIL B level vehicle speed; and if no, executing step a4.

[0115] Step a4, judging whether the vehicle speed and the four wheel speeds are abnormal, if yes, using the safe vehicle speed; if no, indicating that the confirmation process is abnormal.

[0116] Optionally, the vehicle speed and the wheel speed abnormality checking situation includes:

[0117] The absolute value of the difference between the vehicle speed and the wheel speed is greater than a preset threshold value.

[0118] The preset threshold value (VspdErr) is set according to actual conditions, which is not limited in the embodiments of the present application. In the case that the preset threshold value is small, the error between the vehicle speed and the wheel speed is small when the checking is normal; in the case that the preset threshold value is large, the error between the vehicle speed and the wheel speed may be large when the checking is normal, and the correlation with whether the vehicle speed or the wheel speed can be normally acquired is large. For example, the preset threshold value can be 5Km / h.

[0119] In the case that the absolute value of the difference between the vehicle speed and the wheel speed is less than or equal to the preset threshold value, the vehicle speed and the wheel speed checking are normal; in the case that the absolute value of the difference between the vehicle speed and the wheel speed is greater than the preset threshold value, the vehicle speed and the wheel speed checking are abnormal.

[0120] In the embodiments of the present application, the vehicle speed and the wheel speed abnormality checking situation includes that the absolute value of the difference between the vehicle speed and the wheel speed is greater than a preset threshold value. In this way, whether the vehicle speed and the wheel speed are abnormal is determined by comparing the absolute value of the difference between the vehicle speed and the wheel speed with the preset threshold value, the error range of the difference between the vehicle speed and the wheel speed can be limited by setting the preset threshold value, and the accuracy of confirming the vehicle speed and the wheel speed checking abnormality is improved.

[0121] Referring to Figure 4 , the embodiments of the present application provide a flow chart of vehicle speed and wheel speed checking, in which FL (Front Left) represents the wheel speed of the front left wheel, FR (Front Right) represents the wheel speed of the front right wheel, RL (Rear Left) represents the wheel speed of the rear left wheel, RR (Rear Right) represents the wheel speed of the rear right wheel, VErr represents the preset threshold value, Y represents that the vehicle speed and the wheel speed checking are normal, and N represents that the vehicle speed and the wheel speed checking are abnormal.

[0122] The vehicle speed is checked with the wheel speed of the front left wheel, the wheel speed of the front right wheel, the wheel speed of the rear left wheel and the wheel speed of the rear right wheel in turn.

[0123] When the checking with FL, FR and RL is normal respectively, whether the checking with RR is normal or not, the vehicle speed and at most one wheel speed are abnormal, the safe level of the vehicle speed is determined as ASILD, and the ASILD level vehicle speed is acquired.

[0124] In the case that the vehicle speed is respectively checked with FL, FR and RL normally, and whether checked with RR normally, the vehicle speed is checked with at most one wheel speed abnormally, the vehicle speed safety level is determined as ASILD, and the ASILD level vehicle speed is obtained;

[0125] In the case that the vehicle speed is respectively checked with FL and FR normally, and checked with RL abnormally, the vehicle speed is checked with RR, if the vehicle speed is checked with RR normally, the vehicle speed is checked with one wheel speed (RL) abnormally, the ASILD level vehicle speed is obtained; if the vehicle speed is checked with RR abnormally, the vehicle speed is checked with two wheel speeds (RL and RR) abnormally, the vehicle speed safety level is determined as ASILB, and the ASILB level vehicle speed is obtained.

[0126] In the case that the vehicle speed is checked with FL normally, and checked with FR abnormally, the vehicle speed is checked with RL and RR in turn, if RL and RR are both normal, the vehicle speed is checked with one wheel speed (FR) abnormally, the ASILD level vehicle speed is obtained; otherwise, the vehicle speed is checked with 2-3 wheel speeds abnormally (including RL normal, RR abnormal; RL abnormal, RR normal; RL and RR both abnormal), the ASILB level vehicle speed is obtained.

