A vehicle control method, system, controller and medium

Abstract

The embodiment of the application provides a vehicle control method, system, controller and medium, through the intelligent driving domain controller sending first control information to the vehicle controller in the case that the brake control system and / or the steering control system fails, then the vehicle controller performs brake control and / or steering control according to the first control information, the original vehicle controller in the vehicle is used to perform redundant backup on the brake control system and the steering control system, brake control and steering control can be performed in the case that the system fails, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular to a vehicle control method and system, a controller and a medium. BACKGROUND

[0002] In a vehicle applying intelligent driving, more sensors, communication, power supply and execution links are usually involved in the whole control logic. In order to ensure safe driving, a backup control logic architecture, i.e. redundancy backup, is designed for the involved sensors, controllers, actuators and communication links.

[0003] When the main control unit is normally running, the backup unit only performs verification and simple logical operation. In the case of failure of the main controller, sensors, actuators and communication links, the backup control unit can be started and called to control the vehicle, keeping the vehicle in a safe state.

[0004] However, in this way, although the function of safety redundancy is realized, double hardware cost is spent, the cost is high, and most of the time the redundant system does not need to intervene in the control. SUMMARY

[0005] In view of the above problems, a vehicle control method, system, controller and medium are provided to overcome the above problems or at least partially solve the above problems, comprising:

[0006] A vehicle control method, the method comprising:

[0007] In the case of failure of the brake control system and / or the steering control system, the intelligent driving domain controller sends first control information to the vehicle controller;

[0008] Wherein, the first control information is used to instruct the vehicle controller to control the vehicle braking and / or steering.

[0009] Optionally, further comprising:

[0010] In the case that the brake control system and / or the steering control system is not failed, the intelligent driving domain controller sends second control information to the brake control system and / or the steering control system;

[0011] Wherein, the second control information is used to instruct the brake control system to control the vehicle braking and / or the steering control system to control the vehicle steering.

[0012] Optionally, further comprising:

[0013] The intelligent driving domain controller obtains a first working state of the brake control system by handshake interaction with the brake control system;

[0014] And / or, the intelligent driving domain controller obtains a working state of the steering control system by handshake interaction with the steering control system;

[0015] The first working state is used to indicate whether the brake control system is failed, and the second working state is used to indicate whether the steering control system is failed.

[0016] A vehicle control method, the method comprising:

[0017] In the case of failure of the brake control system and / or the steering control system, the vehicle controller obtains the first control information sent by the intelligent driving domain controller;

[0018] The vehicle controller performs brake control and / or steering control on the vehicle according to the first control information.

[0019] Optionally, the brake control and / or steering control on the vehicle according to the first control information comprises:

[0020] determining a target brake force for the wheels according to the first control information, and performing brake control and / or steering control on the vehicle according to the target brake force.

[0021] Optionally, in the case of failure of the steering control system, the first control information comprises a target steering angle and a first target deceleration;

[0022] The determination of the target brake force for the wheels according to the first control information comprises:

[0023] determining a target wheel speed difference according to the target steering angle and the first target deceleration;

[0024] determining a target brake force for the wheels according to the target wheel speed difference.

[0025] Optionally, the determination of the target wheel speed difference according to the target steering angle and the first target deceleration comprises:

[0026] determining a target yaw rate according to the target steering angle and the first target deceleration;

[0027] determining a target wheel speed difference according to the target yaw rate.

[0028] Optionally, the target yaw rate is positively correlated with the target steering angle and negatively correlated with the first target deceleration.

[0029] The target wheel speed difference is positively correlated with the target yaw rate.

[0030] Optionally, after the braking control and / or the steering control according to the target braking force, further comprising:

[0031] According to the deviation of the actual steering angle and the target steering angle, updating the target braking force, and performing steering control according to the updated target braking force.

[0032] Optionally, in the case of failure of the braking control system, the first control information includes a second target deceleration;

[0033] The target braking force for the wheels is determined according to the first control information, comprising:

[0034] According to the second target deceleration, the target braking force for the wheels is determined.

[0035] Optionally, further comprising:

[0036] In the case of failure of the braking control system, the vehicle control unit controls the braking energy recovery system to brake the vehicle.

[0037] Optionally, further comprising:

[0038] Obtaining a wheel angular velocity and a current vehicle speed;

[0039] According to the wheel angular velocity and the current vehicle speed, a current slip rate is determined, and the target braking force is reduced when the current slip rate is greater than a slip rate threshold.

[0040] Optionally, the target braking force is reduced when the current slip rate is greater than the slip rate threshold, comprising:

[0041] When the current slip rate is greater than the slip rate threshold, it is detected whether there is a collision risk in front;

[0042] In the case where no collision risk in front is detected, the target braking force is reduced.

[0043] A vehicle control system, comprising an intelligent driving domain controller, a braking control system, a steering control system and a vehicle control unit,

[0044] The intelligent driving domain controller is configured to send first control information to the vehicle control unit in the case of failure of the braking control system and / or the steering control system;

[0045] The vehicle control unit is configured to brake and / or steer the vehicle according to the first control information.

