Vehicle control system based on SOA architecture, its control method, device and medium

Abstract

This application relates to a vehicle control system based on the SOA architecture. The above vehicle control system includes a basic platform layer, a device abstraction layer, an atomic service layer, an enhanced service layer, and a vehicle control application service layer: The basic platform layer is used to drive vehicle devices; the device abstraction layer is used to standardize the interfaces of the basic platform layer and is also used to collect the device working data of vehicle devices; the atomic service layer is used to process the device working data collected by the device abstraction layer to obtain the processed device working data; among them, the data processing includes data fusion and data parsing; the enhanced service layer is used to perform enhanced data parsing on the processed device working data reported by the atomic service layer to obtain enhanced service data; the vehicle control application service layer is used to provide vehicle control application services for vehicle devices according to the enhanced service data. Using this system can improve software reuse and reduce development complexity.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle networking, and particularly to a vehicle control system based on the SOA architecture, a control method for the vehicle control system based on the SOA architecture, a computer device, and a storage medium. Background Art

[0002] The "Four Modernizations of Automobiles" (i.e., electrification, intelligence, networking, and sharing) are the development trends of the automotive industry, and the degree of automotive electronic control, intelligence, and networking is getting higher and higher. With the continuous development of automotive manufacturing technology, people's requirements for automobiles are also getting higher and higher. How to further meet the personalized needs of users and emphasize more on riding comfort, safety, and environmental protection has become an important issue in vehicle control.

[0003] However, when designing the software architecture of traditional vehicle control systems, a distributed architecture is usually adopted, and development is often carried out based on the established requirements of customers, resulting in problems such as low software reusability or high development complexity. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a vehicle control system based on the SOA architecture, a control method for the vehicle control system based on the SOA architecture, a computer device, and a storage medium that can improve software reusability and reduce development complexity.

[0005] In a first aspect, a vehicle control system based on the SOA architecture is provided. The vehicle control system includes a basic platform layer, a device abstraction layer, an atomic service layer, an enhanced service layer, and a vehicle control application service layer.

[0006] Among them, the basic platform layer is used to drive vehicle devices; among them, the vehicle devices are the devices required to control the operation of the vehicle;

[0007] The device abstraction layer is used to standardize the interfaces of the basic platform layer and is also used to collect device working data of the vehicle devices;

[0008] The atomic service layer is used to perform data processing on the device working data collected by the device abstraction layer to obtain the device working data after data processing, and is also used to report the device working data after data processing; among them, data processing includes data fusion and data parsing;

[0009] The enhanced service layer is used to perform enhanced data parsing on the device working data after data processing reported by the atomic service layer to obtain enhanced service data, and is also used to report the enhanced service data; among them, enhanced data parsing includes vehicle overall demand torque parsing, vehicle overall torque coordination parsing, and vehicle motor control torque parsing;

[0010] The vehicle control application service layer is used to provide vehicle control application services for vehicle devices according to enhanced service data.

[0011] In one embodiment, the vehicle devices include sensor devices, actuator devices, and electronic control devices; among them, the sensor devices include an accelerator pedal and a brake pedal; the actuator devices include a front drive motor and a rear drive motor; the electronic control devices include an electronic vehicle stability control system, a battery management system, an electric power steering system, and an electronic brake booster.

[0012] In one embodiment, the device abstraction layer includes a sensor device abstraction unit, an actuator device abstraction unit, and an electronic control device abstraction unit; among them, the sensor device abstraction unit is used to collect the working voltage and supply voltage of the first signal of the accelerator pedal; the sensor device abstraction unit is also used to collect the working voltage and supply voltage of the second signal of the accelerator pedal; the sensor device abstraction unit is also used to collect the open / close state of the first signal of the brake pedal; the sensor device abstraction unit is also used to collect the open / close state of the second signal of the brake pedal; the actuator device abstraction unit is used to collect the operating state, actual torque, and motor speed of the front drive motor; the actuator device abstraction unit is also used for the operating state, actual torque, and motor speed of the rear drive motor; the electronic control device abstraction unit is used to collect the interaction information of the electronic vehicle stability control system, the interaction information of the battery management system, the interaction information of the electric power steering system, and the interaction information of the electronic brake booster.

[0013] In one embodiment, the atomic service layer includes an accelerator pedal parsing unit and / or a brake pedal parsing unit; among them, the accelerator pedal parsing unit is used to parse the working voltage of the first signal of the accelerator pedal and the supply voltage of the first signal of the accelerator pedal collected by the sensor device abstraction unit to obtain the actual opening value and valid flag bit of the first signal of the accelerator pedal; the accelerator pedal parsing unit is used to parse the working voltage of the second signal of the accelerator pedal and the supply voltage of the second signal of the accelerator pedal collected by the sensor device abstraction unit to obtain the actual opening value and valid flag bit of the second signal of the accelerator pedal; the accelerator pedal parsing unit is also used to judge the fault state, depression flag bit, opening change rate, and downshift state of the accelerator pedal according to the actual opening value of the first signal of the accelerator pedal, the valid flag bit of the first signal of the accelerator pedal, the actual opening value of the second signal of the accelerator pedal, and the valid flag bit of the second signal of the accelerator pedal.

[0014] Among them, the brake pedal parsing unit is used to parse the opening and closing state of the first - path signal of the brake pedal collected by the sensor device abstraction unit to obtain the depression flag bit and status valid bit of the first - path signal of the brake pedal; the brake pedal parsing unit is used to parse the opening and closing state of the second - path signal of the brake pedal collected by the sensor device abstraction unit to obtain the depression flag bit and status valid bit of the second - path signal of the brake pedal; the brake pedal parsing unit is further used to judge the fault state of the brake pedal according to the depression flag bit of the first - path signal of the brake pedal, the status valid bit of the first - path signal of the brake pedal, the depression flag bit of the second - path signal of the brake pedal, and the status valid bit of the second - path signal of the brake pedal; the brake pedal parsing unit is further used to calculate the estimated opening value and opening value valid bit of the vehicle's overall brake pedal according to the fault state of the brake pedal, the travel of the vehicle's brake pedal, and the brake master cylinder pressure; among them, the interaction information of the electronic brake booster includes the travel of the brake pedal and the brake master cylinder pressure.

[0015] In one embodiment, the atomic service layer includes a motor characteristic parsing unit;

[0016] Among them, the motor characteristic parsing unit is used to calculate the external motor characteristic parameters and maximum drive - recovery ability of the front - drive motor based on the operating state, actual torque, and motor speed of the front - drive motor; the motor characteristic parsing unit is used to report the external motor characteristic parameters and maximum drive - recovery ability of the front - drive motor.