[0127] In the case that the vehicle speed is checked with FL abnormally, the vehicle speed is checked with FR, RL and RR in turn, if FR, RL and RR are all normal, the vehicle speed is checked with one wheel speed (FL) abnormally, the ASILD level vehicle speed is obtained; if FR, RL and RR are all abnormal, the vehicle speed is checked with four wheel speeds abnormally, the safety vehicle speed is used; otherwise, the vehicle speed is checked with 2-3 wheel speeds abnormally, the ASILB level vehicle speed is obtained.

[0128] Optionally, the vehicle speed and wheel speed checking abnormally also includes:

[0129] The vehicle speed acquisition is abnormal or the wheel speed acquisition is abnormal.

[0130] In some cases, the vehicle speed will be detected abnormally, at this time, there is no vehicle speed message on the bus or the vehicle speed message is faulty, the EPS cannot obtain the vehicle speed message from the bus, which is called vehicle speed acquisition abnormality. In some cases, part of the wheel speed will be detected abnormally, at this time, there is no part of the wheel speed message on the bus or the part of the wheel speed message is faulty, the EPS cannot obtain the part of the wheel speed message from the bus, which is corresponding to the wheel speed acquisition abnormality.

[0131] In the process of checking the vehicle speed and the wheel speed, if at least one of the vehicle speed and the wheel speed is acquired abnormally, the vehicle speed and the wheel speed are checked abnormally; if the vehicle speed and the wheel speed are both acquired normally, whether the vehicle speed and the wheel speed are checked abnormally needs to be judged according to whether the absolute value of the difference between the vehicle speed and the wheel speed is greater than a preset threshold.

[0132] In the embodiments of the present application, the situation of speed and wheel speed verification exception also includes speed acquisition exception or wheel speed acquisition exception. The range of speed and wheel speed verification is expanded, and the situation that the verification result cannot be judged due to speed acquisition exception or wheel speed acquisition exception is avoided, thereby improving the accuracy of confirming speed and wheel speed verification exception.

[0133] Optionally, after determining the speed safety level of the vehicle according to the vehicle speed and the wheel speeds in step S103, the vehicle control method further includes:

[0134] S201, in the case that the speed safety level is ASILB or the vehicle speed is invalid, sending the speed safety level to the ADAS controller;

[0135] The speed safety level of ASILB or vehicle speed invalid is used to inform the function degradation of the ADAS controller.

[0136] In the case that the speed safety level is ASILD, the performance requirement and the safety requirement of the ADAS control can be guaranteed; in the case that the speed safety level is ASILB, the performance requirement of the ADAS control can be guaranteed; in the case that the vehicle speed is invalid, the safety requirement of the ADAS control can be guaranteed by using the safe speed.

[0137] Therefore, in the case that the speed safety level is ASILB or the vehicle speed is invalid, part of the requirements of the ADAS control can be met, part of the instructions sent by the ADAS controller can be executed, the speed safety level can be sent to the ADAS controller, the ADAS controller can perform appropriate function degradation according to the speed safety level, and the safety of the automatic driving can be guaranteed.

[0138] Optionally, after executing the instructions sent by the ADAS controller according to the speed safety level in step S104, the vehicle control method further includes:

[0139] S202, in the case that the speed safety level is invalid, issuing an alarm information.

[0140] In the case that the vehicle speed is invalid, the EPS can execute part of the instructions by using the parameters related to the safe speed, but at this time, the vehicle is relatively dangerous, the function of the ADAS controller needs to be degraded, and the vehicle control is partially or totally handed over to the driver for operation, at this time, the driver needs to be reminded in time to avoid the risk that the driver cannot take over the vehicle in time.

[0141] The alarm information can include various ways such as picture alarm of the vehicle display, voice alarm or flash light alarm, and the embodiments of the present application do not make specific limitation on this.

[0142] In the embodiment of the present application, after the step S104 of executing the instruction sent by the ADAS controller according to the vehicle speed safety level, the vehicle control method further comprises: S202, issuing an alarm information in the case of invalid vehicle speed. The alarm information is issued to remind the driver to take over the vehicle in time, thereby improving the safety of vehicle control.

[0143] Optionally, in the step S1043 of obtaining the safe vehicle speed and executing part of the instruction sent by the ADAS controller in the case of invalid vehicle speed, the step comprises:

[0144] In the case of invalid vehicle speed safety level, the EPS can obtain the safe vehicle speed and execute the side parking instruction sent by the ADAS controller according to the parameters related to the safe vehicle speed.

