Vehicle intelligent driving control method, control device, vehicle and medium

Abstract

The application discloses a kind of vehicle intelligent driving control method, control device, vehicle and medium, belong to vehicle technical field, control method includes: when vehicle is in automatic driving state, the current acceleration request of vehicle is determined according to road condition and preset planning data, and current acceleration request is converted into torque request;When torque request is negative torque request, and driver issues positive torque request through the accelerator pedal of vehicle, control the driving system of vehicle does not respond to negative torque request alone, and the negative torque corresponding to negative torque request is reduced by filtering processing to negative torque request;Control driving system responds to positive torque request and drives vehicle, and enters the state that driver accelerator takes over vehicle.Due to the driving system only responds to positive torque request to drive vehicle after reducing negative torque, reduce the fluctuation of longitudinal acceleration, so that vehicle can smoothly cope with the process that driver accelerator takes over, and vehicle travels more smoothly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a control method and control device for intelligent driving of a vehicle, a vehicle and a computer readable storage medium. BACKGROUND

[0002] With the increasing popularity of intelligent driving of vehicles, many vehicles are equipped with adaptive cruise control and other L2+ level automatic driving. During the cruise control of a vehicle by an automatic driving system, the driver also monitors the environment and driving state around the vehicle. In some driving states of the vehicle, when the driver identifies that the driving speed of the vehicle controlled by the automatic driving is low, the driver will perform override control by pressing the accelerator pedal. When the vehicle acceleration requested by the driver pressing the accelerator pedal is greater than the vehicle acceleration controlled by the automatic driving, the drive system of the vehicle needs to perform drive control of the vehicle according to the request of the driver. At this time, the cruise control of the vehicle is overridden by the driver, and the control right of the vehicle returns to the driver. Then, when the driver feels that the speed of the current vehicle or the distance to the front obstacle has reached the expectation, the driver will release the accelerator pedal. At this time, the automatic driving system needs to take back the control right of the vehicle from the driver and continue to control the vehicle according to the perception planning of the automatic driving. This override scenario is common when the automatic driving cruise follows a vehicle in traffic congestion, or when the driver wants the vehicle to drive at a higher speed on an empty road.

[0003] During the process of the driver performing override control to take over the vehicle and releasing the accelerator to exit the takeover, the vehicle often has a surge in the driving direction. The surge is mainly caused by the sudden change of the longitudinal acceleration of the vehicle due to the control of the intelligent driving acceleration, the drive torque and the recovery torque of the drive system of the vehicle, and the control of the recovery torque and the hydraulic braking force of the braking system during the process of the driver taking over and exiting the takeover. How to coordinate the control of the vehicle to avoid the surge during the process of the driver taking over and exiting the accelerator is a problem to be solved. Currently, no relevant control strategy is known. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a control method for intelligent driving of a vehicle, which can enable the vehicle to smoothly respond to the process of the driver taking over the accelerator, and the vehicle drives more smoothly

[0005] The present application also provides a control device for intelligent driving of a vehicle, a vehicle and a computer readable storage medium.

[0006] According to the control method for intelligent driving of a vehicle of the first aspect of the present application, the control method is applied to a vehicle with an automatic driving function, and the control method comprises:

[0007] determining a current acceleration request of the vehicle according to a road condition and preset planning data when the vehicle is in an automatic driving state, and converting the current acceleration request into a torque request;

[0008] when the torque request is a negative torque request and a driver issues a positive torque request through a throttle pedal of the vehicle, controlling a drive system of the vehicle not to respond to the negative torque request alone, and filtering the negative torque request to reduce a negative torque corresponding to the negative torque request;

[0009] controlling the drive system to drive the vehicle in response to the positive torque request, and entering a state in which the driver takes over the vehicle.

[0010] The control method for intelligent driving of the vehicle according to the embodiments of the present application has at least the following beneficial effects:

[0011] The control method of the embodiments is applied to a vehicle with an intelligent driving function. When the vehicle is in an automatic driving state, a current acceleration request of the vehicle is determined according to a driving road condition of the vehicle and preset planning data. The obtained current acceleration request is converted into a torque request. The torque request can be a positive torque request or a negative torque request. When the torque request is a negative torque request, it is determined whether there is a throttle override condition according to a situation in which a driver steps on a throttle. If the driver issues a positive torque request through a throttle pedal, the drive system is controlled not to respond to the negative torque request alone, and the negative torque request is filtered to reduce a negative torque corresponding to the negative torque request. The drive system responds to the positive torque request to drive the vehicle after the negative torque is reduced, so as to enter a state in which the driver takes over the vehicle. Compared with a process in which the drive system is directly transitioned from a negative torque to a positive torque, the fluctuation of the longitudinal acceleration is reduced, so that the vehicle can smoothly cope with the process in which the driver takes over the vehicle, and the vehicle travels more stably.

[0012] According to some embodiments of the present application, after the control of the drive system in response to the positive torque request to drive the vehicle and the entering of the state in which the driver takes over the vehicle, the following steps are further included:

[0013] when the driver releases the throttle pedal, controlling the exiting of the state in which the driver takes over the vehicle, and issuing a deceleration request;

[0014] controlling a regenerative torque brake of the drive system not to respond to the deceleration request, and controlling a hydraulic brake of the vehicle to provide a negative torque required by the deceleration request.

