A driving control method for a vehicle

Abstract

A vehicle driving control method includes: obtaining the state of a rear-wheel steering function of the vehicle; adjusting the state of the rear-wheel steering function to control a traffic congestion pilot function of the vehicle to enter an activated state; wherein, if the rear-wheel steering function is in an activated state, the traffic congestion pilot function does not enter an activated state before the rear-wheel steering function is switched to a suppressed state; if the rear-wheel steering function is in a suppressed state, the traffic congestion pilot function enters an activated state after both the longitudinal control state and the lateral control state of the vehicle enter a traffic congestion pilot mode.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving, and in particular to a vehicle driving control method. Background Art

[0002] The rear wheel steering (RWS) function is a rear wheel angle control concept proposed to improve the vehicle's handling stability at high speeds and improve its maneuverability at low speeds. The Traffic Jam Pilot (TJP) function is designed to collect the vehicle's dynamic environment through various sensors, radars, cameras, etc. on the vehicle, plan a safe driving path, and then control the steering / brake / power actuators to make the vehicle drive on the planned path, realizing lateral and longitudinal automatic driving in traffic congestion.

[0003] However, the traffic jam pilot function and the rear-wheel steering function are controlled by two different electronic control units (ECUs). There is no driving control method in the prior art for making the vehicle safely compatible with both the traffic jam pilot function and the rear-wheel steering function. Summary of the invention

[0004] An object of the present invention is to provide a driving control method for a vehicle so as to achieve the vehicle's safe compatibility with both a traffic jam pilot function and a rear-wheel steering function.

[0005] A further object of the present invention is to further improve vehicle performance.

[0006] In particular, the present invention provides a driving control method for a vehicle, comprising:

[0007] Obtaining a state of a rear wheel steering function of the vehicle;

[0008] The state of the rear wheel steering function is adjusted to control the traffic jam pilot function of the vehicle to enter an activated state; wherein,

[0009] If the rear-wheel steering function is in an activated state, the traffic jam pilot function does not enter an activated state before the rear-wheel steering function is switched to a suppressed state;

[0010] If the rear-wheel steering function is in a suppressed state, the traffic jam pilot function enters an activated state after both the longitudinal control state and the lateral control state of the vehicle enter a traffic jam pilot mode.

[0011] Optionally, the vehicle includes an active safety domain master controller and a vehicle dynamic domain master controller, and the driving control method includes:

[0012] The active safety domain master controller receives an input instruction requesting to activate the traffic jam pilot function;

[0013] The active safety domain master controller sends an activation request for the traffic jam pilot function to the vehicle dynamic domain master controller in response to the input command;

[0014] The vehicle dynamic domain master controller determines whether the rear-wheel steering function is in an inhibited state in response to the activation request.

[0015] Optionally, the vehicle includes a rear wheel auxiliary steering module, and the driving control method includes:

[0016] If the rear-wheel steering function is in an activated state, the vehicle dynamic domain main controller sends an inhibition signal for exiting the rear-wheel steering function to the rear-wheel auxiliary steering module, so that the rear-wheel steering function enters the inhibition state;

[0017] If the rear-wheel steering function is in the inhibited state, the longitudinal control state enters the traffic jam pilot mode, and the vehicle dynamic domain main controller feeds back information that the longitudinal control state enters the traffic jam pilot mode to the active safety domain main controller.

[0018] Optionally, the driving control method further includes:

[0019] When the rear-wheel steering function is in an activated state, the rear-wheel auxiliary steering module stops executing the steering angle control request of the rear-wheel steering function in response to the inhibition signal, so that the vehicle exits the rear-wheel steering function;

[0020] Determine whether the rear-wheel steering function is completely exited. If so, the rear-wheel steering function is in an inhibited state. If not, the vehicle dynamic domain main controller sends a longitudinal fault signal indicating that the longitudinal control state is a fault state to the active safety domain main controller.

[0021] Optionally, the driving control method further includes:

[0022] When the rear-wheel steering function cannot be completely exited, the active safety domain main controller changes the activation request to no request in response to the longitudinal fault signal, and the traffic jam pilot function does not enter the activation state.