[0145] In the case of invalid vehicle speed safety level, the EPS controller can obtain the safe vehicle speed and execute the side parking instruction sent by the ADAS controller, so as to control the vehicle to park on the side in time, thereby avoiding the risk of continuing to drive the vehicle in the case of invalid vehicle speed, and improving the safety of vehicle control.

[0146] The embodiment of the present application provides a vehicle control device, which refers to Figure 5 , comprising:

[0147] The instruction receiving module 301 is configured to receive the instruction sent by the ADAS controller.

[0148] The vehicle speed and wheel speed obtaining module 302 is configured to obtain the vehicle speed and the wheel speed of each wheel of the vehicle.

[0149] The vehicle speed safety level determining module 303 is configured to determine the vehicle speed safety level of the vehicle according to the vehicle speed and the wheel speed of each wheel.

[0150] The instruction executing module 304 is configured to execute the instruction sent by the ADAS controller according to the vehicle speed safety level.

[0151] The embodiment of the present application provides a vehicle control device, which comprises an instruction receiving module 301 configured to receive the instruction sent by the ADAS controller; a vehicle speed and wheel speed obtaining module 302 configured to obtain the vehicle speed and the wheel speed of each wheel of the vehicle; a vehicle speed safety level determining module 303 configured to determine the vehicle speed safety level of the vehicle according to the vehicle speed and the wheel speed of each wheel; and an instruction executing module 304 configured to execute the instruction sent by the ADAS controller according to the vehicle speed safety level. In this way, the vehicle speed safety level determining module 303 determines different vehicle speed safety levels according to the vehicle speed and the wheel speed of each wheel, and the instruction executing module 304 can execute the instruction sent by the ADAS controller in stages, without directly exiting the control of the ADAS controller, thereby improving the stability of vehicle control.

[0152] Optionally, the vehicle speed safety level determination module 303 comprises:

[0153] The first vehicle speed safety level confirmation submodule is configured to determine the vehicle speed safety level as ASILD in the case that the vehicle speed and at most one wheel speed check exception exist.

[0154] The second vehicle speed safety level confirmation submodule is configured to determine the vehicle speed safety level as ASILB in the case that the vehicle speed and two or three wheel speed check exceptions exist.

[0155] The third vehicle speed safety level confirmation submodule is configured to determine the vehicle speed safety level as invalid vehicle speed in the case that the vehicle speed and four wheel speed check exceptions exist.

[0156] Optionally, the instruction execution module 304 comprises:

[0157] The first instruction execution submodule is configured to execute all instructions sent by the ADAS controller in the case that the vehicle speed safety level is ASILD.

[0158] The second instruction execution submodule is configured to execute part of the instructions sent by the ADAS controller in the case that the vehicle speed safety level is ASILB.

[0159] The third instruction execution submodule is configured to acquire a safe vehicle speed and execute part of the instructions sent by the ADAS controller in the case that the vehicle speed is invalid.

[0160] Optionally, the case of vehicle speed and wheel speed check exception comprises:

[0161] The absolute value of the difference between the vehicle speed and the wheel speed is greater than a preset threshold.

[0162] Optionally, the case of vehicle speed and wheel speed check exception further comprises:

[0163] Vehicle speed acquisition exception or wheel speed acquisition exception.

[0164] Optionally, the vehicle control device further comprises:

[0165] The vehicle speed safety level sending module is configured to send the vehicle speed safety level to the ADAS controller in the case that the vehicle speed safety level is ASILB or the vehicle speed is invalid.

[0166] The vehicle speed safety level is used for function degradation of the ADAS controller.

[0167] Optionally, the vehicle control device further comprises:

[0168] The alarm module is configured to issue an alarm information in the case that the vehicle speed is invalid.

[0169] Optionally, the third instruction execution submodule is further configured to acquire a safe vehicle speed and execute a pull-over instruction sent by the ADAS controller in the case that the vehicle speed is invalid.

[0170] Embodiments of the present application provide a vehicle, referring to Figure 6 The vehicle comprises a vehicle control device, the vehicle control device comprises a processor 401, a memory 402, and a computer program 4021 stored in the memory 402 and capable of running on the processor 401, and the processor 401 implements any of the vehicle control methods described above when executing the computer program 4021.