[0046] A controller comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being implemented when executed by the processor to realize the vehicle control method as described above.

[0047] A computer readable storage medium, on which a computer program is stored, the computer program being implemented when executed by a processor to realize the vehicle control method as described above.

[0048] Embodiments of the present application have the following advantages:

[0049] In the embodiments of the present application, the intelligent driving domain controller sends the first control information to the vehicle controller in the case of failure of the brake control system and / or the steering control system, and then the vehicle controller performs brake control and / or steering control according to the first control information, so that the original vehicle controller in the vehicle is used to redundantly backup the brake control system and the steering control system, and brake control and steering control can be performed in the case of system failure, thereby reducing the cost. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0051] Figure 1 is a schematic diagram of a vehicle architecture provided by an embodiment of the present application;

[0052] Figure 2 is a schematic diagram of another vehicle architecture provided by an embodiment of the present application;

[0053] Figure 3 is a step flowchart of a vehicle control method provided by an embodiment of the present application;

[0054] Figure 4 is a step flowchart of another vehicle control method provided by an embodiment of the present application;

[0055] Figure 5 is a schematic diagram of the relationship between the slip rate and the speed provided by an embodiment of the present application;

[0056] Figure 6 is a schematic diagram of a vehicle control example provided by an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the above objectives, characteristics and advantages of the present application more apparent, comprehensible and easier to be understood, the present application will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work, fall within the protection scope of the present application.

[0058] In a related technology, in order to ensure the safety of braking control and steering control in intelligent driving decision control, two sets of braking control systems and steering control systems are designed, which are respectively used as a main braking control system and a main steering control system, and a redundant braking control system and a redundant steering control system, and the two systems are respectively connected and controlled through two different communication Can links.

[0059] As Figure 1 For the braking control system, IPB (Integrated Power Brake) and RBU (Redundant Brake Unit) are mutually redundant to control the corresponding brake execution. In a normal case, the IPB controls the vacuum pump braking response, and the RBU controls the hydraulic booster response corresponding to the braking request when the IPB fails. Correspondingly, for steering control, the main EPS (Electric Power Steering) and the auxiliary EPS are mutually redundant electronic steering boosters to control the wheel end steering.

[0060] In a specific implementation, two chassis Can lines are used to connect two braking control systems and steering control systems. In a normal case, the main domain control transmits the execution signal to the chassis Can1 through the ADAS (Advanced Driver Assistant System) Can connection CGW (Central Gateway) to perform braking and steering control; when one of the braking or steering fails, the main domain control transmits the execution signal to the chassis Can2 to control the response.

[0061] For such a related technology intelligent driving system, the function of safety redundancy is realized to some extent, but the cost of double hardware is spent to solve the problem of redundant execution, and most of the time the redundant system does not need to intervene in the control, which is relatively high in cost.

[0062] In order to realize both redundant control and cost reduction, the original design of dual-channel braking and steering redundancy is simplified and reconstructed (the original dual-redundancy structure is no longer retained) in the embodiment of the application, and the original vehicle controller (VCU, Vehicle Control Unit) in the vehicle is used to back up the braking control system and the steering control system, so that the braking control and the steering control can be performed in the case of system failure, thereby both the braking and steering redundancy design can be met and cost reduction and efficiency improvement can be better achieved. Figure 2 The intelligent driving domain controller (ADC, Autonomous Driving Control Unit) is taken as the center, the ADC is respectively connected with the IPB, the EPS and the VCU, the VCU can be connected with the motor controller, and the braking force for the wheels can be controlled through the motor.

[0063] For the related automatic driving system, the longitudinal control information is sent to the IPB through the acceleration interface Ax, and the lateral control information is sent to the EPS in the form of steering angle or steering torque information, so that the vehicle can be controlled to keep driving in the lane at a certain speed without collision. In general, the VCU is not used as a direct execution unit of the ADAS instruction to execute the lateral communication instruction and the longitudinal deceleration instruction, and the VCU is used as a backup unit of the failure of the lateral and longitudinal execution module to execute the corresponding lateral and longitudinal control. In the embodiment of the application, the accelerator pedal signal, the brake pedal signal and the electronic steering signal are calculated by the ADC through the perception, planning and control decision module and sent to the VCU, and then the VCU is used to back up the braking control system and the steering control system.

[0064] Specifically, the following aspects are included:

[0065] 1. The integrated braking control strategy contained in the energy recovery and control in the vehicle controller is used to optimize the total torque of the electric vehicle and distribute it to each wheel, so as to realize the deceleration control of the vehicle and replace the redundant braking control system.

[0066] 2. The motor directly controls the wheel end braking force distribution through the vehicle controller, so as to realize the slip rate and speed control of the vehicle, dynamically adjust the yaw rate, realize the differential steering control of the vehicle, and replace the redundant steering control system.

[0067] 3. The slip rate is detected in real time and fed back to the intelligent driving domain controller, and according to the actual road danger situation, it is decided whether to adjust the deceleration or immediately take over the warning, so as to realize the dual effective control of the stability and performance of the vehicle; at the same time, in this process, the deceleration adjustment can adjust the slip rate limit value under different adhesion according to the vehicle speed in advance.