[0017] The motor characteristic parsing unit is used to calculate the external motor characteristic parameters and maximum drive - recovery ability of the rear - drive motor based on the operating state, actual torque, and motor speed of the rear - drive motor; the motor characteristic parsing unit is used to report the external motor characteristic parameters and maximum drive - recovery ability of the rear - drive motor.

[0018] In one embodiment, the atomic service layer includes a vehicle speed calculation unit and / or a road slope estimation unit;

[0019] Among them, the vehicle speed calculation unit is used to calculate the overall vehicle speed and the overall vehicle direction based on the motor speed of the front - drive motor, the motor speed of the rear - drive motor, and the vehicle speed signal; among them, the interaction information of the electronic vehicle stability control system includes the vehicle speed signal.

[0020] Among them, the road slope estimation unit is used to estimate the slope of the road slope based on the motor speed of the front - drive motor, the motor speed of the rear - drive motor, and the overall vehicle speed calculated by the vehicle speed calculation unit.

[0021] In one embodiment, the enhanced service layer includes a demand torque parsing unit;

[0022] Among them, the demand torque analysis unit is used to obtain the driver's demand torque after torque analysis based on the vehicle driving mode, the fault state of the accelerator pedal, the depression flag of the accelerator pedal, the opening change rate of the accelerator pedal, the downshift state of the accelerator pedal, and the vehicle speed signal; the demand torque analysis unit is also used to perform vehicle overall demand torque analysis on the driver's demand torque, the intelligent driving demand torque, and the safety request torque to obtain the vehicle overall demand torque.

[0023] In one embodiment, the enhanced service layer includes a vehicle overall torque coordination and distribution unit;

[0024] Among them, the vehicle overall torque coordination and distribution unit is used to obtain the vehicle overall torque coordination and distribution result after vehicle overall torque coordination analysis based on the vehicle overall demand torque, the vehicle driving mode, the vehicle road mode, the maximum driving and recovery ability of the front drive motor, and the maximum driving and recovery ability of the rear drive motor; among them, the vehicle overall torque coordination and distribution result includes the vehicle overall torque arbitration result, the vehicle overall torque filtering result, and the vehicle overall torque distribution result.

[0025] In one embodiment, the enhanced service layer includes a front motor torque control unit and a rear motor torque control unit;

[0026] Among them, the front motor torque control unit is used to obtain the pre-torque, torque commutation, and switch tube control state of the front drive motor after vehicle motor control torque analysis based on the operating state, actual torque, and motor speed of the front drive motor;

[0027] The front motor torque control unit is also used to obtain the torque filtering result of the front drive motor after gradient processing and torque filtering processing based on the vehicle overall demand torque, the vehicle driving mode, the vehicle road mode, and the maximum driving and recovery ability of the front drive motor;

[0028] The rear motor torque control unit is used to obtain the pre-torque, torque commutation, and switch tube control state of the rear drive motor after vehicle motor control torque analysis based on the operating state, actual torque, and motor speed of the rear drive motor;

[0029] The rear motor torque control unit is also used to obtain the torque filtering result of the rear drive motor after gradient processing and torque filtering processing based on the vehicle overall demand torque, the vehicle driving mode, the vehicle road mode, and the maximum driving and recovery ability of the rear drive motor.

[0030] Second aspect, a control method for a vehicle control system based on the SOA architecture is provided. The vehicle control system includes a basic platform layer, a device abstraction layer, an atomic service layer, an enhanced service layer, and a vehicle control application service layer. The above control method includes: driving vehicle devices through the basic platform layer; wherein, the vehicle devices are devices required for controlling the operation of the vehicle; standardizing the interfaces of the basic platform layer through the device abstraction layer, and collecting device operation data of the vehicle devices; performing data processing on the device operation data collected by the device abstraction layer through the atomic service layer to obtain the device operation data after data processing, and reporting the device operation data after data processing; wherein, the data processing includes data fusion and data parsing; performing enhanced data parsing on the device operation data after data processing reported by the atomic service layer through the enhanced service layer to obtain enhanced service data, and reporting the enhanced service data; wherein, the enhanced data parsing includes vehicle overall demand torque parsing, vehicle overall torque coordination parsing, and vehicle motor control torque parsing; providing vehicle control application services for the vehicle devices according to the enhanced service data through the vehicle control application service layer.

[0031] Third aspect, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of any one of the methods in the above method embodiments are implemented.

[0032] Fourth aspect, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any one of the methods in the above method embodiments are implemented.

[0033] The above vehicle control system based on the SOA architecture, the control method of the vehicle control system based on the SOA architecture, the computer device and the storage medium drive vehicle devices through the basic platform layer 1000; wherein, the vehicle devices are the devices required to control the operation of the vehicle; then, the interfaces of the basic platform layer are standardized through the device abstraction layer 2000, and the device working data of the vehicle devices are collected; then, the device working data collected by the device abstraction layer are processed through the atomic service layer 3000 to obtain the processed device working data, and the processed device working data are reported; wherein, the data processing includes data fusion and data parsing; at the same time, the processed device working data reported by the atomic service layer are enhanced and parsed through the enhanced service layer 4000 to obtain enhanced service data, and the enhanced service data are reported; wherein, the enhanced data parsing includes vehicle overall demand torque parsing, vehicle overall torque coordination parsing and vehicle motor control torque parsing; finally, the vehicle control application service layer 5000 provides vehicle control application services for the vehicle devices according to the enhanced service data, improving software reusability and reducing development complexity, that is, the architecture of the vehicle control system based on the SOA architecture has high flexibility, improving the application scenario change efficiency and convenience of the vehicle control system, improving the scalability of the vehicle control system, and reducing the difficulty of adding new functions to the vehicle control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 FIG. 6 is a first structural block diagram of a vehicle control system based on the SOA architecture in an embodiment;

[0035] Figure 2 FIG. 10 is a structural block diagram of the device abstraction layer in an embodiment;

[0036] Figure 3 FIG. 14 is a structural block diagram of the atomic service layer in an embodiment;

[0037] Figure 4 FIG. 18 is a structural block diagram of the enhanced service layer in an embodiment;

[0038] Figure 5 FIG. 22 is a second structural block diagram of a vehicle control system based on the SOA architecture in an embodiment;

[0039] Figure 6 FIG. 26 is a schematic flowchart of a control method of a vehicle control system based on the SOA architecture in an embodiment;

[0040] Figure 7 FIG. 30 is an internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] In order to make the objectives, technical solutions and advantages of this application more clear and understandable, the following further elaborates on this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain this application and are not intended to limit this application.