[0015] According to some embodiments of the present application, after the control of the exiting of the state in which the driver takes over the vehicle and the issuing of the deceleration request, the following steps are further included:

[0016] controlling the drive system to reduce a positive torque corresponding to the current positive torque request until the positive torque is less than or equal to zero, and sending a recovery torque instruction to a brake system of the vehicle after the positive torque is less than or equal to zero;

[0017] controlling the brake system to perform torque distribution between recovery torque braking of the drive system and hydraulic braking of the vehicle in response to the recovery torque instruction.

[0018] According to some embodiments of the present application, the control exits the state of the driver taking over the vehicle and issues a deceleration request, including:

[0019] When the driver releases the accelerator pedal, determining a current acceleration of the vehicle according to environmental information of the vehicle, a current speed of the vehicle, and preset planning data, and issuing the deceleration request starting from the current acceleration.

[0020] According to some embodiments of the present application, the control method further includes:

[0021] comparing the current acceleration request with an acceleration request of the driver stepping on the accelerator pedal;

[0022] When the acceleration request is greater than the current acceleration request, determining that the driver issues a positive torque request through the accelerator pedal.

[0023] According to some embodiments of the present application, the comparison between the current acceleration request and the acceleration request of the driver stepping on the accelerator pedal includes:

[0024] obtaining an opening degree of the driver stepping on the accelerator pedal, and converting the opening degree to obtain an acceleration of the acceleration request;

[0025] comparing the acceleration of the acceleration request with the acceleration of the current acceleration request, and determining that the acceleration request is greater than the current acceleration request when the acceleration of the acceleration request is greater than the acceleration of the current acceleration request.

[0026] According to some embodiments of the present application, the control of the drive system of the vehicle not only responds to the negative torque request alone, but also filters the negative torque request to reduce a negative torque corresponding to the negative torque request, including:

[0027] controlling recovery torque braking of the drive system and hydraulic braking of the vehicle to perform torque distribution on the negative torque, and adjusting the negative torque from a negative value to zero based on the negative torque.

[0028] The control of the drive system to drive the vehicle in response to the positive torque request includes:

[0029] After the negative torque is adjusted to zero, a positive torque corresponding to the positive torque request is determined as a target response torque of the drive system, and a drive torque of the drive system is controlled to transit from zero to the target response torque.

[0030] According to some embodiments of the present application, the converting the current acceleration request into a torque request comprises:

[0031] When the acceleration of the current acceleration request of the vehicle is positive, the current acceleration request is converted into a positive torque request.

[0032] When the acceleration of the current acceleration request of the vehicle is negative, the current acceleration request is converted into a negative torque request.

[0033] According to some embodiments of the present application, the control method further comprises:

[0034] When the torque request is a positive torque request, the drive system is controlled to drive the vehicle in response to the current acceleration request.

[0035] The control device for intelligent driving of a vehicle according to the second aspect of the embodiments of the present application comprises:

[0036] A highly automated driving system is configured to determine a current acceleration request of the vehicle according to road conditions and preset planning data when the vehicle is in an automated driving state.

[0037] A vehicle motion control system is configured to convert the current acceleration request into a torque request, when the torque request is a negative torque request and a driver issues a positive torque request through an accelerator pedal of the vehicle, control the drive system of the vehicle not to respond to the negative torque request alone, and filter the negative torque request to reduce a negative torque corresponding to the negative torque request; control the drive system to drive the vehicle in response to the positive torque request, and enter a state in which the driver takes over the vehicle.

[0038] The control device for intelligent driving of a vehicle according to the embodiments of the present application has at least the following beneficial effects:

[0039] The control device of the embodiment is applied to a vehicle with an intelligent driving function, when the vehicle is in an automatic driving state, a highly automated driving system determines a current acceleration request of the vehicle according to driving conditions of the vehicle and preset planning data, a vehicle motion control system converts the obtained current acceleration request into a torque request, and the torque request can be a positive torque request or a negative torque request; when the torque request is a negative torque request, whether there is a throttle override condition at present is judged according to the condition that a driver steps on a throttle, if the driver sends a positive torque request through a throttle pedal, at this time, the control driving system does not respond to the negative torque request alone, and the negative torque request is filtered to reduce the negative torque corresponding to the negative torque request, and since the driving system responds to the positive torque request to drive the vehicle after the negative torque is reduced, the state that the driver takes over the vehicle by the throttle is entered, compared with the process that the driving system is directly transitioned from the negative torque to the positive torque, the fluctuation of the longitudinal acceleration is reduced, the vehicle can smoothly cope with the process that the driver takes over the vehicle by the throttle, and the vehicle travels more stably.

[0040] According to some embodiments of the present application, the highly automated driving system is further configured to control the state that the driver takes over the vehicle by the throttle to exit when the driver releases the throttle pedal, and send a deceleration request;

[0041] The vehicle motion control system is further configured to control the regenerative torque brake of the driving system not to respond to the deceleration request, and control the negative torque required by the deceleration request to be provided by the hydraulic brake of the vehicle.