[0023] Optionally, the vehicle includes a power steering control module, and the driving control method further includes:

[0024] The active safety domain master controller sends the activation request to the power steering control module in response to the input instruction;

[0025] The power steering control module determines whether a lateral controller of the vehicle is faulty in response to the activation request.

[0026] Optionally, if the lateral controller has no fault, the lateral control state enters the traffic congestion pilot mode, and the power steering control module feeds back information that the lateral control state enters the traffic congestion pilot mode to the active safety domain main controller;

[0027] If the lateral controller is faulty, the power steering control module sends a lateral fault signal indicating that the lateral control state is a fault state to the active safety domain main controller.

[0028] Optionally, when the lateral controller fails, the active safety domain main controller changes the activation request to no request in response to the lateral fault signal, and the traffic congestion pilot function does not enter an activated state.

[0029] Optionally, the vehicle includes an active safety domain main controller, a vehicle dynamic domain main controller and a power steering control module, and the driving control method includes:

[0030] The active safety domain master controller receives information that the longitudinal control state enters the traffic congestion pilot mode and information that the lateral control state enters the traffic congestion pilot mode respectively;

[0031] The active safety domain master controller sends a global instruction for the global control state of the vehicle to enter the traffic congestion pilot mode to the vehicle dynamic domain master controller and the power steering control module; wherein

[0032] The information that the longitudinal control state enters the traffic jam pilot mode is provided by the vehicle dynamic domain main controller, and the information that the lateral control state enters the traffic jam pilot mode is provided by the power steering control module; and

[0033] The global control state includes the longitudinal control state and the lateral control state.

[0034] Optionally, the driving control method further includes:

[0035] The vehicle dynamics domain main controller and the power steering control module start to execute braking and turning angle commands in response to the global command, and the traffic jam pilot function enters an activated state.

[0036] Optionally, the driving control method further includes:

[0037] When the active safety domain master controller receives an exit instruction requesting to exit the traffic congestion pilot function;

[0038] In response to the exit instruction, the vehicle dynamics domain master controller releases the inhibition state of the rear-wheel steering function.

[0039] When the vehicle needs to activate the traffic jam pilot function, the control method of the present invention first monitors and adjusts the state of the rear-wheel steering function, so that the rear-wheel steering function is adjusted according to the activation demand of the traffic jam pilot function, so that the priority of the traffic jam pilot function is higher than the rear-wheel steering function, avoiding conflicts between the rear-wheel steering function and the traffic jam pilot function, thereby making the vehicle compatible with the rear-wheel steering function and the traffic jam pilot function at the same time.

[0040] Further, according to the control method of the present invention, when the active safety domain master controller receives an exit command requesting to exit the traffic jam pilot function, the vehicle dynamic domain master controller releases the inhibition state of the rear wheel steering function in response to the exit command. Thus, after the traffic jam pilot mode is exited, the rear wheel steering function can be activated again to improve vehicle performance.

[0041] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0043] Figure 1 is a schematic flow chart of a driving control method according to an embodiment of the present invention;

[0044] Figure 2 is a schematic flow chart of a driving control method according to another embodiment of the present invention;

[0045] Figure 3 is a schematic flow chart of a driving control method according to yet another embodiment of the present invention;

[0046] Figure 4 is a schematic flow chart of a driving control method according to an embodiment of the present invention, which illustrates a control method for exiting a traffic jam pilot function. DETAILED DESCRIPTION

[0047] Figure 1 is a schematic flow chart of a driving control method according to an embodiment of the present invention.

[0048] See also Figure 1The driving control method may generally include: step S100, obtaining the state of the rear wheel steering (RearWheel Steering, referred to as RWS) function of the vehicle, and step S102, adjusting the state of the rear wheel steering function to control the traffic jam pilot (Traffic Jam Pilot, referred to as TJP) function of the vehicle to enter an activated state.

[0049] Further, step S102 may also specifically include: if the rear-wheel steering function is in an activated state, the traffic jam pilot function enters an activated state before the rear-wheel steering function is switched to a suppressed state. If the rear-wheel steering function is in a suppressed state, the traffic jam pilot function enters an activated state after both the longitudinal control state and the lateral control state of the vehicle enter the traffic jam pilot mode.