[0042] To facilitate the understanding of this application, the following will provide a more comprehensive description of this application with reference to the relevant accompanying drawings. Embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of this application more thorough and comprehensive.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application pertains. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0044] It can be understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, the first resistor can be referred to as the second resistor, and similarly, the second resistor can be referred to as the first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0045] It can be understood that "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if there is an electrical signal or data transfer between the connected circuits, modules, units, etc.

[0046] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprising", "including" or "having", etc. specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0047] In a specific example, as Figure 1 shown, the vehicle control system based on the SOA architecture of the embodiments of the present invention is described below. The vehicle control system based on the SOA architecture includes: a basic platform layer 1000, a device abstraction layer 2000, an atomic service layer 3000, an enhanced service layer 4000, and a vehicle control application service layer 5000.

[0048] Among them, the basic platform layer 1000 is used to drive vehicle devices.

[0049] Specifically, vehicle equipment refers to the equipment required to control the operation of a vehicle. The basic platform layer 1000 is used to drive the vehicle equipment, thereby providing a basic operating environment for each vehicle equipment.

[0050] In one embodiment, the vehicle equipment includes a sensor device, an actuator device, and an electronic control unit (ECU). Among them, the sensor device includes an accelerator pedal and a brake pedal. The actuator device includes a front drive motor and a rear drive motor. The electronic control device includes an Electronic Stability Controller (ESC), a Battery Management System (BMS), an Electric Power Steering (EPS), and an Ibooster.

[0051] Among them, the device abstraction layer 2000 is used to standardize the interfaces of the basic platform layer 1000 and also to collect the device operation data of the vehicle equipment.

[0052] Specifically, the device abstraction layer 2000 can abstract the vehicle equipment driven by the basic platform layer 1000, standardize the interfaces of the basic platform layer 1000, and collect the device operation data of the vehicle equipment, thereby realizing the unification of the interfaces of each vehicle equipment. It can also provide the standardized interfaces of each vehicle equipment to the atomic service layer 3000, thereby shielding the differences in the interfaces of the basic platform layer 1000, enabling the atomic service layer 3000 to not need to care about the specific implementation of the vehicle equipment, the sorting of different parameters, and the defined interface types, and facilitating the atomic service layer 30 to call the vehicle equipment interfaces.

[0053] In one embodiment, as Figure 2 shown, the device abstraction layer 2000 includes a sensor device abstraction unit 2100, an actuator device abstraction unit 2200, and an electronic control device abstraction unit 2300.

[0054] Among them, the sensor device abstraction unit 2100 is used to collect the working voltage of the first path signal of the accelerator pedal and the power supply voltage of the first path signal of the accelerator pedal; the sensor device abstraction unit 2100 is also used to collect the working voltage of the second path signal of the accelerator pedal and the power supply voltage of the second path signal of the accelerator pedal; the sensor device abstraction unit 2100 is also used to collect the open / closed state of the first path signal of the brake pedal; the sensor device abstraction unit 2100 is also used to collect the open / closed state of the second path signal of the brake pedal.

[0055] Among them, the actuator device abstraction unit 2200 is used to collect the operating state, actual torque, and motor speed of the front drive motor; the actuator device abstraction unit 2200 is also used for the operating state, actual torque, and motor speed of the rear drive motor.

[0056] Among them, the electronic control device abstraction unit 2300 is used to collect the interaction information of the electronic vehicle stability control system, the interaction information of the battery management system, the interaction information of the electric power steering system, and the interaction information of the electronic brake booster.

[0057] In this embodiment, by means of the device abstraction layer 2000 including the sensor device abstraction unit 2100, the actuator device abstraction unit 2200, and the electronic control device abstraction unit 2300, the accuracy and convenience of the device working data of vehicle devices are improved.

[0058] Among them, the atomic service layer 3000 is used to perform data processing on the device working data collected by the device abstraction layer 2000 to obtain the device working data after data processing, and is also used to report the device working data after data processing.

[0059] Specifically, the data processing includes data fusion and data parsing. The atomic service layer 3000 can perform data processing on the device working data collected by the device abstraction layer 2000, and then the device working data after data processing can be obtained. The atomic service layer 3000 can also report the device working data after data processing. It can be understood that, as the smallest unit and single execution entity of the application service, the atomic service layer 300 can provide basic services that can be choreographed as needed for the vehicle control application service layer, enabling the vehicle control system to be reused multiple times with one development, maximizing the system development efficiency. At the same time, it shields the impact of changes in the device abstraction layer 2000 on the enhanced service layer 4000 and the vehicle control application service layer 5000.

[0060] In one of the embodiments, as Figure 3 shown, the atomic service layer 3000 includes an accelerator pedal parsing unit 3100 and / or a brake pedal parsing unit 3200.

[0061] [[ID=XX]]The accelerator pedal parsing unit 3100 is used to parse the working voltage of the first-channel signal of the accelerator pedal and the power supply voltage of the first-channel signal of the accelerator pedal collected by the sensor device abstraction unit 2100 to obtain the actual opening value and the valid flag bit of the first-channel signal of the accelerator pedal.

[0062] The accelerator pedal analysis unit 3100 is used to analyze the working voltage of the second signal of the accelerator pedal and the power supply voltage of the second signal of the accelerator pedal collected by the sensor device abstraction unit 2100, and then obtain the actual opening value of the second signal of the accelerator pedal and the valid flag bit of the second signal of the accelerator pedal.

[0063] The accelerator pedal analysis unit 3100 is also used to judge the fault state, the depressed flag bit, the opening change rate, and the downshift state of the accelerator pedal according to the actual opening value of the first signal of the accelerator pedal, the valid flag bit of the first signal of the accelerator pedal, the actual opening value of the second signal of the accelerator pedal, and the valid flag bit of the second signal of the accelerator pedal.

[0064] In a specific example, if the valid flag bit of the first signal of the accelerator pedal is 1, it indicates that the actual opening value of the first signal of the accelerator pedal is highly reliable at this time. If the valid flag bit of the first signal of the accelerator pedal is 0, it indicates that the actual opening value of the first signal of the accelerator pedal is less reliable at this time. If the valid flag bit of the second signal of the accelerator pedal is 1, it indicates that the actual opening value of the second signal of the accelerator pedal is highly reliable at this time. If the valid flag bit of the second signal of the accelerator pedal is 0, it indicates that the actual opening value of the second signal of the accelerator pedal is less reliable at this time. The above is only a specific example, and it can be flexibly set according to requirements in actual applications, and no limitation is made here.