[0042] The vehicle according to the third aspect of the embodiments of the present application comprises a memory, a processor and a program stored in the memory and executable on the processor, and the program is executed by the processor to implement the control method of the intelligent driving of the vehicle according to the first aspect of the embodiments.

[0043] The computer readable storage medium according to the fourth aspect of the embodiments of the present application stores computer executable instructions, and the computer executable instructions are used to make the computer execute the control method of the intelligent driving of the vehicle according to the first aspect of the embodiments.

[0044] Since the vehicle and the computer readable storage medium adopt all the technical solutions of the control method of the intelligent driving of the vehicle according to the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are obtained, which will not be repeated here.

[0045] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be learned through implementation of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1is the principle architecture of the vehicle of the specific automatic driving function of an embodiment of the present application;

[0047] Figure 2 is the flow chart of the driver taking over the vehicle in the control method of the intelligent driving of the vehicle of an embodiment of the present application;

[0048] Figure 3 is the flow chart of the HAD taking over the vehicle in the control method of the intelligent driving of the vehicle of an embodiment of the present application;

[0049] Figure 4 is the specific flow chart of judging whether the driver has the throttle override condition of an embodiment of the present application;

[0050] Figure 5 is the specific flow chart of filtering the negative torque of an embodiment of the present application;

[0051] Figure 6 is the specific example flow chart of the control method of the intelligent driving of the vehicle of an embodiment of the present application. DETAILED DESCRIPTION

[0052] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary, only for explaining the present application, and cannot be understood as a limitation of the present application.

[0053] In the description of the present application, it is understood that the terms up, down, etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0054] In the description of the present application, the meaning of multiple is more than two, greater than, less than, more than, etc. is not included in the number, and above, below, etc. is included in the number. If it is described that the first, second is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.

[0055] In the description of the present application, it is noted that the words such as setting, installing, connecting, etc. should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0056] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the following described embodiments are part of the embodiments of the present application, not all the embodiments.

[0057] The control link of the vehicle automatic driving process is a highly automated driving system (HAD), also called an intelligent driving control system, which controls the driving system to accelerate, the braking system to decelerate, and the steering system to steer through the form path planning of the vehicle based on the processing of the perception system and the direction in the form of vehicle position and vehicle plan, and through the vehicle motion control (VMC) function. It should be noted that the braking system can decelerate in three ways: one is to decelerate by hydraulic braking system, another is to decelerate by the recovery torque of the driving system, and the third is to decelerate by hydraulic braking and recovery torque at the same time according to the actual situation.

[0058] The intelligent driving control system generally obtains the vehicle surrounding environment information through laser radar, camera, millimeter wave radar and other sensors, and analyzes and processes the environment information in real time through a computer, so as to control the vehicle to move forward, accelerate, decelerate and turn, and realize the full automatic driving technology, thereby improving the safety and comfort of driving.

[0059] In terms of function, the intelligent driving control system includes driving function and parking function. The driving function includes adaptive cruise control (ACC), lane centering control (LCC), automatic lane changing assistance (ALC), traffic jam assistance (TJA) and high-speed navigation driving assistance (NOA), etc. The parking function includes automatic parking assistance (APA), remote parking (RPA), intelligent calling (SS), memory parking (HPA) and autonomous guest parking (AVP), etc.

[0060] Referring to Figure 1 The embodiments of the present application relate to HAD, VMC, driving system and braking system, and are suitable for electric vehicles or hybrid vehicles with energy recovery.

[0061] The HAD and the VMC are connected to the driving system and the braking system through a gateway, and control signals and data are sent to the driving system and the braking system through the gateway. The gateway has multiple functions such as data processing, filtering, and forwarding, to ensure reliable transmission of data within the system. In some embodiments, the braking system of the vehicle includes a service brake device, a parking brake device, an emergency braking system, an auxiliary braking system, and the like. The hydraulic braking system is a type of vehicle braking system that uses liquid to transfer force to achieve braking operation. It mainly consists of a brake pedal, a master cylinder, a brake pipeline, and a brake caliper. When the driver steps on the brake pedal, the master cylinder generates hydraulic pressure, which is transmitted to the brake caliper through the brake pipeline, causing the brake pad to rub against the brake disc and achieve the braking effect. It can be understood that the hydraulic braking system is one type of vehicle braking system, but the vehicle braking system also includes other types of braking systems, which together form a complete vehicle braking system.

[0062] In the related art, during the process of the driver taking over and exiting the takeover, the intelligent driving acceleration control, the driving torque and the recovery torque control of the vehicle driving system, and the recovery torque and hydraulic braking force control of the braking system are prone to cause the longitudinal acceleration of the vehicle to change suddenly, thereby causing the vehicle to sway in the driving direction and affecting the driving stability of the vehicle. Therefore, it is particularly important to coordinate the control of the vehicle during the process of the driver taking over and exiting the takeover.

[0063] The embodiments of the present application provide a control method and a control device for intelligent driving of a vehicle, which can reduce the sway of the vehicle during the process of the driver taking over and exiting the takeover, and make the vehicle drive more smoothly.