[0068] The following is further illustrated:

[0069] Referring to Figure 3 , a step flow chart of a vehicle control method provided by an embodiment of the present application is shown, which can be applied to an intelligent driving domain controller.

[0070] Among them, as Figure 2 , the intelligent driving domain controller can be connected with a brake control system (such as IPB in Figure 2 ), a steering control system (such as EPS in Figure 2 ), and a vehicle controller, and the vehicle controller can be connected with a motor controller, and the brake force for the wheels can be controlled through the motor.

[0071] Specifically, it can include the following steps:

[0072] Step 301, in the case of failure of the brake control system and / or the steering control system, the intelligent driving domain controller sends first control information to the vehicle controller; wherein the first control information is used to instruct the vehicle controller to brake control and / or steering control of the vehicle.

[0073] It should be noted that the failure of the brake control system and / or the steering control system may not be the failure of the hardware (such as brake pads), but the failure caused by the program for controlling braking or steering or the interaction between the program and the hardware. That is, in the case of failure of the brake control system and / or the steering control system, the hardware for brake control or steering control is still available. Of course, the failure is not limited to being caused by the fault, but also can be caused by the system being occupied.

[0074] In actual application, the intelligent driving domain controller can detect whether the brake control system and the steering control system fail, when detecting that the brake control system and / or the steering control system fail, the brake control system and / or the steering control system cannot control the vehicle, and the intelligent driving domain controller can forward the control information originally sent to the brake control system and / or the steering control system to the vehicle controller.

[0075] After receiving the first control information, the vehicle controller can brake control and / or steering control of the vehicle according to the first control information, without relying on the brake control system and / or the steering control system.

[0076] For example, when the brake control system fails (the steering control system does not fail), the intelligent driving domain controller can forward the control information for controlling the vehicle braking to the vehicle controller (the control information for controlling the vehicle steering is still sent to the steering control system), and the vehicle controller can control the energy recovery and the motor carried by itself to generate brake pressure according to the indication of the control information, to realize the deceleration control of the vehicle, replace the redundant brake, without adding a new brake, simplify the architecture, and reduce the cost.

[0077] For example, when the brake control system fails (the steering control system does not fail), the intelligent driving domain controller can forward the control information for controlling the vehicle braking to the vehicle controller (the control information for controlling the vehicle steering is still sent to the steering control system), and the vehicle controller can control the energy recovery and the motor carried by itself to generate brake pressure according to the indication of the control information, to realize the deceleration control of the vehicle, replace the redundant brake, without adding a new brake, simplify the architecture, and reduce the cost.

[0078] For example, when the brake control system and the steering control system both fail, the intelligent driving domain controller can forward the control information for controlling the vehicle braking and the control information for controlling the vehicle steering to the vehicle controller, and the vehicle controller can control the inside and outside of the wheels to perform appropriate differential braking according to the indication of the control information, and control the vehicle to decelerate and steer during the process according to the brake force and the steering angle generated by the differential braking.

[0079] It should be noted that the embodiment of the present application can be applied to the scene of intelligent driving, i.e., automatic control of steering and braking by the car end, rather than the scene of human control by the driver. The intelligent driving can include unmanned driving, automatic driving, autonomous driving, and assisted driving.

[0080] In an embodiment of the present application, further comprising:

[0081] When the brake control system and / or the steering control system does not fail, the intelligent driving domain controller sends second control information to the brake control system and / or the steering control system.

[0082] The second control information can be used to instruct the brake control system to control the vehicle braking and / or the steering control system to control the vehicle steering.

[0083] In actual application, the intelligent driving domain controller can detect whether the brake control system and the steering control system are invalid, when it is detected that the brake control system and / or the steering control system is not invalid, the brake control system and / or the steering control system can still control the vehicle, then the intelligent driving domain controller can send the second control information to the brake control system and / or the steering control system. After receiving the second control information, the brake control system can brake the vehicle according to the indication of the second control information, and the steering control system can steer the vehicle according to the indication of the second control information.

[0084] For example, when the brake control system is not invalid (the steering control system is invalid), the intelligent driving domain controller can send the control information for controlling the braking of the vehicle to the brake control system (the control information for controlling the steering of the vehicle is forwarded to the vehicle controller), and the brake control system can further brake the vehicle according to the indication of the control information.

[0085] For another example, when the steering control system is not invalid (the brake control system is invalid), the intelligent driving domain controller can send the control information for controlling the steering of the vehicle to the steering control system (the control information for controlling the braking of the vehicle is forwarded to the vehicle controller), and the steering control system can further steer the vehicle according to the indication of the control information.

[0086] For another example, when the steering control system is not invalid (the brake control system is invalid), the intelligent driving domain controller can send the control information for controlling the steering of the vehicle to the steering control system (the control information for controlling the braking of the vehicle is forwarded to the vehicle controller), and the steering control system can further steer the vehicle according to the indication of the control information.