[0065] In this embodiment, by analyzing the working voltage of the first signal of the accelerator pedal, the power supply voltage of the first signal of the accelerator pedal, the working voltage of the second signal of the accelerator pedal, and the power supply voltage of the second signal of the accelerator pedal respectively through the accelerator pedal analysis unit 3100, it is possible to accurately and conveniently judge the fault state, the depressed flag bit, the opening change rate, and the downshift state of the accelerator pedal, improving the accuracy and convenience of vehicle control.

[0066] In one of the embodiments, as Figure 3 shown, the atomic service layer 3000 includes the accelerator pedal analysis unit 3100 and / or the brake pedal analysis unit 3200. Among them, the interaction information of the electronic brake booster includes the stroke of the brake pedal and the brake master cylinder pressure of the brake pedal.

[0067] Specifically, the brake pedal analysis unit 3200 is used to analyze the opening and closing state of the first signal of the brake pedal collected by the sensor device abstraction unit 2100, and then obtain the depressed flag bit of the first signal of the brake pedal and the state valid bit of the first signal of the brake pedal.

[0068] The brake pedal analysis unit 3200 is used to analyze the opening and closing state of the second signal of the brake pedal collected by the sensor device abstraction unit 2100 to obtain the depression flag bit of the second signal of the brake pedal and the status valid bit of the second signal of the brake pedal.

[0069] The brake pedal analysis unit 3200 is also used to judge the fault state of the brake pedal according to the depression flag bit of the first signal of the brake pedal, the status valid bit of the first signal of the brake pedal, the depression flag bit of the second signal of the brake pedal, and the status valid bit of the second signal of the brake pedal.

[0070] The brake pedal analysis unit is also used to calculate based on the fault state of the brake pedal, the travel of the brake pedal, and the master cylinder pressure to obtain the estimated opening value of the brake pedal and the opening value valid bit of the brake pedal.

[0071] In this embodiment, by analyzing the opening and closing states of the first signal of the brake pedal and the second signal of the brake pedal by the brake pedal analysis unit 3200 respectively, and through judgment and calculation, the estimated opening value of the brake pedal and the opening value valid bit of the brake pedal can be accurately and conveniently obtained, improving the accuracy and convenience of vehicle control.

[0072] In one of the embodiments, as Figure 3 shown, the atomic service layer 3000 includes a motor characteristic analysis unit 3300.

[0073] Among them, the motor characteristic analysis unit 3300 is used to calculate the operating state of the front drive motor, the actual torque of the front drive motor, and the motor speed of the front drive motor to obtain the external characteristic parameters of the front drive motor and the maximum drive and recovery ability of the front drive motor; the motor characteristic analysis unit 3300 is used to report the external characteristic parameters of the front drive motor and the maximum drive and recovery ability of the front drive motor.

[0074] The motor characteristic analysis unit 3300 is used to calculate the operating state of the rear drive motor, the actual torque of the rear drive motor, and the motor speed of the rear drive motor to obtain the external characteristic parameters of the rear drive motor and the maximum drive and recovery ability of the rear drive motor; the motor characteristic analysis unit is used to report the external characteristic parameters of the rear drive motor and the maximum drive and recovery ability of the rear drive motor.

[0075] In this embodiment, the operation state of the front drive motor, the actual torque of the front drive motor, and the motor speed of the front drive motor can be calculated by the motor characteristic analysis unit 3300, so as to accurately and conveniently obtain the external characteristic parameters of the front drive motor and the maximum drive recovery ability of the front drive motor; at the same time, the operation state of the rear drive motor, the actual torque of the rear drive motor, and the motor speed of the rear drive motor can be calculated, so as to accurately and conveniently obtain the external characteristic parameters of the rear drive motor and the maximum drive recovery ability of the rear drive motor, improving the accuracy and convenience of vehicle control.

[0076] In one embodiment, as Figure 3 shown, the atomic service layer 3000 includes a vehicle speed calculation unit 3400 and / or a road ramp estimation unit 3500. Among them, the interaction information of the electronic vehicle stability control system includes a vehicle speed signal.

[0077] Specifically, the vehicle speed calculation unit 3400 is used to calculate based on the motor speed of the front drive motor, the motor speed of the rear drive motor of the front drive motor, and the vehicle speed signal, and the overall vehicle speed and the overall vehicle direction can be accurately and conveniently obtained.

[0078] In this embodiment, through the vehicle speed calculation unit 3400, it can be calculated based on the motor speed of the front drive motor, the motor speed of the rear drive motor of the front drive motor, and the vehicle speed signal, and the overall vehicle speed and the overall vehicle direction can be accurately and conveniently obtained, improving the accuracy and convenience of vehicle control.

[0079] In one embodiment, the atomic service layer 3000 includes a vehicle speed calculation unit 3400 and / or a road ramp estimation unit 3500.

[0080] Among them, the road ramp estimation unit 3500 is used to estimate the slope of the road ramp based on the motor speed of the front drive motor, the motor speed of the rear drive motor, and the overall vehicle speed calculated by the vehicle speed calculation unit 3400.

[0081] In this embodiment, through the road ramp estimation unit 3500, it can be estimated based on the motor speed of the front drive motor, the motor speed of the rear drive motor, and the overall vehicle speed calculated by the vehicle speed calculation unit 3400, and the slope of the road ramp can be accurately and conveniently obtained, improving the accuracy and convenience of vehicle control.

[0082] Among them, the enhanced service layer 4000 is used to perform data enhancement analysis on the device working data after processing the data reported by the atomic service layer 2000 to obtain enhanced service data, and is also used to report the enhanced service data.

[0083] Specifically, the data enhancement analysis includes the analysis of the overall vehicle demand torque, the analysis of the overall vehicle torque coordination, and the analysis of the vehicle motor control torque. After data enhancement analysis is performed on the device operation data processed by the enhanced service layer 4000 on the data reported by the atomic service layer 2000, enhanced service data is obtained, thereby realizing the definition and combined enhancement of vehicle services, applications, experiences, etc. based on the data reported by the atomic service layer 2000, providing an interface that can be called by the vehicle control application service layer 5000, and constructing a differentiated and competitive vehicle control application.

[0084] In one embodiment, as Figure 4 shown, the enhanced service layer 4000 includes a demand torque analysis unit 4100.

[0085] Among them, the demand torque analysis unit 4100 is used to perform torque analysis based on the vehicle driving mode, the fault state of the accelerator pedal, the depression flag of the accelerator pedal, the opening change rate of the accelerator pedal, the downshift state of the accelerator pedal, and the vehicle speed signal to obtain the driver demand torque; the demand torque analysis unit 4100 is also used to perform overall vehicle demand torque analysis on the driver demand torque, the intelligent driving demand torque, and the safety request torque to obtain the overall vehicle demand torque.