[0064] Reference Figures 2 to 6 The control method for intelligent driving of a vehicle according to the embodiments of the present application is described below with reference to specific examples.

[0065] Reference Figure 2 As shown in the figure, the control method for intelligent driving of a vehicle according to the embodiments of the present application includes but is not limited to the following steps:

[0066] Step S100, when the vehicle is in an automatic driving state, determining a current acceleration request of the vehicle according to road conditions and preset planning data, and converting the current acceleration request into a torque request;

[0067] Step S200, when the torque request is a negative torque request and the driver issues a positive torque request through the accelerator pedal of the vehicle, controlling the driving system of the vehicle not to respond to the negative torque request alone, and filtering the negative torque request to reduce the negative torque corresponding to the negative torque request;

[0068] Step S300, the control driving system drives the vehicle in response to the positive torque request, and enters a state in which the driver's throttle takes over the vehicle.

[0069] It can be understood that the control method of the embodiment of the application controls the takeover process between the automatic driving mode and the driver operation mode of the vehicle, and the prerequisite is that the automatic driving function is in an activated state, therefore, it is necessary to first determine the working state of the automatic driving of the vehicle, so as to determine whether the automatic driving function is in the activated state, and the automatic driving function can also be understood as the intelligent driving function of the vehicle.

[0070] Specifically, the HAD has functions of judging function activation, exit, override, takeover, emergency, fault and request recording, and whether the automatic driving is started can be fed back through the HAD, so as to determine the working state of the automatic driving function. The HAD obtains information from the CAN network and processes and calculates, and then sends the execution command to the control end. The HAD will integrate information from the camera, radar and radio frequency sensor, and perform logical strategy calculation to command the vehicle to perform lane keeping, automatic parking, adaptive cruise, active brake function. For example, when the driver starts the NOA, the corresponding control signal is fed back through the HAD, indicating that the vehicle is in the automatic driving state. It should be noted that when the automatic driving function of the vehicle is not activated, the vehicle is driven by the driver at this time.

[0071] In the above step S100, the HAD will determine the current acceleration request of the vehicle according to the road condition and the preset planning data, wherein the HAD can perceive the surrounding environment information of the vehicle through sensors such as laser radar, camera, millimeter wave radar, and determine the road condition where the vehicle is located according to the surrounding environment information; the preset planning data can be understood as data such as planning route, driver preference and habit determined by the HAD according to the demand of the driver, for example, if the driver likes to take the highway, the system can plan a route that prefers to take the highway. The HAD will also adjust the pre-planned driving route in time according to the real-time traffic information to ensure that the vehicle can smoothly reach the destination, which specifically includes real-time updated traffic congestion, accident information, road construction, etc. In this way, the HAD can issue the current vehicle acceleration request according to the perceived information and the planning route, and the acceleration request will change continuously according to the specific driving environment and the planning route of the vehicle.

[0072] In addition, the VMC will convert the acceleration request of the HAD into a torque request, specifically, the torque request will be converted into a positive torque request or a negative torque request according to the acceleration corresponding to the acceleration request of the HAD, wherein the positive torque request can also be understood as a driving torque request, indicating a request to drive the vehicle to accelerate; the negative torque request can also be understood as a braking torque request, indicating a request to drive the vehicle to decelerate.

[0073] It can be understood that when the torque request is determined to be a negative torque request, the acceleration is negative, and the vehicle is in a deceleration state, the current driver is monitored for an accelerator override. In an embodiment, whether the accelerator override occurs is determined according to the driver's depression of the accelerator pedal. Specifically, when the driver recognizes that the vehicle speed of the vehicle controlled by the automatic driving is low, the driver will override by depressing the accelerator pedal, that is, the driver's request for the vehicle acceleration by depressing the accelerator pedal is greater than the acceleration of the vehicle controlled by the automatic driving, and the drive system needs to drive the vehicle according to the driver's request for the accelerator pedal. Since a positive torque request indicates a request to drive the vehicle, it is determined whether the driver issues a positive torque request through the accelerator pedal to determine the override. That is, when the acceleration request of the HAD is a negative torque request, and the driver issues a positive torque request through the accelerator pedal of the vehicle, it indicates that the driver has an accelerator override.

[0074] In the related art, when the driver's accelerator override occurs, since the drive system is responding to a negative torque, the driver issues a positive torque request through the accelerator, and the drive system needs to transition from the current negative torque to the positive torque requested by the driver. Generally, because the negative torque of the drive system is the recovery torque issued by the braking system in response to the deceleration request, in order to ensure accurate response of the braking, the drive system cannot smoothly pass through the process of torque from negative to positive, that is, the negative torque is directly adjusted to the positive torque, which will cause an impact, causing the vehicle to sway in the driving direction.

[0075] To solve the above problems, after the driver steps on the accelerator to override, the drive system does not respond to the negative torque request alone, and the negative torque request is filtered. The negative torque corresponding to the negative torque request is reduced through filtering. The filtering process can be understood as reducing the absolute value of the negative torque to make the negative torque close to zero or equal to zero. Since the negative torque is reduced, the drive system responds to the positive torque request, drives the vehicle using the acceleration of the positive torque request, and enters the state of the driver taking over the vehicle. Compared with the process of directly transitioning the drive system from negative torque to positive torque, the embodiment of the present application reduces the torque change amplitude by first reducing the negative torque, so as to reduce the longitudinal acceleration fluctuation, so that the vehicle can smoothly respond to the process of the driver taking over the vehicle, and the vehicle runs more smoothly.