[0171] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by, The method comprises: receiving instructions sent by an ADAS controller; obtaining a vehicle speed and wheel speeds of respective wheels of a vehicle; determining a vehicle speed safety level of the vehicle according to the vehicle speed and the respective wheel speeds; executing the instructions sent by the ADAS controller according to the vehicle speed safety level; wherein the step of determining the vehicle speed safety level according to the vehicle speed and the respective wheel speeds comprises: in a case where the vehicle speed and at most one of the wheel speeds are abnormal, determining that the vehicle speed safety level is ASILD; in a case where the vehicle speed and two or three of the wheel speeds are abnormal, determining that the vehicle speed safety level is ASILB; in a case where the vehicle speed and four of the wheel speeds are abnormal, determining that the vehicle speed safety level is invalid; the step of executing the instructions sent by the ADAS controller according to the vehicle speed safety level comprises: in a case where the vehicle speed safety level is ASILD, executing all of the instructions sent by the ADAS controller; in a case where the vehicle speed safety level is ASILB, executing part of the instructions sent by the ADAS controller; in a case where the vehicle speed safety level is invalid, obtaining a safe vehicle speed and executing part of the instructions sent by the ADAS controller.

2. The method of claim 1, wherein, the case where the vehicle speed and the wheel speeds are abnormal comprises: an absolute value of a difference between the vehicle speed and the wheel speeds is greater than a preset threshold.

3. The method of claim 2, wherein, the case where the vehicle speed and the wheel speeds are abnormal further comprises: the vehicle speed is abnormal or the wheel speed is abnormal.

4. The method of claim 1, wherein, after the step of determining the vehicle speed safety level according to the vehicle speed and the respective wheel speeds, the method further comprises: in a case where the vehicle speed safety level is ASILB or invalid, sending the vehicle speed safety level to the ADAS controller; wherein the vehicle speed safety level of ASILB or invalid is used to inform the ADAS controller of function degradation.

5. The method of claim 4, wherein, after the step of executing the instructions sent by the ADAS controller according to the vehicle speed safety level, the method further comprises: in a case where the vehicle speed safety level is invalid, issuing an alarm message.

6. The method of claim 1, wherein, the step of obtaining a safe vehicle speed and executing part of the instructions sent by the ADAS controller in a case where the vehicle speed safety level is invalid comprises: in a case where the vehicle speed safety level is invalid, obtaining the safe vehicle speed and executing a side parking instruction sent by the ADAS controller.

7. A vehicle control device characterized by comprising: The method comprises: an instruction receiving module configured to receive instructions sent by an ADAS controller; a vehicle speed and wheel speed obtaining module configured to obtain a vehicle speed and wheel speeds of respective wheels of a vehicle; a vehicle speed safety level determining module configured to determine a vehicle speed safety level of the vehicle according to the vehicle speed and the respective wheel speeds; an instruction executing module configured to execute the instructions sent by the ADAS controller according to the vehicle speed safety level; wherein the vehicle speed safety level determining module comprises: The first vehicle speed safety level confirmation submodule is configured to determine the vehicle speed safety level as ASILD when the vehicle speed and at most one wheel speed check are abnormal. The second vehicle speed safety level confirmation submodule is configured to determine the vehicle speed safety level as ASILB when the vehicle speed and two or three wheel speed checks are abnormal. The third vehicle speed safety level confirmation submodule is configured to determine the vehicle speed safety level as invalid when the vehicle speed and four wheel speed checks are abnormal. The instruction execution module comprises: The first instruction execution submodule is configured to execute all instructions sent by the ADAS controller when the vehicle speed safety level is ASILD. The second instruction execution submodule is configured to execute part of the instructions sent by the ADAS controller when the vehicle speed safety level is ASILB. The third instruction execution submodule is configured to acquire a safe vehicle speed and execute part of the instructions sent by the ADAS controller when the vehicle speed is invalid.

8. A vehicle characterized by comprising: The vehicle comprises a vehicle control device, the vehicle control device comprises a processor, a memory, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the vehicle control method according to any one of claims 1-6.

Images