[0050] In step S102 , adjusting the state of the rear-wheel steering function may include maintaining the inhibited state of the rear-wheel steering function and switching the activated state of the rear-wheel steering function to the inhibited state.

[0051] That is, when the traffic jam pilot function needs to be activated, the state of the vehicle's rear-wheel steering function is first detected and acquired. When the state of the rear-wheel steering function will not interfere with the traffic jam pilot function (that is, the rear-wheel steering function is in a suppressed state), the suppressed state of the rear-wheel steering function is maintained, and the traffic jam pilot function can be controlled to enter an activated state accordingly. When the state of the rear-wheel steering function may interfere with the traffic jam pilot function (that is, the rear-wheel steering function is in an activated state), the activation state of the rear-wheel steering function needs to be switched to a suppressed state first, and then the traffic jam pilot function can be controlled to enter an activated state accordingly.

[0052] The rear-wheel steering function and traffic jam pilot function of the vehicle can be controlled by the corresponding electronic control unit (ECU) respectively. When the traffic jam pilot function needs to be activated, if the rear-wheel steering function is also activated, the rear-wheel steering function can be controlled by the main ECU at any time, which will have a negative and uncontrollable impact on the path planning calculation in the traffic jam pilot function, affecting driving safety.

[0053] When the vehicle needs to activate the traffic jam pilot function, the control method of the present invention first monitors and adjusts the state of the rear-wheel steering function, so that the rear-wheel steering function is adjusted according to the activation demand of the traffic jam pilot function, so that the priority of the traffic jam pilot function is higher than the rear-wheel steering function, avoiding conflicts between the rear-wheel steering function and the traffic jam pilot function, thereby making the vehicle compatible with the rear-wheel steering function and the traffic jam pilot function at the same time.

[0054] Figure 2 It is a schematic flow chart of a driving control method according to another embodiment of the present invention. The vehicle to which this embodiment is applicable is equipped with an active safety domain master controller (ASDM for short), a power steering control module (PSCM for short), a vehicle dynamics domain master controller (VDDM for short) and a rear wheel auxiliary steering module (RASM for short). Among them, the power steering control module can be a lateral controller of the vehicle for electric power steering; the rear wheel auxiliary steering module can be used to perform the rear wheel steering function; the vehicle dynamic domain master controller can monitor the state of the rear wheel steering function. In addition, the vehicle dynamic domain master controller also includes a longitudinal controller of the vehicle for controlling the start, stop, acceleration and deceleration of the vehicle; the active safety domain master controller can coordinate the control of the power steering control module, the vehicle dynamic domain master controller, the rear wheel auxiliary steering module and other electronic controller units of the vehicle according to the control method of the vehicle. The technology of each of the above controllers and control modules independently performing control operations is well known to those skilled in the art and will not be repeated here.

[0055] See also Figure 2 The driving control method of this embodiment may specifically include:

[0056] Step S200: the active safety domain master controller receives an input instruction requesting activation of the traffic jam pilot function.

[0057] Step S202 : The active safety domain master controller sends an activation request (request signal) for the traffic jam pilot function to the vehicle dynamics domain master controller in response to the input command.

[0058] It should be noted that step S202 may also include the active safety domain main controller simultaneously sending an activation request (request signal) for the traffic jam pilot function to the power steering control module to adjust the vehicle's lateral controller (described in detail later).

[0059] Step S204: the vehicle dynamic domain main controller determines whether the rear-wheel steering function is in an inhibited state in response to the activation request.

[0060] If the conclusion of step S204 is yes ( Figure 2 If Y is used in the figure), then step S206 is executed.

[0061] Step S206, the rear wheel steering function is in the inhibited state, the longitudinal control state enters the traffic jam pilot mode, and the vehicle dynamic domain main controller feeds back the information that the longitudinal control state enters the traffic jam pilot mode to the active safety domain main controller. Among them, the state of the longitudinal controller is the longitudinal control state.

[0062] If the result of step S204 is determined to be negative ( Figure 2 If N is used in the figure), then step S216 is executed.