[0076] It should be noted that the step of the drive system not responding to the negative torque request alone can also use hydraulic braking and recovery torque braking to decelerate, that is, the motor of the drive system uses the recovery torque to reverse drag and provide part of the braking force, and also realizes energy recovery. Another part of the braking force is provided by hydraulic braking.

[0077] Reference Figure 3As shown, in some embodiments, after performing the above step S300, the control method further comprises the following steps:

[0078] Step S400, when the driver releases the accelerator pedal, the control exits the state of the driver taking over the vehicle and issues a deceleration request;

[0079] Step S500, the control drives the recovery torque brake of the drive system not to respond to the deceleration request, and controls the hydraulic brake of the vehicle to provide the negative torque required by the deceleration request;

[0080] Step S600, the control of the drive system reduces the positive torque corresponding to the current positive torque request until the positive torque is less than or equal to zero, and sends a recovery torque instruction to the brake system of the vehicle;

[0081] Step S700, the control of the brake system responds to the recovery torque instruction to torque distribute the recovery torque brake of the drive system and the hydraulic brake of the vehicle.

[0082] It can be understood that if the driver releases the accelerator pedal after taking over the vehicle, the state of the driver taking over the vehicle is exited at this time, and the HAD needs to take over the vehicle for control. Since in the above step S300, the drive system responds to the positive torque request of the driver, that is, the vehicle is in an acceleration state, if the driver releases the accelerator pedal, it indicates that the driver needs to exit the vehicle takeover and return to the automatic driving state, then the HAD issues a deceleration request to the drive system, so that the vehicle speed of the vehicle is reduced to the cruise speed requirement of the automatic driving, ensuring the smoothness of the vehicle driving.

[0083] Since the driver releases the accelerator pedal before the drive system drives the vehicle to accelerate with a positive torque request, when the driver takes over the vehicle and the HAD takes over, the HAD will issue a deceleration request according to the current road conditions or preset planning data, requesting the vehicle to reduce to a preset vehicle speed, that is, switching the positive torque request to a negative torque request. The recovery torque brake of the drive system does not respond to the deceleration request, and the negative torque after the HAD takes over is completely provided by the hydraulic brake system, that is, when the driver takes over the vehicle, the recovery torque of the drive system is not used for vehicle deceleration, but the hydraulic brake is used for deceleration, ensuring the smoothness of the vehicle driving.

[0084] In view of the fact that if the positive torque is directly transitioned to the negative torque, the torque change fluctuation amplitude is large, and impact is easily generated, causing the vehicle to surge in the driving direction. Therefore, in the step S600 described above, after the vehicle is taken over by the HAD, the vehicle needs to be decelerated, at this time, the driving system is controlled to reduce the positive torque corresponding to the current positive torque request, that is, the positive torque is filtered, the positive torque is reduced to zero through filtering, after the positive torque is reduced to zero, the recovery torque instruction is sent to the braking system of the vehicle, then the step S700 is executed, the braking system is controlled to respond to the recovery torque instruction, so as to execute the deceleration request, the negative torque of the deceleration request is distributed by the recovery torque braking of the driving system and the hydraulic braking of the vehicle, for example, a part of the braking torque is provided by the recovery torque braking, and another part of the braking torque is provided by the hydraulic braking, so that the recovery torque braking of the driving system and the hydraulic braking cooperate to brake the vehicle, the braking is more stable, and the smoothness of the vehicle is ensured.

[0085] Specifically, the vehicle braking mode includes the recovery torque braking of the driving system and the hydraulic braking of the vehicle, when the driver's throttle takes over the vehicle and exits, at this time, the driving system is just responding to the driver's throttle request, the driving torque is positive, in response to the deceleration request of the HAD, the torque of the driving system needs to be changed from positive to negative, at this time, in order to ensure the smooth transition of the torque of the driving system to zero, the braking system needs not to respond to the negative torque, the negative torque of the deceleration speed after the HAD takes over is realized by the hydraulic braking system, the driving system controls the current driving torque to smoothly transition from positive to zero and then to negative, the driving system sends the recovery torque instruction after the torque is zero, the braking system distributes the recovery torque and the hydraulic braking after receiving the recovery torque instruction of the driving system, so that the vehicle surge caused by the step change of the deceleration request of the HAD is avoided, the longitudinal acceleration fluctuation of the process from the driver's throttle taking over to the automatic driving is reduced, the vehicle can smoothly cope with the taking over process of the HAD, and the vehicle can travel more stably and safely.

[0086] In some embodiments, the step S400 of the control method described above specifically further includes:

[0087] In the step S410, when the driver releases the throttle pedal, the current acceleration of the vehicle is determined according to the environmental information, the current speed and the preset planning data of the vehicle, and a deceleration request is sent starting from the current acceleration.