[0086] In a specific example, different vehicle driving modes correspond to different torque response speeds. The vehicle driving modes include a sport mode, a comfort mode, and an economy mode. It can be understood that the torque response speeds corresponding to the sport mode, the comfort mode, and the economy mode decrease in sequence. The above is only a specific example, and in actual applications, it can be flexibly set according to requirements and will not be limited here.

[0087] In a specific example, the demand torque analysis unit 4100 can perform torque analysis based on the vehicle driving mode, the fault state of the accelerator pedal, the depression flag of the accelerator pedal, the opening change rate of the accelerator pedal, the downshift state of the accelerator pedal, and the vehicle speed signal to obtain the driver demand torque. This torque analysis includes creep torque analysis, Pedlmap torque analysis, and coasting energy recovery torque analysis, etc. That is to say, the driver's driving intention can be reasonably and accurately reflected through the driver demand torque.

[0088] Specifically, when the driver does not step on the accelerator pedal or gently steps on the brake pedal, the creep torque enables the vehicle to provide the ability to travel at a low speed through a relatively small creep torque. The magnitude of the creep torque is mainly related to the overall vehicle speed and the slope of the road ramp, and is also affected by factors such as the brake pedal opening and the steering wheel angle. Among them, the Pedl map torque is parsed as the vehicle calculates the overall vehicle torque according to the accelerator pedal opening and the overall vehicle speed during the driving process of the vehicle. There are significant differences in different driving modes to distinguish different driving styles. Among them, the coasting energy recovery torque is mainly parsed as when the vehicle is coasting in D gear, the driving motor uses the principle of magnetic electricity generation to convert mechanical energy into electrical energy to charge the battery pack to improve the energy utilization rate. The magnitude of the energy recovery torque is mainly determined by the accelerator pedal opening and the vehicle speed. The above are only specific examples and can be flexibly set according to requirements in actual applications, and are not limited here.

[0089] In a specific example, when the activation state of the vehicle intelligent driving function is activated, the vehicle accelerates and decelerates in response to the intelligent driving demand torque sent by the intelligent driving system, so as to meet the torque requirements of assisted driving. At the same time, when the driver steps on the accelerator pedal and requests to increase speed, the vehicle responds to the driver's demand torque to control the overall vehicle speed. At this time, the power response corresponds to the current driving mode. The above are only specific examples and can be flexibly set according to requirements in actual applications, and are not limited here.

[0090] In a specific example, the safety request torque mainly includes two major parts: the fault state torque limit and the chassis safety torque limit. Among them, the fault state torque limit outputs torque parameters according to the vehicle ability limit, mainly including the overall vehicle maximum speed limit, the motor external characteristic limit, the system driving ability limit, the system feedback ability limit, the fault torque limit, etc.; the chassis safety torque limit is that when the chassis function determines that the vehicle is about to become unstable and performs torque intervention, the vehicle needs to promptly respond to the chassis safety torque limit. The above are only specific examples and can be flexibly set according to requirements in actual applications, and are not limited here.

[0091] In this embodiment, the demand torque parsing unit 4100 can obtain the driver's demand torque after torque parsing according to the vehicle driving mode, the fault state of the accelerator pedal, the depression flag of the accelerator pedal, the opening change rate of the accelerator pedal, the downshift state of the accelerator pedal, and the vehicle speed signal; at the same time, it can also perform overall vehicle demand torque parsing on the driver's demand torque, the intelligent driving demand torque, and the safety request torque, so as to accurately and conveniently obtain the overall vehicle demand torque, improving the accuracy and convenience of vehicle control.

[0092] In one of the embodiments, as Figure 4 shown, the enhanced service layer includes the overall vehicle torque coordination and distribution unit 4200.

[0093] Among them, the vehicle overall torque coordination and distribution unit 4200 is used to perform vehicle overall torque coordination analysis based on the vehicle's overall required torque, vehicle driving mode, vehicle road mode, the maximum drive recovery capacity of the front drive motor and the maximum drive recovery capacity of the rear drive motor, and obtain the vehicle overall torque coordination distribution result, so that the vehicle can achieve the best energy consumption economy and vehicle stability.

[0094] In a specific example, the vehicle road mode is determined based on the road environment the vehicle is in. The vehicle road modes include snow mode, slippery mode, escape mode, and custom mode. The above are only specific examples. In actual applications, they can be flexibly set according to needs and are not limited here.

[0095] It can be understood that the vehicle overall torque coordination distribution result includes the vehicle overall torque arbitration result, the vehicle overall torque filtering result and the vehicle overall torque distribution result.

[0096] In one specific example, the vehicle's overall torque arbitration results prioritize input torque requests, including driver demand torque requests, intelligent driving demand torque requests, and safety demand torque requests. Torque arbitration output is performed for each of these requests. The overall vehicle torque response priority is: safety demand torque request > intelligent driving demand torque request > driver demand torque request. This is only a specific example; in actual applications, this can be flexibly configured based on specific needs and is not a limitation here.

[0097] In a specific example, the overall torque filtering result of the vehicle can improve the overall comfort of the vehicle by performing gradient processing and filtering on the overall required torque of the vehicle. First, different vehicle driving modes correspond to different torque response speeds, and the vehicle driving modes include sports mode, comfort mode and economy mode. It can be understood that the torque response speeds corresponding to the sports mode, comfort mode and economy mode are weakened in turn. Second, different vehicle road modes correspond to torque response speeds of different gradients, and the vehicle road modes include snow mode, slippery mode and escape mode. In addition, the torque response speed of the slippery mode is slower than that of the economy mode. Third, when functions such as intelligent driving demand torque request and safety request torque request are activated, the vehicle torque response corresponds to the function-specific gradient processing. The above is only a specific example. In actual application, it can be flexibly set according to demand and is not limited here.

[0098] In a specific example, the overall vehicle torque distribution result can distribute the overall vehicle required torque to the front and rear axles according to a certain ratio through driving modes and vehicle road modes, etc., to ensure the power performance, economy and stability of the vehicle under different working conditions. First, when the vehicle road mode is a snow mode / slippery mode / off-road mode or other specially set modes, the front and rear axles jointly participate in torque drive; second, the trend of front-wheel drive intervention in different vehicle driving modes: sport mode > comfort mode > economy mode; third, the comparison of performance effects of different vehicle driving modes: in terms of economy, that is, the energy consumption saving effect, the economy mode, comfort mode and sport mode decrease in turn; in terms of power performance, that is, the torque response timely effect, the sport mode, comfort mode and economy mode decrease in turn. The above are only specific examples, and can be flexibly set according to requirements in actual applications, and are not limited here.