[0063] Step S216, the rear-wheel steering function is in an activated state, and the vehicle dynamic domain main controller sends an inhibition signal to the rear-wheel auxiliary steering module to exit the rear-wheel steering function, so that the rear-wheel steering function enters an inhibition state.

[0064] Continuing to refer to step S216, the driving control method may further specifically include: when the rear-wheel steering function is in an activated state, the rear-wheel auxiliary steering module responds to the inhibition signal and stops executing the angle control request of the rear-wheel steering function to make the vehicle exit the rear-wheel steering function.

[0065] The process of the vehicle exiting the rear wheel steering function needs to be carried out step by step, so step S218 needs to be performed to determine whether the rear wheel steering has returned to the 0 position state. In other words, it is determined whether the rear wheel steering function is completely exited.

[0066] If yes, the rear wheel steering function is in (or has been successfully switched to) the inhibited state. That is, corresponding to step S220, the vehicle dynamic domain master controller inhibits the rear wheel steering function.

[0067] If not, it means that the rear wheel steering function cannot be switched to the inhibited state, and the vehicle dynamic domain master controller cannot inhibit the rear wheel steering function, and thus cannot continue to make the longitudinal control state enter the traffic jam pilot mode. At this time, corresponding to step 224, the vehicle dynamic domain master controller sends a longitudinal fault signal indicating that the longitudinal control state is in a fault state to the active safety domain master controller. In addition, when the longitudinal controller is detected to have a fault, the vehicle dynamic domain master controller will also send a longitudinal fault signal indicating that the longitudinal control state is in a fault state to the active safety domain master controller.

[0068] Furthermore, the driving control method further includes:

[0069] Step S226: When the rear wheel steering function cannot be completely exited, the active safety domain master controller changes the activation request to no request in response to the longitudinal fault signal. That is, the active safety domain master controller sends the global control state to the no request mode. The global control state includes the longitudinal control state.

[0070] Step S228: The traffic jam pilot function does not enter an activated state, that is, the traffic jam pilot mode cannot be activated.

[0071] At this point, if the rear-wheel steering function cannot be exited due to a malfunction, the traffic jam pilot mode cannot be activated, avoiding conflicts between the rear-wheel steering function and the traffic jam pilot mode.

[0072] Further, returning to step S206, if the rear-wheel steering function can be exited or is in a suppressed state, step S208 may be continued to detect and adjust the lateral control state of the vehicle.

[0073] As mentioned above, the control method further includes the active safety domain master controller sending an activation request to the power steering control module in response to the input command. Figure 2 It is shown as being incorporated into step S202, or can be a separate step.

[0074] The step of detecting and adjusting the lateral control state of the vehicle may specifically include:

[0075] Step S208 : The power steering control module determines whether a lateral controller of the vehicle is faulty in response to the activation request.

[0076] If the lateral controller has no faults, step S210 is executed.

[0077] Step S210: the lateral control state enters the traffic jam pilot mode, and the power steering control module feeds back information that the lateral control state enters the traffic jam pilot mode to the active safety domain main controller.

[0078] At this time, referring to step S206 to step S210, after the longitudinal control state and the lateral control state of the vehicle have entered the traffic congestion pilot mode, the traffic congestion pilot function can then be controlled to enter the activation state (the specific steps are detailed later).

[0079] Continuing to refer to step S208, if the lateral controller fails, execute step S222.

[0080] Step S222: The power steering control module sends a lateral fault signal indicating that the lateral control state is a fault state to the active safety domain main controller.

[0081] At this time, due to the fault of the lateral controller, the lateral controller cannot make the lateral control state enter the traffic jam pilot mode. Accordingly, step S226 and step S228 can be executed.

[0082] Step S226, the active safety domain master controller changes the activation request to no request in response to the lateral fault signal. That is, the active safety domain master controller sends the global control state to the no request mode. The global control state also includes the lateral control state.

[0083] Step S228: The traffic jam pilot function does not enter an activated state.

[0084] At this point, if the lateral controller sends a fault, the traffic jam pilot mode cannot be activated, avoiding the traffic jam pilot function cannot smoothly perform its function.