[0088] The preset planning data can be planning route, driver preference and habit, etc. After the driver takes over the vehicle, if the driver releases the accelerator pedal, the HAD needs to take over the vehicle and perform cruise control. The HAD determines the current acceleration of the vehicle according to the surrounding environment information, the current vehicle speed and the planning route, etc. and sends a deceleration request. In order to ensure the smoothness of the vehicle, the HAD needs to send a deceleration request starting from the current vehicle acceleration, so as to avoid the jolt of the vehicle caused by the step change of the deceleration request of the HAD. Because the VMC needs to strictly implement the request of the HAD during the automatic driving process, otherwise there will be a safety risk, so the step request of the HAD will cause the jolt of the vehicle.

[0089] Referring to Figure 4 In some embodiments, the control method further comprises:

[0090] In step S800, the opening degree of the accelerator pedal stepped on by the driver is obtained, and the acceleration of the acceleration request is obtained by conversion according to the opening degree;

[0091] In step S900, the acceleration of the acceleration request is compared with the acceleration of the current acceleration request.

[0092] In step S1000, when the acceleration of the acceleration request is greater than the acceleration of the current acceleration request, it is determined that the driver sends a positive torque request through the accelerator pedal.

[0093] It can be understood that the acceleration request of the driver is obtained through the accelerator pedal stepped on by the driver. The opening degree of the accelerator pedal stepped on by the driver can be understood as the opening angle of the accelerator. The deeper the accelerator is stepped, the greater the opening degree of the accelerator, and the greater the acceleration. Therefore, the acceleration of the acceleration request can be obtained according to the opening degree of the accelerator. When the driver releases the accelerator, the opening degree of the accelerator can be understood as zero, that is, the driver does not send an acceleration request.

[0094] When the vehicle is in the automatic driving state, the HAD determines the current acceleration request of the vehicle according to the surrounding environment information, the current vehicle speed and the planning route, etc. The corresponding acceleration of the current acceleration request can be determined. When the driver steps on the accelerator pedal, an acceleration request is sent. The corresponding acceleration of the acceleration request can be determined. Therefore, when the current acceleration request and the acceleration request of the driver stepping on the accelerator pedal are compared, the acceleration of the acceleration request is compared with the acceleration of the current acceleration request. When the acceleration of the acceleration request is greater than the acceleration of the current acceleration request, it is determined that the driver sends a positive torque request through the accelerator pedal, and then the driver accelerator override occurs. Because the acceleration of the vehicle is affected by various factors, such as vehicle type, engine performance, vehicle weight, transmission ratio, vehicle shape and wind resistance coefficient, etc., the acceleration of the vehicle is determined in real time according to the actual use in the specific example.

[0095] It should be noted that the acceleration is positive, indicating that the vehicle is accelerating, at which time it is converted into driving torque; conversely, the acceleration is negative, indicating that it is decelerating, which is converted into braking torque.

[0096] Referring to Figure 5 In some embodiments, steps S200 and S300 of the control method further include the following steps:

[0097] Step S210, control the torque distribution of the negative torque by the recovery torque brake of the drive system and the hydraulic brake of the vehicle, and adjust the negative torque from a negative value to zero based on the negative torque;

[0098] Step S310, after the negative torque is adjusted to zero, the positive torque corresponding to the positive torque request is determined as the target response torque of the drive system, and the driving torque of the drive system is controlled to transition from zero to the target response torque.

[0099] In combination Figure 6 As shown in the figure, when the vehicle is in an automatic driving state, the HAD sends an acceleration request of the current vehicle according to perception and planning, which changes constantly according to the specific driving environment and planning, with positive and negative values. The VMC converts the acceleration request of the HAD into a torque request, and if the torque request of the current vehicle is a positive torque request, the drive system responds to the positive torque, i.e., drives the vehicle to accelerate according to the positive torque.

[0100] If the torque request of the current vehicle is a negative torque request, monitor whether the driver has an accelerator override. If the driver has an accelerator override, the drive system no longer handles the braking recovery torque request alone after the driver steps on the accelerator to override, and the negative torque is distributed by the recovery torque brake of the drive system and the hydraulic brake of the vehicle, that is, the hydraulic brake and the recovery torque brake are used simultaneously for deceleration. Based on the current negative torque, the torque is filtered to adjust the negative torque from a negative value to zero, ensuring smooth transition of the driving torque to zero, and then responding to the positive torque request of the driver. Since the positive torque corresponding to the positive torque request is the target response torque of the drive system, the torque of the drive system transitions from zero to the target response torque when driving the vehicle, reducing the amplitude of the torque change and thus reducing the longitudinal acceleration fluctuation, so that the vehicle can smoothly respond to the process of the driver taking over the accelerator, and the vehicle travels more smoothly.

[0101] The embodiment of the application can control the acceleration request mode of the upper automatic driving during the process of the driver's throttle takeover and exit, the processing strategy of the driver driving torque and brake recovery torque of the driving system, and the torque filtering processing mode, the allocation mode of the recovery torque and hydraulic braking of the braking system in response to the automatic driving deceleration demand, and the longitudinal acceleration fluctuation of the vehicle during the process of the driver's throttle takeover and exit of the automatic driving, so that the vehicle can smoothly respond to the driver's takeover process without increasing hardware devices.