[0087] In an embodiment of the present application, further comprising:

[0088] The intelligent driving domain controller obtains the first working state of the brake control system through handshake interaction with the brake control system;

[0089] And / or, the intelligent driving domain controller obtains the second working state of the steering control system through handshake interaction with the steering control system;

[0090] The first operating state indicates whether the braking control system has failed, and the second operating state indicates whether the steering control system has failed. In practical applications, the intelligent driving domain controller can interact with the braking and steering control systems via a handshake. This handshake typically occurs when a braking or steering request is requested; the ADC issues a handshake command, and the braking or steering system then sends a feedback command indicating whether it is available. The braking and steering control systems can also periodically send handshake signals containing their operating states to the intelligent driving domain controller, which can then determine whether the braking and steering control systems have failed based on these operating states.

[0091] In this embodiment of the invention, in the event of failure of the braking control system and / or steering control system, the intelligent driving domain controller sends first control information to the vehicle controller, and then the vehicle controller performs braking control and / or steering control according to the first control information. This achieves redundant backup of the braking control system and steering control system by utilizing the original vehicle controller in the vehicle, enabling braking control and steering control to be performed in the event of system failure, thereby reducing costs.

[0092] Reference Figure 4 The diagram shows a flowchart of a vehicle control method according to an embodiment of the present invention, which can be applied to a vehicle controller.

[0093] Among them, such as Figure 2 The intelligent driving domain controller can be integrated with the braking control system (such as...) Figure 2 IPB), steering control system (such as Figure 2 The system connects to the EPS (Electric Power Surge) and the vehicle controller, which can be connected to the motor controller to control the braking force on the wheels via the motor.

[0094] Specifically, it may include the following steps:

[0095] Step 401: In the event of a failure of the braking control system and / or steering control system, the vehicle controller acquires the first control information sent by the intelligent driving domain controller.

[0096] It should be noted that the failure of the braking control system and / or steering control system may not be due to hardware failure (such as brake pads), but rather to a malfunction in the program used to control braking or steering, or a failure in the interaction between the program and the hardware. In other words, even if the braking control system and / or steering control system fails, the hardware used for braking or steering control may still be usable. Of course, failure is not limited to being caused by a malfunction; it could also be due to the system being occupied.

[0097] In actual application, the intelligent driving domain controller can detect whether the brake control system and the steering control system are invalid, when detecting that the brake control system and / or the steering control system are invalid, the brake control system and / or the steering control system cannot control the vehicle, and the intelligent driving domain controller can forward the first control information originally sent to the brake control system and / or the steering control system to the vehicle controller.

[0098] In step 402, the vehicle controller controls the vehicle braking and / or steering according to the first control information.

[0099] After receiving the first control information, the vehicle controller can control the vehicle braking and / or steering according to the first control information without relying on the brake control system and / or the steering control system.

[0100] For example, when the brake control system is invalid (the steering control system is not invalid), the intelligent driving domain controller can forward the control information for controlling the vehicle braking to the vehicle controller (the control information for controlling the vehicle steering is still sent to the steering control system), and the vehicle controller can further control the energy recovery and the motor carried by itself to generate brake pressure according to the indication of the control information, so as to realize the deceleration control of the vehicle, replace the redundant brake, and do not need to increase a new brake, so that the architecture is simplified and the cost is reduced.

[0101] For another example, when the steering control system is invalid (the brake control system is not invalid), the intelligent driving domain controller can forward the control information for controlling the vehicle steering to the vehicle controller (the control information for controlling the vehicle braking is still sent to the brake control system), and the vehicle controller can further control the motor carried by itself to directly control the wheel end brake force distribution (control the wheel end brake force through the four motors), so as to realize the steering control by using the speed differential steering, replace the redundant steering controller, and do not need to increase a new steering controller, so that the architecture is simplified and the cost is reduced.

[0102] For another example, when the brake control system and the steering control system are invalid, the intelligent driving domain controller can forward the control information for controlling the vehicle braking and the control information for controlling the vehicle steering to the vehicle controller, and the vehicle controller can further control the inside and outside of the wheels to perform appropriate differential braking according to the indication of the control information, and control the vehicle deceleration and steering according to the brake force and the steering angle generated by the differential braking.

[0103] It should be noted that the embodiment of the present application can be applied to the scene of intelligent driving, that is, the steering and braking are automatically controlled by the car machine end, rather than the scene of human control by the driver, and the intelligent driving can include unmanned driving, automatic driving, autonomous driving, and assisted driving.

[0104] In an embodiment of the present application, the brake control and / or the steering control of the vehicle according to the first control information comprises:

[0105] The target brake force of the wheel is determined according to the first control information, and the brake control and / or the steering control of the vehicle is performed according to the target brake force.

[0106] In the process of brake control and / or steering control of the vehicle by the vehicle controller, the target brake force of each wheel of the vehicle can be calculated by the first control information, and then the brake control and / or the steering control of the vehicle is performed according to the output of the target brake force of each wheel.

[0107] In an embodiment of the present application, in the case of failure of the steering control system, the first control information for steering control of the vehicle can include a target steering angle and a first target deceleration.

[0108] The target brake force of the wheel is determined according to the first control information, and the brake control and / or the steering control of the vehicle is performed according to the target brake force.