[0085] Further, after both the longitudinal control state and the lateral control state of the vehicle have entered the traffic jam pilot mode (for example, see step S206 and step S210), the specific steps of the traffic jam pilot function being subsequently controlled to enter the activated state may include:

[0086] In step S212, the active safety domain master controller sends a global instruction for the vehicle's global control state to enter the traffic jam pilot mode to the vehicle dynamic domain master controller and the power steering control module. As mentioned above, the global control state includes the longitudinal control state and the lateral control state.

[0087] Step S214, the vehicle dynamic domain main controller and the power steering control module respond to the global command and start to execute the braking and turning instructions, and the traffic congestion pilot function enters the activated state.

[0088] That is, according to step S206 and step S210, the active safety domain master controller receives information that the longitudinal control state enters the traffic congestion pilot mode and information that the lateral control state enters the traffic congestion pilot mode, respectively. The information that the longitudinal control state enters the traffic congestion pilot mode is provided by the vehicle dynamic domain master controller, and the information that the lateral control state enters the traffic congestion pilot mode is provided by the power steering control module.

[0089] At this time, the active safety domain main controller is required to exchange and summarize the information from two different controllers / control modules and return the complete information to the two controllers / control modules, thereby uniformly controlling the longitudinal control state and lateral control state of the vehicle so that the traffic congestion navigation function can smoothly enter the activation state.

[0090] Figure 3 is a schematic flow chart of a driving control method according to yet another embodiment of the present invention. Figure 3 The examples in Figure 2 The difference between the embodiments in the embodiment is that the order of the determination step of whether the lateral controller is faulty and the determination step of whether the rear wheel steering function is in the inhibited state are reversed.

[0091] It should be noted that according to the control method of the present invention, the detection and judgment of whether the lateral controller is faulty and the detection and judgment of whether the rear-wheel steering function is in an inhibited state can also be performed simultaneously, and there is no requirement for the execution order of these two judgment steps.

[0092] according to Figure 2 and Figure 3 It can be seen that steps S00 to S302 may correspond to steps S200 to S202, steps S304 to S306 may correspond to steps S208 to S210, steps S308 to S310 may correspond to steps S204 to S206, steps S312 to S314 may correspond to steps S212 to S214, steps S316 to S328 may correspond to steps S222 to S228, steps S320 to S324 and step S326 may correspond to steps S216 to S220 and S224. Figure 3 The description of the embodiment can be found in the above Figure 2 The description of the embodiments in the above will not be repeated here.

[0093] according to Figures 1 to 3 As described above, the control method of the present invention can make the vehicle compatible with the rear-wheel steering function and the traffic congestion navigation function at the same time. When the two functions conflict with each other, the dynamic domain controller can uniformly arbitrate and control the opening and closing of the rear-wheel steering function, so that the traffic congestion navigation function is not affected by the rear-wheel steering function.

[0094] Figure 4 is a schematic flow chart of a driving control method according to an embodiment of the present invention, which illustrates a control method for exiting a traffic jam pilot function.

[0095] See also Figure 4 , the control method for exiting the traffic jam pilot function may include:

[0096] Step S400: the vehicle dynamic domain main controller and the power steering control module receive an instruction to exit the traffic jam pilot mode.

[0097] Step S402, the vehicle dynamic domain main controller cancels the inhibition of the rear-wheel steering function, the rear-wheel steering function returns to a normal state, and the rear-wheel steering function can be controlled to be reactivated.

[0098] That is, when the active safety domain master controller receives an exit command requesting to exit the traffic jam pilot function, the vehicle dynamics domain master controller releases the inhibition state of the rear-wheel steering function in response to the exit command. As a result, when the traffic jam pilot mode is exited, the rear-wheel steering function can be activated again to improve vehicle performance.

[0099] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. A driving control method for a vehicle, comprising: Obtaining a state of a rear wheel steering function of the vehicle; The state of the rear wheel steering function is adjusted to control the traffic jam pilot function of the vehicle to enter an activated state; wherein, If the rear-wheel steering function is in an activated state, the traffic jam pilot function does not enter an activated state before the rear-wheel steering function is switched to a suppressed state; If the rear-wheel steering function is in a suppressed state, the traffic jam pilot function enters an activated state after both the longitudinal control state and the lateral control state of the vehicle enter a traffic jam pilot mode.