[0102] The embodiment of the application also provides a vehicle intelligent driving control device, which can execute the vehicle intelligent driving control method provided by the above embodiment.

[0103] Referring to Figure 6 When the vehicle is in an automatic driving state, the HAD sends an acceleration request of the current vehicle according to sensing and planning, and the acceleration request changes according to the specific driving environment and the planned route of the vehicle; the VMC converts the acceleration request of the HAD into a torque request, and the torque request is converted into a driving torque request or a braking torque request according to the acceleration of the HAD; when the vehicle in front of the vehicle is a positive torque request, the driving system responds to the positive torque at this time.

[0104] If the torque of the current vehicle is a negative torque, it is monitored whether the driver has an over-control of the throttle; if the driver has an over-control of the throttle, the driving system no longer processes the braking recovery torque request alone after the driver steps on the throttle to over-control, and filters the torque based on the current negative torque, so as to ensure that the driving torque is smoothly changed from zero to the positive torque request of the driver.

[0105] If the driver releases the throttle pedal after taking over the vehicle, the HAD needs to take over the vehicle and perform cruise control at this time, and the HAD usually sends a deceleration request according to the surrounding environment information / current vehicle speed / route planning, etc. In order to ensure the smoothness of the vehicle, the HAD needs to send a deceleration request starting from the current vehicle acceleration, so as to avoid the vehicle from being jolted due to the step change of the deceleration request of the HAD. Because the VMC needs to strictly execute the request of the HAD during the automatic driving process, otherwise there will be a safety risk, so if the HAD sends a step request, it will inevitably cause the vehicle to be jolted.

[0106] When the driver throttle takes over the vehicle, at this time the drive system is just responding to the driver's throttle request, the drive torque is positive, in response to the HAD deceleration request, the drive system torque needs to change from positive to negative, at this time to ensure the smooth transition of the drive system torque to zero, the brake system needs to not request the drive negative torque, the HAD takes over the deceleration negative torque is realized by the hydraulic brake system, the drive system controls the current drive torque to smoothly transition from positive torque to zero, and then to negative value; the drive system sends the recovery torque capability after the torque reaches zero, the brake system receives the drive system recovery torque capability and allocates the recovery torque and hydraulic braking.

[0107] Without increasing hardware devices, through special control strategies for different scenes, the acceleration request mode of the upper automatic driving during the driver throttle takeover and exit process, the drive system processing strategy of the driver drive torque and brake recovery torque and the torque filtering mode, the brake system allocation mode of the recovery torque and hydraulic braking in response to the automatic driving deceleration demand, control the longitudinal acceleration fluctuation of the vehicle during the driver throttle takeover and exit process of the automatic driving, so that the vehicle can smoothly respond to the driver's takeover process.

[0108] It should be noted that the vehicle of the embodiment of the application has a processor and a memory, and the memory is used to store instructions, when the instructions are executed by the processor, the control method of the vehicle intelligent driving of the above-mentioned embodiment is executed.

[0109] The processor and the memory in the intelligent driving control device can be connected through a bus. The memory as a kind of non-transient computer readable storage medium can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transient memory, such as at least one disk memory, flash memory device, or other non-transient solid state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the control processor, and these remote memories can be connected to the controller through a network.

[0110] The non-transient software programs and instructions required for the control method of the above-mentioned embodiment are stored in the memory, and when executed by the processor, the control method in the above-mentioned embodiment is executed, for example, the method steps S100 to S300 in the above description Figure 2 , the method steps S400 to S700 in Figure 3 , the method steps S800 to S1000 in Figure 4 , etc.

[0111] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0112] The embodiment of the application also provides a vehicle comprising the intelligent driving control device of the above embodiment. The vehicle can be a private car, such as a sedan, an SUV, an MPV or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck or a large trailer, etc. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0113] The control method of the embodiment is applied to a vehicle with intelligent driving function. When the vehicle is in an automatic driving state, the current acceleration request of the vehicle is determined according to the driving road condition of the vehicle and the preset planning data, the obtained current acceleration request is converted into a torque request, and the torque request can be a positive torque request or a negative torque request. When the torque request is a negative torque request, it is determined whether there is an accelerator override condition at present according to the situation that the driver steps on the accelerator. If the driver sends a positive torque request through the accelerator pedal, the control driving system does not respond to the negative torque request alone at this time, and the negative torque request is filtered to reduce the negative torque corresponding to the negative torque request. Since the driving system responds to the positive torque request to drive the vehicle only after reducing the negative torque, the state that the driver takes over the vehicle by the accelerator is entered. Compared with the process of directly transitioning the driving system from the negative torque to the positive torque, the longitudinal acceleration fluctuation is reduced, so that the vehicle can smoothly respond to the process of the driver taking over the vehicle by the accelerator, and the vehicle travels more smoothly.

[0114] Since the vehicle adopts the intelligent driving control method of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be repeated here.

[0115] In the embodiment of the application, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program. The computer program includes program instructions, and a processor executes the program instructions to implement any one of the vehicle intelligent driving control methods provided in the embodiments.