[0109] According to the target steering angle and the first target deceleration, a target wheel speed difference is determined, and the target brake force of the wheel is determined according to the target wheel speed difference.

[0110] For steering control, the vehicle controller can calculate the target wheel speed difference between the inner and outer wheels according to the target steering angle and the first target deceleration, and then control the motor directly controlling the wheel end brake force distribution carried by the vehicle controller itself to determine the target brake force of the wheel according to the target wheel speed difference.

[0111] In an embodiment of the present application, the target wheel speed difference of the wheel is determined according to the target steering angle and the first target deceleration, comprising:

[0112] According to the target steering angle and the first target deceleration, a target yaw rate is determined, and a target wheel speed difference is determined according to the target yaw rate.

[0113] Wherein, the target yaw rate is positively correlated with the target steering angle and negatively correlated with the first target deceleration; the target wheel speed difference is positively correlated with the target yaw rate.

[0114] In a specific implementation, the yaw rate required to achieve the target steering angle can be determined by the relationship between the target steering angle and the yaw rate, as shown in the following formula:

[0115]

[0116] Wherein, is the yaw rate, is the target steering angle, V is the vehicle speed, L1 represents the distance between the front and rear axles of the vehicle, k0 represents the vehicle stability constant, which is related to the mass of the vehicle itself, the length of the vehicle, the side stiffness of each tire, etc., and different value intervals represent different steering performances.

[0117] Specifically, k0=0 represents neutral steering, k0>0 represents understeering, and k0<0 represents oversteering. In general, it is assumed that k0 is 0, that is, the vehicle can basically realize neutral steering, and then the relationship shown in the following formula can be obtained:

[0118]

[0119] On the basis of the above relationship, in combination with the speed and angle of each tire, the relationship between the yaw rate and the inner and outer wheel speeds can be obtained, as shown in the following formula

[0120]

[0121] Further, in combination with the relationship between the yaw rate and the target steering angle at a certain speed, the relationship between the target steering angle and the inner and outer wheel speeds (i.e., the wheel speed difference) is formed as shown in the following formula:

[0122]

[0123] wherein, v o is the outer wheel speed, v i is the inner wheel speed, v o -v i is the wheel speed difference, L represents the wheel track, and η is the wheel angle. As can be seen from the above formula, the steering angle θ is positively correlated with the yaw rate ω, and is negatively correlated with the target vehicle speed. Under the condition that the VCU receives the same target deceleration request from the ADC, the greater the yaw rate, the greater the steering angle actually controlled by the output, and therefore the inner and outer wheel speed difference needs to be expanded.

[0124] Under the condition of receiving different target steering angles, the VCU distributes different wheel end braking forces according to the relationship between the inner and outer wheel speeds of the corresponding wheels, so as to realize the corresponding target steering angle.

[0125] In an embodiment of the present application, after the braking control and / or steering control according to the target braking force, the method further comprises:

[0126] According to the deviation of the actual steering angle from the target steering angle, the target braking force is updated, and the steering control is performed according to the updated target braking force.

[0127] After the steering control according to the target braking force, the actual steering angle can be collected, and by comparing the actual steering angle with the target steering angle, when the actual steering angle is less than the target steering angle, the braking torque of the inner side wheel can be further increased to reduce the speed of the inner side wheel, the vehicle can obtain greater yaw moment, thereby increasing the actual yaw angular velocity, and thereby increasing the actual steering angle control output.

[0128] In an embodiment of the present application, in the case of failure of the brake control system, the first control information for controlling brake control of the vehicle can include a second target deceleration.

[0129] The target braking force for the wheels is determined according to the first control information, comprising:

[0130] The target braking force for the wheels is determined according to the second target deceleration.

[0131] For brake control, the vehicle control unit can determine the target braking force for the wheels according to the required second target deceleration, thereby achieving deceleration control of the vehicle.

[0132] In actual application, the brake control process includes independently controlling the braking torque of the disc brake of the two wheels on the left side and the two wheels on the right side, i.e. the target braking force. Since the strategy of redundant steering control is accompanied by the logic of safe parking, i.e. after detecting the failure of the brake control system, the intelligent driving domain controller receives the available state information controlled by the vehicle control unit at the same time, and the intelligent driving domain controller sends the corresponding acceleration and deceleration information instructions to the vehicle control unit. At this time, the vehicle control unit controls the brake deceleration module to output a deceleration control signal (i.e. a second target deceleration), and the vehicle control unit receives the deceleration signal and uses the preset differential control strategy to parse the signal into four corresponding wheel edge braking torques (i.e. target braking forces) of the four wheels through the Can bus, and transmits these torques to the wheel edge braking systems of the four wheels respectively, thereby generating braking force on the wheels and completing the entire brake process.

[0133] In an embodiment of the present application, further comprising:

[0134] In the case of failure of the brake control system, the vehicle control unit controls the braking energy recovery strength of the brake energy recovery system to control the braking of the vehicle.

[0135] The brake energy recovery system can be a system that can convert mechanical energy generated during braking into motor electric energy and store it in the battery capacity, and can quickly release the capacity when used.