[0099] In this embodiment, the overall vehicle torque coordination distribution unit 4200 can perform overall vehicle torque coordination analysis based on the overall vehicle required torque, vehicle driving mode, vehicle road mode, the maximum driving and recovery ability of the front drive motor, and the maximum driving and recovery ability of the rear drive motor to obtain the overall vehicle torque coordination distribution result, so that the vehicle achieves the best energy consumption economy and vehicle stability, and improves the accuracy and convenience of vehicle control.

[0100] In one of the embodiments, as Figure 4 shown, the enhanced service layer 4000 includes a front motor torque control unit 4300 and a rear motor torque control unit 4400.

[0101] Among them, the front motor torque control unit 4300 is used to perform vehicle motor control torque analysis based on the operating state of the front drive motor, the actual torque of the front drive motor, and the motor speed of the front drive motor to obtain the pre-torque of the front drive motor, the torque commutation of the front drive motor, and the switching tube control state of the front drive motor.

[0102] In a specific example, the pre-torque of the front drive motor, when the vehicle is stationary or driving at a low speed, in order to prevent the overall vehicle jitter caused by the gear clearance of the front drive motor, requests a small torque according to the gear position to eliminate the gear clearance; the torque commutation of the front drive motor is mainly the torque commutation process of the front drive motor when switching between D and R gears; the switching tube control state of the front drive motor is used to represent the state of reasonably controlling the operating state of the front drive motor based on the vehicle gear position, vehicle driving conditions, etc. The above are only specific examples, and can be flexibly set according to requirements in actual applications, and are not limited here.

[0103] Among them, the front motor torque control unit 4300 is also used to perform gradient processing and torque filtering processing according to the overall vehicle demand torque, vehicle driving mode, vehicle road mode, and the maximum driving and recovery ability of the front drive motor, and then obtain the torque filtering result of the front drive motor.

[0104] In a specific example, the torque of the front drive motor is subjected to gradient processing and filtering based on different vehicle driving modes, vehicle road modes, and vehicle driving conditions, so as to obtain the torque filtering result of the front drive motor, and the smoothness of the torque output of the front drive motor is improved according to the torque filtering result of the front drive motor, the NVH performance of the front drive motor is optimized, and the comfort of the whole vehicle is enhanced.

[0105] Among them, the rear motor torque control unit 4400 is used to perform vehicle motor control torque analysis according to the operating state of the rear drive motor, the actual torque of the rear drive motor, and the motor speed of the rear drive motor, and then obtain the pre-torque of the rear drive motor, the torque commutation of the rear drive motor, and the switching tube control state of the rear drive motor.

[0106] In a specific example, when the vehicle is stationary or traveling at a low speed, in order to prevent the overall vehicle jitter caused by the gear clearance of the rear drive motor, a small torque is requested according to the gear position to eliminate the gear clearance; the torque commutation of the rear drive motor is mainly the torque commutation processing of the rear drive motor when switching between D and R gears; the switching tube control state of the rear drive motor is used to represent the state of reasonably controlling the operating state of the rear drive motor based on the vehicle gear position, vehicle driving conditions, etc. The above are only specific examples, and can be flexibly set according to requirements in actual applications, and are not limited here.

[0107] Among them, the rear motor torque control unit 4400 is also used to perform gradient processing and torque filtering processing according to the overall vehicle demand torque, vehicle driving mode, vehicle road mode, and the maximum driving and recovery ability of the rear drive motor, and then obtain the torque filtering result of the rear drive motor.

[0108] In a specific example, the torque of the rear drive motor is subjected to gradient processing and filtering based on different vehicle driving modes, vehicle road modes, and vehicle driving conditions, so as to obtain the torque filtering result of the rear drive motor, and the smoothness of the torque output of the rear drive motor is improved according to the torque filtering result of the rear drive motor, the NVH performance of the rear drive motor is optimized, and the comfort of the whole vehicle is enhanced.

[0109] In this embodiment, the pre-torque of the front drive motor, the torque commutation of the front drive motor, the switching tube control state of the front drive motor, and the torque filtering result of the front drive motor are obtained through the front motor torque control unit 4300; and the pre-torque of the rear drive motor, the torque commutation of the rear drive motor, the switching tube control state of the rear drive motor, and the torque filtering result of the rear drive motor are obtained through the rear motor torque control unit 4400, so as to improve the overall comfort of the vehicle.

[0110] Among them, the vehicle control application service layer 5000 is used to provide vehicle control application services for vehicle equipment according to the enhanced service data.

[0111] Specifically, by providing vehicle control application services for vehicle equipment through the vehicle control application service layer 5000 according to the enhanced service data, a vehicle motion application service facing the user experience can be formed, improving the accuracy and convenience of vehicle control.

[0112] Based on this, the above vehicle control system based on the SOA architecture drives vehicle equipment through the basic platform layer 1000; among them, the vehicle equipment is the equipment required to control the operation of the vehicle; then, the interfaces of the basic platform layer are standardized through the device abstraction layer 2000, and the device working data of the vehicle equipment is collected; then, the device working data collected by the device abstraction layer is processed through the atomic service layer 3000 to obtain the processed device working data, and the processed device working data is reported; among them, the data processing includes data fusion and data parsing; at the same time, the processed device working data reported by the atomic service layer is enhanced and parsed through the enhanced service layer 4000 to obtain enhanced service data, and the enhanced service data is reported; among them, the enhanced data parsing includes the parsing of the overall vehicle demand torque, the parsing of the overall vehicle torque coordination, and the parsing of the vehicle motor control torque; finally, the vehicle control application service layer 5000 provides vehicle control application services for vehicle equipment according to the enhanced service data, improving software reusability and reducing development complexity, that is, the architecture of the vehicle control system based on the SOA architecture has high flexibility, improving the application scenario change efficiency and convenience of the vehicle control system, improving the scalability of the vehicle control system, and reducing the difficulty of adding new functions to the vehicle control system.