[0116] The computer readable storage medium can be a hard disk or a memory of the domain controller of the above embodiment. The computer readable storage medium can also be an external storage device of the domain controller, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0117] Due to the computer program stored in the computer readable storage medium, any intelligent driving control method provided by the embodiments of the present application can be executed, thus the beneficial effects that can be achieved by any intelligent driving control method provided by the embodiments of the present application can be achieved, which will be described in detail in the foregoing embodiments and will not be described herein again.

[0118] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application.

Claims

1. A control method for intelligent driving of a vehicle, characterized in that, The control method, applied to vehicles with autonomous driving capabilities, includes: When the vehicle is in autonomous driving mode, the current acceleration request of the vehicle is determined based on road conditions and preset planning data, and the current acceleration request is converted into a torque request; When the torque request is a negative torque request, and the driver issues a positive torque request through the vehicle's accelerator pedal, the vehicle's drive system does not respond to the negative torque request alone, but filters the negative torque request to reduce the negative torque corresponding to the negative torque request. The drive system is controlled to respond to the positive torque request to drive the vehicle and enter a state where the driver takes over the vehicle by throttle. When the driver releases the accelerator pedal, the control exits the state of driver control of the vehicle and issues a deceleration request; The regenerative torque braking of the drive system is controlled to not respond to the deceleration request, and the negative torque required for the deceleration request is provided by the vehicle's hydraulic braking.

2. The control method for intelligent driving of a vehicle according to claim 1, characterized in that, After the control system disengages from the driver's throttle control and issues a deceleration request, it also includes: The drive system is controlled to reduce the positive torque corresponding to the current positive torque request until the positive torque is less than or equal to zero, and then a torque recovery command is sent to the vehicle's braking system. The braking system is controlled to respond to the regenerative torque command and to distribute torque between the regenerative torque braking of the drive system and the hydraulic braking of the vehicle.

3. The control method for intelligent driving of a vehicle according to claim 1, characterized in that, The control to disengage from the driver's throttle control and issue a deceleration request includes: When the driver releases the accelerator pedal, the vehicle's current acceleration is determined based on the vehicle's environmental information, current speed, and preset planning data, and the deceleration request is issued starting from the current acceleration.

4. The control method for intelligent driving of a vehicle according to claim 1, characterized in that, The control method further includes: The current acceleration request is compared with the acceleration request made by the driver when he presses the accelerator pedal; When the acceleration request is greater than the current acceleration request, it is determined that the driver is issuing a positive torque request through the accelerator pedal.

5. The control method for intelligent driving of a vehicle according to claim 4, characterized in that, The comparison between the current acceleration request and the acceleration request when the driver presses the accelerator pedal includes: The driver presses the accelerator pedal to obtain the opening degree, and calculates the acceleration requested based on the opening degree. The acceleration of the acceleration request is compared with the acceleration of the current acceleration request. If the acceleration of the acceleration request is greater than the acceleration of the current acceleration request, it is determined that the acceleration request is greater than the current acceleration request.

6. The control method for intelligent driving of a vehicle according to claim 1, characterized in that, The drive system controlling the vehicle does not respond to the negative torque request independently, but filters the negative torque request to reduce the negative torque corresponding to the negative torque request, including: The regenerative torque braking of the drive system and the hydraulic braking of the vehicle are controlled to distribute the negative torque, and the negative torque is adjusted from a negative value to zero based on the negative torque. The control of the drive system to drive the vehicle in response to the positive torque request includes: After the negative torque is adjusted to zero, the positive torque corresponding to the positive torque request is determined as the target response torque of the drive system, and the drive torque of the drive system is controlled to transition from zero to the target response torque.

7. The control method for intelligent driving of a vehicle according to claim 1, characterized in that, The step of converting the current acceleration request into a torque request includes: When the acceleration requested by the vehicle at the current acceleration point is positive, the current acceleration request is converted into a positive torque request. When the acceleration requested by the vehicle for the current acceleration is negative, the current acceleration request is converted into a negative torque request.

8. The control method for intelligent driving of a vehicle according to claim 1, characterized in that, The control method further includes: When the torque request is a positive torque request, the drive system is controlled to respond to the current acceleration request and drive the vehicle.

9. A control device for intelligent driving of a vehicle, characterized in that, include: A highly automated driving system is used to determine the vehicle's current acceleration request based on road conditions and pre-set planning data when the vehicle is in autonomous driving mode; A vehicle motion control system is used to convert the current acceleration request into a torque request. When the torque request is a negative torque request and the driver issues a positive torque request through the vehicle's accelerator pedal, the system controls the vehicle's drive system not to respond to the negative torque request alone, and filters the negative torque request to reduce the negative torque corresponding to the negative torque request. The drive system is controlled to respond to the positive torque request to drive the vehicle and enter a state where the driver takes over the vehicle by throttle. When the driver releases the accelerator pedal, the control disengages from the driver's accelerator control of the vehicle and issues a deceleration request; the control of the drive system's regenerative torque braking does not respond to the deceleration request, and the control of the vehicle's hydraulic braking to provide the negative torque required for the deceleration request.

10. A vehicle, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, it implements the vehicle intelligent driving control method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the vehicle intelligent driving control method as described in any one of claims 1 to 8.

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