[0136] For brake control, the vehicle controller can generate certain brake control by increasing energy recovery control vehicle body drag. The vehicle controller adjusts the deceleration request (i.e., the second target deceleration) according to whether the deceleration generated by the drag reaches the expected value in real time, and then determines whether to perform the above brake control.

[0137] In an embodiment of the present application, further comprising:

[0138] Obtaining a wheel angular velocity and a current vehicle speed; determining a current slip ratio according to the wheel angular velocity and the current vehicle speed, and reducing the target braking force when the current slip ratio is greater than a slip ratio threshold.

[0139] In an embodiment of the present application, the reducing the target braking force when the current slip ratio is greater than a slip ratio threshold comprises:

[0140] When the current slip ratio is greater than a slip ratio threshold, detecting whether there is a collision risk in front; and reducing the target braking force in the case where no collision risk in front is detected.

[0141] In actual application, the slip ratio can be calibrated in advance, and the change relationship between the slip ratio and the driving force and the braking force is used to control the slip ratio within a certain range, thereby constraining the longitudinal force, and realizing effective and stable response and control of the brake and steering sent by the intelligent driving domain controller.

[0142] In an example, the relationship between the slip ratio, the wheel angular velocity and the vehicle speed can be shown in the following formula:

[0143]

[0144] Wherein, ω is the wheel angular velocity, v is the vehicle speed, r is the wheel radius, and s is the slip ratio.

[0145] When it is detected that the slip ratio falls outside the slip ratio threshold at a certain speed range, the issued value of the current deceleration is appropriately reduced under the premise of ensuring safety and no collision, so as to control the vehicle braking force to avoid side slip.

[0146] Specifically, during the safe parking process, the relationship between the real-time vehicle speed and the slip ratio under the deceleration request and the steering request can be calibrated, such as Figure 5 The maximum slip ratio threshold (Smax_1, Smax_2, Smax_3, Smax_4) corresponding to the speed is formed.

[0147] If the slip ratio generated by the deceleration control performed by the vehicle controller exceeds the pre-marked slip ratio threshold value, the actual slip ratio is fed back to the intelligent driving domain controller by the vehicle controller. The intelligent driving domain controller judges that there is no collision risk at this time, and controls to reduce the deceleration control instruction value. After the vehicle controller receives the deceleration information, the brake force is controlled to reduce the steering angle to avoid the risk of steering at a large slip ratio and speed.

[0148] In the embodiment of the application, the intelligent driving domain controller sends the first control information to the vehicle controller in the case of failure of the brake control system and / or the steering control system, and then the vehicle controller performs brake control and / or steering control according to the first control information, so that the original vehicle controller in the vehicle is used to redundantly back up the brake control system and the steering control system, and brake control and steering control can be performed in the case of system failure, thereby reducing the cost.

[0149] The application will be described below in conjunction with Figure 5 for exemplary illustration:

[0150] In the embodiment of the application, the ADC, the IPB, the EPS, the RBU and the VCU perform signal interaction through different physical links respectively, to form system-level actuator redundancy and communication redundancy. In the normal state, the ADC first obtains the working state of the EPS and the IPB through a handshake signal. If both of them are in the available state, the ADC sends a steering angle execution signal to the EPS and a brake execution signal to the IPB. After the EPS receives the corresponding steering signal, it immediately controls the steering execution motor to perform steering control. After the IPB receives the brake signal, it controls the hydraulic controller to generate corresponding brake force to perform deceleration control.

[0151] When the following different degree of failure occurs, the following control logic is performed respectively:

[0152] 1. When the brake controller IPB is normal, and the steering actuator EPS is currently invalid or occupied, leading to unavailability, the IPB will still control the system brake. In the handshake process, the EPS sends the ADC the corresponding unavailability state, and the ADC receives the signal and sends a steering signal to the VCU, which controls the tire drive motor (such as four tire drive motors) to perform speed redistribution, and uses speed differential steering to perform steering control.

[0153] 2、In the case of EPS normal, and IPB current failure or occupied leading to unavailable, first EPS still continues to control system steering. In the handshake process, IPB sends to ADC corresponding unavailable state, ADC receives the signal, and in turn sends steering signal to VCU, VCU controls internal brake energy recovery control vehicle body drag to produce certain deceleration control. Subsequently, ADC adjusts the deceleration request according to whether the deceleration generated by the drag reaches the expected real-time, and then the integrated brake control strategy of VCU optimizes the total torque of the electric vehicle to each wheel to control the wheel edge braking force of the four braking wheels to control the deceleration of the whole vehicle.

[0154] During the whole control process, the corresponding slip ratio needs to be calculated in real time, and the brake force is appropriately reduced when the maximum slip ratio is exceeded. During the weakening of the brake force, the deceleration control ability of the actuator may not meet the request of ADC, so VCU needs to feed back to ADC in real time. ADC judges according to the actual deceleration condition, if there is a collision risk, it should immediately take over the alarm, and exit the control after a certain time. If there is no collision risk, the current deceleration control vehicle stop is continuously referred to.