2. The driving control method according to claim 1, wherein: The vehicle includes an active safety domain master controller and a vehicle dynamic domain master controller, and the driving control method includes: The active safety domain master controller receives an input instruction requesting to activate the traffic jam pilot function; The active safety domain master controller sends an activation request for the traffic jam pilot function to the vehicle dynamic domain master controller in response to the input command; The vehicle dynamic domain master controller determines whether the rear-wheel steering function is in an inhibited state in response to the activation request.

3. The driving control method according to claim 2, wherein: The vehicle includes a rear wheel auxiliary steering module, and the driving control method includes: If the rear-wheel steering function is in an activated state, the vehicle dynamic domain main controller sends an inhibition signal for exiting the rear-wheel steering function to the rear-wheel auxiliary steering module, so that the rear-wheel steering function enters the inhibition state; If the rear-wheel steering function is in the inhibited state, the longitudinal control state enters the traffic jam pilot mode, and the vehicle dynamic domain main controller feeds back information that the longitudinal control state enters the traffic jam pilot mode to the active safety domain main controller.

4. The driving control method according to claim 3, further comprising: When the rear-wheel steering function is in an activated state, the rear-wheel auxiliary steering module stops executing the steering angle control request of the rear-wheel steering function in response to the inhibition signal, so that the vehicle exits the rear-wheel steering function; Determine whether the rear-wheel steering function is completely exited. If so, the rear-wheel steering function is in an inhibited state. If not, the vehicle dynamic domain main controller sends a longitudinal fault signal indicating that the longitudinal control state is a fault state to the active safety domain main controller.

5. The driving control method according to claim 4, further comprising: When the rear-wheel steering function cannot be completely exited, the active safety domain main controller changes the activation request to no request in response to the longitudinal fault signal, and the traffic jam pilot function does not enter the activation state.

6. The driving control method according to claim 2, wherein: The vehicle includes a power steering control module, and the driving control method further includes: The active safety domain master controller sends the activation request to the power steering control module in response to the input instruction; The power steering control module determines whether a lateral controller of the vehicle is faulty in response to the activation request.

7. The driving control method according to claim 6, wherein: If the lateral controller has no fault, the lateral control state enters the traffic jam pilot mode, and the power steering control module feeds back information that the lateral control state enters the traffic jam pilot mode to the active safety domain main controller; If the lateral controller is faulty, the power steering control module sends a lateral fault signal indicating that the lateral control state is a fault state to the active safety domain main controller.

8. The driving control method according to claim 7, wherein: If the lateral controller fails, the active safety domain main controller changes the activation request to no request in response to the lateral fault signal, and the traffic jam pilot function does not enter the activation state.

9. The driving control method according to claim 1, wherein the vehicle comprises an active safety domain master controller, a vehicle dynamic domain master controller and a power steering control module, and the driving control method comprises: The active safety domain master controller receives information that the longitudinal control state enters the traffic congestion pilot mode and information that the lateral control state enters the traffic congestion pilot mode respectively; The active safety domain master controller sends a global instruction for the global control state of the vehicle to enter the traffic congestion pilot mode to the vehicle dynamic domain master controller and the power steering control module; in The information that the longitudinal control state enters the traffic jam pilot mode is provided by the vehicle dynamic domain main controller, and the information that the lateral control state enters the traffic jam pilot mode is provided by the power steering control module; and The global control state includes the longitudinal control state and the lateral control state.

10. The driving control method according to claim 9, further comprising: The vehicle dynamics domain main controller and the power steering control module start to execute braking and turning angle commands in response to the global command, and the traffic jam pilot function enters an activated state.

11. The driving control method according to claim 10, further comprising: When the active safety domain master controller receives an exit instruction requesting to exit the traffic congestion pilot function; In response to the exit instruction, the vehicle dynamics domain master controller releases the inhibition state of the rear-wheel steering function.

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