[0113] In a specific example, such as Figure 6As shown in the figure, the vehicle control system based on the SOA architecture includes: a basic platform layer 1000, a device abstraction layer 2000, an atomic service layer 3000, an enhanced service layer 4000, and a vehicle control application service layer 5000. Among them, the device abstraction layer 2000 includes a sensor device abstraction unit 2100, an actuator device abstraction unit 2200, and an electronic control device abstraction unit 2300. The atomic service layer 3000 includes an accelerator pedal parsing unit 3100, a brake pedal parsing unit 3200, a motor characteristic parsing unit 3300, a vehicle speed calculation unit 3400, and a road ramp estimation unit 3500. The enhanced service layer 4000 includes a demand torque parsing unit 4100, a vehicle overall torque coordination and distribution unit 4200, a front motor torque control unit 4300, and a rear motor torque control unit 4400. The above are only specific examples, and can be flexibly set according to requirements in actual applications, and are not limited here.

[0114] Each layer and unit in the above vehicle control system based on the SOA architecture can be implemented in whole or in part by software, hardware, and their combinations. Each of the above layers and units can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0115] In the second aspect, as Figure 5 shown in the figure, a control method for a vehicle control system based on the SOA architecture is provided. The vehicle control system includes a basic platform layer 1000, a device abstraction layer 2000, an atomic service layer 3000, an enhanced service layer 4000, and a vehicle control application service layer 5000.

[0116] Among them, the above control method includes steps 601 to 605.

[0117] Step 601, drive the vehicle equipment through the basic platform layer 1000. Among them, the vehicle equipment is the equipment required to control the operation of the vehicle.

[0118] Step 602, standardize the interface of the basic platform layer through the device abstraction layer 2000, and collect the device working data of the vehicle equipment.

[0119] Step 603, perform data processing on the device working data collected by the device abstraction layer through the atomic service layer 3000 to obtain the device working data after data processing, and report the device working data after data processing. Among them, data processing includes data fusion and data parsing.

[0120] Step 604: After the enhanced service layer 4000 processes the device working data reported by the atomic service layer, perform data enhancement parsing on the processed data to obtain enhanced service data, and report the enhanced service data. Among them, the data enhancement parsing includes vehicle overall demand torque parsing, vehicle overall torque coordination parsing, and vehicle motor control torque parsing.

[0121] Step 605: The vehicle control application service layer 5000 provides vehicle control application services for vehicle devices according to the enhanced service data.

[0122] It should be understood that for the specific limitations of the control method of the vehicle control system based on the SOA architecture, reference can be made to the limitations of the vehicle control system based on the SOA architecture described above, which will not be elaborated here. Although Figure 6 the steps in the flowchart are successively shown according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 6 at least a part of the steps in can include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these sub-steps or stages is not necessarily sequential either, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0123] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 7 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the device working data of vehicle devices. The network interface of the computer device is used to communicate with external terminals through a network. When the computer program is executed by the processor, it implements a control method of a vehicle control system based on the SOA architecture.

[0124] In a third aspect, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of any one of the methods in the above method embodiments.

[0125] Those skilled in the art can understand, Figure 7The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0126] In a fourth aspect, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of any one of the methods in the above method embodiments are implemented.

[0127] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in this application can include non-volatile and / or volatile memories. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchl ink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0128] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0129] The above-described embodiments only represent several implementation manners of this application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application should be subject to the appended claims.

Claims

1. A vehicle control system based on the SOA architecture, characterized in that, The vehicle control system includes: A basic platform layer for driving vehicle devices; wherein, the vehicle devices are devices required for controlling vehicle operation; A device abstraction layer for standardizing the interfaces of the basic platform layer and for collecting device operation data of the vehicle devices; wherein, the vehicle devices include sensor devices; the sensor devices include an accelerator pedal; An atomic service layer for performing data processing on the device operation data collected by the device abstraction layer to obtain the device operation data after data processing, and for reporting the device operation data after data processing; wherein, the data processing includes data fusion and data parsing; An enhanced service layer for performing enhanced data parsing on the device operation data after data processing reported by the atomic service layer to obtain enhanced service data, and for reporting the enhanced service data; wherein, the enhanced data parsing includes vehicle overall demand torque parsing, vehicle overall torque coordination parsing, and vehicle motor control torque parsing; wherein, the enhanced service layer includes a demand torque parsing unit; the demand torque parsing unit is used for performing torque parsing based on the vehicle driving mode, the fault state of the accelerator pedal, the depression flag of the accelerator pedal, the opening change rate of the accelerator pedal, the downshift state of the accelerator pedal, and the vehicle speed signal to obtain the driver demand torque; different vehicle driving modes correspond to different torque response speeds, and the vehicle driving modes include a sport mode, a comfort mode, and an economy mode; the torque response speeds corresponding to the sport mode, the comfort mode, and the economy mode decrease in sequence; the demand torque parsing unit is further used for performing the vehicle overall demand torque parsing on the driver demand torque, the intelligent driving demand torque, and the safety request torque to obtain the vehicle overall demand torque; the torque parsing includes creep torque parsing and coasting energy recovery torque parsing; A vehicle control application service layer for providing vehicle control application services to the vehicle devices according to the enhanced service data.

2. The vehicle control system according to claim 1, wherein The vehicle devices include actuator devices and electronic control devices; wherein, the sensor devices include a brake pedal; the actuator devices include a front drive motor and a rear drive motor; the electronic control devices include an electronic vehicle stability control system, a battery management system, an electric power steering system, and an electronic brake booster.

3. The vehicle control system according to claim 2, wherein The device abstraction layer includes a sensor device abstraction unit, an actuator device abstraction unit, and an electronic control device abstraction unit; Wherein, the sensor device abstraction unit is used for collecting the working voltage and the supply voltage of the first path signal of the accelerator pedal; the sensor device abstraction unit is further used for collecting the working voltage and the supply voltage of the second path signal of the accelerator pedal; the sensor device abstraction unit is further used for collecting the opening and closing state of the first path signal of the brake pedal; the sensor device abstraction unit is further used for collecting the opening and closing state of the second path signal of the brake pedal; The actuator device abstraction unit is used to collect the operating state, actual torque, and motor speed of the front drive motor; the actuator device abstraction unit is also used for the operating state, actual torque, and motor speed of the rear drive motor; The electronic control device abstraction unit is used to collect the interaction information of the electronic vehicle stability control system, the interaction information of the battery management system, the interaction information of the electric power steering system, and the interaction information of the electronic brake booster.