[0155] 3、When IPB and EPS are both invalid, in the handshake process, IPB and EPS send corresponding unavailable state to ADC, ADC receives the signal, and in turn directly sends corresponding target deceleration signal and target steering signal to VCU. When VCU receives the target brake signal and target steering signal, it controls the inside and outside of the wheels to brake differentially, and controls the vehicle deceleration and steering according to the brake force and steering angle generated by the differential braking.

[0156] It should be noted that for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the order of the described actions, because according to the embodiments of the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0157] An embodiment of the present application also provides a vehicle control system, comprising an intelligent driving domain controller, a brake control system, a steering control system, and a vehicle controller,

[0158] The intelligent driving domain controller is used to send first control information to the vehicle controller in the case that the brake control system and / or the steering control system fails.

[0159] The vehicle controller is used to brake control and / or steering control the vehicle according to the first control information.

[0160] In an embodiment of the present application, the intelligent driving domain controller is further configured to:

[0161] In the case that the brake control system and / or the steering control system is not failed, sending second control information to the brake control system and / or the steering control system;

[0162] The second control information is used to instruct the brake control system to perform brake control on the vehicle and / or the steering control system to perform steering control on the vehicle.

[0163] In an embodiment of the present application, the intelligent driving domain controller is further configured to:

[0164] acquiring a first working state of the brake control system by handshake interaction with the brake control system;

[0165] and / or acquiring a second working state of the steering control system by handshake interaction with the steering control system;

[0166] The first working state is used to indicate whether the brake control system is failed, and the second working state is used to indicate whether the steering control system is failed.

[0167] In an embodiment of the present application, the brake control and / or the steering control on the vehicle according to the first control information comprises:

[0168] determining a target brake force for the wheel according to the first control information, and performing brake control and / or steering control on the vehicle according to the target brake force.

[0169] In an embodiment of the present application, in the case that the steering control system is failed, the first control information comprises a target steering angle and a first target deceleration;

[0170] The determination of the target brake force for the wheel according to the first control information comprises:

[0171] determining a target wheel speed difference according to the target steering angle and the first target deceleration;

[0172] determining the target brake force for the wheel according to the target wheel speed difference.

[0173] In an embodiment of the present application, the determination of the target wheel speed difference for the wheel according to the target steering angle and the first target deceleration comprises:

[0174] determining a target yaw rate according to the target steering angle and the first target deceleration;

[0175] determine a target wheel speed difference according to the target yaw rate.

[0176] In an embodiment of the present application, the target yaw rate is positively correlated with the target steering angle and negatively correlated with the first target deceleration.

[0177] The target wheel speed difference is positively correlated with the target yaw rate.

[0178] In an embodiment of the present application, after the braking control and / or the steering control according to the target braking force, the vehicle control unit is further configured to:

[0179] update the target braking force according to a deviation between an actual steering angle and the target steering angle, and perform steering control according to the updated target braking force.

[0180] In an embodiment of the present application, in the case of failure of the braking control system, the first control information comprises a second target deceleration.

[0181] The determining of the target braking force for the wheels according to the first control information comprises:

[0182] determining the target braking force for the wheels according to the second target deceleration.

[0183] In an embodiment of the present application, the vehicle control unit is further configured to:

[0184] In the case of failure of the braking control system, the vehicle is controlled by controlling the braking energy recovery intensity of the braking energy recovery system.

[0185] In an embodiment of the present application, the vehicle control unit is further configured to:

[0186] obtain a wheel angular velocity and a current vehicle speed;

[0187] determine a current slip rate according to the wheel angular velocity and the current vehicle speed, and reduce the target braking force when the current slip rate is greater than a slip rate threshold.

[0188] In an embodiment of the present application, the reducing of the target braking force when the current slip rate is greater than the slip rate threshold comprises:

[0189] detecting whether there is a collision risk in front when the current slip rate is greater than the slip rate threshold;

[0190] reducing the target braking force in the case of no detection of the collision risk in front.

[0191] In the embodiment of the present application, the intelligent driving domain controller sends the first control information to the vehicle controller in the case of failure of the brake control system and / or the steering control system, and then the vehicle controller performs brake control and / or steering control according to the first control information, so that the original vehicle controller in the vehicle is used to redundantly back up the brake control system and the steering control system, brake control and steering control can be performed in the case of system failure, and the cost is reduced.

[0192] An embodiment of the present application further provides a controller (the controller can be the intelligent driving domain controller or the vehicle controller, and of course can be another controller), which can comprise a processor, a memory and a computer program stored in the memory and capable of running on the processor, and the computer program is executed by the processor to realize the vehicle control method.

[0193] An embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the vehicle control method.

[0194] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts refer to the part of the method embodiment.

[0195] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of the related data need to comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for the user to select authorization or refusal.

[0196] Each embodiment in the specification is described in a progressive manner, and each embodiment mainly describes the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

[0197] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, device or computer program product. Therefore, the embodiments of the present application can adopt a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program code.

[0198] The embodiments of the present application are described with reference to the flowchart illustrations and / or block diagrams of the methods, terminal devices (systems) and computer program products according to the embodiments of the present application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0199] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0200] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices, such that a series of operational steps are carried out on the computer or other programmable terminal devices to produce a computer implemented process so that the instructions executed on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0201] Although preferred embodiments of the present application have been described, those skilled in the art will be able to make additional modifications and variations to these embodiments without departing from the scope of the present application. Accordingly, the appended claims are intended to encompass all such modifications and variations as falling within the scope of the present application.

[0202] Finally, it needs to be pointed out that in this document, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by an "comprising" statement serves as a means plus function alternative.

[0203] The above provides a detailed description of a vehicle control method, system, controller and medium. The principles and implementation of the present application are described in this document using specific examples. The above examples are used to help understand the method and core idea of the present application. For those skilled in the art, the specific implementation and application range can be changed according to the idea of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A vehicle control method, characterized in that, The method includes: In the event of a failure of the braking control system and / or steering control system, the intelligent driving domain controller will send the first control information to the vehicle controller. The first control information is used to instruct the vehicle controller to perform braking control and / or steering control on the vehicle; The method further includes: In the event of a failure of the steering control system, after the vehicle controller performs steering control on the vehicle, the target braking force is updated based on the deviation between the actual steering angle and the target steering angle, and steering control is performed according to the updated target braking force. In the event of a failure of the braking control system, the vehicle controller controls the braking of the vehicle by controlling the intensity of the braking energy recovery system.

2. The method according to claim 1, characterized in that, Also includes: If the braking control system and / or the steering control system do not fail, the intelligent driving domain controller will send the second control information to the braking control system and / or the steering control system; The second control information is used to instruct the braking control system to perform braking control on the vehicle and / or the steering control system to perform steering control on the vehicle.

3. The method according to claim 1 or 2, characterized in that, Also includes: The intelligent driving domain controller obtains the first operating state of the braking control system by interacting with the braking control system. And / or, the intelligent driving domain controller obtains the second operating state of the steering control system by engaging in a handshake interaction with the steering control system; The first operating state is used to indicate whether the braking control system has failed, and the second operating state is used to indicate whether the steering control system has failed.

4. A vehicle control method, characterized in that, The method includes: In the event of a failure of the braking control system and / or steering control system, the vehicle controller acquires the first control information sent by the intelligent driving domain controller. The vehicle controller performs braking control and / or steering control on the vehicle according to the first control information; The method further includes: In the event of a failure of the steering control system, after the vehicle controller performs steering control on the vehicle, the target braking force is updated based on the deviation between the actual steering angle and the target steering angle, and steering control is performed according to the updated target braking force. In the event of a failure of the braking control system, the vehicle controller controls the braking of the vehicle by controlling the intensity of the braking energy recovery system.

5. The method according to claim 4, characterized in that, The step of performing braking control and / or steering control on the vehicle according to the first control information includes: The target braking force for the wheels is determined based on the first control information, and the vehicle is braked and / or steered according to the target braking force.

6. The method according to claim 5, characterized in that, In the event of a steering control system failure, the first control information includes the target steering angle and the first target deceleration; Determining the target braking force for the wheel based on the first control information includes: The target wheel speed difference is determined based on the target steering angle and the first target deceleration; Based on the target wheel speed difference, determine the target braking force for the wheel.

7. The method according to claim 6, characterized in that, Determining the target wheel speed difference for the wheels based on the target steering angle and the first target deceleration includes: The target yaw rate is determined based on the target steering angle and the first target deceleration. The target wheel speed difference is determined based on the target yaw rate.

8. The method according to claim 7, characterized in that, The target yaw rate is positively correlated with the target turning angle and negatively correlated with the first target deceleration. The target wheel speed difference is positively correlated with the target yaw rate.

9. The method according to claim 5, characterized in that, In the event of a failure of the braking control system, the first control information includes the second target deceleration; Determining the target braking force for the wheel based on the first control information includes: Based on the second target deceleration, determine the target braking force for the wheels.

10. The method according to any one of claims 5 to 9, characterized in that, Also includes: Get the wheel angular velocity and current vehicle speed; Based on the wheel angular velocity and the current vehicle speed, the current slip ratio is determined, and when the current slip ratio is greater than the slip ratio threshold, the target braking force is reduced.

11. The method according to claim 10, characterized in that, The step of reducing the target braking force when the current slip ratio is greater than the slip ratio threshold includes: When the current slip ratio is greater than the slip ratio threshold, detect whether there is a risk of collision ahead; If no collision risk is detected ahead, the braking force on the target is reduced.

12. A vehicle control system, characterized in that, This includes intelligent driving domain controllers, braking control systems, steering control systems, and vehicle controllers. The intelligent driving domain controller is used to send first control information to the vehicle controller in the event of failure of the braking control system and / or the steering control system. The vehicle controller is used to perform braking control and / or steering control on the vehicle according to the first control information; In the event of a failure of the steering control system, after the vehicle controller performs steering control on the vehicle, the target braking force is updated based on the deviation between the actual steering angle and the target steering angle, and steering control is performed according to the updated target braking force. In the event of a failure of the braking control system, the vehicle controller controls the braking of the vehicle by controlling the intensity of the braking energy recovery system.

13. A controller, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the vehicle control method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the vehicle control method as described in any one of claims 1 to 11.

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