4. The vehicle control system according to claim 3, wherein, The atomic service layer includes an accelerator pedal parsing unit and / or a brake pedal parsing unit; Among them, the accelerator pedal parsing unit is used to parse the working voltage of the first channel signal of the accelerator pedal and the power supply voltage of the first channel signal of the accelerator pedal collected by the sensor device abstraction unit to obtain the actual opening value and valid flag bit of the first channel signal of the accelerator pedal; The accelerator pedal parsing unit is used to parse the working voltage of the second channel signal of the accelerator pedal and the power supply voltage of the second channel signal of the accelerator pedal collected by the sensor device abstraction unit to obtain the actual opening value and valid flag bit of the second channel signal of the accelerator pedal; The accelerator pedal parsing unit is further used to judge the fault state, depression flag bit, opening change rate, and downshift state of the accelerator pedal according to the actual opening value of the first channel signal of the accelerator pedal, the valid flag bit of the first channel signal of the accelerator pedal, the actual opening value of the second channel signal of the accelerator pedal, and the valid flag bit of the second channel signal of the accelerator pedal; The brake pedal parsing unit is used to parse the opening and closing state of the first channel signal of the brake pedal collected by the sensor device abstraction unit to obtain the depression flag bit and status valid bit of the first channel signal of the brake pedal; The brake pedal parsing unit is used to parse the opening and closing state of the second channel signal of the brake pedal collected by the sensor device abstraction unit to obtain the depression flag bit and status valid bit of the second channel signal of the brake pedal; The brake pedal parsing unit is further used to judge the fault state of the brake pedal according to the depression flag bit of the first channel signal of the brake pedal, the status valid bit of the first channel signal of the brake pedal, the depression flag bit of the second channel signal of the brake pedal, and the status valid bit of the second channel signal of the brake pedal; The brake pedal parsing unit is further used to calculate the estimated opening value and opening value valid bit of the brake pedal according to the fault state of the brake pedal, the stroke of the brake pedal, and the brake master cylinder pressure; among them, the interaction information of the electronic brake booster includes the stroke of the brake pedal and the brake master cylinder pressure.

5. The vehicle control system according to claim 3, wherein, The atomic service layer includes a motor characteristic parsing unit; Among them, the motor characteristic parsing unit is used to calculate the external motor characteristic parameters and maximum drive recovery ability of the front drive motor based on the operating state, actual torque, and motor speed of the front drive motor; the motor characteristic parsing unit is used to report the external motor characteristic parameters and maximum drive recovery ability of the front drive motor; The motor characteristic analysis unit calculates the external motor characteristic parameters and the maximum driving and recovery capabilities of the rear drive motor based on the operating state, actual torque, and motor speed of the rear drive motor; the motor characteristic analysis unit reports the external motor characteristic parameters and the maximum driving and recovery capabilities of the rear drive motor.

6. The vehicle control system according to claim 3, characterized in that, The atomic service layer includes a vehicle speed calculation unit and / or a road ramp estimation unit; Among them, the vehicle speed calculation unit calculates the overall vehicle speed and the overall vehicle direction based on the motor speed of the front drive motor, the motor speed of the rear drive motor, and the vehicle speed signal; among them, the interaction information of the electronic vehicle stability control system includes the vehicle speed signal; The road ramp estimation unit estimates the slope of the road ramp based on the motor speed of the front drive motor, the motor speed of the rear drive motor, and the overall vehicle speed calculated by the vehicle speed calculation unit.

7. The vehicle control system according to claim 1, characterized in that The enhanced service layer includes a vehicle overall torque coordination and distribution unit; Among them, the vehicle overall torque coordination and distribution unit performs vehicle overall torque coordination analysis based on the overall vehicle required torque, the vehicle driving mode, the vehicle road mode, the maximum driving and recovery capabilities of the front drive motor, and the maximum driving and recovery capabilities of the rear drive motor to obtain the vehicle overall torque coordination and distribution result; among them, the vehicle overall torque coordination and distribution result includes the vehicle overall torque arbitration result, the vehicle overall torque filtering result, and the vehicle overall torque distribution result.

8. The vehicle control system according to claim 1, wherein, The enhanced service layer includes a front motor torque control unit and a rear motor torque control unit; Among them, the front motor torque control unit performs vehicle motor control torque analysis based on the operating state, actual torque, and motor speed of the front drive motor to obtain the pre-torque, torque commutation, and switch tube control state of the front drive motor; The front motor torque control unit also performs gradient processing and torque filtering processing based on the overall vehicle required torque, the vehicle driving mode, the vehicle road mode, and the maximum driving and recovery capabilities of the front drive motor to obtain the torque filtering result of the front drive motor; The rear motor torque control unit performs vehicle motor control torque analysis based on the operating state, actual torque, and motor speed of the rear drive motor to obtain the pre-torque, torque commutation, and switch tube control state of the rear drive motor; The rear motor torque control unit also performs gradient processing and torque filtering processing based on the overall vehicle required torque, the vehicle driving mode, the vehicle road mode, and the maximum driving and recovery capabilities of the rear drive motor to obtain the torque filtering result of the rear drive motor.

9. A control method for a vehicle control system based on an SOA architecture, characterized in that, The vehicle control system includes a basic platform layer, a device abstraction layer, an atomic service layer, an enhanced service layer, and a vehicle control application service layer; the control method includes: Driving vehicle devices through the basic platform layer; among them, the vehicle devices are devices required to control the operation of the vehicle; among them, the vehicle devices include sensor devices; the sensor devices include an accelerator pedal. Standardize the interfaces of the basic platform layer through the device abstraction layer, and collect the device operation data of the vehicle device; After processing the device operation data collected by the device abstraction layer through the atomic service layer, obtain the device operation data after data processing, and report the device operation data after data processing; wherein, the data processing includes data fusion and data parsing; After performing data enhancement parsing on the device operation data after data processing reported by the atomic service layer through the enhanced service layer, obtain enhanced service data, and report the enhanced service data; wherein, the data enhancement parsing includes vehicle overall demand torque parsing, vehicle overall torque coordination parsing, and vehicle motor control torque parsing; wherein, the enhanced service layer includes a demand torque parsing unit; the demand torque parsing unit is used to perform torque parsing based on the vehicle driving mode, the fault state of the accelerator pedal, the depression flag of the accelerator pedal, the opening change rate of the accelerator pedal, the downshift state of the accelerator pedal, and the vehicle speed signal to obtain the driver demand torque; different vehicle driving modes correspond to different torque response speeds, and the vehicle driving modes include a sports mode, a comfort mode, and an economy mode; the torque response speeds corresponding to the sports mode, the comfort mode, and the economy mode decrease in sequence; the demand torque parsing unit is further used to perform vehicle overall demand torque parsing on the driver demand torque, the intelligent driving demand torque, and the safety request torque to obtain the vehicle overall demand torque; the torque parsing includes creep torque parsing and coasting energy recovery torque parsing; Provide vehicle control application services for the vehicle device through the vehicle control application service layer according to the enhanced service data.

10. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method described in claim 9 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method described in claim 9 are implemented.

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